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WeDo 2.0 Smart Hub and Boost Move Hub working

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This commit is contained in:
Nathan Kunicki 2018-06-12 16:56:03 +01:00
parent 4f698a0e30
commit 00a2ed4bae
7 changed files with 493 additions and 216 deletions
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228
boosthub.js Normal file
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@ -0,0 +1,228 @@
const debug = require("debug")("lpf2"),
EventEmitter = require("events").EventEmitter;
const Hub = require("./hub.js"),
Port = require("./port.js"),
Consts = require("./consts.js");
class BoostHub extends Hub {
constructor (peripheral) {
super(peripheral);
this.type = Consts.Hubs.BOOST_MOVE_HUB;
this.ports = {
"A": new Port("A", 55),
"B": new Port("B", 56),
"C": new Port("C", 1),
"D": new Port("D", 2)
};
this._lastTiltX = 0;
this._lastTiltY = 0;
debug("Discovered Boost Move Hub");
}
static isBoostHub (peripheral) {
return (peripheral.advertisement.localName === Consts.BLE.Name.BOOST_MOVE_HUB_NAME && peripheral.advertisement.serviceUuids.indexOf(Consts.BLE.Services.BOOST_MOVE_HUB) >= 0);
}
connect (callback) {
debug("Connecting to Boost Move Hub");
super.connect(() => {
this._subscribeToCharacteristic(this._characteristics[Consts.BLE.Characteristics.Boost.ALL], this._parseMessage.bind(this));
debug("Connect completed");
})
}
setMotorSpeed (port, speed, seconds) {
const characteristic = this._characteristics[Consts.BLE.Characteristics.Boost.ALL];
if (characteristic) {
const data = Buffer.from([0x0c, 0x00, 0x81, this.ports[port].value, 0x11, 0x09, 0xff, 0xff, speed, 0x64, 0x7f, 0x03]);
if (seconds) {
data.writeUInt16LE(seconds * 1000, 6);
}
characteristic.write(data);
}
}
_parseMessage (data) {
switch (data[2]) {
case 0x04:
{
this._parsePortMessage(data);
break;
}
case 0x45:
{
this._parseSensorMessage(data);
break;
}
}
}
_parsePortMessage (data) {
let port = null;
if (data[4] !== 1) { // NK: This doesn't support groups...yet.
return;
}
if (data[3] === 1) {
port = this.ports["C"];
} else if (data[3] === 2) {
port = this.ports["D"];
} else if (data[3] === 55) {
port = this.ports["A"];
} else if (data[3] === 56) {
port = this.ports["B"];
} else {
return;
}
port.connected = data[4] === 1 ? true : false;
if (port.connected) {
switch (data[5]) {
case Consts.Devices.WEDO2_TILT:
{
port.type = Consts.Devices.WEDO2_TILT;
debug(`Port ${port.id} connected, detected WEDO2_TILT`);
this._activatePortDevice(port.value, port.type, 0x00, 0x00);
break;
}
case Consts.Devices.WEDO2_DISTANCE:
{
port.type = Consts.Devices.WEDO2_DISTANCE;
debug(`Port ${port.id} connected, detected WEDO2_DISTANCE`);
this._activatePortDevice(port.value, port.type, 0x00, 0x00);
break;
}
case Consts.Devices.WEDO2_MOTOR:
{
port.type = Consts.Devices.WEDO2_MOTOR;
debug(`Port ${port.id} connected, detected WEDO2_MOTOR`);
this._activatePortDevice(port.value, port.type, 0x02, 0x00);
break;
}
case Consts.Devices.BOOST_DISTANCE:
{
port.type = Consts.Devices.BOOST_DISTANCE;
debug(`Port ${port.id} connected, detected BOOST_DISTANCE`);
this._activatePortDevice(port.value, port.type, 0x08, 0x00);
break;
}
case Consts.Devices.BOOST_INTERACTIVE_MOTOR:
{
port.type = Consts.Devices.BOOST_INTERACTIVE_MOTOR;
debug(`Port ${port.id} connected, detected BOOST_INTERACTIVE_MOTOR`);
this._activatePortDevice(port.value, port.type, 0x02, 0x00);
break;
}
case Consts.Devices.BOOST_MOVE_HUB_MOTOR:
{
port.type = Consts.Devices.BOOST_MOVE_HUB_MOTOR;
debug(`Port ${port.id} connected, detected BOOST_MOVE_HUB_MOTOR`);
this._activatePortDevice(port.value, port.type, 0x02, 0x00);
break;
}
}
} else {
port.type = null;
debug(`Port ${port.id} disconnected`);
}
}
_activatePortDevice (port, type, mode, format, callback) {
const characteristic = this._characteristics[Consts.BLE.Characteristics.Boost.ALL];
if (characteristic) {
characteristic.write(Buffer.from([0x0a, 0x00, 0x41, port, mode, 0x01, 0x00, 0x00, 0x00, 0x01]), callback);
}
}
_parseSensorMessage (data) {
let port = null;
if (data[3] === 1) {
port = this.ports["C"];
} else if (data[3] === 2) {
port = this.ports["D"];
} else if (data[3] === 55) {
port = this.ports["A"];
} else if (data[3] === 56) {
port = this.ports["B"];
} else {
return;
}
if (port && port.connected) {
switch (port.type) {
case Consts.Devices.WEDO2_DISTANCE:
{
let distance = data[4];
if (data[5] === 1) {
distance = data[4] + 255;
}
this.emit("distance", port.id, distance * 10);
break;
}
case Consts.Devices.BOOST_DISTANCE:
{
this.emit("color", port.id, data[4]);
let distance;
if (data[7] > 0 && data[5] < 2) {
distance = Math.floor(20 - (data[7] * 2.85));
} else if (data[5] > 9) {
distance = 10;
} else {
distance = Math.floor((20 + (data[5] * 18)));
}
if (distance > 130) {
distance = 130;
}
this.emit("distance", port.id, distance);
break;
}
case Consts.Devices.WEDO2_TILT:
{
this._lastTiltX = data[4];
if (this._lastTiltX > 100) {
this._lastTiltX = -(255 - this._lastTiltX);
}
this._lastTiltY = data[5];
if (this._lastTiltY > 100) {
this._lastTiltY = -(255 - this._lastTiltY);
}
this.emit("tilt", port.id, this._lastTiltX, this._lastTiltY);
break;
}
case Consts.Devices.BOOST_INTERACTIVE_MOTOR:
{
const rotation = data.readInt32LE(2);
this.emit("rotate", port.id, rotation);
}
}
}
}
}
module.exports = BoostHub;

42
consts.js
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@ -1,8 +1,9 @@
const Consts = {
Hubs: {
WEDO2_SMART_HUB: 0,
BOOST_MOVE_HUB: 1,
POWERED_UP_HUB: 2
UNKNOWN: 0,
WEDO2_SMART_HUB: 1,
BOOST_MOVE_HUB: 2,
POWERED_UP_HUB: 3
},
Devices: {
WEDO2_MOTOR: 1,
@ -11,28 +12,35 @@ const Consts = {
WEDO2_DISTANCE: 35,
BOOST_DISTANCE: 37,
BOOST_INTERACTIVE_MOTOR: 38,
BOOST_MOTOR: 39,
BOOST_MOVE_HUB_MOTOR: 39,
BOOST_TILT: 40
},
BLE: {
Name: {
WEDO2_SMART_HUB_NAME: "LPF2 Smart Hub 2 I/O"
WEDO2_SMART_HUB_NAME: "LPF2 Smart Hub 2 I/O",
BOOST_MOVE_HUB_NAME: "LEGO Move Hub"
},
Services: {
WEDO2_SMART_HUB: "000015231212efde1523785feabcd123"
WEDO2_SMART_HUB: "000015231212efde1523785feabcd123",
BOOST_MOVE_HUB: "000016231212efde1623785feabcd123"
},
Characteristics: {
BATTERY: "2a19",
BUTTON: "000015261212efde1523785feabcd123", // "1526"
PORT_TYPE: "000015271212efde1523785feabcd123", // "1527" // Handles plugging and unplugging of devices on WeDo 2.0 Smart Hub
LOW_VOLTAGE_ALERT: "000015281212efde1523785feabcd123", // "1528"
HIGH_CURRENT_ALERT: "000015291212efde1523785feabcd123", // "1529"
LOW_SIGNAL_ALERT: "0000152a1212efde1523785feabcd123", // "152a"
SENSOR_VALUE: "000015601212efde1523785feabcd123", // "1560"
VALUE_FORMAT: "000015611212efde1523785feabcd123", // "1561"
PORT_TYPE_WRITE: "000015631212efde1523785feabcd123", // "1563"
MOTOR_VALUE_WRITE: "000015651212efde1523785feabcd123", // "1565"
NAME_ID: "000015241212efde1523785feabcd123", // "1524"
WeDo2: {
BATTERY: "2a19",
BUTTON: "000015261212efde1523785feabcd123", // "1526"
PORT_TYPE: "000015271212efde1523785feabcd123", // "1527" // Handles plugging and unplugging of devices on WeDo 2.0 Smart Hub
LOW_VOLTAGE_ALERT: "000015281212efde1523785feabcd123", // "1528"
HIGH_CURRENT_ALERT: "000015291212efde1523785feabcd123", // "1529"
LOW_SIGNAL_ALERT: "0000152a1212efde1523785feabcd123", // "152a"
SENSOR_VALUE: "000015601212efde1523785feabcd123", // "1560"
VALUE_FORMAT: "000015611212efde1523785feabcd123", // "1561"
PORT_TYPE_WRITE: "000015631212efde1523785feabcd123", // "1563"
MOTOR_VALUE_WRITE: "000015651212efde1523785feabcd123", // "1565"
NAME_ID: "000015241212efde1523785feabcd123", // "1524"
},
Boost: {
ALL: "000016241212efde1623785feabcd123"
}
}
}
}

167
hub.js
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@ -10,21 +10,13 @@ class Hub extends EventEmitter {
constructor (peripheral) {
super();
this.deviceType = "WeDo 2.0 Smart Hub";
this._peripheral = peripheral;
this._characteristics = {};
this._batteryLevel = 100;
this._rssi = -100; // Initialize as -100 - no signal
this._portTypeWriteCharacteristic = null;
this._motorValueWriteCharacteristic = null;
this._lastTiltX = 0;
this._lastTiltY = 0;
this.ports = [new Port(0), new Port(1)];
this._ports = {};
this.type = Consts.Hubs.UNKNOWN;
this.uuid = peripheral.uuid;
}
@ -69,20 +61,7 @@ class Hub extends EventEmitter {
service.discoverCharacteristics([], (err, characteristics) => {
characteristics.forEach((characteristic) => {
switch (characteristic.uuid) {
case Consts.BLE.Characteristics.PORT_TYPE:
self._subscribeToCharacteristic(characteristic, self._parsePortMessage.bind(self));
break;
case Consts.BLE.Characteristics.PORT_TYPE_WRITE:
this._portTypeWriteCharacteristic = characteristic;
break;
case Consts.BLE.Characteristics.MOTOR_VALUE_WRITE:
this._motorValueWriteCharacteristic = characteristic;
break;
case Consts.BLE.Characteristics.SENSOR_VALUE:
this._subscribeToCharacteristic(characteristic, self._parseSensorMessage.bind(self));
break;
}
this._characteristics[characteristic.uuid] = characteristic;
});
return resolve();
});
@ -92,6 +71,7 @@ class Hub extends EventEmitter {
});
Promise.all(servicePromises).then(() => {
debug("Service/characteristic discovery finished");
if (callback) {
callback();
}
@ -104,21 +84,6 @@ class Hub extends EventEmitter {
}
setMotorSpeed (port, speed) {
if (this._motorValueWriteCharacteristic) {
let newSpeed = 0;
if (speed > 1 && speed <= 100) {
newSpeed = parseInt(this._speedMapping(speed, 1, 100, 15, 97));
} else if (speed < -1 && speed >= -100) {
newSpeed = parseInt(this._speedMapping(speed, -100, -1, 160, 245));
} else {
newSpeed = 0;
}
this._motorValueWriteCharacteristic.write(Buffer.from([port + 1, 0x01, 0x02, speed]));
}
}
_subscribeToCharacteristic (characteristic, callback) {
characteristic.on("data", (data, isNotification) => {
return callback(data);
@ -130,126 +95,6 @@ class Hub extends EventEmitter {
});
}
_parseSensorMessage (data) {
console.log(data);
const port = this.ports[data[1] - 1];
if (port && port.connected) {
switch (port.type) {
case Consts.Devices.WEDO2_DISTANCE:
{
let distance = data[2];
if (data[3] === 1) {
distance = data[2] + 255;
}
this.emit("distance", data[1] - 1, distance);
break;
}
case Consts.Devices.BOOST_DISTANCE:
{
let distance = data[2];
this.emit("distance", data[1] - 1, distance);
break;
}
case Consts.Devices.WEDO2_TILT:
{
this._lastTiltX = data[2];
if (this._lastTiltX > 100) {
this._lastTiltX = -(255 - this._lastTiltX);
}
this._lastTiltY = data[3];
if (this._lastTiltY > 100) {
this._lastTiltY = -(255 - this._lastTiltY);
}
this.emit("tilt", port, this._lastTiltX, this._lastTiltX);
break;
}
case Consts.Devices.BOOST_INTERACTIVE_MOTOR:
{
const rotation = data.readInt32LE(2);
console.log(rotation);
this.emit("rotate", port, rotation);
}
}
}
}
_parsePortMessage (data) {
if (data[0] === 1 || data[0] === 2) {
const port = this.ports[data[0] - 1];
port.connected = data[1] === 1 ? true : false;
if (port.connected) {
switch (data[3]) {
case Consts.Devices.WEDO2_TILT:
{
port.type = Consts.Devices.WEDO2_TILT;
debug(`Port ${data[0] - 1} connected, detected WEDO2_TILT`);
this._activatePortDevice(data[0], port.type, 0x00, 0x00);
break;
}
case Consts.Devices.WEDO2_DISTANCE:
{
port.type = Consts.Devices.WEDO2_DISTANCE;
debug(`Port ${data[0] - 1} connected, detected WEDO2_DISTANCE`);
this._activatePortDevice(data[0], port.type, 0x00, 0x00);
break;
}
case Consts.Devices.WEDO2_MOTOR:
{
port.type = Consts.Devices.WEDO2_MOTOR;
debug(`Port ${data[0] - 1} connected, detected WEDO2_MOTOR`);
this._activatePortDevice(data[0], port.type, 0x02, 0x00);
break;
}
case Consts.Devices.BOOST_DISTANCE:
{
port.type = Consts.Devices.BOOST_DISTANCE;
debug(`Port ${data[0] - 1} connected, detected BOOST_DISTANCE`);
this._activatePortDevice(data[0], port.type, 0x02, 0x00);
break;
}
case Consts.Devices.BOOST_INTERACTIVE_MOTOR:
{
port.type = Consts.Devices.BOOST_INTERACTIVE_MOTOR;
debug(`Port ${data[0] - 1} connected, detected BOOST_INTERACTIVE_MOTOR`);
this._activatePortDevice(data[0], port.type, 0x02, 0x00);
break;
}
}
} else {
port.type = null;
debug(`Port ${data[0]} disconnected`);
}
}
}
_speedMapping (speed, inMin, inMax, outMin, outMax) {
if (speed > inMax) {
speed = inMax;
}
if (speed < inMin) {
speed = inMax;
}
return (speed - inMax) * (outMax - outMin) / (inMax - inMin) + outMin;
}
_activatePortDevice (port, type, mode, format, callback) {
if (this._portTypeWriteCharacteristic) {
this._portTypeWriteCharacteristic.write(Buffer.from([0x01, 0x02, port, type, mode, 0x01, 0x00, 0x00, 0x00, format, 0x01]), callback);
}
}
}

63
lpf2.js
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@ -2,7 +2,8 @@ const noble = require("noble"),
debug = require("debug")("lpf2"),
EventEmitter = require("events").EventEmitter;
const Hub = require("./hub.js"),
const WeDo2Hub = require("./wedo2hub.js"),
BoostHub = require("./boosthub.js"),
Consts = require("./consts.js");
let ready = false,
@ -12,6 +13,7 @@ noble.on("stateChange", (state) => {
ready = (state === "poweredOn");
if (ready) {
if (wantScan) {
debug("Scanning started");
noble.startScanning();
}
} else {
@ -33,38 +35,43 @@ class LPF2 extends EventEmitter {
noble.on("discover", (peripheral) => {
let advertisement = peripheral.advertisement;
if (advertisement.localName === Consts.BLE.Name.WEDO2_SMART_HUB_NAME && advertisement.serviceUuids.indexOf(Consts.BLE.Services.WEDO2_SMART_HUB) >= 0) {
peripheral.removeAllListeners();
noble.stopScanning();
noble.startScanning();
const hub = new Hub(peripheral);
hub._peripheral.on("connect", () => {
debug("Hub connected");
this._connectedDevices[hub.uuid] = hub;
});
hub._peripheral.on("disconnect", () => {
debug("Peripheral disconnected");
delete this._connectedDevices[hub.uuid];
if (wantScan) {
noble.startScanning();
}
hub.emit("disconnect");
});
this.emit("discover", hub);
let hub = null;
if (WeDo2Hub.isWeDo2Hub(peripheral)) {
hub = new WeDo2Hub(peripheral);
} else if (BoostHub.isBoostHub(peripheral)) {
hub = new BoostHub(peripheral);
} else {
return;
}
peripheral.removeAllListeners();
noble.stopScanning();
noble.startScanning();
hub._peripheral.on("connect", () => {
debug(`Hub ${hub.uuid} connected`);
this._connectedDevices[hub.uuid] = hub;
});
hub._peripheral.on("disconnect", () => {
debug(`Hub ${hub.uuid} disconnected`);
delete this._connectedDevices[hub.uuid];
if (wantScan) {
noble.startScanning();
}
hub.emit("disconnect");
});
debug(`Hub ${hub.uuid} discovered`);
this.emit("discover", hub);
});
if (ready) {
debug("Scanning started");
noble.startScanning();
}
}

3
port.js
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@ -1,7 +1,8 @@
class Port {
constructor (id) {
constructor (id, value) {
this.id = id;
this.value = value;
this.connected = false;
this.type = null;
}

27
test.js
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@ -6,13 +6,22 @@ lpf2.scan();
lpf2.on("discover", (hub) => {
hub.connect();
/*hub.on("tilt", (port, x, y) => {
hub.setMotorSpeed(0, y);
});*/
let speed = 0;
// setInterval(() => {
// console.log(speed);
// hub.setMotorSpeed(0, speed);
// speed += 1;
// }, 500);
hub.on("distance", (port, distance) => {
console.log(`Distance ${distance} received on port ${port}`);
});
hub.on("color", (port, color) => {
console.log(`Color ${color} received on port ${port}`);
});
hub.on("tilt", (port, x, y) => {
console.log(`Tilt ${x}, ${y} received on port ${port}`);
});
hub.on("rotate", (port, rotate) => {
console.log(`Rotate ${rotate} received on port ${port}`);
});
// setTimeout(() => {
// hub.setMotorSpeed("C", 30);
// setTimeout(() => {
// hub.setMotorSpeed("C", 0);
// }, 3000);
// }, 3000);
});

179
wedo2hub.js Normal file
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@ -0,0 +1,179 @@
const debug = require("debug")("lpf2"),
EventEmitter = require("events").EventEmitter;
const Hub = require("./hub.js"),
Port = require("./port.js"),
Consts = require("./consts.js");
class WeDo2Hub extends Hub {
constructor (peripheral) {
super(peripheral);
this.type = Consts.Hubs.WEDO2_SMART_HUB;
this.ports = {
"A": new Port("A", 1),
"B": new Port("B", 2)
};
this._lastTiltX = 0;
this._lastTiltY = 0;
debug("Discovered WeDo 2.0 Smart Hub");
}
static isWeDo2Hub (peripheral) {
return (peripheral.advertisement.localName === Consts.BLE.Name.WEDO2_SMART_HUB_NAME && peripheral.advertisement.serviceUuids.indexOf(Consts.BLE.Services.WEDO2_SMART_HUB) >= 0);
}
connect (callback) {
debug("Connecting to WeDo 2.0 Smart Hub");
super.connect(() => {
this._subscribeToCharacteristic(this._characteristics[Consts.BLE.Characteristics.WeDo2.PORT_TYPE], this._parsePortMessage.bind(this));
this._subscribeToCharacteristic(this._characteristics[Consts.BLE.Characteristics.WeDo2.SENSOR_VALUE], this._parseSensorMessage.bind(this));
debug("Connect completed");
})
}
setMotorSpeed (port, speed) {
const characteristic = this._characteristics[Consts.BLE.Characteristics.WeDo2.MOTOR_VALUE_WRITE];
if (characteristic) {
characteristic.write(Buffer.from([this.ports[port].value, 0x01, 0x02, speed]));
}
}
_parsePortMessage (data) {
let port = null;
if (data[0] === 1) {
port = this.ports["A"];
} else if (data[0] === 2) {
port = this.ports["B"];
} else {
return;
}
port.connected = data[1] === 1 ? true : false;
if (port.connected) {
switch (data[3]) {
case Consts.Devices.WEDO2_TILT:
{
port.type = Consts.Devices.WEDO2_TILT;
debug(`Port ${port.id} connected, detected WEDO2_TILT`);
this._activatePortDevice(data[0], port.type, 0x00, 0x00);
break;
}
case Consts.Devices.WEDO2_DISTANCE:
{
port.type = Consts.Devices.WEDO2_DISTANCE;
debug(`Port ${port.id} connected, detected WEDO2_DISTANCE`);
this._activatePortDevice(data[0], port.type, 0x00, 0x00);
break;
}
case Consts.Devices.WEDO2_MOTOR:
{
port.type = Consts.Devices.WEDO2_MOTOR;
debug(`Port ${port.id} connected, detected WEDO2_MOTOR`);
this._activatePortDevice(data[0], port.type, 0x02, 0x00);
break;
}
case Consts.Devices.BOOST_DISTANCE:
{
port.type = Consts.Devices.BOOST_DISTANCE;
debug(`Port ${port.id} connected, detected BOOST_DISTANCE`);
this._activatePortDevice(data[0], port.type, 0x02, 0x00);
break;
}
case Consts.Devices.BOOST_INTERACTIVE_MOTOR:
{
port.type = Consts.Devices.BOOST_INTERACTIVE_MOTOR;
debug(`Port ${port.id} connected, detected BOOST_INTERACTIVE_MOTOR`);
this._activatePortDevice(data[0], port.type, 0x02, 0x00);
break;
}
case Consts.Devices.BOOST_MOVE_HUB_MOTOR:
{
port.type = Consts.Devices.BOOST_MOVE_HUB_MOTOR;
debug(`Port ${port.id} connected, detected BOOST_MOVE_HUB_MOTOR`);
this._activatePortDevice(data[0], port.type, 0x02, 0x00);
break;
}
}
} else {
port.type = null;
debug(`Port ${port.id} disconnected`);
}
}
_activatePortDevice (port, type, mode, format, callback) {
const characteristic = this._characteristics[Consts.BLE.Characteristics.WeDo2.PORT_TYPE_WRITE];
if (characteristic) {
characteristic.write(Buffer.from([0x01, 0x02, port, type, mode, 0x01, 0x00, 0x00, 0x00, format, 0x01]), callback);
}
}
_parseSensorMessage (data) {
let port = null;
if (data[1] === 1) {
port = this.ports["A"];
} else if (data[1] === 2) {
port = this.ports["B"];
} else {
return;
}
if (port && port.connected) {
switch (port.type) {
case Consts.Devices.WEDO2_DISTANCE:
{
let distance = data[2];
if (data[3] === 1) {
distance = data[2] + 255;
}
this.emit("distance", port.id, distance);
break;
}
case Consts.Devices.BOOST_DISTANCE:
{
let distance = data[2];
this.emit("distance", port.id, distance);
break;
}
case Consts.Devices.WEDO2_TILT:
{
this._lastTiltX = data[2];
if (this._lastTiltX > 100) {
this._lastTiltX = -(255 - this._lastTiltX);
}
this._lastTiltY = data[3];
if (this._lastTiltY > 100) {
this._lastTiltY = -(255 - this._lastTiltY);
}
this.emit("tilt", port.id, this._lastTiltX, this._lastTiltY);
break;
}
case Consts.Devices.BOOST_INTERACTIVE_MOTOR:
{
const rotation = data.readInt32LE(2);
this.emit("rotate", port.id, rotation);
}
}
}
}
}
module.exports = WeDo2Hub;