Merge pull request #800 from bigstone77/develop-hw

로보독 지원

app/modules/jcboard.js

@@ -73,8 +73,8 @@ Module.prototype.handleLocalData = function(data) {
 };
 
 Module.prototype.requestRemoteData = function(handler) {
-    handler.write('A0', !!(this.sensorData[6] & 0x01));      
-    handler.write('A1', !!(this.sensorData[6] & 0x02));      
+    handler.write('A0', (this.sensorData[6] & 0x01)==0x01? 1 : 0);      
+    handler.write('A1', (this.sensorData[6] & 0x02)==0x02? 1 : 0);      
     handler.write('A2', this.sensorData[7]);         
     handler.write('A3', this.sensorData[8]);
     handler.write('A4', this.sensorData[9]);

app/modules/jdcode.js

@@ -247,12 +247,12 @@ Module.prototype.handleLocalData = function(data) {
         				});
         				if(dongleData[1] == (sum&0xFF)){
         						deviceType = 2;
-        						sensorData[6] = true;
+        						sensorData[6] = 1;
         						sensorData[15] = dongleData[5];
         						sensorData[7] = dongleData[9];
         						sensorData[8] = dongleData[7];
         						sensorData[9] = dongleData[8];
-        						sensorData[10] = (dongleData[3]&0x03)? false : true;
+        						sensorData[10] = (dongleData[3]&0x03)? 0 : 1;
         						sensorData[16] = dongleData[10];
         						sensorData[17] = dongleData[11];
         						sensorData[18] = dongleData[12];

app/modules/robodog.js

@@ -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;
+}
+
+Module.prototype.init = function(handler, config) {
+};
+
+Module.prototype.requestInitialData = function() {
+	return null;
+};
+
+Module.prototype.checkInitialData = function(data, config) {
+	return true;
+};
+
+Module.prototype.validateLocalData = function(data) {
+	return true;
+};
+
+
+
+function checksum(cmd){
+    let sum = 0;
+
+    cmd.forEach(function (value, idx) {
+        if(idx > 5)
+            sum += value;
+    });
+    return sum&0xFF;
+}
+
+
+ /////////////// 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;
+		}
+
+		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;
+};
+
+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();

app/modules/robodog.json

@@ -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
+    }
+}