/**
* @fileOverview protocol API list
*/
import {
limitValue,
float32ToBytes,
longToBytes
} from "../core/utils";
/**
* buf 协议组装器
* @private
* @param {Object} obj 对象
* @param {Number} obj.index 由上位机赋值
* @param {Number} obj.mode 查询、执行
* @param {Number} obj.id 指令ID
* @param {Arguments} args 其他参数
* @return {Array} 返回数组
*/
function bufAssembler(obj, ...args) {
const modes = [0x01, 0x02, 0x04];
const bufHead = [0xff, 0x55];
let bufLength = 0;
let bufAttr;
//todo：完善抛错提示
if (obj.mode == 0x04) {
bufAttr = Array.of(obj.index || 0, obj.mode);
} else {
if (!modes.includes(obj.mode)) {
throw new Error(`mode should be one of ${modes}`);
} else if (typeof obj.id === 'undefined') {
throw new Error(`id should not be empty`);
}
bufAttr = Array.of(obj.index || 0, obj.mode, obj.id);
}
bufLength = bufAttr.length + args.length;
return bufHead.concat([bufLength], bufAttr, args);
}
/**
* @private
*/
function protocolAssembler() {
/**
* Set dc motor speed.
* @private
* @param {number} port port number, vailable is: 1,2,3,4
* @param {number} speed speed, the range is -255 ~ 255
* @example
* ff 55 06 00 02 0a 01 ff 00
*/
this.setDcMotor = function(port, speed) {
speed = limitValue(speed);
return bufAssembler({
mode: 0x02,
id: 0x0a
}, port, speed & 0xff, (speed >> 8) & 0xff);
};
/**
* Set encoder motor speed.
* @private
* @param {number} slot slot number, vailable is: 1,2
* @param {number} speed speed, the range is -255 ~ 255
* @example
* ff 55 07 00 02 3d 00 01 64 00
*/
this.setEncoderMotorOnBoard = function(slot, speed) {
speed = limitValue(speed);
let port = 0x00; //板载
return bufAssembler({
mode: 0x02,
id: 0x3d
}, port, slot, speed & 0xff, (speed >> 8) & 0xff);
};
/**
* set encoder motor.
* @private
* @param {Number} index [description]
* @param {Number} slot vailable: 1，2
* @param {Number} speed 0 ~ 300, 单位：rpm（每分钟转多少圈）
* @param {Float} angle 相对位移, -2147483648 ~ 2147483647
* @example
* ff 55 0b 00 02 0c 08 01 96 00 00 00 34 44
*/
this.setEncoderMotor = function(slot, speed, angle) {
// 编码电机的协议中不使用 port
let i2c = 0x08; //I2C地址，目前无意义(软件稳定后可能会重新设计)，用来占位
speed = limitValue(speed, [0, 300]);
let byte4Array = float32ToBytes(angle);
return bufAssembler({
mode: 0x02,
id: 0x0c
},
i2c,
slot,
speed & 0xff,
(speed >> 8) & 0xff,
...byte4Array);
}
/**
* Set both left speed and right speed with one command.
* @private
* @param {number} leftSpeed left speed, the range is -255 ~ 255
* @param {number} rightSpeed right speed, the range is -255 ~ 255
* @example
* ff 55 07 00 02 05 64 00 64 00
*/
this.setJoystick = function(leftSpeed, rightSpeed) {
leftSpeed = limitValue(leftSpeed);
rightSpeed = limitValue(rightSpeed);
return bufAssembler({
mode: 0x02,
id: 0x05
},
leftSpeed & 0xff,
(leftSpeed >> 8) & 0xff,
rightSpeed & 0xff,
(rightSpeed >> 8) & 0xff);
};
/**
* Set speed for balance mode, the port is on transport, value is 0.
* @private
* @param {number} turnRange turn extend, -255 ~ 255
* @param {number} speed speed, -255 ~ 255
* @example
* ff 55 08 00 02 34 00 64 00 64 00
*/
this.setVirtualJoystickForBalance = function(turnRange, speed) {
let turnExtent = limitValue(turnRange);
let port = 0x00; //板载虚拟摇杆 port = 00
speed = limitValue(speed);
return bufAssembler({
mode: 0x02,
id: 0x34
},
port,
turnExtent & 0xff,
(turnExtent >> 8) & 0xff,
speed & 0xff,
(speed >> 8) & 0xff);
};
/**
* Set stepper motor speed.
* @private
* @param {Number} port port number, vailable is: 1,2,3,4
* @param {Number} speed speed, the range is 0 ~ 3000
* @param {Long} distance distance, the range is -2147483648 ~ 2147483647
* @example
* ff 55 0a 00 02 28 01 b8 0b e8 03 00 00
*/
this.setStepperMotor = function(port, speed, distance) {
speed = limitValue(speed, [0, 3000]);
var distanceBytes = longToBytes(distance);
return bufAssembler({
mode: 0x02,
id: 0x28
}, port,
speed & 0xff,
(speed >> 8) & 0xff,
distanceBytes[3],
distanceBytes[2],
distanceBytes[1],
distanceBytes[0]);
};
/**
* Set RgbFourLed electronic module color.
* @private
* @param {number} port port number, vailable is: 0(on transport), 6,7,8,9,10
* @param {number} slot slot number, vailable is: 1,2
* @param {number} position led position, 0 signify all leds.
* @param {number} r red, the range is 0 ~ 255
* @param {number} g green, the range is 0 ~ 255
* @param {number} b blue, the range is 0 ~ 255
* @example
* ff 55 09 00 02 08 06 02 00 ff 00 00
*/
this.setLed = function(port, slot, position, r, g, b) {
r = limitValue(r, [0, 255]);
g = limitValue(g, [0, 255]);
b = limitValue(b, [0, 255]);
position = limitValue(position, [0]);
return bufAssembler({
mode: 0x02,
id: 0x08
}, port, slot, position, r, g, b);
};
/**
* Set Firmware mode.
* @private
* @param {number} subCmd
* @param {number} mode
* @example
* ff 55 05 00 02 3c 11 00
*/
this.setFirmwareMode = function(subCmd, mode) {
var sub = subCmd || 0x11; //Auriga是 0x11, megapi是 0x12
return bufAssembler({
mode: 0x02,
id: 0x3c
}, sub, mode);
};
/**
* Set Servo speed.
* @private
* @param {[type]} port port number, vailable is 6,7,8,9,10
* @param {[type]} slot slot number, vailable is 1,2
* @param {[type]} degree servo degree, the range is 0 ~ 180
*/
this.setServoMotor = function(port, slot, degree) {
degree = limitValue(degree, [0, 180]);
return bufAssembler({
mode: 0x02,
id: 0x0b
}, port, slot, degree);
};
/**
* Set Seven-segment digital tube number.
* @private
* @param {number} port port number, vailable is 6,7,8,9,10
* @param {float} number the number to be displayed, -999 ~ 9999
* @exmpa
* ff 55 08 00 02 09 06 00 00 c8 42
*/
this.setSevenSegment = function(port, number) {
number = limitValue(number, [-999, 9999]);
var byte4Array = float32ToBytes(number);
return bufAssembler({
mode: 0x02,
id: 0x09
}, port, ...byte4Array);
};
/**
* Set led matrix char.
* @param {number} port port number, vailable is 6,7,8,9,10
* @param {number} xAxis x position
* @param {number} yAxis y position
* @param {string} char char, 例如 Hi 转换成ASCII的值 48 69
* @exmaple
* ff 55 0a 00 02 29 06 01 00 01 02 48 69
*/
/**
* Set led matrix emotion.
* @param {number} port port number, vailable is 6,7,8,9,10
* @param {number} xAxis x position
* @param {number} yAxis y position
* @param {Array} emotionData emotion data to be displayed, such as
* [00, 00, 40, 48, 44, 42, 02, 02, 02, 02, 42, 44, 48, 40, 00, 00]
* @example
* ff 55 17 00 02 29 06 02 00 00 00 00 40 48 44 42 02 02 02 02 42 44 48 40 00 00
*/
/**
* Set led matrix time.
* @param {number} port port number, vailable is 6,7,8,9,10
* @param {number} separator time separator, 01 signify `:`, 02 signify ` `
* @param {number} hour hour number, 0 ~ 23
* @param {number} minute minute number, 0 ~ 59
* @example
* ff 55 08 00 02 29 06 03 01 0a 14
*/
/**
* Set led matrix number.
* @private
* @param {number} port port number, vailable is 6,7,8,9,10
* @param {float} number the number to be displayed
* @exmaple
ff 55 09 00 02 29 06 04 00 00 00 00
*/
this.setLedMatrix = function(...args) {
args[2] = args[2] & 0xff;
args[3] = args[3] & 0xff;
return bufAssembler({
mode: 0x02,
id: 0x29
}, ...args);
};
/**
* Set shutter.
* @private
* @param {number} port port number, vailable is 6,7,8,9,10
* @param {number} action 0: 按下快门; 1: 松开快门; 2: 聚焦; 3: 停止聚焦
* @exmaple
ff 55 05 00 02 14 06 02
*/
this.setShutter = function(port, action) {
return bufAssembler({
mode: 0x02,
id: 0x14
}, port, action);
};
/**
* reset all sensors and motors on transport.
* @private
* @exmaple
ff 55 02 00 04
*/
this.reset = function() {
return bufAssembler({
mode: 0x04
});
};
/**
* set buzzer only for mcore.
* @private
* @param {string} hz , "A2" ~ "D8" 对应的 hz
* @param {number} beat , 125: eight; 250: quater; 500: half; 1000: one; 2000: double
* @example
* C2，quater beat: ff 55 08 00 02 22 09 41 00 f4 01
*/
this.setBuzzerForMcore = function(hz, beat) {
return bufAssembler({
mode: 0x02,
id: 0x22
},
(hz & 0xff),
(hz >> 8) & 0xff,
(beat & 0xff),
(beat >> 8) & 0xff);
};
/**
* set buzzer for mainboard except mcore
* @private
* @example
* 播放引脚为 0x2d，音调为B2，节拍为四分之一：ff 55 08 00 02 22 2d 7b 00 fa 00
*/
this.setBuzzer = function(hz, beat) {
beat = beat ? beat : 250;
return bufAssembler({
mode: 0x02,
id: 0x22
},
0x2d,
(hz & 0xff),
(hz >> 8) & 0xff,
(beat & 0xff),
(beat >> 8) & 0xff);
};
/**
* read verion of transport
* @private
*/
this.readVersion = function() {
return bufAssembler({
mode: 0x01,
id: 0x00
});
};
/**
* mainly used for distance measurement, the measurement range is 0 to 500 cm,
* the execution of the command will have more than 100 milliseconds latency.
* So the frequency of the host to send this instruction shoulds not be too high.
* @private
* @param {Number} port vailable: 6，7，8，9，10
* @return {Number} [description]
* @example
* ff 55 04 00 01 01 03
*/
this.readUltrasonic = function(port) {
return bufAssembler({
mode: 0x01,
id: 0x01
}, port);
};
/**
* read temperature, Each port can connect two road temperature sensor.
* @private
* @param {Number} port vailable: 6，7，8，9，10
* @param {Number} slot vailable: slot1(1), slot2(2)
* @example
* ff 55 05 00 01 02 01 02
*/
this.readTemperature = function(port, slot) {
return bufAssembler({
mode: 0x01,
id: 0x02
}, port, slot);
};
/**
* The light sensor module or ontransport (lamp) light sensors numerical reading.
* @private
* @param {Number} port vailable: 6,7,8,9,10, onbord(0c),onbord(0b)
* @return {Number} [description]
* @example
* ff 55 04 00 01 03 07
*/
this.readLight = function(port) {
return bufAssembler({
mode: 0x01,
id: 0x03
}, port);
};
/**
* read Potentionmeter
* @private
* @param {Number} port vailable: 6，7，8，9，10
* @return {Number} [description]
* @example
* ff 55 04 00 01 04 06
*/
this.readPotentionmeter = function(port) {
return bufAssembler({
mode: 0x01,
id: 0x04
}, port);
};
/**
* read josystic value
* @private
* @param {Number} port vailable: 6，7，8，9，10
* @param {Number} axis 1: x-axis; 2: y-axis;
* @example
* ff 55 05 00 01 05 06 01
*/
this.readJoystick = function(port, axis) {
return bufAssembler({
mode: 0x01,
id: 0x05
}, port, axis);
};
/**
* read gyro value in different axis.
* @private
* @param {Number} port vailable: 6，7，8，9，10
* @param {Number} axis vailable: X-axis(01) Y-axis(02) Z-axis(03)
* @return {Number} [description]
* @example
* ff 55 05 00 01 06 00 01
*/
this.readGyro = function(port, axis) {
return bufAssembler({
mode: 0x01,
id: 0x06
}, port, axis);
};
/**
* read volume testing MIC module parameters
* @private
* @param {Number} port vailable: 6，7，8，9，10，ontransport(0x0e)
* @return {Number} [description]
* @example
* ff 55 04 00 01 07 06
*/
this.readSound = function(port) {
return bufAssembler({
mode: 0x01,
id: 0x07
}, port);
};
/**
* read temperature on transport
* @private
* @example
* ff 55 04 00 01 1b 0d
*/
this.readTemperatureOnBoard = function() {
var port = 0x0d;
return bufAssembler({
mode: 0x01,
id: 0x1b
}, port);
};
/**
* read external or board infrared sensor, and the board one is only for mcore
* @private
* @param {Number} id sensor device id，such as: 0x0e, 0x0d, 0x10
* @param {Number} port mcore port: 3, 4, auriga port: 6,7,8,9,10
* @return {Number} [description]
* @example
* ff 55 05 00 01 0e 00
*/
this.readInfrared = function(id, port, akey) {
if (akey) {
return bufAssembler({
mode: 0x01,
id: id
}, port, akey);
} else {
return bufAssembler({
mode: 0x01,
id: id
}, port);
}
};
/**
* read pyroelectric infrared sensor
* @private
* @param {Number} port vailable: 6,7,8,9,10
* @return {Number} [description]
* @example
* ff 55 04 00 01 0f 06
*/
this.readPirmotion = function(port) {
return bufAssembler({
mode: 0x01,
id: 0x0f
}, port);
};
/**
* read LineFollower sensor
* @private
* @param {Number} port vailable: 6，7，8，9，10
* @return {Number} number,
* 00 0
01 1
10 2
11 3
when 0 said has a black line
* @example
* ff 55 04 00 01 11 02
*/
this.readLineFollower = function(port) {
return bufAssembler({
mode: 0x01,
id: 0x11
}, port);
};
/**
* read limitSwitch
* @private
* @param {Number} port vailable: 6,7,8,9,10
* @param {Number} slot vailable: SLOT1(01) SLOT2(02)
* @return {Number} [description]
* @example
* ff 55 05 00 01 15 06 02
*/
this.readLimitSwitch = function(port, slot) {
return bufAssembler({
mode: 0x01,
id: 0x15
}, port, slot);
};
/**
* read compass.
* @private
* @param {Number} port vailable: 6,7,8,9,10
* @return {Number} [description]
* @example
* ff 55 04 00 01 1a 06
*/
this.readCompass = function(port) {
return bufAssembler({
mode: 0x01,
id: 0x1a
}, port);
};
/**
* read humiture
* @private
* @param {Number} port vailable: 6，7，8，9，10
* @param {Number} temperature(01) humidity (00)
* @return {Number} [description]
* @example
* ff 55 05 00 01 17 06 00
*/
this.readHumiture = function(port, type) {
return bufAssembler({
mode: 0x01,
id: 0x17
}, port, type);
};
/**
* read flame
* @private
* @param {Number} port vailable: 6,7,8,9,10
* @return {Number} [description]
* @example
* ff 55 04 00 01 18 03
*/
this.readFlame = function(port) {
return bufAssembler({
mode: 0x01,
id: 0x18
}, port);
};
/**
* Used to get the harmful gas density
* @private
* @param {Number} port vailable: 6,7,8,9,10
* @return {Number} [description]
* @example
* ff 55 04 00 01 19 06
*/
this.readGas = function(port) {
return bufAssembler({
mode: 0x01,
id: 0x19
}, port);
};
/**
* read touch sensor
* @private
* @param {Number} port vailable: 6,7,8,9,10
* @return {Number} [description]
* @example
* ff 55 04 00 01 33 06
*/
this.readTouch = function(port) {
return bufAssembler({
mode: 0x01,
id: 0x33
}, port);
};
/**
* To determine whether the corresponding button is pressed.
* @private
* @param {Number} port vailable: 6,7,8,9,10
* @param {Number} key vailable:1,2,3,4
* @return {Number} [description]
* @example
* ff 55 05 00 01 16 03 01
*/
this.readFourKeys = function(port, key) {
return bufAssembler({
mode: 0x01,
id: 0x16
}, port, key);
};
/**
* read encoder motor position or speed on transport.
* @private
* @param {Number} slot vailable:1,2
* @param {Number} type 1: position; 2: speed
* @example
* ff 55 06 00 01 3d 00 01 02
*/
this.readEncoderMotorOnBoard = function(slot, type) {
let port = 0x00; //板载 port
return bufAssembler({
mode: 0x01,
id: 0x3d
}, port, slot, type);
};
/**
* 板载编码电机 PID 运动 01模式位置模式
* @private
* @param {Number} distance 位移
* @param {Number} speed 速度
* @example
* buf: ff 55 0b 00 02 3e 01 01 00 00 00 00 00 00
*/
this.setEncoderMotorPIDDistance = function(slot, distance, speed) {
let distanceArr = longToBytes(distance);
let subCmd = 0x05;
// let slot = 0x01;
speed = limitValue(speed, [0]);
return bufAssembler({
mode: 0x02,
id: 0x3e
},
subCmd,
slot,
distanceArr[3],
distanceArr[2],
distanceArr[1],
distanceArr[0],
speed & 0xff, 0);
};
/**
* 板载编码电机 PID 运动 02模式速度模式
* @private
* @param {Number} speed 速度
* @example
* buf: ff 55 07 00 02 3e 02 01 00 00
*/
this.setEncoderMotorPIDSpeed = function(slot, speed) {
let subCmd = 0x02;
// let slot = 0x01;
speed = limitValue(speed);
return bufAssembler({
mode: 0x02,
id: 0x3e
}, subCmd, slot, speed & 0xff, (speed >> 8) & 0xff);
},
/**
* 板载编码电机 PID 运动 03模式 pwm 模式
* buf: ff 55 07 00 02 3e 03 01 00 00
* @param {Number} speed 速度
* @private
*/
this.setEncoderMotorPIDPwm = function(slot, speed) {
let subCmd = 0x03;
// let slot = 0x01;
speed = limitValue(speed);
return bufAssembler({
mode: 0x02,
id: 0x3e
}, subCmd, slot, speed & 0xff, (speed >> 8) & 0xff);
},
/**
* 板载编码电机PID运动，设置当前位置为零点:
* buf: ff 55 05 00 02 3e 04 01
* (megaPiPro buf: ff 55 05 00 02 3e 03 01)
* @param {Number} subCmd 二级命令
* @private
*/
this.setEncoderMotorPIDZeroPoint = function(slot, subCmd) {
// let slot = 0x01;
return bufAssembler({
mode: 0x01,
id: 0x3e
}, subCmd, slot);
}
/**
* 板载编码电机 PID 运动 05模式双电机模式:
* buf: ff 55 0b 00 02 3e 05 01 e8 03 00 00 64 00
* @private
* @param {Number} subCmd 0x05
* @param {Number} direction 前进1，后退2，左转3，右转4
* @param {Number} distance 位移
* @param {Number} speed 速度
*/
this.setEncoderMotorPIDDoubleMotor = function(direction, distance, speed) {
let distanceArr = longToBytes(distance);
let subCmd = 0x05;
speed = limitValue(speed, [0]);
return bufAssembler({
mode: 0x02,
id: 0x3e
},
subCmd,
direction,
distanceArr[3],
distanceArr[2],
distanceArr[1],
distanceArr[0],
speed & 0xff,
0);
};
/**
* set smart servo
* @private
* @param {Number} index the index code of current servo
* @param {Number} subCmd the sub command that the servo run on
* @param {Array} extraCmd the extra command
* @example
* lock: ff 55 07 00 02 40 01 05 01 00
* unlock: ff 55 07 00 02 40 01 05 01 01
* LED: ff 55 09 00 02 40 02 05 01 ff 00 00
* handshake: ff 55 06 00 02 40 03 05 01
* runToAbsoluteAngle: ff 55 0e 00 02 40 04 05 01 68 01 00 00 00 00 48 42
* runToRelativeAngle: ff 55 0e 00 02 40 05 05 01 68 01 00 00 00 00 48 42
* runAsDcMotor: ff 55 08 00 02 40 06 05 01 96 00
* setAsZeroPoint: ff 55 06 00 02 40 07 05 01
* backToStart: ff 55 06 00 02 40 08 05 01
*/
this.setSmartServo = function(index, subCmd, extraCmd) {
let port = 0x05; //defualt port
return bufAssembler({
mode: 0x02,
id: 0x40
}, subCmd, port, index, ...extraCmd);
};
/**
* @private
*/
this.setSmartServoForAbsoluteAngle = function(index, subCmd, angle, speed) {
let port = 0x05; //defualt port
let angleBytes = longToBytes(angle);
let speedBytes = float32ToBytes(speed);
return bufAssembler({
mode: 0x02,
id: 0x40
}, subCmd, port, index,
...angleBytes.reverse(),
...speedBytes
);
};
/**
* @private
*/
this.setSmartServoForRelativeAngle = function(index, subCmd, angle, speed) {
let port = 0x05; //defualt port
let angleBytes = longToBytes(angle);
let speedBytes = float32ToBytes(speed);
return bufAssembler({
mode: 0x02,
id: 0x40
}, subCmd, port, index,
...angleBytes.reverse(),
...speedBytes
);
};
/**
* @private
*/
this.setSmartServoForDcMotor = function(index, subCmd, speed) {
let port = 0x05; //defualt port
return bufAssembler({
mode: 0x02,
id: 0x40
}, subCmd, port, index,
speed & 0xff, (speed >> 8) & 0xff
);
};
/**
* read smart servo operating parameters
* @private
* @param {Number} index the index code of current servo
* @param {Number} subCmd the sub command that the servo run on
* @example
* readSpeed: ff 55 06 00 01 40 09 05 01
* readTemperature: ff 55 06 00 01 40 0a 05 01
* readCurrent: ff 55 06 00 01 40 0b 05 01
* readVoltage: ff 55 06 00 01 40 0c 05 01
* readAngle: ff 55 06 00 01 40 0d 05 01
*/
this.readSmartServoParam = function(index, subCmd) {
let port = 0x05; //defualt port
return bufAssembler({
mode: 0x01,
id: 0x3d
}, subCmd, port, index);
};
/**
* read firmware mode or voltage.
* @private
* @param {Number} type 0x70: 电压; 0x71: 模式
* @example
* ff 55 04 00 01 3c 70
*/
this.readFirmwareMode = function(subCmd) {
//auriga 电压(0x70) 模式(0x71), megapi模式(0x72) 比赛模式(0x75)
return bufAssembler({
mode: 0x01,
id: 0x3c
}, subCmd);
};
/**
* @private
* @param {Number} port vailable: digit GPOI port
* @return {Number} [description]
* @example
* ff 55 04 00 01 1e 09
*/
this.readDigGPIO = function(port) {
return bufAssembler({
mode: 0x01,
id: 0x1e
}, port);
};
/**
* @private
* @param {Number} port vailable: analog GPIO port
* @return {Number} [description]
* @example
* ff 55 04 00 01 1f 02
*/
this.readAnalogGPIO = function(port) {
return bufAssembler({
mode: 0x01,
id: 0x1f
}, port);
};
/**
* @private
* @param {Number} port vailable: GPIO port
* @param {Number} key vailable: 0,1
* @return {Number} [description]
* @example
* ff 55 05 00 01 25 0d 20 4e
*/
this.readGPIOContinue = function(port, key) {
return bufAssembler({
mode: 0x01,
id: 0x25
}, port, key);
};
/**
* @private
* @param {Number} port vailable: GPIO port
* @param {Number} key vailable: 0,1
* @return {Number} [description]
* @example
* ff 55 05 00 01 24 45 40
*/
this.readDoubleGPIO = function(port1, port2) {
return bufAssembler({
mode: 0x01,
id: 0x24
}, port1, port2);
};
/**
* @private
* @param {Number} port vailable: analog GPIO port
* @param {Number} key vailable: 0,1
* @return {Number} [description]
* @example
* ff 55 03 00 01 32
*/
this.readRuntime = function() {
return bufAssembler({
mode: 0x01,
id: 0x32
});
};
}
/**
* @private
*/
export default new protocolAssembler();