possible fix for #118, always return resolve

* changed _finished pointer to array to not overwrite callbacks
* all completed and discarded commands get resolved
* 0x10 bitset exists in documentation only? -> not implemented

src/devices/absolutemotor.ts

@@ -51,7 +51,6 @@ export class AbsoluteMotor extends TachoMotor {
         }
         this.cancelEventTimer();
         return new Promise<void>((resolve) => {
-            this._busy = true;
             if (speed === undefined || speed === null) {
                 speed = 100;
             }
@@ -65,9 +64,9 @@ export class AbsoluteMotor extends TachoMotor {
                 message.writeInt32LE(normalizeAngle(angle), 4);
             }
             this.send(message);
-            this._finished = () => {
+            this._finishedCallbacks.push(() => {
                 return resolve();
-            };
+            });
         });
     }
 

src/devices/device.ts

@@ -15,7 +15,7 @@ export class Device extends EventEmitter {
 
     protected _mode: number | undefined;
     protected _busy: boolean = false;
-    protected _finished: (() => void) | undefined;
+    protected _finishedCallbacks: (() => void)[] = [];
 
     private _hub: IDeviceInterface;
     private _portId: number;
@@ -167,11 +167,13 @@ export class Device extends EventEmitter {
         this.send(Buffer.from([0x21, this.portId, 0x00]));
     }
 
-    public finish () {
-        this._busy = false;
-        if (this._finished) {
-            this._finished();
-            this._finished = undefined;
+    public finish (message: number) {
+        this._busy = (message & 0x01) === 0x01;
+        while(this._finishedCallbacks.length > Number(this._busy)) {
+            const callback = this._finishedCallbacks.shift();
+            if(callback) {
+                 callback();
+            }
         }
     }
 

src/devices/tachomotor.ts

@@ -104,7 +104,6 @@ export class TachoMotor extends BasicMotor {
         }
         this.cancelEventTimer();
         return new Promise<void>((resolve) => {
-            this._busy = true;
             if (speed === undefined || speed === null) {
                 speed = 100;
             }
@@ -124,9 +123,9 @@ export class TachoMotor extends BasicMotor {
                 }
             }
             this.send(message);
-            this._finished = () => {
+            this._finishedCallbacks.push(() => {
                 return resolve();
-            };
+            });
         });
     }
 
@@ -146,7 +145,6 @@ export class TachoMotor extends BasicMotor {
         }
         this.cancelEventTimer();
         return new Promise<void>((resolve) => {
-            this._busy = true;
             if (speed === undefined || speed === null) {
                 speed = 100;
             }
@@ -158,9 +156,9 @@ export class TachoMotor extends BasicMotor {
             }
             message.writeUInt32LE(degrees, 4);
             this.send(message);
-            this._finished = () => {
+            this._finishedCallbacks.push(() => {
                 return resolve();
-            };
+            });
         });
     }
 

src/hubs/lpf2hub.ts

@@ -353,10 +353,7 @@ export class LPF2Hub extends BaseHub {
         const device = this._getDeviceByPortId(portId);
 
         if (device) {
-            const finished = (message[4] === 0x0a);
-            if (finished) {
-                device.finish();
-            }
+            device.finish(message[4]);
         }
 
     }