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1.9.50 #709

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merged 13 commits into from
Jan 19, 2024
Merged

1.9.50 #709

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452fffe
fix: robokit rs 동작 오류 수정 및 리팩터링
RoboroboLab Jan 10, 2024
5299646
Add files via upload
etcom3 Jan 17, 2024
027d91f
Add files via upload
etcom3 Jan 17, 2024
6fe4aae
fix: cube 동시 동작 관련 펌웨어 수정
RoboroboLab Jan 17, 2024
838af54
fix: robokitRS 펌웨어 수정
RoboroboLab Jan 17, 2024
9dd308f
ToyBot 생성
hagwon Jan 18, 2024
4207c68
AIBOT 파일명 변경, 접속방식 변경
hagwon Jan 18, 2024
c22e0a5
ToyBot lint 오류 수정
hagwon Jan 18, 2024
e3552f0
ToyBot lint 오류 수정
hagwon Jan 18, 2024
141ba8e
Merge pull request #702 from etcom3/develop-hw
Tnks2U Jan 18, 2024
26d11fa
Merge pull request #704 from JINI-Robot/develop-hw
Tnks2U Jan 18, 2024
ae1d8f4
Merge pull request #699 from RoboroboLab/develop-hw
Tnks2U Jan 18, 2024
9b8aa06
version up : 1.9.50
Tnks2U Jan 18, 2024
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2,011 changes: 738 additions & 1,273 deletions app/firmwares/etkit.hex
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871 changes: 871 additions & 0 deletions app/firmwares/etkit_middle.hex
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3,684 changes: 1,671 additions & 2,013 deletions app/firmwares/roborobo_cube.hex
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3,697 changes: 1,845 additions & 1,852 deletions app/firmwares/roborobo_robokit_rs.hex
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252 changes: 102 additions & 150 deletions app/modules/etkit.js
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Original file line number Diff line number Diff line change
@@ -1,30 +1,37 @@
function Module() {
this.sp = null;
this.sensorTypes = {
ALIVE:0,
DIGITAL:1,
ANALOG:2,
DHT_PIN:3,
LCD:4,
CO2: 5,
OLED: 6,
TIMER:8,
READ_BLUETOOTH: 9,
WRITE_BLUETOOTH: 10,
ALIVE: 0,
DIGITAL: 1,
ANALOG: 2,
DHT_PIN: 3,
LCD: 4,
PWM: 5,
SERVO_PIN: 6,
PULSEIN: 7,
ULTRASONIC: 8,
TIMER: 9,
WRITE_SEG: 10,
READ_SEG: 13,
READ_BLUETOOTH: 11,
WRITE_BLUETOOTH: 12,
GAS: 14
};
this.actionTypes = {
GET:1,
SET:2,
MODULE:3,
RESET:4,
RESET:4
};
this.sensorValueSize = {
FLOAT:2,
SHORT:3,
STRING:4,
STRING:4
};
this.digitalPortTimeList = [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0];
this.sensorData = {
PULSEIN: {},
ULTRASONIC: 0,
DIGITAL: {
'0': 0,
'1': 0,
Expand All @@ -50,14 +57,12 @@ function Module() {
'5': 0,
},
DHT_PIN: 0,
CO2: 0,
TIMER: 0,
READ_BLUETOOTH: 0,
READ_SEG: 0,
};
this.defaultOutput = {
};
this.recentCheckData = {
};
this.defaultOutput = {};
this.recentCheckData = {};
this.sendBuffers = [];
this.lastTime = 0;
this.lastSendTime = 0;
Expand All @@ -72,7 +77,8 @@ Module.prototype.setSerialPort = function (sp) {
this.sp = sp;
};
Module.prototype.requestInitialData = function() {
return this.makeSensorReadBuffer(this.sensorTypes.ANALOG, 0);
//return this.makeSensorReadBuffer(this.sensorTypes.ANALOG, 0);
return true;
};
Module.prototype.checkInitialData = function(data, config) {
return true;
Expand Down Expand Up @@ -153,24 +159,33 @@ Module.prototype.handleLocalData = function(data) {

switch(type) {
case self.sensorTypes.DIGITAL: {
self.sensorData.DIGITAL[port] = value;
self.sensorData.DIGITAL[port] = value;
break;
}
case self.sensorTypes.ANALOG: {
self.sensorData.ANALOG[port] = value;
self.sensorData.ANALOG[port] = value;
break;
}

case self.sensorTypes.DHT_PIN: {
self.sensorData.DHT_PIN = value;
self.sensorData.DHT_PIN = value;
break;
}
case self.sensorTypes.PULSEIN: {
self.sensorData.PULSEIN[port] = value;
break;
}
case self.sensorTypes.ULTRASONIC: {
self.sensorData.ULTRASONIC = value;
break;
}

case self.sensorTypes.READ_BLUETOOTH: {
self.sensorData.READ_BLUETOOTH = value;
break;
}

case self.sensorTypes.READ_SEG: {
self.sensorData.READ_SEG = value;
break;
}
case self.sensorTypes.TIMER: {
self.sensorData.TIMER = value;
break;
Expand Down Expand Up @@ -202,105 +217,81 @@ Module.prototype.requestLocalData = function() {
Module.prototype.makeSensorReadBuffer = function(device, port, data) {
let buffer;
const dummy = new Buffer([10]);
if(device == this.sensorTypes.DHT_PIN) {
buffer = new Buffer([255, 85, 7, sensorIdx, this.actionTypes.GET, device, port, 10]);
if (device == this.sensorTypes.DIGITAL) {
if (!data) {
buffer = new Buffer([255, 85, 6, sensorIdx, this.actionTypes.GET, device, port, 0, 10]);
} else {
buffer = new Buffer([255, 85, 6, sensorIdx, this.actionTypes.GET, device, port, data, 10]);
}
}
/*
else if(device == this.sensorTypes.ANALOG) {
if (!data) {
buffer = new Buffer([255, 85, 6, sensorIdx, this.actionTypes.GET, device, port, 0, 10]);
} else {
buffer = new Buffer([255, 85, 6, sensorIdx, this.actionTypes.GET, device, port, data, 10]);
}
}
*/
else if(device == this.sensorTypes.DHT_PIN) {
//buffer = new Buffer([255, 85, 6, sensorIdx, this.actionTypes.GET, device, port, 10]);

if (!data) {
buffer = new Buffer([255, 85, 6, sensorIdx, this.actionTypes.GET, device, port, 0, 10]);
} else {
buffer = new Buffer([255, 85, 6, sensorIdx, this.actionTypes.GET, device, port, data, 10]);
}

}
else if (device == this.sensorTypes.ULTRASONIC) {
buffer = new Buffer([255, 85, 6, sensorIdx, this.actionTypes.GET, device, port[0], port[1], 10]);
}
else if (device == this.sensorTypes.READ_BLUETOOTH) {
buffer = new Buffer([255, 85, 5, sensorIdx, this.actionTypes.GET, device, port, 10]);
}
else if (device == this.sensorTypes.READ_SEG) {
if (!data) {
buffer = new Buffer([255, 85, 6, sensorIdx, this.actionTypes.GET, device, port, 0, 10]);
} else {
buffer = new Buffer([255, 85, 5, sensorIdx, this.actionTypes.GET, device, port, 10]);
}

}
else if (!data) {
buffer = new Buffer([255, 85, 5, sensorIdx, this.actionTypes.GET, device, port, 10]);

}
else {
value = new Buffer(2);
value.writeInt16LE(data);
buffer = new Buffer([255, 85, 7, sensorIdx, this.actionTypes.GET, device, port, 10]);
buffer = Buffer.concat([buffer, value, dummy]);

buffer = Buffer.concat([buffer, value, dummy]);

}

sensorIdx++;
if(sensorIdx > 254) {
sensorIdx = 0;
}

return buffer;
};
Module.prototype.makeOutputBuffer = function(device, port, data) {
let buffer;
const value = new Buffer(2);
const dummy = new Buffer([10]);
switch(device) {
case this.sensorTypes.SERVO_PIN:
case this.sensorTypes.PWM:
case this.sensorTypes.DIGITAL: {
value.writeInt16LE(data);
buffer = new Buffer([
255,
85,
6,
sensorIdx,
this.actionTypes.SET,
device,
port,
]);
buffer = new Buffer([255, 85, 6, sensorIdx, this.actionTypes.SET, device, port,]);
buffer = Buffer.concat([buffer, value, dummy]);
break;

}
case this.sensorTypes.WRITE_BLUETOOTH: {
var text0 = new Buffer(2);
var text1 = new Buffer(2);
var text2 = new Buffer(2);
var text3 = new Buffer(2);
var text4 = new Buffer(2);
var text5 = new Buffer(2);
var text6 = new Buffer(2);
var text7 = new Buffer(2);
var text8 = new Buffer(2);
var text9 = new Buffer(2);
var text10 = new Buffer(2);
var text11 = new Buffer(2);
var text12 = new Buffer(2);
var text13 = new Buffer(2);
var text14 = new Buffer(2);
var text15 = new Buffer(2);
if ($.isPlainObject(data)) {
text0.writeInt16LE(data.text0);
text1.writeInt16LE(data.text1);
text2.writeInt16LE(data.text2);
text3.writeInt16LE(data.text3);
text4.writeInt16LE(data.text4);
text5.writeInt16LE(data.text5);
text6.writeInt16LE(data.text6);
text7.writeInt16LE(data.text7);
text8.writeInt16LE(data.text8);
text9.writeInt16LE(data.text9);
text10.writeInt16LE(data.text10);
text11.writeInt16LE(data.text11);
text12.writeInt16LE(data.text12);
text13.writeInt16LE(data.text13);
text14.writeInt16LE(data.text14);
text15.writeInt16LE(data.text15);
} else {
text0.writeInt16LE(0);
text1.writeInt16LE(0);
text2.writeInt16LE(0);
text3.writeInt16LE(0);
text4.writeInt16LE(0);
text5.writeInt16LE(0);
text6.writeInt16LE(0);
text7.writeInt16LE(0);
text8.writeInt16LE(0);
text9.writeInt16LE(0);
text10.writeInt16LE(0);
text11.writeInt16LE(0);
text12.writeInt16LE(0);
text13.writeInt16LE(0);
text14.writeInt16LE(0);
text15.writeInt16LE(0);
}
buffer = new Buffer([255, 85, 36, sensorIdx, this.actionTypes.MODULE, device, port]);
buffer = Buffer.concat([buffer, text0, text1, text2, text3, text4, text5, text6, text7, text8, text9, text10, text11, text12, text13, text14, text15, dummy]);
break;
}
case this.sensorTypes.WRITE_SEG:
case this.sensorTypes.WRITE_BLUETOOTH:
case this.sensorTypes.LCD: {
var text0 = new Buffer(2);
var text1 = new Buffer(2);
Expand Down Expand Up @@ -356,70 +347,29 @@ Module.prototype.makeOutputBuffer = function(device, port, data) {
buffer = new Buffer([255, 85, 36, sensorIdx, this.actionTypes.MODULE, device, port]);
buffer = Buffer.concat([buffer, text0, text1, text2, text3, text4, text5, text6, text7, text8, text9, text10, text11, text12, text13, text14, text15, dummy]);
break;
}
case this.sensorTypes.OLED: {

const coordinate_x = new Buffer(2);
const coordinate_y = new Buffer(2);
}
/*
case this.sensorTypes.SEG: {
var text0 = new Buffer(2);
var text1 = new Buffer(2);
var text2 = new Buffer(2);
var text3 = new Buffer(2);
var text4 = new Buffer(2);
var text5 = new Buffer(2);
var text6 = new Buffer(2);
var text7 = new Buffer(2);
var text8 = new Buffer(2);
var text9 = new Buffer(2);
var text10 = new Buffer(2);
var text11 = new Buffer(2);
var text12 = new Buffer(2);
var text13 = new Buffer(2);
var text14 = new Buffer(2);
var text15 = new Buffer(2);
if ($.isPlainObject(data)) {
coordinate_x.writeInt16LE(data.value0);
coordinate_y.writeInt16LE(data.value1);
text0.writeInt16LE(data.text0);
text1.writeInt16LE(data.text1);
text2.writeInt16LE(data.text2);
text3.writeInt16LE(data.text3);
text4.writeInt16LE(data.text4);
text5.writeInt16LE(data.text5);
text6.writeInt16LE(data.text6);
text7.writeInt16LE(data.text7);
text8.writeInt16LE(data.text8);
text9.writeInt16LE(data.text9);
text10.writeInt16LE(data.text10);
text11.writeInt16LE(data.text11);
text12.writeInt16LE(data.text12);
text13.writeInt16LE(data.text13);
text14.writeInt16LE(data.text14);
text15.writeInt16LE(data.text15);
text0.writeInt16LE(data.text0);
text1.writeInt16LE(data.text1);
text2.writeInt16LE(data.text2);
text3.writeInt16LE(data.text3);
} else {
coordinate_x.writeInt16LE(0);
coordinate_y.writeInt16LE(0);
text0.writeInt16LE(0);
text1.writeInt16LE(0);
text2.writeInt16LE(0);
text3.writeInt16LE(0);
text4.writeInt16LE(0);
text5.writeInt16LE(0);
text6.writeInt16LE(0);
text7.writeInt16LE(0);
text8.writeInt16LE(0);
text9.writeInt16LE(0);
text10.writeInt16LE(0);
text11.writeInt16LE(0);
text12.writeInt16LE(0);
text13.writeInt16LE(0);
text14.writeInt16LE(0);
text15.writeInt16LE(0);
text0.writeInt16LE(0);
text1.writeInt16LE(0);
text2.writeInt16LE(0);
text3.writeInt16LE(0);
}
buffer = new Buffer([255, 85, 40, sensorIdx, this.actionTypes.MODULE, device, port]);
buffer = Buffer.concat([buffer, coordinate_x, coordinate_y, text0, text1, text2, text3, text4, text5, text6, text7, text8, text9, text10, text11, text12, text13, text14, text15, dummy]);
buffer = new Buffer([255, 85, 36, sensorIdx, this.actionTypes.MODULE, device, port]);
buffer = Buffer.concat([buffer, text0, text1, text2, text3, dummy]);
break;
}
*/
}
return buffer;
};
Expand Down Expand Up @@ -460,6 +410,7 @@ Module.prototype.handleRemoteData = function(handler) {
data: dataObj.data,
};
buffer = Buffer.concat([buffer, self.makeSensorReadBuffer(key, dataObj.port, dataObj.data)]);

}
}
});
Expand Down Expand Up @@ -493,13 +444,14 @@ Module.prototype.disconnect = function(connect) {
const self = this;
connect.close();
if (self.sp) {
delete self.sp;
delete self.sp;
}
};

Module.prototype.reset = function() {
this.lastTime = 0;
this.lastSendTime = 0;
this.sensorData.PULSEIN = {};
};

module.exports = new Module();
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