import { Peripheral } from "noble"; import { Hub } from "./hub.js"; import { Port } from "./port.js"; import * as Consts from "./consts"; import Debug = require("debug"); const debug = Debug("wedo2hub"); /** * @class WeDo2Hub * @extends Hub */ export class WeDo2Hub extends Hub { public static IsWeDo2Hub (peripheral: Peripheral) { return (peripheral.advertisement.localName === Consts.BLENames.WEDO2_SMART_HUB_NAME && 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 (callback: () => void) { debug("Connecting to WeDo 2.0 Smart Hub"); 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)); debug("Connect completed"); if (callback) { callback(); } }); } /** * 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. */ public setLEDColor (color: number | boolean) { const motorCharacteristic = this._characteristics[Consts.BLECharacteristics.WEDO2_MOTOR_VALUE_WRITE]; const portCharacteristic = this._characteristics[Consts.BLECharacteristics.WEDO2_PORT_TYPE_WRITE]; if (motorCharacteristic && portCharacteristic) { let data = Buffer.from([0x06, 0x17, 0x01, 0x01]); portCharacteristic.write(data); if (color === false) { color = 0; } data = Buffer.from([0x06, 0x04, 0x01, color]); motorCharacteristic.write(data); } } /** * Set the color of the LED on the Hub via RGB values. * @method WeDo2Hub#setLEDRGB * @param {number} red * @param {number} green * @param {number} blue */ public setLEDRGB (red: number, green: number, blue: number) { const motorCharacteristic = this._characteristics[Consts.BLECharacteristics.WEDO2_MOTOR_VALUE_WRITE]; const portCharacteristic = this._characteristics[Consts.BLECharacteristics.WEDO2_PORT_TYPE_WRITE]; if (motorCharacteristic && portCharacteristic) { const data1 = Buffer.from([0x01, 0x02, 0x06, 0x17, 0x01, 0x02]); portCharacteristic.write(data1); const data2 = Buffer.from([0x06, 0x04, 0x03, red, green, blue]); motorCharacteristic.write(data2); } } /** * 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. */ public setMotorSpeed (port: string, speed: number) { const characteristic = this._characteristics[Consts.BLECharacteristics.WEDO2_MOTOR_VALUE_WRITE]; if (characteristic) { characteristic.write(Buffer.from([this._ports[port].value, 0x01, 0x02, speed])); } } protected _activatePortDevice (port: number, type: number, mode: number, format: number, callback: () => void) { const characteristic = this._characteristics[Consts.BLECharacteristics.WEDO2_PORT_TYPE_WRITE]; if (characteristic) { characteristic.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) { const characteristic = this._characteristics[Consts.BLECharacteristics.WEDO2_PORT_TYPE_WRITE]; if (characteristic) { characteristic.write(Buffer.from([0x01, 0x02, port, type, mode, 0x01, 0x00, 0x00, 0x00, format, 0x00]), callback); } } private _getPortForPortNumber (num: number) { let port = null; if (num === 1) { port = this._ports["A"]; } else if (num === 2) { port = this._ports["B"]; } else { return; } return port; } 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] === 1) { /** * Emits when a button is pressed. * @event WeDo2Hub#button * @param {number} state - A number representing one of the button state consts. */ this.emit("button", Consts.ButtonStates.PRESSED); return; } else if (data[0] === 0) { this.emit("button", 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); } } } } }