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Merge pull request #801 from entrylabs/develop-hw
1.9.61 PR
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,175 @@ | ||
| function Module() { | ||
| this.cmdData = [0x26, 0xA8, 0x14, 0x81, 0x28, 0x00, 0x00, 0x00, 0x00, 0x00, | ||
| 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, | ||
| 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, | ||
| 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00]; | ||
| this.sensorData = [0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, | ||
| 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00]; | ||
| this.dongleData = [0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, | ||
| 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00]; | ||
| this.robodog_head = [0x26, 0xA8, 0x14, 0x8A]; | ||
| this.rk_cnt = 0; | ||
| this.pktCnt = -1; | ||
| this.pktLength = 6; | ||
| this.ledPacket = [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0]; | ||
| this.txCnt = 0; | ||
| } | ||
|
|
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| Module.prototype.init = function(handler, config) { | ||
| }; | ||
|
|
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| Module.prototype.requestInitialData = function() { | ||
| return null; | ||
| }; | ||
|
|
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| Module.prototype.checkInitialData = function(data, config) { | ||
| return true; | ||
| }; | ||
|
|
||
| Module.prototype.validateLocalData = function(data) { | ||
| return true; | ||
| }; | ||
|
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|
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|
|
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| function checksum(cmd){ | ||
| let sum = 0; | ||
|
|
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| cmd.forEach(function (value, idx) { | ||
| if(idx > 5) | ||
| sum += value; | ||
| }); | ||
| return sum&0xFF; | ||
| } | ||
|
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|
|
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| /////////////// 엔트리에서 받은 데이터에 대한 처리 ///////////////////// | ||
| Module.prototype.handleRemoteData = function(handler) { | ||
| let cmd = handler.read('CMD'); | ||
|
|
||
| if(typeof cmd !== 'object') | ||
| return; | ||
|
|
||
| this.cmdData = cmd.slice(); | ||
| if(this.cmdData[14] > 0){ | ||
| if(this.cmdData[14] == 2){ | ||
| this.ledPacket[0] = (this.cmdData[14]&0xC0) | 0x82; | ||
| this.ledPacket[1] = this.ledPacket[1] | 0x80; | ||
| for(let n=0; n<16; n++) | ||
| this.ledPacket[2+n] = this.cmdData[24+n]; | ||
| } | ||
| if(this.cmdData[14] == 3){ | ||
| this.ledPacket[0] = (this.cmdData[14]&0xC0) | 0x83; | ||
| this.ledPacket[1] = this.ledPacket[1] | 0x80; | ||
| for(let n=0; n<16; n++) | ||
| this.ledPacket[2+n] = this.cmdData[24+n]; | ||
| } | ||
| if(this.cmdData[14] == 4){ | ||
| this.ledPacket[1] = (this.cmdData[14]&0xC0) | 0x44; | ||
| this.ledPacket[0] = this.ledPacket[0] | 0x40; | ||
| for(let n=0; n<16; n++) | ||
| this.ledPacket[18+n] = this.cmdData[24+n]; | ||
| } | ||
| } | ||
| else{ | ||
| this.ledPacket[0] = 0; | ||
| this.ledPacket[1] = 0; | ||
| } | ||
| }; | ||
|
|
||
|
|
||
| //////////////// 하드웨어로 보낼 데이터 로직 ///////////// | ||
| Module.prototype.requestLocalData = function() { | ||
| if(((this.ledPacket[0]&0xC0) == 0xC0) || ((this.ledPacket[1]&0xC0) == 0xC0)){ | ||
| if((this.txCnt%2) == 0){ | ||
| this.cmdData[14] = this.ledPacket[0]; | ||
| for(let n=0; n<16; n++) | ||
| this.cmdData[24+n] = this.ledPacket[2+n]; | ||
| } | ||
| else{ | ||
| this.cmdData[14] = this.ledPacket[1]; | ||
| for(let n=0; n<16; n++) | ||
| this.cmdData[24+n] = this.ledPacket[18+n]; | ||
| } | ||
| this.cmdData[5] = checksum(this.cmdData); | ||
| this.txCnt += 1; | ||
| } | ||
| return this.cmdData; | ||
| }; | ||
|
|
||
| ///////////// 하드웨어에서 온 데이터 처리 /////////////////// | ||
| Module.prototype.handleLocalData = function(data) { | ||
| let sensorData = this.sensorData; | ||
| let dongleData = this.dongleData; | ||
| let pktLength = this.pktLength; | ||
|
|
||
| let robodog_head = this.robodog_head; | ||
| data.forEach(function (value) { | ||
| this.rk_cnt = (value==robodog_head[this.rk_cnt])? this.rk_cnt+1 : 0; | ||
| if(this.rk_cnt == 4){ | ||
| this.rk_cnt = 0; | ||
| this.pktCnt = 0; | ||
| } | ||
| else if(this.pktCnt >= 0){ | ||
| if(this.pktCnt == 0) | ||
| pktLength = ((value>0) && (value<19))? value-4 : 16; | ||
| dongleData[4+this.pktCnt++] = value; | ||
| } | ||
|
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||
| if(this.pktCnt == pktLength){ | ||
| this.pktCnt = -1; | ||
| var sum = 0; | ||
| dongleData.forEach(function (value, idx) { | ||
| if(idx > 5) | ||
| sum += value; | ||
| }); | ||
| if(dongleData[5] == (sum&0xFF)){ | ||
| dongleData.forEach(function (value, idx) { | ||
| sensorData[idx] = value; | ||
| }); | ||
| } | ||
| } | ||
| }); | ||
| this.pktLength = pktLength; | ||
| }; | ||
|
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||
| function unsingToSign8(data) | ||
| { | ||
| return data>127? data-256 : data; | ||
| } | ||
| function unsingToSign16(data) | ||
| { | ||
| return data>32767? data-65536 : data; | ||
| } | ||
|
|
||
| ///////////// 엔트리로 전달할 데이터 /////////////////////////// | ||
| Module.prototype.requestRemoteData = function(handler) { | ||
| handler.write("SENSORDATA", this.sensorData); | ||
| handler.write('BATTERY', this.sensorData[6]); | ||
| handler.write('TOF', this.sensorData[7]); | ||
| handler.write('ROLL', unsingToSign8(this.sensorData[8])); | ||
| handler.write('PITCH', unsingToSign8(this.sensorData[9])); | ||
| handler.write('YAW', unsingToSign16(this.sensorData[10] + this.sensorData[11]*256)); | ||
| handler.write('RB0', this.sensorData[12]>127? this.sensorData[12]-256 : this.sensorData[12]); | ||
| handler.write('RB1', this.sensorData[13]>127? this.sensorData[13]-256 : this.sensorData[13]); | ||
| handler.write('RB2', this.sensorData[14]>127? this.sensorData[14]-256 : this.sensorData[14]); | ||
| handler.write('RB3', this.sensorData[15]>127? this.sensorData[15]-256 : this.sensorData[15]); | ||
| handler.write('BUTTON', this.sensorData[16]); | ||
| handler.write('RB_WATCHDOG', this.sensorData[17]); | ||
| handler.write('RB4', this.sensorData[18]>127? this.sensorData[18]-256 : this.sensorData[18]); | ||
| handler.write('RB5', this.sensorData[19]>127? this.sensorData[19]-256 : this.sensorData[19]); | ||
| }; | ||
|
|
||
| Module.prototype.reset = function() { | ||
| this.cmdData = [0x26, 0xA8, 0x14, 0x81, 0x28, 0x00, 0x00, 0x00, 0x00, 0x00, | ||
| 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, | ||
| 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, | ||
| 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, | ||
| 0x64, 0x64, 0x64, 0x64, 0x64, 0x64, 0x64, 0x64]; | ||
| this.sensorData = [0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, | ||
| 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00]; | ||
| this.ledPacket = [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0]; | ||
| console.log("reset"); | ||
| }; | ||
|
|
||
| module.exports = new Module(); |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,26 @@ | ||
| { | ||
| "id": "1D0501", | ||
| "name": { | ||
| "en": "RoboDog", | ||
| "ko": "로보독" | ||
| }, | ||
| "category": "robot", | ||
| "platform": ["win32", "darwin"], | ||
| "icon": "robodog.png", | ||
| "module": "robodog.js", | ||
| "url": "http://www.junilab.co.kr", | ||
| "driver": { | ||
| "win32-ia32": "JuniLab/dongleSetup.bat", | ||
| "win32-x64": "JuniLab/dongleSetup.bat" | ||
| }, | ||
| "reconnect": true, | ||
| "hardware": { | ||
| "type": "serial", | ||
| "control": "slave", | ||
| "duration": 32, | ||
| "vendor": "Junilab_Inc", | ||
| "pnpId": "0226", | ||
| "baudRate": 19200, | ||
| "firmwarecheck": false | ||
| } | ||
| } |
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