"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 events_1 = require("events");
const Consts = __importStar(require("./consts"));
const Debug = require("debug");
const debug = Debug("hub");
/**
* @class Hub
* @extends EventEmitter
*/
class Hub extends events_1.EventEmitter {
constructor(peripheral, autoSubscribe = true) {
super();
this.autoSubscribe = true;
this.useSpeedMap = true;
this.type = Consts.HubType.UNKNOWN;
this._ports = {};
this._characteristics = {};
this._name = "";
this._firmwareInfo = { major: 0, minor: 0, bugFix: 0, build: 0 };
this._batteryLevel = 100;
this._voltage = 0;
this._current = 0;
this._rssi = -100;
this._isConnecting = false;
this._isConnected = false;
this.autoSubscribe = !!autoSubscribe;
this._peripheral = peripheral;
this._uuid = peripheral.uuid;
// NK: This hack allows LPF2.0 hubs to send a second advertisement packet consisting of the hub name before we try to read it
setTimeout(() => {
this._name = peripheral.advertisement.localName;
this.emit("discoverComplete");
}, 1000);
}
/**
* @readonly
* @property {string} name Name of the hub
*/
get name() {
return this._name;
}
/**
* @readonly
* @property {string} firmwareVersion Firmware version of the hub
*/
get firmwareVersion() {
return `${this._firmwareInfo.major}.${this._firmwareInfo.minor}.${this._lpad(this._firmwareInfo.bugFix.toString(), 2)}.${this._lpad(this._firmwareInfo.build.toString(), 4)}`;
}
/**
* @readonly
* @property {string} uuid UUID of the hub
*/
get uuid() {
return this._uuid;
}
/**
* @readonly
* @property {number} rssi Signal strength of the hub
*/
get rssi() {
return this._rssi;
}
/**
* @readonly
* @property {number} batteryLevel Battery level of the hub (Percentage between 0-100)
*/
get batteryLevel() {
return this._batteryLevel;
}
/**
* @readonly
* @property {number} voltage Voltage of the hub (Volts)
*/
get voltage() {
return this._voltage;
}
// /**
// * @readonly
// * @property {number} current Current usage of the hub (Amps)
// */
// public get current () {
// return this._current;
// }
/**
* Connect to the Hub.
* @method Hub#connect
* @returns {Promise} Resolved upon successful connect.
*/
connect() {
return new Promise((connectResolve, connectReject) => {
const self = this;
if (this._isConnecting) {
return connectReject("Already connecting");
}
else if (this._isConnected) {
return connectReject("Already connected");
}
this._isConnecting = true;
this._peripheral.connect((err) => {
this._rssi = this._peripheral.rssi;
const rssiUpdateInterval = setInterval(() => {
this._peripheral.updateRssi((err, rssi) => {
if (!err) {
if (this._rssi !== rssi) {
this._rssi = rssi;
}
}
});
}, 2000);
self._peripheral.on("disconnect", () => {
clearInterval(rssiUpdateInterval);
this._isConnecting = false;
this._isConnected = false;
this.emit("disconnect");
});
self._peripheral.discoverServices([], (err, services) => {
if (err) {
this.emit("error", err);
return;
}
debug("Service/characteristic discovery started");
const servicePromises = [];
services.forEach((service) => {
servicePromises.push(new Promise((resolve, reject) => {
service.discoverCharacteristics([], (err, characteristics) => {
characteristics.forEach((characteristic) => {
this._characteristics[characteristic.uuid] = characteristic;
});
return resolve();
});
}));
});
Promise.all(servicePromises).then(() => {
debug("Service/characteristic discovery finished");
this._isConnecting = false;
this._isConnected = true;
this.emit("connect");
return connectResolve();
});
});
});
});
}
/**
* Disconnect the Hub.
* @method Hub#disconnect
* @returns {Promise} Resolved upon successful disconnect.
*/
disconnect() {
return new Promise((resolve, reject) => {
this._peripheral.disconnect(() => {
return resolve();
});
});
}
/**
* Subscribe to sensor notifications on a given port.
* @method Hub#subscribe
* @param {string} port
* @param {number} [mode] The sensor mode to activate. If no mode is provided, the default for that sensor will be chosen.
* @returns {Promise} Resolved upon successful issuance of command.
*/
subscribe(port, mode) {
return new Promise((resolve, reject) => {
let newMode = this._getModeForDeviceType(this._portLookup(port).type);
if (mode) {
newMode = mode;
}
this._activatePortDevice(this._portLookup(port).value, this._portLookup(port).type, newMode, 0x00, () => {
return resolve();
});
});
}
/**
* Unsubscribe to sensor notifications on a given port.
* @method Hub#unsubscribe
* @param {string} port
* @returns {Promise} Resolved upon successful issuance of command.
*/
unsubscribe(port) {
return new Promise((resolve, reject) => {
const mode = this._getModeForDeviceType(this._portLookup(port).type);
this._deactivatePortDevice(this._portLookup(port).value, this._portLookup(port).type, mode, 0x00, () => {
return resolve();
});
});
}
/**
* Sleep a given amount of time.
*
* This is a helper method to make it easier to add delays into a chain of commands.
* @method Hub#sleep
* @param {number} delay How long to sleep (in milliseconds).
* @returns {Promise} Resolved after the delay is finished.
*/
sleep(delay) {
return new Promise((resolve) => {
global.setTimeout(resolve, delay);
});
}
/**
* Wait until a given list of concurrently running commands are complete.
*
* This is a helper method to make it easier to wait for concurrent commands to complete.
* @method Hub#wait
* @param {Array<Promise<any>>} commands Array of executing commands.
* @returns {Promise} Resolved after the commands are finished.
*/
wait(commands) {
return Promise.all(commands);
}
/**
* Get the hub type.
* @method Hub#getHubType
* @returns {HubType}
*/
getHubType() {
return this.type;
}
/**
* Get the device type for a given port.
* @method Hub#getPortDeviceType
* @param {string} port
* @returns {DeviceType}
*/
getPortDeviceType(port) {
return this._portLookup(port).type;
}
_getCharacteristic(uuid) {
return this._characteristics[uuid.replace(/-/g, "")];
}
_subscribeToCharacteristic(characteristic, callback) {
characteristic.on("data", (data) => {
return callback(data);
});
characteristic.subscribe((err) => {
if (err) {
this.emit("error", err);
}
});
}
_activatePortDevice(port, type, mode, format, callback) {
if (callback) {
callback();
}
}
_deactivatePortDevice(port, type, mode, format, callback) {
if (callback) {
callback();
}
}
_registerDeviceAttachment(port, type) {
if (port.connected) {
port.type = type;
if (this.autoSubscribe) {
this._activatePortDevice(port.value, type, this._getModeForDeviceType(type), 0x00);
/**
* Emits when a motor or sensor is attached to the Hub.
* @event Hub#attach
* @param {string} port
* @param {DeviceType} type
*/
this.emit("attach", port.id, type);
}
}
else {
port.type = Consts.DeviceType.UNKNOWN;
debug(`Port ${port.id} disconnected`);
/**
* Emits when an attached motor or sensor is detached from the Hub.
* @event Hub#detach
* @param {string} port
*/
this.emit("detach", port.id);
}
}
_getPortForPortNumber(num) {
for (const key of Object.keys(this._ports)) {
if (this._ports[key].value === num) {
return this._ports[key];
}
}
return false;
}
_mapSpeed(speed) {
if (!this.useSpeedMap) {
return speed;
}
if (speed === 127) {
return 127; // Hard stop
}
if (speed > 100) {
speed = 100;
}
else if (speed < -100) {
speed = -100;
}
return speed;
}
_calculateRamp(fromSpeed, toSpeed, time, port) {
const emitter = new events_1.EventEmitter();
const steps = Math.abs(toSpeed - fromSpeed);
let delay = time / steps;
let increment = 1;
if (delay < 50 && steps > 0) {
increment = 50 / delay;
delay = 50;
}
if (fromSpeed > toSpeed) {
increment = -increment;
}
let i = 0;
const interval = setInterval(() => {
let speed = Math.round(fromSpeed + (++i * increment));
if (toSpeed > fromSpeed && speed > toSpeed) {
speed = toSpeed;
}
else if (fromSpeed > toSpeed && speed < toSpeed) {
speed = toSpeed;
}
emitter.emit("changeSpeed", speed);
if (speed === toSpeed) {
clearInterval(interval);
emitter.emit("finished");
}
}, delay);
port.setEventTimer(interval);
return emitter;
}
_portLookup(port) {
if (!this._ports[port.toUpperCase()]) {
throw new Error(`Port ${port.toUpperCase()} does not exist on this Hub type`);
}
return this._ports[port];
}
_lpad(str, length) {
while (str.length < length) {
str = "0" + str;
}
return str;
}
_getModeForDeviceType(type) {
switch (type) {
case Consts.DeviceType.BASIC_MOTOR:
return 0x02;
case Consts.DeviceType.TRAIN_MOTOR:
return 0x02;
case Consts.DeviceType.BOOST_TACHO_MOTOR:
return 0x02;
case Consts.DeviceType.BOOST_MOVE_HUB_MOTOR:
return 0x02;
case Consts.DeviceType.BOOST_DISTANCE:
return (this.type === Consts.HubType.WEDO2_SMART_HUB ? 0x00 : 0x08);
case Consts.DeviceType.BOOST_TILT:
return 0x04;
default:
return 0x00;
}
}
}
exports.Hub = Hub;