238 lines
8.6 KiB
TypeScript
238 lines
8.6 KiB
TypeScript
import { Peripheral } from "noble";
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import { Hub } from "./hub.js";
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import { Port } from "./port.js";
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import * as Consts from "./consts";
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import Debug = require("debug");
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const debug = Debug("wedo2hub");
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/**
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* The WeDo2Hub is emitted if the discovered device is a WeDo 2.0 Smart Hub.
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* @class WeDo2Hub
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* @extends Hub
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*/
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export class WeDo2Hub extends Hub {
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public static IsWeDo2Hub (peripheral: Peripheral) {
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return (peripheral.advertisement.serviceUuids.indexOf(Consts.BLEServices.WEDO2_SMART_HUB) >= 0);
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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 (peripheral: Peripheral, autoSubscribe: boolean = true) {
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super(peripheral, autoSubscribe);
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this.type = Consts.Hubs.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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this._subscribeToCharacteristic(this._characteristics[Consts.BLECharacteristics.WEDO2_PORT_TYPE], this._parsePortMessage.bind(this));
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this._subscribeToCharacteristic(this._characteristics[Consts.BLECharacteristics.WEDO2_SENSOR_VALUE], this._parseSensorMessage.bind(this));
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this._subscribeToCharacteristic(this._characteristics[Consts.BLECharacteristics.WEDO2_BUTTON], this._parseSensorMessage.bind(this));
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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 WeDo2Hub#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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const motorCharacteristic = this._characteristics[Consts.BLECharacteristics.WEDO2_MOTOR_VALUE_WRITE];
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const portCharacteristic = this._characteristics[Consts.BLECharacteristics.WEDO2_PORT_TYPE_WRITE];
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if (motorCharacteristic && portCharacteristic) {
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let data = Buffer.from([0x06, 0x17, 0x01, 0x01]);
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portCharacteristic.write(data, false);
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if (color === false) {
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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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motorCharacteristic.write(data, false);
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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 WeDo2Hub#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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const motorCharacteristic = this._characteristics[Consts.BLECharacteristics.WEDO2_MOTOR_VALUE_WRITE];
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const portCharacteristic = this._characteristics[Consts.BLECharacteristics.WEDO2_PORT_TYPE_WRITE];
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if (motorCharacteristic && portCharacteristic) {
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const data1 = Buffer.from([0x01, 0x02, 0x06, 0x17, 0x01, 0x02]);
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portCharacteristic.write(data1, false);
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const data2 = Buffer.from([0x06, 0x04, 0x03, red, green, blue]);
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motorCharacteristic.write(data2, false);
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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 motor speed on a given port.
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* @method WeDo2Hub#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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* @returns {Promise} Resolved upon successful issuance of command.
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*/
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public setMotorSpeed (port: string, speed: number) {
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return new Promise((resolve, reject) => {
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const characteristic = this._characteristics[Consts.BLECharacteristics.WEDO2_MOTOR_VALUE_WRITE];
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if (characteristic) {
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characteristic.write(Buffer.from([this._ports[port].value, 0x01, 0x02, this._mapSpeed(speed)]), false);
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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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const characteristic = this._characteristics[Consts.BLECharacteristics.WEDO2_PORT_TYPE_WRITE];
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if (characteristic) {
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characteristic.write(Buffer.from([0x01, 0x02, port, type, mode, 0x01, 0x00, 0x00, 0x00, format, 0x01]), false, 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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const characteristic = this._characteristics[Consts.BLECharacteristics.WEDO2_PORT_TYPE_WRITE];
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if (characteristic) {
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characteristic.write(Buffer.from([0x01, 0x02, port, type, mode, 0x01, 0x00, 0x00, 0x00, format, 0x00]), false, callback);
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}
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}
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private _parsePortMessage (data: Buffer) {
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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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if (data[0] === 1) {
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/**
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* Emits when a button is pressed.
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* @event WeDo2Hub#button
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* @param {string} button
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* @param {number} state A number representing one of the button state consts.
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*/
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this.emit("button", "GREEN", Consts.ButtonStates.PRESSED);
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return;
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} else if (data[0] === 0) {
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this.emit("button", "GREEN", Consts.ButtonStates.RELEASED);
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return;
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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.Devices.WEDO2_DISTANCE:
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{
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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 WeDo2Hub#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.Devices.BOOST_DISTANCE:
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{
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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 WeDo2Hub#color
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* @param {string} port
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* @param {number} color A number representing one of the LED color consts.
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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.Devices.WEDO2_TILT:
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{
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this._lastTiltX = data[2];
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if (this._lastTiltX > 100) {
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this._lastTiltX = -(255 - this._lastTiltX);
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}
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this._lastTiltY = data[3];
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if (this._lastTiltY > 100) {
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this._lastTiltY = -(255 - this._lastTiltY);
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}
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/**
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* Emits when a tilt sensor is activated.
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* @event WeDo2Hub#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.Devices.BOOST_INTERACTIVE_MOTOR:
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{
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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 WeDo2Hub#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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}
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}
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}
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}
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}
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