sensorium
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makeblock mainboards protocol api
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href="RgbLedOnBoard.html">RgbLedOnBoard</a><button type="button" class="hidden toggle-subnav btn btn-link"> <span class="glyphicon glyphicon-plus"></span></button><div class="hidden" id="RgbLedOnBoard_sub"><div class="member-type">Methods</div><ul class="inner"><li><a href="RgbLedOnBoard.html#b">b</a></li><li><a href="RgbLedOnBoard.html#blue">blue</a></li><li><a href="RgbLedOnBoard.html#g">g</a></li><li><a href="RgbLedOnBoard.html#green">green</a></li><li><a href="RgbLedOnBoard.html#position">position</a></li><li><a href="RgbLedOnBoard.html#r">r</a></li><li><a href="RgbLedOnBoard.html#red">red</a></li><li><a href="RgbLedOnBoard.html#rgb">rgb</a></li><li><a href="RgbLedOnBoard.html#run">run</a></li><li><a href="RgbLedOnBoard.html#turnOff">turnOff</a></li><li><a href="RgbLedOnBoard.html#turnOffAll">turnOffAll</a></li><li><a href="RgbLedOnBoard.html#turnOn">turnOn</a></li><li><a href="RgbLedOnBoard.html#turnOnAll">turnOnAll</a></li><li><a href="RgbLedOnBoard.html#white">white</a></li></ul></div></li><li><a href="Runtime.html">Runtime</a><button type="button" class="hidden toggle-subnav btn btn-link"> <span class="glyphicon glyphicon-plus"></span></button><div class="hidden" id="Runtime_sub"><div class="member-type">Members</div><ul class="inner"><li><a href="Runtime.html#protocol">protocol</a></li></ul><div class="member-type">Methods</div><ul class="inner"><li><a href="Runtime.html#getData">getData</a></li></ul></div></li><li><a href="ServoMotor.html">ServoMotor</a><button type="button" class="hidden toggle-subnav btn btn-link"> <span class="glyphicon glyphicon-plus"></span></button><div class="hidden" id="ServoMotor_sub"><div class="member-type">Members</div><ul class="inner"><li><a href="ServoMotor.html#protocol">protocol</a></li></ul><div class="member-type">Methods</div><ul class="inner"><li><a href="ServoMotor.html#angle">angle</a></li><li><a href="ServoMotor.html#run">run</a></li><li><a href="ServoMotor.html#setToEnd">setToEnd</a></li><li><a href="ServoMotor.html#setToStart">setToStart</a></li></ul></div></li><li><a href="SevenSegment.html">SevenSegment</a><button type="button" class="hidden toggle-subnav btn btn-link"> <span class="glyphicon glyphicon-plus"></span></button><div class="hidden" id="SevenSegment_sub"><div class="member-type">Members</div><ul class="inner"><li><a href="SevenSegment.html#protocol">protocol</a></li></ul><div class="member-type">Methods</div><ul class="inner"><li><a href="SevenSegment.html#number">number</a></li><li><a href="SevenSegment.html#run">run</a></li></ul></div></li><li><a href="Shutter.html">Shutter</a><button type="button" class="hidden toggle-subnav btn btn-link"> <span class="glyphicon glyphicon-plus"></span></button><div class="hidden" id="Shutter_sub"><div class="member-type">Members</div><ul class="inner"><li><a href="Shutter.html#protocol">protocol</a></li></ul><div class="member-type">Methods</div><ul class="inner"><li><a 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href="SmartServo.html#readSpeed">readSpeed</a></li><li><a href="SmartServo.html#readTemperature">readTemperature</a></li><li><a href="SmartServo.html#readVoltage">readVoltage</a></li><li><a href="SmartServo.html#relativeAngle">relativeAngle</a></li><li><a href="SmartServo.html#run">run</a></li><li><a href="SmartServo.html#setAsDCMotorSpeed">setAsDCMotorSpeed</a></li><li><a href="SmartServo.html#setZeroPoint">setZeroPoint</a></li><li><a href="SmartServo.html#speed">speed</a></li><li><a href="SmartServo.html#unclock">unclock</a></li></ul></div></li><li><a href="Sound.html">Sound</a><button type="button" class="hidden toggle-subnav btn btn-link"> <span class="glyphicon glyphicon-plus"></span></button><div class="hidden" id="Sound_sub"><div class="member-type">Members</div><ul class="inner"><li><a href="Sound.html#protocol">protocol</a></li></ul><div class="member-type">Methods</div><ul class="inner"><li><a href="Sound.html#getData">getData</a></li></ul></div></li><li><a href="SoundOnBoard.html">SoundOnBoard</a><button type="button" class="hidden toggle-subnav btn btn-link"> <span class="glyphicon glyphicon-plus"></span></button><div class="hidden" id="SoundOnBoard_sub"><div class="member-type">Members</div><ul class="inner"><li><a href="SoundOnBoard.html#protocol">protocol</a></li></ul><div class="member-type">Methods</div><ul class="inner"><li><a href="SoundOnBoard.html#getData">getData</a></li></ul></div></li><li><a href="StepperMotor.html">StepperMotor</a><button type="button" class="hidden toggle-subnav btn btn-link"> <span class="glyphicon glyphicon-plus"></span></button><div class="hidden" id="StepperMotor_sub"><div class="member-type">Members</div><ul class="inner"><li><a href="StepperMotor.html#protocol">protocol</a></li></ul><div class="member-type">Methods</div><ul class="inner"><li><a href="StepperMotor.html#direction">direction</a></li><li><a href="StepperMotor.html#distance">distance</a></li><li><a href="StepperMotor.html#reverse">reverse</a></li><li><a href="StepperMotor.html#run">run</a></li><li><a href="StepperMotor.html#setStop">setStop</a></li><li><a href="StepperMotor.html#speed">speed</a></li></ul></div></li><li><a href="Temperature.html">Temperature</a><button type="button" class="hidden toggle-subnav btn btn-link"> <span class="glyphicon glyphicon-plus"></span></button><div class="hidden" id="Temperature_sub"><div class="member-type">Members</div><ul class="inner"><li><a href="Temperature.html#protocol">protocol</a></li></ul><div class="member-type">Methods</div><ul class="inner"><li><a href="Temperature.html#getData">getData</a></li></ul></div></li><li><a href="TemperatureOnBoard.html">TemperatureOnBoard</a><button type="button" class="hidden toggle-subnav btn btn-link"> <span class="glyphicon glyphicon-plus"></span></button><div class="hidden" id="TemperatureOnBoard_sub"><div class="member-type">Members</div><ul class="inner"><li><a href="TemperatureOnBoard.html#protocol">protocol</a></li></ul><div class="member-type">Methods</div><ul class="inner"><li><a href="TemperatureOnBoard.html#getData">getData</a></li></ul></div></li><li><a href="Touch.html">Touch</a><button type="button" class="hidden toggle-subnav btn btn-link"> <span class="glyphicon glyphicon-plus"></span></button><div class="hidden" id="Touch_sub"><div class="member-type">Members</div><ul class="inner"><li><a href="Touch.html#protocol">protocol</a></li></ul><div class="member-type">Methods</div><ul class="inner"><li><a href="Touch.html#getData">getData</a></li></ul></div></li><li><a href="Transport.html">Transport</a><button type="button" class="hidden toggle-subnav btn btn-link"> <span class="glyphicon glyphicon-plus"></span></button><div class="hidden" id="Transport_sub"></div></li><li><a href="Ultrasonic.html">Ultrasonic</a><button type="button" class="hidden toggle-subnav btn btn-link"> <span class="glyphicon glyphicon-plus"></span></button><div class="hidden" id="Ultrasonic_sub"><div class="member-type">Members</div><ul class="inner"><li><a href="Ultrasonic.html#protocol">protocol</a></li></ul><div class="member-type">Methods</div><ul class="inner"><li><a href="Ultrasonic.html#getData">getData</a></li></ul></div></li><li><a href="VirtualJoystick.html">VirtualJoystick</a><button type="button" class="hidden toggle-subnav btn btn-link"> <span class="glyphicon glyphicon-plus"></span></button><div class="hidden" id="VirtualJoystick_sub"><div class="member-type">Members</div><ul class="inner"><li><a href="VirtualJoystick.html#protocol">protocol</a></li></ul><div class="member-type">Methods</div><ul class="inner"><li><a href="VirtualJoystick.html#leftSpeed">leftSpeed</a></li><li><a href="VirtualJoystick.html#rightSpeed">rightSpeed</a></li><li><a href="VirtualJoystick.html#run">run</a></li><li><a href="VirtualJoystick.html#setStop">setStop</a></li><li><a href="VirtualJoystick.html#speed">speed</a></li></ul></div></li><li><a href="VirtualJoystickForBalance.html">VirtualJoystickForBalance</a><button type="button" class="hidden toggle-subnav btn btn-link"> <span class="glyphicon glyphicon-plus"></span></button><div class="hidden" id="VirtualJoystickForBalance_sub"><div class="member-type">Members</div><ul class="inner"><li><a href="VirtualJoystickForBalance.html#protocol">protocol</a></li></ul><div class="member-type">Methods</div><ul class="inner"><li><a href="VirtualJoystickForBalance.html#run">run</a></li><li><a href="VirtualJoystickForBalance.html#setReverse">setReverse</a></li><li><a href="VirtualJoystickForBalance.html#setStop">setStop</a></li><li><a href="VirtualJoystickForBalance.html#speed">speed</a></li><li><a href="VirtualJoystickForBalance.html#turnRange">turnRange</a></li></ul></div></li></ul></div><div class="lnb-api hidden"><h3>Namespaces</h3><ul><li><a href="Sensorium.html">Sensorium</a><button type="button" class="hidden toggle-subnav btn btn-link"> <span class="glyphicon glyphicon-plus"></span></button><div class="hidden" id="Sensorium_sub"><div class="member-type">Members</div><ul class="inner"><li><a href="Sensorium.html#SUPPORT">SUPPORT</a></li></ul><div class="member-type">Methods</div><ul class="inner"><li><a href="Sensorium.html#create">create</a></li><li><a href="Sensorium.html#doReceived">doReceived</a></li><li><a href="Sensorium.html#read">read</a></li><li><a href="Sensorium.html#readFirmwareInfo">readFirmwareInfo</a></li><li><a href="Sensorium.html#send">send</a></li><li><a href="Sensorium.html#setSender">setSender</a></li></ul></div></li></ul></div>
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<section>
<article>
<pre class="prettyprint source linenums"><code>/**
* @private
* @param {[type]} value [description]
* @param {[type]} range [description]
* @return {[type]} [description]
*/
function limitValue(value, range) {
var newValue = value;
range = range || [-255, 255];
if (value < range[0]) {
newValue = range[0];
}
if (value > range[1]) {
newValue = range[1];
}
return newValue;
}
/**
* Convert array of int to ArrayBuffer.
* @private
* @param {[int]} data array of int
* @return {ArrayBuffer} result array buffer
* @private
*/
function arrayBufferFromArray(data) {
var buffer = new ArrayBuffer(data.length);
var result = new Int8Array(buffer);
for (var i = 0; i < data.length; i++) {
result[i] = data[i];
}
return buffer;
}
/**
* Convert ArrayBuffer from array of int
* @private
* @param {ArrayBuffer} buffer the source arraybuffer
* @return {[int]} int array as the result;
*/
function arrayFromArrayBuffer(buffer) {
var dataView = new Uint8Array(buffer);
var result = [];
for (var i = 0; i < dataView.length; i++) {
result.push(dataView[i]);
}
return result;
}
/**
* [buffer2string converts array buffer to string format]
* @private
* @param {ArrayBuffer} buf [the input array buffer]
* @return {String} [the output string]
*/
function buffer2string(buf) {
var buffer = new Uint8Array(buf);
return Array.prototype.join.call(buffer, " ");
}
/**
* [string2buffer converts string to array buffer format]
* @private
* @param {String} str [the input string]
* @return {Uint8Array} [the output uint8 array buffer]
*/
function string2buffer(str) {
var buffer = new Uint8Array(str.split(" "));
return buffer;
}
/**
* 将十进制字符串数组转为16进制
* @private
* @param {Array} data to be transformed data, such as: ["01", "55", "12"]
* @param {Boolean} isUpperCase whether need output upperCase string.
* @return {String} 16 进制字符串
*/
function intStrToHexStr(data, isUpperCase) {
var temp = [];
for (var i = 0; i < data.length; i++) {
if (data[i] != null) {
var item = parseInt(data[i]).toString(16);
if (isUpperCase) {
item = parseInt(data[i]).toString(16).toUpperCase();
}
if (item.length == 1) {
item = "0" + item;
}
temp.push(item);
}
}
return temp.join(" ");
}
/**
* 十六进制字符串转成十进制
* @private
* @param {[type]} str [description]
* @return {[type]} [description]
*/
function hexStr2IntArray(str) {
var a = str.split(" ");
var arr = [];
for (var i in a) {
var num = parseInt(a[i], 16);
arr.push(num);
}
arr.reverse();
return arr;
}
/**
* Float to int then to bytes.
* @private
* @param {float} float number
* @return {bytes}
*/
function float32ToBytes(value) {
// TOFIX: hack
if (value == 0) {
return [0, 0, 0, 0];
}
var bytesInt = 0;
switch (value) {
case Number.POSITIVE_INFINITY:
bytesInt = 0x7F800000;
break;
case Number.NEGATIVE_INFINITY:
bytesInt = 0xFF800000;
break;
case +0.0:
bytesInt = 0x40000000;
break;
case -0.0:
bytesInt = 0xC0000000;
break;
default:
// if (Number.isNaN(value)) { bytesInt = 0x7FC00000; break; }
if (value <= -0.0) {
bytesInt = 0x80000000;
value = -value;
}
var exponent = Math.floor(Math.log(value) / Math.log(2));
var significand = ((value / Math.pow(2, exponent)) * 0x00800000) | 0;
exponent += 127;
if (exponent >= 0xFF) {
exponent = 0xFF;
significand = 0;
} else if (exponent < 0) exponent = 0;
bytesInt = bytesInt | (exponent << 23);
bytesInt = bytesInt | (significand & ~(-1 << 23));
break;
}
var bytesArray = bigIntToBytes(bytesInt);
return bytesArray;
}
/**
* 整形转换成字节数组
* @private
* @param {number} value 整形
* @return {array} array数组
*/
function bigIntToBytes(value) {
var bytesArray = [];
var b1 = (value & 0xff);
var b2 = ((value >> 8) & 0xff);
var b3 = ((value >> 16) & 0xff);
var b4 = ((value >> 24) & 0xff);
bytesArray.push(b1);
bytesArray.push(b2);
bytesArray.push(b3);
bytesArray.push(b4);
return bytesArray;
}
/**
* 32位整数转成字节，js最多只支持32位有符号整数，不支持64位，因此最多只能转成4byte
* @private
* @param {Number} float number
* @return {Array} bytes array
*/
function longToBytes(value) {
var bytes = [];
var i = 4;
do {
bytes[--i] = value & (255);
value = value >> 8;
} while (i)
return bytes;
}
/**
* 将单词的第一个字母转成大写
* @private
* @param {string} str string.
* @return {string} target string.
*/
function upperCaseFirstLetter(str) {
var reg = /\b(\w)|\s(\w)/g;
// str = str.toLowerCase();
return str.replace(reg, function(m) {
return m.toUpperCase();
})
}
/**
* n个byte转成int值
* @private
* @param {Array} bytes 传入的bytes数组
* @return {Number} 返回的int数值
*/
function bytesToInt(bytes) {
var val = 0;
for (var i = bytes.length - 1; i >= 0; i--) {
val += (bytes[bytes.length - i - 1] << (i * 8));
}
return val;
}
/**
* transform int to ascii
* @private
* @param {Array} bytes int array
* @return {String} str string
*/
function bytesToString(bytes) {
var str = "";
for (var i = 0; i < bytes.length; i++) {
str += String.fromCharCode(bytes[i]);
}
return str;
}
function hexToRgb(hex) {
let validHexColorReg = /^#(?:[0-9a-f]{3}){1,2}$/i;
if (!validHexColorReg.test(hex)) {
throw Error(`${hex} is not a valid hex color`);
}
let r = parseInt(hex.substr(1, 2), 16),
g = parseInt(hex.substr(3, 2), 16),
b = parseInt(hex.substr(5, 2), 16);
return [r, g, b];
}
/**
* commpose to call func(args)
* @private
* @param {!Function} func 方法
* @param {Array} args 方法的参数数组
* @return {*} 返回结果由方法决定
*/
function composer(func, args) {
if (!args) {
args = [];
}
return func(...args);
}
/**
* Continuous byte string to binary byte
* 单元测试可参看以下:
* 标准笑脸输入: "000000000000000000010000001000000100000000100000000100100000001
* 00000001000010010001000000100000000100000000100000000000000000000"
* 最终发送协议: [255, 85, 23, 0, 2, 41, 1, 2, 0, 0, 0, 0, 16, 32, 64, 32, 18, 2, 2, 18, 32, 64, 32, 16, 0, 0]
* @private
* @param {String} byteStrs
* @return {Array}
*/
function emotionByteString2binaryByte(byteStrs) {
let byteResult = [];
let len = byteStrs.length + 1;
for (let i = 1; i < len; i++) {
if (i % 8 === 0) {
let byteStr = byteStrs.slice(i - 8, i);
byteResult.push(parseInt(byteStr, 2));
}
}
return byteResult;
}
function getAllMethods(obj) {
let props = []
do {
const all = Object.getOwnPropertyNames(obj)
.concat(Object.getOwnPropertySymbols(obj).map(s => s.toString()))
.sort()
.filter((p, i, arr) => {
if ((i == 0 || p !== arr[i - 1]) && //not overriding in this prototype
!props.includes(p)) { //not overridden in a child
let desc = Object.getOwnPropertyDescriptor(obj, p);
if (desc.get || desc.set) { //getter or setter
return true;
} else {
return typeof obj[p] === 'function' && //only the methods
p !== 'constructor' //not the constructor
}
}
})
props = props.concat(all)
}
while (
(obj = Object.getPrototypeOf(obj)) && //walk-up the prototype chain
Object.getPrototypeOf(obj) //not the the Object prototype methods (hasOwnProperty, etc...)
)
return props;
}
/**
* filter array with a binaried string
* @private
* @param {Array} arr an array like [1, 2, 3]
* @param {String} bstr a binaried string like '10101011'
* @return {Array} filtered array
*/
function fiterWithBinaryStr(arr, bstr) {
let filter = function(val, index) {
if (bstr[index] === '1') {
return val;
}
}
return arr.filter(filter);
}
/**
* calculate value from data received: bytes -> int -> float
* @private
* @param {Array} intArray decimal array
* @return {Number} result.
*/
function calculateResponseValue(intArray) {
var result = null;
// FIXME: int字节转浮点型
var intBitsToFloat = function(num) {
/* s 为符号（sign）；e 为指数（exponent）；m 为有效位数（mantissa）*/
var s = (num >> 31) == 0 ? 1 : -1,
e = (num >> 23) & 0xff,
m = (e == 0) ?
(num & 0x7fffff) << 1 :
(num & 0x7fffff) | 0x800000;
return s * m * Math.pow(2, e - 150);
};
var intValue = bytesToInt(intArray);
// TOFIX
if (intValue < 100000 && intValue > 0) {
result = intValue;
} else {
result = parseFloat(intBitsToFloat(intValue).toFixed(2));
}
return result;
}
/**
* @fileOverview 工具类函数
*/
export {
limitValue,
arrayBufferFromArray,
arrayFromArrayBuffer,
buffer2string,
string2buffer,
intStrToHexStr,
hexStr2IntArray,
float32ToBytes,
bigIntToBytes,
longToBytes,
upperCaseFirstLetter,
bytesToInt,
bytesToString,
hexToRgb,
composer,
emotionByteString2binaryByte,
getAllMethods,
fiterWithBinaryStr,
calculateResponseValue
}</code></pre>
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