143 lines
7.3 KiB
TypeScript
143 lines
7.3 KiB
TypeScript
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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// console.log("pwm read");
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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.opOutputTest:
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const port = buf.data[1];
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let r = 0;
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ev3board().getMotor(port)
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.filter(motor => !motor.isReady())
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.forEach(motor => r |= (1 << motor.port));
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pxsim.BufferMethods.setNumber(buf, BufferMethods.NumberFormat.UInt8LE, 2, r);
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break;
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default:
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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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break;
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}
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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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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.opOutputClearCount:
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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.clearCount());
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break;
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case DAL.opOutputStepPower:
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case DAL.opOutputStepSpeed:
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case DAL.opOutputTimePower:
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case DAL.opOutputTimeSpeed: {
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// step speed
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const port = buf.data[1];
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const speed = pxsim.BufferMethods.getNumber(buf, BufferMethods.NumberFormat.Int8LE, 2); // signed byte
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// note that b[3] is padding
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const step1 = pxsim.BufferMethods.getNumber(buf, BufferMethods.NumberFormat.Int32LE, 4);
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const step2 = pxsim.BufferMethods.getNumber(buf, BufferMethods.NumberFormat.Int32LE, 8);
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const step3 = pxsim.BufferMethods.getNumber(buf, BufferMethods.NumberFormat.Int32LE, 12);
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const brake = pxsim.BufferMethods.getNumber(buf, BufferMethods.NumberFormat.Int8LE, 16);
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//console.log(buf);
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const motors = ev3board().getMotor(port);
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motors.forEach(motor => motor.setSpeedCmd(cmd, [speed, step1, step2, step3, brake]));
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return 2;
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}
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case DAL.opOutputStepSync:
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case DAL.opOutputTimeSync: {
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const port = buf.data[1];
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const speed = pxsim.BufferMethods.getNumber(buf, BufferMethods.NumberFormat.Int8LE, 2); // signed byte
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// note that b[3] is padding
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const turnRatio = pxsim.BufferMethods.getNumber(buf, BufferMethods.NumberFormat.Int16LE, 4);
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// b[6], b[7] is padding
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const stepsOrTime = pxsim.BufferMethods.getNumber(buf, BufferMethods.NumberFormat.Int32LE, 8);
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const brake = pxsim.BufferMethods.getNumber(buf, BufferMethods.NumberFormat.Int8LE, 12);
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const motors = ev3board().getMotor(port);
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for (const motor of motors) {
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const otherMotor = motors.filter(m => m.port != motor.port)[0];
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motor.setSyncCmd(
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otherMotor,
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cmd, [speed, turnRatio, stepsOrTime, brake]);
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}
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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 = pxsim.BufferMethods.getNumber(buf, BufferMethods.NumberFormat.Int8LE, 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.opOutputPower:
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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 = pxsim.BufferMethods.getNumber(buf, BufferMethods.NumberFormat.Int8LE, 2);
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const motors = ev3board().getMotor(port);
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motors.forEach(motor => motor.setSpeedCmd(cmd, [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 = pxsim.BufferMethods.getNumber(buf, BufferMethods.NumberFormat.Int8LE, 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 portIndex = buf.data[1]; // not a port but a port index 0..3
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const large = buf.data[2] == 0x07;
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const motor = ev3board().getMotors()[portIndex];
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if (motor)
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motor.setLarge(large);
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return 2;
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}
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default:
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console.warn('unknown cmd: ' + cmd);
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break;
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}
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return 2
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},
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ioctl: (id, 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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} |