QL code and tests for C#/C++/JavaScript.

javascript/ql/test/tutorials/Validating RAML-based APIs/robonode/src/robot.js

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+var addCRC = require('./addCRC');
+
+var PREFIX = 'fffffd00'; // Defined by http://support.robotis.com/en/techsupport_eng.htm#product/dynamixel_pro/communication.htm
+var DYNAMIXEL_ID = 'c8'; // Not sure why, but I'm told this is 200
+var COMMAND_PACKET_LENGTH = '0700';
+var STATE_PACKET_LENGTH = '0700';
+var INSTRUCTION_READ = '02';
+var INSTRUCTION_WRITE = '03';
+var ADDRESS_EXECUTE = '4200'; // 66 decimal expressed in hex, low byte first; "66 is the address value that states the motion will be executed"
+
+var ROBOT_NAME_REGEXP = /Robotis/i;
+
+exports.findRobots = findRobots = function findRobots(onFound)
+{
+    var btSerial = new (require('bluetooth-serial-port')).BluetoothSerialPort();
+    btSerial.listPairedDevices(function (pairedDevices)
+    {
+        var robotDevices = pairedDevices.filter(function (device) 
+        { 
+            return (device.name.search(ROBOT_NAME_REGEXP) != -1);
+        });
+
+        robotDevices.forEach(function (device)
+        {
+            device.robotId = device.address.substr(-5).replace(/\-/g, '');
+        });
+
+        onFound(null, robotDevices);
+    });
+};
+
+// Setup a little registry of btSerial ports, one per robot
+var robotPorts = {};
+function getPort(robotId)
+{
+    if (!(robotId in robotPorts))
+    {
+        robotPorts[robotId] = new (require('bluetooth-serial-port')).BluetoothSerialPort();
+    }
+    return robotPorts[robotId];
+}
+
+// Find the Robotis device among the paired devices, and connect to it
+// robotId should be the last 4 characters of the bluetooth address of your Robotis device
+// You can see its address on a Mac if you hold down 'option' while viewing the menu bar's bluetooth dropdown
+// e.g. if the address is 'b8-63-bc-00-12-16' your robotId is 1216
+exports.connect = function connect(robotId, onConnect)
+{
+    findRobots(function onFound(err, robots)
+    {
+        var candidates = robots.filter(function (r)
+        {
+            return (r.robotId == robotId);
+        });
+
+        if (candidates.length === 0)
+        {
+            onConnect('No robots found!');
+        }
+        else
+        {
+            if (candidates.length > 1) console.info('Found ' + candidates.length + ' robots; using the first');
+            robot = candidates[0];
+            channel = robot.services[0].channel;
+            var btSerial = getPort(robotId);
+            connectOne(btSerial, robot.address, channel, onConnect);
+        }
+    });
+};
+
+// Actually connect to the device, on its address and channel
+function connectOne(btSerial, address, channel, onConnect)
+{
+    if (btSerial.isOpen())
+    {
+        console.info('already connected');
+        onConnect(null, btSerial);
+    }
+    else
+    {
+        console.info('connecting...');
+
+        btSerial.connect(address, channel, function() 
+        {
+            console.info('connected');
+            onConnect(null, btSerial);
+
+            // Log any returning data:
+            btSerial.on('data', function (buffer) 
+            {
+                console.info('<< ' + buffer.toString('hex'));
+            });
+
+        }, function () 
+        {
+            onConnect('cannot connect', btSerial);
+        });
+        
+    }
+}
+
+function toHexLowHigh(number)
+{
+    var hex = (number + 0x10000).toString(16).substr(-4); // e.g. '0262'
+    hexHigh = hex.substr(0, 2);
+    hexLow  = hex.substr(2, 2);
+    return hexLow + hexHigh; // e.g. '6202'
+}
+
+// write a command to the bluetooth port
+// command should be a number from 1-255
+exports.sendCommand = function sendCommand(btSerial, command, onSent)
+{
+    var hexCommand = toHexLowHigh(command);
+
+    var packet = PREFIX + DYNAMIXEL_ID + COMMAND_PACKET_LENGTH + INSTRUCTION_WRITE + ADDRESS_EXECUTE + hexCommand;
+    packet = addCRC(packet);
+    console.info('Sending packet: ' + packet);
+
+    btSerial.write(new Buffer(packet, 'hex'), function (err, bytesWritten) 
+    {
+        console.info('sent');
+        if (err) console.error(err);
+        if (onSent) onSent(err, btSerial);
+    });
+};
+
+// read a state from the bluetooth port
+// address and lengthInBytes should be numbers
+exports.readState = function readState(btSerial, address, lengthInBytes, onSent)
+{
+    var addr16 = toHexLowHigh(address);
+    var len16  = toHexLowHigh(lengthInBytes);
+
+    var packet = PREFIX + DYNAMIXEL_ID + STATE_PACKET_LENGTH + INSTRUCTION_READ + addr16 + len16;
+    packet = addCRC(packet);
+    console.info('Sending packet: ' + packet);
+
+    btSerial.write(new Buffer(packet, 'hex'), function (err, bytesWritten) 
+    {
+        console.info('sent');
+        if (err) console.error(err);
+        if (onSent) onSent(err, btSerial);
+    });
+};