feat: add limelight support

Author: emeralddoessomething

src/App.svelte

@@ -4,6 +4,7 @@
     import xmlBuilder from "./lib/xmlBuilder.js";
     import {createEmptyLynxModule, createEmptyMotorLynxModule, type LynxModule, type MotorLynxModule} from "./lib";
     import MotorHub from "./lib/MotorHub.svelte";
+    import ExpansionHub from "./lib/ExpansionHub.svelte";
 
     let controlHub: MotorLynxModule = $state(createEmptyMotorLynxModule());
     let expansionHub: MotorLynxModule = $state(createEmptyMotorLynxModule());
@@ -21,7 +22,7 @@
          class="lg:block bg-base-200 mb-16 lg:mb-0 lg:rounded-md lg:shadow-sm lg:border-2 lg:border-base-content/20 p-4 lg:p-6">
         <div class="tabs tabs-lift h-[calc(100%---spacing(10))]">
             <MotorHub name="Control Hub" bind:module={controlHub} checked={true}/>
-            <MotorHub name="Expansion Hub" bind:module={expansionHub}/>
+            <ExpansionHub name="Expansion Hub" bind:module={expansionHub}/>
             <Hub name="Servo Hub" bind:module={servoHub}/>
         </div>
     </div>

src/lib/ExpansionHub.svelte

@@ -0,0 +1,23 @@
+<script lang="ts">
+    import {type Device, DeviceTypes, type LynxModule, type ExpansionLynxModule} from "./index";
+    import DeviceGroup from "./DeviceGroup.svelte";
+
+    interface Props {
+        name: string;
+        checked?: boolean;
+        module: ExpansionLynxModule;
+    }
+
+    let {name, checked = false, module = $bindable()}: Props = $props();
+</script>
+
+<input type="radio" name="hub" class="tab" aria-label={name} {checked}/>
+<div class="tab-content bg-base-100 border-base-300 p-6">
+    <DeviceGroup type="Motors" bind:devices={module.motors} deviceTypes={DeviceTypes.MOTORS}/>
+    <DeviceGroup type="Servos" bind:devices={module.servos} deviceTypes={DeviceTypes.SERVOS}/>
+    <DeviceGroup type="I<sup>2</sup>C Devices" bind:devices={module.i2c} deviceTypes={DeviceTypes.I2C}/>
+    <DeviceGroup type="Digital Devices" bind:devices={module.digital} deviceTypes={DeviceTypes.DIGITAL}/>
+    <DeviceGroup type="Analog Devices" bind:devices={module.analog} deviceTypes={DeviceTypes.ANALOG}/>
+    <!-- Diffrence between ExpansionHub and MotorHub is that ExpansionHub doesn't have ethernet devices cause there are no useable usb ports -->
+     <!-- This also means that I changed the thing in App.svelte to use the new ExpansionHub layout -->
+</div>

src/lib/MotorHub.svelte

@@ -18,4 +18,5 @@
     <DeviceGroup type="I<sup>2</sup>C Devices" bind:devices={module.i2c} deviceTypes={DeviceTypes.I2C}/>
     <DeviceGroup type="Digital Devices" bind:devices={module.digital} deviceTypes={DeviceTypes.DIGITAL}/>
     <DeviceGroup type="Analog Devices" bind:devices={module.analog} deviceTypes={DeviceTypes.ANALOG}/>
+    <DeviceGroup type="Ethernet Devices" bind:devices={module.ethernet} deviceTypes={DeviceTypes.ETHERNET}/>
 </div>

src/lib/index.ts

@@ -18,6 +18,14 @@ export interface MotorLynxModule extends LynxModule {
     i2c: Device[];
     digital: Device[];
     analog: Device[];
+    ethernet: Device[]
+}
+
+export interface ExpansionLynxModule extends LynxModule {
+    motors: Device[];
+    i2c: Device[];
+    digital: Device[];
+    analog: Device[];
 }
 
 export function createEmptyLynxModule(): LynxModule {
@@ -32,7 +40,18 @@ export function createEmptyMotorLynxModule(): MotorLynxModule {
         servos: [],
         i2c: [],
         digital: [],
-        analog: []
+        analog: [],
+        ethernet:[],
+    }
+}
+
+export function createEmptyExpansionLynxModule(): ExpansionLynxModule {
+    return {
+        motors: [],
+        servos: [],
+        i2c: [],
+        digital: [],
+        analog: [],
     }
 }
 
@@ -191,6 +210,12 @@ export const DeviceTypes = {
             type: 'AnalogDevice',
             displayName: 'Analog Device'
         }
+    ],
+    ETHERNET: [
+        {
+            type: 'EthernetDevice',
+            displayName: 'Limelight 3a'
+        }
     ]
 } as const;
 

src/lib/xmlBuilder.ts

@@ -1,4 +1,4 @@
-import type {LynxModule, MotorLynxModule} from "./index";
+import type {ExpansionLynxModule, LynxModule, MotorLynxModule} from "./index";
 import {create} from "xmlbuilder2";
 import type {XMLBuilder} from "xmlbuilder2/lib/interfaces";
 
@@ -8,16 +8,28 @@ export interface CodeBuilder {
 
 class XmlBuilder implements CodeBuilder {
     build(controlHub: MotorLynxModule, expansionHub: MotorLynxModule, servoHub: LynxModule): string {
-        const doc = create({version: '1.0', standalone: true, encoding: "UTF-8"})
-            .ele("Robot", {type: "FirstInspires-FTC"})
-            .ele("LynxUsbDevice", {name: "Control Hub Portal", serialNumber: "(embedded)", parentModuleAddress: 173})
-        const controlHubBuilder = doc.ele("LynxModule", {name: "Control Hub", port: 173});
-        XmlBuilder.buildMotorLynxModule(controlHubBuilder, controlHub);
-        const expansionHubBuilder = doc.ele("LynxModule", {name: "Expansion Hub 0", port: 0});
-        XmlBuilder.buildMotorLynxModule(expansionHubBuilder, expansionHub);
-        const servoHubBuilder = doc.ele("LynxModule", {name: "Servo Hub 1", port: 1});
-        XmlBuilder.buildLynxModule(servoHubBuilder, servoHub);
+        const doc = create({version: '1.0', standalone: true, encoding: "UTF-8"});
 
+        const robotBlock = doc.ele("Robot", {type: "FirstInspires-FTC"});
+        for(const ethernet of controlHub.ethernet) {
+            robotBlock.ele("EthernetDevice", {name: ethernet.name, serialNumber: "EthernetOverUsb:eth0:172.29.0.28", port: "-1", ipAddress: "172.29.0.1"});
+        }
+
+        const portalBlock = robotBlock.ele("LynxUsbDevice", {name: "Control Hub Portal", serialNumber: "(embedded)", parentModuleAddress: 173});
+
+        const controlHubBlock = portalBlock.ele("LynxModule", {name: "Control Hub", port: 173});
+        XmlBuilder.buildMotorLynxModule(controlHubBlock, controlHub);
+        
+        if(expansionHub.analog.length !== 0 || expansionHub.digital.length !== 0 || expansionHub.i2c.length !== 0 || expansionHub.motors.length !== 0 || expansionHub.servos.length !== 0) {
+            const expansionHubBuilder = portalBlock.ele("LynxModule", {name: "Expansion Hub 0", port: 0});
+            XmlBuilder.buildExpansionLynxModule(expansionHubBuilder, expansionHub);
+        }
+        
+        if(servoHub.servos.length !== 0) {
+            const servoHubBuilder = portalBlock.ele("LynxModule", {name: "Servo Hub 1", port: 1});
+            XmlBuilder.buildLynxModule(servoHubBuilder, servoHub);
+        }
+        
         return doc.end({prettyPrint: true});
     }
 
@@ -44,6 +56,24 @@ class XmlBuilder implements CodeBuilder {
             doc.ele(analog.type.type, {name: analog.name, port: analog.port});
         }
     }
+
+    private static buildExpansionLynxModule(doc: XMLBuilder, module: ExpansionLynxModule) {
+        for (const motor of module.motors) {
+            doc.ele(motor.type.type, {name: motor.name, port: motor.port});
+        }
+        for (const servo of module.servos) {
+            doc.ele(servo.type.type, {name: servo.name, port: servo.port});
+        }
+        for (const i2c of module.i2c) {
+            doc.ele(i2c.type.type, {name: i2c.name, port: 0, bus: i2c.port});
+        }
+        for (const digital of module.digital) {
+            doc.ele(digital.type.type, {name: digital.name, port: digital.port});
+        }
+        for (const analog of module.analog) {
+            doc.ele(analog.type.type, {name: analog.name, port: analog.port});
+        }
+    }
 }
 
 export default new XmlBuilder();