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|
|
|
|
|
| const sum8 = (bytes) => bytes.reduce((a, b) => (a + b) & 0xff, 0);
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| const hex = (bytes) => Array.from(bytes, (b) => b.toString(16).padStart(2, "0")).join(" ").toUpperCase();
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|
|
|
|
| export const PROFILES = {
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|
|
| "erdi-b-4-cm": { label: "ERDI H series (5C, 4-byte, centimetres)", baud: 460800, len: 4, unit: 0.01, oor: 65535, kind: "erdiB" },
|
| "erdi-b-4-mm": { label: "ERDI VB series (5C, 4-byte, millimetres)", baud: 460800, len: 4, unit: 0.001, oor: null, kind: "erdiB" },
|
| "erdi-b-5-cm": { label: "ERDI LRF1500H (5C, 5-byte, centimetres)", baud: 460800, len: 5, unit: 0.01, oor: 16777215, kind: "erdiB" },
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|
|
| "erdi-a": { label: "ERDI LR / LRF A / SPD (55 AA reply, metres x10)", baud: 115200, len: 8, unit: 0.1, kind: "erdiA" },
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|
|
| "benewake-tf-9": { label: "Benewake TFmini / TF-Luna style (59 59, 9-byte, cm)", baud: 115200, len: 9, unit: 0.01, kind: "tf9" },
|
| };
|
|
|
| function inv8(bytes) {
|
| return ~sum8(bytes) & 0xff;
|
| }
|
|
|
| function tryFrame(profile, buf, i) {
|
| const p = PROFILES[profile];
|
| if (buf.length - i < 1) return null;
|
| if (p.kind === "erdiB") {
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| if (buf[i] !== 0x5c) return false;
|
| if (buf.length - i < p.len) return null;
|
| const f = buf.slice(i, i + p.len);
|
| if (inv8(f.slice(1, -1)) !== f[f.length - 1]) return false;
|
| let raw = 0;
|
| for (let k = f.length - 2; k >= 1; k--) raw = raw * 256 + f[k];
|
| const oor = p.oor !== null && raw >= p.oor;
|
| return { len: p.len, frame: f, info: { raw, distance_m: oor ? null : raw * p.unit, out_of_range: oor } };
|
| }
|
| if (p.kind === "erdiA") {
|
| if (buf[i] !== 0x55) return false;
|
| if (buf.length - i < 2) return null;
|
| if (buf[i + 1] !== 0xaa) return false;
|
| if (buf.length - i < 8) return null;
|
| const f = buf.slice(i, i + 8);
|
| if (sum8(f.slice(0, 7)) !== f[7]) return false;
|
| const raw = (f[5] << 8) | f[6];
|
| const ok = f[3] === 1;
|
| return { len: 8, frame: f, info: { function: f[2], status: f[3], raw, distance_m: ok ? raw * p.unit : null, out_of_range: !ok } };
|
| }
|
| if (p.kind === "tf9") {
|
| if (buf[i] !== 0x59) return false;
|
| if (buf.length - i < 2) return null;
|
| if (buf[i + 1] !== 0x59) return false;
|
| if (buf.length - i < 9) return null;
|
| const f = buf.slice(i, i + 9);
|
| if (sum8(f.slice(0, 8)) !== f[8]) return false;
|
| const raw = f[2] | (f[3] << 8);
|
| return { len: 9, frame: f, info: { raw, distance_m: raw * p.unit, strength: f[4] | (f[5] << 8), temp_raw: f[6] | (f[7] << 8), out_of_range: false } };
|
| }
|
| return false;
|
| }
|
|
|
| export class Decoder {
|
| constructor(profile) {
|
| if (!PROFILES[profile]) throw new Error("unknown profile " + profile);
|
| this.profile = profile;
|
| this.buf = [];
|
| this.skipped = 0;
|
| this.frames = 0;
|
| }
|
|
|
|
|
| push(bytes) {
|
| for (const b of bytes) this.buf.push(b);
|
| const out = [];
|
| let i = 0;
|
| while (i < this.buf.length) {
|
| const r = tryFrame(this.profile, this.buf, i);
|
| if (r === null) break;
|
| if (r === false) {
|
| i += 1;
|
| this.skipped += 1;
|
| continue;
|
| }
|
| this.frames += 1;
|
| out.push({ hex: hex(r.frame), ...r.info });
|
| i += r.len;
|
| }
|
| this.buf = this.buf.slice(i);
|
| if (this.buf.length > 4096) this.buf = this.buf.slice(-64);
|
| return out;
|
| }
|
| }
|
|
|
| export function parseHex(text) {
|
| const clean = text.replace(/0x/gi, " ").replace(/[^0-9a-fA-F]+/g, " ").trim();
|
| if (!clean) return [];
|
| const parts = clean.split(" ");
|
| const bytes = [];
|
| for (const p of parts) {
|
| if (p.length % 2) throw new Error("odd-length hex token: " + p);
|
| for (let k = 0; k < p.length; k += 2) bytes.push(parseInt(p.slice(k, k + 2), 16));
|
| }
|
| return bytes;
|
| }
|
|
|
| export { hex };
|
|
|
