@robotical/raftjs 2.0.4 → 2.0.5

package/dist/web/RaftChannelSimulated.js

@@ -31,6 +31,29 @@ class RaftChannelSimulated {
         this._requestedFileBlockSize = 500;
         // Simulated device type information - this is a copy of part of DeviceTypeInfo in RaftCore
         this._deviceTypeInfo = {
+            "AMG8833": {
+                "name": "AMG8833",
+                "desc": "Thermal Camera",
+                "manu": "Panasonic",
+                "type": "AMG8833",
+                "clas": ["TCAM"],
+                "resp": {
+                    "b": 128,
+                    "a": [
+                        {
+                            "n": "temp",
+                            "t": "<h[64]",
+                            "resolution": "8x8",
+                            "u": "&deg;C",
+                            "r": [-55, 125],
+                            "s": -4,
+                            "d": 64,
+                            "f": ".2f",
+                            "o": "float"
+                        }
+                    ]
+                }
+            },
             "LSM6DS": {
                 "name": "LSM6DS",
                 "desc": "6-Axis IMU",
@@ -303,86 +326,30 @@ class RaftChannelSimulated {
         // Add 16 bit big endian deviceTimeMs mod 65536 to the buffer
         dataView.setUint16(bytePos, deviceTimeMs % 65536, false);
         bytePos += 2;
-        // Calculate sine wave with phase offsets for each attribute
         const numAttributes = attributes.length;
-        // Adjust frequency based on the device interval with N samples per cycle
         const numSamplesPerCycle = 10;
-        let frequencyHz = 0.1; // Default frequency in Hz
-        if (deviceIntervalMs > 0) {
-            frequencyHz = (1000 / deviceIntervalMs) / numSamplesPerCycle;
-        }
-        // Amplitude of the sine wave (0 to 1)
-        const amplitude = 0.8;
-        // Iterate through attributes and set values
-        for (let i = 0; i < numAttributes; i++) {
-            const attr = attributes[i];
-            // Calculate phase offset for this attribute
-            const phaseOffset = (2 * Math.PI * i) / numAttributes;
-            // Generate sine wave value
-            const timeRadians = deviceTimeMs * frequencyHz * (2 * Math.PI) / 1000;
-            const sinValue = Math.sin(timeRadians + phaseOffset);
-            // Scale the value to fit within the attribute's range
-            let scaledValue;
-            if (attr.r && attr.r.length >= 2) {
-                const minValue = attr.r[0];
-                const maxValue = attr.r[1];
-                const midPoint = (maxValue + minValue) / 2;
-                const range = (maxValue - minValue) / 2;
-                scaledValue = midPoint + sinValue * range * amplitude;
-            }
-            else {
-                // Default range if not specified
-                scaledValue = sinValue * 1000 * amplitude;
-            }
-            // Convert to raw integer value if needed
-            let rawValue = scaledValue;
-            if (attr.d) {
-                // Multiply by the divisor to get the raw value (reverse of what happens when decoding)
-                rawValue = scaledValue * attr.d;
-            }
-            // Write the value to the buffer based on its type
-            if (attr.t === "b") {
-                dataView.setUint8(bytePos, Math.round(rawValue));
-                bytePos += 1;
-            }
-            else if (attr.t === "B") {
-                dataView.setUint8(bytePos, Math.round(rawValue));
-                bytePos += 1;
-            }
-            else if (attr.t === "c") {
-                dataView.setInt8(bytePos, Math.round(rawValue));
-                bytePos += 1;
+        const frequencyHz = (deviceIntervalMs > 0)
+            ? (1000 / deviceIntervalMs) / numSamplesPerCycle
+            : 0.1;
+        const timeRadians = deviceTimeMs * frequencyHz * (2 * Math.PI) / 1000;
+        // Iterate through attributes and fill the payload
+        for (let attrIdx = 0; attrIdx < numAttributes; attrIdx++) {
+            const attr = attributes[attrIdx];
+            const { typeCode, repeatCount, littleEndian } = this._parseAttrType(attr.t);
+            const scaledValues = this._generateAttributeScaledValues(attr, attrIdx, repeatCount, numAttributes, timeRadians, deviceTimeMs);
+            if (scaledValues.length !== repeatCount) {
+                RaftLog_1.default.warn(`RaftChannelSimulated._createSimulatedDeviceInfoMsg - value count mismatch for ${attr.n}`);
+                continue;
             }
-            else if (attr.t === "C") {
-                dataView.setUint8(bytePos, Math.round(rawValue));
-                bytePos += 1;
-            }
-            else if (attr.t === "<h") {
-                dataView.setInt16(bytePos, Math.round(rawValue), true); // Little endian
-                bytePos += 2;
-            }
-            else if (attr.t === ">h") {
-                dataView.setInt16(bytePos, Math.round(rawValue), false); // Big endian
-                bytePos += 2;
-            }
-            else if (attr.t === "<H") {
-                dataView.setUint16(bytePos, Math.round(rawValue), true); // Little endian
-                bytePos += 2;
-            }
-            else if (attr.t === ">H") {
-                dataView.setUint16(bytePos, Math.round(rawValue), false); // Big endian
-                bytePos += 2;
-            }
-            else if (attr.t === "f" || attr.t === "<f") {
-                dataView.setFloat32(bytePos, rawValue, true); // Little endian
-                bytePos += 4;
-            }
-            else if (attr.t === ">f") {
-                dataView.setFloat32(bytePos, rawValue, false); // Big endian
-                bytePos += 4;
-            }
-            else {
-                RaftLog_1.default.warn(`RaftChannelSimulated._createSimulatedDeviceInfoMsg - unsupported attribute type ${attr.t}`);
+            for (let elemIdx = 0; elemIdx < repeatCount; elemIdx++) {
+                const scaledValue = scaledValues[elemIdx];
+                const rawValue = this._prepareRawValue(attr, typeCode, scaledValue);
+                const nextBytePos = this._writeRawValueToBuffer(dataView, bytePos, typeCode, littleEndian, rawValue);
+                if (nextBytePos < 0) {
+                    RaftLog_1.default.warn(`RaftChannelSimulated._createSimulatedDeviceInfoMsg - buffer overflow writing ${attr.n}`);
+                    break;
+                }
+                bytePos = nextBytePos;
             }
         }
         // Convert the buffer to a byte array
@@ -407,6 +374,221 @@ class RaftChannelSimulated {
         msgPrefixBytes.set(encodedMsg, 2);
         return msgPrefixBytes;
     }
+    _parseAttrType(attrType) {
+        const repeatMatch = attrType.match(/\[(\d+)\]\s*$/);
+        const repeatCount = repeatMatch ? parseInt(repeatMatch[1], 10) : 1;
+        const coreType = repeatMatch ? attrType.slice(0, repeatMatch.index) : attrType;
+        let littleEndian = false;
+        let typeCode = coreType.trim();
+        if (typeCode.startsWith("<")) {
+            littleEndian = true;
+            typeCode = typeCode.slice(1);
+        }
+        else if (typeCode.startsWith(">")) {
+            littleEndian = false;
+            typeCode = typeCode.slice(1);
+        }
+        else if (typeCode === "f") {
+            // Match previous behaviour - plain "f" treated as little endian floats
+            littleEndian = true;
+        }
+        return { typeCode, repeatCount, littleEndian };
+    }
+    _generateAttributeScaledValues(attr, attrIdx, repeatCount, numAttributes, timeRadians, deviceTimeMs) {
+        const amplitude = 0.8;
+        if (repeatCount > 1) {
+            const useThermalGrid = (attr && typeof attr.resolution === "string") || repeatCount >= 16;
+            if (useThermalGrid) {
+                return this._generateThermalGridValues(attr, repeatCount, timeRadians, deviceTimeMs);
+            }
+            const values = [];
+            for (let elemIdx = 0; elemIdx < repeatCount; elemIdx++) {
+                const phaseOffset = (2 * Math.PI * (attrIdx + elemIdx / repeatCount)) / Math.max(1, numAttributes);
+                const sinValue = Math.sin(timeRadians + phaseOffset);
+                if (Array.isArray(attr.r) && attr.r.length >= 2) {
+                    const minValue = attr.r[0];
+                    const maxValue = attr.r[1];
+                    const midPoint = (maxValue + minValue) / 2;
+                    const range = (maxValue - minValue) / 2;
+                    const value = midPoint + sinValue * range * amplitude;
+                    values.push(Math.min(maxValue, Math.max(minValue, value)));
+                }
+                else {
+                    values.push(sinValue * 1000 * amplitude);
+                }
+            }
+            return values;
+        }
+        const phaseOffset = numAttributes > 0 ? (2 * Math.PI * attrIdx) / numAttributes : 0;
+        const sinValue = Math.sin(timeRadians + phaseOffset);
+        if (Array.isArray(attr.r) && attr.r.length >= 2) {
+            const minValue = attr.r[0];
+            const maxValue = attr.r[1];
+            const midPoint = (maxValue + minValue) / 2;
+            const range = (maxValue - minValue) / 2;
+            const value = midPoint + sinValue * range * amplitude;
+            return [Math.min(maxValue, Math.max(minValue, value))];
+        }
+        return [sinValue * 1000 * amplitude];
+    }
+    _generateThermalGridValues(attr, repeatCount, timeRadians, deviceTimeMs) {
+        const { rows, cols } = this._getGridDimensions(attr, repeatCount);
+        const values = [];
+        const ambientBase = 24 + 2 * Math.sin(deviceTimeMs / 7000);
+        const hotspotPhase = deviceTimeMs / 3200;
+        const hotspotRow = (Math.sin(hotspotPhase) + 1) * (rows - 1) / 2;
+        const hotspotCol = (Math.cos(hotspotPhase) + 1) * (cols - 1) / 2;
+        const hotspotAmplitude = 6;
+        const sigma = Math.max(rows, cols) / 3 || 1;
+        for (let idx = 0; idx < repeatCount; idx++) {
+            const row = Math.floor(idx / cols);
+            const col = idx % cols;
+            const dist = Math.hypot(row - hotspotRow, col - hotspotCol);
+            const hotspot = hotspotAmplitude * Math.exp(-(dist * dist) / (2 * sigma * sigma));
+            const gentleWave = 0.5 * Math.sin(timeRadians + row * 0.35 + col * 0.25);
+            let value = ambientBase + hotspot + gentleWave;
+            if (Array.isArray(attr.r) && attr.r.length >= 2) {
+                value = Math.min(attr.r[1], Math.max(attr.r[0], value));
+            }
+            values.push(value);
+        }
+        return values;
+    }
+    _getGridDimensions(attr, repeatCount) {
+        if (attr && typeof attr.resolution === "string") {
+            const match = attr.resolution.match(/(\d+)\s*x\s*(\d+)/i);
+            if (match) {
+                const rows = parseInt(match[1], 10);
+                const cols = parseInt(match[2], 10);
+                if (rows > 0 && cols > 0) {
+                    return { rows, cols };
+                }
+            }
+        }
+        const side = Math.round(Math.sqrt(repeatCount));
+        if (side > 0 && side * side === repeatCount) {
+            return { rows: side, cols: side };
+        }
+        return { rows: repeatCount, cols: 1 };
+    }
+    _prepareRawValue(attr, typeCode, scaledValue) {
+        if (this._isFloatType(typeCode)) {
+            return scaledValue;
+        }
+        let raw = scaledValue;
+        if (attr && typeof attr.a === "number") {
+            raw -= attr.a;
+        }
+        if (attr && typeof attr.d === "number") {
+            raw *= attr.d;
+        }
+        if (attr && typeof attr.s === "number" && attr.s !== 0) {
+            const shift = attr.s;
+            const shiftFactor = Math.pow(2, Math.abs(shift));
+            if (shift > 0) {
+                raw *= shiftFactor;
+            }
+            else {
+                raw /= shiftFactor;
+            }
+        }
+        return Math.round(raw);
+    }
+    _writeRawValueToBuffer(dataView, bytePos, typeCode, littleEndian, rawValue) {
+        const valueSize = this._byteSizeForType(typeCode);
+        if (valueSize <= 0 || bytePos + valueSize > dataView.byteLength) {
+            return -1;
+        }
+        switch (typeCode) {
+            case "b":
+                dataView.setInt8(bytePos, this._clampRawValue(rawValue, typeCode));
+                break;
+            case "c":
+                dataView.setInt8(bytePos, this._clampRawValue(rawValue, typeCode));
+                break;
+            case "B":
+            case "C":
+                dataView.setUint8(bytePos, this._clampRawValue(rawValue, typeCode));
+                break;
+            case "?":
+                dataView.setUint8(bytePos, rawValue ? 1 : 0);
+                break;
+            case "h":
+                dataView.setInt16(bytePos, this._clampRawValue(rawValue, typeCode), littleEndian);
+                break;
+            case "H":
+                dataView.setUint16(bytePos, this._clampRawValue(rawValue, typeCode), littleEndian);
+                break;
+            case "i":
+            case "l":
+                dataView.setInt32(bytePos, this._clampRawValue(rawValue, typeCode), littleEndian);
+                break;
+            case "I":
+            case "L":
+                dataView.setUint32(bytePos, this._clampRawValue(rawValue, typeCode), littleEndian);
+                break;
+            case "f":
+                dataView.setFloat32(bytePos, rawValue, littleEndian);
+                break;
+            case "d":
+                dataView.setFloat64(bytePos, rawValue, littleEndian);
+                break;
+            default:
+                RaftLog_1.default.warn(`RaftChannelSimulated._writeRawValueToBuffer - unsupported attribute type ${typeCode}`);
+                return -1;
+        }
+        return bytePos + valueSize;
+    }
+    _byteSizeForType(typeCode) {
+        switch (typeCode) {
+            case "b":
+            case "B":
+            case "c":
+            case "C":
+            case "?":
+                return 1;
+            case "h":
+            case "H":
+                return 2;
+            case "i":
+            case "I":
+            case "l":
+            case "L":
+            case "f":
+                return 4;
+            case "d":
+                return 8;
+            default:
+                return 0;
+        }
+    }
+    _clampRawValue(rawValue, typeCode) {
+        const value = Math.round(rawValue);
+        switch (typeCode) {
+            case "b":
+            case "c":
+                return Math.max(-128, Math.min(127, value));
+            case "B":
+            case "C":
+            case "?":
+                return Math.max(0, Math.min(255, value));
+            case "h":
+                return Math.max(-32768, Math.min(32767, value));
+            case "H":
+                return Math.max(0, Math.min(65535, value));
+            case "i":
+            case "l":
+                return Math.max(-2147483648, Math.min(2147483647, value));
+            case "I":
+            case "L":
+                return Math.max(0, Math.min(4294967295, value));
+            default:
+                return value;
+        }
+    }
+    _isFloatType(typeCode) {
+        return typeCode === "f" || typeCode === "d";
+    }
     // Helper function to convert bytes to hex string
     _bytesToHexStr(bytes) {
         return Array.from(bytes)

package/dist/web/RaftChannelSimulated.js.map

@@ -1 +1 @@
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package/dist/web/RaftDeviceInfo.d.ts

@@ -25,6 +25,7 @@ export interface DeviceTypeAttribute {
     vf?: boolean | number;
     vft?: string;
     lut?: Array<LUTRow>;
+    resolution?: string;
 }
 export interface CustomFunctionDefinition {
     n: string;

package/package.json

@@ -1,6 +1,6 @@
 {
   "name": "@robotical/raftjs",
-  "version": "2.0.4",
+  "version": "2.0.5",
   "description": "Javascript/TS library for Raft library",
   "main": "dist/web/main.js",
   "types": "dist/web/main.d.ts",