77 lines
2.4 KiB
TypeScript
77 lines
2.4 KiB
TypeScript
import { Device } from "./device";
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import { Hub } from "./hub";
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import * as Consts from "./consts";
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export class ColorDistanceSensor extends Device {
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constructor (hub: Hub, portId: number) {
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super(hub, portId, Consts.DeviceType.COLOR_DISTANCE_SENSOR);
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this.on("newListener", (event) => {
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if (this.autoSubscribe) {
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switch (event) {
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case "color":
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this.subscribe(0x08);
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break;
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case "distance":
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this.subscribe(0x08);
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break;
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case "colorAndDistance":
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this.subscribe(0x08);
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break;
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}
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}
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});
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}
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public receive (message: Buffer) {
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const mode = this._mode;
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switch (mode) {
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case 0x08:
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/**
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* Emits when a color sensor is activated.
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* @event ColorDistanceSensor#color
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* @param {string} port
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* @param {Color} color
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*/
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if (message[4] <= 10) {
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const color = message[4];
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this.emit("color", color);
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}
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let distance = message[5];
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const partial = message[7];
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if (partial > 0) {
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distance += 1.0 / partial;
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}
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distance = Math.floor(distance * 25.4) - 20;
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/**
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* Emits when a distance sensor is activated.
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* @event ColorDistanceSensor#distance
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* @param {string} port
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* @param {number} distance Distance, in millimeters.
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*/
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this.emit("distance", distance);
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/**
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* A combined color and distance event, emits when the sensor is activated.
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* @event ColorDistanceSensor#colorAndDistance
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* @param {string} port
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* @param {Color} color
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* @param {number} distance Distance, in millimeters.
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*/
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if (message[4] <= 10) {
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const color = message[4];
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this.emit("colorAndDistance", color, distance);
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}
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break;
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}
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}
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}
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