Nathan Kellenicki
6a7c4899b4
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684 lines
27 KiB
TypeScript
684 lines
27 KiB
TypeScript
import { Device } from "./device";
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import { Hub } from "./hub";
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import { ColorDistanceSensor } from "./colordistancesensor";
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import { ControlPlusLargeMotor } from "./controlpluslargemotor";
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import { ControlPlusXLargeMotor } from "./controlplusxlargemotor";
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import { Lights } from "./lights";
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import { MediumLinearMotor } from "./mediumlinearmotor";
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import { MoveHubMediumLinearMotor } from "./MoveHubMediumLinearMotor";
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import { SimpleMediumLinearMotor } from "./simplemediumlinearmotor";
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import { TrainMotor } from "./trainmotor";
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import * as Consts from "./consts";
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import { decodeMACAddress, decodeVersion, toBin, toHex } from "./utils";
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import Debug = require("debug");
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const debug = Debug("lpf2hub");
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const modeInfoDebug = Debug("lpf2hubmodeinfo");
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/**
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* @class LPF2Hub
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* @extends Hub
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*/
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export class LPF2Hub extends Hub {
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protected _ledPort: number = 0x32;
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protected _voltagePort: number | undefined;
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protected _voltageMaxV: number = 9.6;
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protected _voltageMaxRaw: number = 3893;
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protected _currentPort: number | undefined;
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protected _currentMaxMA: number = 2444;
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protected _currentMaxRaw: number = 4095;
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private _lastTiltX: number = 0;
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private _lastTiltY: number = 0;
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private _lastTiltZ: number = 0;
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private _messageBuffer: Buffer = Buffer.alloc(0);
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public connect () {
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return new Promise(async (resolve, reject) => {
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await super.connect();
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await this._bleDevice.discoverCharacteristicsForService(Consts.BLEService.LPF2_HUB);
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this._bleDevice.subscribeToCharacteristic(Consts.BLECharacteristic.LPF2_ALL, this._parseMessage.bind(this));
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if (this._voltagePort !== undefined) {
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this.subscribe(this._voltagePort, 0x00); // Activate voltage reports
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}
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if (this._currentPort !== undefined) {
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this.subscribe(this._currentPort, 0x00); // Activate currrent reports
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}
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await this.sleep(100);
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this.send(Buffer.from([0x01, 0x02, 0x02]), Consts.BLECharacteristic.LPF2_ALL); // Activate button reports
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this.send(Buffer.from([0x01, 0x03, 0x05]), Consts.BLECharacteristic.LPF2_ALL); // Request firmware version
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this.send(Buffer.from([0x01, 0x04, 0x05]), Consts.BLECharacteristic.LPF2_ALL); // Request hardware version
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this.send(Buffer.from([0x01, 0x05, 0x02]), Consts.BLECharacteristic.LPF2_ALL); // Activate RSSI updates
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this.send(Buffer.from([0x01, 0x06, 0x02]), Consts.BLECharacteristic.LPF2_ALL); // Activate battery level reports
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this.send(Buffer.from([0x01, 0x0d, 0x05]), Consts.BLECharacteristic.LPF2_ALL); // Request primary MAC address
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this.emit("connect");
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resolve();
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});
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}
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/**
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* Shutdown the Hub.
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* @method LPF2Hub#shutdown
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* @returns {Promise} Resolved upon successful disconnect.
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*/
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public shutdown () {
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return new Promise((resolve, reject) => {
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this.send(Buffer.from([0x02, 0x01]), Consts.BLECharacteristic.LPF2_ALL, () => {
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return resolve();
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});
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});
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}
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/**
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* Set the name of the Hub.
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* @method LPF2Hub#setName
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* @param {string} name New name of the hub (14 characters or less, ASCII only).
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* @returns {Promise} Resolved upon successful issuance of command.
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*/
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public setName (name: string) {
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if (name.length > 14) {
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throw new Error("Name must be 14 characters or less");
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}
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return new Promise((resolve, reject) => {
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let data = Buffer.from([0x01, 0x01, 0x01]);
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data = Buffer.concat([data, Buffer.from(name, "ascii")]);
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// Send this twice, as sometimes the first time doesn't take
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this.send(data, Consts.BLECharacteristic.LPF2_ALL);
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this.send(data, Consts.BLECharacteristic.LPF2_ALL);
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this._name = name;
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return resolve();
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});
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}
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/**
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* Set the color of the LED on the Hub via a color value.
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* @method LPF2Hub#setLEDColor
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* @param {Color} color
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* @returns {Promise} Resolved upon successful issuance of command.
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*/
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public setLEDColor (color: number | boolean) {
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return new Promise((resolve, reject) => {
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let data = Buffer.from([0x41, this._ledPort, 0x00, 0x01, 0x00, 0x00, 0x00, 0x00]);
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this.send(data, Consts.BLECharacteristic.LPF2_ALL);
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if (typeof color === "boolean") {
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color = 0;
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}
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data = Buffer.from([0x81, this._ledPort, 0x11, 0x51, 0x00, color]);
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this.send(data, Consts.BLECharacteristic.LPF2_ALL);
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return resolve();
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});
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}
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/**
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* Set the color of the LED on the Hub via RGB values.
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* @method LPF2Hub#setLEDRGB
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* @param {number} red
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* @param {number} green
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* @param {number} blue
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* @returns {Promise} Resolved upon successful issuance of command.
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*/
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public setLEDRGB (red: number, green: number, blue: number) {
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return new Promise((resolve, reject) => {
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let data = Buffer.from([0x41, this._ledPort, 0x01, 0x01, 0x00, 0x00, 0x00, 0x00]);
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this.send(data, Consts.BLECharacteristic.LPF2_ALL);
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data = Buffer.from([0x81, this._ledPort, 0x11, 0x51, 0x01, red, green, blue]);
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this.send(data, Consts.BLECharacteristic.LPF2_ALL);
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return resolve();
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});
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}
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public send (message: Buffer, uuid: string, callback?: () => void) {
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message = Buffer.concat([Buffer.alloc(2), message]);
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message[0] = message.length;
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debug("Sent Message (LPF2_ALL)", message);
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this._bleDevice.writeToCharacteristic(uuid, message, callback);
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}
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public subscribe (portId: number, mode: number) {
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this.send(Buffer.from([0x41, portId, mode, 0x01, 0x00, 0x00, 0x00, 0x01]), Consts.BLECharacteristic.LPF2_ALL);
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}
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public unsubscribe (portId: number, mode: number) {
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this.send(Buffer.from([0x41, portId, mode, 0x01, 0x00, 0x00, 0x00, 0x00]), Consts.BLECharacteristic.LPF2_ALL);
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}
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// protected _combinePorts (port: string, type: number) {
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// if (!this._ports[port]) {
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// return;
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// }
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// const portObj = this._portLookup(port);
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// if (portObj) {
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// Object.keys(this._ports).forEach((id) => {
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// if (this._ports[id].type === type && this._ports[id].value !== portObj.value && !this._virtualPorts[`${portObj.value < this._ports[id].value ? portObj.id : this._ports[id].id}${portObj.value > this._ports[id].value ? portObj.id : this._ports[id].id}`]) {
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// debug("Combining ports", portObj.value < this._ports[id].value ? portObj.id : id, portObj.value > this._ports[id].value ? portObj.id : id);
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// this.send(Buffer.from([0x61, 0x01, portObj.value < this._ports[id].value ? portObj.value : this._ports[id].value, portObj.value > this._ports[id].value ? portObj.value : this._ports[id].value]), Consts.BLECharacteristic.LPF2_ALL);
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// }
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// });
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// }
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// }
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protected _checkFirmware (version: string) {
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return;
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}
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private _parseMessage (data?: Buffer) {
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if (data) {
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this._messageBuffer = Buffer.concat([this._messageBuffer, data]);
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}
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if (this._messageBuffer.length <= 0) {
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return;
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}
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const len = this._messageBuffer[0];
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if (len >= this._messageBuffer.length) {
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const message = this._messageBuffer.slice(0, len);
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this._messageBuffer = this._messageBuffer.slice(len);
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debug("Received Message (LPF2_ALL)", message);
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switch (message[2]) {
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case 0x01: {
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this._parseDeviceInfo(message);
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break;
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}
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case 0x04: {
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this._parsePortMessage(message);
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break;
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}
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case 0x43: {
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this._parsePortInformationResponse(message);
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break;
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}
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case 0x44: {
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this._parseModeInformationResponse(message);
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break;
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}
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case 0x45: {
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this._parseSensorMessage(message);
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break;
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}
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case 0x82: {
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this._parsePortAction(message);
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break;
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}
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}
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if (this._messageBuffer.length > 0) {
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this._parseMessage();
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}
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}
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}
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private _parseDeviceInfo (message: Buffer) {
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// Button press reports
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if (message[3] === 0x02) {
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if (message[5] === 1) {
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/**
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* Emits when a button is pressed.
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* @event LPF2Hub#button
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* @param {string} button
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* @param {ButtonState} state
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*/
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this.emit("button", "GREEN", Consts.ButtonState.PRESSED);
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return;
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} else if (message[5] === 0) {
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this.emit("button", "GREEN", Consts.ButtonState.RELEASED);
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return;
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}
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// Firmware version
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} else if (message[3] === 0x03) {
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this._firmwareVersion = decodeVersion(message.readInt32LE(5));
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this._checkFirmware(this._firmwareVersion);
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// Hardware version
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} else if (message[3] === 0x04) {
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this._hardwareVersion = decodeVersion(message.readInt32LE(5));
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// RSSI update
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} else if (message[3] === 0x05) {
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const rssi = message.readInt8(5);
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if (rssi !== 0) {
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this._rssi = rssi;
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this.emit("rssiChange", this._rssi);
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}
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// primary MAC Address
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} else if (message[3] === 0x0d) {
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this._primaryMACAddress = decodeMACAddress(message.slice(5));
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// Battery level reports
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} else if (message[3] === 0x06) {
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this._batteryLevel = message[5];
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}
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}
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private _parsePortMessage (message: Buffer) {
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const portId = message[3];
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const event = message[4];
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const deviceType = event ? message.readUInt16LE(5) : 0;
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// Handle device attachments
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if (event === 0x01) {
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let device;
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switch (deviceType) {
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case Consts.DeviceType.LED_LIGHTS:
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device = new Lights(this, portId);
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break;
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case Consts.DeviceType.TRAIN_MOTOR:
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device = new TrainMotor(this, portId);
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break;
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case Consts.DeviceType.SIMPLE_MEDIUM_LINEAR_MOTOR:
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device = new SimpleMediumLinearMotor(this, portId);
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break;
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case Consts.DeviceType.MOVE_HUB_MEDIUM_LINEAR_MOTOR:
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device = new MoveHubMediumLinearMotor(this, portId);
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break;
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case Consts.DeviceType.MEDIUM_LINEAR_MOTOR:
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device = new MediumLinearMotor(this, portId);
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break;
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case Consts.DeviceType.CONTROL_PLUS_LARGE_MOTOR:
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device = new ControlPlusLargeMotor(this, portId);
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break;
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case Consts.DeviceType.CONTROL_PLUS_XLARGE_MOTOR:
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device = new ControlPlusXLargeMotor(this, portId);
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break;
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case Consts.DeviceType.COLOR_DISTANCE_SENSOR:
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device = new ColorDistanceSensor(this, portId);
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break;
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default:
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device = new Device(this, portId, deviceType);
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break;
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}
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if (modeInfoDebug.enabled) {
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const deviceTypeName = Consts.DeviceTypeNames[message[5]] || "Unknown";
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modeInfoDebug(`Port ${toHex(portId)}, type ${toHex(deviceType, 4)} (${deviceTypeName})`);
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const hwVersion = decodeVersion(message.readInt32LE(7));
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const swVersion = decodeVersion(message.readInt32LE(11));
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modeInfoDebug(`Port ${toHex(portId)}, hardware version ${hwVersion}, software version ${swVersion}`);
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this._sendPortInformationRequest(portId);
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}
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this._attachDevice(device);
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// Handle device detachments
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} else if (event === 0x00) {
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const device = this._getDeviceByPortId(portId);
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if (device) {
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this._detachDevice(device);
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}
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}
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// let port = this._getPortForPortNumber(data[3]);
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// if (!port) {
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// if (data[4] === 0x02) {
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// const portA = this._getPortForPortNumber(data[7]);
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// const portB = this._getPortForPortNumber(data[8]);
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// if (portA && portB) {
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// this._virtualPorts[`${portA.id}${portB.id}`] = new Port(`${portA.id}${portB.id}`, data[3]);
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// port = this._getPortForPortNumber(data[3]);
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// if (port) {
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// port.connected = true;
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// this._registerDeviceAttachment(port, deviceType);
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// } else {
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// return;
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// }
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// } else {
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// return;
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// }
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// } else {
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// return;
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// }
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// }
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}
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private _sendPortInformationRequest (port: number) {
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this.send(Buffer.from([0x21, port, 0x01]), Consts.BLECharacteristic.LPF2_ALL);
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this.send(Buffer.from([0x21, port, 0x02]), Consts.BLECharacteristic.LPF2_ALL); // Mode combinations
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}
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private _parsePortInformationResponse (message: Buffer) {
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const port = message[3];
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if (message[4] === 2) {
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const modeCombinationMasks: number[] = [];
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for (let i = 5; i < message.length; i += 2) {
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modeCombinationMasks.push(message.readUInt16LE(i));
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}
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modeInfoDebug(`Port ${toHex(port)}, mode combinations [${modeCombinationMasks.map((c) => toBin(c, 0)).join(", ")}]`);
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return;
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}
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const count = message[6];
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const input = toBin(message.readUInt16LE(7), count);
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const output = toBin(message.readUInt16LE(9), count);
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modeInfoDebug(`Port ${toHex(port)}, total modes ${count}, input modes ${input}, output modes ${output}`);
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for (let i = 0; i < count; i++) {
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this._sendModeInformationRequest(port, i, 0x00); // Mode Name
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this._sendModeInformationRequest(port, i, 0x01); // RAW Range
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this._sendModeInformationRequest(port, i, 0x02); // PCT Range
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this._sendModeInformationRequest(port, i, 0x03); // SI Range
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this._sendModeInformationRequest(port, i, 0x04); // SI Symbol
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this._sendModeInformationRequest(port, i, 0x80); // Value Format
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}
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}
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private _sendModeInformationRequest (port: number, mode: number, type: number) {
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this.send(Buffer.from([0x22, port, mode, type]), Consts.BLECharacteristic.LPF2_ALL);
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}
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private _parseModeInformationResponse (message: Buffer) {
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const port = toHex(message[3]);
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const mode = message[4];
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const type = message[5];
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switch (type) {
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case 0x00: // Mode Name
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modeInfoDebug(`Port ${port}, mode ${mode}, name ${message.slice(6, message.length).toString()}`);
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break;
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case 0x01: // RAW Range
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modeInfoDebug(`Port ${port}, mode ${mode}, RAW min ${message.readFloatLE(6)}, max ${message.readFloatLE(10)}`);
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break;
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case 0x02: // PCT Range
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modeInfoDebug(`Port ${port}, mode ${mode}, PCT min ${message.readFloatLE(6)}, max ${message.readFloatLE(10)}`);
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break;
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case 0x03: // SI Range
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modeInfoDebug(`Port ${port}, mode ${mode}, SI min ${message.readFloatLE(6)}, max ${message.readFloatLE(10)}`);
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break;
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case 0x04: // SI Symbol
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modeInfoDebug(`Port ${port}, mode ${mode}, SI symbol ${message.slice(6, message.length).toString()}`);
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break;
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case 0x80: // Value Format
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const numValues = message[6];
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const dataType = ["8bit", "16bit", "32bit", "float"][message[7]];
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const totalFigures = message[8];
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const decimals = message[9];
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modeInfoDebug(`Port ${port}, mode ${mode}, Value ${numValues} x ${dataType}, Decimal format ${totalFigures}.${decimals}`);
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}
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}
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private _parsePortAction (message: Buffer) {
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const portId = message[3];
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const device = this._getDeviceByPortId(portId);
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if (device) {
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const finished = (message[4] === 0x0a);
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if (finished) {
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device.finish();
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}
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}
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// const port = this._getPortForPortNumber(data[3]);
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// if (!port) {
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// return;
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// }
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// if (data[4] === 0x0a) {
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// port.busy = false;
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// if (port.finished) {
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// port.finished();
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// port.finished = null;
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// }
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// }
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}
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private _parseSensorMessage (message: Buffer) {
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const portId = message[3];
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const device = this._getDeviceByPortId(portId);
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if (device) {
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device.receive(message);
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}
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// if (data[3] === this._voltagePort) {
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// const voltageRaw = data.readUInt16LE(4);
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// this._voltage = voltageRaw * this._voltageMaxV / this._voltageMaxRaw;
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// return;
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// } else if (data[3] === this._currentPort) {
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// const currentRaw = data.readUInt16LE(4);
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// this._current = this._currentMaxMA * currentRaw / this._currentMaxRaw;
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// return;
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// }
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// if ((data[3] === 0x3d && this.type === Consts.HubType.CONTROL_PLUS_HUB)) { // Control+ CPU Temperature
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// /**
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// * Emits when a change is detected on a temperature sensor. Measured in degrees centigrade.
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// * @event LPF2Hub#temp
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// * @param {string} port For Control+ Hubs, port will be "CPU" as the sensor reports CPU temperature.
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// * @param {number} temp
|
|
// */
|
|
// this.emit("temp", "CPU", ((data.readInt16LE(4) / 900) * 90).toFixed(2));
|
|
// return;
|
|
// }
|
|
|
|
// const port = this._getPortForPortNumber(data[3]);
|
|
|
|
// if (!port) {
|
|
// return;
|
|
// }
|
|
|
|
// if (port && port.connected) {
|
|
// switch (port.type) {
|
|
// case Consts.DeviceType.WEDO2_DISTANCE: {
|
|
// let distance = data[4];
|
|
// if (data[5] === 1) {
|
|
// distance = data[4] + 255;
|
|
// }
|
|
// /**
|
|
// * Emits when a distance sensor is activated.
|
|
// * @event LPF2Hub#distance
|
|
// * @param {string} port
|
|
// * @param {number} distance Distance, in millimeters.
|
|
// */
|
|
// this.emit("distance", port.id, distance * 10);
|
|
// break;
|
|
// }
|
|
// case Consts.DeviceType.COLOR_DISTANCE_SENSOR: {
|
|
|
|
// /**
|
|
// * Emits when a color sensor is activated.
|
|
// * @event LPF2Hub#color
|
|
// * @param {string} port
|
|
// * @param {Color} color
|
|
// */
|
|
// if (data[4] <= 10) {
|
|
// this.emit("color", port.id, data[4]);
|
|
// }
|
|
|
|
// let distance = data[5];
|
|
// const partial = data[7];
|
|
|
|
// if (partial > 0) {
|
|
// distance += 1.0 / partial;
|
|
// }
|
|
|
|
// distance = Math.floor(distance * 25.4) - 20;
|
|
|
|
// this.emit("distance", port.id, distance);
|
|
|
|
// /**
|
|
// * A combined color and distance event, emits when the sensor is activated.
|
|
// * @event LPF2Hub#colorAndDistance
|
|
// * @param {string} port
|
|
// * @param {Color} color
|
|
// * @param {number} distance Distance, in millimeters.
|
|
// */
|
|
// if (data[4] <= 10) {
|
|
// this.emit("colorAndDistance", port.id, data[4], distance);
|
|
// }
|
|
// break;
|
|
// }
|
|
// case Consts.DeviceType.WEDO2_TILT: {
|
|
// const tiltX = data.readInt8(4);
|
|
// const tiltY = data.readInt8(5);
|
|
// this._lastTiltX = tiltX;
|
|
// this._lastTiltY = tiltY;
|
|
// /**
|
|
// * Emits when a tilt sensor is activated.
|
|
// * @event LPF2Hub#tilt
|
|
// * @param {string} port If the event is fired from the Move Hub or Control+ Hub's in-built tilt sensor, the special port "TILT" is used.
|
|
// * @param {number} x
|
|
// * @param {number} y
|
|
// * @param {number} z (Only available when using a Control+ Hub)
|
|
// */
|
|
// this.emit("tilt", port.id, this._lastTiltX, this._lastTiltY, this._lastTiltZ);
|
|
// break;
|
|
// }
|
|
// case Consts.DeviceType.BOOST_TACHO_MOTOR: {
|
|
// const rotation = data.readInt32LE(4);
|
|
// /**
|
|
// * Emits when a rotation sensor is activated.
|
|
// * @event LPF2Hub#rotate
|
|
// * @param {string} port
|
|
// * @param {number} rotation
|
|
// */
|
|
// this.emit("rotate", port.id, rotation);
|
|
// break;
|
|
// }
|
|
// case Consts.DeviceType.BOOST_MOVE_HUB_MOTOR: {
|
|
// const rotation = data.readInt32LE(4);
|
|
// this.emit("rotate", port.id, rotation);
|
|
// break;
|
|
// }
|
|
// case Consts.DeviceType.CONTROL_PLUS_LARGE_MOTOR: {
|
|
// const rotation = data.readInt32LE(4);
|
|
// this.emit("rotate", port.id, rotation);
|
|
// break;
|
|
// }
|
|
// case Consts.DeviceType.CONTROL_PLUS_XLARGE_MOTOR: {
|
|
// const rotation = data.readInt32LE(4);
|
|
// this.emit("rotate", port.id, rotation);
|
|
// break;
|
|
// }
|
|
// case Consts.DeviceType.CONTROL_PLUS_TILT: {
|
|
// const tiltZ = data.readInt16LE(4);
|
|
// const tiltY = data.readInt16LE(6);
|
|
// const tiltX = data.readInt16LE(8);
|
|
// this._lastTiltX = tiltX;
|
|
// this._lastTiltY = tiltY;
|
|
// this._lastTiltZ = tiltZ;
|
|
// this.emit("tilt", "TILT", this._lastTiltX, this._lastTiltY, this._lastTiltZ);
|
|
// break;
|
|
// }
|
|
// case Consts.DeviceType.CONTROL_PLUS_GYRO: {
|
|
// const gyroX = Math.round(data.readInt16LE(4) * 7 / 400);
|
|
// const gyroY = Math.round(data.readInt16LE(6) * 7 / 400);
|
|
// const gyroZ = Math.round(data.readInt16LE(8) * 7 / 400);
|
|
// /**
|
|
// * Emits when gyroscope detects movement. Measured in DPS - degrees per second.
|
|
// * @event LPF2Hub#gyro
|
|
// * @param {string} port
|
|
// * @param {number} x
|
|
// * @param {number} y
|
|
// * @param {number} z
|
|
// */
|
|
// this.emit("gyro", "GYRO", gyroX, gyroY, gyroZ);
|
|
// break;
|
|
// }
|
|
// case Consts.DeviceType.CONTROL_PLUS_ACCELEROMETER: {
|
|
// const accelX = Math.round(data.readInt16LE(4) / 4.096);
|
|
// const accelY = Math.round(data.readInt16LE(6) / 4.096);
|
|
// const accelZ = Math.round(data.readInt16LE(8) / 4.096);
|
|
// /**
|
|
// * Emits when accelerometer detects movement. Measured in mG.
|
|
// * @event LPF2Hub#accel
|
|
// * @param {string} port
|
|
// * @param {number} x
|
|
// * @param {number} y
|
|
// * @param {number} z
|
|
// */
|
|
// this.emit("accel", "ACCEL", accelX, accelY, accelZ);
|
|
// break;
|
|
// }
|
|
// case Consts.DeviceType.BOOST_TILT: {
|
|
// const tiltX = data.readInt8(4);
|
|
// const tiltY = data.readInt8(5);
|
|
// this._lastTiltX = tiltX;
|
|
// this._lastTiltY = tiltY;
|
|
// this.emit("tilt", port.id, this._lastTiltX, this._lastTiltY, this._lastTiltZ);
|
|
// break;
|
|
// }
|
|
// case Consts.DeviceType.POWERED_UP_REMOTE_BUTTON: {
|
|
// switch (data[4]) {
|
|
// case 0x01: {
|
|
// this.emit("button", port.id, Consts.ButtonState.UP);
|
|
// break;
|
|
// }
|
|
// case 0xff: {
|
|
// this.emit("button", port.id, Consts.ButtonState.DOWN);
|
|
// break;
|
|
// }
|
|
// case 0x7f: {
|
|
// this.emit("button", port.id, Consts.ButtonState.STOP);
|
|
// break;
|
|
// }
|
|
// case 0x00: {
|
|
// this.emit("button", port.id, Consts.ButtonState.RELEASED);
|
|
// break;
|
|
// }
|
|
// }
|
|
// break;
|
|
// }
|
|
// case Consts.DeviceType.DUPLO_TRAIN_BASE_COLOR: {
|
|
// if (data[4] <= 10) {
|
|
// this.emit("color", port.id, data[4]);
|
|
// }
|
|
// break;
|
|
// }
|
|
// case Consts.DeviceType.DUPLO_TRAIN_BASE_SPEEDOMETER: {
|
|
// /**
|
|
// * Emits on a speed change.
|
|
// * @event LPF2Hub#speed
|
|
// * @param {string} port
|
|
// * @param {number} speed
|
|
// */
|
|
// const speed = data.readInt16LE(4);
|
|
// this.emit("speed", port.id, speed);
|
|
// break;
|
|
// }
|
|
// }
|
|
// }
|
|
|
|
}
|
|
|
|
|
|
}
|