"use strict";
var __importStar = (this && this.__importStar) || function (mod) {
if (mod && mod.__esModule) return mod;
var result = {};
if (mod != null) for (var k in mod) if (Object.hasOwnProperty.call(mod, k)) result[k] = mod[k];
result["default"] = mod;
return result;
};
Object.defineProperty(exports, "__esModule", { value: true });
const lpf2hub_1 = require("./lpf2hub");
const port_1 = require("./port");
const Consts = __importStar(require("./consts"));
const Debug = require("debug");
const debug = Debug("boostmovehub");
/**
* The BoostMoveHub is emitted if the discovered device is a Boost Move Hub.
* @class BoostMoveHub
* @extends LPF2Hub
* @extends Hub
*/
class BoostMoveHub extends lpf2hub_1.LPF2Hub {
// We set JSDoc to ignore these events as a Boost Move Hub will never emit them.
/**
* @event BoostMoveHub#speed
* @ignore
*/
static IsBoostMoveHub(peripheral) {
return (peripheral.advertisement.serviceUuids.indexOf(Consts.BLEService.LPF2_HUB.replace(/-/g, "")) >= 0 && peripheral.advertisement.manufacturerData[3] === Consts.BLEManufacturerData.BOOST_MOVE_HUB_ID);
}
constructor(peripheral, autoSubscribe = true) {
super(peripheral, autoSubscribe);
this.type = Consts.HubType.BOOST_MOVE_HUB;
this._ports = {
"A": new port_1.Port("A", 55),
"B": new port_1.Port("B", 56),
"AB": new port_1.Port("AB", 57),
"TILT": new port_1.Port("TILT", 58),
"C": new port_1.Port("C", 1),
"D": new port_1.Port("D", 2)
};
debug("Discovered Boost Move Hub");
}
connect() {
return new Promise(async (resolve, reject) => {
debug("Connecting to Boost Move Hub");
await super.connect();
debug("Connect completed");
return resolve();
});
}
/**
* Set the motor speed on a given port.
* @method BoostMoveHub#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.
*/
setMotorSpeed(port, speed, time) {
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 BoostMoveHub#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.
*/
rampMotorSpeed(port, fromSpeed, toSpeed, time) {
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 BoostMoveHub#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).
*/
setMotorAngle(port, angle, speed = 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 BoostMoveHub#hardStopMotor
* @param {string} port
* @returns {Promise} Resolved upon successful completion of command.
*/
hardStopMotor(port) {
return this.setMotorSpeed(port, 127);
}
/**
* Set the light brightness on a given port.
* @method BoostMoveHub#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.
*/
setLightBrightness(port, brightness, time) {
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();
}
});
}
}
exports.BoostMoveHub = BoostMoveHub;