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Merge pull request #690 from ATRobotLab/develop-hw
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231122_동작개선 및 블럭 추가
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@Tnks2U
Tnks2U authored Nov 27, 2023
2 parents 45b1776 + 6f42497 commit 918324d
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Showing 2 changed files with 221 additions and 94 deletions.
313 changes: 220 additions & 93 deletions app/modules/KKMOO.js
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Original file line number Diff line number Diff line change
Expand Up @@ -5,31 +5,34 @@ class KKMOO extends BaseModule {
// 클래스 내부에서 사용될 필드들을 이곳에서 선언합니다.
constructor() {
super();
this.sendToEntry = "";

this.sendToEntry = '';
this.receiveData;
this.isReceived = false;
this.isReceived_old = false;
this.isPlaying = false;
this.isPlaying_old = false;
this.cmdProc = "";
this.cmdProc = '';
this.sendBuffer = [];
this.test = 0;
this.buffercnt = 0;

// ...
}
/*
최초에 커넥션이 이루어진 후의 초기 설정.
handler 는 워크스페이스와 통신하 데이터를 json 화 하는 오브젝트입니다. (datahandler/json 참고)
config 은 module.json 오브젝트입니다.
*/
/*
최초에 커넥션이 이루어진 후의 초기 설정.
handler 는 워크스페이스와 통신하 데이터를 json 화 하는 오브젝트입니다. (datahandler/json 참고)
config 은 module.json 오브젝트입니다.
*/
init(handler, config) {
this.handler = handler;
this.config = config;
this.isReceived = false;
this.isReceived_old = false;
}
setSerialPort(sp) {
this.sp = sp;
}


/*
연결 후 초기에 송신할 데이터가 필요한 경우 사용합니다.
requestInitialData 를 사용한 경우 checkInitialData 가 필수입니다.
Expand All @@ -41,124 +44,248 @@ class KKMOO extends BaseModule {
if (!this.sp) {
this.sp = sp;
}
const initTX = Buffer.from("^ET");
const initTX = Buffer.from('^ET');
sp.write(initTX);
}
return null;
}


// 연결 후 초기에 수신받아서 정상연결인지를 확인해야하는 경우 사용합니다.
checkInitialData(data, config) {
return true;
}
handleLocalData(data) {
const received = data.toString("ascii");
if(received.includes("entry:")){
if(received.includes("true")){
this.isPlaying = "true";
const received = data.toString('ascii');
if (received.includes('entry:')) {
if (received.includes('true')) {
this.isPlaying = 'true';
} else {
this.isPlaying = 'false';
}
else {
this.isPlaying = "false";
}
if (received.includes('ATfinRobot')) {
//console.log("ATfinRobot");
this.buffercnt++;
if (this.sendBuffer[this.buffercnt] != null) {
this.sp.write(Buffer.from(this.sendBuffer[this.buffercnt]));
}
}
}
requestRemoteData(handler) {
handler.write("data",this.isPlaying);
/*if(this.isPlaying != this.isPlaying_old){
this.isPlaying_old = this.isPlaying;
handler.write("data",this.isPlaying);
}*/
handler.write('data', this.isPlaying);
}

// 엔트리에서 받은 데이터에 대한 처리
handleRemoteData(handler) {
if(handler.serverData != null){
this.receiveData = handler.read('msg');
if (Object.keys(handler.read('msg')).length === 0) {
this.isReceived = false;
} else {
this.isReceived = true;
}
else{
this.receiveData = null;
if (this.isReceived != this.isReceived_old && this.isReceived == true) {
this.received = true;
this.receiveData = handler.read('msg');
}
this.isReceived_old = this.isReceived;
}

requestLocalData(){
if(this.receiveData != null){
switch(this.receiveData.prot){
case "EC":
var msg = "";
var data = this.receiveData.data;
var motnum = parseInt(data.MOT);
var angle = parseInt(data.ANG);
requestLocalData() {
if (this.received) {
this.received = false;
switch (this.receiveData.prot) {
case 'RT': {
this.isReceived = false;
this.isReceived_old = false;
return;
}
case 'EC': {
let msg = '';
const data = this.receiveData.data;
let motnum = parseInt(data.MOT, 10);
let angle = parseInt(data.ANG, 10);
angle *= 10;
if(angle<0){
angle = 4096+angle;
if (angle < 0) {
angle = 4096 + angle;
}
motnum = motnum.toString(16).padStart(2,'0')
msg+=motnum;
angle = angle.toString(16).padStart(3,'0')
msg+=angle;

var cmd = "^AN"+msg;
this.sp.write(Buffer.from(cmd));
this.sp.flush()
console.log(cmd);

break;
case "IR":
//console.log("!!!!!!!!!!!!ir!!!!!!!!!!!");
var cmd = "^ir"
this.sp.write(Buffer.from(cmd))
break;
case "PM":
var msg = "";
var slot = parseInt(this.receiveData.data);
msg = slot.toString(16).padStart(2,'0');
var cmd = "$PM"+msg;
this.sp.write(Buffer.from(cmd));
break;
case "CM":
var msg = "";
var slot = parseInt(this.receiveData.data)+90;
msg = slot.toString(16).padStart(2,'0');
var cmd = "$PM"+msg;
this.sp.write(Buffer.from(cmd));
break;
case "AD":
var msg = "";
var data = this.receiveData.data;
var motnum = parseInt(data.MOT);
var angle = parseInt(data.ANG);
var time = parseInt(data.TME);
angle *=10;
if(angle<0){
angle = 4096+angle;
motnum = motnum.toString(16).padStart(2, '0');
msg += motnum;
angle = angle.toString(16).padStart(3, '0');
msg += angle;

const cmd = `^AN${msg}`;
//this.sp.write(Buffer.from(cmd));
//console.log(cmd);
return cmd;
}

case 'IR': {
const cmd = '^ir';
return cmd;
}

case 'PM': {
let msg = '';
const slot = parseInt(this.receiveData.data, 10);
msg = slot.toString(16).padStart(2, '0');
const cmd = `$PM${msg}`;
return cmd;
}
case 'CM': {
let msg = '';
const slot = parseInt(this.receiveData.data, 10) + 90;
msg = slot.toString(16).padStart(2, '0');
const cmd = `$PM${msg}`;
return cmd;
}

case 'AD': {
let msg = '';
const data = this.receiveData.data;
let motnum = parseInt(data.MOT, 10);
let angle = parseInt(data.ANG, 10);
let time = parseInt(data.TME, 10);
angle *= 10;
if (angle < 0) {
angle = 4096 + angle;
}
motnum = motnum.toString(16).padStart(2,'0');
msg+=motnum;
angle = angle.toString(16).padStart(3,'0');
msg+=angle;
time = time.toString(16).padStart(4,'0');
motnum = motnum.toString(16).padStart(2, '0');
msg += motnum;
angle = angle.toString(16).padStart(3, '0');
msg += angle;
time = time.toString(16).padStart(4, '0');
msg += time;
var cmd = "^ad"+msg;
const cmd = `^ad${msg}`;
return cmd;
}
case 'MP': {
let msg = '00';
const data = this.receiveData.data;
const time = parseInt(data.pop(), 10);
for (const i of data) {
let angle = parseInt(i.ANG, 10);
angle *= 10;
if (angle < 0) {
angle = 4096 + angle;
msg += `f${angle.toString(16).padStart(3, '0')}`;
} else {
msg += `0${angle.toString(16).padStart(3, '0')}`;
}

if (i.MOT == 8 || i.MOT == 17) {
msg += '000000000000';
}
}
let cmd = `*mf${msg}`;
this.sp.write(Buffer.from(cmd));
break;
this.sp.write(`*mt00${Buffer.from(time.toString(16).padStart(4, '0'))}`);
cmd = '*pm01';
return cmd;
}
case 'PT': {
this.buffercnt = 0;
this.sendBuffer = [];
let frame = 0;
const data = this.receiveData.data;
for (const i of data) {
let msg = '';
for (const key in i.data) {
let angle = parseInt(i.data[key].angle, 10);
angle *= 10;
if (angle < 0) {
angle = 4096 + angle;
msg += `f${angle.toString(16).padStart(3, '0')}`;
} else {
msg += `0${angle.toString(16).padStart(3, '0')}`;
}
if (key == 8 || key == 17) {
msg += '000000000000';
}
}
msg = `*mf${frame.toString(16).padStart(2, '0')}${msg}`;
const cmd_msg = msg;
const time = parseInt(i.time, 10);
const cmd_time = `*mt${frame.toString(16).padStart(2, '0')}${Buffer.from(time.toString(16).padStart(4, '0'))}`;
frame++;
this.sendBuffer.push(cmd_msg);
this.sendBuffer.push(cmd_time);

//this.sp.write(Buffer.from(cmd_msg));
//console.log(cmd_msg);
//this.sp.write(Buffer.from(cmd_time));
//console.log(cmd_time);
}
if (frame > 0) {
const pm = `*pm${frame.toString(16).padStart(2, '0')}`;
this.sendBuffer.push(pm);
const _this = this;
for (const i in this.sendBuffer) {
setTimeout(() =>
_this.sp.write(Buffer.from(_this.sendBuffer[i])), 20 * i);
}
return;
} else {
return;
}
}
case 'SV': {
this.buffercnt = 0;
this.sendBuffer = [];
let _frame = 0;
const data = this.receiveData.data;
const _slot = this.receiveData.slot;
const slot = (parseInt(_slot, 10) + 90).toString(16).padStart(2, '0');
const _name = this.receiveData.name;
if (data.length > 0) {
const framelength = data.length.toString(16).padStart(2, '0');
const cmd_header = `>mh${slot}${_name}00000000000${framelength}`;
this.sendBuffer.push(cmd_header);
//this.sp.write(Buffer.from(cmd_header));
for (const i of data) {
let msg = '';
for (const key in i.data) {
let angle = parseInt(i.data[key].angle, 10);
angle *= 10;
if (angle < 0) {
angle = 4096 + angle;
msg += `f${angle.toString(16).padStart(3, '0')}`;
} else {
msg += `0${angle.toString(16).padStart(3, '0')}`;
}
if (key == 8 || key == 17) {
msg += '000000000000';
}
}
const time = parseInt(i.time, 10).toString(16).padStart(4, '0');
const frame = _frame.toString(16).padStart(2, '0');
const cmd_frame = `>mf${slot}${frame}${time}${msg}`;
_frame++;
this.sendBuffer.push(cmd_frame);
//this.sp.write(Buffer.from(cmd_frame));
}
const cmd_hash = `>hs${slot}${this.receiveData.hash}`;
this.sendBuffer.push(cmd_hash);
return this.sendBuffer[0];
} else {
return;
}
}
}
}
this.receiveData = null;

}
disconnect(connect){
var cmd = "^ce";
disconnect(connect) {
const cmd = '^ce';
this.sp.write(Buffer.from(cmd));
setTimeout(()=>{
setTimeout(() => {
connect.close();
},500);
}, 500);
this.isConnect = false;
}
}
lostController() { }



reset() {
//console.log("reset");
}
}

module.exports = new KKMOO();
2 changes: 1 addition & 1 deletion app/modules/KKMOO.json
View file
Original file line number Diff line number Diff line change
Expand Up @@ -21,7 +21,7 @@
"hardware": {
"type": "serial",
"control": "slave",
"duration": 2,
"duration": 10,
"vendor": [
"Silicon Lab",
"wch.cn"
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