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KMComWebBLE.js
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KMComWebBLE.js
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/***
* KMComWebBLE.js
* version 0.1.0 alpha
* Created by Harada Hiroshi on 2017/12/07.
*
* Copyright (c) 2017 Keigan Inc. https://keigan-motor.com/
* This software is released under the MIT License.
* http://opensource.org/licenses/mit-license.php
*/
'use strict';
const KMUtl = require('./KMUtl');
const KMComBase = require('./KMComBase');
const KMStructures=require('./KMStructures');
/**
* @classdesc ブラウザ用WebBluetooh通信クラス(chrome依存)
* @ignore
*/
class KMComWebBLE extends KMComBase{
/********************************************
* 定数
********************************************/
/**
* constructor
*/
constructor(){
super();
this._deviceInfo.type="WEBBLE";
this._characteristics={};
this._bleSendingQue=Promise.resolve(true);
this._queCount=0;
//サービスUUID
this._MOTOR_BLE_SERVICE_UUID='f140ea35-8936-4d35-a0ed-dfcd795baa8c';
//キャラクタリスティクスUUID
this._MOTOR_BLE_CRS={
'MOTOR_TX':'f1400001-8936-4d35-a0ed-dfcd795baa8c',//旧 MOTOR_CONTROL
//'MOTOR_LED':'f1400003-8936-4d35-a0ed-dfcd795baa8c',//モーターのLEDを取り扱う info:: MOTOR_CONTROL::bleLedで代用
'MOTOR_MEASUREMENT':'f1400004-8936-4d35-a0ed-dfcd795baa8c',
'MOTOR_IMU_MEASUREMENT':'f1400005-8936-4d35-a0ed-dfcd795baa8c',
'MOTOR_RX':'f1400006-8936-4d35-a0ed-dfcd795baa8c',//旧 MOTOR_SETTING
};
this._DEVICE_INFORMATION_SERVICE_UUIDS={
"Service":0x180a
,"ManufacturerNameString":0x2a29
,"HardwareRevisionString":0x2a27
,"FirmwareRevisionString":0x2a26
};
/**
* BLE切断時
* @param eve
* @private
*/
this._onBleConnectionLost=(eve)=>{
this._deviceInfo.isConnect=false;
this._peripheral=null;
this._statusChange_isConnect(false);
};
/**
* @#---------------------------------------------------------
* モーター回転情報受信
* @param eve
* @private
* @#---------------------------------------------------------
* Notify Value
* byte[0]-byte[3] byte[4]-byte[7] byte[8]-byte[11]
* float * float * float *
* position:radians speed:radians/second torque:N・m
*/
this._onBleMotorMeasurement=(eve)=>{
if(!eve||!eve.target){return;}
let dv = eve.target.value;
if(!(dv instanceof DataView)){return;}//info::web bluetoohのみ node.jsはinstanceof Buffer
let position=dv.getFloat32(0,false);
let velocity=dv.getFloat32(4,false);
let torque=dv.getFloat32(8,false);
this._onMotorMeasurementCB(new KMStructures.KMRotState(position,velocity,torque));
};
/**
* @#---------------------------------------------------------
* モーターIMU情報受信
* @param eve
* @private
* @#
* -----------------------------------------------------------
* Notify Value
* accel_x, accel_y, accel_z, temp, gyro_x, gyro_y, gyro_z が全て返ってくる。取得間隔は100ms 固定
* byte(BigEndian) [0][1] [2][3] [4][5] [6][7] [8][9] [10][11] [12][13]
* int16_t int16_t int16_t int16_t int16_t int16_t int16_t
* accel-x accel-y accel-z temp gyro-x gyro-y gyro-z
*
* int16_t:-32,768〜32,768
* 机の上にモーターを置いた場合、加速度 z = 16000 程度となる。（重力方向のため）
*
* 単位変換）---------------------------------------------------------
* 加速度 value [G] = raw_value * 2 / 32,767
* 温度 value [℃] = raw_value / 333.87 + 21.00
* 角速度
* value [degree/second] = raw_value * 250 / 32,767
* value [radians/second] = raw_value * 0.00013316211
*
*/
this._onBleImuMeasurement=(eve)=>{
if(!eve||!eve.target){return;}
let dv = eve.target.value;
let tempCalibration=-5.7;//温度校正値
if(!(dv instanceof DataView)){return;}//info::web bluetoohのみ node.jsはinstanceof Buffer
//単位を扱い易いように変換
let accelX=dv.getInt16(0,false)*2/32767;
let accelY=dv.getInt16(2,false)*2/32767;
let accelZ=dv.getInt16(4,false)*2/32767;
let temp=(dv.getInt16(6,false)) / 333.87 + 21.00+tempCalibration;
let gyroX=dv.getInt16(8,false)*250/32767;
let gyroY=dv.getInt16(10,false)*250/32767;
let gyroZ=dv.getInt16(12,false)*250/32767;
this._onImuMeasurementCB(new KMStructures.KMImuState(accelX,accelY,accelZ,temp,gyroX,gyroY,gyroZ));
};
/**
* @#---------------------------------------------------------
* モーターログ情報取得
* @param {Buffer} data
* @private
* @#---------------------------------------------------------
* Notify value
* byte[0] byte[1-2] byte[3] byte[4-7] byte[8-11] byte[12-13]
* uint8_t:tx_type uint16_t:id uint8_t:command uint32_t:errorCode uint32_t:info uint16_t:CRC
*/
this._onBleMotorLog=(eve)=>{
if(!eve||!eve.target){return;}
let dv = eve.target.value;
if(!(dv instanceof DataView)){return;}//info::web bluetoohのみ node.jsはinstanceof Buffer
let txType=dv.getUint8(0);//エラーログタイプ:0xBE固定
if(txType!==0xBE){return;}
let id=dv.getUint16(1,false);//送信ID
let cmdID=dv.getUint8(3,false);
let errCode=dv.getUint32(4,false);
let info=dv.getUint32(8,false);
//ログ取得
this._onMotorLogCB(new KMStructures.KMMotorLog(id,null,cmdID,this._MOTOR_LOG_ERRORCODE[errCode].id,this._MOTOR_LOG_ERRORCODE[errCode].type,this._MOTOR_LOG_ERRORCODE[errCode].msg,info));
};
/**
* @#---------------------------------------------------------
* モーター設定情報取得
* @param eve
* @private
* @#---------------------------------------------------------
* Notify value
* byte[0] byte[1] byte[2] byte[3] byte[4]以降 byte[n-2] byte[n-1]
* uint8_t:tx_type uint16_t:id uint8_t:register uint8_t:value uint16_t:CRC
* 0x40 uint16_t (2byte) 0～65535 レジスタコマンド レジスタの値（コマンドによって変わる） uint16_t (2byte) 0～65535
*/
this._onBleMotorSetting=(eve)=>{
if(!eve||!eve.target){return;}
let dv = eve.target.value;//5+nバイト
let uint8Array=new Uint8Array(dv.buffer);//info::一旦コピーする必要がある
if(!(dv instanceof DataView)){return;}//info::web bluetoohのみ node.jsはinstanceof Buffer
//-------------
//データのparse
//-------------
let txLen=dv.byteLength;
let txType=dv.getUint8(0);//レジスタ情報通知コマンドID 0x40固定
if(txType!==0x40||txLen<5){return;}//レジスタ情報を含まないデータの破棄
let id=dv.getUint16(1,false);//送信ID
let registerCmd=dv.getUint8(3);//レジスタコマンド
let crc=dv.getUint16(txLen-2,false);//CRCの値 最後から2dyte
let res={};
//コマンド別によるレジスタの値の取得[4-n byte]
let startOffset=4;
switch(registerCmd){
case this._MOTOR_RX_READREGISTER_COMMAND.maxSpeed:
res.maxSpeed=dv.getFloat32(startOffset,false);
break;
case this._MOTOR_RX_READREGISTER_COMMAND.minSpeed:
res.minSpeed=dv.getFloat32(startOffset,false);
break;
case this._MOTOR_RX_READREGISTER_COMMAND.curveType:
res.curveType=dv.getUint8(startOffset);
break;
case this._MOTOR_RX_READREGISTER_COMMAND.acc:
res.acc=dv.getFloat32(startOffset,false);
break;
case this._MOTOR_RX_READREGISTER_COMMAND.dec:
res.dec=dv.getFloat32(startOffset,false);
break;
case this._MOTOR_RX_READREGISTER_COMMAND.maxTorque:
res.maxTorque=dv.getFloat32(startOffset,false);
break;
case this._MOTOR_RX_READREGISTER_COMMAND.teachingInterval:
res.teachingInterval=dv.getUint8(startOffset,false);//todo::バイト不足 Uint32->Uint8 2.24
break;
case this._MOTOR_RX_READREGISTER_COMMAND.playbackInterval:
res.playbackInterval=dv.getUint8(startOffset,false);//todo::バイト不足 Uint32->Uint8 2.24
break;
case this._MOTOR_RX_READREGISTER_COMMAND.qCurrentP:
res.qCurrentP=dv.getFloat32(startOffset,false);
break;
case this._MOTOR_RX_READREGISTER_COMMAND.qCurrentI:
res.qCurrentI=dv.getFloat32(startOffset,false);
break;
case this._MOTOR_RX_READREGISTER_COMMAND.qCurrentD:
res.qCurrentD=dv.getFloat32(startOffset,false);
break;
case this._MOTOR_RX_READREGISTER_COMMAND.speedP:
res.speedP=dv.getFloat32(startOffset,false);
break;
case this._MOTOR_RX_READREGISTER_COMMAND.speedI:
res.speedI=dv.getFloat32(startOffset,false);
break;
case this._MOTOR_RX_READREGISTER_COMMAND.speedD:
res.speedD=dv.getFloat32(startOffset,false);
break;
case this._MOTOR_RX_READREGISTER_COMMAND.positionP:
res.positionP=dv.getFloat32(startOffset,false);
break;
case this._MOTOR_RX_READREGISTER_COMMAND.positionI:
res.positionI=dv.getFloat32(startOffset,false);
break;
case this._MOTOR_RX_READREGISTER_COMMAND.positionD:
res.positionD=dv.getFloat32(startOffset,false);
break;
case this._MOTOR_RX_READREGISTER_COMMAND.posControlThreshold:
res.posControlThreshold=dv.getFloat32(startOffset,false);
break;
case this._MOTOR_RX_READREGISTER_COMMAND.motorMeasurementInterval:
res.motorMeasurementInterval=dv.getUint8(startOffset);
break;
case this._MOTOR_RX_READREGISTER_COMMAND.motorMeasurementByDefault:
res.motorMeasurementByDefault=dv.getUint8(startOffset);
break;
case this._MOTOR_RX_READREGISTER_COMMAND.interface:
res.interface=dv.getUint8(startOffset);
break;
case this._MOTOR_RX_READREGISTER_COMMAND.response://todo::値が取得出来ない 2.24
res.response=dv.getUint8(startOffset);
break;
case this._MOTOR_RX_READREGISTER_COMMAND.ownColor:
res.ownColor=('#000000' +Number(dv.getUint8(startOffset)<<16|dv.getUint8(startOffset+1)<<8|dv.getUint8(startOffset+2)).toString(16)).substr(-6);
break;
case this._MOTOR_RX_READREGISTER_COMMAND.iMUMeasurementInterval:
res.iMUMeasurementInterval=dv.getUint8(startOffset);
break;
case this._MOTOR_RX_READREGISTER_COMMAND.iMUMeasurementByDefault:
res.iMUMeasurementByDefault=dv.getUint8(startOffset);
break;
case this._MOTOR_RX_READREGISTER_COMMAND.deviceName:
res.deviceName=String.fromCharCode.apply("", uint8Array.slice(startOffset,-2));//可変バイト文字
break;
case this._MOTOR_RX_READREGISTER_COMMAND.deviceInfo:
res.deviceInfo=String.fromCharCode.apply("", uint8Array.slice(startOffset,-2));//可変バイト文字
break;
case this._MOTOR_RX_READREGISTER_COMMAND.speed:
res.speed=dv.getFloat32(startOffset,false);
break;
case this._MOTOR_RX_READREGISTER_COMMAND.positionOffset:
res.positionOffset=dv.getFloat32(startOffset,false);
break;
case this._MOTOR_RX_READREGISTER_COMMAND.moveTo:
res.moveTo=dv.getFloat32(startOffset,false);
break;
case this._MOTOR_RX_READREGISTER_COMMAND.hold:
res.hold=dv.getFloat32(startOffset,false);
break;
case this._MOTOR_RX_READREGISTER_COMMAND.status:
res.status=dv.getUint8(startOffset);
break;
case this._MOTOR_RX_READREGISTER_COMMAND.tasksetName:
res.tasksetName=String.fromCharCode.apply("", uint8Array.slice(startOffset,-2));//可変バイト文字
break;
case this._MOTOR_RX_READREGISTER_COMMAND.tasksetInfo:
res.tasksetInfo=dv.getUint16(startOffset,false);
break;
case this._MOTOR_RX_READREGISTER_COMMAND.tasksetUsage:
res.tasksetUsage=dv.getUint8(startOffset);
break;
case this._MOTOR_RX_READREGISTER_COMMAND.motionName:
res.motionName=String.fromCharCode.apply("", uint8Array.slice(startOffset,-2));//可変バイト文字
break;
case this._MOTOR_RX_READREGISTER_COMMAND.motionInfo:
res.motionInfo=dv.getUint16(startOffset,false);
break;
case this._MOTOR_RX_READREGISTER_COMMAND.motionUsage:
res.motionUsage=dv.getUint8(startOffset);
break;
case this._MOTOR_RX_READREGISTER_COMMAND.i2CSlaveAddress:
res.i2CSlaveAddress=dv.getUint8(startOffset);
break;
case this._MOTOR_RX_READREGISTER_COMMAND.uartBaudRate:
res.uartBaudRate=dv.getUint8(startOffset);
break;
case this._MOTOR_RX_READREGISTER_COMMAND.led:
res.led={state:dv.getUint8(startOffset),r:dv.getUint8(startOffset+1),g:dv.getUint8(startOffset+2),b:dv.getUint8(startOffset+3)};
break;
case this._MOTOR_RX_READREGISTER_COMMAND.enableCheckSum:
res.enableCheckSum=dv.getUint8(startOffset);
break;
case this._MOTOR_RX_READREGISTER_COMMAND.deviceSerial:
res.deviceSerial=String.fromCharCode.apply("", uint8Array.slice(startOffset,-2));//可変バイト文字
break;
}
//console.log(res);
this._onMotorSettingCB(registerCmd,res);
}
}
/********************************************
* section::公開メソッド
********************************************/
/**
* WebBluetoohでの接続を開始する
*/
connect(){
if (this._peripheral&& this._peripheral.gatt&&this._peripheral.gatt.connected ) {return}
let gat= (this._peripheral&& this._peripheral.gatt )?this._peripheral.gatt :undefined;//再接続用
this._bleConnect(gat).then(obj=>{//info:: resolve({deviceID,deviceName,bleDevice,characteristics});
this._peripheral=obj.bleDevice;
this._deviceInfo.id=this._peripheral.id;
this._deviceInfo.name=this._peripheral.name;
this._deviceInfo.isConnect=this._peripheral.gatt.connected;
this._deviceInfo.manufacturerName=obj.infomation.manufacturerName;
this._deviceInfo.hardwareRevision=obj.infomation.hardwareRevision;
this._deviceInfo.firmwareRevision=obj.infomation.firmwareRevision;
//
this._characteristics=obj.characteristics;
if(!gat){
this._peripheral.removeEventListener('gattserverdisconnected',this._onBleConnectionLost);
this._peripheral.addEventListener('gattserverdisconnected', this._onBleConnectionLost);
if(this._characteristics['MOTOR_MEASUREMENT']){
this._characteristics['MOTOR_MEASUREMENT'].removeEventListener('characteristicvaluechanged',this._onBleMotorMeasurement);
this._characteristics['MOTOR_MEASUREMENT'].addEventListener('characteristicvaluechanged',this._onBleMotorMeasurement);
this._characteristics['MOTOR_MEASUREMENT'].startNotifications().then(obj=>{
if(this._characteristics['MOTOR_IMU_MEASUREMENT']){
this._characteristics['MOTOR_IMU_MEASUREMENT'].removeEventListener('characteristicvaluechanged',this._onBleImuMeasurement);
this._characteristics['MOTOR_IMU_MEASUREMENT'].addEventListener('characteristicvaluechanged',this._onBleImuMeasurement);
return this._characteristics['MOTOR_IMU_MEASUREMENT'].startNotifications();
}
}).then(obj=>{
if(this._characteristics['MOTOR_RX']){
this._characteristics['MOTOR_RX'].removeEventListener('characteristicvaluechanged',this._onBleMotorSetting);
this._characteristics['MOTOR_RX'].removeEventListener('characteristicvaluechanged',this._onBleMotorLog);
this._characteristics['MOTOR_RX'].addEventListener('characteristicvaluechanged',this._onBleMotorSetting);
this._characteristics['MOTOR_RX'].addEventListener('characteristicvaluechanged',this._onBleMotorLog);
return this._characteristics['MOTOR_RX'].startNotifications();
}
}).then(obj=>{
this._statusChange_init(true);
this._statusChange_isConnect(true);//初回のみ(comp以前は発火しない為)
})
}
}else {
this._statusChange_isConnect(true);
}
}).catch(err=>{
this._peripheral=null;
this._onConnectFailureHandler(this,err);
})
}
/**
* WebBluetoohの切断
*/
disConnect(){
if (!this._peripheral || !this._peripheral.gatt.connected){return;}
this._peripheral.gatt.disconnect();
this._peripheral=null;
}
/********************************************
* 内部
********************************************/
/**
* BLE接続
* @param gatt_obj ペアリング済みのGATTのデバイスに再接続用(ペアリングモーダルは出ない)
* @returns {Promise}
* @private
*/
_bleConnect(gatt_obj) {
//let self = this;
return new Promise((resolve, reject)=> {
// let bleDevice;
// let deviceName;
// let deviceID;
if(!gatt_obj){
let options = {
filters: [{services: [this._MOTOR_BLE_SERVICE_UUID]}],
optionalServices:[this._DEVICE_INFORMATION_SERVICE_UUIDS.Service]
};
navigator.bluetooth.requestDevice(options)
.then(device => {
this._bleGatconnect(device.gatt).then(res => {
resolve({
bleDevice: device,
deviceID: device.id,
deviceName: device.name,
characteristics:res.characteristics,
infomation:res.infomation
});
})
.catch(error => {
console.log(error);
reject(error);
});
})
}else{
this._bleGatconnect(gatt_obj)
.then(res => {
console.log("_bleGatconnect");
resolve({
deviceID: gatt_obj.device.id,
deviceName: gatt_obj.device.name,
bleDevice: gatt_obj.device,
characteristics:res.characteristics,
infomation:res.infomation
});
})
.catch(error => {
console.log(error);
reject(error);
});
}
});
}
//GATT接続用
_bleGatconnect(gatt_obj){
let characteristics = {};
let infomation={};
return new Promise((gresolve, greject)=> {
gatt_obj.connect().then(server => {
// return server.getPrimaryServices(this._MOTOR_BLE_SERVICE_UUID);
server.getPrimaryService(this._MOTOR_BLE_SERVICE_UUID).then(service => {
let crs = [];
Object.keys(this._MOTOR_BLE_CRS).forEach((key) => {
crs.push(
service.getCharacteristic(this._MOTOR_BLE_CRS[key])
.then(chara => {
characteristics[key] = chara;
})
);
});
return Promise.all(crs);
}).then(()=>{
//ble_firmware_revisionのサービス取得 info::Androiddでは不安定な為停止
return new Promise((sresolve, sreject)=> {
server.getPrimaryService(this._DEVICE_INFORMATION_SERVICE_UUIDS.Service).then((service) => {
Promise.resolve().then(()=>{
return new Promise((resolve, reject)=>{
service.getCharacteristic(this._DEVICE_INFORMATION_SERVICE_UUIDS.ManufacturerNameString)
.then(chara => {
return chara.readValue();
}).then(val => {
infomation['manufacturerName'] = KMUtl.Utf8ArrayToStr(new Uint8Array(val.buffer));
resolve();
}).catch((e)=>{reject(e);})
});
}).then(()=>{
return new Promise((resolve, reject)=>{
service.getCharacteristic(this._DEVICE_INFORMATION_SERVICE_UUIDS.FirmwareRevisionString)
.then(chara => {
return chara.readValue();
}).then(val => {
infomation['firmwareRevision'] = KMUtl.Utf8ArrayToStr(new Uint8Array(val.buffer));
resolve();
}).catch((e)=>{reject(e);})
});
}).then(()=>{
return new Promise((resolve, reject)=>{
service.getCharacteristic(this._DEVICE_INFORMATION_SERVICE_UUIDS.HardwareRevisionString)
.then(chara => {
return chara.readValue();
}).then(val => {
infomation['hardwareRevision'] = KMUtl.Utf8ArrayToStr(new Uint8Array(val.buffer));
resolve();
}).catch((e)=>{reject(e);})
});
}).then(()=>{
sresolve();
}).catch((e)=>{
sreject(e);
})
}).catch((e)=>{
sreject(e);
})
});
}).then(() => {
gresolve({characteristics: characteristics, infomation: infomation});
}).catch((e)=>{
console.log(e);
})
});
});
}
/**
* BLEコマンドの送信
* @param commandTypeStr 'MOTOR_CONTROL','MOTOR_MEASUREMENT','MOTOR_IMU_MEASUREMENT','MOTOR_RX'
* コマンド種別のString 主にBLEのキャラクタリスティクスで使用する
* @param commandNum
* @param arraybuffer
* @param notifyPromis cmdReadRegister等のBLE呼び出し後にnotifyで取得する値をPromisで帰す必要のあるコマンド用
* @param cid シーケンスID
* @returns {number} cid シーケンスID
* @private
*/
_sendMotorCommand(commandCategory, commandNum, arraybuffer=new ArrayBuffer(0), notifyPromis=null,cid=null){
let characteristics=this._characteristics[commandCategory];
let ab=new DataView(arraybuffer);
let buffer = new ArrayBuffer(arraybuffer.byteLength+5);
new DataView(buffer).setUint8(0,commandNum);
cid=cid===null?this.createCommandID:cid;//シーケンスID(ユニーク値)
new DataView(buffer).setUint16(1,cid);
//データの書き込み
for(let i=0;i<arraybuffer.byteLength;i++){
new DataView(buffer).setUint8(3+i,ab.getUint8(i));
}
let crc=KMUtl.CreateCommandCheckSumCRC16(new Uint8Array(buffer.slice(0,buffer.byteLength-2)));
new DataView(buffer).setUint16(arraybuffer.byteLength+3,crc);//info::CRC計算
//queに追加
// ++this._queCount;
this._bleSendingQue= this._bleSendingQue.then((res)=>{
// console.log("_sendMotorCommand queCount:"+(--this._queCount));
if(notifyPromis){
notifyPromis.startRejectTimeOutCount();
}
return characteristics.writeValue(buffer);
}).catch(function(res){
//失敗時 //info::後続のコマンドは引き続き実行される
// console.log("ERR _sendMotorCommand:"+res+" queCount:"+(--this._queCount));
if(notifyPromis){
notifyPromis.callReject(res);
}
});
return cid;
}
//////class//
}
module.exports =KMComWebBLE;