Merge pull request #699 from RoboroboLab/develop-hw

robokit rs 동작 오류 수정 및 리팩터링
entrylabs · Jan 18, 2024 · ae1d8f4 · ae1d8f4
2 parents 26d11fa + 838af54
commit ae1d8f4
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Showing 7 changed files with 3,554 additions and 3,896 deletions.
diff --git a/app/firmwares/roborobo_cube.hex b/app/firmwares/roborobo_cube.hex
diff --git a/app/firmwares/roborobo_robokit_rs.hex b/app/firmwares/roborobo_robokit_rs.hex
diff --git a/app/modules/roborobo_base.js b/app/modules/roborobo_base.js
@@ -134,7 +134,7 @@ class ArduinoBase extends BaseModule {
      * 이 두 함수가 정의되어있어야 로직이 동작합니다. 필요없으면 작성하지 않아도 됩니다.
      */
     requestInitialData () {
-        return this.getRequestAllVersionCommand();
+        return this._getRequestAllVersionCommand();
     }
 
     /**
@@ -178,7 +178,7 @@ class ArduinoBase extends BaseModule {
         if (time >= 3000) {
             this._serialPort.close();
         } else if (time >= 1000) {
-            buffer.push(...this.requestInitialData());
+            buffer.push(...this._getConnectionCheckCommand());
         }
         return buffer;
     }
@@ -187,7 +187,6 @@ class ArduinoBase extends BaseModule {
     handleLocalData (data) {
         this._receiveBuffer.push(...data);
         this._lastTime = Date.now();
-
         while (this._receiveBuffer.length > 0) {
             const length = this._receiveBuffer.length;
             this._processReceiveData(this._receiveBuffer);
@@ -272,6 +271,10 @@ class ArduinoBase extends BaseModule {
         throw new Error('재정의 필요');
     }
 
+    _getConnectionCheckCommand () {
+        return this._getRequestBatteryVoltageCommand();
+    }
+
     /**
      * 장치 초기화 명령어 반환
      */
@@ -296,7 +299,7 @@ class ArduinoBase extends BaseModule {
     /**
      * 전체 버전 요청
      */
-    getRequestAllVersionCommand () {
+    _getRequestAllVersionCommand () {
         return [SysexCMD.START, SysexCMD.GET, Instruction.GET_VERSION, 0x00, SysexCMD.END];
     }
 

diff --git a/app/modules/roborobo_cube.js b/app/modules/roborobo_cube.js
@@ -33,11 +33,8 @@ class Cube extends ArduinoBase {
         this._setSensorMode(0);
     }
 
-    /**
-     * @override
-     */
     requestInitialData () {
-        return this.getRequestAllVersionCommand();
+        return super.requestInitialData();
     }
 
     checkInitialData (data, config) {
@@ -92,7 +89,14 @@ class Cube extends ArduinoBase {
      * @override
      */
     get targetVersion () {
-        return {model: 65, hardware: 1, firmware: 16};
+        return {model: 65, hardware: 1, firmware: 18};
+    }
+
+    /**
+     * @override
+     */
+    _getConnectionCheckCommand () {
+        return this._getRequestAllVersionCommand();
     }
 
     /**

diff --git a/app/modules/roborobo_robokit_rs.js b/app/modules/roborobo_robokit_rs.js
@@ -109,7 +109,11 @@ class RobokitRS extends ArduinoBase {
      * @override
      */
     get targetVersion () {
-        return {model: 0, hardware: 10, firmware: 28}
+        return {model: 0, hardware: 10, firmware: 30};
+    }
+
+    _getConnectionCheckCommand () {
+        return super._getConnectionCheckCommand();
     }
 
     /**
@@ -308,7 +312,7 @@ class State extends ArduinoStateBase {
                 z: 0
             },
             shake: 0,
-        }
+        };
     }
 }
 

diff --git a/app/modules/roborobo_roduino.js b/app/modules/roborobo_roduino.js
@@ -30,7 +30,7 @@ class Roduino extends ArduinoBase {
     }
 
     requestInitialData () {
-        return this.getRequestAllVersionCommand();
+        return super.requestInitialData();
     }
 
     checkInitialData (data, config) {
@@ -83,6 +83,13 @@ class Roduino extends ArduinoBase {
         return {model: 1, hardware: 1, firmware: 2};
     }
 
+    /**
+     * @override
+     */
+    _getConnectionCheckCommand () {
+        return this._getRequestAllVersionCommand();
+    }
+
     /**
      * @override
      */

diff --git a/app/modules/roborobo_roe.js b/app/modules/roborobo_roe.js
@@ -86,26 +86,8 @@ class RoE extends ArduinoBase {
         return super.validateLocalData(data);
     }
 
-    /**
-     * @override
-     */
     requestLocalData () {
-        const buffer = [];
-        for (let i = 0; i < this._sendBuffer.length; i++) {
-            const bytes = this._sendBuffer.shift();
-            if (bytes && bytes.length > 0) {
-                buffer.push(...bytes);
-            }
-        }
-
-        //  연결 상태 유지 
-        const time = Date.now() - this._lastTime;
-        if (time >= 3000) {
-            this._serialPort.close();
-        } else if (time >= 1000) {
-            buffer.push(...this.getRequestAllVersionCommand());
-        }
-        return buffer;
+        return super.requestLocalData();
     }
 
     handleLocalData (data) {
@@ -165,6 +147,13 @@ class RoE extends ArduinoBase {
         return {model: 64, hardware: 1, firmware: 26};
     }
 
+    /**
+     * @override
+     */
+    _getConnectionCheckCommand () {
+        return this._getRequestAllVersionCommand();
+    }
+
     /**
         * 실시간: 0, 카드리더모드: 3, 정지:5, 컬러보정모드:6, 자이로센서 기본자세:7, 라인트레이싱: 8, 연결해제: 127
         * @param {any} mode