import { Peripheral } from "noble"; import { Hub } from "./hub.js"; import { Port } from "./port.js"; import * as Consts from "./consts"; import Debug = require("debug"); import { resolve } from "path"; const debug = Debug("wedo2hub"); /** * The WeDo2Hub is emitted if the discovered device is a WeDo 2.0 Smart Hub. * @class WeDo2Hub * @extends Hub */ export class WeDo2Hub extends Hub { public static IsWeDo2Hub (peripheral: Peripheral) { return (peripheral.advertisement.serviceUuids.indexOf(Consts.BLEServices.WEDO2_SMART_HUB) >= 0); } private _lastTiltX: number = 0; private _lastTiltY: number = 0; constructor (peripheral: Peripheral, autoSubscribe: boolean = true) { super(peripheral, autoSubscribe); this.type = Consts.Hubs.WEDO2_SMART_HUB; this._ports = { "A": new Port("A", 1), "B": new Port("B", 2) }; debug("Discovered WeDo 2.0 Smart Hub"); } public connect () { return new Promise(async (resolve, reject) => { debug("Connecting to WeDo 2.0 Smart Hub"); await super.connect(); this._subscribeToCharacteristic(this._characteristics[Consts.BLECharacteristics.WEDO2_PORT_TYPE], this._parsePortMessage.bind(this)); this._subscribeToCharacteristic(this._characteristics[Consts.BLECharacteristics.WEDO2_SENSOR_VALUE], this._parseSensorMessage.bind(this)); this._subscribeToCharacteristic(this._characteristics[Consts.BLECharacteristics.WEDO2_BUTTON], this._parseSensorMessage.bind(this)); this._subscribeToCharacteristic(this._characteristics[Consts.BLECharacteristics.WEDO2_BATTERY], this._parseBatteryMessage.bind(this)); this._subscribeToCharacteristic(this._characteristics[Consts.BLECharacteristics.WEDO2_HIGH_CURRENT_ALERT], this._parseHighCurrentAlert.bind(this)); debug("Connect completed"); return resolve(); }); } /** * Set the color of the LED on the Hub via a color value. * @method WeDo2Hub#setLEDColor * @param {number} color A number representing one of the LED color consts. * @returns {Promise} Resolved upon successful issuance of command. */ public setLEDColor (color: number | boolean) { return new Promise((resolve, reject) => { let data = Buffer.from([0x06, 0x17, 0x01, 0x01]); this._writeMessage(Consts.BLECharacteristics.WEDO2_PORT_TYPE_WRITE, data); if (color === false) { color = 0; } data = Buffer.from([0x06, 0x04, 0x01, color]); this._writeMessage(Consts.BLECharacteristics.WEDO2_MOTOR_VALUE_WRITE, data); return resolve(); }); } /** * Set the color of the LED on the Hub via RGB values. * @method WeDo2Hub#setLEDRGB * @param {number} red * @param {number} green * @param {number} blue * @returns {Promise} Resolved upon successful issuance of command. */ public setLEDRGB (red: number, green: number, blue: number) { return new Promise((resolve, reject) => { let data = Buffer.from([0x06, 0x17, 0x01, 0x02]); this._writeMessage(Consts.BLECharacteristics.WEDO2_PORT_TYPE_WRITE, data); data = Buffer.from([0x06, 0x04, 0x03, red, green, blue]); this._writeMessage(Consts.BLECharacteristics.WEDO2_MOTOR_VALUE_WRITE, data); return resolve(); }); } /** * Set the motor speed on a given port. * @method WeDo2Hub#setMotorSpeed * @param {string} port * @param {number} speed 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 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, time?: number) { return new Promise((resolve, reject) => { this._writeMessage(Consts.BLECharacteristics.WEDO2_MOTOR_VALUE_WRITE, Buffer.from([this._ports[port].value, 0x01, 0x02, this._mapSpeed(speed)])); if (time) { setTimeout(() => { this._writeMessage(Consts.BLECharacteristics.WEDO2_MOTOR_VALUE_WRITE, Buffer.from([this._ports[port].value, 0x01, 0x02, 0x00])); return resolve(); }, time); } else { return resolve(); } }); } /** * Play a sound on the Hub's in-built buzzer * @method WeDo2Hub#playSound * @param {number} frequency * @param {number} time How long the sound should play for (in milliseconds). * @returns {Promise} Resolved upon successful completion of command (ie. once the sound has finished playing). */ public playSound (frequency: number, time: number) { return new Promise((resolve, reject) => { const data = Buffer.from([0x05, 0x02, 0x04, 0x00, 0x00, 0x00, 0x00]); data.writeUInt16LE(frequency, 3); data.writeUInt16LE(time, 5); this._writeMessage(Consts.BLECharacteristics.WEDO2_MOTOR_VALUE_WRITE, data); setTimeout(resolve, time); }); } protected _activatePortDevice (port: number, type: number, mode: number, format: number, callback?: () => void) { this._writeMessage(Consts.BLECharacteristics.WEDO2_PORT_TYPE_WRITE, Buffer.from([0x01, 0x02, port, type, mode, 0x01, 0x00, 0x00, 0x00, format, 0x01]), callback); } protected _deactivatePortDevice (port: number, type: number, mode: number, format: number, callback?: () => void) { this._writeMessage(Consts.BLECharacteristics.WEDO2_PORT_TYPE_WRITE, Buffer.from([0x01, 0x02, port, type, mode, 0x01, 0x00, 0x00, 0x00, format, 0x00]), callback); } private _writeMessage (uuid: string, message: Buffer, callback?: () => void) { const characteristic = this._characteristics[uuid]; if (characteristic) { characteristic.write(message, false, callback); } } private _parseHighCurrentAlert (data: Buffer) { // console.log(data); } private _parseBatteryMessage (data: Buffer) { this._batteryLevel = data[0]; } private _parsePortMessage (data: Buffer) { const port = this._getPortForPortNumber(data[0]); if (!port) { return; } port.connected = data[1] === 1 ? true : false; this._registerDeviceAttachment(port, data[3]); } private _parseSensorMessage (data: Buffer) { if (data[0] === 0x01) { /** * Emits when a button is pressed. * @event WeDo2Hub#button * @param {string} button * @param {number} state A number representing one of the button state consts. */ this.emit("button", "GREEN", Consts.ButtonStates.PRESSED); return; } else if (data[0] === 0x00) { this.emit("button", "GREEN", Consts.ButtonStates.RELEASED); return; } const port = this._getPortForPortNumber(data[1]); if (!port) { 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; } /** * Emits when a distance sensor is activated. * @event WeDo2Hub#distance * @param {string} port * @param {number} distance Distance, in millimeters. */ this.emit("distance", port.id, distance * 10); break; } case Consts.Devices.BOOST_DISTANCE: { const distance = data[2]; /** * Emits when a color sensor is activated. * @event WeDo2Hub#color * @param {string} port * @param {number} color A number representing one of the LED color consts. */ this.emit("color", 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); } /** * Emits when a tilt sensor is activated. * @event WeDo2Hub#tilt * @param {string} port * @param {number} x * @param {number} y */ this.emit("tilt", port.id, this._lastTiltX, this._lastTiltY); break; } case Consts.Devices.BOOST_INTERACTIVE_MOTOR: { const rotation = data.readInt32LE(2); /** * Emits when a rotation sensor is activated. * @event WeDo2Hub#rotate * @param {string} port * @param {number} rotation */ this.emit("rotate", port.id, rotation); } } } } }