From 0ec0692aad3b59edc15f414fb3a1e0f6c3c61616 Mon Sep 17 00:00:00 2001
From: Nathan Kellenicki <nathan@kellenicki.com>
Date: Tue, 24 Mar 2020 19:09:48 -0700
Subject: [PATCH] PF extended channel mode

---
 src/devices/colordistancesensor.ts | 60 ++++++++++++++++++++++++------
 1 file changed, 49 insertions(+), 11 deletions(-)

diff --git a/src/devices/colordistancesensor.ts b/src/devices/colordistancesensor.ts
index e661b2a..6ec6f36 100644
--- a/src/devices/colordistancesensor.ts
+++ b/src/devices/colordistancesensor.ts
@@ -10,6 +10,8 @@ import * as Consts from "../consts";
  */
 export class ColorDistanceSensor extends Device {
 
+    private _pfToggleBit = 0;
+
     constructor (hub: IDeviceInterface, portId: number) {
         super(hub, portId, ModeMap, Consts.DeviceType.COLOR_DISTANCE_SENSOR);
     }
@@ -80,20 +82,47 @@ export class ColorDistanceSensor extends Device {
     }
 
 
+    /**
+     * Switches the IR receiver into extended channel mode. After setting this, use channels 5-8 instead of 1-4 for this receiver.
+     *
+     * NOTE: Calling this with channel 5-8 with switch off extended channel mode for this receiver.
+     * @method ColorDistanceSensor#setPFExtendedChannel
+     * @param {number} channel Channel number, between 1-8
+     * @returns {Promise} Resolved upon successful issuance of the command.
+     */
+    public setPFExtendedChannel (channel: number) {
+        let address = 0;
+        if (channel >= 4) {
+            channel -= 4;
+            address = 1;
+        }
+        const message = Buffer.alloc(2);
+        // Send "Single output mode"
+        message[0] = ((channel - 1) << 4) + (address << 3);
+        message[1] = 6;
+        return this.sendPFIRMessage(message);
+    }
+
+
     /**
      * Set the power of a Power Functions motor via IR
-     * @method ColorDistanceSensor#sendPFIRMessage
+     * @method ColorDistanceSensor#setPFPower
      * @param {number} channel Channel number, between 1-4
      * @param {string} output Outport port, "RED" (A) or "BLUE" (B)
      * @param {number} power -7 (full reverse) to 7 (full forward). 0 is stop. 8 is brake.
      * @returns {Promise} Resolved upon successful issuance of the command.
      */
     public setPFPower (channel: number, output: string, power: number) {
+        let address = 0;
+        if (channel > 4) {
+            channel -= 4;
+            address = 1;
+        }
         const message = Buffer.alloc(2);
         // Send "Single output mode"
-        message[0] = ((channel - 1) << 4) + (output === "RED" ? 4 : 5);
+        message[0] = ((channel - 1) << 4) + (address << 3) + (output === "RED" ? 4 : 5);
         message[1] = this._pfPowerToPWM(power) << 4;
-        this.sendPFIRMessage(message);
+        return this.sendPFIRMessage(message);
     }
 
 
@@ -101,18 +130,23 @@ export class ColorDistanceSensor extends Device {
      * Start Power Functions motors running via IR
      *
      * NOTE: This command is designed for bang-bang style operation. To keep the motors running, the sensor needs to be within range of the IR receiver constantly.
-     * @method ColorDistanceSensor#sendPFIRMessage
+     * @method ColorDistanceSensor#startPFMotors
      * @param {Buffer} channel Channel number, between 1-4
      * @param {Buffer} powerA -7 (full reverse) to 7 (full forward). 0 is stop. 8 is brake.
      * @param {Buffer} powerB -7 (full reverse) to 7 (full forward). 0 is stop. 8 is brake.
      * @returns {Promise} Resolved upon successful issuance of the command.
      */
     public startPFMotors (channel: number, powerA: number, powerB: number) {
+        let address = 0;
+        if (channel > 4) {
+            channel -= 4;
+            address = 1;
+        }
         const message = Buffer.alloc(2);
         // Send "Combo PWD mode"
-        message[0] = (((channel - 1) + 4) << 4) + this._pfPowerToPWM(powerA);
+        message[0] = (((channel - 1) + 4 + (address << 3)) << 4) + this._pfPowerToPWM(powerA);
         message[1] += this._pfPowerToPWM(powerB) << 4;
-        this.sendPFIRMessage(message);
+        return this.sendPFIRMessage(message);
     }
 
 
@@ -123,11 +157,15 @@ export class ColorDistanceSensor extends Device {
      * @returns {Promise} Resolved upon successful issuance of the command.
      */
     public sendPFIRMessage (message: Buffer) {
-        const payload = Buffer.alloc(2);
-        payload[0] = (message[0] << 4) + (message[1] >> 4);
-        payload[1] = message[0] >> 4;
-        this.subscribe(Mode.PF_IR);
-        this.writeDirect(0x07, payload);
+        if (this.isWeDo2SmartHub) {
+            throw new Error("Power Functions IR is not available on the WeDo 2.0 Smart Hub");
+        } else {
+            const payload = Buffer.alloc(2);
+            payload[0] = (message[0] << 4) + (message[1] >> 4);
+            payload[1] = message[0] >> 4;
+            this.subscribe(Mode.PF_IR);
+            return this.writeDirect(0x07, payload);
+        }
     }