From 00a2ed4bae8d9602a9f20a6d5f06ba77ddcfbf3e Mon Sep 17 00:00:00 2001 From: Nathan Kunicki Date: Tue, 12 Jun 2018 16:56:03 +0100 Subject: [PATCH] WeDo 2.0 Smart Hub and Boost Move Hub working --- boosthub.js | 228 ++++++++++++++++++++++++++++++++++++++++++++++++++++ consts.js | 42 ++++++---- hub.js | 167 ++------------------------------------ lpf2.js | 63 ++++++++------- port.js | 3 +- test.js | 27 ++++--- wedo2hub.js | 179 +++++++++++++++++++++++++++++++++++++++++ 7 files changed, 493 insertions(+), 216 deletions(-) create mode 100644 boosthub.js create mode 100644 wedo2hub.js diff --git a/boosthub.js b/boosthub.js new file mode 100644 index 0000000..84aeb2c --- /dev/null +++ b/boosthub.js @@ -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; \ No newline at end of file diff --git a/consts.js b/consts.js index abb652d..5820b1b 100644 --- a/consts.js +++ b/consts.js @@ -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" + } } } } diff --git a/hub.js b/hub.js index 85c05ea..1a6d18a 100644 --- a/hub.js +++ b/hub.js @@ -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); - } - } - } diff --git a/lpf2.js b/lpf2.js index 65bba07..12b8ac7 100644 --- a/lpf2.js +++ b/lpf2.js @@ -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(); } } diff --git a/port.js b/port.js index fe3cece..dd2610b 100644 --- a/port.js +++ b/port.js @@ -1,7 +1,8 @@ class Port { - constructor (id) { + constructor (id, value) { this.id = id; + this.value = value; this.connected = false; this.type = null; } diff --git a/test.js b/test.js index ade42f4..1068c84 100644 --- a/test.js +++ b/test.js @@ -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); }); \ No newline at end of file diff --git a/wedo2hub.js b/wedo2hub.js new file mode 100644 index 0000000..228ce19 --- /dev/null +++ b/wedo2hub.js @@ -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; \ No newline at end of file