zumi-mini added

app/modules/robolink_ZumiMini.js

@@ -0,0 +1,282 @@
+const BaseModule = require('./baseModule');
+
+class ZumiMini extends BaseModule {
+
+    constructor() {
+        super();
+
+        this.HEADER1 = 0;
+        this.HEADER2 = 1;
+        this.COM = 2;
+        this.INFO = 2; //for recevied packet(reporter) type 
+        this.REQ = 3;
+        this.P_STAT = 4;       
+        this.IR = 5;
+        this.FD = 10;
+        this.CD = 13;
+        this.AD = 16;
+        this.EULER = 19;
+        this.MD = 22;
+        this.USER = 23;
+        this.CRC_L = 7;
+        this.CRC_H = 8;        
+        this.DELI1 = 9;
+        this.DELI2 = 10;       
+        this.PACKET_LENGTH = 30;
+
+        this.PARAM = 4;       
+        this.SEND_PACKET_LENGTH = 11;
+
+        this.DTYPE_FRONT_SENSOR = 1;
+        this.DTYPE_BOTTOM_SENSOR = 2;
+        this.DTYPE_FACE_DETECT = 3;
+        this.DTYPE_COLOR_DETECT = 4;
+        this.DTYPE_APRIL_DETECT = 5;
+        this.DTYPE_EULER = 6;
+
+        this.zInterval = false;
+        this.counter = 0;
+
+        this.foo = 0;
+        this.sp = null;
+
+        //data to Entry
+        this.inputData = {
+            pInfo: 0,
+            pSize: 0,
+            pStat: 0,           
+            irSensor: {
+                FL: 0,
+                FR: 0,
+                BL: 0,
+                BM: 0,
+                BR: 0,
+            },
+            faceDetect:{
+                DETECT: 0, 
+                CX : 0,
+                CY: 0,
+            },
+            colorDetect: {
+                COLOR: 0,
+                CX: 0,
+                CY: 0,
+            },
+            aprilDetect:{
+                ID: 0,
+                CX: 0,
+                CY: 0,
+            },
+            euler:{
+                ROLL: 0,
+                PITCH: 0,
+                YAW: 0,
+            },
+            motionDetect: 0,
+            userDefined:{
+                DETECT: 0,
+                CX: 0,
+                CY: 0,
+            }
+        };
+
+        //data from entry
+        this.dataFromEntry = {
+            com : 0,
+            req : 0,
+            speed: 0,
+            dir: 0,
+            dist: 0,            
+        };
+
+        this.sPacket = new Array(this.SEND_PACKET_LENGTH); 
+        for (var j = 0; j < this.SEND_PACKET_LENGTH; j++) {
+            this.sPacket[j] = 0x00;
+        }      
+
+    }
+
+    init(handler, config) {
+
+    }
+
+    requestInitialData(sp) {
+
+        return null;
+    }
+
+    // 연결 후 초기에 수신받아서 정상연결인지를 확인해야하는 경우 사용합니다.
+    checkInitialData(data, config) {
+
+        return true;
+    }
+
+    // optional. 하드웨어에서 받은 데이터의 검증이 필요한 경우 사용합니다.
+    validateLocalData(data) {
+
+        return true;
+    }
+
+    // 엔트리로 전달할 데이터
+    requestRemoteData(handler) {
+        //console.log('send hardware data to entry');
+        handler.write("inputData", this.inputData); 
+    }
+
+    crc16_ccitt(buf) {
+        var crcTable = [
+            0x0000, 0x1021, 0x2042, 0x3063, 0x4084, 0x50a5, 0x60c6, 0x70e7,
+            0x8108, 0x9129, 0xa14a, 0xb16b, 0xc18c, 0xd1ad, 0xe1ce, 0xf1ef,
+            0x1231, 0x0210, 0x3273, 0x2252, 0x52b5, 0x4294, 0x72f7, 0x62d6,
+            0x9339, 0x8318, 0xb37b, 0xa35a, 0xd3bd, 0xc39c, 0xf3ff, 0xe3de,
+            0x2462, 0x3443, 0x0420, 0x1401, 0x64e6, 0x74c7, 0x44a4, 0x5485,
+            0xa56a, 0xb54b, 0x8528, 0x9509, 0xe5ee, 0xf5cf, 0xc5ac, 0xd58d,
+            0x3653, 0x2672, 0x1611, 0x0630, 0x76d7, 0x66f6, 0x5695, 0x46b4,
+            0xb75b, 0xa77a, 0x9719, 0x8738, 0xf7df, 0xe7fe, 0xd79d, 0xc7bc,
+            0x48c4, 0x58e5, 0x6886, 0x78a7, 0x0840, 0x1861, 0x2802, 0x3823,
+            0xc9cc, 0xd9ed, 0xe98e, 0xf9af, 0x8948, 0x9969, 0xa90a, 0xb92b,
+            0x5af5, 0x4ad4, 0x7ab7, 0x6a96, 0x1a71, 0x0a50, 0x3a33, 0x2a12,
+            0xdbfd, 0xcbdc, 0xfbbf, 0xeb9e, 0x9b79, 0x8b58, 0xbb3b, 0xab1a,
+            0x6ca6, 0x7c87, 0x4ce4, 0x5cc5, 0x2c22, 0x3c03, 0x0c60, 0x1c41,
+            0xedae, 0xfd8f, 0xcdec, 0xddcd, 0xad2a, 0xbd0b, 0x8d68, 0x9d49,
+            0x7e97, 0x6eb6, 0x5ed5, 0x4ef4, 0x3e13, 0x2e32, 0x1e51, 0x0e70,
+            0xff9f, 0xefbe, 0xdfdd, 0xcffc, 0xbf1b, 0xaf3a, 0x9f59, 0x8f78,
+            0x9188, 0x81a9, 0xb1ca, 0xa1eb, 0xd10c, 0xc12d, 0xf14e, 0xe16f,
+            0x1080, 0x00a1, 0x30c2, 0x20e3, 0x5004, 0x4025, 0x7046, 0x6067,
+            0x83b9, 0x9398, 0xa3fb, 0xb3da, 0xc33d, 0xd31c, 0xe37f, 0xf35e,
+            0x02b1, 0x1290, 0x22f3, 0x32d2, 0x4235, 0x5214, 0x6277, 0x7256,
+            0xb5ea, 0xa5cb, 0x95a8, 0x8589, 0xf56e, 0xe54f, 0xd52c, 0xc50d,
+            0x34e2, 0x24c3, 0x14a0, 0x0481, 0x7466, 0x6447, 0x5424, 0x4405,
+            0xa7db, 0xb7fa, 0x8799, 0x97b8, 0xe75f, 0xf77e, 0xc71d, 0xd73c,
+            0x26d3, 0x36f2, 0x0691, 0x16b0, 0x6657, 0x7676, 0x4615, 0x5634,
+            0xd94c, 0xc96d, 0xf90e, 0xe92f, 0x99c8, 0x89e9, 0xb98a, 0xa9ab,
+            0x5844, 0x4865, 0x7806, 0x6827, 0x18c0, 0x08e1, 0x3882, 0x28a3,
+            0xcb7d, 0xdb5c, 0xeb3f, 0xfb1e, 0x8bf9, 0x9bd8, 0xabbb, 0xbb9a,
+            0x4a75, 0x5a54, 0x6a37, 0x7a16, 0x0af1, 0x1ad0, 0x2ab3, 0x3a92,
+            0xfd2e, 0xed0f, 0xdd6c, 0xcd4d, 0xbdaa, 0xad8b, 0x9de8, 0x8dc9,
+            0x7c26, 0x6c07, 0x5c64, 0x4c45, 0x3ca2, 0x2c83, 0x1ce0, 0x0cc1,
+            0xef1f, 0xff3e, 0xcf5d, 0xdf7c, 0xaf9b, 0xbfba, 0x8fd9, 0x9ff8,
+            0x6e17, 0x7e36, 0x4e55, 0x5e74, 0x2e93, 0x3eb2, 0x0ed1, 0x1ef0
+        ];
+
+        var crc = 0x0000;
+        var j, i;
+        for (i = 0; i < buf.length; i++) {
+            let c = buf[i];
+            if (c > 255) {
+                throw new RangeError();
+            }
+            j = (c ^ (crc >> 8)) & 0xFF;
+            crc = crcTable[j] ^ (crc << 8);
+        }
+        return ((crc ^ 0) & 0xFFFF);
+    }
+
+
+    // 엔트리에서 받은 데이터에 대한 처리
+    handleRemoteData(handler) {
+
+        //console.log('read data from entry');
+
+        Object.keys(this.dataFromEntry).forEach((port) => {
+            this.dataFromEntry[port] = handler.read(port);
+        });        
+
+        this.sPacket[this.HEADER1] = 0x24;
+        this.sPacket[this.HEADER2] = 0x52;       
+        this.sPacket[this.COM] = this.dataFromEntry.com;
+        this.sPacket[this.REQ] = this.dataFromEntry.req;
+        this.sPacket[this.PARAM] = this.dataFromEntry.speed;
+        this.sPacket[this.PARAM + 1] = this.dataFromEntry.dist;
+        this.sPacket[this.PARAM + 2] = this.dataFromEntry.dir;        
+
+        var crcBuff = this.sPacket.slice(2, this.SEND_PACKET_LENGTH - 4);
+        var crc16 = this.crc16_ccitt(crcBuff);
+        var crcL = crc16 & 0x00FF;
+        var crcH = (crc16 & 0xFF00) >> 8;
+
+        this.sPacket[this.CRC_L] = crcL;
+        this.sPacket[this.CRC_H] = crcH;
+        this.sPacket[this.DELI1] = 0xFF;
+        this.sPacket[this.DELI2] = 0xFF;      
+
+    }
+
+
+    //하드웨어에 전달할 데이터
+    requestLocalData() {
+        //console.log('send packet to hardware');
+
+        /*
+        if(this.zInterval == true) {
+            this.sPacket[this.HEADER1] = 0x24;
+            this.sPacket[this.HEADER2] = 0x52;
+            this.zInterval = false;                    
+        }
+        else {
+            this.sPacket[this.HEADER1] = 0x00;
+            this.sPacket[this.HEADER2] = 0x00;           
+        } 
+        */    
+
+        //for (var j = 0; j < this.SEND_PACKET_LENGTH; j++) {
+        //    process.stdout.write(" " + this.sPacket[j].toString(16));
+        //} 
+        //console.log(" ");    
+
+        return this.sPacket;
+    }
+
+    // 하드웨어에서 온 데이터 처리
+    handleLocalData(data) {
+
+        console.log('receive packet from hardware'); 
+        for (var j = 0; j < data.length; j++) {
+            process.stdout.write(" " + data[j].toString(16));
+        //    //process.stdout.write(" " + String.fromCharCode(data[j]));
+        }
+        console.log(" "); 
+
+        if ((data[this.HEADER1] == 0x24)&&(data[this.HEADER2] == 0x52)) {
+
+            if (data.length < (this.PACKET_LENGTH - 4)) return;
+
+            //if (data[this.PARAM] == 0x00) this.inputData.pStat = "READY";
+            //else if (data[this.PARAM] == 0x01) this.inputData.pStat = "PROCESS";
+            //else if (data[this.PARAM] == 0x02) this.inputData.pStat = "ACK";
+            this.inputData.pInfo = data[this.INFO];
+            this.inputData.pSize = data[this.P_SIZE];
+            this.inputData.pStat = data[this.P_STAT]; 
+            this.inputData.irSensor.FL = data[this.IR];
+            this.inputData.irSensor.FR = data[this.IR + 1];           
+            this.inputData.irSensor.BL = data[this.IR + 2];
+            this.inputData.irSensor.BM = data[this.IR + 3];
+            this.inputData.irSensor.BR = data[this.IR + 4];
+            this.inputData.faceDetect.DETECT = data[this.FD];
+            this.inputData.faceDetect.CX = data[this.FD + 1];
+            this.inputData.faceDetect.CY = data[this.FD + 2];
+            this.inputData.colorDetect.COLOR = data[this.CD];
+            this.inputData.colorDetect.CX = data[this.CD + 1];
+            this.inputData.colorDetect.CY = data[this.CD + 2];
+            this.inputData.aprilDetect.ID = data[this.AD];
+            this.inputData.aprilDetect.CX = data[this.AD + 1];
+            this.inputData.aprilDetect.CY = data[this.AD + 2];
+            this.inputData.euler.ROLL = data[this.EULER];            
+            this.inputData.euler.PITCH = data[this.EULER + 1];
+            this.inputData.euler.YAW = data[this.EULER + 2];
+            this.inputData.motionDetect = data[this.MD];
+            this.inputData.userDefined.DETECT = data[this.USER];
+            this.inputData.userDefined.CX= data[this.USER + 1];
+            this.inputData.userDefined.CY = data[this.USER + 2];
+
+            this.counter++;
+            if (this.counter > 255) this.counter = 0;
+
+            //console.log("PSTAT:" + this.inputData.pStat + " FL:" + this.inputData.irSensor.FL + " FR: " + this.inputData.irSensor.FR);
+            //this.zInterval = true;
+        }
+    }
+
+}
+
+module.exports = new ZumiMini();

app/modules/robolink_ZumiMini.json

@@ -0,0 +1,34 @@
+{
+    "id": "FFFF01",
+    "name": {
+        "en": "Robolink zumi mini",
+        "ko": "로보링크 주미 미니"
+    },
+    "category": "robot",
+    "platform": ["win32"],
+    "icon": "robolink_ZumiMini.png",
+    "module": "robolink_ZumiMini.js",
+    "driver": {
+        "win32-ia32": "CH34x_install_Windows_v3_4/CH34x_install_Windows_v3_4.EXE",
+        "win32-x64": "CH34x_install_Windows_v3_4/CH34x_install_Windows_v3_4.EXE"
+    },
+    "url": "https://www.robolink.co.kr/",
+    "email": "[email protected]",
+    "reconnect": true, 
+    "selectPort": true,
+    "hardware": {
+        "type": "serial",
+        "control": "master",  
+        "scanType": "data",     
+        "duration": 50,
+        "baudRate": 115200,
+        "parity": "none",
+        "dataBits": 8,
+        "stopBits": 1,
+        "byteDelimiter": [255, 255],
+        "vendor": "robolink",       
+        "firmwarecheck": false,
+        "bufferSize": 1024,
+        "flowControl": "none"
+    }
+}