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Copyright (C) 2012-2020 Bryan A. Jones.\n//\n//  This file is part of the CellBotics system.\n//\n//  The CellBotics system is free software: you can redistribute it and/or\n//  modify it under the terms of the GNU General Public License as\n//  published by the Free Software Foundation, either version 3 of the\n//  License, or (at your option) any later version.\n//\n//  The CellBotics system is distributed in the hope that it will be\n//  useful, but WITHOUT ANY WARRANTY; without even the implied warranty\n//  of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU\n//  General Public License for more details.\n//\n//  You should have received a copy of the GNU General Public License\n//  along with the CellBotics system.  If not, see\n//  <http://www.gnu.org/licenses/>.\n//\n// *********************************************************\n// |docname| - Automatically bind methods to their instances\n// *********************************************************\n\n\"use strict\";\n\n\n// The following two functions were taken from https://github.com/sindresorhus/auto-bind/blob/master/index.js and lightly modified. They provide an easy way to bind all callable methods to their instance. See `Binding Methods to Class Instance Objects <https://ponyfoo.com/articles/binding-methods-to-class-instance-objects>`_ for more discussion on this crazy JavaScript necessity.\n//\n// Gets all non-builtin properties up the prototype chain\nconst getAllProperties = object => {\n\tconst properties = new Set();\n\n\tdo {\n\t\tfor (const key of Reflect.ownKeys(object)) {\n\t\t\tproperties.add([object, key]);\n\t\t}\n\t} while ((object = Reflect.getPrototypeOf(object)) && object !== Object.prototype);\n\n\treturn properties;\n};\n\n\n// Invoke this in the constructor of an object.\nexport function auto_bind(self) {\n    for (const [object, key] of getAllProperties(self.constructor.prototype)) {\n        if (key === 'constructor') {\n            continue;\n        }\n\n        const descriptor = Reflect.getOwnPropertyDescriptor(object, key);\n        if (descriptor && typeof descriptor.value === 'function') {\n            self[key] = self[key].bind(self);\n        }\n    }\n}\n","// .. Copyright (C) 2012-2020 Bryan A. Jones.\n//\n//  This file is part of the CellBotics system.\n//\n//  The CellBotics system is free software: you can redistribute it and/or\n//  modify it under the terms of the GNU General Public License as\n//  published by the Free Software Foundation, either version 3 of the\n//  License, or (at your option) any later version.\n//\n//  The CellBotics system is distributed in the hope that it will be\n//  useful, but WITHOUT ANY WARRANTY; without even the implied warranty\n//  of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU\n//  General Public License for more details.\n//\n//  You should have received a copy of the GNU General Public License\n//  along with the CellBotics system.  If not, see\n//  <http://www.gnu.org/licenses/>.\n//\n// *************************************************************\n// |docname| - JavaScript code to connect with a CellBot via BLE\n// *************************************************************\n\n\"use strict\";\n\nimport { auto_bind } from \"./auto-bind.js\";\n\n// CellBotBle\n// ==========\n// This sends and receives data to the CellBot via Bluetooth.\nclass CellBotBle {\n    constructor() {\n        auto_bind(this);\n\n        this.clear_connection();\n        // If true, the server (BLE device / CellBot) is little-endian; if false, big-endian.\n        this.is_little_endian = true;\n        // If true, expect verbose returns (the CellBot was compiled with ``VERBOSE_RETURN`` defined).\n        this.verbose_return = true;\n        // If true, return dummy values instead of talking to the hardware.\n        this.is_sim = false;\n\n        // #defines from Arduino headers.\n        this.INPUT = 1;\n        this.OUTPUT = 2;\n\n        // UUIDs for each characteristic.\n        this.uuid = {\n            resetHardware: \"60cb180e-838d-4f65-aff4-20b609b453f3\",\n            pinMode: \"6ea6d9b6-7b7e-451c-ab45-221298e43562\",\n            digitalWrite: \"d3423cf6-6da7-4dd8-a5ba-3c980c74bd6d\",\n            digitalRead: \"c370bc79-11c1-4530-9f69-ab9d961aa497\",\n            ledcSetup: \"6be57cea-3c46-4687-972b-03429d2acf9b\",\n            ledcAttachPin: \"2cd63861-078f-436f-9ed9-79e57ec8b638\",\n            ledcDetachPin: \"b9b0cabe-25d8-4965-9259-7d3b6330e940\",\n            ledcWrite: \"40698030-a343-448f-a9ea-54b39b03bf81\"\n        };\n    }\n\n    // Clear Bluetooth connection-related objects.\n    clear_connection() {\n        this.server && this.server.disconnect();\n        this.server = undefined;\n        this.service = undefined;\n        // A dict of name: ``BluetoothRemoteGATTCharacteristic``.\n        this.characteristic = {};\n    }\n\n    // Return true if BLE is supported by this browser. Even if it is supported, it may not be available.\n    is_ble_supported() {\n        return Boolean(navigator.bluetooth);\n    }\n\n    // Return true is BLE is supported. If so, register the provided event handler.\n    async has_ble(on_availability_changed) {\n        if (this.is_sim) {\n            return true;\n        }\n\n        if (this.is_ble_supported() && await navigator.bluetooth.getAvailability()) {\n            navigator.bluetooth.addEventListener(\"availabilitychanged\", on_availability_changed);\n            return true;\n        } else {\n            return false;\n        }\n    }\n\n    // Returns true if the Bluetooth device (server) is connected.\n    paired() {\n        return this.is_sim || (this.server && this.server.connected);\n    }\n\n    // Pair with a CellBot and return the characteristic used to control the device.\n    async pair(disconnect_callback)\n    {\n        if (this.is_sim) {\n            return;\n        }\n\n        // Skip connecting if we're already connected.\n        if (this.paired()) {\n            return;\n        }\n\n        // Shut down any remnants of a previous connection.\n        this.clear_connection();\n\n        // Request a device with service `UUIDs`. See the `Bluetooth API <https://developer.mozilla.org/en-US/docs/Web/API/Bluetooth>`_.\n        let cellBot_service = \"6c533793-9bd6-47d6-8d3b-c10a704b6b97\";\n        this.device = await navigator.bluetooth.requestDevice({\n            filters: [{\n                services: [cellBot_service]\n            }]\n        });\n\n        // Notify on a disconnect. I can't find any docs on this, but it does work.\n        this.device.addEventListener('gattserverdisconnected', disconnect_callback);\n        this.device.addEventListener('gattserverdisconnected', this.clear_connection);\n\n        // Connect to its server.\n        this.server = await this.device.gatt.connect();\n\n        // Get the service for our server.\n        this.service = await this.server.getPrimaryService(cellBot_service);\n    }\n\n    // Generic access function for calling a function on the Arduino. It returns (value returned after invoking the function, message).\n    async invoke_Arduino(\n        // The Bluetooth characteristic to use for this call.\n        characteristic,\n        // The number of bytes in the return value:\n        //\n        // -    0: void\n        // -    +1/-1: unsigned/signed 8-bit value\n        // -    +2/-2: unsigned/signed 16-bit value\n        // -    +4/-4: unsigned/signed 32-bit value\n        // -    0.4/0.8: 32-bit/64-bit float\n        return_bytes,\n        // An ArrayBuffer or compatible type of data containing encoded parameters to send.\n        param_array\n    ) {\n        if (this.is_sim) {\n            return [0, \"\"];\n        }\n\n        await characteristic.writeValue(param_array);\n        // Read the returned data.\n        let return_data = await characteristic.readValue();\n        // Interpret the return value.\n        let return_value;\n        switch (return_bytes) {\n            case 0:\n            return_value = undefined;\n            break;\n\n            case 1:\n            return_value = return_data.getUint8(0);\n            break;\n\n            case -1:\n            return_value = return_data.getInt8(0);\n            break;\n\n            case 2:\n            return_value = return_data.getUint16(0);\n            break;\n\n            case -2:\n            return_value = return_data.getInt16(0, this.is_little_endian);\n            break;\n\n            case 4:\n            return_value = return_data.getUint32(0, this.is_little_endian);\n            break;\n\n            case -4:\n            return_value = return_data.getInt32(0, this.is_little_endian);\n            break;\n\n            case 0.4:\n            return_value = return_data.getFloat32(0, this.is_little_endian);\n            return_bytes = 4;\n            break;\n\n            case 0.8:\n            return_value = return_data.getFloat64(0, this.is_little_endian);\n            return_bytes = 8;\n            break;\n\n        }\n\n        let message = return_data.buffer.slice(return_bytes);\n        message = String.fromCharCode.apply(null, new Uint8Array(message));\n        if (!this.verbose_return) {\n            throw `BLE protocol error: ${message}`\n        }\n        return [return_value, message];\n    }\n\n    // Return an existing instance of a ``BluetoothRemoteGATTCharacteristic`` or create a new one.\n    async get_characteristic(name) {\n        if (this.is_sim) {\n            return name;\n        }\n\n        if (name in this.characteristic) {\n            return this.characteristic[name];\n        }\n        return this.characteristic[name] = await this.service.getCharacteristic(this.uuid[name]);\n    }\n\n    // Reset the hardware on the connected device.\n    async resetHardware() {\n        // Any write is fine -- just send 1 byte.\n        return this.invoke_Arduino(await this.get_characteristic(\"resetHardware\"), 0, new Uint8Array([1]));\n    }\n\n    // Invoke `pinMode <https://www.arduino.cc/reference/en/language/functions/digital-io/pinmode/>`_ on the Arduino.\n    async pinMode(u8_pin, u8_mode) {\n        return this.invoke_Arduino(await this.get_characteristic(\"pinMode\"), 0, new Uint8Array([u8_pin, u8_mode]));\n    }\n\n    // Invoke `digitalWrite <https://www.arduino.cc/reference/en/language/functions/digital-io/digitalwrite/>`_ on the Arduino.\n    async digitalWrite(u8_pin, u8_value) {\n        return this.invoke_Arduino(await this.get_characteristic(\"digitalWrite\"), 0, new Uint8Array([u8_pin, u8_value]));\n    }\n\n    // Invoke `digitalRead <https://www.arduino.cc/reference/en/language/functions/digital-io/digitalread/>`_ on the Arduino.\n    async digitalRead(u8_pin) {\n        return this.invoke_Arduino(await this.get_characteristic(\"digitalRead\"), 1, new Uint8Array([u8_pin]));\n    }\n\n    // Invoke ``ledcSetup`` on the Arduino.\n    //\n    // Note that the LEDC control on the ESP32 Arduino port isn't documented. Here's my attempts. The best reference is the `LED_PWM chapter of the ESP32 Technical Reference Manual <https://www.espressif.com/sites/default/files/documentation/esp32_technical_reference_manual_en.pdf#page=384>`_. To set up PWM, you need to select:\n    //\n    // -    A channel (channels 0-7 auto-update new PWM periods, channels 8-15 don't).\n    // -    The frequency to do the PWM, in Hz.\n    // -    A number of bits used to do the PWM. The maximum possible value is floor(log2(processor clock frequency/PWM frequency)); this cannot exceed 20. The processor clock frequency is either 80 MHz or 1 MHz.\n    //\n    // The function returns the actual PWM frequency, due to the limitations of the available clock divisor.\n    async ledcSetup(u8_channel, d_freq, u8_resolution_bits) {\n        let param_array = new ArrayBuffer(11);\n        let dv = new DataView(param_array);\n        dv.setUint8(0, u8_channel);\n        dv.setFloat64(1, d_freq, this.is_little_endian);\n        dv.setUint8(10, u8_resolution_bits);\n        return this.invoke_Arduino(await this.get_characteristic(\"ledcSetup\"), 0.8, param_array);\n    }\n\n    // Invoke ``ledcAttachPin`` on the Arduino.\n    //\n    // Next, attach this channel to a specific pin on the Arduino.\n    async ledcAttachPin(u8_pin, u8_channel) {\n        return this.invoke_Arduino(await this.get_characteristic(\"ledcAttachPin\"), 0, new Uint8Array([u8_pin, u8_channel]));\n    }\n\n    // Invoke ``ledcWrite`` on the Arduino.\n    //\n    // Finally, select a duty cycle for that channel, from 2^num_bits to 1.\n    async ledcWrite(u8_channel, u32_duty) {\n        let param_array = new ArrayBuffer(5);\n        let dv = new DataView(param_array);\n        dv.setUint8(0, u8_channel);\n        dv.setUint32(1, u32_duty, this.is_little_endian);\n        return this.invoke_Arduino(await this.get_characteristic(\"ledcWrite\"), 0, param_array);\n    }\n\n    // Invoke ``ledcDetachPin`` on the Arduino.\n    //\n    // Next, attach this channel to a specific pin on the Arduino.\n    async ledcDetachPin(u8_pin) {\n        return this.invoke_Arduino(await this.get_characteristic(\"ledcDetachPin\"), 0, new Uint8Array([u8_pin]));\n    }\n}\n\n\n// CellBotBleGui\n// =============\n// Provide a simple pair/disconnect GUI for the CellBot Bluetooth connection.\nclass CellBotBleGui {\n    constructor(pair_button_id, pair_status_id) {\n        auto_bind(this);\n\n        this.ble_pair_button = document.getElementById(pair_button_id);\n        this.ble_pair_status = document.getElementById(pair_status_id);\n\n        // If the GUI isn't available, give up.\n        if (!this.ble_pair_button || !this.ble_pair_status) {\n            return;\n        }\n\n        this.cell_bot_ble = new CellBotBle();\n        // Update the pair button based on BLE availability.\n        this.cell_bot_ble.has_ble(this.on_availability_changed).then(this.on_ble_available);\n        // Respond to button clicks.\n        this.ble_pair_button.addEventListener(\"click\", event => {\n            this.async_on_pair_clicked();\n        })\n    }\n\n    async async_on_pair_clicked() {\n        if (!this.cell_bot_ble.paired()) {\n            this.ble_pair_button.disabled = true;\n            this.ble_pair_status.innerHTML = \"Pairing...\";\n            try {\n                await this.cell_bot_ble.pair(this.on_disconnect);\n                this.ble_pair_status.innerHTML = `Paired to ${this.cell_bot_ble.device.name}.`;\n                this.ble_pair_button.innerHTML = \"Disconnect\";\n\n            } catch (err) {\n                this.ble_pair_status.innerHTML = \"Unable to pair.\";\n                throw err;\n            } finally {\n                this.ble_pair_button.disabled = false;\n            }\n\n        } else {\n            this.cell_bot_ble.server.disconnect();\n        }\n    }\n\n    on_availability_changed(event) {\n        // TODO: I don't know what the structure of this event is.\n        console.log(event);\n    }\n\n    on_ble_available(has_ble) {\n        this.ble_pair_button.disabled = !has_ble;\n        if (has_ble) {\n            this.ble_pair_status.innerHTML = \"Not connected.\";\n        } else {\n            this.ble_pair_status.innerHTML = \"Not available.\";\n        }\n    }\n\n    on_disconnect() {\n        this.ble_pair_status.innerHTML = \"Disconnected.\";\n        this.ble_pair_button.innerHTML = \"Pair\";\n    }\n}\n\n\n// An instance of this class.\nexport let cell_bot_ble_gui;\n\n// Handler\n// =======\n// This must be invoked when the DOM is ready, before calling any other function in this file.\n$(document).ready(function () {\n    cell_bot_ble_gui = new CellBotBleGui(\"ble_pair_button\", 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