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Merge pull request #788 from tlegaion/develop-hw
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change workflow, start when hit when-run button
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@Tnks2U
Tnks2U authored Nov 21, 2024
2 parents e052ab7 + 9b9e154 commit e864f27
Showing 1 changed file with 59 additions and 54 deletions.
113 changes: 59 additions & 54 deletions app/modules/whalesbot_eagle_1001.js
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Original file line number Diff line number Diff line change
Expand Up @@ -5,7 +5,7 @@ class WhalebotsEagle1001 extends BaseModule {
// Declare the fields to be used inside the class.
constructor() {
super();

this.sp = null;
this.isConnect = false;

Expand Down Expand Up @@ -38,18 +38,18 @@ class WhalebotsEagle1001 extends BaseModule {
'Stop': 2,
}
this.runCode = [
0x77,0x78,0x66,0x1,0x2,0x2,0x3,0x3,0x4,0x4,0x5,0x5,
0x6,0x6,0x7,0x7,0x8,0x8,0x9,0x9,0xa,0xa,0xb,0xb,0xc,0xc,
0x77,0x78,0x66,0x1,0x2,0x2,0x3,0x3,0x4,0x4,0x5,0x5,
0x6,0x6,0x7,0x7,0x8,0x8,0x9,0x9,0xa,0xa,0xb,0xb,0xc,0xc,
0xd,0xd,0xe,0xe,0xf,0xf,0x10,0x10,0x11,0x11,0x12,0x12,0x13,
0x13,0x14,0x14,0x15,0x15,0x16,0x16,0x17,0x17,0x18,0x18,
0x19,0x19,0x1a,0x1a,0x1b,0x1b,0x1c,0x1c,0x1d,0x1d,0x1e,0x1e,
0x1f,0x1f,0x20,0x20,0x21,0x21,0x22,0x22,0x23,0x23,0x24,0x24,
0x25,0x25,0x26,0x26,0x27,0x27,0x28,0x28,0x29,0x29,0x2a,0x2a,
0x2b,0x2b,0x2c,0x2c,0x2d,0x2d,0x2e,0x2e,0x2f,0x2f,0x30,0x30,
0x31,0x31,0x32,0x32,0x33,0x33,0x34,0x34,0x35,0x35,0x36,0x36,
0x37,0x37,0x38,0x38,0x39,0x39,0x3a,0x3a,0x3b,0x3b,0x3c,0x3c,
0x3d,0x3d,0x3e,0x3e,0x3f,0x3f,0x40,0x40,0x41,0x41,0x42,0x42,
0x43,0x43,0x44,0x44,0x45,0x45,0x46,0x46,0x47,0x47,0x48,0x48,
0x13,0x14,0x14,0x15,0x15,0x16,0x16,0x17,0x17,0x18,0x18,
0x19,0x19,0x1a,0x1a,0x1b,0x1b,0x1c,0x1c,0x1d,0x1d,0x1e,0x1e,
0x1f,0x1f,0x20,0x20,0x21,0x21,0x22,0x22,0x23,0x23,0x24,0x24,
0x25,0x25,0x26,0x26,0x27,0x27,0x28,0x28,0x29,0x29,0x2a,0x2a,
0x2b,0x2b,0x2c,0x2c,0x2d,0x2d,0x2e,0x2e,0x2f,0x2f,0x30,0x30,
0x31,0x31,0x32,0x32,0x33,0x33,0x34,0x34,0x35,0x35,0x36,0x36,
0x37,0x37,0x38,0x38,0x39,0x39,0x3a,0x3a,0x3b,0x3b,0x3c,0x3c,
0x3d,0x3d,0x3e,0x3e,0x3f,0x3f,0x40,0x40,0x41,0x41,0x42,0x42,
0x43,0x43,0x44,0x44,0x45,0x45,0x46,0x46,0x47,0x47,0x48,0x48,
0x49,0x49,0x4a,0x4a,0x4b,0x4b,0x0,0x56
];

Expand Down Expand Up @@ -278,7 +278,7 @@ class WhalebotsEagle1001 extends BaseModule {
requestLocalData() {
return null;
}

// Data processing from hardware
handleLocalData(data) {
// console.log("data received: ",data);
Expand All @@ -287,7 +287,7 @@ class WhalebotsEagle1001 extends BaseModule {
this.checkGetState(data)
return;
}

this.waitRevData(data);
}

Expand All @@ -303,7 +303,7 @@ class WhalebotsEagle1001 extends BaseModule {
isLockGetState(){
return this.lock;
}

connectDrone(){
this.getStateInterval = setInterval(()=>{
if(this.countDroneConnectionAttempt == 0 || !this.isLockGetState()){
Expand All @@ -313,7 +313,7 @@ class WhalebotsEagle1001 extends BaseModule {
if( this.countDroneConnectionAttempt == 4){
// console.log("Connection failed");
this.countDroneConnectionAttempt = 0 ;
clearInterval(this.getStateInterval);
clearInterval(this.getStateInterval);
return
}
}
Expand All @@ -322,7 +322,7 @@ class WhalebotsEagle1001 extends BaseModule {
// console.log("Drone is connected")
this.isDroneConnection = true;
this.countDroneConnectionAttempt = 0 ;
clearInterval(this.getStateInterval);
clearInterval(this.getStateInterval);
}
}
},this.getStateTimeSleep)
Expand Down Expand Up @@ -430,8 +430,8 @@ class WhalebotsEagle1001 extends BaseModule {
{
for(let i=0;i<=chunkData.length-1;i++)
{
if(chunkData[i] == 0xff
&& chunkData[i+1] == 0x42
if(chunkData[i] == 0xff
&& chunkData[i+1] == 0x42
&& chunkData[i+2] == 0x43
&& chunkData[i+3] == 0x43
&& chunkData[i+4] == 0x44
Expand Down Expand Up @@ -460,7 +460,7 @@ class WhalebotsEagle1001 extends BaseModule {
ret[this.BT_INDEX_CMD_SEND] = this.BT_CMD_DOWNLOAD;
ret[this.BT_INDEX_DATA_SEND] = nowdwpack & 0x000000ff;
ret[this.BT_INDEX_DATA_SEND + 1] = ((nowdwpack & 0x0000ff00) / 256) | 0;

if (nowdwpack * this.packlen > Picocode.length) {
ret[this.BT_INDEX_CMD_SEND] = this.BT_CMD_DOWNLOAD_END;
}
Expand Down Expand Up @@ -499,16 +499,16 @@ class WhalebotsEagle1001 extends BaseModule {
Errcode2Msg(ErrorCode) {
return this.errorMessages[ErrorCode] || ""
}

ErrFly2String(ErrFly) {
let msg=""
const ERR_NONE =0
const ERR_LOWBATT =this.BIT0
const ERR_CODE =this.BIT1
const ERR_TEMP =this.BIT3
const ERR_SENSORS =this.BIT4
const ERR_LOADER =this.BIT5
const ERR_ANGLE =this.BIT6
const ERR_NONE =0
const ERR_LOWBATT =this.BIT0
const ERR_CODE =this.BIT1
const ERR_TEMP =this.BIT3
const ERR_SENSORS =this.BIT4
const ERR_LOADER =this.BIT5
const ERR_ANGLE =this.BIT6
if (ErrFly == ERR_NONE){
msg=msg +"NO_Error"

Expand Down Expand Up @@ -536,25 +536,25 @@ class WhalebotsEagle1001 extends BaseModule {

Sensor2String() {
let SPLIT_STRING = "------------------------------------\n"
let msg = "STATE_PITCH= " + (Math.round(this.sensor.Pitch, 3)).toString() + "\n"
msg = msg + "STATE_ROLL= " + (Math.round(this.sensor.Roll, 3)).toString() + "\n"
msg = msg + "STATE_YAW= " + (Math.round(this.sensor.Yaw, 3)).toString() + "\n"
let msg = "STATE_PITCH= " + (Math.round(this.sensor.Pitch, 3)).toString() + "\n"
msg = msg + "STATE_ROLL= " + (Math.round(this.sensor.Roll, 3)).toString() + "\n"
msg = msg + "STATE_YAW= " + (Math.round(this.sensor.Yaw, 3)).toString() + "\n"
msg = msg + SPLIT_STRING
msg = msg + "STATE_TEMP= " + (Math.round(this.sensor.SPL06_temp, 3)).toString() + "\n"
msg = msg + "FusedHeight= " + (Math.round(this.sensor.FusedHeight, 3)).toString() + "\n"
msg = msg + "BATTERY= " + (Math.round(this.sensor.Battery, 3)).toString() + "\n"
msg = msg + "VER= " + this.VERSTR() + "\n"

msg = msg + "STATE_TEMP= " + (Math.round(this.sensor.SPL06_temp, 3)).toString() + "\n"

msg = msg + "FusedHeight= " + (Math.round(this.sensor.FusedHeight, 3)).toString() + "\n"

msg = msg + "BATTERY= " + (Math.round(this.sensor.Battery, 3)).toString() + "\n"

msg = msg + "VER= " + this.VERSTR() + "\n"
msg = msg + SPLIT_STRING
msg = msg + "FLY_ERR= " + this.ErrFly2String(parseInt(this.sensor.ErrFly)) + "\n"
msg = msg + "LINE_NO= " + (this.sensor.LineNo) + "\n"
msg = msg + "ERROR_NO= " + (this.sensor.LineError) + "\n"
msg = msg + "ERROR_MSG= " + this.Errcode2Msg(this.sensor.ErrorCode) + "\n"
msg = msg + "DEBUG1= " + (Math.round(this.sensor.Debug_0, 6)).toString() + "\n"
msg = msg + "FLY_ERR= " + this.ErrFly2String(parseInt(this.sensor.ErrFly)) + "\n"
msg = msg + "LINE_NO= " + (this.sensor.LineNo) + "\n"
msg = msg + "ERROR_NO= " + (this.sensor.LineError) + "\n"
msg = msg + "ERROR_MSG= " + this.Errcode2Msg(this.sensor.ErrorCode) + "\n"

msg = msg + "DEBUG1= " + (Math.round(this.sensor.Debug_0, 6)).toString() + "\n"
msg = msg + "DEBUG2= " + (Math.round(this.sensor.Debug_1, 6)).toString() + "\n"
msg = msg + "DEBUG3= " + (Math.round(this.sensor.Debug_2, 6)).toString() + "\n"
msg = msg + "DEBUG4= " + (Math.round(this.sensor.Debug_3, 6)).toString() + "\n"
Expand All @@ -566,12 +566,12 @@ class WhalebotsEagle1001 extends BaseModule {
byte2float(offset) {
let buffer = new ArrayBuffer(4);
let view = new DataView(buffer);

view.setUint8(3, this.revdata[offset + 0]);
view.setUint8(2, this.revdata[offset + 1]);
view.setUint8(1, this.revdata[offset + 2]);
view.setUint8(0, this.revdata[offset + 3]);

return view.getFloat32(0, false);
}

Expand All @@ -588,7 +588,7 @@ class WhalebotsEagle1001 extends BaseModule {
}
}
}
}
}

if (revdata[this.BT_INDEX_CMD_REV] === this.BT_CMD_DOWNLOAD || revdata[this.BT_INDEX_CMD_REV] === this.BT_CMD_DOWNLOAD_END) {
let isrevsame = true;
Expand Down Expand Up @@ -634,21 +634,21 @@ class WhalebotsEagle1001 extends BaseModule {
this.sensor.M2 = parseInt(revdata[this.BT_INDEX_DATA_REV + 17 * 4 + 1])
this.sensor.M3 = parseInt(revdata[this.BT_INDEX_DATA_REV + 17 * 4 + 2])
this.sensor.M4 = parseInt(revdata[this.BT_INDEX_DATA_REV + 17 * 4 + 3])

this.sensor.state_velocity_x = this.byte2float(this.BT_INDEX_DATA_REV + 18 * 4)
this.sensor.state_velocity_y = this.byte2float(this.BT_INDEX_DATA_REV + 19 * 4)
this.sensor.state_velocity_z = this.byte2float(this.BT_INDEX_DATA_REV + 20 * 4)

this.sensor.Debug_0 = this.byte2float(this.BT_INDEX_DATA_REV + 21 * 4)
this.sensor.Debug_1 = this.byte2float(this.BT_INDEX_DATA_REV + 22 * 4)
this.sensor.Debug_2 = this.byte2float(this.BT_INDEX_DATA_REV + 23 * 4)
this.sensor.Debug_3 = this.byte2float(this.BT_INDEX_DATA_REV + 24 * 4)
this.sensor.Debug_4 = this.byte2float(this.BT_INDEX_DATA_REV + 25 * 4)
this.sensor.Debug_5 = this.byte2float(this.BT_INDEX_DATA_REV + 26 * 4)
this.sensor.FusedHeight = this.byte2float(this.BT_INDEX_DATA_REV + 27 * 4)

this.sensor.VER = parseInt(revdata[this.BT_INDEX_DATA_REV + 28 * 4 + 0])
this.sensor.ErrFly = parseInt(revdata[this.BT_INDEX_DATA_REV + 28 * 4 + 1])
this.sensor.ErrFly = parseInt(revdata[this.BT_INDEX_DATA_REV + 28 * 4 + 1])
let msg = this.Sensor2String();
// console.log(msg);
}
Expand Down Expand Up @@ -706,7 +706,7 @@ class WhalebotsEagle1001 extends BaseModule {
}

// processing of data received from the entry
handleRemoteData(handler) {
async handleRemoteData(handler) {
const cmd = handler.serverData.cmd;

if (!cmd) {
Expand All @@ -728,7 +728,12 @@ class WhalebotsEagle1001 extends BaseModule {
this.HandleRun();
break;
default:
this.downloadCode(cmd);
await this.handleClean();
await this.sleep(3000);
await this.downloadCode(cmd);
await this.sleep(4000);
await this.HandleRun();
await this.sleep(3000);
break;
}
} catch (error) {
Expand Down

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