463 lines
18 KiB
TypeScript
463 lines
18 KiB
TypeScript
import { Peripheral } from "@abandonware/noble";
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import { Hub } from "./hub";
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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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import { IBLEDevice } from "./interfaces";
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import { isWebBluetooth } from "./utils";
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const debug = Debug("wedo2smarthub");
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/**
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* The WeDo2SmartHub is emitted if the discovered device is a WeDo 2.0 Smart Hub.
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* @class WeDo2SmartHub
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* @extends Hub
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*/
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export class WeDo2SmartHub extends Hub {
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public static IsWeDo2SmartHub (peripheral: Peripheral) {
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return (
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peripheral.advertisement &&
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peripheral.advertisement.serviceUuids &&
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peripheral.advertisement.serviceUuids.indexOf(Consts.BLEService.WEDO2_SMART_HUB.replace(/-/g, "")) >= 0
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);
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}
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private _lastTiltX: number = 0;
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private _lastTiltY: number = 0;
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constructor (device: IBLEDevice, autoSubscribe: boolean = true) {
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super(device, autoSubscribe);
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this.type = Consts.HubType.WEDO2_SMART_HUB;
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this._ports = {
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"A": new Port("A", 1),
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"B": new Port("B", 2)
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};
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debug("Discovered WeDo 2.0 Smart 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 WeDo 2.0 Smart Hub");
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await super.connect();
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await this._bleDevice.discoverCharacteristicsForService(Consts.BLEService.WEDO2_SMART_HUB);
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await this._bleDevice.discoverCharacteristicsForService(Consts.BLEService.WEDO2_SMART_HUB_2);
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if (!isWebBluetooth) {
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await this._bleDevice.discoverCharacteristicsForService(Consts.BLEService.WEDO2_SMART_HUB_3);
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await this._bleDevice.discoverCharacteristicsForService(Consts.BLEService.WEDO2_SMART_HUB_4);
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await this._bleDevice.discoverCharacteristicsForService(Consts.BLEService.WEDO2_SMART_HUB_5);
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} else {
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await this._bleDevice.discoverCharacteristicsForService("battery_service");
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await this._bleDevice.discoverCharacteristicsForService("device_information");
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}
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this._activatePortDevice(0x03, 0x15, 0x00, 0x00); // Activate voltage reports
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this._activatePortDevice(0x04, 0x14, 0x00, 0x00); // Activate current reports
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debug("Connect completed");
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this.emit("connect");
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resolve();
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this._bleDevice.subscribeToCharacteristic(Consts.BLECharacteristic.WEDO2_PORT_TYPE, this._parsePortMessage.bind(this));
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this._bleDevice.subscribeToCharacteristic(Consts.BLECharacteristic.WEDO2_SENSOR_VALUE, this._parseSensorMessage.bind(this));
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this._bleDevice.subscribeToCharacteristic(Consts.BLECharacteristic.WEDO2_BUTTON, this._parseSensorMessage.bind(this));
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if (!isWebBluetooth) {
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this._bleDevice.subscribeToCharacteristic(Consts.BLECharacteristic.WEDO2_BATTERY, this._parseBatteryMessage.bind(this));
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this._bleDevice.readFromCharacteristic(Consts.BLECharacteristic.WEDO2_BATTERY, (err, data) => {
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if (data) {
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this._parseBatteryMessage(data);
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}
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});
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} else {
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this._bleDevice.readFromCharacteristic("00002a19-0000-1000-8000-00805f9b34fb", (err, data) => {
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if (data) {
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this._parseBatteryMessage(data);
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}
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});
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this._bleDevice.subscribeToCharacteristic("00002a19-0000-1000-8000-00805f9b34fb", this._parseHighCurrentAlert.bind(this));
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}
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this._bleDevice.subscribeToCharacteristic(Consts.BLECharacteristic.WEDO2_HIGH_CURRENT_ALERT, this._parseHighCurrentAlert.bind(this));
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if (!isWebBluetooth) {
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this._bleDevice.readFromCharacteristic(Consts.BLECharacteristic.WEDO2_FIRMWARE_REVISION, (err, data) => {
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if (data) {
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this._parseFirmwareRevisionString(data);
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}
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});
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} else {
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this._bleDevice.readFromCharacteristic("00002a26-0000-1000-8000-00805f9b34fb", (err, data) => {
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if (data) {
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this._parseFirmwareRevisionString(data);
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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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* Set the name of the Hub.
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* @method WeDo2SmartHub#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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const 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._writeMessage(Consts.BLECharacteristic.WEDO2_NAME_ID, data);
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this._writeMessage(Consts.BLECharacteristic.WEDO2_NAME_ID, data);
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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 WeDo2SmartHub#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([0x06, 0x17, 0x01, 0x01]);
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this._writeMessage(Consts.BLECharacteristic.WEDO2_PORT_TYPE_WRITE, data);
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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([0x06, 0x04, 0x01, color]);
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this._writeMessage(Consts.BLECharacteristic.WEDO2_MOTOR_VALUE_WRITE, data);
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return 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 WeDo2SmartHub#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._writeMessage(Consts.BLECharacteristic.WEDO2_DISCONNECT, Buffer.from([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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* Set the color of the LED on the Hub via RGB values.
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* @method WeDo2SmartHub#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([0x06, 0x17, 0x01, 0x02]);
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this._writeMessage(Consts.BLECharacteristic.WEDO2_PORT_TYPE_WRITE, data);
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data = Buffer.from([0x06, 0x04, 0x03, red, green, blue]);
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this._writeMessage(Consts.BLECharacteristic.WEDO2_MOTOR_VALUE_WRITE, 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 WeDo2SmartHub#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 | boolean) {
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const portObj = this._portLookup(port);
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let cancelEventTimer = true;
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if (typeof time === "boolean") {
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if (time === true) {
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cancelEventTimer = false;
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}
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time = undefined;
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}
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if (cancelEventTimer) {
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portObj.cancelEventTimer();
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}
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return new Promise((resolve, reject) => {
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this._writeMessage(Consts.BLECharacteristic.WEDO2_MOTOR_VALUE_WRITE, Buffer.from([portObj.value, 0x01, 0x02, this._mapSpeed(speed)]));
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if (time && typeof time === "number") {
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const timeout = global.setTimeout(() => {
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this._writeMessage(Consts.BLECharacteristic.WEDO2_MOTOR_VALUE_WRITE, Buffer.from([portObj.value, 0x01, 0x02, 0x00]));
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return resolve();
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}, time);
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portObj.setEventTimer(timeout);
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} else {
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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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* Ramp the motor speed on a given port.
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* @method WeDo2SmartHub#rampMotorSpeed
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* @param {string} port
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* @param {number} fromSpeed 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} toSpeed 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 the ramp should last (in milliseconds).
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* @returns {Promise} Resolved upon successful completion of command.
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*/
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public rampMotorSpeed (port: string, fromSpeed: number, toSpeed: number, time: number) {
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const portObj = this._portLookup(port);
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portObj.cancelEventTimer();
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return new Promise((resolve, reject) => {
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this._calculateRamp(fromSpeed, toSpeed, time, portObj)
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.on("changeSpeed", (speed) => {
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this.setMotorSpeed(port, speed, true);
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})
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.on("finished", resolve);
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});
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}
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/**
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* Fully (hard) stop the motor on a given port.
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* @method WeDo2SmartHub#brakeMotor
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* @param {string} port
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* @returns {Promise} Resolved upon successful completion of command.
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*/
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public brakeMotor (port: string) {
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return this.setMotorSpeed(port, 127);
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}
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/**
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* Play a tone on the Hub's in-built buzzer
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* @method WeDo2SmartHub#playTone
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* @param {number} frequency
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* @param {number} time How long the tone should play for (in milliseconds).
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* @returns {Promise} Resolved upon successful completion of command (ie. once the tone has finished playing).
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*/
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public playTone (frequency: number, time: number) {
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return new Promise((resolve, reject) => {
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const data = Buffer.from([0x05, 0x02, 0x04, 0x00, 0x00, 0x00, 0x00]);
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data.writeUInt16LE(frequency, 3);
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data.writeUInt16LE(time, 5);
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this._writeMessage(Consts.BLECharacteristic.WEDO2_MOTOR_VALUE_WRITE, data);
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global.setTimeout(resolve, time);
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});
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}
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/**
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* Set the light brightness on a given port.
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* @method WeDo2SmartHub#setLightBrightness
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* @param {string} port
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* @param {number} brightness Brightness value between 0-100 (0 is off)
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* @param {number} [time] How long to turn the light on (in milliseconds). Leave empty to turn the light on indefinitely.
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* @returns {Promise} Resolved upon successful completion of command. If time is specified, this is once the light is turned off.
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*/
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public setLightBrightness (port: string, brightness: number, time?: number) {
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const portObj = this._portLookup(port);
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portObj.cancelEventTimer();
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return new Promise((resolve, reject) => {
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const data = Buffer.from([portObj.value, 0x01, 0x02, brightness]);
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this._writeMessage(Consts.BLECharacteristic.WEDO2_MOTOR_VALUE_WRITE, data);
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if (time) {
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const timeout = global.setTimeout(() => {
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const data = Buffer.from([portObj.value, 0x01, 0x02, 0x00]);
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this._writeMessage(Consts.BLECharacteristic.WEDO2_MOTOR_VALUE_WRITE, data);
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return resolve();
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}, time);
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portObj.setEventTimer(timeout);
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} else {
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return resolve();
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}
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});
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}
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public sendRaw (message: Buffer, characteristic: string = Consts.BLECharacteristic.WEDO2_MOTOR_VALUE_WRITE) {
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return new Promise((resolve, reject) => {
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this._writeMessage(characteristic, message, () => {
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return resolve();
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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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this._writeMessage(Consts.BLECharacteristic.WEDO2_PORT_TYPE_WRITE, Buffer.from([0x01, 0x02, port, type, mode, 0x01, 0x00, 0x00, 0x00, format, 0x01]), callback);
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}
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protected _deactivatePortDevice (port: number, type: number, mode: number, format: number, callback?: () => void) {
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this._writeMessage(Consts.BLECharacteristic.WEDO2_PORT_TYPE_WRITE, Buffer.from([0x01, 0x02, port, type, mode, 0x01, 0x00, 0x00, 0x00, format, 0x00]), callback);
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}
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private _writeMessage (uuid: string, message: Buffer, callback?: () => void) {
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if (debug.enabled) {
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debug(`Sent Message (${this._getCharacteristicNameFromUUID(uuid)})`, message);
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}
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this._bleDevice.writeToCharacteristic(uuid, message, callback);
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}
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private _getCharacteristicNameFromUUID (uuid: string) {
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const keys = Object.keys(Consts.BLECharacteristic);
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for (let i = 0; i < keys.length; i++) {
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const key = keys[i];
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if (Consts.BLECharacteristic[key as keyof typeof Consts.BLECharacteristic] === uuid) {
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return key;
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}
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}
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return "UNKNOWN";
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}
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private _parseHighCurrentAlert (data: Buffer) {
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debug("Received Message (WEDO2_HIGH_CURRENT_ALERT)", data);
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}
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private _parseBatteryMessage (data: Buffer) {
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debug("Received Message (WEDO2_BATTERY)", data);
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this._batteryLevel = data[0];
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}
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private _parseFirmwareRevisionString (data: Buffer) {
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debug("Received Message (WEDO2_FIRMWARE_REVISION)", data);
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this._firmwareVersion = data.toString();
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}
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private _parsePortMessage (data: Buffer) {
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debug("Received Message (WEDO2_PORT_TYPE)", data);
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const port = this._getPortForPortNumber(data[0]);
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if (!port) {
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return;
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}
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port.connected = data[1] === 1 ? true : false;
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this._registerDeviceAttachment(port, data[3]);
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}
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private _parseSensorMessage (data: Buffer) {
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debug("Received Message (WEDO2_SENSOR_VALUE)", data);
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if (data[0] === 0x01) {
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/**
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* Emits when a button is pressed.
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* @event WeDo2SmartHub#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 (data[0] === 0x00) {
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this.emit("button", "GREEN", Consts.ButtonState.RELEASED);
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return;
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}
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// Voltage
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if (data[1] === 0x03) {
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const voltage = data.readInt16LE(2);
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this._voltage = voltage / 40;
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// Current
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} else if (data[1] === 0x04) {
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const current = data.readInt16LE(2);
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this._current = current / 1000;
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}
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const port = this._getPortForPortNumber(data[1]);
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if (!port) {
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return;
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}
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if (port && port.connected) {
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switch (port.type) {
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case Consts.DeviceType.WEDO2_DISTANCE: {
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let distance = data[2];
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if (data[3] === 1) {
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distance = data[2] + 255;
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}
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/**
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* Emits when a distance sensor is activated.
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* @event WeDo2SmartHub#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", port.id, distance * 10);
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break;
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}
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case Consts.DeviceType.BOOST_DISTANCE: {
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const distance = data[2];
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/**
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* Emits when a color sensor is activated.
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* @event WeDo2SmartHub#color
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* @param {string} port
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* @param {Color} color
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*/
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this.emit("color", port.id, distance);
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break;
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}
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case Consts.DeviceType.WEDO2_TILT: {
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this._lastTiltX = data.readInt8(2);
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this._lastTiltY = data.readInt8(3);
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/**
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* Emits when a tilt sensor is activated.
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* @event WeDo2SmartHub#tilt
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* @param {string} port
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* @param {number} x
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* @param {number} y
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*/
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this.emit("tilt", port.id, this._lastTiltX, this._lastTiltY);
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break;
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}
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case Consts.DeviceType.BOOST_TACHO_MOTOR: {
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const rotation = data.readInt32LE(2);
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/**
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* Emits when a rotation sensor is activated.
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* @event WeDo2SmartHub#rotate
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* @param {string} port
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* @param {number} rotation
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*/
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this.emit("rotate", port.id, rotation);
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break;
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}
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case Consts.DeviceType.CONTROL_PLUS_LARGE_MOTOR: {
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const rotation = data.readInt32LE(2);
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this.emit("rotate", port.id, rotation);
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break;
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}
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case Consts.DeviceType.CONTROL_PLUS_XLARGE_MOTOR: {
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const rotation = data.readInt32LE(2);
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this.emit("rotate", port.id, rotation);
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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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}
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