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KMConnectorBrowser.js
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/******/ (function(modules) { // webpackBootstrap
/******/ // The module cache
/******/ var installedModules = {};
/******/
/******/ // The require function
/******/ function __webpack_require__(moduleId) {
/******/
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/******/ }
/******/ // Create a new module (and put it into the cache)
/******/ var module = installedModules[moduleId] = {
/******/ i: moduleId,
/******/ l: false,
/******/ exports: {}
/******/ };
/******/
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/******/ modules[moduleId].call(module.exports, module, module.exports, __webpack_require__);
/******/
/******/ // Flag the module as loaded
/******/ module.l = true;
/******/
/******/ // Return the exports of the module
/******/ return module.exports;
/******/ }
/******/
/******/
/******/ // expose the modules object (__webpack_modules__)
/******/ __webpack_require__.m = modules;
/******/
/******/ // expose the module cache
/******/ __webpack_require__.c = installedModules;
/******/
/******/ // define getter function for harmony exports
/******/ __webpack_require__.d = function(exports, name, getter) {
/******/ if(!__webpack_require__.o(exports, name)) {
/******/ Object.defineProperty(exports, name, {
/******/ configurable: false,
/******/ enumerable: true,
/******/ get: getter
/******/ });
/******/ }
/******/ };
/******/
/******/ // getDefaultExport function for compatibility with non-harmony modules
/******/ __webpack_require__.n = function(module) {
/******/ var getter = module && module.__esModule ?
/******/ function getDefault() { return module['default']; } :
/******/ function getModuleExports() { return module; };
/******/ __webpack_require__.d(getter, 'a', getter);
/******/ return getter;
/******/ };
/******/
/******/ // Object.prototype.hasOwnProperty.call
/******/ __webpack_require__.o = function(object, property) { return Object.prototype.hasOwnProperty.call(object, property); };
/******/
/******/ // __webpack_public_path__
/******/ __webpack_require__.p = "";
/******/
/******/ // Load entry module and return exports
/******/ return __webpack_require__(__webpack_require__.s = 3);
/******/ })
/************************************************************************/
/******/ ([
/* 0 */
/***/ (function(module, exports, __webpack_require__) {
"use strict";
/***
* KMStructures.js
* Created by Harada Hiroshi on 2017/12/07.
*
* Copyright (c) 2017 Keigan Inc. https://keigan-motor.com/
* This software is released under the MIT License.
* http://opensource.org/licenses/mit-license.php
*/
let KMUtl = __webpack_require__(1);
/**
* @classdesc 構造体の基底クラス
* @ignore
*/
class KMStructureBase{
constructor(){
}
/**
* 同じ値を持つかの比較
* @param {object} tar 比較する構造体
* @returns {boolean} 結果
*/
EQ (tar) {
if(! tar ){return false;}
if(this.constructor===tar.constructor){
if(this.GetValArray){
return this.GetValArray().toString()===tar.GetValArray().toString();
}else if(this.GetValObj){
return JSON.stringify(this.GetValObj())===JSON.stringify(tar.GetValObj());// bad::遅い
}
}
return false;
}
/**
* 複製
* @returns {object} 複製された構造体
*/
Clone () {
return Object.assign(new this.constructor(),this);
}
/**
* 値の取得（Obj）
* @returns {object}
*/
GetValObj () {
return Object.assign({},this);
}
/**
* 値の取得（配列）
* @returns {Array}
*/
GetValArray () {
let k=Object.keys(this);
let r=[];
for(let i=0;i<k.length;i++){
r.push(this[k[i]]);
}
return r;
}
/**
* 値の一括設定（Obj）
* @param {object} propsObj 設定するプロパティ
*/
SetValObj (propsObj) {
if(typeof propsObj !=="object"){return;}
let keys=Object.keys(propsObj);
for(let k=0;k<keys.length;k++){
let pn=keys[k];
if(this.hasOwnProperty(pn)){
this[pn]=propsObj[pn];
}
}
}
}
/**
* @classdesc XY座標の構造体オブジェクト
* @ignore
*/
class KMVector2 extends KMStructureBase {
/**
* constructor
* @extends KMStructureBase
* @param {number} x
* @param {number} y
*
* @instance
*/
constructor (x=0, y=0) {
super();
this.x = x;
this.y = y;
}
/**
* 相対位置へ移動
* @param {number} dx
* @param {number} dy
*/
Move (dx =0, dy = 0) {
this.x += dx;
this.y += dy;
}
/**
* 2点間の距離
* @param {KMVector2} vector2
* @returns {number}
*/
Distance (vector2) {
if (!(vector2 instanceof KMVector2)) {return;}
return Math.sqrt(Math.pow((this.x-vector2.x),2) + Math.pow((this.y-vector2.y),2));
}
/**
* 2点間の角度
* @param {KMVector2} vector2
* @returns {number}
*/
Radian (vector2) {
if (!(vector2 instanceof KMVector2)) {return;}
return Math.atan2(this.y-vector2.y,this.x-vector2.x);
}
/**
* 0,0からの距離
* @returns {number}
*/
DistanceFromZero() {
return Math.sqrt(Math.pow(this.x,2) + Math.pow(this.y,2));
}
/**
* 0,0からの角度
* @returns {number} radian
*/
RadianFromZero() {
return Math.atan2(this.y,this.x);
}
}
/**
* @classdesc ジャイロセンサー値
*/
class KMImuState extends KMStructureBase {
/**
* constructor
* @extends KMStructureBase
* @param {number} accelX 加速度(x) [± 1]
* @param {number} accelY 加速度(y) [± 1]
* @param {number} accelZ 加速度(z) [± 1]
* @param {number} temp 温度 C
* @param {number} gyroX 角速度(x) [± 1]
* @param {number} gyroY 角速度(y) [± 1]
* @param {number} gyroZ 角速度(z) [± 1]
* @instance
*/
constructor (accelX, accelY, accelZ, temp, gyroX, gyroY, gyroZ ) {
super();
this.accelX= KMUtl.toNumber(accelX);
this.accelY= KMUtl.toNumber(accelY);
this.accelZ= KMUtl.toNumber(accelZ);
this.temp= KMUtl.toNumber(temp);
this.gyroX= KMUtl.toNumber(gyroX);
this.gyroY= KMUtl.toNumber(gyroY);
this.gyroZ= KMUtl.toNumber(gyroZ);
}
}
/**
* KEIGANモーターLED 点灯・色状態
* State MOTOR_LED_STATE
* colorR 0-255
* colorG 0-255
* colorB 0-255
* */
/**
* @classdesc モーターLED 点灯・色状態
*/
class KMLedState extends KMStructureBase {
/**
* モーターのLED状態
* @readonly
* @enum {number}
* @property {number} MOTOR_LED_STATE_OFF - 0:LED消灯
* @property {number} MOTOR_LED_STATE_ON_SOLID - 1:LED点灯
* @property {number} MOTOR_LED_STATE_ON_FLASH - 2:LED点滅（一定間隔で点滅）
* @property {number} MOTOR_LED_STATE_ON_DIM - 3:LEDがゆっくり輝度変化する
*/
static get MOTOR_LED_STATE(){
return{
"MOTOR_LED_STATE_OFF":0,
"MOTOR_LED_STATE_ON_SOLID":1,
"MOTOR_LED_STATE_ON_FLASH":2,
"MOTOR_LED_STATE_ON_DIM":3
}
}
/**
* constructor
* @extends KMStructureBase
* @param {KMLedState.MOTOR_LED_STATE} state
* @param {number} colorR int [0-255]
* @param {number} colorG int [0-255]
* @param {number} colorB int [0-255]
* @instance
*/
constructor(state,colorR,colorG,colorB) {
super();
this.state=KMUtl.toNumber(state);
this.colorR=KMUtl.toNumber(colorR);
this.colorG=KMUtl.toNumber(colorG);
this.colorB=KMUtl.toNumber(colorB);
}
}
/**
* @classdesc モーター回転情報
*/
class KMRotState extends KMStructureBase {
/**
* 最大トルク定数
* @readonly
* @type {number}
*/
static get MAX_TORQUE(){
return 0.3;//0.3 N・m
}
/**
* 最大速度定数(rpm)
* @readonly
* @type {number}
*/
static get MAX_SPEED_RPM(){
return 300;//300rpm
}
/**
* 最大速度定数(radian/sec)
* @readonly
* @type {number}
*/
static get MAX_SPEED_RADIAN(){
return KMUtl.rpmToRadianSec(300);
}
/**
* 最大座標定数
* @readonly
* @type {number}
*/
static get MAX_POSITION(){
return 3*Math.pow(10,38);//info::「return 3e+38」はminifyでエラー
//return 3e+38;//radian 4byte float 1.175494 10-38 < 3.402823 10+38
}
/**
* constructor
* @extends KMStructureBase
* @param {number} position 座標
* @param {number} velocity 速度
* @param {number} torque トルク
* @instance
*/
constructor(position, velocity, torque) {
//有効桁数 小数第4位
super();
this.position = Math.floor(KMUtl.toNumber(position)*10000)/10000;
this.velocity = Math.floor(KMUtl.toNumber(velocity)*10000)/10000;
this.torque = Math.floor(KMUtl.toNumber(torque)*10000)/10000;
}
}
/**
* @classdesc デバイス情報
*/
class KMDeviceInfo extends KMStructureBase {
/**
* constructor
* @extends KMStructureBase
* @param {KMMotorCommandKMOne.KM_CONNECT_TYPE} type 接続方式
* @param {string} id デバイスUUID
* @param {string} name モーター名(形式 ID LEDColor)
* @param {boolean} isConnect 接続状態
* @param {string} manufacturerName 製造会社名
* @param {string} hardwareRevision
* @param {string} firmwareRevision
* @instance
*/
constructor(type=0,id="",name="",isConnect=false,manufacturerName=null,hardwareRevision=null,firmwareRevision=null) {
super();
this.type=type;
this.id=id;
this.name=name;
this.isConnect=isConnect;
this.manufacturerName=manufacturerName;
this.hardwareRevision=hardwareRevision;
this.firmwareRevision=firmwareRevision;
}
}
/**
* @classdesc モーターログ情報
*/
class KMMotorLog extends KMStructureBase {
/**
* @param id {number} シーケンスID(ユニーク値)
* @param cmdName {string} 実行コマンド名
* @param cmdID {number} 実行コマンドID
* @param errID {number} エラータイプ
* @param errType {string} エラー種別
* @param errMsg {string} メッセージ内容
* @param info {number}
*/
constructor (id=0,cmdName="",cmdID=0,errID=0,errType="",errMsg="",info=0) {
super();
this.id= id;
this.cmdName=cmdName;
this.cmdID= cmdID;
this.errID=errID;
this.errType= errType;
this.errMsg= errMsg;
this.info= info;
}
}
module.exports = {
KMStructureBase:KMStructureBase,
KMVector2:KMVector2,
//KMVector3:KMVector3,
KMImuState:KMImuState,
KMLedState:KMLedState,
KMRotState:KMRotState,
KMDeviceInfo:KMDeviceInfo,
KMMotorLog:KMMotorLog
};
/***/ }),
/* 1 */
/***/ (function(module, exports, __webpack_require__) {
"use strict";
/***
* KMUtl.js
* CCreated by Harada Hiroshi on 2017/12/07.
*
* Copyright (c) 2017 Keigan Inc. https://keigan-motor.com/
* This software is released under the MIT License.
* http://opensource.org/licenses/mit-license.php
*/
/**
* @classdesc ユーティリティ
*/
class KMUtl{
/**
* 数値にキャストする関数
* 数値以外は0を返す<br>
* Infinityも0とする
* @param {number} val
* @param {number} defaultval valが数値に変換出来ない場合のデフォルト
* @returns {number}
*/
static toNumber(val, defaultval = 0) {
let v = parseFloat(val, 10);
return (!isFinite(v) ? defaultval : v);
};
/**
* 数値にキャストする関数 int固定
* 数値以外は0を返す<br>
* Infinityも0とする
* @param {number} val
* @param {number} defaultval valが数値に変換出来ない場合のデフォルト
* @returns {number}
*/
static toIntNumber(val, defaultval = 0) {
let v = parseInt(val, 10);
return (!isFinite(v) ? defaultval : v);
};
/**
* 角度の単位変換 degree >> radian
* @param {number} degree 度
* @returns {number} radian
*/
static degreeToRadian(degree) {
return degree * 0.017453292519943295;
};
/**
* 角度の単位変換 radian >> degree
* @param {number} radian radian角
* @returns {number} 度
*/
static radianToDegree(radian) {
return radian / 0.017453292519943295;
};
/**
* 速度 rpm ->radian/sec に変換
* @param {number} rpm
* @returns {number} radian/sec
*/
static rpmToRadianSec(rpm) {
//速度 rpm ->radian/sec(Math.PI*2/60)
return rpm * 0.10471975511965977;
};
/**
* 2点間の距離と角度を求める
* @param {number} from_x
* @param {number} from_y
* @param {number} to_x
* @param {number} to_y
* @returns {number}
*/
static twoPointDistanceAngle(from_x, from_y, to_x, to_y) {
let distance = Math.sqrt(Math.pow(from_x - to_x, 2) + Math.pow(from_y - to_y, 2));
let radian = Math.atan2(from_y - to_y, from_x - to_x);
return {dist: distance, radi: radian, deg: KMUtl.radianToDegree(radian)};
};
/**
* コマンドのチェックサムを計算
* @ignore
* @desc 右送り CRC-16-CCITT (x16 + x12 + x5 + 1) Start:0x0000 XOROut:0x0000 ByteOrder:Little-Endian
* @param uint8arrayBuffer
* @returns {number}
* @constructor
*/
static CreateCommandCheckSumCRC16(uint8arrayBuffer){
const crc16table= __crc16table;
let crc = 0;// Start:0x0000
let len=uint8arrayBuffer.length;
for (let i = 0; i < uint8arrayBuffer.length; i++) {
let c = uint8arrayBuffer[i];
crc = (crc >> 8) ^ crc16table[(crc ^ c) & 0x00ff];
}
crc=((crc>>8)&0xFF)|((crc<<8)&0xFF00);// ByteOrder:Little-Endian
//crc=0xFFFF^crc;//XOROut:0x0000
return crc;
}
/**
* @# info:: KMComBLE.jsのDEVICE INFORMATION SERVICEのパースに使用
* utf.js - UTF-8 <=> UTF-16 convertion
*
* @ignore
* @param array
* @returns {string}
* @constructor
*
* @desc
* Copyright (C) 1999 Masanao Izumo <[email protected]>
* Version: 1.0
* LastModified: Dec 25 1999
* This library is free. You can redistribute it and/or modify it.
*/
static Utf8ArrayToStr(array) {
let out, i, len, c;
let char2, char3;
out = "";
len = array.length;
i = 0;
while(i < len) {
c = array[i++];
switch(c >> 4)
{
case 0: case 1: case 2: case 3: case 4: case 5: case 6: case 7:
// 0xxxxxxx
out += String.fromCharCode(c);
break;
case 12: case 13:
// 110x xxxx 10xx xxxx
char2 = array[i++];
out += String.fromCharCode(((c & 0x1F) << 6) | (char2 & 0x3F));
break;
case 14:
// 1110 xxxx 10xx xxxx 10xx xxxx
char2 = array[i++];
char3 = array[i++];
out += String.fromCharCode(((c & 0x0F) << 12) |
((char2 & 0x3F) << 6) |
((char3 & 0x3F) << 0));
break;
}
}
return out;
};
/**
* @# info:: デバッグ用
* uint8Array => UTF-16 Strings convertion
* @ignore
* @param uint8Array
* @returns {string}
* @constructor
*/
static Uint8ArrayToHexStr(uint8Array){
if(!uint8Array instanceof Uint8Array){return;}
let ar=[];
for(let i=0;i<uint8Array.length;i++){
ar.push(uint8Array[i].toString(16));
}
return ar.join(':');
}
/**
* @# info::Uint8のConcat
* Creates a new Uint8Array based on two different ArrayBuffers
* @param {ArrayBuffers} u8Array1 The first buffer.
* @param {ArrayBuffers} u8Array2 The second buffer.
* @return {ArrayBuffers} The new ArrayBuffer created out of the two.
* @ignore
*/
static Uint8ArrayConcat(u8Array1, u8Array2) {
let tmp = new Uint8Array(u8Array1.byteLength + u8Array2.byteLength);
tmp.set(new Uint8Array(u8Array1), 0);
tmp.set(new Uint8Array(u8Array2), u8Array1.byteLength);
return tmp;
}
}
/**
* CreateCommandCheckSumCRC16用 CRCテーブル
* @ignore
* @type {Uint16Array}
* @private
*/
const __crc16table=new Uint16Array([
0 , 0x1189 , 0x2312 , 0x329b , 0x4624 , 0x57ad , 0x6536 , 0x74bf ,
0x8c48 , 0x9dc1 , 0xaf5a , 0xbed3 , 0xca6c , 0xdbe5 , 0xe97e , 0xf8f7 ,
0x1081 , 0x0108 , 0x3393 , 0x221a , 0x56a5 , 0x472c , 0x75b7 , 0x643e ,
0x9cc9 , 0x8d40 , 0xbfdb , 0xae52 , 0xdaed , 0xcb64 , 0xf9ff , 0xe876 ,
0x2102 , 0x308b , 0x0210 , 0x1399 , 0x6726 , 0x76af , 0x4434 , 0x55bd ,
0xad4a , 0xbcc3 , 0x8e58 , 0x9fd1 , 0xeb6e , 0xfae7 , 0xc87c , 0xd9f5 ,
0x3183 , 0x200a , 0x1291 , 0x0318 , 0x77a7 , 0x662e , 0x54b5 , 0x453c ,
0xbdcb , 0xac42 , 0x9ed9 , 0x8f50 , 0xfbef , 0xea66 , 0xd8fd , 0xc974 ,
0x4204 , 0x538d , 0x6116 , 0x709f , 0x0420 , 0x15a9 , 0x2732 , 0x36bb ,
0xce4c , 0xdfc5 , 0xed5e , 0xfcd7 , 0x8868 , 0x99e1 , 0xab7a , 0xbaf3 ,
0x5285 , 0x430c , 0x7197 , 0x601e , 0x14a1 , 0x0528 , 0x37b3 , 0x263a ,
0xdecd , 0xcf44 , 0xfddf , 0xec56 , 0x98e9 , 0x8960 , 0xbbfb , 0xaa72 ,
0x6306 , 0x728f , 0x4014 , 0x519d , 0x2522 , 0x34ab , 0x0630 , 0x17b9 ,
0xef4e , 0xfec7 , 0xcc5c , 0xddd5 , 0xa96a , 0xb8e3 , 0x8a78 , 0x9bf1 ,
0x7387 , 0x620e , 0x5095 , 0x411c , 0x35a3 , 0x242a , 0x16b1 , 0x0738 ,
0xffcf , 0xee46 , 0xdcdd , 0xcd54 , 0xb9eb , 0xa862 , 0x9af9 , 0x8b70 ,
0x8408 , 0x9581 , 0xa71a , 0xb693 , 0xc22c , 0xd3a5 , 0xe13e , 0xf0b7 ,
0x0840 , 0x19c9 , 0x2b52 , 0x3adb , 0x4e64 , 0x5fed , 0x6d76 , 0x7cff ,
0x9489 , 0x8500 , 0xb79b , 0xa612 , 0xd2ad , 0xc324 , 0xf1bf , 0xe036 ,
0x18c1 , 0x0948 , 0x3bd3 , 0x2a5a , 0x5ee5 , 0x4f6c , 0x7df7 , 0x6c7e ,
0xa50a , 0xb483 , 0x8618 , 0x9791 , 0xe32e , 0xf2a7 , 0xc03c , 0xd1b5 ,
0x2942 , 0x38cb , 0x0a50 , 0x1bd9 , 0x6f66 , 0x7eef , 0x4c74 , 0x5dfd ,
0xb58b , 0xa402 , 0x9699 , 0x8710 , 0xf3af , 0xe226 , 0xd0bd , 0xc134 ,
0x39c3 , 0x284a , 0x1ad1 , 0x0b58 , 0x7fe7 , 0x6e6e , 0x5cf5 , 0x4d7c ,
0xc60c , 0xd785 , 0xe51e , 0xf497 , 0x8028 , 0x91a1 , 0xa33a , 0xb2b3 ,
0x4a44 , 0x5bcd , 0x6956 , 0x78df , 0x0c60 , 0x1de9 , 0x2f72 , 0x3efb ,
0xd68d , 0xc704 , 0xf59f , 0xe416 , 0x90a9 , 0x8120 , 0xb3bb , 0xa232 ,
0x5ac5 , 0x4b4c , 0x79d7 , 0x685e , 0x1ce1 , 0x0d68 , 0x3ff3 , 0x2e7a ,
0xe70e , 0xf687 , 0xc41c , 0xd595 , 0xa12a , 0xb0a3 , 0x8238 , 0x93b1 ,
0x6b46 , 0x7acf , 0x4854 , 0x59dd , 0x2d62 , 0x3ceb , 0x0e70 , 0x1ff9 ,
0xf78f , 0xe606 , 0xd49d , 0xc514 , 0xb1ab , 0xa022 , 0x92b9 , 0x8330 ,
0x7bc7 , 0x6a4e , 0x58d5 , 0x495c , 0x3de3 , 0x2c6a , 0x1ef1 , 0x0f78
]);
module.exports = KMUtl;
/***/ }),
/* 2 */
/***/ (function(module, exports, __webpack_require__) {
"use strict";
/***
* KMComWebBLE.js
* version 0.1.0 alpha
* Created by Harada Hiroshi on 2017/12/07.
*
* Copyright (c) 2017 Keigan Inc. https://keigan-motor.com/
* This software is released under the MIT License.
* http://opensource.org/licenses/mit-license.php
*/
const KMUtl = __webpack_require__(1);
const KMComBase = __webpack_require__(6);
const KMStructures=__webpack_require__(0);
/**
* @classdesc ブラウザ用WebBluetooh通信クラス(chrome依存)
* @ignore
*/
class KMComWebBLE extends KMComBase{
/********************************************
* 定数
********************************************/
/**
* constructor
*/
constructor(){
super();
this._deviceInfo.type="WEBBLE";
this._characteristics={};
this._bleSendingQue=Promise.resolve(true);
this._queCount=0;
//サービスUUID
this._MOTOR_BLE_SERVICE_UUID='f140ea35-8936-4d35-a0ed-dfcd795baa8c';
//キャラクタリスティクスUUID
this._MOTOR_BLE_CRS={
'MOTOR_TX':'f1400001-8936-4d35-a0ed-dfcd795baa8c',//旧 MOTOR_CONTROL
//'MOTOR_LED':'f1400003-8936-4d35-a0ed-dfcd795baa8c',//モーターのLEDを取り扱う info:: MOTOR_CONTROL::bleLedで代用
'MOTOR_MEASUREMENT':'f1400004-8936-4d35-a0ed-dfcd795baa8c',
'MOTOR_IMU_MEASUREMENT':'f1400005-8936-4d35-a0ed-dfcd795baa8c',
'MOTOR_RX':'f1400006-8936-4d35-a0ed-dfcd795baa8c',//旧 MOTOR_SETTING
};
this._DEVICE_INFORMATION_SERVICE_UUIDS={
"Service":0x180a
,"ManufacturerNameString":0x2a29
,"HardwareRevisionString":0x2a27
,"FirmwareRevisionString":0x2a26
};
/**
* BLE切断時
* @param eve
* @private
*/
this._onBleConnectionLost=(eve)=>{
this._deviceInfo.isConnect=false;
this._peripheral=null;
this._statusChange_isConnect(false);
};
/**
* @#---------------------------------------------------------
* モーター回転情報受信
* @param eve
* @private
* @#---------------------------------------------------------
* Notify Value
* byte[0]-byte[3] byte[4]-byte[7] byte[8]-byte[11]
* float * float * float *
* position:radians speed:radians/second torque:N・m
*/
this._onBleMotorMeasurement=(eve)=>{
if(!eve||!eve.target){return;}
let dv = eve.target.value;
if(!(dv instanceof DataView)){return;}//info::web bluetoohのみ node.jsはinstanceof Buffer
let position=dv.getFloat32(0,false);
let velocity=dv.getFloat32(4,false);
let torque=dv.getFloat32(8,false);
this._onMotorMeasurementCB(new KMStructures.KMRotState(position,velocity,torque));
};
/**
* @#---------------------------------------------------------
* モーターIMU情報受信
* @param eve
* @private
* @#
* -----------------------------------------------------------
* Notify Value
* accel_x, accel_y, accel_z, temp, gyro_x, gyro_y, gyro_z が全て返ってくる。取得間隔は100ms 固定
* byte(BigEndian) [0][1] [2][3] [4][5] [6][7] [8][9] [10][11] [12][13]
* int16_t int16_t int16_t int16_t int16_t int16_t int16_t
* accel-x accel-y accel-z temp gyro-x gyro-y gyro-z
*
* int16_t:-32,768〜32,768
* 机の上にモーターを置いた場合、加速度 z = 16000 程度となる。（重力方向のため）
*
* 単位変換）---------------------------------------------------------
* 加速度 value [G] = raw_value * 2 / 32,767
* 温度 value [℃] = raw_value / 333.87 + 21.00
* 角速度
* value [degree/second] = raw_value * 250 / 32,767
* value [radians/second] = raw_value * 0.00013316211
*
*/
this._onBleImuMeasurement=(eve)=>{
if(!eve||!eve.target){return;}
let dv = eve.target.value;
let tempCalibration=-5.7;//温度校正値
if(!(dv instanceof DataView)){return;}//info::web bluetoohのみ node.jsはinstanceof Buffer
//単位を扱い易いように変換
let accelX=dv.getInt16(0,false)*2/32767;
let accelY=dv.getInt16(2,false)*2/32767;
let accelZ=dv.getInt16(4,false)*2/32767;
let temp=(dv.getInt16(6,false)) / 333.87 + 21.00+tempCalibration;
let gyroX=dv.getInt16(8,false)*250/32767;
let gyroY=dv.getInt16(10,false)*250/32767;
let gyroZ=dv.getInt16(12,false)*250/32767;
this._onImuMeasurementCB(new KMStructures.KMImuState(accelX,accelY,accelZ,temp,gyroX,gyroY,gyroZ));
};
/**
* @#---------------------------------------------------------
* モーターログ情報取得
* @param {Buffer} data
* @private
* @#---------------------------------------------------------
* Notify value
* byte[0] byte[1-2] byte[3] byte[4-7] byte[8-11] byte[12-13]
* uint8_t:tx_type uint16_t:id uint8_t:command uint32_t:errorCode uint32_t:info uint16_t:CRC
*/
this._onBleMotorLog=(eve)=>{
if(!eve||!eve.target){return;}
let dv = eve.target.value;
if(!(dv instanceof DataView)){return;}//info::web bluetoohのみ node.jsはinstanceof Buffer
let txType=dv.getUint8(0);//エラーログタイプ:0xBE固定
if(txType!==0xBE){return;}
let id=dv.getUint16(1,false);//送信ID
let cmdID=dv.getUint8(3,false);
let errCode=dv.getUint32(4,false);
let info=dv.getUint32(8,false);
//ログ取得
this._onMotorLogCB(new KMStructures.KMMotorLog(id,null,cmdID,this._MOTOR_LOG_ERRORCODE[errCode].id,this._MOTOR_LOG_ERRORCODE[errCode].type,this._MOTOR_LOG_ERRORCODE[errCode].msg,info));
};
/**
* @#---------------------------------------------------------
* モーター設定情報取得
* @param eve
* @private
* @#---------------------------------------------------------
* Notify value
* byte[0] byte[1] byte[2] byte[3] byte[4]以降 byte[n-2] byte[n-1]
* uint8_t:tx_type uint16_t:id uint8_t:register uint8_t:value uint16_t:CRC
* 0x40 uint16_t (2byte) 0～65535 レジスタコマンド レジスタの値（コマンドによって変わる） uint16_t (2byte) 0～65535
*/
this._onBleMotorSetting=(eve)=>{
if(!eve||!eve.target){return;}
let dv = eve.target.value;//5+nバイト
let uint8Array=new Uint8Array(dv.buffer);//info::一旦コピーする必要がある
if(!(dv instanceof DataView)){return;}//info::web bluetoohのみ node.jsはinstanceof Buffer
//-------------
//データのparse
//-------------
let txLen=dv.byteLength;
let txType=dv.getUint8(0);//レジスタ情報通知コマンドID 0x40固定
if(txType!==0x40||txLen<5){return;}//レジスタ情報を含まないデータの破棄
let id=dv.getUint16(1,false);//送信ID
let registerCmd=dv.getUint8(3);//レジスタコマンド
let crc=dv.getUint16(txLen-2,false);//CRCの値 最後から2dyte
let res={};
//コマンド別によるレジスタの値の取得[4-n byte]
let startOffset=4;
switch(registerCmd){
case this._MOTOR_RX_READREGISTER_COMMAND.maxSpeed:
res.maxSpeed=dv.getFloat32(startOffset,false);
break;
case this._MOTOR_RX_READREGISTER_COMMAND.minSpeed:
res.minSpeed=dv.getFloat32(startOffset,false);
break;
case this._MOTOR_RX_READREGISTER_COMMAND.curveType:
res.curveType=dv.getUint8(startOffset);
break;
case this._MOTOR_RX_READREGISTER_COMMAND.acc:
res.acc=dv.getFloat32(startOffset,false);
break;
case this._MOTOR_RX_READREGISTER_COMMAND.dec:
res.dec=dv.getFloat32(startOffset,false);
break;
case this._MOTOR_RX_READREGISTER_COMMAND.maxTorque:
res.maxTorque=dv.getFloat32(startOffset,false);
break;
case this._MOTOR_RX_READREGISTER_COMMAND.teachingInterval:
res.teachingInterval=dv.getUint8(startOffset,false);//todo::バイト不足 Uint32->Uint8 2.24
break;
case this._MOTOR_RX_READREGISTER_COMMAND.playbackInterval:
res.playbackInterval=dv.getUint8(startOffset,false);//todo::バイト不足 Uint32->Uint8 2.24
break;
case this._MOTOR_RX_READREGISTER_COMMAND.qCurrentP:
res.qCurrentP=dv.getFloat32(startOffset,false);
break;
case this._MOTOR_RX_READREGISTER_COMMAND.qCurrentI:
res.qCurrentI=dv.getFloat32(startOffset,false);
break;
case this._MOTOR_RX_READREGISTER_COMMAND.qCurrentD:
res.qCurrentD=dv.getFloat32(startOffset,false);
break;
case this._MOTOR_RX_READREGISTER_COMMAND.speedP:
res.speedP=dv.getFloat32(startOffset,false);
break;
case this._MOTOR_RX_READREGISTER_COMMAND.speedI:
res.speedI=dv.getFloat32(startOffset,false);
break;
case this._MOTOR_RX_READREGISTER_COMMAND.speedD:
res.speedD=dv.getFloat32(startOffset,false);
break;
case this._MOTOR_RX_READREGISTER_COMMAND.positionP:
res.positionP=dv.getFloat32(startOffset,false);
break;
case this._MOTOR_RX_READREGISTER_COMMAND.positionI:
res.positionI=dv.getFloat32(startOffset,false);
break;
case this._MOTOR_RX_READREGISTER_COMMAND.positionD:
res.positionD=dv.getFloat32(startOffset,false);
break;
case this._MOTOR_RX_READREGISTER_COMMAND.posControlThreshold:
res.posControlThreshold=dv.getFloat32(startOffset,false);
break;
case this._MOTOR_RX_READREGISTER_COMMAND.motorMeasurementInterval:
res.motorMeasurementInterval=dv.getUint8(startOffset);
break;
case this._MOTOR_RX_READREGISTER_COMMAND.motorMeasurementByDefault:
res.motorMeasurementByDefault=dv.getUint8(startOffset);
break;
case this._MOTOR_RX_READREGISTER_COMMAND.interface:
res.interface=dv.getUint8(startOffset);
break;
case this._MOTOR_RX_READREGISTER_COMMAND.response://todo::値が取得出来ない 2.24
res.response=dv.getUint8(startOffset);
break;
case this._MOTOR_RX_READREGISTER_COMMAND.ownColor:
res.ownColor=('#000000' +Number(dv.getUint8(startOffset)<<16|dv.getUint8(startOffset+1)<<8|dv.getUint8(startOffset+2)).toString(16)).substr(-6);
break;
case this._MOTOR_RX_READREGISTER_COMMAND.iMUMeasurementInterval:
res.iMUMeasurementInterval=dv.getUint8(startOffset);
break;
case this._MOTOR_RX_READREGISTER_COMMAND.iMUMeasurementByDefault:
res.iMUMeasurementByDefault=dv.getUint8(startOffset);
break;
case this._MOTOR_RX_READREGISTER_COMMAND.deviceName:
res.deviceName=String.fromCharCode.apply("", uint8Array.slice(startOffset,-2));//可変バイト文字
break;
case this._MOTOR_RX_READREGISTER_COMMAND.deviceInfo:
res.deviceInfo=String.fromCharCode.apply("", uint8Array.slice(startOffset,-2));//可変バイト文字
break;
case this._MOTOR_RX_READREGISTER_COMMAND.speed:
res.speed=dv.getFloat32(startOffset,false);
break;
case this._MOTOR_RX_READREGISTER_COMMAND.positionOffset:
res.positionOffset=dv.getFloat32(startOffset,false);
break;
case this._MOTOR_RX_READREGISTER_COMMAND.moveTo:
res.moveTo=dv.getFloat32(startOffset,false);
break;
case this._MOTOR_RX_READREGISTER_COMMAND.hold:
res.hold=dv.getFloat32(startOffset,false);
break;
case this._MOTOR_RX_READREGISTER_COMMAND.status:
res.status=dv.getUint8(startOffset);
break;
case this._MOTOR_RX_READREGISTER_COMMAND.tasksetName:
res.tasksetName=String.fromCharCode.apply("", uint8Array.slice(startOffset,-2));//可変バイト文字
break;
case this._MOTOR_RX_READREGISTER_COMMAND.tasksetInfo:
res.tasksetInfo=dv.getUint16(startOffset,false);
break;
case this._MOTOR_RX_READREGISTER_COMMAND.tasksetUsage:
res.tasksetUsage=dv.getUint8(startOffset);
break;
case this._MOTOR_RX_READREGISTER_COMMAND.motionName:
res.motionName=String.fromCharCode.apply("", uint8Array.slice(startOffset,-2));//可変バイト文字
break;
case this._MOTOR_RX_READREGISTER_COMMAND.motionInfo:
res.motionInfo=dv.getUint16(startOffset,false);
break;
case this._MOTOR_RX_READREGISTER_COMMAND.motionUsage:
res.motionUsage=dv.getUint8(startOffset);
break;
case this._MOTOR_RX_READREGISTER_COMMAND.i2CSlaveAddress:
res.i2CSlaveAddress=dv.getUint8(startOffset);
break;
case this._MOTOR_RX_READREGISTER_COMMAND.uartBaudRate:
res.uartBaudRate=dv.getUint8(startOffset);
break;
case this._MOTOR_RX_READREGISTER_COMMAND.led:
res.led={state:dv.getUint8(startOffset),r:dv.getUint8(startOffset+1),g:dv.getUint8(startOffset+2),b:dv.getUint8(startOffset+3)};
break;
case this._MOTOR_RX_READREGISTER_COMMAND.enableCheckSum:
res.enableCheckSum=dv.getUint8(startOffset);
break;
case this._MOTOR_RX_READREGISTER_COMMAND.deviceSerial:
res.deviceSerial=String.fromCharCode.apply("", uint8Array.slice(startOffset,-2));//可変バイト文字
break;
}
//console.log(res);
this._onMotorSettingCB(registerCmd,res);
}
}
/********************************************
* section::公開メソッド
********************************************/
/**
* WebBluetoohでの接続を開始する
*/
connect(){
if (this._peripheral&& this._peripheral.gatt&&this._peripheral.gatt.connected ) {return}
let gat= (this._peripheral&& this._peripheral.gatt )?this._peripheral.gatt :undefined;//再接続用
this._bleConnect(gat).then(obj=>{//info:: resolve({deviceID,deviceName,bleDevice,characteristics});
this._peripheral=obj.bleDevice;
this._deviceInfo.id=this._peripheral.id;
this._deviceInfo.name=this._peripheral.name;
this._deviceInfo.isConnect=this._peripheral.gatt.connected;
this._deviceInfo.manufacturerName=obj.infomation.manufacturerName;
this._deviceInfo.hardwareRevision=obj.infomation.hardwareRevision;
this._deviceInfo.firmwareRevision=obj.infomation.firmwareRevision;
//
this._characteristics=obj.characteristics;
if(!gat){
this._peripheral.removeEventListener('gattserverdisconnected',this._onBleConnectionLost);
this._peripheral.addEventListener('gattserverdisconnected', this._onBleConnectionLost);
if(this._characteristics['MOTOR_MEASUREMENT']){
this._characteristics['MOTOR_MEASUREMENT'].removeEventListener('characteristicvaluechanged',this._onBleMotorMeasurement);
this._characteristics['MOTOR_MEASUREMENT'].addEventListener('characteristicvaluechanged',this._onBleMotorMeasurement);
this._characteristics['MOTOR_MEASUREMENT'].startNotifications().then(obj=>{