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Merge pull request #709 from entrylabs/develop-hw
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1.9.50
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@Tnks2U
Tnks2U authored Jan 19, 2024
2 parents 1125816 + 9b8aa06 commit 51e1a06
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Showing 19 changed files with 5,691 additions and 5,327 deletions.
2,011 changes: 738 additions & 1,273 deletions app/firmwares/etkit.hex
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871 changes: 871 additions & 0 deletions app/firmwares/etkit_middle.hex
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3,684 changes: 1,671 additions & 2,013 deletions app/firmwares/roborobo_cube.hex
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3,697 changes: 1,845 additions & 1,852 deletions app/firmwares/roborobo_robokit_rs.hex
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252 changes: 102 additions & 150 deletions app/modules/etkit.js
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Original file line number Diff line number Diff line change
@@ -1,30 +1,37 @@
function Module() {
this.sp = null;
this.sensorTypes = {
ALIVE:0,
DIGITAL:1,
ANALOG:2,
DHT_PIN:3,
LCD:4,
CO2: 5,
OLED: 6,
TIMER:8,
READ_BLUETOOTH: 9,
WRITE_BLUETOOTH: 10,
ALIVE: 0,
DIGITAL: 1,
ANALOG: 2,
DHT_PIN: 3,
LCD: 4,
PWM: 5,
SERVO_PIN: 6,
PULSEIN: 7,
ULTRASONIC: 8,
TIMER: 9,
WRITE_SEG: 10,
READ_SEG: 13,
READ_BLUETOOTH: 11,
WRITE_BLUETOOTH: 12,
GAS: 14
};
this.actionTypes = {
GET:1,
SET:2,
MODULE:3,
RESET:4,
RESET:4
};
this.sensorValueSize = {
FLOAT:2,
SHORT:3,
STRING:4,
STRING:4
};
this.digitalPortTimeList = [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0];
this.sensorData = {
PULSEIN: {},
ULTRASONIC: 0,
DIGITAL: {
'0': 0,
'1': 0,
Expand All @@ -50,14 +57,12 @@ function Module() {
'5': 0,
},
DHT_PIN: 0,
CO2: 0,
TIMER: 0,
READ_BLUETOOTH: 0,
READ_SEG: 0,
};
this.defaultOutput = {
};
this.recentCheckData = {
};
this.defaultOutput = {};
this.recentCheckData = {};
this.sendBuffers = [];
this.lastTime = 0;
this.lastSendTime = 0;
Expand All @@ -72,7 +77,8 @@ Module.prototype.setSerialPort = function (sp) {
this.sp = sp;
};
Module.prototype.requestInitialData = function() {
return this.makeSensorReadBuffer(this.sensorTypes.ANALOG, 0);
//return this.makeSensorReadBuffer(this.sensorTypes.ANALOG, 0);
return true;
};
Module.prototype.checkInitialData = function(data, config) {
return true;
Expand Down Expand Up @@ -153,24 +159,33 @@ Module.prototype.handleLocalData = function(data) {

switch(type) {
case self.sensorTypes.DIGITAL: {
self.sensorData.DIGITAL[port] = value;
self.sensorData.DIGITAL[port] = value;
break;
}
case self.sensorTypes.ANALOG: {
self.sensorData.ANALOG[port] = value;
self.sensorData.ANALOG[port] = value;
break;
}

case self.sensorTypes.DHT_PIN: {
self.sensorData.DHT_PIN = value;
self.sensorData.DHT_PIN = value;
break;
}
case self.sensorTypes.PULSEIN: {
self.sensorData.PULSEIN[port] = value;
break;
}
case self.sensorTypes.ULTRASONIC: {
self.sensorData.ULTRASONIC = value;
break;
}

case self.sensorTypes.READ_BLUETOOTH: {
self.sensorData.READ_BLUETOOTH = value;
break;
}

case self.sensorTypes.READ_SEG: {
self.sensorData.READ_SEG = value;
break;
}
case self.sensorTypes.TIMER: {
self.sensorData.TIMER = value;
break;
Expand Down Expand Up @@ -202,105 +217,81 @@ Module.prototype.requestLocalData = function() {
Module.prototype.makeSensorReadBuffer = function(device, port, data) {
let buffer;
const dummy = new Buffer([10]);
if(device == this.sensorTypes.DHT_PIN) {
buffer = new Buffer([255, 85, 7, sensorIdx, this.actionTypes.GET, device, port, 10]);
if (device == this.sensorTypes.DIGITAL) {
if (!data) {
buffer = new Buffer([255, 85, 6, sensorIdx, this.actionTypes.GET, device, port, 0, 10]);
} else {
buffer = new Buffer([255, 85, 6, sensorIdx, this.actionTypes.GET, device, port, data, 10]);
}
}
/*
else if(device == this.sensorTypes.ANALOG) {
if (!data) {
buffer = new Buffer([255, 85, 6, sensorIdx, this.actionTypes.GET, device, port, 0, 10]);
} else {
buffer = new Buffer([255, 85, 6, sensorIdx, this.actionTypes.GET, device, port, data, 10]);
}
}
*/
else if(device == this.sensorTypes.DHT_PIN) {
//buffer = new Buffer([255, 85, 6, sensorIdx, this.actionTypes.GET, device, port, 10]);

if (!data) {
buffer = new Buffer([255, 85, 6, sensorIdx, this.actionTypes.GET, device, port, 0, 10]);
} else {
buffer = new Buffer([255, 85, 6, sensorIdx, this.actionTypes.GET, device, port, data, 10]);
}

}
else if (device == this.sensorTypes.ULTRASONIC) {
buffer = new Buffer([255, 85, 6, sensorIdx, this.actionTypes.GET, device, port[0], port[1], 10]);
}
else if (device == this.sensorTypes.READ_BLUETOOTH) {
buffer = new Buffer([255, 85, 5, sensorIdx, this.actionTypes.GET, device, port, 10]);
}
else if (device == this.sensorTypes.READ_SEG) {
if (!data) {
buffer = new Buffer([255, 85, 6, sensorIdx, this.actionTypes.GET, device, port, 0, 10]);
} else {
buffer = new Buffer([255, 85, 5, sensorIdx, this.actionTypes.GET, device, port, 10]);
}

}
else if (!data) {
buffer = new Buffer([255, 85, 5, sensorIdx, this.actionTypes.GET, device, port, 10]);

}
else {
value = new Buffer(2);
value.writeInt16LE(data);
buffer = new Buffer([255, 85, 7, sensorIdx, this.actionTypes.GET, device, port, 10]);
buffer = Buffer.concat([buffer, value, dummy]);

buffer = Buffer.concat([buffer, value, dummy]);

}

sensorIdx++;
if(sensorIdx > 254) {
sensorIdx = 0;
}

return buffer;
};
Module.prototype.makeOutputBuffer = function(device, port, data) {
let buffer;
const value = new Buffer(2);
const dummy = new Buffer([10]);
switch(device) {
case this.sensorTypes.SERVO_PIN:
case this.sensorTypes.PWM:
case this.sensorTypes.DIGITAL: {
value.writeInt16LE(data);
buffer = new Buffer([
255,
85,
6,
sensorIdx,
this.actionTypes.SET,
device,
port,
]);
buffer = new Buffer([255, 85, 6, sensorIdx, this.actionTypes.SET, device, port,]);
buffer = Buffer.concat([buffer, value, dummy]);
break;

}
case this.sensorTypes.WRITE_BLUETOOTH: {
var text0 = new Buffer(2);
var text1 = new Buffer(2);
var text2 = new Buffer(2);
var text3 = new Buffer(2);
var text4 = new Buffer(2);
var text5 = new Buffer(2);
var text6 = new Buffer(2);
var text7 = new Buffer(2);
var text8 = new Buffer(2);
var text9 = new Buffer(2);
var text10 = new Buffer(2);
var text11 = new Buffer(2);
var text12 = new Buffer(2);
var text13 = new Buffer(2);
var text14 = new Buffer(2);
var text15 = new Buffer(2);
if ($.isPlainObject(data)) {
text0.writeInt16LE(data.text0);
text1.writeInt16LE(data.text1);
text2.writeInt16LE(data.text2);
text3.writeInt16LE(data.text3);
text4.writeInt16LE(data.text4);
text5.writeInt16LE(data.text5);
text6.writeInt16LE(data.text6);
text7.writeInt16LE(data.text7);
text8.writeInt16LE(data.text8);
text9.writeInt16LE(data.text9);
text10.writeInt16LE(data.text10);
text11.writeInt16LE(data.text11);
text12.writeInt16LE(data.text12);
text13.writeInt16LE(data.text13);
text14.writeInt16LE(data.text14);
text15.writeInt16LE(data.text15);
} else {
text0.writeInt16LE(0);
text1.writeInt16LE(0);
text2.writeInt16LE(0);
text3.writeInt16LE(0);
text4.writeInt16LE(0);
text5.writeInt16LE(0);
text6.writeInt16LE(0);
text7.writeInt16LE(0);
text8.writeInt16LE(0);
text9.writeInt16LE(0);
text10.writeInt16LE(0);
text11.writeInt16LE(0);
text12.writeInt16LE(0);
text13.writeInt16LE(0);
text14.writeInt16LE(0);
text15.writeInt16LE(0);
}
buffer = new Buffer([255, 85, 36, sensorIdx, this.actionTypes.MODULE, device, port]);
buffer = Buffer.concat([buffer, text0, text1, text2, text3, text4, text5, text6, text7, text8, text9, text10, text11, text12, text13, text14, text15, dummy]);
break;
}
case this.sensorTypes.WRITE_SEG:
case this.sensorTypes.WRITE_BLUETOOTH:
case this.sensorTypes.LCD: {
var text0 = new Buffer(2);
var text1 = new Buffer(2);
Expand Down Expand Up @@ -356,70 +347,29 @@ Module.prototype.makeOutputBuffer = function(device, port, data) {
buffer = new Buffer([255, 85, 36, sensorIdx, this.actionTypes.MODULE, device, port]);
buffer = Buffer.concat([buffer, text0, text1, text2, text3, text4, text5, text6, text7, text8, text9, text10, text11, text12, text13, text14, text15, dummy]);
break;
}
case this.sensorTypes.OLED: {

const coordinate_x = new Buffer(2);
const coordinate_y = new Buffer(2);
}
/*
case this.sensorTypes.SEG: {
var text0 = new Buffer(2);
var text1 = new Buffer(2);
var text2 = new Buffer(2);
var text3 = new Buffer(2);
var text4 = new Buffer(2);
var text5 = new Buffer(2);
var text6 = new Buffer(2);
var text7 = new Buffer(2);
var text8 = new Buffer(2);
var text9 = new Buffer(2);
var text10 = new Buffer(2);
var text11 = new Buffer(2);
var text12 = new Buffer(2);
var text13 = new Buffer(2);
var text14 = new Buffer(2);
var text15 = new Buffer(2);
if ($.isPlainObject(data)) {
coordinate_x.writeInt16LE(data.value0);
coordinate_y.writeInt16LE(data.value1);
text0.writeInt16LE(data.text0);
text1.writeInt16LE(data.text1);
text2.writeInt16LE(data.text2);
text3.writeInt16LE(data.text3);
text4.writeInt16LE(data.text4);
text5.writeInt16LE(data.text5);
text6.writeInt16LE(data.text6);
text7.writeInt16LE(data.text7);
text8.writeInt16LE(data.text8);
text9.writeInt16LE(data.text9);
text10.writeInt16LE(data.text10);
text11.writeInt16LE(data.text11);
text12.writeInt16LE(data.text12);
text13.writeInt16LE(data.text13);
text14.writeInt16LE(data.text14);
text15.writeInt16LE(data.text15);
text0.writeInt16LE(data.text0);
text1.writeInt16LE(data.text1);
text2.writeInt16LE(data.text2);
text3.writeInt16LE(data.text3);
} else {
coordinate_x.writeInt16LE(0);
coordinate_y.writeInt16LE(0);
text0.writeInt16LE(0);
text1.writeInt16LE(0);
text2.writeInt16LE(0);
text3.writeInt16LE(0);
text4.writeInt16LE(0);
text5.writeInt16LE(0);
text6.writeInt16LE(0);
text7.writeInt16LE(0);
text8.writeInt16LE(0);
text9.writeInt16LE(0);
text10.writeInt16LE(0);
text11.writeInt16LE(0);
text12.writeInt16LE(0);
text13.writeInt16LE(0);
text14.writeInt16LE(0);
text15.writeInt16LE(0);
text0.writeInt16LE(0);
text1.writeInt16LE(0);
text2.writeInt16LE(0);
text3.writeInt16LE(0);
}
buffer = new Buffer([255, 85, 40, sensorIdx, this.actionTypes.MODULE, device, port]);
buffer = Buffer.concat([buffer, coordinate_x, coordinate_y, text0, text1, text2, text3, text4, text5, text6, text7, text8, text9, text10, text11, text12, text13, text14, text15, dummy]);
buffer = new Buffer([255, 85, 36, sensorIdx, this.actionTypes.MODULE, device, port]);
buffer = Buffer.concat([buffer, text0, text1, text2, text3, dummy]);
break;
}
*/
}
return buffer;
};
Expand Down Expand Up @@ -460,6 +410,7 @@ Module.prototype.handleRemoteData = function(handler) {
data: dataObj.data,
};
buffer = Buffer.concat([buffer, self.makeSensorReadBuffer(key, dataObj.port, dataObj.data)]);

}
}
});
Expand Down Expand Up @@ -493,13 +444,14 @@ Module.prototype.disconnect = function(connect) {
const self = this;
connect.close();
if (self.sp) {
delete self.sp;
delete self.sp;
}
};

Module.prototype.reset = function() {
this.lastTime = 0;
this.lastSendTime = 0;
this.sensorData.PULSEIN = {};
};

module.exports = new Module();
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