131 lines
5.1 KiB
TypeScript
131 lines
5.1 KiB
TypeScript
import { Peripheral } from "noble";
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import { LPF2Hub } from "./lpf2hub";
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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("lpf2hub");
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/**
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* The BoostMoveHub is emitted if the discovered device is a Boost Move Hub.
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* @class BoostMoveHub
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* @extends LPF2Hub
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* @extends Hub
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*/
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export class BoostMoveHub extends LPF2Hub {
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public static IsBoostMoveHub (peripheral: Peripheral) {
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return (peripheral.advertisement.serviceUuids.indexOf(Consts.BLEServices.LPF2_HUB) >= 0 && peripheral.advertisement.manufacturerData[3] === Consts.BLEManufacturerData.BOOST_MOVE_HUB_ID);
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}
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constructor (peripheral: Peripheral, autoSubscribe: boolean = true) {
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super(peripheral, autoSubscribe);
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this.type = Consts.Hubs.BOOST_MOVE_HUB;
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this._ports = {
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"A": new Port("A", 55),
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"B": new Port("B", 56),
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"AB": new Port("AB", 57),
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"TILT": new Port("TILT", 58),
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"C": new Port("C", 1),
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"D": new Port("D", 2)
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};
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debug("Discovered Boost Move Hub");
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}
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public connect () {
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return new Promise(async (resolve, reject) => {
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debug("Connecting to Boost Move Hub");
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await super.connect();
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debug("Connect completed");
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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 BoostMoveHub#setLEDColor
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* @param {number} color A number representing one of the LED color consts.
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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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if (color === false) {
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color = 0;
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}
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const data = Buffer.from([0x08, 0x00, 0x81, 0x32, 0x11, 0x51, 0x00, color]);
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this._writeMessage(Consts.BLECharacteristics.LPF2_ALL, data);
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return resolve();
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});
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}
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/**
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* Set the motor speed on a given port.
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* @method BoostMoveHub#setMotorSpeed
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* @param {string} port
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* @param {number} speed For forward, a value between 1 - 100 should be set. For reverse, a value between -1 to -100. Stop is 0.
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* @param {number} [time] How long to activate the motor for (in milliseconds). Leave empty to turn the motor on indefinitely.
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* @returns {Promise} Resolved upon successful completion of command. If time is specified, this is once the motor is finished.
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*/
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public setMotorSpeed (port: string, speed: number, time?: number) {
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return new Promise((resolve, reject) => {
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const portObj = this._ports[port];
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if (time) {
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if (portObj.type === Consts.Devices.BOOST_INTERACTIVE_MOTOR || portObj.type === Consts.Devices.BOOST_MOVE_HUB_MOTOR) {
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portObj.busy = true;
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const data = Buffer.from([0x0c, 0x00, 0x81, portObj.value, 0x11, 0x09, 0x00, 0x00, this._mapSpeed(speed), 0x64, 0x7f, 0x03]);
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data.writeUInt16LE(time > 65535 ? 65535 : time, 6);
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this._writeMessage(Consts.BLECharacteristics.LPF2_ALL, data);
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portObj.finished = () => {
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return resolve();
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};
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} else {
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const data = Buffer.from([0x08, 0x00, 0x81, portObj.value, 0x11, 0x51, 0x00, this._mapSpeed(speed)]);
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this._writeMessage(Consts.BLECharacteristics.LPF2_ALL, data);
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setTimeout(() => {
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const data = Buffer.from([0x08, 0x00, 0x81, portObj.value, 0x11, 0x51, 0x00, 0x00]);
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this._writeMessage(Consts.BLECharacteristics.LPF2_ALL, data);
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return resolve();
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}, time);
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}
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} else {
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const data = Buffer.from([0x08, 0x00, 0x81, portObj.value, 0x11, 0x51, 0x00, this._mapSpeed(speed)]);
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this._writeMessage(Consts.BLECharacteristics.LPF2_ALL, data);
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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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* Rotate a motor by a given angle.
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* @method BoostMoveHub#setMotorAngle
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* @param {string} port
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* @param {number} angle How much the motor should be rotated (in degrees).
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* @param {number} [speed=100] How fast the motor should be rotated.
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* @returns {Promise} Resolved upon successful completion of command (ie. once the motor is finished).
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*/
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public setMotorAngle (port: string, angle: number, speed: number = 100) {
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const portObj = this._ports[port];
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return new Promise((resolve, reject) => {
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portObj.busy = true;
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const data = Buffer.from([0x0e, 0x00, 0x81, portObj.value, 0x11, 0x0b, 0x00, 0x00, 0x00, 0x00, 0x00, 0x64, 0x7f, 0x03]);
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data.writeUInt32LE(angle, 6);
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data.writeUInt8(this._mapSpeed(speed), 10);
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this._writeMessage(Consts.BLECharacteristics.LPF2_ALL, data);
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portObj.finished = () => {
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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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