Lorris (JavaScript) implementation of our communication protocol

protocol.js

var SMSG_POT_VALUES_8          = 0x00; // (int8_t x, int8_t y) pro kazdy joystick, min -128, max 127
var SMSG_POT_VALUES_16         = 0x01; // (int16_t x, int16_t y) pro kazdy joystick, min -32768, max 32787
var SMSG_BINARY_VALUES         = 0x02; // (uint8_t count, uint8_t values...) hodnoty napr. z tlacitek, count je pocet,
                                       //                                    values muze byt vice bytu podle poctu tlacitek
var SMSG_SET_MOTOR_POWER_8     = 0x03; // (int8_t right, int8_t left) hodnoty pro nastaveni motoru, min -128, max 127
var SMSG_SET_MOTOR_POWER_16    = 0x04; // (int16_t right, int16_t left) hodnoty pro nastaveni motoru, min -32768, max 32767
var SMSG_GET_VALUES            = 0x05; // (uint8_t valueType) typ hodnoty, viz Prikazy clienta. 
                                       // Dalsi data jsou potreba v pripade CMSG_RANGE_VALUE a CMSG_COLOR_VALUE,
                                       // kdy struktura vypada takto: (uint16_t valueType, uint8_t sensorId)
var CMSG_BOARD_VOLTAGE         = 0x00; // (uint16_t value) napeti na desce, hodnota z prevodniku
var CMSG_ENC_GLOBAL            = 0x01; // (uint32_t right, uint32_t right) ujeta vzdalenost v dilcich encoderu, celkove
var CMSG_ENC_FROM_LAST         = 0x02; // (uint32_t right, uint32_t right) ujeta vzdalenost v dilcich encoderu, od posledniho mereni
var CMSG_RANGE_VALUE           = 0x03; // (uint8_t id, uint16_t distance) vzadelnost ze senzoru v cm, 0 az 65534, 65535 == chyba
var CMSG_COLOR_VALUE           = 0x04; // (uint8_t id, uint8_t r, uint8_t g, uint8_t b, uint8_t ir, uint8_t uv) hodnota barevneho senzoru.
                                       // ir a uv nemusi byt poslano pokud je senzor neumi.
var CMSG_OTHER_VALUES_16       = 0x05; // (uint16_t value, ...) hodnoty z dalsich senzoru 
var CMSG_OTHER_VALUES_32       = 0x06; // (uint32_t value, ...) hodnoty z dalsich senzoruva
var CMSG_OTHER_VALUES_FLOAT    = 0x07; // (float value, ...) hodnoty z dalsich senzoru

var client_names = new Array("CMSG_BOARD_VOLTAGE", "CMSG_ENC_GLOBAL", "CMSG_ENC_FROM_LAST", "CMSG_RANGE_VALUE",
                             "CMSG_COLOR_VALUE" ,"CMSG_OTHER_VALUES_16", "CMSG_OTHER_VALUES_32", "CMSG_OTHER_VALUES_FLOAT");

var target_device = 0x01;
var lastX = (script.width + 20);

function onDataChanged(data, dev, cmd, index)
{
    var res = "\n";
    if(cmd < client_names.length)
        res += client_names[cmd] + " ";
    else
        res += "Unknown ";
    res += "0x" + cmd.toString(16).toUpperCase() + " ";
    res += "\nDevice: " + dev + " (0x" + dev.toString(16).toUpperCase() + ")\n";
    appendTerm(res);

    handlePacket(cmd, data);
}

function onKeyPress(key)
{
    switch(key)
    {
        case "c":
            clearTerm();
            break;
        case "d":
            dumpStoredTest();
            break;
    }
}

function onScriptExit()
{
    storage.setBool("testBool", true);
    storage.setInt32("testInt32", -5324);
    storage.setUInt32("testUInt32", 435324);
    storage.setFloat("testFloat", 3.143532);
    storage.setString("testString", "šfasdfads");

    storage.setInt32Array("testInt32Array", new Array(-4, 532, -68, 3532));
    storage.setUInt32Array("testUInt32Array", new Array(4, 532, 68, 3532, 73432));
    storage.setFloatArray("testFloatArray", new Array(4.5, -532.43, -68, 3532.343));
}

function dumpStoredTest()
{
    var res = "\n";
    res += "bool: " + storage.getBool("testBool") + "\n";
    res += "int32: " + storage.getInt32("testInt32") + "\n";
    res += "uint32: " + storage.getUInt32("testUInt32") + "\n";
    res += "float: " + storage.getFloat("testFloat") + "\n";
    res += "string: " + storage.getString("testString") + "\n";
    res += "int32 array: " + storage.getInt32Array("testInt32Array") + "\n";
    res += "uint32 array: " + storage.getUInt32Array("testUInt32Array") + "\n";
    res += "float array: " + storage.getFloatArray("testFloatArray") + "\n";
    appendTerm(res);
}

function handlePacket(cmd, data)
{
    switch(cmd)
    {
        case CMSG_BOARD_VOLTAGE:
        {
            var adc_val = (data[4] << 8) | data[5];
            appendTerm("ADC voltage value: " + adc_val + "\n");
            Voltage.updateValues(adc_val);
            break;
        }
        case CMSG_ENC_GLOBAL:
        case CMSG_ENC_FROM_LAST:
        {
            var enc_r = (data[4] << 24) | (data[5] << 16) | (data[6] << 8) | data[7];
            var enc_l = (data[8] << 24) | (data[9] << 16) | (data[10] << 8) | data[11];
            appendTerm("R: " + enc_r + " L: " + enc_l + "\n");
            if(cmd == CMSG_ENC_GLOBAL)
                EncoderGlobal.updateValues(enc_r, enc_l);
            else
                EncoderLast.updateValues(enc_r, enc_l);
            break;
        }
        case CMSG_RANGE_VALUE:
        {
            var id = data[4];
            var value = (data[5] << 8) | data[6];
            if(Ranges[id] == null)
            {        
                Ranges[id] = new Range(id, LastRangeX, RangeY);
                LastRangeX += Ranges[id].num.width + 20;
            }
            Ranges[id].updateValues(value);
            break;
        }
        case CMSG_COLOR_VALUE:
        {
            var id = data[4];
            var rgb = new Array(data[5], data[6], data[7]);
            if(Colors[id] == null)
            {
                Colors[id] = new Color(id, LastColorX, ColorY);
                LastColorX += Colors[id].color.width + 20;
            }
            Colors[id].updateValues(rgb);
            break;
        }
    }
}

var DataWithFormula = Class.extend(
{
    init: function(name, labelText, x, y, cmd)
    {
        this.cmd = cmd;
        this.name = name;

        this.labelInput = newInputWidget(name, 200, 30, x + 50, y - 110);
        this.label = this.labelInput.newWidget("QLabel", 1);
        this.label.alignment = 0x0080 | 0x0004;
        this.label.text = name;
        this.requestBtn = this.labelInput.newWidget("QPushButton");
        this.requestBtn.text = "Request";
        this.requestBtn.clicked.connect(this, "requestClicked");
        
        this.input = newInputWidget(name + " formula", 300, 100, x, y);

        this.formula_label = this.input.newWidget("QLabel", 1);
        this.formula_label.text = labelText + "\n(v is received value):";

        this.formula = this.input.newWidget("QLineEdit");

        var stored = storage.getString(this.name);
        this.formula.text = stored != "" ? stored : "v";

        this.formula.textEdited.connect(this, "formulaChanged");
    },
    parseFormula: function(adc)
    {
        var form = this.formula.text;
        form = form.replace("v", adc);
        return parseInt(eval(form));
    },
    requestClicked: function()
    {
        var packet = new Array(0xFF, target_device, 2, SMSG_GET_VALUES, this.cmd);
        sendData(packet);
        appendTerm("\nSMSG_GET_VALUES with cmd " + client_names[this.cmd] + " was sent\n");
    },
    formulaChanged: function(text)
    {
        storage.setString(this.name, text);
    }
});

var _Voltage = DataWithFormula.extend(
{
    init: function(name, labelText, x, y, cmd)
    {
        this._super(name, labelText, x, y, cmd);
        
        this.board_voltage_adc = newNumberWidget("Voltage (ADC)", 0, 0, (script.width + 20), this.input.height + 20);
        this.board_voltage_volts = newNumberWidget("Voltage (volts)", 0, 0, (script.width + 40 + this.board_voltage_adc.width), this.input.height + 20)
        this.board_voltage_adc.setDataType(NUM_UINT16);
        this.board_voltage_volts.setDataType(NUM_UINT16);
    }, 
    
    updateValues: function(adc)
    {
        this.board_voltage_adc.setValue(adc);

        var voltage_volt = this.parseFormula(adc);
        if(!isNaN(voltage_volt))
            this.board_voltage_volts.setValue(voltage_volt);
    }
});

var Voltage = new _Voltage("Board voltage", "Formula to calculate value in volts", lastX, 0, CMSG_BOARD_VOLTAGE);
lastX += Voltage.input.width + 20; 

var _Encoder = DataWithFormula.extend(
{
    init: function(name, labelText, x, y, cmd)
    {
        
        this._super(name, labelText, x, y, cmd);
        
        this.left_tics = newNumberWidget("Left (tics)", 0, 0, x, this.input.height + 20);
        this.left_form = newNumberWidget("Left (formula)", 0, 0, x, this.input.height + 40 + this.left_tics.height);
        this.right_tics = newNumberWidget("Right (tics)", 0, 0, (x + 20 + this.left_tics.width), this.input.height + 20);
        this.right_form = newNumberWidget("Right (formula)", 0, 0, (x + 20 + this.left_tics.width), this.input.height + 40 + this.right_tics.height);
        this.left_tics.setDataType(NUM_INT32);
        this.left_form.setDataType(NUM_INT32);
        this.right_tics.setDataType(NUM_INT32);
        this.right_form.setDataType(NUM_INT32);
    },

    updateValues: function(right, left)
    {
        this.left_tics.setValue(left);
        this.right_tics.setValue(right);
        
        var right_calc = this.parseFormula(right);
        if(!isNaN(right_calc))
            this.right_form.setValue(right_calc);

        var left_calc = this.parseFormula(left);
        if(!isNaN(left_calc))
            this.left_form.setValue(left_calc);
    }
});
var EncoderGlobal = new _Encoder("Encoders (global)", "Formula to calculate value in metric system", lastX, 0, CMSG_ENC_GLOBAL);
lastX += EncoderGlobal.input.width + 20;

var EncoderLast = new _Encoder("Encoders (since last)", "Formula to calculate value in metric system", lastX, 0, CMSG_ENC_FROM_LAST);
lastX += EncoderLast.input.width + 20;

var IdRequest = Class.extend(
{
    init: function(name, text, cmd, x, y)
    {
        this.cmd = cmd;
        this.name = name;

        this.labelInput = newInputWidget(name, 200, 140, x + 50, y);
        this.label = this.labelInput.newWidget("QLabel", 1);
        this.label.alignment = 0x0080 | 0x0004;
        this.label.text = text;

        this.idBox = this.labelInput.newWidget("QSpinBox");
        this.idBox.maximum = 255;
        this.idBox.value = storage.getUInt32(name);

        this.requestBtn = this.labelInput.newWidget("QPushButton");
        this.requestBtn.text = "Request";
        this.requestBtn.clicked.connect(this, "requestClicked");
    },
    requestClicked: function()
    {
        storage.setUInt32(this.name, this.idBox.value);

        var packet = new Array(0xFF, target_device, 3, SMSG_GET_VALUES, this.cmd, this.idBox.value);
        sendData(packet);
        appendTerm("\nSMSG_GET_VALUES with cmd " + client_names[this.cmd] + ", id " + this.idBox.value + " was sent\n");
    }
});
var LastColorX = script.width + 20;
var ColorY = EncoderLast.input.height + EncoderLast.left_tics.height*2 + 20*3 + 40;
var RangeY = ColorY + 270;

new IdRequest("Color request", "Press \"Request\" to get\ncolor from sensor", CMSG_COLOR_VALUE, LastColorX, ColorY);
new IdRequest("Range request", "Press \"Request\" to get\nrange from sensor", CMSG_RANGE_VALUE, LastColorX, RangeY);

LastColorX += 320;
var LastRangeX = LastColorX;

var Color = Class.extend(
{
    init: function(id, x, y)
    {
        this.id = id;
        this.color = newColorWidget("Color " + id, 300, 250, x, y);
    },

    updateValues: function(rgb)
    {
        this.color.setValue(rgb[0], rgb[1], rgb[2]);
    }
});
var Colors = new Array();

var Range = Class.extend(
{
    init: function(id, x, y)
    {
        this.id = id;
        this.num = newNumberWidget("Range " + id, 300, 100, x, y);
        this.num.setDataType(NUM_INT32);
    },
    updateValues: function(val)
    {
        this.num.setValue(val);
        if(val == 0xFFFF)
            this.num.styleSheet = "background-color: red";
        else
            this.num.styleSheet = "";
    }
});
var Ranges = new Array();