Source: controlplushub.js

"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];
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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("ControlPlusHub");
/**
 * The ControlPlusHub is emitted if the discovered device is a Control+ Hub.
 * @class ControlPlusHub
 * @extends LPF2Hub
 * @extends Hub
 */
class ControlPlusHub extends lpf2hub_1.LPF2Hub {
    static IsControlPlusHub(peripheral) {
        return (peripheral.advertisement &&
            peripheral.advertisement.serviceUuids &&
            peripheral.advertisement.serviceUuids.indexOf(Consts.BLEService.LPF2_HUB.replace(/-/g, "")) >= 0 &&
            peripheral.advertisement.manufacturerData &&
            peripheral.advertisement.manufacturerData.length > 3 &&
            peripheral.advertisement.manufacturerData[3] === Consts.BLEManufacturerData.CONTROL_PLUS_LARGE_HUB);
    }
    constructor(device, autoSubscribe = true) {
        super(device, autoSubscribe);
        this.type = Consts.HubType.CONTROL_PLUS_HUB;
        this._ports = {
            "A": new port_1.Port("A", 0),
            "B": new port_1.Port("B", 1),
            "C": new port_1.Port("C", 2),
            "D": new port_1.Port("D", 3),
        };
        this.on("attach", (port, type) => {
            this._combinePorts(port, type);
        });
        debug("Discovered Control+ Hub");
    }
    connect() {
        return new Promise(async (resolve, reject) => {
            debug("Connecting to Control+ Hub");
            await super.connect();
            this._writeMessage(Consts.BLECharacteristic.LPF2_ALL, Buffer.from([0x41, 0x62, 0x00, 0x0a, 0x00, 0x00, 0x00, 0x01])); // Accelerometer
            this._writeMessage(Consts.BLECharacteristic.LPF2_ALL, Buffer.from([0x41, 0x63, 0x00, 0x01, 0x00, 0x00, 0x00, 0x01])); // Gyro/Tilt
            this._writeMessage(Consts.BLECharacteristic.LPF2_ALL, Buffer.from([0x41, 0x3d, 0x00, 0x0a, 0x00, 0x00, 0x00, 0x01])); // Temperature
            debug("Connect completed");
            return resolve();
        });
    }
    /**
     * Set the motor speed on a given port.
     * @method ControlPlusHub#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 (!this._virtualPorts[portObj.id] && 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.type === Consts.DeviceType.CONTROL_PLUS_LARGE_MOTOR ||
                    portObj.type === Consts.DeviceType.CONTROL_PLUS_XLARGE_MOTOR) {
                    portObj.busy = true;
                    let data = null;
                    if (this._virtualPorts[portObj.id]) {
                        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 (this._virtualPorts[portObj.id]) {
                        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 ControlPlusHub#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 ControlPlusHub#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 ||
            portObj.type === Consts.DeviceType.CONTROL_PLUS_LARGE_MOTOR ||
            portObj.type === Consts.DeviceType.CONTROL_PLUS_XLARGE_MOTOR)) {
            throw new Error("Angle rotation is only available when using a Boost Tacho Motor, Boost Move Hub Motor, Control+ Medium Motor, or Control+ Large Motor");
        }
        if (!this._virtualPorts[portObj.id] && 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 (this._virtualPorts[portObj.id]) {
                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();
            };
        });
    }
    /**
     * Tell motor to goto an absolute position
     * @method ControlPlusHub#setAbsolutePosition
     * @param {string} port
     * @param {number} pos The position of the motor to go to
     * @param {number | Array.<number>} [speed=100] A value between 1 - 100 should be set (Direction does not apply when going to absolute position)
     * @returns {Promise} Resolved upon successful completion of command (ie. once the motor is finished).
     */
    setAbsolutePosition(port, pos, speed = 100) {
        const portObj = this._portLookup(port);
        if (!(portObj.type === Consts.DeviceType.CONTROL_PLUS_LARGE_MOTOR ||
            portObj.type === Consts.DeviceType.CONTROL_PLUS_XLARGE_MOTOR)) {
            throw new Error("Absolute positioning is only available when using a Control+ Medium Motor, or Control+ Large Motor");
        }
        portObj.cancelEventTimer();
        return new Promise((resolve, reject) => {
            portObj.busy = true;
            let data = null;
            if (this._virtualPorts[portObj.id]) {
                data = Buffer.from([0x81, portObj.value, 0x11, 0x0e, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, this._mapSpeed(speed), 0x64, 0x7f, 0x03]);
                data.writeInt32LE(pos, 4);
                data.writeInt32LE(pos, 8);
            }
            else {
                // @ts-ignore: The type of speed is properly checked at the start
                data = Buffer.from([0x81, portObj.value, 0x11, 0x0d, 0x00, 0x00, 0x00, 0x00, this._mapSpeed(speed), 0x64, 0x7f, 0x03]);
                data.writeInt32LE(pos, 4);
            }
            this._writeMessage(Consts.BLECharacteristic.LPF2_ALL, data);
            portObj.finished = () => {
                return resolve();
            };
        });
    }
    /**
     * Reset the current motor position as absolute position zero
     * @method ControlPlusHub#resetAbsolutePosition
     * @param {string} port
     * @returns {Promise} Resolved upon successful completion of command (ie. once the motor is finished).
     */
    resetAbsolutePosition(port) {
        const portObj = this._portLookup(port);
        if (!(portObj.type === Consts.DeviceType.CONTROL_PLUS_LARGE_MOTOR ||
            portObj.type === Consts.DeviceType.CONTROL_PLUS_XLARGE_MOTOR)) {
            throw new Error("Absolute positioning is only available when using a Control+ Medium Motor, or Control+ Large Motor");
        }
        return new Promise((resolve) => {
            const data = Buffer.from([0x81, portObj.value, 0x11, 0x51, 0x02, 0x00, 0x00, 0x00, 0x00]);
            this._writeMessage(Consts.BLECharacteristic.LPF2_ALL, data);
            return resolve();
        });
    }
    /**
     * Fully (hard) stop the motor on a given port.
     * @method ControlPlusHub#brakeMotor
     * @param {string} port
     * @returns {Promise} Resolved upon successful completion of command.
     */
    brakeMotor(port) {
        return this.setMotorSpeed(port, 127);
    }
    /**
     * Set the light brightness on a given port.
     * @method ControlPlusHub#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.ControlPlusHub = ControlPlusHub;
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