@robotical/raftjs 2.0.5 → 2.0.7

package/dist/web/RaftChannelSimulated.js

@@ -119,6 +119,102 @@ class RaftChannelSimulated {
                         }
                     ]
                 }
+            },
+            "LTR-329": {
+                "name": "LTR-329",
+                "desc": "Visible light and IR Sensor",
+                "manu": "Lite On",
+                "type": "LTR-329",
+                "clas": ["LGHT"],
+                "resp": {
+                    "b": 4,
+                    "a": [
+                        {
+                            "n": "ir",
+                            "t": "<h",
+                            "u": "lux",
+                            "r": [0, 64000],
+                            "f": "d",
+                            "o": "uint16"
+                        },
+                        {
+                            "n": "visible",
+                            "t": "<h",
+                            "u": "lux",
+                            "r": [0, 64000],
+                            "f": "d",
+                            "o": "uint16"
+                        }
+                    ],
+                    "c": {
+                        "n": "ltr329_light_calc",
+                        "c": "int combined = buf[0] + (((uint16_t)buf[1])<<8); out.ir = buf[2] + (((uint16_t)buf[3])<<8); out.visible = combined - out.ir;",
+                        "j": "let combined = buf[0] + (buf[1] << 8); let ir = buf[2] + (buf[3] << 8); attrValues['ir'].push(ir); attrValues['visible'].push(Math.max(0, combined - ir));"
+                    }
+                }
+            },
+            "RoboticalServo": {
+                "name": "Robotical Servo",
+                "desc": "Servo",
+                "manu": "Robotical",
+                "type": "RoboticalServo",
+                "clas": ["SRVO"],
+                "resp": {
+                    "b": 6,
+                    "a": [
+                        {
+                            "n": "angle",
+                            "t": ">h",
+                            "r": [-180.0, 180.0],
+                            "f": ".1f",
+                            "d": 10,
+                            "o": "int16",
+                            "u": "degrees"
+                        },
+                        {
+                            "n": "current",
+                            "t": "b",
+                            "r": [-128, 127],
+                            "f": "d",
+                            "o": "int8"
+                        },
+                        {
+                            "n": "state",
+                            "t": "B",
+                            "r": [0, 255],
+                            "f": "02x",
+                            "o": "uint8"
+                        },
+                        {
+                            "n": "velocity",
+                            "t": ">h",
+                            "r": [-32768, 32767],
+                            "f": "d",
+                            "o": "int16"
+                        }
+                    ]
+                },
+                "actions": [
+                    {
+                        "n": "angle",
+                        "t": ">h",
+                        "w": "0001",
+                        "wz": "0064",
+                        "f": ".1f",
+                        "mul": 10,
+                        "sub": 0,
+                        "r": [-180.0, 180.0],
+                        "d": 0
+                    },
+                    {
+                        "n": "enable",
+                        "t": "B",
+                        "w": "20",
+                        "f": "b",
+                        "r": [0, 1],
+                        "d": 1
+                    }
+                ]
             }
         };
     }
@@ -326,32 +422,38 @@ class RaftChannelSimulated {
         // Add 16 bit big endian deviceTimeMs mod 65536 to the buffer
         dataView.setUint16(bytePos, deviceTimeMs % 65536, false);
         bytePos += 2;
-        const numAttributes = attributes.length;
-        const numSamplesPerCycle = 10;
-        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;
-            }
-            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;
+        const handledByCustomGenerator = this._fillCustomRawData(deviceTypeInfo, dataView, bytePos, dataBlockSizeBytes, deviceIntervalMs, deviceTimeMs);
+        if (!handledByCustomGenerator) {
+            const numAttributes = attributes.length;
+            const numSamplesPerCycle = 10;
+            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;
+                }
+                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;
                 }
-                bytePos = nextBytePos;
             }
         }
+        else {
+            bytePos += dataBlockSizeBytes;
+        }
         // Convert the buffer to a byte array
         const dataBytes = new Uint8Array(dataBuffer);
         // Create the JSON message structure
@@ -454,6 +556,60 @@ class RaftChannelSimulated {
         }
         return values;
     }
+    _fillCustomRawData(deviceTypeInfo, dataView, bytePos, dataBlockSizeBytes, deviceIntervalMs, deviceTimeMs) {
+        var _a, _b, _c, _d, _e, _f;
+        switch (deviceTypeInfo.type) {
+            case "LTR-329": {
+                if (dataBlockSizeBytes < 4) {
+                    return false;
+                }
+                const frequencyHz = (deviceIntervalMs > 0)
+                    ? (1000 / deviceIntervalMs) / 10
+                    : 0.1;
+                const timeRadians = deviceTimeMs * frequencyHz * (2 * Math.PI) / 1000;
+                const range = (_d = (_c = (_b = (_a = deviceTypeInfo.resp) === null || _a === void 0 ? void 0 : _a.a) === null || _b === void 0 ? void 0 : _b[0]) === null || _c === void 0 ? void 0 : _c.r) !== null && _d !== void 0 ? _d : [0, 64000];
+                const minLux = (_e = range[0]) !== null && _e !== void 0 ? _e : 0;
+                const maxLux = (_f = range[1]) !== null && _f !== void 0 ? _f : 64000;
+                const baseLux = (maxLux + minLux) / 4;
+                const amplitudeLux = (maxLux - minLux) / 6;
+                let combined = Math.round(baseLux + amplitudeLux * Math.sin(timeRadians));
+                combined = Math.max(minLux, Math.min(maxLux, combined));
+                const irBase = combined * 0.35;
+                const irVariance = (combined * 0.15) * Math.sin(timeRadians + Math.PI / 4);
+                let ir = Math.round(irBase + irVariance);
+                ir = Math.max(minLux, Math.min(combined, ir));
+                dataView.setUint16(bytePos, combined, true);
+                dataView.setUint16(bytePos + 2, ir, true);
+                return true;
+            }
+            case "RoboticalServo": {
+                if (dataBlockSizeBytes < 6) {
+                    return false;
+                }
+                const swingAmplitudeDeg = 90;
+                const cycleMs = 4000;
+                const angularSpeedRadPerMs = (2 * Math.PI) / cycleMs;
+                const phaseRadians = (deviceTimeMs % cycleMs) * angularSpeedRadPerMs;
+                const angleDegrees = swingAmplitudeDeg * Math.sin(phaseRadians);
+                const velocityDegPerSec = swingAmplitudeDeg * angularSpeedRadPerMs * 1000 * Math.cos(phaseRadians);
+                const clamp = (value, min, max) => Math.max(min, Math.min(max, value));
+                const angleRaw = clamp(Math.round(angleDegrees * 10), -1800, 1800);
+                let velocityRaw = Math.round(velocityDegPerSec);
+                velocityRaw = clamp(velocityRaw, -32768, 32767);
+                let currentRaw = Math.round(20 + 0.08 * Math.abs(velocityDegPerSec));
+                currentRaw = clamp(currentRaw, 0, 127);
+                const isMoving = Math.abs(velocityDegPerSec) > 5;
+                const stateRaw = (0x02) | (isMoving ? 0x01 : 0);
+                dataView.setInt16(bytePos, angleRaw, false);
+                dataView.setInt8(bytePos + 2, currentRaw);
+                dataView.setUint8(bytePos + 3, stateRaw);
+                dataView.setInt16(bytePos + 4, velocityRaw, false);
+                return true;
+            }
+            default:
+                return false;
+        }
+    }
     _getGridDimensions(attr, repeatCount) {
         if (attr && typeof attr.resolution === "string") {
             const match = attr.resolution.match(/(\d+)\s*x\s*(\d+)/i);

package/dist/web/RaftChannelSimulated.js.map

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package/dist/web/RaftCustomAttrHandler.d.ts

@@ -1,4 +1,6 @@
 import { DeviceTypePollRespMetadata } from "./RaftDeviceInfo";
 export default class CustomAttrHandler {
+    private _jsFunctionCache;
     handleAttr(pollRespMetadata: DeviceTypePollRespMetadata, msgBuffer: Uint8Array, msgBufIdx: number): number[][];
+    private getOrCompileJsFunction;
 }

package/dist/web/RaftCustomAttrHandler.js

@@ -9,10 +9,11 @@
 /////////////////////////////////////////////////////////////////////////////////////////////////////////////////
 Object.defineProperty(exports, "__esModule", { value: true });
 class CustomAttrHandler {
+    constructor() {
+        this._jsFunctionCache = new Map();
+    }
     handleAttr(pollRespMetadata, msgBuffer, msgBufIdx) {
-        // Implement the pseudo-code:
-        // int N=(buf[0]+32-buf[2])%32;int k=3;int i=0;while(i<N){out.Red=(buf[k]<<16)|(buf[k+1]<<8)|buf[k+2];out.IR=(buf[k+3]<<16)|(buf[k+4]<<8)|buf[k+5];k+=6;i++;next;}
-        // Number of bytes in the each message
+        // Number of bytes in each message
         const numMsgBytes = pollRespMetadata.b;
         // Create a vector for each attribute in the metadata
         const attrValueVecs = [];
@@ -23,43 +24,70 @@ class CustomAttrHandler {
             attrValueVecs.push([]);
             attrValues[pollRespMetadata.a[attrIdx].n] = attrValueVecs[attrIdx];
         }
-        // Custom code for each device type
-        if (pollRespMetadata.c.n === "max30101_fifo") {
-            // Hex dump msgBuffer
-            // console.log(`CustomAttrHandler handleAttr ${pollRespMetadata.c!.n} msgBuffer: ${msgBuffer.toString('hex')}`); 
-            const buf = msgBuffer.slice(msgBufIdx);
-            if (buf.length < numMsgBytes) {
-                return [];
+        const customFnDef = pollRespMetadata.c;
+        if (!customFnDef) {
+            return attrValueVecs;
+        }
+        // Provide the message buffer sliced to the data portion
+        const buf = msgBuffer.slice(msgBufIdx);
+        if (buf.length < numMsgBytes) {
+            return [];
+        }
+        // Execute supplied JS implementation if provided
+        if (customFnDef.j && customFnDef.j.trim().length > 0) {
+            const jsFn = this.getOrCompileJsFunction(customFnDef);
+            if (!jsFn) {
+                return attrValueVecs;
             }
+            try {
+                jsFn(buf, attrValues, attrValueVecs, pollRespMetadata, msgBuffer, msgBufIdx, numMsgBytes);
+            }
+            catch (err) {
+                console.error(`CustomAttrHandler JS function ${customFnDef.n} execution failed`, err);
+            }
+            return attrValueVecs;
+        }
+        // Custom code for each device type handled natively
+        if (customFnDef.n === "max30101_fifo") {
             // Generated code ...
             const N = (buf[0] + 32 - buf[2]) % 32;
             let k = 3;
             let i = 0;
             while (i < N) {
-                attrValues['Red'].push(0);
-                attrValues['Red'][attrValues['Red'].length - 1] = (buf[k] << 16) | (buf[k + 1] << 8) | buf[k + 2];
-                attrValues['IR'].push(0);
-                attrValues['IR'][attrValues['IR'].length - 1] = (buf[k + 3] << 16) | (buf[k + 4] << 8) | buf[k + 5];
+                attrValues["Red"].push(0);
+                attrValues["Red"][attrValues["Red"].length - 1] = (buf[k] << 16) | (buf[k + 1] << 8) | buf[k + 2];
+                attrValues["IR"].push(0);
+                attrValues["IR"][attrValues["IR"].length - 1] = (buf[k + 3] << 16) | (buf[k + 4] << 8) | buf[k + 5];
                 k += 6;
                 i++;
-                ;
             }
         }
-        else if (pollRespMetadata.c.n === "gravity_o2_calc") {
-            // Get the buffer
-            const buf = msgBuffer.slice(msgBufIdx);
-            if (buf.length < numMsgBytes) {
-                return [];
-            }
-            // Implement the pseudo-code:
-            // float key = 20.9/120.0; float val = key * (buf[0] + (buf[1]/10.0) + (buf[2]/100.0)); out.oxygen = val;
+        else if (customFnDef.n === "gravity_o2_calc") {
             const key = 20.9 / 120.0;
-            const val = key * (buf[0] + (buf[1] / 10.0) + (buf[2] / 100.0));
-            // Add the value to the oxygen attribute
-            attrValues['oxygen'].push(val);
+            const val = key * (buf[0] + buf[1] / 10.0 + buf[2] / 100.0);
+            attrValues["oxygen"].push(val);
         }
         return attrValueVecs;
     }
+    getOrCompileJsFunction(customFnDef) {
+        if (!customFnDef.j) {
+            return null;
+        }
+        const cacheKey = `${customFnDef.n}::${customFnDef.j}`;
+        const cachedFn = this._jsFunctionCache.get(cacheKey);
+        if (cachedFn) {
+            return cachedFn;
+        }
+        try {
+            const compiledFn = new Function("buf", "attrValues", "attrValueVecs", "pollRespMetadata", "msgBuffer", "msgBufIdx", "numMsgBytes", customFnDef.j);
+            this._jsFunctionCache.set(cacheKey, compiledFn);
+            return compiledFn;
+        }
+        catch (err) {
+            console.error(`CustomAttrHandler failed to compile JS function ${customFnDef.n}`, err);
+            return null;
+        }
+    }
 }
 exports.default = CustomAttrHandler;
 //# sourceMappingURL=RaftCustomAttrHandler.js.map

package/dist/web/RaftCustomAttrHandler.js.map

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

@@ -30,6 +30,7 @@ export interface DeviceTypeAttribute {
 export interface CustomFunctionDefinition {
     n: string;
     c: string;
+    j?: string;
 }
 export interface DeviceTypePollRespMetadata {
     b: number;

package/package.json

@@ -1,6 +1,6 @@
 {
   "name": "@robotical/raftjs",
-  "version": "2.0.5",
+  "version": "2.0.7",
   "description": "Javascript/TS library for Raft library",
   "main": "dist/web/main.js",
   "types": "dist/web/main.d.ts",