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지니로봇-토이봇 하드웨어 수정 #716

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Feb 22, 2024
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지니로봇-토이봇 하드웨어 수정 #716

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162 changes: 84 additions & 78 deletions app/modules/jinirobot_toybot.js
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Original file line number Diff line number Diff line change
@@ -1,4 +1,7 @@
function Module() {
this.type = 0x03;
this.version = 0x22;
this.modeControl = 0x03;
this.comparerId1 = 0;
this.comparerId2 = 0;
this.playedblockId = 0;
Expand All @@ -8,35 +11,46 @@ function Module() {
button: [0, 0],
analog: 0,
servo: [0, 0, 0, 0, 0],
offset: [0, 0, 0, 0, 0],
offset: [0, 0, 0, 0, 0]
};
this.repeatRead = [
{index: 0x13, repeat: 0x02}, // Servo Control Each
{index: 0x1E, repeat: 0x02}, // Servo Calibration
{index: 0x43, repeat: 0x02}, // Analog Value
{index: 0x53, repeat: 0x02}, // Button Control
{index: 0x73, repeat: 0x02} // Ultrasonic Distance
]
this.cBuffer = []; // contants buffer
};

// 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) {
Module.prototype.init = function(handler, config) {
this.comparerId1 = 0;
this.comparerId2 = 0;
this.playedblockId = 0;
this.deviceInfo.distance = 0;
this.deviceInfo.button[0] = 0;
this.deviceInfo.button[1] = 0;
this.deviceInfo.analog = 0;
this.deviceInfo.servo[0] = 0;
this.deviceInfo.servo[1] = 0;
this.deviceInfo.servo[2] = 0;
this.deviceInfo.servo[3] = 0;
this.deviceInfo.servo[4] = 0;
for (let i = 0; i < 5; i++) {
this.deviceInfo.servo[0] = 0;
this.deviceInfo.offset[0] = 0;
}
this.cBuffer = [];
};

// 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 = this.firstPacket();
const repeatName = [
{index: 0x03, repeat: 0x02}
];
this.addReturn(repeatName);
this.addMode(this.modeControl);
const packet = this.generate();
return packet;
};

Expand All @@ -52,18 +66,18 @@ Module.prototype.checkInitialData = function(data, config) {
};

// 주기적으로 하드웨어에서 받은 데이터의 검증이 필요한 경우 사용합니다.
Module.prototype.validateLocalData = function(data) {
Module.prototype.validateLocalData = function(data) {
const result = this.checkHeader(data);
return result;
};

// 하드웨어 기기에 전달할 데이터를 반환합니다.
// slave 모드인 경우 duration 속성 간격으로 지속적으로 기기에 요청을 보냅니다.
Module.prototype.requestLocalData = function() {
this.addReadInput();
this.addReturn(this.repeatRead);
this.addHeartBeat();
const data = this.generate();
return data;
const packet = this.generate();
return packet;
};

// 하드웨어에서 온 데이터 처리
Expand Down Expand Up @@ -136,7 +150,7 @@ Module.prototype.printBuffer = function(buffer) {

Module.prototype.checkHeader = function(data) {
if (data.length >= 6) {
let checker = 0;
let checker = 0xAA;
for (let i = 1; i < 6; i++) {
checker ^= data[i];
}
Expand Down Expand Up @@ -194,73 +208,52 @@ Module.prototype.parsing = function(data) {
}
};

Module.prototype.firstPacket = function() {
const buffer = new Uint8Array(16);
buffer[0] = 0x2B;
buffer[1] = 0x02;
buffer[2] = 0x03;
buffer[3] = 0x20;
buffer[4] = 0x0A;
buffer[5] = 0x00;
buffer[6] = 0x02;
buffer[7] = 0x01;
buffer[8] = 0x00;
buffer[9] = 0x03;
buffer[10] = 0x01;
buffer[11] = 0x03;
buffer[12] = 0x00;
buffer[13] = 0x01;
buffer[14] = 0x03;
buffer[15] = 0x02;
return buffer;
};

Module.prototype.generate = function() {
const buffer = [0, 0, 0, 0, 0, 0];
buffer[2] = 0x03;
buffer[3] = 0x20;
const buffer = new Uint8Array(6 + this.cBuffer.length);
buffer[0] = 0xAA;
buffer[1] = 0xAA;
buffer[2] = this.type;
buffer[3] = this.version;
buffer[4] = this.cBuffer.length & 0xFF;
buffer[5] = (this.cBuffer.length >> 8) & 0xFF;
for (let i = 0; i < this.cBuffer.length; i++) {
buffer[1] ^= this.cBuffer[i];
buffer.push(this.cBuffer[i]);
buffer[6 + i] = this.cBuffer[i];
}
//buffer[1] ^= 0xAA;
for (let i = 1; i < 6; i++) {
buffer[0] ^= buffer[i];
}
//buffer[0] ^= 0xAA;
this.cBuffer = [];
return buffer;
};

Module.prototype.addHeartBeat = function() {
const buffer = [0xFF, 0x01, 0x00, 0x01];
Module.prototype.addReturn = function(data) {
const length = data.length * 2 + 1;
const buffer = new Uint8Array(3 + length);
buffer[0] = 0x01;
buffer[1] = length & 0xFF;
buffer[2] = (length >> 8) & 0xFF;
buffer[3] = data.length;
for (let i = 0; i < data.length; i++) {
const addr = i * 2;
buffer[addr + 4] = data[i].index;
buffer[addr + 5] = data[i].repeat;
}
this.cBuffer.push(...buffer);
};

Module.prototype.addReadInput = function() {
const buffer = [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0];
buffer[0] = 0x01;
buffer[1] = 0x0B;
Module.prototype.addMode = function(mode) {
const buffer = new Uint8Array(4);
buffer[0] = 0x02;
buffer[1] = 0x01;
buffer[2] = 0x00;
buffer[3] = 0x05;
buffer[4] = 0x43;
buffer[5] = 0x02;
buffer[6] = 0x53;
buffer[7] = 0x02;
buffer[8] = 0x73;
buffer[9] = 0x02;
buffer[10] = 0x13;
buffer[11] = 0x02;
buffer[12] = 0x1E;
buffer[13] = 0x02;
buffer[3] = mode;
this.cBuffer.push(...buffer);
};
}

Module.prototype.addLedControl = function(r, g, b) {
if (r !== null && g !== null && b !== null) {
const buffer = [0, 0, 0, 0, 0, 0];
const buffer = new Uint8Array(6);
buffer[0] = 0x63;
buffer[1] = 0x03;
buffer[2] = 0x00;
Expand All @@ -273,9 +266,9 @@ Module.prototype.addLedControl = function(r, g, b) {

Module.prototype.addMelodyPlayScore = function(note, pitch) {
if (note !== null && pitch !== null) {
const buffer = [0, 0, 0, 0, 0, 0];
const buffer = new Uint8Array(6);
buffer[0] = 0x83;
buffer[1] = 0x02 + 1;
buffer[1] = 0x03;
buffer[2] = 0x00;
buffer[3] = 0x01;
buffer[4] = note;
Expand All @@ -286,7 +279,7 @@ Module.prototype.addMelodyPlayScore = function(note, pitch) {

Module.prototype.addMelodyPlayList = function(list, play) {
if (list !== null && play !== null) {
const buffer = [0, 0, 0, 0, 0];
const buffer = new Uint8Array(5);
buffer[0] = 0x87;
buffer[1] = 0x02;
buffer[2] = 0x00;
Expand All @@ -298,18 +291,19 @@ Module.prototype.addMelodyPlayList = function(list, play) {

Module.prototype.addServoControl = function(id, speed, position) {
let count = 0;
const buffer = [0, 0, 0, 0];
const buffer = new Uint8Array(4 + id.length * 4);
buffer[0] = 0x13;
buffer[1] = 0x00;
buffer[2] = 0x00;
buffer[3] = 0x00;
for (let i = 0; i < id.length; i++) {
if (id[i] !== null && speed[i] !== null && position[i] !== null) {
const addr = i * 4;
count++;
buffer.push(id[i]);
buffer.push(speed[i]);
buffer.push(position[i] & 0xFF);
buffer.push((position[i] >> 8) & 0xFF);
buffer[addr + 4] = id[i];
buffer[addr + 5] = speed[i];
buffer[addr + 6] = position[i] & 0xFF;
buffer[addr + 7] = (position[i] >> 8) & 0xFF;
}
}
buffer[1] = count * 4 + 1;
Expand All @@ -319,28 +313,30 @@ Module.prototype.addServoControl = function(id, speed, position) {

Module.prototype.addPwmControl = function(pwm) {
if (pwm !== null) {
const buffer = [0, 0, 0, 0];
const buffer = new Uint8Array(5);
buffer[0] = 0x33;
buffer[1] = 0x01;
buffer[1] = 0x02;
buffer[2] = 0x00;
buffer[3] = pwm;
buffer[3] = pwm & 0xFF;
buffer[4] = (pwm >> 8) & 0xFF;
this.cBuffer.push(...buffer);
}
};

Module.prototype.addDcControl = function(id, speed) {
let count = 0;
const buffer = [0, 0, 0, 0];
const buffer = new Uint8Array(4 + id.length * 3);
buffer[0] = 0x23;
buffer[1] = 0x00;
buffer[2] = 0x00;
buffer[3] = 0x00;
for (let i = 0; i < id.length; i++) {
if (id[i] !== null && speed[i] !== null) {
const addr = i * 3;
count++;
buffer.push(id[i]);
buffer.push(speed[i] & 0xFF);
buffer.push((speed[i] >> 8) & 0xFF);
buffer[addr + 4] = id[i];
buffer[addr + 5] = speed[i] & 0xFF;
buffer[addr + 6] = (speed[i] >> 8) & 0xFF;
}
}
buffer[1] = count * 3 + 1;
Expand All @@ -350,24 +346,34 @@ Module.prototype.addDcControl = function(id, speed) {

Module.prototype.addServoOffset = function(id, offset) {
let count = 0;
const buffer = [0, 0, 0, 0];
const buffer = new Uint8Array(4 + id.length * 3);
buffer[0] = 0x1E;
buffer[1] = 0x00;
buffer[2] = 0x00;
buffer[3] = 0x00;
for (let i = 0; i < id.length; i++) {
if (id[i] !== null && offset[i] !== null) {
const addr = i * 3;
count++;
buffer.push(id[i]);
buffer.push(offset[i] & 0xFF);
buffer.push((offset[i] >> 8) & 0xFF);
buffer[addr + 4] = id[i];
buffer[addr + 5] = offset[i] & 0xFF;
buffer[addr + 6] = (offset[i] >> 8) & 0xFF;
}
}
buffer[1] = count * 3 + 1;
buffer[3] = count;
this.cBuffer.push(...buffer);
};

Module.prototype.addHeartBeat = function() {
const buffer = new Uint8Array(4);
buffer[0] = 0xFF;
buffer[1] = 0x01;
buffer[2] = 0x00;
buffer[3] = 0x01;
this.cBuffer.push(...buffer);
};

// 하드웨어 연결 해제 시 호출
Module.prototype.disconnect = function(connect) {
connect.close();
Expand Down
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