do stuff

sdk/commands/config.ts

@@ -205,7 +205,7 @@ export class SMXConfig {
    * TODO: Make this private again later, and maybe make a function called
    * "write_to_stage" or something? Depends on how we want to handle writing/reading
    */
-  encode(): DataView {
-    return smx_config_t.encode(this.config, true);
+  encode(): Array<number> {
+    return Array.from(new Uint8Array(smx_config_t.encode(this.config, true).buffer));
   }
 }

sdk/smx.ts

@@ -1,5 +1,5 @@
 import * as Bacon from "baconjs";
-import { collatePackets, type DataPacket } from "./state-machines/collate-packets";
+import { collatePackets, type AckPacket, type DataPacket } from "./state-machines/collate-packets";
 import { API_COMMAND, char2byte } from "./api";
 import { SMXConfig, type Decoded } from "./commands/config";
 import { SMXDeviceInfo } from "./commands/data_info";
@@ -18,6 +18,8 @@ class SMXEvents {
   public readonly inputState$;
   /** read from this to see all reports sent by the stage in response to a command */
   public readonly otherReports$: Bacon.EventStream<Uint8Array>;
+  /** read from this to see if we've received an ACK */
+  public readonly ackReports$: Bacon.EventStream<boolean>;
   /** push to this to write commands to the stage */
   public readonly output$: Bacon.Bus<number[]>;
   /** this is everything pushed to `output$` but properly throttled/timed to the device's ack responses */
@@ -39,9 +41,8 @@ class SMXEvents {
       .filter((d) => d.byteLength !== 0)
       .withStateMachine({ currentPacket: new Uint8Array() }, collatePackets);
 
-    this.otherReports$ = (report$.filter((e) => e.type === "data") as Bacon.EventStream<DataPacket>).map(
-      (e) => e.payload,
-    );
+    this.otherReports$ = (report$.filter((e) => e.type === "data") as Bacon.EventStream<DataPacket>).map((e) => e.payload);
+    this.ackReports$ = (report$.filter((e) => e.type === "ack") as Bacon.EventStream<AckPacket>).map((e) => e.type === "ack");
 
     const finishedCommand$ = report$
       .filter((e) => e.type === "host_cmd_finished")
@@ -127,21 +128,38 @@ export class SMXStage {
 
   /**
    * TODO: To Implement:
-   * 
+   *
    * WRITE_CONFIG_V5
    * FACTORY_RESET
    * SET_LIGHT_STRIP
    * FORCE_RECALIBRATION
-   * 
+   *
    * Stretch Goal:
    * SET_PANEL_TEST_MODE
-   * 
+   *
    * Double Stretch Goal:
    * GET_CONFIG (old firmware)
    * WRITE_CONFIG (old_firmware)
    * SET_SERIAL_NUMBERS
    */
 
+  writeConfig(): Promise<void> | undefined {
+    if (!this.info || !this.config) {
+      return;
+    }
+
+    const encoded_config = this.config.encode();
+
+    const command = this.info.firmware_version < 5 ? API_COMMAND.WRITE_CONFIG : API_COMMAND.WRITE_CONFIG_V5;
+    const cmd = [command, encoded_config.length].concat(encoded_config);
+
+    this.events.output$.push([command, encoded_config.length].concat(encoded_config));
+
+    return this.events.ackReports$
+      .map((e) => void e)
+      .firstToPromise();
+  }
+
   updateDeviceInfo(): Promise<SMXDeviceInfo> {
     this.events.output$.push([API_COMMAND.GET_DEVICE_INFO]);
     return this.deviceInfo$.firstToPromise();
@@ -180,8 +198,8 @@ export class SMXStage {
     // Right now I just want to confirm that decoding and encoding gives us back the same data
     const encoded_config = this.config.encode();
     if (encoded_config) {
-      const buf = new Uint8Array(encoded_config.buffer);
-      this.debug && console.log("Config Encodes Correctly: ", data.slice(2, -1).toString() === buf.toString());
+      this.debug &&
+        console.log("Config Encodes Correctly: ", data.slice(2, -1).toString() === encoded_config.toString());
     }
     this.debug && console.log("Got Config: ", this.config);
 
@@ -191,11 +209,7 @@ export class SMXStage {
   private handleTestData(data: Uint8Array): SMXSensorTestData | undefined {
     if (!this.config) return;
 
-    this.test = new SMXSensorTestData(
-      Array.from(data),
-      this.test_mode,
-      this.config.config.flags.PlatformFlags_FSR,
-    );
+    this.test = new SMXSensorTestData(Array.from(data), this.test_mode, this.config.config.flags.PlatformFlags_FSR);
 
     this.debug && console.log("Got Test: ", this.test);
 

sdk/state-machines/collate-packets.ts

@@ -8,12 +8,15 @@ import {
   PACKET_PREAMBLE_SIZE,
 } from "../packet";
 
+const ACK_PACKET = 0x7;
+
 interface PacketHandlingState {
   currentPacket: Uint8Array;
 }
 
 export type DataPacket = { type: "data"; payload: Uint8Array };
-export type Packet = { type: "host_cmd_finished" } | DataPacket;
+export type AckPacket = { type: "ack" };
+export type Packet = { type: "host_cmd_finished" } | DataPacket | AckPacket;
 
 /**
  * Gets called when a packet is received, returns a tuple of new state and an array of
@@ -53,9 +56,15 @@ export const collatePackets: StateF<DataView, PacketHandlingState, Packet> = (st
   }
 
   // The data exists after the first 2 bytes
-  const dataBody = data.slice(2, 2 + byte_len);
+  const dataBody = data.slice(PACKET_PREAMBLE_SIZE, PACKET_PREAMBLE_SIZE + byte_len);
+
+  /**
+  * If packet starts with `ACK_PACKET`, the `byte_len` is 0, and the whole array is just 0,
+  * then this is an ack packet.
+  */
+  const isAck = (cmd & ACK_PACKET) === ACK_PACKET && byte_len === 0 && dataBody.byteLength === 0;
 
-  if ((cmd & PACKET_FLAG_START_OF_COMMAND) === PACKET_FLAG_START_OF_COMMAND && state.currentPacket.length > 0) {
+  if (cmd & PACKET_FLAG_START_OF_COMMAND && state.currentPacket.length > 0) {
     /**
      * When we get a start packet, the read buffer should already be empty. If it isn't,
      * we got a command that didn't end with an END_OF_COMMAND packet and something is wrong.
@@ -85,7 +94,11 @@ export const collatePackets: StateF<DataView, PacketHandlingState, Packet> = (st
 
   if ((cmd & PACKET_FLAG_END_OF_COMMAND) === PACKET_FLAG_END_OF_COMMAND) {
     newState = { currentPacket: new Uint8Array(0) };
-    eventsToPass.push({ type: "data", payload: nextPacket });
+    if (isAck) {
+      eventsToPass.push({ type: "ack" });
+    } else {
+      eventsToPass.push({ type: "data", payload: nextPacket });
+    }
   }
 
   return [newState, eventsToPass.map((e) => new Bacon.Next(e))];

ui/pad-coms.ts

@@ -45,5 +45,6 @@ type FunctionKeys<T extends object> = keyof {
 /** anything here will appear in the debug UI to dispatch at will */
 export const DEBUG_COMMANDS: Record<string, FunctionKeys<SMXStage>> = {
   requestConfig: "updateConfig",
+  writeConfig: "writeConfig",
   requestTestData: "updateTestData",
 };

ui/stage/stage-test.tsx

@@ -9,6 +9,7 @@ import { timez } from "./util";
 const UI_UPDATE_RATE = 50;
 
 function useInputState(stage: SMXStage | undefined) {
+  const readTestData = useAtomValue(displayTestData$);
   const [panelStates, setPanelStates] = useState<Array<boolean> | null>();
   useEffect(() => {
     return stage?.inputState$.throttle(UI_UPDATE_RATE).onValue(setPanelStates);