diff --git a/app/modules/robolink_ZumiMini.js b/app/modules/robolink_ZumiMini.js new file mode 100644 index 000000000..27997ada8 --- /dev/null +++ b/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(); \ No newline at end of file diff --git a/app/modules/robolink_ZumiMini.json b/app/modules/robolink_ZumiMini.json new file mode 100644 index 000000000..139fd67fe --- /dev/null +++ b/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": "asteam@robolink.co.kr", + "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" + } +} \ No newline at end of file diff --git a/app/modules/robolink_ZumiMini.png b/app/modules/robolink_ZumiMini.png new file mode 100644 index 000000000..5c70b61b4 Binary files /dev/null and b/app/modules/robolink_ZumiMini.png differ