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로보링크 주미 미니 추가 #775

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Oct 23, 2024
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로보링크 주미 미니 추가 #775

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282 changes: 282 additions & 0 deletions app/modules/robolink_ZumiMini.js
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const BaseModule = require('./baseModule');

class ZumiMini extends BaseModule {

constructor() {
super();

this.HEADER1 = 0;
this.HEADER2 = 1;
this.COM = 2;
this.INFO = 2; //for recevied packet(reporter) type
this.REQ = 3;
this.P_STAT = 4;
this.IR = 5;
this.FD = 10;
this.CD = 13;
this.AD = 16;
this.EULER = 19;
this.MD = 22;
this.USER = 23;
this.CRC_L = 7;
this.CRC_H = 8;
this.DELI1 = 9;
this.DELI2 = 10;
this.PACKET_LENGTH = 30;

this.PARAM = 4;
this.SEND_PACKET_LENGTH = 11;

this.DTYPE_FRONT_SENSOR = 1;
this.DTYPE_BOTTOM_SENSOR = 2;
this.DTYPE_FACE_DETECT = 3;
this.DTYPE_COLOR_DETECT = 4;
this.DTYPE_APRIL_DETECT = 5;
this.DTYPE_EULER = 6;

this.zInterval = false;
this.counter = 0;

this.foo = 0;
this.sp = null;

//data to Entry
this.inputData = {
pInfo: 0,
pSize: 0,
pStat: 0,
irSensor: {
FL: 0,
FR: 0,
BL: 0,
BM: 0,
BR: 0,
},
faceDetect:{
DETECT: 0,
CX : 0,
CY: 0,
},
colorDetect: {
COLOR: 0,
CX: 0,
CY: 0,
},
aprilDetect:{
ID: 0,
CX: 0,
CY: 0,
},
euler:{
ROLL: 0,
PITCH: 0,
YAW: 0,
},
motionDetect: 0,
userDefined:{
DETECT: 0,
CX: 0,
CY: 0,
}
};

//data from entry
this.dataFromEntry = {
com : 0,
req : 0,
speed: 0,
dir: 0,
dist: 0,
};

this.sPacket = new Array(this.SEND_PACKET_LENGTH);
for (var j = 0; j < this.SEND_PACKET_LENGTH; j++) {
this.sPacket[j] = 0x00;
}

}

init(handler, config) {

}

requestInitialData(sp) {

return null;
}

// 연결 후 초기에 수신받아서 정상연결인지를 확인해야하는 경우 사용합니다.
checkInitialData(data, config) {

return true;
}

// optional. 하드웨어에서 받은 데이터의 검증이 필요한 경우 사용합니다.
validateLocalData(data) {

return true;
}

// 엔트리로 전달할 데이터
requestRemoteData(handler) {
//console.log('send hardware data to entry');
handler.write("inputData", this.inputData);
}

crc16_ccitt(buf) {
var crcTable = [
0x0000, 0x1021, 0x2042, 0x3063, 0x4084, 0x50a5, 0x60c6, 0x70e7,
0x8108, 0x9129, 0xa14a, 0xb16b, 0xc18c, 0xd1ad, 0xe1ce, 0xf1ef,
0x1231, 0x0210, 0x3273, 0x2252, 0x52b5, 0x4294, 0x72f7, 0x62d6,
0x9339, 0x8318, 0xb37b, 0xa35a, 0xd3bd, 0xc39c, 0xf3ff, 0xe3de,
0x2462, 0x3443, 0x0420, 0x1401, 0x64e6, 0x74c7, 0x44a4, 0x5485,
0xa56a, 0xb54b, 0x8528, 0x9509, 0xe5ee, 0xf5cf, 0xc5ac, 0xd58d,
0x3653, 0x2672, 0x1611, 0x0630, 0x76d7, 0x66f6, 0x5695, 0x46b4,
0xb75b, 0xa77a, 0x9719, 0x8738, 0xf7df, 0xe7fe, 0xd79d, 0xc7bc,
0x48c4, 0x58e5, 0x6886, 0x78a7, 0x0840, 0x1861, 0x2802, 0x3823,
0xc9cc, 0xd9ed, 0xe98e, 0xf9af, 0x8948, 0x9969, 0xa90a, 0xb92b,
0x5af5, 0x4ad4, 0x7ab7, 0x6a96, 0x1a71, 0x0a50, 0x3a33, 0x2a12,
0xdbfd, 0xcbdc, 0xfbbf, 0xeb9e, 0x9b79, 0x8b58, 0xbb3b, 0xab1a,
0x6ca6, 0x7c87, 0x4ce4, 0x5cc5, 0x2c22, 0x3c03, 0x0c60, 0x1c41,
0xedae, 0xfd8f, 0xcdec, 0xddcd, 0xad2a, 0xbd0b, 0x8d68, 0x9d49,
0x7e97, 0x6eb6, 0x5ed5, 0x4ef4, 0x3e13, 0x2e32, 0x1e51, 0x0e70,
0xff9f, 0xefbe, 0xdfdd, 0xcffc, 0xbf1b, 0xaf3a, 0x9f59, 0x8f78,
0x9188, 0x81a9, 0xb1ca, 0xa1eb, 0xd10c, 0xc12d, 0xf14e, 0xe16f,
0x1080, 0x00a1, 0x30c2, 0x20e3, 0x5004, 0x4025, 0x7046, 0x6067,
0x83b9, 0x9398, 0xa3fb, 0xb3da, 0xc33d, 0xd31c, 0xe37f, 0xf35e,
0x02b1, 0x1290, 0x22f3, 0x32d2, 0x4235, 0x5214, 0x6277, 0x7256,
0xb5ea, 0xa5cb, 0x95a8, 0x8589, 0xf56e, 0xe54f, 0xd52c, 0xc50d,
0x34e2, 0x24c3, 0x14a0, 0x0481, 0x7466, 0x6447, 0x5424, 0x4405,
0xa7db, 0xb7fa, 0x8799, 0x97b8, 0xe75f, 0xf77e, 0xc71d, 0xd73c,
0x26d3, 0x36f2, 0x0691, 0x16b0, 0x6657, 0x7676, 0x4615, 0x5634,
0xd94c, 0xc96d, 0xf90e, 0xe92f, 0x99c8, 0x89e9, 0xb98a, 0xa9ab,
0x5844, 0x4865, 0x7806, 0x6827, 0x18c0, 0x08e1, 0x3882, 0x28a3,
0xcb7d, 0xdb5c, 0xeb3f, 0xfb1e, 0x8bf9, 0x9bd8, 0xabbb, 0xbb9a,
0x4a75, 0x5a54, 0x6a37, 0x7a16, 0x0af1, 0x1ad0, 0x2ab3, 0x3a92,
0xfd2e, 0xed0f, 0xdd6c, 0xcd4d, 0xbdaa, 0xad8b, 0x9de8, 0x8dc9,
0x7c26, 0x6c07, 0x5c64, 0x4c45, 0x3ca2, 0x2c83, 0x1ce0, 0x0cc1,
0xef1f, 0xff3e, 0xcf5d, 0xdf7c, 0xaf9b, 0xbfba, 0x8fd9, 0x9ff8,
0x6e17, 0x7e36, 0x4e55, 0x5e74, 0x2e93, 0x3eb2, 0x0ed1, 0x1ef0
];

var crc = 0x0000;
var j, i;
for (i = 0; i < buf.length; i++) {
let c = buf[i];
if (c > 255) {
throw new RangeError();
}
j = (c ^ (crc >> 8)) & 0xFF;
crc = crcTable[j] ^ (crc << 8);
}
return ((crc ^ 0) & 0xFFFF);
}


// 엔트리에서 받은 데이터에 대한 처리
handleRemoteData(handler) {

//console.log('read data from entry');

Object.keys(this.dataFromEntry).forEach((port) => {
this.dataFromEntry[port] = handler.read(port);
});

this.sPacket[this.HEADER1] = 0x24;
this.sPacket[this.HEADER2] = 0x52;
this.sPacket[this.COM] = this.dataFromEntry.com;
this.sPacket[this.REQ] = this.dataFromEntry.req;
this.sPacket[this.PARAM] = this.dataFromEntry.speed;
this.sPacket[this.PARAM + 1] = this.dataFromEntry.dist;
this.sPacket[this.PARAM + 2] = this.dataFromEntry.dir;

var crcBuff = this.sPacket.slice(2, this.SEND_PACKET_LENGTH - 4);
var crc16 = this.crc16_ccitt(crcBuff);
var crcL = crc16 & 0x00FF;
var crcH = (crc16 & 0xFF00) >> 8;

this.sPacket[this.CRC_L] = crcL;
this.sPacket[this.CRC_H] = crcH;
this.sPacket[this.DELI1] = 0xFF;
this.sPacket[this.DELI2] = 0xFF;

}


//하드웨어에 전달할 데이터
requestLocalData() {
//console.log('send packet to hardware');

/*
if(this.zInterval == true) {
this.sPacket[this.HEADER1] = 0x24;
this.sPacket[this.HEADER2] = 0x52;
this.zInterval = false;
}
else {
this.sPacket[this.HEADER1] = 0x00;
this.sPacket[this.HEADER2] = 0x00;
}
*/

//for (var j = 0; j < this.SEND_PACKET_LENGTH; j++) {
// process.stdout.write(" " + this.sPacket[j].toString(16));
//}
//console.log(" ");

return this.sPacket;
}

// 하드웨어에서 온 데이터 처리
handleLocalData(data) {

console.log('receive packet from hardware');
for (var j = 0; j < data.length; j++) {
process.stdout.write(" " + data[j].toString(16));
// //process.stdout.write(" " + String.fromCharCode(data[j]));
}
console.log(" ");

if ((data[this.HEADER1] == 0x24)&&(data[this.HEADER2] == 0x52)) {

if (data.length < (this.PACKET_LENGTH - 4)) return;

//if (data[this.PARAM] == 0x00) this.inputData.pStat = "READY";
//else if (data[this.PARAM] == 0x01) this.inputData.pStat = "PROCESS";
//else if (data[this.PARAM] == 0x02) this.inputData.pStat = "ACK";
this.inputData.pInfo = data[this.INFO];
this.inputData.pSize = data[this.P_SIZE];
this.inputData.pStat = data[this.P_STAT];
this.inputData.irSensor.FL = data[this.IR];
this.inputData.irSensor.FR = data[this.IR + 1];
this.inputData.irSensor.BL = data[this.IR + 2];
this.inputData.irSensor.BM = data[this.IR + 3];
this.inputData.irSensor.BR = data[this.IR + 4];
this.inputData.faceDetect.DETECT = data[this.FD];
this.inputData.faceDetect.CX = data[this.FD + 1];
this.inputData.faceDetect.CY = data[this.FD + 2];
this.inputData.colorDetect.COLOR = data[this.CD];
this.inputData.colorDetect.CX = data[this.CD + 1];
this.inputData.colorDetect.CY = data[this.CD + 2];
this.inputData.aprilDetect.ID = data[this.AD];
this.inputData.aprilDetect.CX = data[this.AD + 1];
this.inputData.aprilDetect.CY = data[this.AD + 2];
this.inputData.euler.ROLL = data[this.EULER];
this.inputData.euler.PITCH = data[this.EULER + 1];
this.inputData.euler.YAW = data[this.EULER + 2];
this.inputData.motionDetect = data[this.MD];
this.inputData.userDefined.DETECT = data[this.USER];
this.inputData.userDefined.CX= data[this.USER + 1];
this.inputData.userDefined.CY = data[this.USER + 2];

this.counter++;
if (this.counter > 255) this.counter = 0;

//console.log("PSTAT:" + this.inputData.pStat + " FL:" + this.inputData.irSensor.FL + " FR: " + this.inputData.irSensor.FR);
//this.zInterval = true;
}
}

}

module.exports = new ZumiMini();
34 changes: 34 additions & 0 deletions app/modules/robolink_ZumiMini.json
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{
"id": "4A0501",
"name": {
"en": "Robolink zumi mini",
"ko": "로보링크 주미 미니"
},
"category": "robot",
"platform": ["win32"],
"icon": "robolink_ZumiMini.png",
"module": "robolink_ZumiMini.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.robolink.co.kr/",
"email": "[email protected]",
"reconnect": true,
"selectPort": true,
"hardware": {
"type": "serial",
"control": "master",
"scanType": "data",
"duration": 50,
"baudRate": 115200,
"parity": "none",
"dataBits": 8,
"stopBits": 1,
"byteDelimiter": [255, 255],
"vendor": "robolink",
"firmwarecheck": false,
"bufferSize": 1024,
"flowControl": "none"
}
}
Binary file added app/modules/robolink_ZumiMini.png
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