From 60fb2240a5217253a155a6b13ee93e4bb8b078fd Mon Sep 17 00:00:00 2001 From: TaeJuneJoung Date: Tue, 27 Aug 2024 18:42:10 +0900 Subject: [PATCH 01/14] =?UTF-8?q?:sparkles:=EB=84=A4=EC=98=A4=ED=94=BD?= =?UTF-8?q?=EC=85=80=20=EA=B8=B0=EB=8A=A5=20=EC=B6=94=EA=B0=80?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- app/modules/neo_cannon.js | 98 +++++++++++++++++++++++++++++++-------- 1 file changed, 78 insertions(+), 20 deletions(-) diff --git a/app/modules/neo_cannon.js b/app/modules/neo_cannon.js index 3974b63e1..ce1d004c0 100644 --- a/app/modules/neo_cannon.js +++ b/app/modules/neo_cannon.js @@ -1,6 +1,7 @@ function Module() { - this.tx_max_len = 14; + this.tx_max_len = 68; this.tx_data = new Array(this.tx_max_len); + this.PIXEL_NUM = 18; this.sensor_data = { vibe: 0, @@ -16,6 +17,26 @@ function Module() { d9: 0, d10: 0, angle_state: 0, + neopixel: [ + { r: 0, g: 0, b: 0 }, + { r: 0, g: 0, b: 0 }, + { r: 0, g: 0, b: 0 }, + { r: 0, g: 0, b: 0 }, + { r: 0, g: 0, b: 0 }, + { r: 0, g: 0, b: 0 }, + { r: 0, g: 0, b: 0 }, + { r: 0, g: 0, b: 0 }, + { r: 0, g: 0, b: 0 }, + { r: 0, g: 0, b: 0 }, + { r: 0, g: 0, b: 0 }, + { r: 0, g: 0, b: 0 }, + { r: 0, g: 0, b: 0 }, + { r: 0, g: 0, b: 0 }, + { r: 0, g: 0, b: 0 }, + { r: 0, g: 0, b: 0 }, + { r: 0, g: 0, b: 0 }, + { r: 0, g: 0, b: 0 }, + ], }; this.sensorValueSize = { @@ -38,45 +59,47 @@ const NEOCANNON = { D9: 'd9', D10: 'd10', ANGLE_STATE: 'angleState', + NEOPIXEL: 'neopixel', }; -Module.prototype.init = function(handler, config) {}; +Module.prototype.init = function (handler, config) {}; -Module.prototype.setSerialPort = function(sp) { +Module.prototype.setSerialPort = function (sp) { this.sp = sp; }; -Module.prototype.requestInitialData = function() { +Module.prototype.requestInitialData = function () { const txData = this.tx_data; + const dataLen = this.tx_max_len; txData[0] = 0xff; - txData[1] = 0x0e; + txData[1] = 0x44; txData[2] = 0x01; txData[3] = 0x03; - for (let i = 4; i < this.tx_max_len - 2; i++) { + for (let i = 4; i < dataLen - 2; i++) { txData[i] = 0; } - txData[12] = 0x4; - txData[13] = 0xa; + txData[dataLen - 2] = 0x4; + txData[dataLen - 1] = 0xa; return txData; }; -Module.prototype.checkInitialData = function(data, config) { +Module.prototype.checkInitialData = function (data, config) { return true; }; -Module.prototype.afterConnect = function(that, cb) { +Module.prototype.afterConnect = function (that, cb) { that.connected = true; if (cb) { cb('connected'); } }; -Module.prototype.validateLocalData = function(data) { +Module.prototype.validateLocalData = function (data) { return true; }; /* 엔트리HW -> 엔트리JS */ -Module.prototype.requestRemoteData = function(handler) { +Module.prototype.requestRemoteData = function (handler) { const sensorData = this.sensor_data; for (const key in sensorData) { handler.write(key, sensorData[key]); @@ -84,7 +107,7 @@ Module.prototype.requestRemoteData = function(handler) { }; /** 엔트리JS -> 엔트리HW */ -Module.prototype.handleRemoteData = function(handler) { +Module.prototype.handleRemoteData = function (handler) { const workerData = this.worker_data; let newValue; @@ -136,18 +159,46 @@ Module.prototype.handleRemoteData = function(handler) { workerData.angle_state = newValue; } + if (handler.e(NEOCANNON.NEOPIXEL)) { + newValue = handler.read(NEOCANNON.NEOPIXEL); + if (newValue.data) { + const red = newValue.data.red; + const green = newValue.data.green; + const blue = newValue.data.blue; + + if (newValue.data.num) { + const num = newValue.data.num; + workerData.neopixel[num].r = red; + workerData.neopixel[num].g = green; + workerData.neopixel[num].b = blue; + } else { + for (let i = 0; i < this.PIXEL_NUM; i++) { + workerData.neopixel[i].r = red; + workerData.neopixel[i].g = green; + workerData.neopixel[i].b = blue; + } + } + } else { + for (let i = 0; i < this.PIXEL_NUM; i++) { + workerData.neopixel[i].r = 0; + workerData.neopixel[i].g = 0; + workerData.neopixel[i].b = 0; + } + } + } + this.worker_data = workerData; }; /* 엔트리HW -> 교구 */ -Module.prototype.requestLocalData = function() { +Module.prototype.requestLocalData = function () { const workerData = this.worker_data; const txData = this.tx_data; let checkSum = 0; const dataLen = txData.length; txData[0] = 0xff; - txData[1] = 0x0e; + txData[1] = 0x44; txData[2] = 0x01; txData[3] = 0x03; txData[4] = workerData.buz_octave; @@ -158,7 +209,14 @@ Module.prototype.requestLocalData = function() { txData[9] = workerData.d9; txData[10] = workerData.d10; txData[11] = workerData.angle_state; - txData[13] = 0xa; + + for (let i = 0; i < this.PIXEL_NUM; i++) { + txData[i * 3 + 12] = workerData.neopixel[i].r; + txData[i * 3 + 13] = workerData.neopixel[i].g; + txData[i * 3 + 14] = workerData.neopixel[i].b; + } + + txData[dataLen - 1] = 0xa; for (let i = 2; i < dataLen - 2; i++) { checkSum += txData[i]; @@ -171,7 +229,7 @@ Module.prototype.requestLocalData = function() { }; /* 교구 -> 엔트리HW */ -Module.prototype.handleLocalData = function(data) { +Module.prototype.handleLocalData = function (data) { const datas = this.getDataByBuffer(data); const sensorData = this.sensor_data; @@ -199,7 +257,7 @@ Module.prototype.handleLocalData = function(data) { this.sensor_data = sensorData; }; -Module.prototype.getDataByBuffer = function(buffer) { +Module.prototype.getDataByBuffer = function (buffer) { const datas = []; let lastIndex = 0; buffer.forEach((value, idx) => { @@ -211,14 +269,14 @@ Module.prototype.getDataByBuffer = function(buffer) { return datas; }; -Module.prototype.disconnect = function(connect) { +Module.prototype.disconnect = function (connect) { connect.close(); if (this.sp) { delete this.sp; } }; -Module.prototype.reset = function() { +Module.prototype.reset = function () { this.lastTime = 0; this.lastSendTime = 0; }; From 4a700c940c95b02b85fa120e7024ad37a4645e06 Mon Sep 17 00:00:00 2001 From: Jason Kim Date: Thu, 29 Aug 2024 21:53:54 +0900 Subject: [PATCH 02/14] =?UTF-8?q?=EC=8A=A4=EB=A7=88=ED=8A=B8=ED=8C=9C=20?= =?UTF-8?q?=EB=A1=9C=EB=B4=87=20=EC=A0=84=EC=9A=A9=EB=B8=94=EB=A1=9D(read?= =?UTF-8?q?=20=EB=B8=94=EB=A1=9D)=20=EC=B6=94=EA=B0=80?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- app/modules/robotis_RB100_practice.js | 59 ++++++++++++++------------- 1 file changed, 30 insertions(+), 29 deletions(-) diff --git a/app/modules/robotis_RB100_practice.js b/app/modules/robotis_RB100_practice.js index deb5f7195..b78976ee1 100644 --- a/app/modules/robotis_RB100_practice.js +++ b/app/modules/robotis_RB100_practice.js @@ -842,39 +842,40 @@ const addrMap = [ [69,8,502], [77,1,700], [78,1,810], - [79,1,5015], - [80,1,5030], - [81,1,5031], - [82,1,5040], + [79,1,2134], + [80,1,5015], + [81,1,5030], + [82,1,5031], + [83,1,5040], ]; const addrMap2 = [ - [152,1,4000], - [153,2,4003], - [155,1,4005], - [156,1,4006], - [157,2,4009], - [159,2,4011], - [161,2,4013], - [163,2,4015], - [165,2,4017], - [167,2,4019], - [169,2,4021], - [171,2,4023], - [173,2,4025], - [175,2,4027], - [177,1,4031], - [178,1,4032], - [179,1,4033], - [180,2,4036], - [182,2,4038], - [184,2,4040], - [186,2,4042], - [188,2,4044], - [190,2,4046], - [192,2,4048], - [194,2,4050], + [153,1,4000], + [154,2,4003], + [156,1,4005], + [157,1,4006], + [158,2,4009], + [160,2,4011], + [162,2,4013], + [164,2,4015], + [166,2,4017], + [168,2,4019], + [170,2,4021], + [172,2,4023], + [174,2,4025], + [176,2,4027], + [178,1,4031], + [179,1,4032], + [180,1,4033], + [181,2,4036], + [183,2,4038], + [185,2,4040], + [187,2,4042], + [189,2,4044], + [191,2,4046], + [193,2,4048], + [195,2,4050], ]; //const rxPacket = Object.assign({}, packet); From 5385edec852da1b446483172dd301cc75670b22d Mon Sep 17 00:00:00 2001 From: TaeJuneJoung Date: Tue, 3 Sep 2024 13:47:12 +0900 Subject: [PATCH 03/14] =?UTF-8?q?:fire:Neopixel=20issue=ED=95=B4=EA=B2=B0?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- app/modules/neo_cannon.js | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/app/modules/neo_cannon.js b/app/modules/neo_cannon.js index ce1d004c0..25765e8d8 100644 --- a/app/modules/neo_cannon.js +++ b/app/modules/neo_cannon.js @@ -166,7 +166,7 @@ Module.prototype.handleRemoteData = function (handler) { const green = newValue.data.green; const blue = newValue.data.blue; - if (newValue.data.num) { + if (newValue.data.num !== undefined) { const num = newValue.data.num; workerData.neopixel[num].r = red; workerData.neopixel[num].g = green; From bfaf71c90cd7af07654f3a319a11e8f9add3604f Mon Sep 17 00:00:00 2001 From: Jason Kim Date: Tue, 3 Sep 2024 15:39:29 +0900 Subject: [PATCH 04/14] =?UTF-8?q?DXL=20=EC=9C=84=EC=B9=98=EA=B0=92,=20?= =?UTF-8?q?=EA=B5=90=EC=B0=A8=EB=A1=9C=EC=9C=A0=ED=98=95,=20=EC=84=BC?= =?UTF-8?q?=EC=84=9C=EA=B0=92=20=EC=A0=80=EC=9E=A5=EC=9C=84=EC=B9=98=20?= =?UTF-8?q?=EC=98=A4=EB=A5=98=20=EC=88=98=EC=A0=95?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- app/modules/robotis_RB100_practice.js | 33 ++++++++++++++++++--------- 1 file changed, 22 insertions(+), 11 deletions(-) diff --git a/app/modules/robotis_RB100_practice.js b/app/modules/robotis_RB100_practice.js index b78976ee1..c11f85ab9 100644 --- a/app/modules/robotis_RB100_practice.js +++ b/app/modules/robotis_RB100_practice.js @@ -569,29 +569,40 @@ Module.prototype.handleLocalData = function(data) { // data: Native Buffer } } + const dxlPositionStartAddr = + addrMap[addrMap.length - 1][0] + addrMap[addrMap.length - 1][1]; + // DXL Position for (let i = 0; i < 20; i++) { - const currentId = rxPacket.data[2 + 83 + (3 * i)]; - const currentPos = rxPacket.data[2 + 83 + (3 * i) + 1] + - (rxPacket.data[2 + 83 + (3 * i) + 2] << 8); - if (currentId != 0xFF && currentPos != 0xFFFF) { + const currentId = + rxPacket.data[2 + dxlPositionStartAddr + 3 * i]; + const currentPos = + rxPacket.data[2 + dxlPositionStartAddr + 3 * i + 1] + + (rxPacket.data[2 + dxlPositionStartAddr + 3 * i + 2] << 8); + if (currentId != 0xff && currentPos != 0xffff) { this.dxlPositions[currentId] = currentPos; } } + const lineCategoryStartAddr = dxlPositionStartAddr + 3 * 20; + // line category this.dataBuffer[5201] = rxPacket.data[2 + 143]; + + const sensorStartAddr = lineCategoryStartAddr + 1; // 온습도+조도+동작감지센서값 - this.pirPir[0] = rxPacket.data[2 + 144]; - this.pirTemperature[0] = rxPacket.data[2 + 145]; - this.pirHumidity[0] = rxPacket.data[2 + 146]; - this.pirBrightness[0] = rxPacket.data[2 + 147]; + this.pirPir[0] = rxPacket.data[2 + sensorStartAddr]; + this.pirTemperature[0] = rxPacket.data[2 + sensorStartAddr + 1]; + this.pirHumidity[0] = rxPacket.data[2 + sensorStartAddr + 2]; + this.pirBrightness[0] = rxPacket.data[2 + sensorStartAddr + 3]; // 거리+버튼+조도센서값 - this.distanceDistance[0] = rxPacket.data[2 + 148] + (rxPacket.data[2 + 149] << 8); - this.distanceButton[0] = rxPacket.data[2 + 150]; - this.distanceBrightness[0] = rxPacket.data[2 + 151]; + this.distanceDistance[0] = + rxPacket.data[2 + sensorStartAddr + 4] + + (rxPacket.data[2 + sensorStartAddr + 5] << 8); + this.distanceButton[0] = rxPacket.data[2 + sensorStartAddr + 6]; + this.distanceBrightness[0] = rxPacket.data[2 + sensorStartAddr + 7]; for (let i = 0; i < addrMap2.length; i++) { switch (addrMap2[i][1]) { From ed8a36c9ac741439c2907d9ae10cc7a35f8acb03 Mon Sep 17 00:00:00 2001 From: tyranno Date: Sat, 7 Sep 2024 21:06:38 +0900 Subject: [PATCH 05/14] =?UTF-8?q?=EC=AA=BC=EA=BC=AC=20=EB=B6=80=ED=8C=85?= =?UTF-8?q?=ED=9B=84=20=EC=84=BC=EC=84=9C=20=EC=9D=B8=EC=A7=80=20=EC=B2=98?= =?UTF-8?q?=EB=A6=AC=20=EA=B0=9C=EC=84=A0?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- app/modules/choco.js | 11 ++++++++++- app/modules/choco2.js | 9 +++++++++ 2 files changed, 19 insertions(+), 1 deletion(-) diff --git a/app/modules/choco.js b/app/modules/choco.js index 4befe1515..71ce0e80f 100644 --- a/app/modules/choco.js +++ b/app/modules/choco.js @@ -307,11 +307,20 @@ class Choco extends BaseModule { * @param {*} handler */ requestRemoteData(handler) { + //sensor데이터는 상태가 바뀔때 전송한다. + if ( + _.isEmpty(this.previousSensorData) || + !_.isEqual(this.previousSensorData, this.sensorData) + ) { + handler.write('sensorData', this.sensorData); + this.previousSensorData = _.cloneDeep(this.sensorData); + } + if (this.executeCmd.processing === 'done') { this.log('requestRemoteData done', this.executeCmd.id); handler.write('msg_id', this.executeCmd.id); - handler.write('sensorData', this.sensorData); + // handler.write('sensorData', this.sensorData); this.executeCmd.id = ''; this.executeCmd.processing = 'none'; diff --git a/app/modules/choco2.js b/app/modules/choco2.js index 4befe1515..5cdb36157 100644 --- a/app/modules/choco2.js +++ b/app/modules/choco2.js @@ -307,6 +307,15 @@ class Choco extends BaseModule { * @param {*} handler */ requestRemoteData(handler) { + //sensor데이터는 상태가 바뀔때 전송한다. + if ( + _.isEmpty(this.previousSensorData) || + !_.isEqual(this.previousSensorData, this.sensorData) + ) { + handler.write('sensorData', this.sensorData); + this.previousSensorData = _.cloneDeep(this.sensorData); + } + if (this.executeCmd.processing === 'done') { this.log('requestRemoteData done', this.executeCmd.id); From 191cf4c2f55161561c1783205214798c528ac85f Mon Sep 17 00:00:00 2001 From: tyranno Date: Sat, 7 Sep 2024 21:27:31 +0900 Subject: [PATCH 06/14] =?UTF-8?q?Revert=20"=EC=AA=BC=EA=BC=AC=20=EB=B6=80?= =?UTF-8?q?=ED=8C=85=ED=9B=84=20=EC=84=BC=EC=84=9C=20=EC=9D=B8=EC=A7=80=20?= =?UTF-8?q?=EC=B2=98=EB=A6=AC=20=EA=B0=9C=EC=84=A0"?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit This reverts commit ed8a36c9ac741439c2907d9ae10cc7a35f8acb03. --- app/modules/choco.js | 11 +---------- app/modules/choco2.js | 9 --------- 2 files changed, 1 insertion(+), 19 deletions(-) diff --git a/app/modules/choco.js b/app/modules/choco.js index 71ce0e80f..4befe1515 100644 --- a/app/modules/choco.js +++ b/app/modules/choco.js @@ -307,20 +307,11 @@ class Choco extends BaseModule { * @param {*} handler */ requestRemoteData(handler) { - //sensor데이터는 상태가 바뀔때 전송한다. - if ( - _.isEmpty(this.previousSensorData) || - !_.isEqual(this.previousSensorData, this.sensorData) - ) { - handler.write('sensorData', this.sensorData); - this.previousSensorData = _.cloneDeep(this.sensorData); - } - if (this.executeCmd.processing === 'done') { this.log('requestRemoteData done', this.executeCmd.id); handler.write('msg_id', this.executeCmd.id); - // handler.write('sensorData', this.sensorData); + handler.write('sensorData', this.sensorData); this.executeCmd.id = ''; this.executeCmd.processing = 'none'; diff --git a/app/modules/choco2.js b/app/modules/choco2.js index 5cdb36157..4befe1515 100644 --- a/app/modules/choco2.js +++ b/app/modules/choco2.js @@ -307,15 +307,6 @@ class Choco extends BaseModule { * @param {*} handler */ requestRemoteData(handler) { - //sensor데이터는 상태가 바뀔때 전송한다. - if ( - _.isEmpty(this.previousSensorData) || - !_.isEqual(this.previousSensorData, this.sensorData) - ) { - handler.write('sensorData', this.sensorData); - this.previousSensorData = _.cloneDeep(this.sensorData); - } - if (this.executeCmd.processing === 'done') { this.log('requestRemoteData done', this.executeCmd.id); From 9ac4f528ea0381b659fbd95e29e4427b68dcc34d Mon Sep 17 00:00:00 2001 From: tyranno Date: Sat, 7 Sep 2024 21:30:06 +0900 Subject: [PATCH 07/14] =?UTF-8?q?"=EC=AA=BC=EA=BC=AC=20=EB=B6=80=ED=8C=85?= =?UTF-8?q?=ED=9B=84=20=EC=84=BC=EC=84=9C=20=EC=9D=B8=EC=A7=80=20=EC=B2=98?= =?UTF-8?q?=EB=A6=AC=20=EA=B0=9C=EC=84=A0"?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- app/modules/choco.js | 11 ++++++++++- app/modules/choco2.js | 13 +++++++++++-- 2 files changed, 21 insertions(+), 3 deletions(-) diff --git a/app/modules/choco.js b/app/modules/choco.js index 4befe1515..2c67acbcf 100644 --- a/app/modules/choco.js +++ b/app/modules/choco.js @@ -307,11 +307,20 @@ class Choco extends BaseModule { * @param {*} handler */ requestRemoteData(handler) { + //sensor데이터는 상태가 바뀔때 전송한다. + if ( + _.isEmpty(this.previousSensorData) || + !_.isEqual(this.previousSensorData, this.sensorData) + ) { + handler.write('sensorData', this.sensorData); + this.previousSensorData = _.cloneDeep(this.sensorData); + } + if (this.executeCmd.processing === 'done') { this.log('requestRemoteData done', this.executeCmd.id); handler.write('msg_id', this.executeCmd.id); - handler.write('sensorData', this.sensorData); + //handler.write('sensorData', this.sensorData); this.executeCmd.id = ''; this.executeCmd.processing = 'none'; diff --git a/app/modules/choco2.js b/app/modules/choco2.js index 4befe1515..4806e93ea 100644 --- a/app/modules/choco2.js +++ b/app/modules/choco2.js @@ -307,17 +307,26 @@ class Choco extends BaseModule { * @param {*} handler */ requestRemoteData(handler) { + //sensor데이터는 상태가 바뀔때 전송한다. + if ( + _.isEmpty(this.previousSensorData) || + !_.isEqual(this.previousSensorData, this.sensorData) + ) { + handler.write('sensorData', this.sensorData); + this.previousSensorData = _.cloneDeep(this.sensorData); + } + if (this.executeCmd.processing === 'done') { this.log('requestRemoteData done', this.executeCmd.id); handler.write('msg_id', this.executeCmd.id); - handler.write('sensorData', this.sensorData); + //handler.write('sensorData', this.sensorData); this.executeCmd.id = ''; this.executeCmd.processing = 'none'; } }; - + /** * 엔트리에서 받은 데이터에 대한 처리 * @param {*} handler From 7bd36f92847443011ad4a23d6bc1cc8057aca774 Mon Sep 17 00:00:00 2001 From: tyranno Date: Sat, 7 Sep 2024 22:33:57 +0900 Subject: [PATCH 08/14] =?UTF-8?q?=EC=AA=BC=EA=BC=AC=20=EC=84=BC=EC=84=9C?= =?UTF-8?q?=20=EC=83=81=EC=8B=9C=20=EC=A0=84=EC=86=A1=ED=95=98=EA=B2=8C=20?= =?UTF-8?q?=EC=88=98=EC=A0=95?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- app/modules/choco.js | 268 +++++++++++++++++++++-------------------- app/modules/choco2.js | 270 ++++++++++++++++++++++-------------------- 2 files changed, 279 insertions(+), 259 deletions(-) diff --git a/app/modules/choco.js b/app/modules/choco.js index 2c67acbcf..7a2c3cd0f 100644 --- a/app/modules/choco.js +++ b/app/modules/choco.js @@ -10,43 +10,35 @@ class Choco extends BaseModule { super(); this.crctab16 = new Uint16Array([ - 0X0000, 0X1189, 0X2312, 0X329B, 0X4624, 0X57AD, 0X6536, 0X74BF, - 0X8C48, 0X9DC1, 0XAF5A, 0XBED3, 0XCA6C, 0XDBE5, 0XE97E, 0XF8F7, - 0X1081, 0X0108, 0X3393, 0X221A, 0X56A5, 0X472C, 0X75B7, 0X643E, - 0X9CC9, 0X8D40, 0XBFDB, 0XAE52, 0XDAED, 0XCB64, 0XF9FF, 0XE876, - 0X2102, 0X308B, 0X0210, 0X1399, 0X6726, 0X76AF, 0X4434, 0X55BD, - 0XAD4A, 0XBCC3, 0X8E58, 0X9FD1, 0XEB6E, 0XFAE7, 0XC87C, 0XD9F5, - 0X3183, 0X200A, 0X1291, 0X0318, 0X77A7, 0X662E, 0X54B5, 0X453C, - 0XBDCB, 0XAC42, 0X9ED9, 0X8F50, 0XFBEF, 0XEA66, 0XD8FD, 0XC974, - 0X4204, 0X538D, 0X6116, 0X709F, 0X0420, 0X15A9, 0X2732, 0X36BB, - 0XCE4C, 0XDFC5, 0XED5E, 0XFCD7, 0X8868, 0X99E1, 0XAB7A, 0XBAF3, - 0X5285, 0X430C, 0X7197, 0X601E, 0X14A1, 0X0528, 0X37B3, 0X263A, - 0XDECD, 0XCF44, 0XFDDF, 0XEC56, 0X98E9, 0X8960, 0XBBFB, 0XAA72, - 0X6306, 0X728F, 0X4014, 0X519D, 0X2522, 0X34AB, 0X0630, 0X17B9, - 0XEF4E, 0XFEC7, 0XCC5C, 0XDDD5, 0XA96A, 0XB8E3, 0X8A78, 0X9BF1, - 0X7387, 0X620E, 0X5095, 0X411C, 0X35A3, 0X242A, 0X16B1, 0X0738, - 0XFFCF, 0XEE46, 0XDCDD, 0XCD54, 0XB9EB, 0XA862, 0X9AF9, 0X8B70, - 0X8408, 0X9581, 0XA71A, 0XB693, 0XC22C, 0XD3A5, 0XE13E, 0XF0B7, - 0X0840, 0X19C9, 0X2B52, 0X3ADB, 0X4E64, 0X5FED, 0X6D76, 0X7CFF, - 0X9489, 0X8500, 0XB79B, 0XA612, 0XD2AD, 0XC324, 0XF1BF, 0XE036, - 0X18C1, 0X0948, 0X3BD3, 0X2A5A, 0X5EE5, 0X4F6C, 0X7DF7, 0X6C7E, - 0XA50A, 0XB483, 0X8618, 0X9791, 0XE32E, 0XF2A7, 0XC03C, 0XD1B5, - 0X2942, 0X38CB, 0X0A50, 0X1BD9, 0X6F66, 0X7EEF, 0X4C74, 0X5DFD, - 0XB58B, 0XA402, 0X9699, 0X8710, 0XF3AF, 0XE226, 0XD0BD, 0XC134, - 0X39C3, 0X284A, 0X1AD1, 0X0B58, 0X7FE7, 0X6E6E, 0X5CF5, 0X4D7C, - 0XC60C, 0XD785, 0XE51E, 0XF497, 0X8028, 0X91A1, 0XA33A, 0XB2B3, - 0X4A44, 0X5BCD, 0X6956, 0X78DF, 0X0C60, 0X1DE9, 0X2F72, 0X3EFB, - 0XD68D, 0XC704, 0XF59F, 0XE416, 0X90A9, 0X8120, 0XB3BB, 0XA232, - 0X5AC5, 0X4B4C, 0X79D7, 0X685E, 0X1CE1, 0X0D68, 0X3FF3, 0X2E7A, - 0XE70E, 0XF687, 0XC41C, 0XD595, 0XA12A, 0XB0A3, 0X8238, 0X93B1, - 0X6B46, 0X7ACF, 0X4854, 0X59DD, 0X2D62, 0X3CEB, 0X0E70, 0X1FF9, - 0XF78F, 0XE606, 0XD49D, 0XC514, 0XB1AB, 0XA022, 0X92B9, 0X8330, - 0X7BC7, 0X6A4E, 0X58D5, 0X495C, 0X3DE3, 0X2C6A, 0X1EF1, 0X0F78, + 0x0000, 0x1189, 0x2312, 0x329b, 0x4624, 0x57ad, 0x6536, 0x74bf, 0x8c48, 0x9dc1, 0xaf5a, + 0xbed3, 0xca6c, 0xdbe5, 0xe97e, 0xf8f7, 0x1081, 0x0108, 0x3393, 0x221a, 0x56a5, 0x472c, + 0x75b7, 0x643e, 0x9cc9, 0x8d40, 0xbfdb, 0xae52, 0xdaed, 0xcb64, 0xf9ff, 0xe876, 0x2102, + 0x308b, 0x0210, 0x1399, 0x6726, 0x76af, 0x4434, 0x55bd, 0xad4a, 0xbcc3, 0x8e58, 0x9fd1, + 0xeb6e, 0xfae7, 0xc87c, 0xd9f5, 0x3183, 0x200a, 0x1291, 0x0318, 0x77a7, 0x662e, 0x54b5, + 0x453c, 0xbdcb, 0xac42, 0x9ed9, 0x8f50, 0xfbef, 0xea66, 0xd8fd, 0xc974, 0x4204, 0x538d, + 0x6116, 0x709f, 0x0420, 0x15a9, 0x2732, 0x36bb, 0xce4c, 0xdfc5, 0xed5e, 0xfcd7, 0x8868, + 0x99e1, 0xab7a, 0xbaf3, 0x5285, 0x430c, 0x7197, 0x601e, 0x14a1, 0x0528, 0x37b3, 0x263a, + 0xdecd, 0xcf44, 0xfddf, 0xec56, 0x98e9, 0x8960, 0xbbfb, 0xaa72, 0x6306, 0x728f, 0x4014, + 0x519d, 0x2522, 0x34ab, 0x0630, 0x17b9, 0xef4e, 0xfec7, 0xcc5c, 0xddd5, 0xa96a, 0xb8e3, + 0x8a78, 0x9bf1, 0x7387, 0x620e, 0x5095, 0x411c, 0x35a3, 0x242a, 0x16b1, 0x0738, 0xffcf, + 0xee46, 0xdcdd, 0xcd54, 0xb9eb, 0xa862, 0x9af9, 0x8b70, 0x8408, 0x9581, 0xa71a, 0xb693, + 0xc22c, 0xd3a5, 0xe13e, 0xf0b7, 0x0840, 0x19c9, 0x2b52, 0x3adb, 0x4e64, 0x5fed, 0x6d76, + 0x7cff, 0x9489, 0x8500, 0xb79b, 0xa612, 0xd2ad, 0xc324, 0xf1bf, 0xe036, 0x18c1, 0x0948, + 0x3bd3, 0x2a5a, 0x5ee5, 0x4f6c, 0x7df7, 0x6c7e, 0xa50a, 0xb483, 0x8618, 0x9791, 0xe32e, + 0xf2a7, 0xc03c, 0xd1b5, 0x2942, 0x38cb, 0x0a50, 0x1bd9, 0x6f66, 0x7eef, 0x4c74, 0x5dfd, + 0xb58b, 0xa402, 0x9699, 0x8710, 0xf3af, 0xe226, 0xd0bd, 0xc134, 0x39c3, 0x284a, 0x1ad1, + 0x0b58, 0x7fe7, 0x6e6e, 0x5cf5, 0x4d7c, 0xc60c, 0xd785, 0xe51e, 0xf497, 0x8028, 0x91a1, + 0xa33a, 0xb2b3, 0x4a44, 0x5bcd, 0x6956, 0x78df, 0x0c60, 0x1de9, 0x2f72, 0x3efb, 0xd68d, + 0xc704, 0xf59f, 0xe416, 0x90a9, 0x8120, 0xb3bb, 0xa232, 0x5ac5, 0x4b4c, 0x79d7, 0x685e, + 0x1ce1, 0x0d68, 0x3ff3, 0x2e7a, 0xe70e, 0xf687, 0xc41c, 0xd595, 0xa12a, 0xb0a3, 0x8238, + 0x93b1, 0x6b46, 0x7acf, 0x4854, 0x59dd, 0x2d62, 0x3ceb, 0x0e70, 0x1ff9, 0xf78f, 0xe606, + 0xd49d, 0xc514, 0xb1ab, 0xa022, 0x92b9, 0x8330, 0x7bc7, 0x6a4e, 0x58d5, 0x495c, 0x3de3, + 0x2c6a, 0x1ef1, 0x0f78, ]); this.SEND_PACKET = { - START: 0x7C, - END: 0x7E, + START: 0x7c, + END: 0x7e, }; this.cmdSeq = 0; @@ -62,6 +54,7 @@ class Choco extends BaseModule { this.executeCheckList = []; this.executeCount = 0; + // this.previousSensorData = {}; this.sensorData = { is_front_sensor: false, is_bottom_sensor: false, @@ -90,7 +83,7 @@ class Choco extends BaseModule { }, }; - this.ledStatus = [0,0,0]; //right, left, rear + this.ledStatus = [0, 0, 0]; //right, left, rear } // #endregion Constructor @@ -133,29 +126,29 @@ class Choco extends BaseModule { }); //return cmdPing; }); - this.ledStatus = [0,0,0]; + this.ledStatus = [0, 0, 0]; } - }; + } return null; - }; + } // 연결 후 초기에 수신받아서 정상연결인지를 확인해야하는 경우 사용합니다. checkInitialData(data, config) { return true; - }; + } // 주기적으로 하드웨어에서 받은 데이터의 검증이 필요한 경우 사용합니다. validateLocalData(data) { return true; - }; + } /* 하드웨어 기기에 전달할 데이터를 반환합니다. slave 모드인 경우 duration 속성 간격으로 지속적으로 기기에 요청을 보냅니다. */ requestLocalData() { - //this.log('BASE - requestLocalData()'); + //this.log('BASE - requestLocalData()'); if (!this.isConnect) { return; } @@ -171,7 +164,7 @@ class Choco extends BaseModule { this.serialport.write(cmdReady, () => { this.serialport.drain(); }); - }; + } } if (this.sendBuffers.length > 0) { @@ -185,15 +178,15 @@ class Choco extends BaseModule { this.executeCmd.processing = 'started'; }); }); - }; + } } return; - }; + } /** * 하드웨어에서 온 데이터 처리 - * @param {*} data + * @param {*} data */ handleLocalData(data) { //this.log(`BASE - handleLocalData(): ${data.toString('hex')}`); @@ -244,27 +237,27 @@ class Choco extends BaseModule { if (this.sensorData.light_sensor > this.sensorInit.sensor2.max) { this.sensorData.light_sensor = this.sensorInit.sensor2.max; } - this.sensorData.is_front_sensor = - (this.sensorData.front_sensor < this.sensorInit.sensor0.threshold); - this.sensorData.is_bottom_sensor = - (this.sensorData.bottom_sensor > this.sensorInit.sensor1.threshold); - this.sensorData.is_light_sensor = - (this.sensorData.light_sensor < this.sensorInit.sensor2.threshold); + this.sensorData.is_front_sensor = + this.sensorData.front_sensor < this.sensorInit.sensor0.threshold; + this.sensorData.is_bottom_sensor = + this.sensorData.bottom_sensor > this.sensorInit.sensor1.threshold; + this.sensorData.is_light_sensor = + this.sensorData.light_sensor < this.sensorInit.sensor2.threshold; let fVal = this.sensorData.front_sensor; const fMin = this.sensorInit.sensor0.min; const fMmax = this.sensorInit.sensor0.max; - fVal = (fVal - fMin) * 100 / (fMmax - fMin); + fVal = ((fVal - fMin) * 100) / (fMmax - fMin); let bVal = this.sensorData.bottom_sensor; const bMin = this.sensorInit.sensor1.min; const bMmax = this.sensorInit.sensor1.max; - bVal = (bVal - bMin) * 100 / (bMmax - bMin); + bVal = ((bVal - bMin) * 100) / (bMmax - bMin); let lVal = this.sensorData.light_sensor; const lMin = this.sensorInit.sensor2.min; const lMmax = this.sensorInit.sensor2.max; - lVal = (lVal - lMin) * 100 / (lMmax - lMin); + lVal = ((lVal - lMin) * 100) / (lMmax - lMin); this.sensorData.front_sensor = parseInt(fVal, 10); if (this.sensorData.front_sensor < 0) { @@ -286,7 +279,7 @@ class Choco extends BaseModule { } } - // console.log(`command:${command}, len: ${decodedData.length}`, + // console.log(`command:${command}, len: ${decodedData.length}`, // `data:${data.toString('hex')}, seqNo:${seqNo}`, // `${sensor0},${sensor1},${sensor2}`, // `${this.sensorData.is_front_sensor},`, @@ -300,22 +293,23 @@ class Choco extends BaseModule { } } } - }; + } /** * 엔트리로 전달할 데이터 - * @param {*} handler + * @param {*} handler */ requestRemoteData(handler) { //sensor데이터는 상태가 바뀔때 전송한다. - if ( - _.isEmpty(this.previousSensorData) || - !_.isEqual(this.previousSensorData, this.sensorData) - ) { - handler.write('sensorData', this.sensorData); - this.previousSensorData = _.cloneDeep(this.sensorData); - } - + // if ( + // _.isEmpty(this.previousSensorData) || + // !_.isEqual(this.previousSensorData, this.sensorData) + // ) { + // handler.write('sensorData', this.sensorData); + // this.previousSensorData = _.cloneDeep(this.sensorData); + // } + handler.write('sensorData', this.sensorData); + if (this.executeCmd.processing === 'done') { this.log('requestRemoteData done', this.executeCmd.id); @@ -325,11 +319,11 @@ class Choco extends BaseModule { this.executeCmd.id = ''; this.executeCmd.processing = 'none'; } - }; + } /** * 엔트리에서 받은 데이터에 대한 처리 - * @param {*} handler + * @param {*} handler */ handleRemoteData(handler) { if (!this.isConnect) { @@ -355,7 +349,7 @@ class Choco extends BaseModule { connect() { this.isConnect = true; this.sensorInit.inited = 'none'; - this.ledStatus = [0,0,0]; + this.ledStatus = [0, 0, 0]; } disconnect(connect) { @@ -372,9 +366,9 @@ class Choco extends BaseModule { this.sensorInit.inited = 'none'; }); }); - this.isSendInitData = false; + this.isSendInitData = false; } - this.ledStatus = [0,0,0]; + this.ledStatus = [0, 0, 0]; } /* @@ -385,8 +379,6 @@ class Choco extends BaseModule { } // #endregion Base Functions for Entry - - /*************************************************************************************** * 프로토롤 제어 함수 ***************************************************************************************/ @@ -424,14 +416,14 @@ class Choco extends BaseModule { } if (retval > 990) { retval = 990; - } + } return retval; } calTurnVal(args) { let retval = 0; if (args.param2 === 'degree') { - retval = parseInt(args.param1 * 10 / 90, 10); + retval = parseInt((args.param1 * 10) / 90, 10); if (args.param1 > 0 && retval === 0) { retval = 1; } @@ -486,36 +478,41 @@ class Choco extends BaseModule { case 'ping': data = Buffer.from([0x03, seqNo]); crc = this.calCrc16(data); - encodedCmd = this.escapeEncode(Buffer.concat([data, - Buffer.from([crc & 0xFF, (crc >> 8) & 0xFF])])); + encodedCmd = this.escapeEncode( + Buffer.concat([data, Buffer.from([crc & 0xff, (crc >> 8) & 0xff])]) + ); break; case 'ping2': data = Buffer.from([0x13, seqNo]); crc = this.calCrc16(data); - encodedCmd = this.escapeEncode(Buffer.concat([data, - Buffer.from([crc & 0xFF, (crc >> 8) & 0xFF])])); + encodedCmd = this.escapeEncode( + Buffer.concat([data, Buffer.from([crc & 0xff, (crc >> 8) & 0xff])]) + ); break; case 'ping3': data = Buffer.from([0x14, seqNo]); crc = this.calCrc16(data); - encodedCmd = this.escapeEncode(Buffer.concat([data, - Buffer.from([crc & 0xFF, (crc >> 8) & 0xFF])])); + encodedCmd = this.escapeEncode( + Buffer.concat([data, Buffer.from([crc & 0xff, (crc >> 8) & 0xff])]) + ); break; case 'ping2_end': data = Buffer.from([0x17, seqNo]); crc = this.calCrc16(data); - encodedCmd = this.escapeEncode(Buffer.concat([data, - Buffer.from([crc & 0xFF, (crc >> 8) & 0xFF])])); + encodedCmd = this.escapeEncode( + Buffer.concat([data, Buffer.from([crc & 0xff, (crc >> 8) & 0xff])]) + ); break; case 'ready': data = Buffer.from([0x04, seqNo]); crc = this.calCrc16(data); - encodedCmd = this.escapeEncode(Buffer.concat([data, - Buffer.from([crc & 0xFF, (crc >> 8) & 0xFF])])); + encodedCmd = this.escapeEncode( + Buffer.concat([data, Buffer.from([crc & 0xff, (crc >> 8) & 0xff])]) + ); break; case 'move_forward': @@ -526,43 +523,47 @@ class Choco extends BaseModule { } data.writeUInt32LE(this.calMoveVal(args), 2); crc = this.calCrc16(data); - encodedCmd = this.escapeEncode(Buffer.concat([data, - Buffer.from([crc & 0xFF, (crc >> 8) & 0xFF])])); + encodedCmd = this.escapeEncode( + Buffer.concat([data, Buffer.from([crc & 0xff, (crc >> 8) & 0xff])]) + ); break; case 'move_backward': if (args.param2 === 'cm') { - data = Buffer.from([0x1A, seqNo, 0, 0, 0, 0]); + data = Buffer.from([0x1a, seqNo, 0, 0, 0, 0]); } else { data = Buffer.from([0x06, seqNo, 0, 0, 0, 0]); } data.writeUInt32LE(this.calMoveVal(args), 2); crc = this.calCrc16(data); - encodedCmd = this.escapeEncode(Buffer.concat([data, - Buffer.from([crc & 0xFF, (crc >> 8) & 0xFF])])); + encodedCmd = this.escapeEncode( + Buffer.concat([data, Buffer.from([crc & 0xff, (crc >> 8) & 0xff])]) + ); break; case 'turn_left': data = Buffer.from([0x07, seqNo, 0, 0, 0, 0]); data.writeUInt32LE(this.calTurnVal(args), 2); crc = this.calCrc16(data); - encodedCmd = this.escapeEncode(Buffer.concat([data, - Buffer.from([crc & 0xFF, (crc >> 8) & 0xFF])])); + encodedCmd = this.escapeEncode( + Buffer.concat([data, Buffer.from([crc & 0xff, (crc >> 8) & 0xff])]) + ); break; case 'turn_right': data = Buffer.from([0x08, seqNo, 0, 0, 0, 0]); data.writeUInt32LE(this.calTurnVal(args), 2); crc = this.calCrc16(data); - encodedCmd = this.escapeEncode(Buffer.concat([data, - Buffer.from([crc & 0xFF, (crc >> 8) & 0xFF])])); + encodedCmd = this.escapeEncode( + Buffer.concat([data, Buffer.from([crc & 0xff, (crc >> 8) & 0xff])]) + ); break; case 'move_right_left': { if (args.param3 === 'cm') { - data = Buffer.from([0x1B, seqNo, 0, 0, 0, 0, 0, 0, 0, 0]); + data = Buffer.from([0x1b, seqNo, 0, 0, 0, 0, 0, 0, 0, 0]); } else { - data = Buffer.from([0x0D, seqNo, 0, 0, 0, 0, 0, 0, 0, 0]); + data = Buffer.from([0x0d, seqNo, 0, 0, 0, 0, 0, 0, 0, 0]); } const args1 = { param1: args.param1, @@ -573,30 +574,33 @@ class Choco extends BaseModule { param2: args.param3, }; data.writeUInt32LE(this.calMoveVal(args1), 2); - data.writeUInt32LE(this.calMoveVal(args2), 6); + data.writeUInt32LE(this.calMoveVal(args2), 6); crc = this.calCrc16(data); - encodedCmd = this.escapeEncode(Buffer.concat([data, - Buffer.from([crc & 0xFF, (crc >> 8) & 0xFF])])); + encodedCmd = this.escapeEncode( + Buffer.concat([data, Buffer.from([crc & 0xff, (crc >> 8) & 0xff])]) + ); break; } - case 'onoff_led_rear': { - const rearLed = (args.param1 === 'On') ? 1 : 0; + const rearLed = args.param1 === 'On' ? 1 : 0; this.ledStatus[2] = rearLed; - data = Buffer.from([0x0B, seqNo, this.ledStatus[0], this.ledStatus[1], this.ledStatus[2]]); + data = Buffer.from([ + 0x0b, + seqNo, + this.ledStatus[0], + this.ledStatus[1], + this.ledStatus[2], + ]); crc = this.calCrc16(data); - encodedCmd = this.escapeEncode(Buffer.concat([data, - Buffer.from([crc & 0xFF, (crc >> 8) & 0xFF])])); + encodedCmd = this.escapeEncode( + Buffer.concat([data, Buffer.from([crc & 0xff, (crc >> 8) & 0xff])]) + ); break; } - case 'set_led_color': { - const { - rightLed, - leftLed, - } = this.calLedCol(args); + const { rightLed, leftLed } = this.calLedCol(args); if (args.param1 === 'right') { this.ledStatus[0] = rightLed; } else if (args.param1 === 'left') { @@ -605,29 +609,35 @@ class Choco extends BaseModule { this.ledStatus[0] = rightLed; this.ledStatus[1] = leftLed; } - data = Buffer.from([0x0B, seqNo, this.ledStatus[0], this.ledStatus[1], this.ledStatus[2]]); + data = Buffer.from([ + 0x0b, + seqNo, + this.ledStatus[0], + this.ledStatus[1], + this.ledStatus[2], + ]); crc = this.calCrc16(data); - encodedCmd = this.escapeEncode(Buffer.concat([data, - Buffer.from([crc & 0xFF, (crc >> 8) & 0xFF])])); + encodedCmd = this.escapeEncode( + Buffer.concat([data, Buffer.from([crc & 0xff, (crc >> 8) & 0xff])]) + ); break; } - case 'play_sound': - data = Buffer.from([0x0F, seqNo, 0, 0, 0, 0]); + data = Buffer.from([0x0f, seqNo, 0, 0, 0, 0]); data.writeUInt32LE(args.param1, 2); crc = this.calCrc16(data); - encodedCmd = this.escapeEncode(Buffer.concat([data, - Buffer.from([crc & 0xFF, (crc >> 8) & 0xFF])])); + encodedCmd = this.escapeEncode( + Buffer.concat([data, Buffer.from([crc & 0xff, (crc >> 8) & 0xff])]) + ); break; } - const cmdData = Buffer.from([0x7C, ...encodedCmd, 0x7E]); + const cmdData = Buffer.from([0x7c, ...encodedCmd, 0x7e]); //console.log(cmdData); return cmdData; } - /*************************************************************************************** * 데이터 encoding ***************************************************************************************/ @@ -635,17 +645,17 @@ class Choco extends BaseModule { const buffer = Buffer.alloc(data.length * 2); let idx = 0; for (const d of data) { - if (d === 0x7C) { - buffer[idx] = 0x7D; - buffer[idx + 1] = 0x5C; + if (d === 0x7c) { + buffer[idx] = 0x7d; + buffer[idx + 1] = 0x5c; idx += 2; - } else if (d === 0x7D) { - buffer[idx] = 0x7D; - buffer[idx + 1] = 0x5D; + } else if (d === 0x7d) { + buffer[idx] = 0x7d; + buffer[idx + 1] = 0x5d; idx += 2; - } else if (d === 0x7E) { - buffer[idx] = 0x7D; - buffer[idx + 1] = 0x5E; + } else if (d === 0x7e) { + buffer[idx] = 0x7d; + buffer[idx + 1] = 0x5e; idx += 2; } else { buffer[idx] = d; @@ -661,8 +671,8 @@ class Choco extends BaseModule { escapeEecode(data) { const buffer = Buffer.alloc(data.length); let idx = 0; - for (let i = 0; i < data.length;) { - if (data[i] === 0x7D) { + for (let i = 0; i < data.length; ) { + if (data[i] === 0x7d) { buffer[idx++] = data[i + 1] ^ 0x20; i += 2; } else { @@ -682,7 +692,7 @@ class Choco extends BaseModule { res = ((res >> 8) & 0x0ff) ^ this.crctab16[(res ^ b) & 0xff]; } - return (~res) & 0x0ffff; + return ~res & 0x0ffff; } /*************************************************************************************** diff --git a/app/modules/choco2.js b/app/modules/choco2.js index 4806e93ea..7a2c3cd0f 100644 --- a/app/modules/choco2.js +++ b/app/modules/choco2.js @@ -10,43 +10,35 @@ class Choco extends BaseModule { super(); this.crctab16 = new Uint16Array([ - 0X0000, 0X1189, 0X2312, 0X329B, 0X4624, 0X57AD, 0X6536, 0X74BF, - 0X8C48, 0X9DC1, 0XAF5A, 0XBED3, 0XCA6C, 0XDBE5, 0XE97E, 0XF8F7, - 0X1081, 0X0108, 0X3393, 0X221A, 0X56A5, 0X472C, 0X75B7, 0X643E, - 0X9CC9, 0X8D40, 0XBFDB, 0XAE52, 0XDAED, 0XCB64, 0XF9FF, 0XE876, - 0X2102, 0X308B, 0X0210, 0X1399, 0X6726, 0X76AF, 0X4434, 0X55BD, - 0XAD4A, 0XBCC3, 0X8E58, 0X9FD1, 0XEB6E, 0XFAE7, 0XC87C, 0XD9F5, - 0X3183, 0X200A, 0X1291, 0X0318, 0X77A7, 0X662E, 0X54B5, 0X453C, - 0XBDCB, 0XAC42, 0X9ED9, 0X8F50, 0XFBEF, 0XEA66, 0XD8FD, 0XC974, - 0X4204, 0X538D, 0X6116, 0X709F, 0X0420, 0X15A9, 0X2732, 0X36BB, - 0XCE4C, 0XDFC5, 0XED5E, 0XFCD7, 0X8868, 0X99E1, 0XAB7A, 0XBAF3, - 0X5285, 0X430C, 0X7197, 0X601E, 0X14A1, 0X0528, 0X37B3, 0X263A, - 0XDECD, 0XCF44, 0XFDDF, 0XEC56, 0X98E9, 0X8960, 0XBBFB, 0XAA72, - 0X6306, 0X728F, 0X4014, 0X519D, 0X2522, 0X34AB, 0X0630, 0X17B9, - 0XEF4E, 0XFEC7, 0XCC5C, 0XDDD5, 0XA96A, 0XB8E3, 0X8A78, 0X9BF1, - 0X7387, 0X620E, 0X5095, 0X411C, 0X35A3, 0X242A, 0X16B1, 0X0738, - 0XFFCF, 0XEE46, 0XDCDD, 0XCD54, 0XB9EB, 0XA862, 0X9AF9, 0X8B70, - 0X8408, 0X9581, 0XA71A, 0XB693, 0XC22C, 0XD3A5, 0XE13E, 0XF0B7, - 0X0840, 0X19C9, 0X2B52, 0X3ADB, 0X4E64, 0X5FED, 0X6D76, 0X7CFF, - 0X9489, 0X8500, 0XB79B, 0XA612, 0XD2AD, 0XC324, 0XF1BF, 0XE036, - 0X18C1, 0X0948, 0X3BD3, 0X2A5A, 0X5EE5, 0X4F6C, 0X7DF7, 0X6C7E, - 0XA50A, 0XB483, 0X8618, 0X9791, 0XE32E, 0XF2A7, 0XC03C, 0XD1B5, - 0X2942, 0X38CB, 0X0A50, 0X1BD9, 0X6F66, 0X7EEF, 0X4C74, 0X5DFD, - 0XB58B, 0XA402, 0X9699, 0X8710, 0XF3AF, 0XE226, 0XD0BD, 0XC134, - 0X39C3, 0X284A, 0X1AD1, 0X0B58, 0X7FE7, 0X6E6E, 0X5CF5, 0X4D7C, - 0XC60C, 0XD785, 0XE51E, 0XF497, 0X8028, 0X91A1, 0XA33A, 0XB2B3, - 0X4A44, 0X5BCD, 0X6956, 0X78DF, 0X0C60, 0X1DE9, 0X2F72, 0X3EFB, - 0XD68D, 0XC704, 0XF59F, 0XE416, 0X90A9, 0X8120, 0XB3BB, 0XA232, - 0X5AC5, 0X4B4C, 0X79D7, 0X685E, 0X1CE1, 0X0D68, 0X3FF3, 0X2E7A, - 0XE70E, 0XF687, 0XC41C, 0XD595, 0XA12A, 0XB0A3, 0X8238, 0X93B1, - 0X6B46, 0X7ACF, 0X4854, 0X59DD, 0X2D62, 0X3CEB, 0X0E70, 0X1FF9, - 0XF78F, 0XE606, 0XD49D, 0XC514, 0XB1AB, 0XA022, 0X92B9, 0X8330, - 0X7BC7, 0X6A4E, 0X58D5, 0X495C, 0X3DE3, 0X2C6A, 0X1EF1, 0X0F78, + 0x0000, 0x1189, 0x2312, 0x329b, 0x4624, 0x57ad, 0x6536, 0x74bf, 0x8c48, 0x9dc1, 0xaf5a, + 0xbed3, 0xca6c, 0xdbe5, 0xe97e, 0xf8f7, 0x1081, 0x0108, 0x3393, 0x221a, 0x56a5, 0x472c, + 0x75b7, 0x643e, 0x9cc9, 0x8d40, 0xbfdb, 0xae52, 0xdaed, 0xcb64, 0xf9ff, 0xe876, 0x2102, + 0x308b, 0x0210, 0x1399, 0x6726, 0x76af, 0x4434, 0x55bd, 0xad4a, 0xbcc3, 0x8e58, 0x9fd1, + 0xeb6e, 0xfae7, 0xc87c, 0xd9f5, 0x3183, 0x200a, 0x1291, 0x0318, 0x77a7, 0x662e, 0x54b5, + 0x453c, 0xbdcb, 0xac42, 0x9ed9, 0x8f50, 0xfbef, 0xea66, 0xd8fd, 0xc974, 0x4204, 0x538d, + 0x6116, 0x709f, 0x0420, 0x15a9, 0x2732, 0x36bb, 0xce4c, 0xdfc5, 0xed5e, 0xfcd7, 0x8868, + 0x99e1, 0xab7a, 0xbaf3, 0x5285, 0x430c, 0x7197, 0x601e, 0x14a1, 0x0528, 0x37b3, 0x263a, + 0xdecd, 0xcf44, 0xfddf, 0xec56, 0x98e9, 0x8960, 0xbbfb, 0xaa72, 0x6306, 0x728f, 0x4014, + 0x519d, 0x2522, 0x34ab, 0x0630, 0x17b9, 0xef4e, 0xfec7, 0xcc5c, 0xddd5, 0xa96a, 0xb8e3, + 0x8a78, 0x9bf1, 0x7387, 0x620e, 0x5095, 0x411c, 0x35a3, 0x242a, 0x16b1, 0x0738, 0xffcf, + 0xee46, 0xdcdd, 0xcd54, 0xb9eb, 0xa862, 0x9af9, 0x8b70, 0x8408, 0x9581, 0xa71a, 0xb693, + 0xc22c, 0xd3a5, 0xe13e, 0xf0b7, 0x0840, 0x19c9, 0x2b52, 0x3adb, 0x4e64, 0x5fed, 0x6d76, + 0x7cff, 0x9489, 0x8500, 0xb79b, 0xa612, 0xd2ad, 0xc324, 0xf1bf, 0xe036, 0x18c1, 0x0948, + 0x3bd3, 0x2a5a, 0x5ee5, 0x4f6c, 0x7df7, 0x6c7e, 0xa50a, 0xb483, 0x8618, 0x9791, 0xe32e, + 0xf2a7, 0xc03c, 0xd1b5, 0x2942, 0x38cb, 0x0a50, 0x1bd9, 0x6f66, 0x7eef, 0x4c74, 0x5dfd, + 0xb58b, 0xa402, 0x9699, 0x8710, 0xf3af, 0xe226, 0xd0bd, 0xc134, 0x39c3, 0x284a, 0x1ad1, + 0x0b58, 0x7fe7, 0x6e6e, 0x5cf5, 0x4d7c, 0xc60c, 0xd785, 0xe51e, 0xf497, 0x8028, 0x91a1, + 0xa33a, 0xb2b3, 0x4a44, 0x5bcd, 0x6956, 0x78df, 0x0c60, 0x1de9, 0x2f72, 0x3efb, 0xd68d, + 0xc704, 0xf59f, 0xe416, 0x90a9, 0x8120, 0xb3bb, 0xa232, 0x5ac5, 0x4b4c, 0x79d7, 0x685e, + 0x1ce1, 0x0d68, 0x3ff3, 0x2e7a, 0xe70e, 0xf687, 0xc41c, 0xd595, 0xa12a, 0xb0a3, 0x8238, + 0x93b1, 0x6b46, 0x7acf, 0x4854, 0x59dd, 0x2d62, 0x3ceb, 0x0e70, 0x1ff9, 0xf78f, 0xe606, + 0xd49d, 0xc514, 0xb1ab, 0xa022, 0x92b9, 0x8330, 0x7bc7, 0x6a4e, 0x58d5, 0x495c, 0x3de3, + 0x2c6a, 0x1ef1, 0x0f78, ]); this.SEND_PACKET = { - START: 0x7C, - END: 0x7E, + START: 0x7c, + END: 0x7e, }; this.cmdSeq = 0; @@ -62,6 +54,7 @@ class Choco extends BaseModule { this.executeCheckList = []; this.executeCount = 0; + // this.previousSensorData = {}; this.sensorData = { is_front_sensor: false, is_bottom_sensor: false, @@ -90,7 +83,7 @@ class Choco extends BaseModule { }, }; - this.ledStatus = [0,0,0]; //right, left, rear + this.ledStatus = [0, 0, 0]; //right, left, rear } // #endregion Constructor @@ -133,29 +126,29 @@ class Choco extends BaseModule { }); //return cmdPing; }); - this.ledStatus = [0,0,0]; + this.ledStatus = [0, 0, 0]; } - }; + } return null; - }; + } // 연결 후 초기에 수신받아서 정상연결인지를 확인해야하는 경우 사용합니다. checkInitialData(data, config) { return true; - }; + } // 주기적으로 하드웨어에서 받은 데이터의 검증이 필요한 경우 사용합니다. validateLocalData(data) { return true; - }; + } /* 하드웨어 기기에 전달할 데이터를 반환합니다. slave 모드인 경우 duration 속성 간격으로 지속적으로 기기에 요청을 보냅니다. */ requestLocalData() { - //this.log('BASE - requestLocalData()'); + //this.log('BASE - requestLocalData()'); if (!this.isConnect) { return; } @@ -171,7 +164,7 @@ class Choco extends BaseModule { this.serialport.write(cmdReady, () => { this.serialport.drain(); }); - }; + } } if (this.sendBuffers.length > 0) { @@ -185,15 +178,15 @@ class Choco extends BaseModule { this.executeCmd.processing = 'started'; }); }); - }; + } } return; - }; + } /** * 하드웨어에서 온 데이터 처리 - * @param {*} data + * @param {*} data */ handleLocalData(data) { //this.log(`BASE - handleLocalData(): ${data.toString('hex')}`); @@ -244,27 +237,27 @@ class Choco extends BaseModule { if (this.sensorData.light_sensor > this.sensorInit.sensor2.max) { this.sensorData.light_sensor = this.sensorInit.sensor2.max; } - this.sensorData.is_front_sensor = - (this.sensorData.front_sensor < this.sensorInit.sensor0.threshold); - this.sensorData.is_bottom_sensor = - (this.sensorData.bottom_sensor > this.sensorInit.sensor1.threshold); - this.sensorData.is_light_sensor = - (this.sensorData.light_sensor < this.sensorInit.sensor2.threshold); + this.sensorData.is_front_sensor = + this.sensorData.front_sensor < this.sensorInit.sensor0.threshold; + this.sensorData.is_bottom_sensor = + this.sensorData.bottom_sensor > this.sensorInit.sensor1.threshold; + this.sensorData.is_light_sensor = + this.sensorData.light_sensor < this.sensorInit.sensor2.threshold; let fVal = this.sensorData.front_sensor; const fMin = this.sensorInit.sensor0.min; const fMmax = this.sensorInit.sensor0.max; - fVal = (fVal - fMin) * 100 / (fMmax - fMin); + fVal = ((fVal - fMin) * 100) / (fMmax - fMin); let bVal = this.sensorData.bottom_sensor; const bMin = this.sensorInit.sensor1.min; const bMmax = this.sensorInit.sensor1.max; - bVal = (bVal - bMin) * 100 / (bMmax - bMin); + bVal = ((bVal - bMin) * 100) / (bMmax - bMin); let lVal = this.sensorData.light_sensor; const lMin = this.sensorInit.sensor2.min; const lMmax = this.sensorInit.sensor2.max; - lVal = (lVal - lMin) * 100 / (lMmax - lMin); + lVal = ((lVal - lMin) * 100) / (lMmax - lMin); this.sensorData.front_sensor = parseInt(fVal, 10); if (this.sensorData.front_sensor < 0) { @@ -286,7 +279,7 @@ class Choco extends BaseModule { } } - // console.log(`command:${command}, len: ${decodedData.length}`, + // console.log(`command:${command}, len: ${decodedData.length}`, // `data:${data.toString('hex')}, seqNo:${seqNo}`, // `${sensor0},${sensor1},${sensor2}`, // `${this.sensorData.is_front_sensor},`, @@ -300,22 +293,23 @@ class Choco extends BaseModule { } } } - }; + } /** * 엔트리로 전달할 데이터 - * @param {*} handler + * @param {*} handler */ requestRemoteData(handler) { //sensor데이터는 상태가 바뀔때 전송한다. - if ( - _.isEmpty(this.previousSensorData) || - !_.isEqual(this.previousSensorData, this.sensorData) - ) { - handler.write('sensorData', this.sensorData); - this.previousSensorData = _.cloneDeep(this.sensorData); - } - + // if ( + // _.isEmpty(this.previousSensorData) || + // !_.isEqual(this.previousSensorData, this.sensorData) + // ) { + // handler.write('sensorData', this.sensorData); + // this.previousSensorData = _.cloneDeep(this.sensorData); + // } + handler.write('sensorData', this.sensorData); + if (this.executeCmd.processing === 'done') { this.log('requestRemoteData done', this.executeCmd.id); @@ -325,11 +319,11 @@ class Choco extends BaseModule { this.executeCmd.id = ''; this.executeCmd.processing = 'none'; } - }; - + } + /** * 엔트리에서 받은 데이터에 대한 처리 - * @param {*} handler + * @param {*} handler */ handleRemoteData(handler) { if (!this.isConnect) { @@ -355,7 +349,7 @@ class Choco extends BaseModule { connect() { this.isConnect = true; this.sensorInit.inited = 'none'; - this.ledStatus = [0,0,0]; + this.ledStatus = [0, 0, 0]; } disconnect(connect) { @@ -372,9 +366,9 @@ class Choco extends BaseModule { this.sensorInit.inited = 'none'; }); }); - this.isSendInitData = false; + this.isSendInitData = false; } - this.ledStatus = [0,0,0]; + this.ledStatus = [0, 0, 0]; } /* @@ -385,8 +379,6 @@ class Choco extends BaseModule { } // #endregion Base Functions for Entry - - /*************************************************************************************** * 프로토롤 제어 함수 ***************************************************************************************/ @@ -424,14 +416,14 @@ class Choco extends BaseModule { } if (retval > 990) { retval = 990; - } + } return retval; } calTurnVal(args) { let retval = 0; if (args.param2 === 'degree') { - retval = parseInt(args.param1 * 10 / 90, 10); + retval = parseInt((args.param1 * 10) / 90, 10); if (args.param1 > 0 && retval === 0) { retval = 1; } @@ -486,36 +478,41 @@ class Choco extends BaseModule { case 'ping': data = Buffer.from([0x03, seqNo]); crc = this.calCrc16(data); - encodedCmd = this.escapeEncode(Buffer.concat([data, - Buffer.from([crc & 0xFF, (crc >> 8) & 0xFF])])); + encodedCmd = this.escapeEncode( + Buffer.concat([data, Buffer.from([crc & 0xff, (crc >> 8) & 0xff])]) + ); break; case 'ping2': data = Buffer.from([0x13, seqNo]); crc = this.calCrc16(data); - encodedCmd = this.escapeEncode(Buffer.concat([data, - Buffer.from([crc & 0xFF, (crc >> 8) & 0xFF])])); + encodedCmd = this.escapeEncode( + Buffer.concat([data, Buffer.from([crc & 0xff, (crc >> 8) & 0xff])]) + ); break; case 'ping3': data = Buffer.from([0x14, seqNo]); crc = this.calCrc16(data); - encodedCmd = this.escapeEncode(Buffer.concat([data, - Buffer.from([crc & 0xFF, (crc >> 8) & 0xFF])])); + encodedCmd = this.escapeEncode( + Buffer.concat([data, Buffer.from([crc & 0xff, (crc >> 8) & 0xff])]) + ); break; case 'ping2_end': data = Buffer.from([0x17, seqNo]); crc = this.calCrc16(data); - encodedCmd = this.escapeEncode(Buffer.concat([data, - Buffer.from([crc & 0xFF, (crc >> 8) & 0xFF])])); + encodedCmd = this.escapeEncode( + Buffer.concat([data, Buffer.from([crc & 0xff, (crc >> 8) & 0xff])]) + ); break; case 'ready': data = Buffer.from([0x04, seqNo]); crc = this.calCrc16(data); - encodedCmd = this.escapeEncode(Buffer.concat([data, - Buffer.from([crc & 0xFF, (crc >> 8) & 0xFF])])); + encodedCmd = this.escapeEncode( + Buffer.concat([data, Buffer.from([crc & 0xff, (crc >> 8) & 0xff])]) + ); break; case 'move_forward': @@ -526,43 +523,47 @@ class Choco extends BaseModule { } data.writeUInt32LE(this.calMoveVal(args), 2); crc = this.calCrc16(data); - encodedCmd = this.escapeEncode(Buffer.concat([data, - Buffer.from([crc & 0xFF, (crc >> 8) & 0xFF])])); + encodedCmd = this.escapeEncode( + Buffer.concat([data, Buffer.from([crc & 0xff, (crc >> 8) & 0xff])]) + ); break; case 'move_backward': if (args.param2 === 'cm') { - data = Buffer.from([0x1A, seqNo, 0, 0, 0, 0]); + data = Buffer.from([0x1a, seqNo, 0, 0, 0, 0]); } else { data = Buffer.from([0x06, seqNo, 0, 0, 0, 0]); } data.writeUInt32LE(this.calMoveVal(args), 2); crc = this.calCrc16(data); - encodedCmd = this.escapeEncode(Buffer.concat([data, - Buffer.from([crc & 0xFF, (crc >> 8) & 0xFF])])); + encodedCmd = this.escapeEncode( + Buffer.concat([data, Buffer.from([crc & 0xff, (crc >> 8) & 0xff])]) + ); break; case 'turn_left': data = Buffer.from([0x07, seqNo, 0, 0, 0, 0]); data.writeUInt32LE(this.calTurnVal(args), 2); crc = this.calCrc16(data); - encodedCmd = this.escapeEncode(Buffer.concat([data, - Buffer.from([crc & 0xFF, (crc >> 8) & 0xFF])])); + encodedCmd = this.escapeEncode( + Buffer.concat([data, Buffer.from([crc & 0xff, (crc >> 8) & 0xff])]) + ); break; case 'turn_right': data = Buffer.from([0x08, seqNo, 0, 0, 0, 0]); data.writeUInt32LE(this.calTurnVal(args), 2); crc = this.calCrc16(data); - encodedCmd = this.escapeEncode(Buffer.concat([data, - Buffer.from([crc & 0xFF, (crc >> 8) & 0xFF])])); + encodedCmd = this.escapeEncode( + Buffer.concat([data, Buffer.from([crc & 0xff, (crc >> 8) & 0xff])]) + ); break; case 'move_right_left': { if (args.param3 === 'cm') { - data = Buffer.from([0x1B, seqNo, 0, 0, 0, 0, 0, 0, 0, 0]); + data = Buffer.from([0x1b, seqNo, 0, 0, 0, 0, 0, 0, 0, 0]); } else { - data = Buffer.from([0x0D, seqNo, 0, 0, 0, 0, 0, 0, 0, 0]); + data = Buffer.from([0x0d, seqNo, 0, 0, 0, 0, 0, 0, 0, 0]); } const args1 = { param1: args.param1, @@ -573,30 +574,33 @@ class Choco extends BaseModule { param2: args.param3, }; data.writeUInt32LE(this.calMoveVal(args1), 2); - data.writeUInt32LE(this.calMoveVal(args2), 6); + data.writeUInt32LE(this.calMoveVal(args2), 6); crc = this.calCrc16(data); - encodedCmd = this.escapeEncode(Buffer.concat([data, - Buffer.from([crc & 0xFF, (crc >> 8) & 0xFF])])); + encodedCmd = this.escapeEncode( + Buffer.concat([data, Buffer.from([crc & 0xff, (crc >> 8) & 0xff])]) + ); break; } - case 'onoff_led_rear': { - const rearLed = (args.param1 === 'On') ? 1 : 0; + const rearLed = args.param1 === 'On' ? 1 : 0; this.ledStatus[2] = rearLed; - data = Buffer.from([0x0B, seqNo, this.ledStatus[0], this.ledStatus[1], this.ledStatus[2]]); + data = Buffer.from([ + 0x0b, + seqNo, + this.ledStatus[0], + this.ledStatus[1], + this.ledStatus[2], + ]); crc = this.calCrc16(data); - encodedCmd = this.escapeEncode(Buffer.concat([data, - Buffer.from([crc & 0xFF, (crc >> 8) & 0xFF])])); + encodedCmd = this.escapeEncode( + Buffer.concat([data, Buffer.from([crc & 0xff, (crc >> 8) & 0xff])]) + ); break; } - case 'set_led_color': { - const { - rightLed, - leftLed, - } = this.calLedCol(args); + const { rightLed, leftLed } = this.calLedCol(args); if (args.param1 === 'right') { this.ledStatus[0] = rightLed; } else if (args.param1 === 'left') { @@ -605,29 +609,35 @@ class Choco extends BaseModule { this.ledStatus[0] = rightLed; this.ledStatus[1] = leftLed; } - data = Buffer.from([0x0B, seqNo, this.ledStatus[0], this.ledStatus[1], this.ledStatus[2]]); + data = Buffer.from([ + 0x0b, + seqNo, + this.ledStatus[0], + this.ledStatus[1], + this.ledStatus[2], + ]); crc = this.calCrc16(data); - encodedCmd = this.escapeEncode(Buffer.concat([data, - Buffer.from([crc & 0xFF, (crc >> 8) & 0xFF])])); + encodedCmd = this.escapeEncode( + Buffer.concat([data, Buffer.from([crc & 0xff, (crc >> 8) & 0xff])]) + ); break; } - case 'play_sound': - data = Buffer.from([0x0F, seqNo, 0, 0, 0, 0]); + data = Buffer.from([0x0f, seqNo, 0, 0, 0, 0]); data.writeUInt32LE(args.param1, 2); crc = this.calCrc16(data); - encodedCmd = this.escapeEncode(Buffer.concat([data, - Buffer.from([crc & 0xFF, (crc >> 8) & 0xFF])])); + encodedCmd = this.escapeEncode( + Buffer.concat([data, Buffer.from([crc & 0xff, (crc >> 8) & 0xff])]) + ); break; } - const cmdData = Buffer.from([0x7C, ...encodedCmd, 0x7E]); + const cmdData = Buffer.from([0x7c, ...encodedCmd, 0x7e]); //console.log(cmdData); return cmdData; } - /*************************************************************************************** * 데이터 encoding ***************************************************************************************/ @@ -635,17 +645,17 @@ class Choco extends BaseModule { const buffer = Buffer.alloc(data.length * 2); let idx = 0; for (const d of data) { - if (d === 0x7C) { - buffer[idx] = 0x7D; - buffer[idx + 1] = 0x5C; + if (d === 0x7c) { + buffer[idx] = 0x7d; + buffer[idx + 1] = 0x5c; idx += 2; - } else if (d === 0x7D) { - buffer[idx] = 0x7D; - buffer[idx + 1] = 0x5D; + } else if (d === 0x7d) { + buffer[idx] = 0x7d; + buffer[idx + 1] = 0x5d; idx += 2; - } else if (d === 0x7E) { - buffer[idx] = 0x7D; - buffer[idx + 1] = 0x5E; + } else if (d === 0x7e) { + buffer[idx] = 0x7d; + buffer[idx + 1] = 0x5e; idx += 2; } else { buffer[idx] = d; @@ -661,8 +671,8 @@ class Choco extends BaseModule { escapeEecode(data) { const buffer = Buffer.alloc(data.length); let idx = 0; - for (let i = 0; i < data.length;) { - if (data[i] === 0x7D) { + for (let i = 0; i < data.length; ) { + if (data[i] === 0x7d) { buffer[idx++] = data[i + 1] ^ 0x20; i += 2; } else { @@ -682,7 +692,7 @@ class Choco extends BaseModule { res = ((res >> 8) & 0x0ff) ^ this.crctab16[(res ^ b) & 0xff]; } - return (~res) & 0x0ffff; + return ~res & 0x0ffff; } /*************************************************************************************** From 0d03f894326cf14932545d91b453679c396964dd Mon Sep 17 00:00:00 2001 From: Hagwon <50008047+hagwon@users.noreply.github.com> Date: Thu, 19 Sep 2024 08:59:15 +0900 Subject: [PATCH 09/14] =?UTF-8?q?=ED=94=84=EB=A1=9C=EB=B3=B4=EC=BB=A4?= =?UTF-8?q?=EB=84=A5=ED=8A=B8=20=EB=B8=94=EB=A1=9D=20=EC=B6=94=EA=B0=80?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- app/modules/ProboConnect.js | 673 +++++++++++++++++------------------- 1 file changed, 323 insertions(+), 350 deletions(-) diff --git a/app/modules/ProboConnect.js b/app/modules/ProboConnect.js index e0938da26..36bd0b2f2 100644 --- a/app/modules/ProboConnect.js +++ b/app/modules/ProboConnect.js @@ -1,350 +1,323 @@ -const BaseModule = require('./baseModule'); - -class ProboConnect extends BaseModule { - constructor() { - super(); - - this.foo = 0; - this.sp = null; - this.EdgeBuff = { - FEA1:0, - FEA2:0, - FEA3:0, - FEA4:0, - REA1:0, - REA2:0, - REA3:0, - REA4:0, - BEA1:0, - BEA2:0, - BEA3:0, - BEA4:0 - }; - this.InputData = { - Analog:{ - AA1: 0, - AA2: 0, - AA3: 0, - AA4: 0 }, - Digital:{ - A1: 0, - A2: 0, - A3: 0, - A4: 0, - FEA1:0, - FEA2:0, - FEA3:0, - FEA4:0, - REA1:0, - REA2:0, - REA3:0, - REA4:0, - BEA1:0, - BEA2:0, - BEA3:0, - BEA4:0 }, - Remote:{ - R_1:0, - R_2:0, - R_3:0, - R_4:0, - R_5:0, - R_6:0, - R_7:0, - R_8:0, - R_L1:0, - R_L2:0, - R_R1:0, - R_R2:0 }, - EEPROM:{ - EC:0, - EEPR2:0, - EEPR1:0 - }, - Infinite:{ - ROTATION_1:0, - ROTATION_2:0, - ROTATION_3:0, - ROTATION_4:0 - }, - Acceler:{ - AXIS_X1:0, - AXIS_X2:0, - AXIS_X3:0, - AXIS_X4:0, - AXIS_Y1:0, - AXIS_Y2:0, - AXIS_Y3:0, - AXIS_Y4:0, - AXIS_Z1:0, - AXIS_Z2:0, - AXIS_Z3:0, - AXIS_Z4:0, - } - - }; - - this.RemoteData = { - B1:0, - B2:0, - B3:0, - B4:0, - Servo1:0, - Servo2:0, - Servo3:0, - Servo4:0, - DC1:0, - DC2:0, - DC3:0, - DC4:0, - MEL2:0, - MEL1:0, - FND:100, - EEPR4:0, - EEPR3:0, - EEPR2:0, - EEPR1:0, - ASET2:0, - ASET1:0 - }; - - // this.Infinite_Buff = { AA1: 0, AA2: 0, AA3: 0, AA4: 0 }, - // this.Infinite_Count = { AA1: 0, AA2: 0, AA3: 0, AA4: 0 }, - // this.Infinite_Start = { AA1: 0, AA2: 0, AA3: 0, AA4: 0 }, - - this.OutputData = new Buffer(22); - - this.OutputData[0] = 0xAD; - this.OutputData[1] = 0xDA; - this.OutputData[2] = 0x00; - this.OutputData[3] = 0x00; - this.OutputData[4] = 0x00; - this.OutputData[5] = 0x00; - this.OutputData[6] = 0x00; - this.OutputData[7] = 0x00; - this.OutputData[8] = 0x00; - this.OutputData[9] = 0x00; - this.OutputData[10] = 0x00; - this.OutputData[11] = 0x00; - this.OutputData[12] = 0x00; - this.OutputData[13] = 0x00; - this.OutputData[14] = 0x00; - this.OutputData[15] = 0x00; - this.OutputData[16] = 0x00; - this.OutputData[17] = 0x00; - this.OutputData[18] = 0x00; - this.OutputData[19] = 0x00; - this.OutputData[20] = 0x00; - this.OutputData[21] = 0x00; - - - } - - // init(handler, config) {} - // - // setSerialPort(sp) { - // this.sp = sp; - // } - - // 연결 후 초기에 송신할 데이터가 필요한 경우 사용합니다. - requestInitialData(sp){ - console.count('InitialData'); - this.sp = sp; - var initTxBuf = new Buffer([0x63, 0x36]); - return initTxBuf; - } - - // 연결 후 초기에 수신받아서 정상연결인지를 확인해야하는 경우 사용합니다. - checkInitialData(data, config) { - console.count('checkInit'); - //const TxBuf = new Buffer([0x1B, 0x00, 0x00, 0x00, 0x0E]); - const TxBuf = new Buffer([0x24, 0x42]); - var rt = false; - - if((data[0]&0x30) == 0x30){ - rt = true; - if((data[0]&0x32) != 0x32) this.sp.write(TxBuf); - } - - return rt; - } - - // optional. 하드웨어에서 받은 데이터의 검증이 필요한 경우 사용합니다. - validateLocalData(data) { - return true; - } - - // 엔트리로 전달할 데이터 - requestRemoteData(handler) { - console.count('write soket'); - handler.write("InputData",this.InputData); - } - - // 엔트리에서 받은 데이터에 대한 처리 - handleRemoteData(handler) { - console.count('read soket'); - - //handler.read('DC1'); - Object.keys(this.RemoteData).forEach((port) => { - this.RemoteData[port] = handler.read(port); - }); - - this.OutputData[3] = 0xF0 | (this.RemoteData.B4 << 3) | (this.RemoteData.B3 << 2) | (this.RemoteData.B2 << 1) | this.RemoteData.B1; - this.OutputData[4] = this.RemoteData.Servo1; - this.OutputData[5] = this.RemoteData.Servo2; - this.OutputData[6] = this.RemoteData.Servo3; - this.OutputData[7] = this.RemoteData.Servo4; - this.OutputData[8] = this.RemoteData.DC1; - this.OutputData[9] = this.RemoteData.DC2; - this.OutputData[10] = this.RemoteData.DC3; - this.OutputData[11] = this.RemoteData.DC4; - - this.OutputData[12] = this.RemoteData.MEL2; - this.OutputData[13] = this.RemoteData.MEL1; - this.OutputData[14] = this.RemoteData.FND; - this.OutputData[15] = this.RemoteData.EEPR4; - this.OutputData[16] = this.RemoteData.EEPR3; - this.OutputData[17] = this.RemoteData.EEPR2; - this.OutputData[18] = this.RemoteData.EEPR1; - this.OutputData[19] = this.RemoteData.ASET2; - this.OutputData[20] = this.RemoteData.ASET1; - - - // Object.keys(this.SENSOR_MAP).forEach((port) => { - // this.SENSOR_MAP[port] = handler.read(port); - // }); - // - // const receivedStatusColor = this.STATUS_COLOR_MAP[ - // handler.read('STATUS_COLOR') - // ]; - // if ( - // receivedStatusColor !== undefined && - // this.CURRENT_STATUS_COLOR.COLOR !== receivedStatusColor - // ) { - // this.CURRENT_STATUS_COLOR = { - // COLOR: receivedStatusColor, - // APPLIED: false, - // }; - // } - } - - checkSumMk(buff){ - buff[this.OutputData.length - 1] = 0; - for(var i = 3 ; i < this.OutputData.length - 1 ; i++) - buff[this.OutputData.length - 1] += this.OutputData[i]; - } - - // 하드웨어에 전달할 데이터 - requestLocalData() { - console.count('write hardware'); - // var OutputBuff = [0xAD,0xDA,0x00]; - // const TxBuf = new Buffer([0xAD, 0xDA, 0x00]); - this.OutputData[2] = this.OutputData.length - 3; - this.checkSumMk(this.OutputData); - return this.OutputData; - } - - checkSumCk(buff){ - var ck = 0; - for(var i = 3 ; i < (buff[2] + 2) ; i++ ) - ck += buff[i]; - - return buff[buff[2]+2] == (ck & 0xff) ? true : false; - } - - // 하드웨어에서 온 데이터 처리 - handleLocalData(data) { - console.count('read hardware'); - if(data[0]==0xCD && data[1] == 0xDA) - { - if(this.checkSumCk(data)) { - this.InputData.Analog.AA1 = data[4]; - this.InputData.Analog.AA2 = data[5]; - this.InputData.Analog.AA3 = data[6]; - this.InputData.Analog.AA4 = data[7]; - - this.InputData.Digital.A4 = (data[8] & 0x80) ? 1 : 0; - this.InputData.Digital.A3 = (data[8] & 0x40) ? 1 : 0; - this.InputData.Digital.A2 = (data[8] & 0x20) ? 1 : 0; - this.InputData.Digital.A1 = (data[8] & 0x10) ? 1 : 0; - this.InputData.Digital.FEA4 = (data[8] & 0x08) ? 1 : 0; - this.InputData.Digital.FEA3 = (data[8] & 0x04) ? 1 : 0; - this.InputData.Digital.FEA2 = (data[8] & 0x02) ? 1 : 0; - this.InputData.Digital.FEA1 = (data[8] & 0x01) ? 1 : 0; - - this.InputData.Digital.REA4 = (data[9] & 0x80) ? 1 : 0; - this.InputData.Digital.REA3 = (data[9] & 0x40) ? 1 : 0; - this.InputData.Digital.REA2 = (data[9] & 0x20) ? 1 : 0; - this.InputData.Digital.REA1 = (data[9] & 0x10) ? 1 : 0; - this.InputData.Digital.BEA4 = (data[9] & 0x08) ? 1 : 0; - this.InputData.Digital.BEA3 = (data[9] & 0x04) ? 1 : 0; - this.InputData.Digital.BEA2 = (data[9] & 0x02) ? 1 : 0; - this.InputData.Digital.BEA1 = (data[9] & 0x01) ? 1 : 0; - - this.InputData.Remote.R_3 = (data[10] & 0x80) ? 1 : 0; - this.InputData.Remote.R_2 = (data[10] & 0x40) ? 1 : 0; - this.InputData.Remote.R_4 = (data[10] & 0x20) ? 1 : 0; - this.InputData.Remote.R_1 = (data[10] & 0x10) ? 1 : 0; - - this.InputData.Remote.R_7 = (data[11] & 0x80) ? 1 : 0; - this.InputData.Remote.R_6 = (data[11] & 0x40) ? 1 : 0; - this.InputData.Remote.R_8 = (data[11] & 0x20) ? 1 : 0; - this.InputData.Remote.R_5 = (data[11] & 0x10) ? 1 : 0 - this.InputData.Remote.R_R1 = (data[11] & 0x08) ? 1 : 0; - this.InputData.Remote.R_L1 = (data[11] & 0x04) ? 1 : 0; - this.InputData.Remote.R_R2 = (data[11] & 0x02) ? 1 : 0; - this.InputData.Remote.R_L2 = (data[11] & 0x01) ? 1 : 0; - - this.InputData.EEPROM.EC = data[13]; - this.InputData.EEPROM.EEPR2 = data[14]; - this.InputData.EEPROM.EEPR1 = data[15]; - - this.InputData.Infinite.ROTATION_1 = (data[16]>>6)&0xC; - this.InputData.Infinite.ROTATION_2 = (data[16]>>4)&0xC; - this.InputData.Infinite.ROTATION_3 = (data[16]>>2)&0xC; - this.InputData.Infinite.ROTATION_4 = (data[16]>>0)&0xC; - - this.InputData.Acceler.AXIS_X1 = data[4]; - this.InputData.Acceler.AXIS_X2 = data[5]; - this.InputData.Acceler.AXIS_X3 = data[6]; - this.InputData.Acceler.AXIS_X4 = data[7]; - - this.InputData.Acceler.AXIS_Y1 = data[17]; - this.InputData.Acceler.AXIS_Y2 = data[19]; - this.InputData.Acceler.AXIS_Y3 = data[21]; - this.InputData.Acceler.AXIS_Y4 = data[23]; - - this.InputData.Acceler.AXIS_Z1 = data[18]; - this.InputData.Acceler.AXIS_Z2 = data[20]; - this.InputData.Acceler.AXIS_Z3 = data[22]; - this.InputData.Acceler.AXIS_Z4 = data[24]; - - } - else - console.count('CheckSum Err'); - } - //this.sensors = data; - } - - // // 커스텀 버튼을 사용자에게 보여줄지 여부 - // canShowCustomButton() { - // return true; - // } - - // 커스텀 버튼 클릭시 동작할 로직 - // customButtonClicked(key) { - // switch (key) { - // case "case1": - // //버튼 1 로직 - // break; - // case "case2": - // //버튼 2 로직 - // break; - // default: - // console.log(key); - // } - // } - -} - -module.exports = new ProboConnect(); +const BaseModule = require('./baseModule'); + +class ProboConnect extends BaseModule { + constructor() { + super(); + + this.lastID = 0; + this.foo = 0; + this.sp = null; + this.EdgeBuff = { + FEA1:0, + FEA2:0, + FEA3:0, + FEA4:0, + REA1:0, + REA2:0, + REA3:0, + REA4:0, + BEA1:0, + BEA2:0, + BEA3:0, + BEA4:0 + }; + this.InputData = { + Analog:{ + AA1: 0, + AA2: 0, + AA3: 0, + AA4: 0 + }, + Digital:{ + A1: 0, + A2: 0, + A3: 0, + A4: 0, + FEA1:0, + FEA2:0, + FEA3:0, + FEA4:0, + REA1:0, + REA2:0, + REA3:0, + REA4:0, + BEA1:0, + BEA2:0, + BEA3:0, + BEA4:0 + }, + Remote:{ + R_1:0, + R_2:0, + R_3:0, + R_4:0, + R_5:0, + R_6:0, + R_7:0, + R_8:0, + R_L1:0, + R_L2:0, + R_R1:0, + R_R2:0 + }, + EEPROM:{ + EC:0, + EEPR2:0, + EEPR1:0, + }, + Infinite:{ + ROTATION_1:0, + ROTATION_2:0, + ROTATION_3:0, + ROTATION_4:0 + }, + Acceler:{ + AXIS_X1:0, + AXIS_X2:0, + AXIS_X3:0, + AXIS_X4:0, + AXIS_Y1:0, + AXIS_Y2:0, + AXIS_Y3:0, + AXIS_Y4:0, + AXIS_Z1:0, + AXIS_Z2:0, + AXIS_Z3:0, + AXIS_Z4:0, + } + + }; + + this.RemoteData = { + B1:0, + B2:0, + B3:0, + B4:0, + Servo1:0, + Servo2:0, + Servo3:0, + Servo4:0, + DC1:0, + DC2:0, + DC3:0, + DC4:0, + MEL2:0, + MEL1:0, + FND:100, + EEPR4:0, + EEPR3:0, + EEPR2:0, + EEPR1:0, + ASET2:0, + ASET1:0 + }; + + // this.Infinite_Buff = { AA1: 0, AA2: 0, AA3: 0, AA4: 0 }, + // this.Infinite_Count = { AA1: 0, AA2: 0, AA3: 0, AA4: 0 }, + // this.Infinite_Start = { AA1: 0, AA2: 0, AA3: 0, AA4: 0 }, + + this.OutputData = new Buffer(22); + + this.OutputData[0] = 0xAD; + this.OutputData[1] = 0xDA; + this.OutputData[2] = 0x00; + this.OutputData[3] = 0x00; + this.OutputData[4] = 0x00; + this.OutputData[5] = 0x00; + this.OutputData[6] = 0x00; + this.OutputData[7] = 0x00; + this.OutputData[8] = 0x00; + this.OutputData[9] = 0x00; + this.OutputData[10] = 0x00; + this.OutputData[11] = 0x00; + this.OutputData[12] = 0x00; + this.OutputData[13] = 0x00; + this.OutputData[14] = 0x00; + this.OutputData[15] = 0x00; + this.OutputData[16] = 0x00; + this.OutputData[17] = 0x00; + this.OutputData[18] = 0x00; + this.OutputData[19] = 0x00; + this.OutputData[20] = 0x00; + this.OutputData[21] = 0x00; + } + + // init(handler, config) {} + // + // setSerialPort(sp) { + // this.sp = sp; + // } + + // 연결 후 초기에 송신할 데이터가 필요한 경우 사용합니다. + requestInitialData(sp){ + this.sp = sp; + var initTxBuf = new Buffer([0x63, 0x36]); + return initTxBuf; + } + + // 연결 후 초기에 수신받아서 정상연결인지를 확인해야하는 경우 사용합니다. + checkInitialData(data, config) { + const TxBuf = new Buffer([0x24, 0x42]); + var rt = false; + + if((data[0]&0x30) == 0x30){ + rt = true; + if((data[0]&0x32) != 0x32) this.sp.write(TxBuf); + } + + return rt; + } + + // optional. 하드웨어에서 받은 데이터의 검증이 필요한 경우 사용합니다. + validateLocalData(data) { + return true; + } + + // 엔트리로 전달할 데이터 + requestRemoteData(handler) { + handler.write("InputData",this.InputData); + } + + // 엔트리에서 받은 데이터에 대한 처리 + handleRemoteData(handler) { + Object.keys(this.RemoteData).forEach((port) => { + this.RemoteData[port] = handler.read(port); + }); + this.OutputData[3] = 0xF0 | (this.RemoteData.B4 << 3) | (this.RemoteData.B3 << 2) | (this.RemoteData.B2 << 1) | this.RemoteData.B1; + this.OutputData[4] = this.RemoteData.Servo1; + this.OutputData[5] = this.RemoteData.Servo2; + this.OutputData[6] = this.RemoteData.Servo3; + this.OutputData[7] = this.RemoteData.Servo4; + this.OutputData[8] = this.RemoteData.DC1; + this.OutputData[9] = this.RemoteData.DC2; + this.OutputData[10] = this.RemoteData.DC3; + this.OutputData[11] = this.RemoteData.DC4; + + this.OutputData[12] = this.RemoteData.MEL2; + this.OutputData[13] = this.RemoteData.MEL1; + this.OutputData[14] = this.RemoteData.FND; + this.OutputData[15] = this.RemoteData.EEPR4; + this.OutputData[16] = this.RemoteData.EEPR3; + this.OutputData[17] = this.RemoteData.EEPR2; + this.OutputData[18] = this.RemoteData.EEPR1; + this.OutputData[19] = this.RemoteData.ASET2; + this.OutputData[20] = this.RemoteData.ASET1; + } + + checkSumMk(buff){ + buff[this.OutputData.length - 1] = 0; + for(var i = 3 ; i < this.OutputData.length - 1 ; i++) { + buff[this.OutputData.length - 1] += this.OutputData[i]; + } + } + + // 하드웨어에 전달할 데이터 + requestLocalData() { + this.OutputData[2] = this.OutputData.length - 3; + this.checkSumMk(this.OutputData); + //console.log(this.InputData.EEPROM.ADDRESS, send); + return this.OutputData; + } + + checkSumCk(buff){ + var ck = 0; + for(var i = 3 ; i < (buff[2] + 2) ; i++ ) { + ck += buff[i]; + } + + return buff[buff[2]+2] == (ck & 0xff) + ? true + : false; + } + + // 하드웨어에서 온 데이터 처리 + handleLocalData(data) { + if(data[0]==0xCD && data[1] == 0xDA) + { + if(this.checkSumCk(data)) { + this.InputData.Analog.AA1 = data[4]; + this.InputData.Analog.AA2 = data[5]; + this.InputData.Analog.AA3 = data[6]; + this.InputData.Analog.AA4 = data[7]; + + this.InputData.Digital.A4 = (data[8] & 0x80) ? 1 : 0; + this.InputData.Digital.A3 = (data[8] & 0x40) ? 1 : 0; + this.InputData.Digital.A2 = (data[8] & 0x20) ? 1 : 0; + this.InputData.Digital.A1 = (data[8] & 0x10) ? 1 : 0; + this.InputData.Digital.FEA4 = (data[8] & 0x08) ? 1 : 0; + this.InputData.Digital.FEA3 = (data[8] & 0x04) ? 1 : 0; + this.InputData.Digital.FEA2 = (data[8] & 0x02) ? 1 : 0; + this.InputData.Digital.FEA1 = (data[8] & 0x01) ? 1 : 0; + + this.InputData.Digital.REA4 = (data[9] & 0x80) ? 1 : 0; + this.InputData.Digital.REA3 = (data[9] & 0x40) ? 1 : 0; + this.InputData.Digital.REA2 = (data[9] & 0x20) ? 1 : 0; + this.InputData.Digital.REA1 = (data[9] & 0x10) ? 1 : 0; + this.InputData.Digital.BEA4 = (data[9] & 0x08) ? 1 : 0; + this.InputData.Digital.BEA3 = (data[9] & 0x04) ? 1 : 0; + this.InputData.Digital.BEA2 = (data[9] & 0x02) ? 1 : 0; + this.InputData.Digital.BEA1 = (data[9] & 0x01) ? 1 : 0; + + this.InputData.Remote.R_3 = (data[10] & 0x80) ? 1 : 0; + this.InputData.Remote.R_2 = (data[10] & 0x40) ? 1 : 0; + this.InputData.Remote.R_4 = (data[10] & 0x20) ? 1 : 0; + this.InputData.Remote.R_1 = (data[10] & 0x10) ? 1 : 0; + + this.InputData.Remote.R_7 = (data[11] & 0x80) ? 1 : 0; + this.InputData.Remote.R_6 = (data[11] & 0x40) ? 1 : 0; + this.InputData.Remote.R_8 = (data[11] & 0x20) ? 1 : 0; + this.InputData.Remote.R_5 = (data[11] & 0x10) ? 1 : 0 + this.InputData.Remote.R_R1 = (data[11] & 0x08) ? 1 : 0; + this.InputData.Remote.R_L1 = (data[11] & 0x04) ? 1 : 0; + this.InputData.Remote.R_R2 = (data[11] & 0x02) ? 1 : 0; + this.InputData.Remote.R_L2 = (data[11] & 0x01) ? 1 : 0; + + this.InputData.EEPROM.EC = data[13]; + this.InputData.EEPROM.EEPR2 = data[14]; + this.InputData.EEPROM.EEPR1 = data[15]; + + this.InputData.Infinite.ROTATION_1 = (data[16]>>6)&0xC; + this.InputData.Infinite.ROTATION_2 = (data[16]>>4)&0xC; + this.InputData.Infinite.ROTATION_3 = (data[16]>>2)&0xC; + this.InputData.Infinite.ROTATION_4 = (data[16]>>0)&0xC; + + this.InputData.Acceler.AXIS_X1 = data[4]; + this.InputData.Acceler.AXIS_X2 = data[5]; + this.InputData.Acceler.AXIS_X3 = data[6]; + this.InputData.Acceler.AXIS_X4 = data[7]; + + this.InputData.Acceler.AXIS_Y1 = data[17]; + this.InputData.Acceler.AXIS_Y2 = data[19]; + this.InputData.Acceler.AXIS_Y3 = data[21]; + this.InputData.Acceler.AXIS_Y4 = data[23]; + + this.InputData.Acceler.AXIS_Z1 = data[18]; + this.InputData.Acceler.AXIS_Z2 = data[20]; + this.InputData.Acceler.AXIS_Z3 = data[22]; + this.InputData.Acceler.AXIS_Z4 = data[24]; + } + } + } + + // // 커스텀 버튼을 사용자에게 보여줄지 여부 + // canShowCustomButton() { + // return true; + // } + + // 커스텀 버튼 클릭시 동작할 로직 + // customButtonClicked(key) { + // switch (key) { + // case "case1": + // //버튼 1 로직 + // break; + // case "case2": + // //버튼 2 로직 + // break; + // default: + // console.log(key); + // } + // } + +} + +module.exports = new ProboConnect(); From 9668ed94033efbb4b9aa7f720516d893fbc8629a Mon Sep 17 00:00:00 2001 From: hksong Date: Thu, 19 Sep 2024 09:11:24 +0900 Subject: [PATCH 10/14] =?UTF-8?q?=EC=97=90=EC=9D=B4=EB=9F=AD=EC=8A=A4=20?= =?UTF-8?q?=EB=84=A4=EB=AA=A8=20=EC=8B=A0=EA=B7=9C=20=EB=93=B1=EB=A1=9D?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- app/firmwares/alux_nemo.hex | 1413 +++++++++++++++++++++++++++++++++++ app/modules/alux_nemo.js | 727 ++++++++++++++++++ app/modules/alux_nemo.json | 31 + app/modules/alux_nemo.png | Bin 0 -> 5766 bytes 4 files changed, 2171 insertions(+) create mode 100644 app/firmwares/alux_nemo.hex create mode 100644 app/modules/alux_nemo.js create mode 100644 app/modules/alux_nemo.json create mode 100644 app/modules/alux_nemo.png diff --git a/app/firmwares/alux_nemo.hex b/app/firmwares/alux_nemo.hex new file mode 100644 index 000000000..5e06297f7 --- /dev/null +++ b/app/firmwares/alux_nemo.hex @@ -0,0 +1,1413 @@ +:100000000C9415070C9432070C9432070C943207A9 +:100010000C94611D0C9432070C9432070C94320737 +:100020000C9432070C94B21D0C9432070C943207D6 +:100030000C9432070C9432070C9432070C9432075C +:100040000C9486120C9432070C94D7100C9432073F 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--- /dev/null +++ b/app/modules/alux_nemo.js @@ -0,0 +1,727 @@ +function Module() { + this.soundKeyArray = [30578, 28861, 27241, 25713, 24270, 22908, 21622, 20408, 19263, 18182, 17161, 16198]; + this.ledPixelArray = [0, 0, 0, 0, 0, 0, 0]; + this.protocol = { + nemoId: 0x24, + fwVersion: 0x42, + sCmd0 : 0xAD, + sCmd1: 0xDA, + rCmd0: 0xCD, + rCmd1: 0xDA + }; + this.sAddr = { + cmd0: 0, + cmd1: 1, + size: 2, + led7x1: 3, + led7x2: 4, + led7x3: 5, + led7x4: 6, + led7x5: 7, + led7x6: 8, + led7x7: 9, + led7x8: 10, + led7x9: 11, + led7x10: 12, + led7x11: 13, + led7x12: 14, + led7x13: 15, + led7x14: 16, + ledMs0: 17, + ledMs1: 18, + ledPixel: 19, + ledSet: 20, + portSet: 21, + melody: 22, + buzzer0: 23, + buzzer1: 24, + ledRead: 25, + textSize: 0 // 텍스트 크기는 따로 계산하여 입력한다. + }; + this.rAddr = { + cmd0: 0, + cmd1: 1, + size: 2, + accelAx0: 3, + accelAx1: 4, + accelAy0: 5, + accelAy1: 6, + accelAz0: 7, + accelAz1: 8, + accelALinear: 9, + accelD: 10, + illumi: 11, + exPort: 12, + exDigital: 13, + anSwitch0: 14, + anSwitch1: 15, + anSwitch2: 16, + anSwitch3: 17, + diSwitch0: 18, + diSwitch1: 19, + ledRead: 20, + compass: 21, + timeCheck: 22, + cs: 23 + }; + this.length = { + version: 2, + send: 26, // cs 제외 길이 + }; + this.event = { + button: false, + motion: false + }; + this.device = { + fwVersion: 0, + accelA: [0, 0, 0, 0], // x, y, z, linear + accelD: [false, false, false, false, false, false, false, false], // 앞, 뒤, 좌, 우, 위, 아래, 세움, 충격 + illumi: 0, + exPort: 0, + exDigital: [false, false, false, false], // a1, fea1, rea1, bea1 + anSwitch: [0, 0, 0, 0], + diSwitch: { + a: [false, false, false, false], // sw1, sw2, sw3, sw4 + fea: [false, false, false, false], + rea: [false, false, false, false], + bea: [false, false, false, false], + }, + ledRead: { + last: 0, + curr: 0, + state: false, + }, + compass: 0, + timeCheck: [0, 0, 0], + }; + this.deviceEx = { + button: [ + { + last: false, + curr: false, + state: [false, false, false] // 눌려있을 때, 눌렀을 때, 뗐을 때 + }, + { + last: false, + curr: false, + state: [false, false, false] // 눌려있을 때, 눌렀을 때, 뗐을 때 + }, + { + last: false, + curr: false, + state: [false, false, false] // 눌려있을 때, 눌렀을 때, 뗐을 때 + }, + { + last: false, + curr: false, + state: [false, false, false] // 눌려있을 때, 눌렀을 때, 뗐을 때 + } + ], + expansion: { + last: 0, + curr: 0, + start: 0, + state: [0, 0, 0, 0] // 값, 각도, 절대각도, 회전 수 + }, + compass: { + last: 0, + curr: 0, + start: 0, + state: [0, 0, 0, 0, 0] // 값, 각도, 절대각도, 회전 수, 방향 + }, + timeCheck: [ + { + last: 0, + curr: 0, + state: false, + }, + { + last: 0, + curr: 0, + state: false, + }, + { + last: 0, + curr: 0, + state: false, + }, + ] + }; + this.basicBuffer = new Buffer(26); // cs 제외 길이 + this.textBuffer = new Buffer(0); + + this.lastInitBlockId = 0; + this.lastOutputBlockId = 0; + this.lastExtensionBlockId = 0; +}; + +// 최초에 커넥션이 이루어진 후의 초기 설정. +// handler 는 워크스페이스와 통신하 데이터를 json 화 하는 오브젝트입니다. (datahandler/json 참고) +// config 은 module.json 오브젝트입니다. +Module.prototype.init = function(handler, config) { + this.setDefault(); +}; + +// 연결 후 초기에 송신할 데이터가 필요한 경우 사용합니다. +// requestInitialData 를 사용한 경우 checkInitialData 가 필수입니다. +// 이 두 함수가 정의되어있어야 로직이 동작합니다. 필요없으면 작성하지 않아도 됩니다. +Module.prototype.requestInitialData = function() { + const packet = new Buffer(this.length.version); + packet[this.sAddr.cmd0] = this.protocol.nemoId; + packet[this.sAddr.cmd1] = this.protocol.fwVersion; + return packet; +}; + +// 연결 후 초기에 수신받아서 정상연결인지를 확인해야하는 경우 사용합니다. +Module.prototype.checkInitialData = function(data, config) { + let isConnected = false; + if (data.length === this.length.version && data[this.rAddr.cmd0] === this.protocol.fwVersion) { + this.device.fwVersion = data[this.rAddr.cmd1]; + isConnected = true; + } + return isConnected; +}; + +// 하드웨어 기기에 전달할 데이터를 반환합니다. +// slave 모드인 경우 duration 속성 간격으로 지속적으로 기기에 요청을 보냅니다. +Module.prototype.requestLocalData = function() { + const basicSize = this.basicBuffer.length; // cs 제외 길이 + const textSize = this.textBuffer.length; + const packetSize = basicSize + textSize + 1; + const csIndex = packetSize - 1; + const packet = new Buffer(packetSize); + + + this.basicBuffer[0] = this.protocol.sCmd0; + this.basicBuffer[1] = this.protocol.sCmd1; + this.basicBuffer[2] = (packetSize - 3); // cmd와 size 길이 제외 + for (let i = 0; i < basicSize; i++) { + packet[i] = this.basicBuffer[i]; + if (i > this.sAddr.size) { + packet[csIndex] = (packet[csIndex] + packet[i]) & 0xFF; + } + } + if (textSize > 0) { + for (let i = 0; i < textSize; i++) { + const index = basicSize + i; + packet[index] = this.textBuffer[i]; + packet[csIndex] = (packet[csIndex] + packet[index]) & 0xFF; + } + } + + this.basicBuffer = new Buffer(this.length.send); + this.textBuffer = new Buffer(0); + return packet; +}; + +// 주기적으로 하드웨어에서 받은 데이터의 검증이 필요한 경우 사용합니다. +Module.prototype.validateLocalData = function(data) { + const size = data.length; + let validation = false; + if (size === this.length.version) { + if (data[this.rAddr.cmd0] === this.protocol.fwVersion) { + validation = true; + this.device.fwVersion = data[this.rAddr.cmd1]; + } + } else { + if (data[this.rAddr.cmd0] === this.protocol.rCmd0 && data[this.rAddr.cmd1] === this.protocol.rCmd1) { + const dataLength = data[this.rAddr.size] - 1; + let cs = 0; + for (let i = 0; i < dataLength; i++) { + cs = ((cs & 0xFF) + data[i + 3]) & 0xFF; + } + if (data[this.rAddr.cs] === cs) { + validation = true; + } + } + } + return validation; +}; + +// 하드웨어에서 온 데이터 처리 +Module.prototype.handleLocalData = function(data) { + const size = data.length + if (size > this.length.version) { + this.parsingAccelA(data); + this.parsingAccelD(data); + this.parsingIllumination(data); + this.parsingExPort(data); + this.parsingExDigital(data); + this.parsingAnSwitch(data); + this.parsingDiSwitch(data); + this.parsingLedRead(data); + this.parsingCompass(data); + this.parsingTimeCheck(data); + } else if (size === this.length.version) { + this.device.fwVersion = data[this.rAddr.cmd1]; + } +}; + +// 엔트리로 전달할 데이터 +Module.prototype.requestRemoteData = function(handler) { + handler.write('NEMO_DEVICE', this.device); + handler.write('NEMO_DEVICE_EX', this.deviceEx); + handler.write('NEMO_EVENT_MOTION', this.event.motion); + handler.write('NEMO_EVENT_BUTTON', this.event.button); + this.event.motion = false; + this.event.button = false; + +}; + +// 엔트리에서 받은 데이터에 대한 처리 +Module.prototype.handleRemoteData = function(handler) { + const init = handler.read('NEMO_INIT'); + const output = handler.read('NEMO_OUTPUT'); + const extension = handler.read('NEMO_EXTENSION'); + + if (init.id !== this.lastInitBlockId) { + this.lastInitBlockId = init.id; + this.setDefault(); + this.addLedClear(true); + this.addMelody(0); + } + + if (output.id !== this.lastOutputBlockId) { + this.lastOutputBlockId = output.id; + switch (output.index) { + case 0: + this.addLedSet(output.iconLED.index, output.iconLED.time); + break; + case 1: + this.addLedLine(output.customLED.icon, output.customLED.value, output.customLED.time); + break; + case 2: + this.addText(output.textLED.text, output.textLED.time); + break; + case 3: + this.addLedClear(output.deleteLED.value); + break; + case 4: + this.addLedPixel(output.coordinateLED.index, output.coordinateLED.state); + break; + case 5: + case 6: + this.addMelody(output.playMelody.title); + break; + case 7: + this.addBuzzer(output.playNote.pitch); + break; + case 9: + this.addBuzzer(output.playNote.pitch); + this.addMelody(output.playMelody.title); + break; + case 10: + this.addLEDRead(output.readLED.index); + break; + + } + } + + if (extension.id !== this.lastExtensionBlockId) { + this.lastExtensionBlockId = extension.id; + switch (extension.index) + { + case 0: + this.addSetExpension(extension.setExpansion.type); + break; + case 1: + this.addSetExpensionValue(extension.setExpansionValue.value); + break; + case 2: + this.addSetCompassValue(extension.setCompassValue.value); + break; + } + } +}; + +// 하드웨어 연결 해제 시 호출 +Module.prototype.disconnect = function(connect) { + connect.close(); +}; + +// 연결 종료 후 처리 코드 +Module.prototype.reset = function() { + +}; + +Module.prototype.setDefault = function() { + this.ledPixelArray = [0, 0, 0, 0, 0, 0, 0]; + this.event = { + button: false, + motion: false + }; + this.device = { + fwVersion: 0, + accelA: [0, 0, 0, 0], // x, y, z, linear + accelD: [false, false, false, false, false, false, false, false], // 앞, 뒤, 좌, 우, 위, 아래, 세움, 충격 + illumi: 0, + exPort: 0, + exDigital: [false, false, false, false], // a1, fea1, rea1, bea1 + anSwitch: [0, 0, 0, 0], + diSwitch: { + a: [false, false, false, false], // sw1, sw2, sw3, sw4 + fea: [false, false, false, false], + rea: [false, false, false, false], + bea: [false, false, false, false], + }, + ledRead: { + last: 0, + curr: 0, + state: false, + }, + compass: 0, + timeCheck: [0, 0, 0], + }; + this.deviceEx = { + button: [ + { + last: false, + curr: false, + state: [false, false, false] // 눌려있을 때, 눌렀을 때, 뗐을 때 + }, + { + last: false, + curr: false, + state: [false, false, false] // 눌려있을 때, 눌렀을 때, 뗐을 때 + }, + { + last: false, + curr: false, + state: [false, false, false] // 눌려있을 때, 눌렀을 때, 뗐을 때 + }, + { + last: false, + curr: false, + state: [false, false, false] // 눌려있을 때, 눌렀을 때, 뗐을 때 + } + ], + expansion: { + last: 0, + curr: 0, + start: 0, + state: [0, 0, 0, 0, false, false, false] // 값, 각도, 절대각도, 회전 수, 눌려있을 때, 눌렀을 때, 뗐을 때 + }, + compass: { + last: 0, + curr: 0, + start: 0, + state: [0, 0, 0, 0, 0] // 값, 각도, 절대각도, 회전 수, 방향 + }, + timeCheck: [ + { + last: 0, + curr: 0, + state: false, + }, + { + last: 0, + curr: 0, + state: false, + }, + { + last: 0, + curr: 0, + state: false, + }, + ] + }; + this.basicBuffer = new Buffer(26); // cs 제외 길이 + this.textBuffer = new Buffer(0); +}; + +Module.prototype.parsingAccelA = function(data) { + for (let i = 0; i < 3; i++) { + const lowData = data[i * 2 + 3]; + const highData = data[i * 2 + 4]; + const temp = (lowData & 0x80) === 0x80 + ? (0x10000 - ((lowData << 8) | highData)) * -1 + : (lowData << 8) | highData; + this.device.accelA[i] = temp / 10.0; + } + this.device.accelA[3] = data[this.rAddr.accelALinear] +}; + +Module.prototype.parsingAccelD = function(data) { + for (let i = 0; i < 8; i++) { + const temp = (data[this.rAddr.accelD] >> i) & 0x01; + if (temp === 1) { + this.event.motion = true; + this.device.accelD[7 - i] = true; + } else { + this.device.accelD[7 - i] = false; + } + } +} + +Module.prototype.parsingIllumination = function(data) { + this.device.illumi = data[this.rAddr.illumi]; +} + +Module.prototype.parsingExPort = function(data) { + const sen = data[this.rAddr.exPort]; + this.device.exPort = sen; + this.deviceEx.expansion.curr = sen; + + if (this.deviceEx.expansion.curr !== this.deviceEx.expansion.last) { + let diff = this.deviceEx.expansion.last - this.deviceEx.expansion.curr; + + // 회전수: 3 + if (diff > 200) { + this.deviceEx.expansion.state[3] += 1; + } else if (diff < -200) { + this.deviceEx.expansion.state[3] -= 1; + } + + // 값: 0 + this.deviceEx.expansion.state[0] = (sen - this.deviceEx.expansion.start) + (this.deviceEx.expansion.state[3] * 255); + + // 각도: 1 + let angle = (this.deviceEx.expansion.state[0] % 255); + if (angle < 0) { + angle = 255 + angle; + } + this.deviceEx.expansion.state[1] = Math.floor(angle * 1.41732); + + // 절대각도: 2 + this.deviceEx.expansion.state[2] = Math.floor(sen * 1.41732); + } + + this.deviceEx.expansion.last = this.deviceEx.expansion.curr; +} + +Module.prototype.parsingExDigital = function(data) { + for (let i = 4; i < 8; i++) { + const temp = (data[[this.rAddr.exDigital]] >> i) & 0x01; + this.device.exDigital[i - 4] = temp === 1 ? true : false; + } + // 확장센서 버튼 상태값 + this.deviceEx.expansion.state[4] = this.device.exDigital[3]; + this.deviceEx.expansion.state[5] = this.device.exDigital[2]; + this.deviceEx.expansion.state[6] = this.device.exDigital[1]; +} + +Module.prototype.parsingAnSwitch = function(data) { + this.device.anSwitch[0] = data[this.rAddr.anSwitch0]; + this.device.anSwitch[1] = data[this.rAddr.anSwitch1]; + this.device.anSwitch[2] = data[this.rAddr.anSwitch2]; + this.device.anSwitch[3] = data[this.rAddr.anSwitch3]; +} + +Module.prototype.parsingDiSwitch = function(data) { + for (let i = 0; i < 8; i++) { + const temp1 = ((data[this.rAddr.diSwitch0] >> i) & 0x01) === 1 + ? true + : false; + const temp2 = ((data[this.rAddr.diSwitch1] >> i) & 0x01) === 1 + ? true + : false; + if (4 <= i && i <= 7) { + const index = i - 4; + this.device.diSwitch.a[index] = temp1; + this.deviceEx.button[index].curr = temp1; + this.device.diSwitch.rea[index] = temp2; + + if (!this.deviceEx.button[index].curr && !this.deviceEx.button[index].last) { + this.deviceEx.button[index].state[0] = false; + this.deviceEx.button[index].state[1] = false; + this.deviceEx.button[index].state[2] = false; + } else { + this.event.button = true; + this.deviceEx.button[index].state[0] = true; + if (this.deviceEx.button[index].curr && this.deviceEx.button[index].last) { + this.deviceEx.button[index].state[1] = false; + this.deviceEx.button[index].state[2] = false; + } else if (this.deviceEx.button[index].curr && !this.deviceEx.button[index].last) { + this.deviceEx.button[index].state[1] = true; + this.deviceEx.button[index].state[2] = false; + } else if (!this.deviceEx.button[index].curr && this.deviceEx.button[index].last) { + this.deviceEx.button[index].state[1] = false; + this.deviceEx.button[index].state[2] = true; + } + } + this.deviceEx.button[index].last = this.deviceEx.button[index].curr; + } else if (0 <= i && i <= 3) { + const index = 3 - i; + this.device.diSwitch.fea[index] = temp1; + this.device.diSwitch.bea[index] = temp2; + } + } +}; + +Module.prototype.parsingLedRead = function(data) { + this.device.ledRead.curr = data[this.rAddr.ledRead] & 0x7F; + if (this.device.ledRead.curr !== this.device.ledRead.last) { + this.device.ledRead.state = (data[this.rAddr.ledRead] >> 7) & 0x01; + } + this.device.ledRead.last = this.device.ledRead.curr; +}; + +Module.prototype.parsingCompass = function(data) { + const sen = data[this.rAddr.compass]; + this.device.compass = sen; + this.deviceEx.compass.curr = sen; + + if (this.deviceEx.compass.curr !== this.deviceEx.compass.last) { + let diff = this.deviceEx.compass.last - this.deviceEx.compass.curr; + + // 회전수: 3 + if (diff > 200) { + this.deviceEx.compass.state[3] += 1; + } else if (diff < -200) { + this.deviceEx.compass.state[3] -= 1; + } + + // 값: 0 + this.deviceEx.compass.state[0] = (sen - this.deviceEx.compass.start) + (this.deviceEx.compass.state[3] * 255); + + // 각도: 1 + let angle = (this.deviceEx.compass.state[0] % 255); + if (angle < 0) { + angle = 255 + angle; + } + this.deviceEx.compass.state[1] = Math.floor(angle * 1.41732); + + // 절대각도: 2 + this.deviceEx.compass.state[2] = Math.floor(sen * 1.41732); + + // 방향: 4 + if (35 <= sen && sen < 99) { + this.deviceEx.compass.state[4] = 0; // 동 + } else if (99 <= sen && sen < 163) { + this.deviceEx.compass.state[4] = 2; // 남 + } else if (163 <= sen && sen < 227) { + this.deviceEx.compass.state[4] = 1; // 서 + } else { // 227-34 + this.deviceEx.compass.state[4] = 3; // 북 + } + } + + this.deviceEx.compass.last = this.deviceEx.compass.curr; +}; + +Module.prototype.parsingTimeCheck = function(data) { + for (let i = 0; i < 3; i++) { + this.device.timeCheck[i] = (data[this.rAddr.timeCheck] >> ((3 - i) * 2)) & 0x03; + this.deviceEx.timeCheck[i].curr = this.device.timeCheck[i]; + this.deviceEx.timeCheck[i].state = (this.deviceEx.timeCheck[i].last !== this.deviceEx.timeCheck[i].curr) + ? true + : false; + this.deviceEx.timeCheck[i].last = this.deviceEx.timeCheck[i].curr; + } +}; + +Module.prototype.addLedLine = function(index, led, time) { + // 펌웨어의 x,y 좌표와 실제 표기할 x,y 좌표가 달라 아래와 같이 프로그래밍합니다 + for (let i = 0; i < 7; i++) { + const bitValue = led[i] & 0x01; + this.ledPixelArray[i] |= 0x80; + if (bitValue) { + this.ledPixelArray[i] |= 1 << index; + } else { + this.ledPixelArray[i] &= ~(1 << index); + } + } + for (let i = 0; i < 7; i++) { + this.basicBuffer[this.sAddr.led7x1 + i] = this.ledPixelArray[i]; + } + this.basicBuffer[this.sAddr.ledMs0] = (time >> 8) & 0x7F; + this.basicBuffer[this.sAddr.ledMs1] = time & 0xFF; +}; + +Module.prototype.addLedClear = function(value) { + if (value === true) { + for (let i = 0; i < 7; i++) { + this.basicBuffer[this.sAddr.led7x1 + i] = 0x80; + } + } +} + +Module.prototype.addLedPixel = function(index, state) { + this.basicBuffer[this.sAddr.ledPixel] = ((state & 0x03) << 6) | (index & 0x3F); +}; + +Module.prototype.addLedSet = function(index, time) { + this.basicBuffer[this.sAddr.ledSet] = index; + this.basicBuffer[this.sAddr.ledMs0] = (time >> 8) & 0x7F; + this.basicBuffer[this.sAddr.ledMs1] = time & 0xFF; +}; + +Module.prototype.addPortset = function(index) { + this.basicBuffer[this.sAddr.portSet] = index & 0x0F; +}; + +Module.prototype.addMelody = function(index) { + this.basicBuffer[this.sAddr.melody] = 0x80 | (index & 0x7F); +}; + +Module.prototype.addBuzzer = function(note) { + if (0 <= note && note <= 47) { + const n = (note / 12) & 0xFF; + const v = note % 12; + let r = 2; + for (let i = 0; i < n; i++) { + r *= 2; + } + const hertz = this.soundKeyArray[v] / r; + this.basicBuffer[this.sAddr.buzzer0] = 0x80 | ((hertz >> 8) & 0x7F); + this.basicBuffer[this.sAddr.buzzer1] = hertz & 0x7F; + } +}; + +Module.prototype.addText = function(text, time) { + const size = text.length; + this.textBuffer = new Buffer(size + 1); + this.textBuffer[this.sAddr.textSize] = size; + for (let i = 0; i < size; i++) { + this.textBuffer[i + 1] = text[i].charCodeAt(); + } + this.basicBuffer[this.sAddr.ledMs0] = (time >> 8) & 0x7F; + this.basicBuffer[this.sAddr.ledMs1] = time & 0xFF; +}; + +Module.prototype.addLEDRead = function(index) { + this.basicBuffer[this.sAddr.ledRead] = index; +}; + +Module.prototype.addSetExpension = function(type) { + switch (type) { + case 1: + case 2: + case 3: + this.basicBuffer[this.sAddr.portSet] = 0x01; + break; + case 4: + case 6: + this.basicBuffer[this.sAddr.portSet] = 0x02; + break; + case 5: + this.basicBuffer[this.sAddr.portSet] = 0x07; + break; + case 7: + this.basicBuffer[this.sAddr.portSet] = 0x08; + break; + case 8: + this.basicBuffer[this.sAddr.portSet] = 0x04; + break; + case 9: + this.basicBuffer[this.sAddr.portSet] = 0x05; + break; + case 10: + this.basicBuffer[this.sAddr.portSet] = 0x06; + break; + } +}; + +Module.prototype.addSetExpensionValue = function(value) { + this.deviceEx.expansion.start = this.device.exPort - (value % 255); + this.deviceEx.expansion.state[3] = Math.floor(value / 255); + this.deviceEx.expansion.last = -1; +}; + +Module.prototype.addSetCompassValue = function(value) { + this.deviceEx.compass.start = this.device.compass - (value % 255); + this.deviceEx.compass.state[3] = Math.floor(value / 255); + this.deviceEx.compass.last = -1; +}; + +module.exports = new Module(); diff --git a/app/modules/alux_nemo.json b/app/modules/alux_nemo.json new file mode 100644 index 000000000..bb4c01d44 --- /dev/null +++ b/app/modules/alux_nemo.json @@ -0,0 +1,31 @@ +{ + "id": "630101", + "name": { + "en": "NEMO", + "ko": "네모" + }, + "category": "module", + "platform": ["win32", "darwin"], + "icon": "alux_nemo.png", + "module": "alux_nemo.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.aluxonline.com/", + "firmware": "alux_nemo", + "firmwareBaudRate": 115200, + "email": "contact@imssam.me", + "reconnect": true, + "selectPort": true, + "hardware": { + "type": "serial", + "control": "slave", + "duration": 50, + "vendor": "wch.cn", + "baudRate": 115200, + "lostTimer": 1000, + "softwareReset": false, + "firmwarecheck": false + } +} diff --git a/app/modules/alux_nemo.png b/app/modules/alux_nemo.png new file mode 100644 index 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connectHardwareSuccess() { - this._sendToChild('connectHardwareSuccess'); + connectHardwareSuccess(hardwareId: string) { + this._sendToChild('connectHardwareSuccess', hardwareId); } connectHardwareFailed() { diff --git a/app/src/main/mainRouter.ts b/app/src/main/mainRouter.ts index 54f5fa666..9c1f27d72 100644 --- a/app/src/main/mainRouter.ts +++ b/app/src/main/mainRouter.ts @@ -22,7 +22,7 @@ interface IEntryServer { setRouter: (router: MainRouter) => void; open: () => void; disconnectHardware: () => void; - connectHardwareSuccess: () => void; + connectHardwareSuccess: (hardwareId: String) => void; connectHardwareFailed: () => void; addRoomIdsOnSecondInstance: (roomId: string) => void; send: (data: any) => void; @@ -320,7 +320,7 @@ class MainRouter { logger.verbose('entryServer, connector connection'); this.handler = new DataHandler(this.config.id); this._connectToServer(); - this.server.connectHardwareSuccess(); + this.server.connectHardwareSuccess(this.config.id); this.connector.connect(); // router 설정 후 실제 기기와의 통신 시작 } } From e073b6e51d95f02db636d332f1be67a0bdd11111 Mon Sep 17 00:00:00 2001 From: Tnks2U Date: Tue, 24 Sep 2024 16:14:28 +0900 Subject: [PATCH 12/14] Update server.txt --- app/server/mac/server.txt | Bin 45002628 -> 45002732 bytes 1 file changed, 0 insertions(+), 0 deletions(-) diff --git a/app/server/mac/server.txt b/app/server/mac/server.txt index 204b6fac91cc7cef902e2b33c1c94969a2f05eaa..3d9b5cae9b1c93ffdc60dfd3b99de4c3b0592cd0 100755 GIT binary patch delta 230009 zcmbrn30#iZ`#=6Xr_*+~ui8D8l4!FFsqBWxT0KRf?3E&fgqyLZLI_=zWoYbU3qM2weT8NgSm1r&6h_+%A(N44%9YjabNpu!n#HON3 zbQRr1cd?o1A$p3hiC>BR#Q|cNI8YoUhKqy6A>vSRm^fS%{fq1~FgUC~guriv=Qxg<_FdEN&6Eird8P;y2@!ek<-0cZ++( zz2ZJ`zj#3WPCO`nFCG$q5D$w-#G~Sm;xX~KctVuKQt_l%CY};ci)X~M;yLlW_>*`+ z{8_ws@RHMMolb4rugf`o$zffm)0doiyLN3=>sFn<}51bzhm z1OWuC3EB{}C1^*`o}dFkM}kfSfdriix)5|F2qNf45KIt45K7RUpa(%uf?fo@3HlK9 zCFn=+6+wT30R&+L0|^EZgcA%V7(y_VU>L!0f)NA}1d#+$1Zsk4f*6941fvLI3E~Jw 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zL5lKj{uso7rVWm^($GNQhEDUCPKsm=>nY^WBvmc#O(o((J2Yi19A+r(Gg2IG$i^b^b79t3 zAjD7Uc@&XMCC1d+rD(ml$~lcjc~BHOvaV#$s#Qu^1yRB(^M#SjVvO6_gjD-NeNM@0 a9#VWwP4La7m$o)q)eCz{HQ-q!XZ=4G)i-Pa From 698d44a9245b396849c92e6021520f8d5f0e6746 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?=EC=A1=B0=ED=98=84=EC=9A=B1=5BSW=EA=B5=90=EC=9C=A1?= =?UTF-8?q?=ED=94=8C=EB=9E=AB=ED=8F=BC=EA=B0=9C=EB=B0=9C=5D?= Date: Tue, 24 Sep 2024 16:16:28 +0900 Subject: [PATCH 13/14] Update server.exe --- app/server/win/server.exe | Bin 32799667 -> 32799775 bytes 1 file changed, 0 insertions(+), 0 deletions(-) diff --git a/app/server/win/server.exe b/app/server/win/server.exe index 5e6c4a20bcbb35b56e091cdf158a06ed1d00dacd..5cb1272bf852c513bfb900029a77e5bdbc2bf32e 100644 GIT binary patch delta 259503 zcmb@v30zdw`#(NsxFB3b1#tvK91su`P*G8FMFp1-6_i{`9AJ<^n89Ij$-w1C?uwSB z7DsIu+$~EhGY8zW!lg2oG&M7|GDXFuwBP$V1Lo4__5Hm5|4+T z*AMR=YsBvzYcxY)idu0{B*js2QtBzrii;vE^_2#StI|+uq%>CC6nCYG;-NHEG)gnY 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a/build/entry-hw.nsi +++ b/build/entry-hw.nsi @@ -14,7 +14,7 @@ !define PRODUCT_NAME "Entry_HW" !define PROTOCOL_NAME "entryhw" !define APP_NAME "Entry_HW.exe" -!define PRODUCT_VERSION "1.9.57" +!define PRODUCT_VERSION "1.9.58" !define PRODUCT_PUBLISHER "EntryLabs" !define PRODUCT_WEB_SITE "https://www.playentry.org/" diff --git a/package.json b/package.json index c35b4b61b..228fb9e87 100644 --- a/package.json +++ b/package.json @@ -1,6 +1,6 @@ { "name": "entry-hw", - "version": "1.9.57", + "version": "1.9.58", "description": "엔트리 하드웨어 연결 프로그램", "author": "EntryLabs", "main": "./app/src/index.bundle.js",