394 lines
11 KiB
TypeScript
394 lines
11 KiB
TypeScript
import { EventEmitter } from "events";
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import { Characteristic, Peripheral, Service } from "noble";
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import { Port } from "./port";
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import * as Consts from "./consts";
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import Debug = require("debug");
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const debug = Debug("hub");
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/**
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* @class Hub
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* @ignore
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* @extends EventEmitter
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*/
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export class Hub extends EventEmitter {
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public autoSubscribe: boolean = true;
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public useSpeedMap: boolean = true;
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public type: Consts.HubType = Consts.HubType.UNKNOWN;
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protected _ports: {[port: string]: Port} = {};
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protected _characteristics: {[uuid: string]: Characteristic} = {};
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protected _name: string;
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protected _batteryLevel: number = 100;
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private _peripheral: Peripheral;
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private _uuid: string;
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private _rssi: number = -100;
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constructor (peripheral: Peripheral, autoSubscribe: boolean = true) {
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super();
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this.autoSubscribe = !!autoSubscribe;
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this._peripheral = peripheral;
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this._uuid = peripheral.uuid;
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this._name = peripheral.advertisement.localName;
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}
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/**
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* @readonly
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* @property {string} name Name of the hub
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*/
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public get name () {
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return this._name;
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}
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/**
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* @readonly
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* @property {string} uuid UUID of the hub
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*/
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public get uuid () {
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return this._uuid;
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}
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/**
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* @readonly
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* @property {number} rssi Signal strength of the hub
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*/
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public get rssi () {
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return this._rssi;
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}
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/**
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* @readonly
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* @property {number} batteryLevel Battery level of the hub (Percentage between 0-100)
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*/
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public get batteryLevel () {
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return this._batteryLevel;
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}
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/**
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* Connect to the Hub.
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* @method Hub#connect
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* @returns {Promise} Resolved upon successful connect.
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*/
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public connect () {
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return new Promise((connectResolve, connectReject) => {
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const self = this;
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this._peripheral.connect((err: string) => {
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this._rssi = this._peripheral.rssi;
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const rssiUpdateInterval = setInterval(() => {
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this._peripheral.updateRssi((err: string, rssi: number) => {
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if (!err) {
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if (this._rssi !== rssi) {
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this._rssi = rssi;
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}
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}
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});
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}, 2000);
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self._peripheral.on("disconnect", () => {
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clearInterval(rssiUpdateInterval);
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this.emit("disconnect");
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});
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self._peripheral.discoverServices([], (err: string, services: Service[]) => {
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if (err) {
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this.emit("error", err);
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return;
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}
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debug("Service/characteristic discovery started");
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const servicePromises: Array<Promise<null>> = [];
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services.forEach((service) => {
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servicePromises.push(new Promise((resolve, reject) => {
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service.discoverCharacteristics([], (err, characteristics) => {
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characteristics.forEach((characteristic) => {
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this._characteristics[characteristic.uuid] = characteristic;
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});
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return resolve();
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});
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}));
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});
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Promise.all(servicePromises).then(() => {
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debug("Service/characteristic discovery finished");
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this.emit("connect");
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return connectResolve();
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});
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});
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});
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});
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}
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/**
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* Disconnect the Hub.
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* @method Hub#disconnect
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* @returns {Promise} Resolved upon successful disconnect.
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*/
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public disconnect () {
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return new Promise((resolve, reject) => {
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this._peripheral.disconnect(() => {
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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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* Subscribe to sensor notifications on a given port.
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* @method Hub#subscribe
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* @param {string} port
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* @param {number} [mode] The sensor mode to activate. If no mode is provided, the default for that sensor will be chosen.
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* @returns {Promise} Resolved upon successful issuance of command.
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*/
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public subscribe (port: string, mode?: number) {
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return new Promise((resolve, reject) => {
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let newMode = this._getModeForDeviceType(this._portLookup(port).type);
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if (mode) {
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newMode = mode;
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}
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this._activatePortDevice(this._portLookup(port).value, this._portLookup(port).type, newMode, 0x00, () => {
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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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* Unsubscribe to sensor notifications on a given port.
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* @method Hub#unsubscribe
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* @param {string} port
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* @returns {Promise} Resolved upon successful issuance of command.
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*/
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public unsubscribe (port: string) {
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return new Promise((resolve, reject) => {
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const mode = this._getModeForDeviceType(this._portLookup(port).type);
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this._deactivatePortDevice(this._portLookup(port).value, this._portLookup(port).type, mode, 0x00, () => {
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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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* Sleep a given amount of time.
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*
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* This is a helper method to make it easier to add delays into a chain of commands.
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* @method Hub#sleep
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* @param {number} delay How long to sleep (in milliseconds).
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* @returns {Promise} Resolved after the delay is finished.
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*/
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public sleep (delay: number) {
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return new Promise((resolve) => {
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global.setTimeout(resolve, delay);
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});
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}
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/**
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* Wait until a given list of concurrently running commands are complete.
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*
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* This is a helper method to make it easier to wait for concurrent commands to complete.
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* @method Hub#wait
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* @param {Array<Promise<any>>} commands Array of executing commands.
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* @returns {Promise} Resolved after the commands are finished.
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*/
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public wait (commands: Array<Promise<any>>) {
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return Promise.all(commands);
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}
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/**
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* Get the hub type.
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* @method Hub#getHubType
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* @returns {HubType}
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*/
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public getHubType () {
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return this.type;
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}
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/**
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* Get the device type for a given port.
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* @method Hub#getPortDeviceType
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* @param {string} port
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* @returns {DeviceType}
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*/
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public getPortDeviceType (port: string) {
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return this._portLookup(port).type;
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}
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protected _getCharacteristic (uuid: string) {
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return this._characteristics[uuid.replace(/-/g, "")];
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}
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protected _subscribeToCharacteristic (characteristic: Characteristic, callback: (data: Buffer) => void) {
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characteristic.on("data", (data: Buffer) => {
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return callback(data);
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});
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characteristic.subscribe((err) => {
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if (err) {
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this.emit("error", err);
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}
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});
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}
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protected _activatePortDevice (port: number, type: number, mode: number, format: number, callback?: () => void) {
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if (callback) {
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callback();
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}
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}
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protected _deactivatePortDevice (port: number, type: number, mode: number, format: number, callback?: () => void) {
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if (callback) {
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callback();
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}
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}
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protected _registerDeviceAttachment (port: Port, type: number) {
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if (port.connected) {
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port.type = type;
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if (this.autoSubscribe) {
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this._activatePortDevice(port.value, type, this._getModeForDeviceType(type), 0x00);
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/**
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* Emits when a motor or sensor is attached to the Hub.
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* @event Hub#attach
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* @param {string} port
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* @param {DeviceType} type
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*/
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this.emit("attach", port.id, type);
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}
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} else {
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port.type = Consts.DeviceType.UNKNOWN;
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debug(`Port ${port.id} disconnected`);
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/**
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* Emits when an attached motor or sensor is detached from the Hub.
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* @event Hub#detach
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* @param {string} port
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*/
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this.emit("detach", port.id);
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}
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}
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protected _getPortForPortNumber (num: number) {
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for (const key of Object.keys(this._ports)) {
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if (this._ports[key].value === num) {
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return this._ports[key];
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}
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}
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return false;
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}
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protected _mapSpeed (speed: number) { // Speed range of -100 to 100 is supported unless speed mapping is turned off, in which case, you're on your own!
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if (!this.useSpeedMap) {
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return speed;
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}
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if (speed > 0) {
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if (speed > 100) {
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speed = 100;
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}
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return speed;
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// return Math.round((speed - 1) * (97 - 15) / (100 - 1) + 15); // Forward, minimum speed is 15, maximum speed is 97
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} else if (speed < 0) {
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if (speed < -100) {
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speed = -100;
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}
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return speed;
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// return Math.round((speed - -100) * (240 - 158) / (-1 - -100) + 158); // In reverse, minimum speed is 240, maximum speed is 158
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} else {
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return 0;
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}
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}
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protected _calculateRamp (fromSpeed: number, toSpeed: number, time: number, port: Port) {
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const emitter = new EventEmitter();
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const steps = Math.abs(toSpeed - fromSpeed);
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let delay = time / steps;
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let increment = 1;
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if (delay < 50 && steps > 0) {
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increment = 50 / delay;
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delay = 50;
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}
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if (fromSpeed > toSpeed) {
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increment = -increment;
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}
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let i = 0;
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const interval = setInterval(() => {
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let speed = Math.round(fromSpeed + (++i * increment));
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if (toSpeed > fromSpeed && speed > toSpeed) {
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speed = toSpeed;
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} else if (fromSpeed > toSpeed && speed < toSpeed) {
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speed = toSpeed;
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}
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emitter.emit("changeSpeed", speed);
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if (speed === toSpeed) {
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clearInterval(interval);
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emitter.emit("finished");
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}
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}, delay);
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port.setEventTimer(interval);
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return emitter;
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}
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protected _portLookup (port: string) {
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if (!this._ports[port.toUpperCase()]) {
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throw new Error(`Port ${port.toUpperCase()} does not exist on this Hub type`);
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}
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return this._ports[port];
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}
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private _getModeForDeviceType (type: Consts.DeviceType) {
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switch (type) {
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case Consts.DeviceType.BASIC_MOTOR:
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return 0x02;
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case Consts.DeviceType.TRAIN_MOTOR:
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return 0x02;
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case Consts.DeviceType.BOOST_TACHO_MOTOR:
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return 0x02;
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case Consts.DeviceType.BOOST_MOVE_HUB_MOTOR:
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return 0x02;
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case Consts.DeviceType.BOOST_DISTANCE:
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return (this.type === Consts.HubType.WEDO2_SMART_HUB ? 0x00 : 0x08);
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case Consts.DeviceType.BOOST_TILT:
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return 0x04;
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default:
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return 0x00;
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}
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}
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}
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