104 lines
4.4 KiB
TypeScript
104 lines
4.4 KiB
TypeScript
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namespace pxsim {
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export class EV3OutputState {
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constructor() {
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let data = new Uint8Array(10)
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MMapMethods.register("/dev/lms_pwm", {
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data,
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beforeMemRead: () => {
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//console.log("pwm before read");
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for (let i = 0; i < 10; ++i)
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data[i] = 0
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},
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read: buf => {
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let v = "vSIM"
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for (let i = 0; i < buf.data.length; ++i)
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buf.data[i] = v.charCodeAt(i) || 0
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console.log("pwm read");
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return buf.data.length
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},
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write: buf => {
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if (buf.data.length == 0) return 2;
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const cmd = buf.data[0];
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switch (cmd) {
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case DAL.opProgramStart: {
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// init
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console.log('init');
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return 2;
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}
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case DAL.opOutputReset: {
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// reset
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const port = buf.data[1];
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const motors = ev3board().getMotor(port);
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motors.forEach(motor => motor.reset());
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return 2;
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}
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case DAL.opOutputStepSpeed: {
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// step speed
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const port = buf.data[1];
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const speed = buf.data[2];
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// note that b[3] is padding
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const step1 = buf.data[4];
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const step2 = buf.data[5]; // angle
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const step3 = buf.data[6];
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const brake = buf.data[7];
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//console.log(buf);
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const motors = ev3board().getMotor(port);
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motors.forEach(motor => motor.stepSpeed(speed, step2, brake === 1));
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return 2;
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}
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case DAL.opOutputStop: {
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// stop
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const port = buf.data[1];
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const brake = buf.data[2];
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const motors = ev3board().getMotor(port);
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motors.forEach(motor => motor.stop());
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return 2;
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}
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case DAL.opOutputSpeed: {
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// setSpeed
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const port = buf.data[1];
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const speed = buf.data[2];
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const motors = ev3board().getMotor(port);
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motors.forEach(motor => motor.setSpeed(speed));
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return 2;
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}
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case DAL.opOutputStart: {
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// start
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const port = buf.data[1];
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const motors = ev3board().getMotor(port);
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motors.forEach(motor => motor.start());
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return 2;
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}
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case DAL.opOutputPolarity: {
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// reverse
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const port = buf.data[1];
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const polarity = buf.data[2];
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const motors = ev3board().getMotor(port);
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motors.forEach(motor => motor.setPolarity(polarity));
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return 2;
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}
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case DAL.opOutputSetType: {
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const port = buf.data[1];
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const large = buf.data[2] == 0x07;
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const motors = ev3board().getMotor(port);
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motors.forEach(motor => motor.setLarge(large));
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return 2;
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}
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}
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console.log("pwm write");
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console.log(buf);
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return 2
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},
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ioctl: (id, buf) => {
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console.log("pwm ioctl");
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console.log(id);
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console.log(buf);
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return 2;
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}
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});
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}
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}
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}
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