49 lines
1.6 KiB
TypeScript
49 lines
1.6 KiB
TypeScript
namespace pxsim {
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enum MotorDataOff {
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TachoCounts = 0, // int32
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Speed = 4, // int8
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Padding = 5, // int8[3]
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TachoSensor = 8, // int32
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Size = 12
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}
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export class EV3MotorState {
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constructor() {
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let data = new Uint8Array(12 * DAL.NUM_OUTPUTS)
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MMapMethods.register("/dev/lms_motor", {
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data,
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beforeMemRead: () => {
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console.log("motor before read");
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for (let port = 0; port < DAL.NUM_OUTPUTS; ++port) {
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data[MotorDataOff.TachoCounts * port] = 0; // Tacho count
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data[MotorDataOff.Speed * port] = 50; // Speed
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data[MotorDataOff.TachoSensor * port] = 0; // Count
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}
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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("motor read");
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console.log(buf.data);
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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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console.log("motor 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("motor 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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} |