Initial support for SPIKE Prime Hub

package.json

@@ -9,7 +9,7 @@
     "build:node": "tslint -c tslint.json \"./src/*.ts\" && tsc",
     "build:browser": "tslint -c tslint.json \"./src/*.ts\" && webpack --mode=production",
     "build:all": "tslint -c tslint.json \"./src/*.ts\" && tsc && webpack --mode=production",
-    "docs": "jsdoc -d docs -c jsdoc.conf.json -t ./node_modules/ink-docstrap/template -R README.md dist/node/consts.js dist/node/poweredup-node.js dist/node/lpf2hub.js dist/node/wedo2smarthub.js dist/node/boostmovehub.js dist/node/puphub.js dist/node/pupremote.js dist/node/duplotrainbase.js dist/node/hub.js dist/node/consts.js",
+    "docs": "jsdoc -d docs -c jsdoc.conf.json -t ./node_modules/ink-docstrap/template -R README.md dist/node/consts.js dist/node/poweredup-node.js dist/node/lpf2hub.js dist/node/wedo2smarthub.js dist/node/boostmovehub.js dist/node/puphub.js dist/node/pupremote.js dist/node/duplotrainbase.js dist/node/hub.js dist/node/consts.js dist/node/spikeprimehub.js",
     "all": "npm run build:all && npm run docs",
     "prepublishOnly": "npm run build:node"
   },

src/consts.ts

@@ -13,7 +13,8 @@ export enum HubType {
     BOOST_MOVE_HUB = 2,
     POWERED_UP_HUB = 3,
     POWERED_UP_REMOTE = 4,
-    DUPLO_TRAIN_HUB = 5
+    DUPLO_TRAIN_HUB = 5,
+    SPIKE_PRIME_HUB = 6
 }
 
 

src/index-browser.ts

@@ -5,9 +5,10 @@ import { Hub } from "./hub";
 import { PoweredUP } from "./poweredup-browser";
 import { PUPHub } from "./puphub";
 import { PUPRemote } from "./pupremote";
+import { SPIKEPrimeHub } from "./spikeprimehub";
 import { WeDo2SmartHub } from "./wedo2smarthub";
 
 import { isWebBluetooth } from "./utils";
 
 // @ts-ignore
-window.PoweredUP = { PoweredUP, Hub, WeDo2SmartHub, BoostMoveHub, PUPHub, PUPRemote, DuploTrainBase, Consts, isWebBluetooth };
+window.PoweredUP = { PoweredUP, Hub, WeDo2SmartHub, BoostMoveHub, PUPHub, PUPRemote, DuploTrainBase, SPIKEPrimeHub, Consts, isWebBluetooth };

src/index-node.ts

@@ -5,9 +5,10 @@ import { Hub } from "./hub";
 import { PoweredUP } from "./poweredup-node";
 import { PUPHub } from "./puphub";
 import { PUPRemote } from "./pupremote";
+import { SPIKEPrimeHub } from "./spikeprimehub";
 import { WeDo2SmartHub } from "./wedo2smarthub";
 
 import { isWebBluetooth } from "./utils";
 
 export default PoweredUP;
-export { PoweredUP, Hub, WeDo2SmartHub, BoostMoveHub, PUPHub, PUPRemote, DuploTrainBase, Consts, isWebBluetooth };
+export { PoweredUP, Hub, WeDo2SmartHub, BoostMoveHub, PUPHub, PUPRemote, DuploTrainBase, SPIKEPrimeHub, Consts, isWebBluetooth };

src/spikeprimehub.ts

@@ -0,0 +1,237 @@
+import { Peripheral } from "noble";
+
+import { LPF2Hub } from "./lpf2hub";
+import { Port } from "./port";
+
+import * as Consts from "./consts";
+
+import Debug = require("debug");
+import { IBLEDevice } from "./interfaces";
+const debug = Debug("spikeprimehub");
+
+
+/**
+ * The SPIKEPrimeHub is emitted if the discovered device is a SPIKE Prime Hub.
+ * @class SPIKEPrimeHub
+ * @extends LPF2Hub
+ * @extends Hub
+ */
+export class SPIKEPrimeHub extends LPF2Hub {
+
+
+    // We set JSDoc to ignore these events as a SPIKE Prime Hub will never emit them.
+
+    /**
+     * @event SPIKEPrimeHub#speed
+     * @ignore
+     */
+
+
+    public static IsSPIKEPrimeHub (peripheral: Peripheral) {
+        return (peripheral.advertisement &&
+            peripheral.advertisement.serviceUuids &&
+            peripheral.advertisement.serviceUuids.indexOf(Consts.BLEService.LPF2_HUB.replace(/-/g, "")) >= 0 && peripheral.advertisement.manufacturerData[3] === Consts.BLEManufacturerData.BOOST_MOVE_HUB_ID);
+    }
+
+
+    constructor (device: IBLEDevice, autoSubscribe: boolean = true) {
+        super(device, autoSubscribe);
+        this.type = Consts.HubType.BOOST_MOVE_HUB;
+        this._ports = {
+            "A": new Port("A", 55),
+            "B": new Port("B", 56),
+            "AB": new Port("AB", 57),
+            "TILT": new Port("TILT", 58),
+            "C": new Port("C", 1),
+            "D": new Port("D", 2)
+        };
+        debug("Discovered SPIKE Prime Hub");
+    }
+
+
+    public connect () {
+        return new Promise(async (resolve, reject) => {
+            debug("Connecting to SPIKE Prime Hub");
+            await super.connect();
+            debug("Connect completed");
+            return resolve();
+        });
+    }
+
+
+    /**
+     * Set the motor speed on a given port.
+     * @method SPIKEPrimeHub#setMotorSpeed
+     * @param {string} port
+     * @param {number | Array.<number>} speed For forward, a value between 1 - 100 should be set. For reverse, a value between -1 to -100. Stop is 0. If you are specifying port AB to control both motors, you can optionally supply a tuple of speeds.
+     * @param {number} [time] How long to activate the motor for (in milliseconds). Leave empty to turn the motor on indefinitely.
+     * @returns {Promise} Resolved upon successful completion of command. If time is specified, this is once the motor is finished.
+     */
+    public setMotorSpeed (port: string, speed: number | [number, number], time?: number | boolean) {
+        const portObj = this._portLookup(port);
+        if (portObj.id !== "AB" && speed instanceof Array) {
+            throw new Error(`Port ${portObj.id} can only accept a single speed`);
+        }
+        let cancelEventTimer = true;
+        if (typeof time === "boolean") {
+            if (time === true) {
+                cancelEventTimer = false;
+            }
+            time = undefined;
+        }
+        if (cancelEventTimer) {
+            portObj.cancelEventTimer();
+        }
+        return new Promise((resolve, reject) => {
+            if (time && typeof time === "number") {
+
+                if (portObj.type === Consts.DeviceType.BOOST_TACHO_MOTOR || portObj.type === Consts.DeviceType.BOOST_MOVE_HUB_MOTOR) {
+                    portObj.busy = true;
+                    let data = null;
+                    if (portObj.id === "AB") {
+                        data = Buffer.from([0x81, portObj.value, 0x11, 0x0a, 0x00, 0x00, this._mapSpeed(speed instanceof Array ? speed[0] : speed), this._mapSpeed(speed instanceof Array ? speed[1] : speed), 0x64, 0x7f, 0x03]);
+                    } else {
+                        // @ts-ignore: The type of speed is properly checked at the start
+                        data = Buffer.from([0x81, portObj.value, 0x11, 0x09, 0x00, 0x00, this._mapSpeed(speed), 0x64, 0x7f, 0x03]);
+                    }
+                    data.writeUInt16LE(time > 65535 ? 65535 : time, 4);
+                    this._writeMessage(Consts.BLECharacteristic.LPF2_ALL, data);
+                    portObj.finished = () => {
+                        return resolve();
+                    };
+                } else {
+                    // @ts-ignore: The type of speed is properly checked at the start
+                    const data = Buffer.from([0x81, portObj.value, 0x11, 0x51, 0x00, this._mapSpeed(speed)]);
+                    this._writeMessage(Consts.BLECharacteristic.LPF2_ALL, data);
+                    const timeout = global.setTimeout(() => {
+                        const data = Buffer.from([0x81, portObj.value, 0x11, 0x51, 0x00, 0x00]);
+                        this._writeMessage(Consts.BLECharacteristic.LPF2_ALL, data);
+                        return resolve();
+                    // @ts-ignore: The type of time is properly checked at the start
+                    }, time);
+                    portObj.setEventTimer(timeout);
+                }
+
+            } else {
+
+                if (portObj.type === Consts.DeviceType.BOOST_TACHO_MOTOR || portObj.type === Consts.DeviceType.BOOST_MOVE_HUB_MOTOR) {
+                    portObj.busy = true;
+                    let data = null;
+                    if (portObj.id === "AB") {
+                        data = Buffer.from([0x81, portObj.value, 0x11, 0x02, this._mapSpeed(speed instanceof Array ? speed[0] : speed), this._mapSpeed(speed instanceof Array ? speed[1] : speed), 0x64, 0x7f, 0x03]);
+                    } else {
+                        // @ts-ignore: The type of speed is properly checked at the start
+                        data = Buffer.from([0x81, portObj.value, 0x11, 0x01, this._mapSpeed(speed), 0x64, 0x7f, 0x03]);
+                    }
+                    this._writeMessage(Consts.BLECharacteristic.LPF2_ALL, data);
+                    portObj.finished = () => {
+                        return resolve();
+                    };
+                } else {
+                    // @ts-ignore: The type of speed is properly checked at the start
+                    const data = Buffer.from([0x81, portObj.value, 0x11, 0x51, 0x00, this._mapSpeed(speed)]);
+                    this._writeMessage(Consts.BLECharacteristic.LPF2_ALL, data);
+                }
+
+            }
+        });
+    }
+
+
+    /**
+     * Ramp the motor speed on a given port.
+     * @method SPIKEPrimeHub#rampMotorSpeed
+     * @param {string} port
+     * @param {number} fromSpeed For forward, a value between 1 - 100 should be set. For reverse, a value between -1 to -100. Stop is 0.
+     * @param {number} toSpeed For forward, a value between 1 - 100 should be set. For reverse, a value between -1 to -100. Stop is 0.
+     * @param {number} time How long the ramp should last (in milliseconds).
+     * @returns {Promise} Resolved upon successful completion of command.
+     */
+    public rampMotorSpeed (port: string, fromSpeed: number, toSpeed: number, time: number) {
+        const portObj = this._portLookup(port);
+        portObj.cancelEventTimer();
+        return new Promise((resolve, reject) => {
+            this._calculateRamp(fromSpeed, toSpeed, time, portObj)
+            .on("changeSpeed", (speed) => {
+                this.setMotorSpeed(port, speed, true);
+            })
+            .on("finished", resolve);
+        });
+    }
+
+
+    /**
+     * Rotate a motor by a given angle.
+     * @method SPIKEPrimeHub#setMotorAngle
+     * @param {string} port
+     * @param {number} angle How much the motor should be rotated (in degrees).
+     * @param {number | Array.<number>} [speed=100] For forward, a value between 1 - 100 should be set. For reverse, a value between -1 to -100. Stop is 0. If you are specifying port AB to control both motors, you can optionally supply a tuple of speeds.
+     * @returns {Promise} Resolved upon successful completion of command (ie. once the motor is finished).
+     */
+    public setMotorAngle (port: string, angle: number, speed: number | [number, number] = 100) {
+        const portObj = this._portLookup(port);
+        if (!(portObj.type === Consts.DeviceType.BOOST_TACHO_MOTOR || portObj.type === Consts.DeviceType.BOOST_MOVE_HUB_MOTOR)) {
+            throw new Error("Angle rotation is only available when using a Boost Tacho Motor or Boost Move Hub Motor");
+        }
+        if (portObj.id !== "AB" && speed instanceof Array) {
+            throw new Error(`Port ${portObj.id} can only accept a single speed`);
+        }
+        portObj.cancelEventTimer();
+        return new Promise((resolve, reject) => {
+            portObj.busy = true;
+            let data = null;
+            if (portObj.id === "AB") {
+                data = Buffer.from([0x81, portObj.value, 0x11, 0x0c, 0x00, 0x00, 0x00, 0x00, this._mapSpeed(speed instanceof Array ? speed[0] : speed), this._mapSpeed(speed instanceof Array ? speed[1] : speed), 0x64, 0x7f, 0x03]);
+            } else {
+                // @ts-ignore: The type of speed is properly checked at the start
+                data = Buffer.from([0x81, portObj.value, 0x11, 0x0b, 0x00, 0x00, 0x00, 0x00, this._mapSpeed(speed), 0x64, 0x7f, 0x03]);
+            }
+            data.writeUInt32LE(angle, 4);
+            this._writeMessage(Consts.BLECharacteristic.LPF2_ALL, data);
+            portObj.finished = () => {
+                return resolve();
+            };
+        });
+    }
+
+
+    /**
+     * Fully (hard) stop the motor on a given port.
+     * @method SPIKEPrimeHub#brakeMotor
+     * @param {string} port
+     * @returns {Promise} Resolved upon successful completion of command.
+     */
+    public brakeMotor (port: string) {
+        return this.setMotorSpeed(port, 127);
+    }
+
+
+    /**
+     * Set the light brightness on a given port.
+     * @method SPIKEPrimeHub#setLightBrightness
+     * @param {string} port
+     * @param {number} brightness Brightness value between 0-100 (0 is off)
+     * @param {number} [time] How long to turn the light on (in milliseconds). Leave empty to turn the light on indefinitely.
+     * @returns {Promise} Resolved upon successful completion of command. If time is specified, this is once the light is turned off.
+     */
+    public setLightBrightness (port: string, brightness: number, time?: number) {
+        const portObj = this._portLookup(port);
+        portObj.cancelEventTimer();
+        return new Promise((resolve, reject) => {
+            const data = Buffer.from([0x81, portObj.value, 0x11, 0x51, 0x00, brightness]);
+            this._writeMessage(Consts.BLECharacteristic.LPF2_ALL, data);
+            if (time) {
+                const timeout = global.setTimeout(() => {
+                    const data = Buffer.from([0x81, portObj.value, 0x11, 0x51, 0x00, 0x00]);
+                    this._writeMessage(Consts.BLECharacteristic.LPF2_ALL, data);
+                    return resolve();
+                }, time);
+                portObj.setEventTimer(timeout);
+            } else {
+                return resolve();
+            }
+        });
+    }
+
+
+}