305 lines
14 KiB
TypeScript
305 lines
14 KiB
TypeScript
import compareVersion from "compare-versions";
|
|
import { Peripheral } from "noble";
|
|
|
|
import { LPF2Hub } from "./lpf2hub";
|
|
import { Port } from "./port";
|
|
|
|
import * as Consts from "./consts";
|
|
|
|
import Debug = require("debug");
|
|
import { IBLEDevice } from "./interfaces";
|
|
const debug = Debug("ControlPlusHub");
|
|
|
|
|
|
/**
|
|
* The ControlPlusHub is emitted if the discovered device is a Control+ Hub.
|
|
* @class ControlPlusHub
|
|
* @extends LPF2Hub
|
|
* @extends Hub
|
|
*/
|
|
export class ControlPlusHub extends LPF2Hub {
|
|
|
|
|
|
public static IsControlPlusHub (peripheral: Peripheral) {
|
|
return (peripheral.advertisement &&
|
|
peripheral.advertisement.serviceUuids &&
|
|
peripheral.advertisement.serviceUuids.indexOf(Consts.BLEService.LPF2_HUB.replace(/-/g, "")) >= 0 && peripheral.advertisement.manufacturerData[3] === Consts.BLEManufacturerData.CONTROL_PLUS_LARGE_HUB);
|
|
}
|
|
|
|
|
|
constructor (device: IBLEDevice, autoSubscribe: boolean = true) {
|
|
super(device, autoSubscribe);
|
|
this.type = Consts.HubType.CONTROL_PLUS_HUB;
|
|
this._ports = {
|
|
"A": new Port("A", 0),
|
|
"B": new Port("B", 1),
|
|
"C": new Port("C", 2),
|
|
"D": new Port("D", 3),
|
|
// "TILT": new Port("TILT", 60)
|
|
};
|
|
this.on("attach", (port, type) => {
|
|
this._combinePorts(port, type);
|
|
});
|
|
debug("Discovered Control+ Hub");
|
|
}
|
|
|
|
|
|
public 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.
|
|
*/
|
|
public setMotorSpeed (port: string, speed: number | [number, number], time?: number | boolean) {
|
|
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.
|
|
*/
|
|
public rampMotorSpeed (port: string, fromSpeed: number, toSpeed: number, time: number) {
|
|
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).
|
|
*/
|
|
public setMotorAngle (port: string, angle: number, speed: number | [number, number] = 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).
|
|
*/
|
|
public setAbsolutePosition (port: string, pos: number, speed: number = 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).
|
|
*/
|
|
public resetAbsolutePosition (port: string) {
|
|
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.
|
|
*/
|
|
public brakeMotor (port: string) {
|
|
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.
|
|
*/
|
|
public setLightBrightness (port: string, brightness: number, time?: number) {
|
|
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();
|
|
}
|
|
});
|
|
}
|
|
|
|
|
|
}
|