sensorium/src/core/parse.js

makeblock mainboards protocol api

/**
 * @fileOverview 解析器负责数据解析，对外输出解析方法.
 */
import {
  arrayFromArrayBuffer,
  bytesToString,
  calculateResponseValue
} from "./utils";

// 获取到的最大指令长度
const REC_BUF_MAX_LENGTH = 36;
const BUF_START_FLAG = [0xff, 0x55];
const BUF_END_FLAG = [0x0d, 0x0a];

function checkStart(flag1, flag2) {
  return flag1 === BUF_START_FLAG[0] && flag2 === BUF_START_FLAG[1]
}

function checkEnd(flag1, flag2) {
  return flag1 === BUF_END_FLAG[0] && flag2 === BUF_END_FLAG[1];
}

function findIndexOfStart(checkStart, data) {
  for (let i = 0; i < data.length; i++) {
    let data1 = data[i], data2 = data[i+1];
    if (checkStart(data1, data2)) {
      return i;
    }
  }
  return -1;
}

export default {
  cacheBuffer: [],

  /**
   * 解析从硬件传递过来的数据
   * @param  {Array} buffData buffer that from the response
   * @return {Array|undefined}          the parsed result
   * data : 当前处理的数据
   * this.cacheBuffer: 历史缓存数据, 记录数据和历史数据分开记录
   */
  doParse: function(buffData) {
    let result =[];
    let data = arrayFromArrayBuffer(buffData);
    let totalData = this.cacheBuffer.concat(data);

    // 检测协议头 [ff, 55]
    let index = findIndexOfStart(checkStart, totalData);
    if(index > -1 ) {
      totalData = totalData.slice(index);
      // 更新缓存
      this.cacheBuffer = totalData;
    } else {
      return undefined;
    }

    let tempBuffer = [];
    for (let i = 2; i < totalData.length; i++) {
      let data1 = totalData[i], data2 = totalData[i+1];
      if (checkEnd(data1, data2)) {
        result.push(tempBuffer);
        // 下一帧数据
        let nextFrame = totalData.slice(tempBuffer.length+4);
        let nextFrameIndex = findIndexOfStart(checkStart, nextFrame);
        // 清空容器
        tempBuffer = [];
        // 更新缓存
        this.cacheBuffer = nextFrame;
        if(nextFrameIndex === -1) {
          break;
        } else {
          i += nextFrameIndex+3;
        }
      } else { // the data we really want
        if (tempBuffer.length >= REC_BUF_MAX_LENGTH) {
          console.warn("receive buffer overflow!");
        }
        tempBuffer.push(data1);
      }
    }
    return result.length && result;
  },

  /**
   * Get result from buffer data.
   * @param  {Array} buf array data.
   * @return {Float}         value of sensor's callback
   * 回复数据数值解析, 从左到右第四位数据：
   *     1: 单字符(1 byte)
   *     2： float(4 byte)
   *     3： short(2 byte)，16个长度
   *     4： 字符串
   *     5： double(4 byte)
   *     6: long(4 byte)
   *  @example
   *  ff 55 02 02 7c 1a 81 41 0d 0a
   */
  getResult: function(buf) {
    // 获取返回的数据类型
    let dataType = buf[1];
    let result = null;
    switch (dataType) {
      case "1":
      case 1:
        // 1byte
        result = buf[2];
        break;
      case "3":
      case 3:
        // 2byte
        result = calculateResponseValue([parseInt(buf[3]), parseInt(buf[2])]);
        break;
      case "4":
      case 4:
        // 字符串
        var bytes = buf.splice(3, buf[2]);
        result = bytesToString(bytes);
        break;
      case "2":
      case "5":
      case "6":
      case 2:
      case 5:
      case 6:
        // long型或者float型的4byte处理
        result = calculateResponseValue([parseInt(buf[5]), parseInt(buf[4]), parseInt(buf[3]), parseInt(buf[2])]);
        break;
      default:
        break;
    }
    return result;
  }
}