292 lines
9.5 KiB
JavaScript
292 lines
9.5 KiB
JavaScript
const debug = require("debug")("lpf2"),
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EventEmitter = require("events").EventEmitter;
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const Hub = require("./hub.js"),
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Port = require("./port.js"),
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Consts = require("./consts.js");
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class BoostHub extends Hub {
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constructor (peripheral) {
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super(peripheral);
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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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this._lastTiltX = 0;
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this._lastTiltY = 0;
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debug("Discovered Boost Move Hub");
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}
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static isBoostHub (peripheral) {
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return (peripheral.advertisement.localName === Consts.BLE.Name.BOOST_MOVE_HUB_NAME && peripheral.advertisement.serviceUuids.indexOf(Consts.BLE.Services.BOOST_MOVE_HUB) >= 0);
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}
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connect (callback) {
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debug("Connecting to Boost Move Hub");
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super.connect(() => {
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const characteristic = this._characteristics[Consts.BLE.Characteristics.Boost.ALL];
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this._subscribeToCharacteristic(characteristic, this._parseMessage.bind(this));
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characteristic.write(Buffer.from([0x05, 0x00, 0x01, 0x02, 0x02]));
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debug("Connect completed");
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if (callback) {
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callback();
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}
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})
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}
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setLEDColor (color) {
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const characteristic = this._characteristics[Consts.BLE.Characteristics.Boost.ALL];
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if (characteristic) {
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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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characteristic.write(data);
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}
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}
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setMotorSpeed (port, speed, time) {
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const characteristic = this._characteristics[Consts.BLE.Characteristics.Boost.ALL];
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if (characteristic) {
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const data = Buffer.from([0x0c, 0x00, 0x81, this.ports[port].value, 0x11, 0x01, 0x00, 0x00, speed, 0x64, 0x7f, 0x03]);
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if (time) {
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data.writeInt8(0x09, 5);
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data.writeUInt16LE(time > 65535 ? 65535 : time, 6);
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}
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characteristic.write(data);
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}
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}
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setMotorAngle (port, angle, speed = 100) {
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const characteristic = this._characteristics[Consts.BLE.Characteristics.Boost.ALL];
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if (characteristic) {
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const data = Buffer.from([0x0e, 0x00, 0x81, this.ports[port].value, 0x11, 0x0b, 0x00, 0x00, 0x00, 0x00, 0x00, 0x64, 0x7f, 0x03]);;
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data.writeUInt32LE(angle, 6);
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data.writeInt8(speed, 10);
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characteristic.write(data);
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}
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}
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_parseMessage (data) {
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switch (data[2]) {
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case 0x01:
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{
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this._parseDeviceInfo(data);
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break;
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}
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case 0x04:
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{
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this._parsePortMessage(data);
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break;
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}
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case 0x45:
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{
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this._parseSensorMessage(data);
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break;
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}
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}
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}
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_parseDeviceInfo (data) {
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if (data[3] === 2) {
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if (data[5] === 1) {
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this.emit("button", Consts.Button.PRESSED);
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return;
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} else if (data[5] === 0) {
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this.emit("button", Consts.Button.RELEASED);
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return;
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}
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}
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}
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_parsePortMessage (data) {
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let port = null;
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if (data[3] === 1) {
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port = this.ports["C"];
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} else if (data[3] === 2) {
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port = this.ports["D"];
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} else if (data[3] === 55) {
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port = this.ports["A"];
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} else if (data[3] === 56) {
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port = this.ports["B"];
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} else if (data[3] === 57) {
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port = this.ports["AB"];
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} else if (data[3] === 58) {
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port = this.ports["TILT"];
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} else {
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return;
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}
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port.connected = (data[4] === 1 || data[4] === 2) ? true : false;
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if (port.connected) {
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switch (data[5]) {
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case Consts.Devices.WEDO2_TILT:
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{
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port.type = Consts.Devices.WEDO2_TILT;
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debug(`Port ${port.id} connected, detected WEDO2_TILT`);
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this._activatePortDevice(port.value, port.type, 0x00, 0x00);
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break;
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}
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case Consts.Devices.WEDO2_DISTANCE:
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{
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port.type = Consts.Devices.WEDO2_DISTANCE;
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debug(`Port ${port.id} connected, detected WEDO2_DISTANCE`);
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this._activatePortDevice(port.value, port.type, 0x00, 0x00);
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break;
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}
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case Consts.Devices.WEDO2_MOTOR:
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{
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port.type = Consts.Devices.WEDO2_MOTOR;
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debug(`Port ${port.id} connected, detected WEDO2_MOTOR`);
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this._activatePortDevice(port.value, port.type, 0x02, 0x00);
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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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port.type = Consts.Devices.BOOST_DISTANCE;
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debug(`Port ${port.id} connected, detected BOOST_DISTANCE`);
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this._activatePortDevice(port.value, port.type, 0x08, 0x00);
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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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port.type = Consts.Devices.BOOST_INTERACTIVE_MOTOR;
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debug(`Port ${port.id} connected, detected BOOST_INTERACTIVE_MOTOR`);
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this._activatePortDevice(port.value, port.type, 0x02, 0x00);
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break;
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}
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case Consts.Devices.BOOST_MOVE_HUB_MOTOR:
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{
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port.type = Consts.Devices.BOOST_MOVE_HUB_MOTOR;
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debug(`Port ${port.id} connected, detected BOOST_MOVE_HUB_MOTOR`);
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this._activatePortDevice(port.value, port.type, 0x02, 0x00);
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break;
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}
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case Consts.Devices.BOOST_TILT:
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{
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port.type = Consts.Devices.BOOST_TILT;
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debug(`Port ${port.id} connected, detected BOOST_TILT`);
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this._activatePortDevice(port.value, port.type, 0x00, 0x00);
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break;
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}
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}
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} else {
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port.type = null;
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debug(`Port ${port.id} disconnected`);
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}
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}
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_activatePortDevice (port, type, mode, format, callback) {
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const characteristic = this._characteristics[Consts.BLE.Characteristics.Boost.ALL];
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if (characteristic) {
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characteristic.write(Buffer.from([0x0a, 0x00, 0x41, port, mode, 0x01, 0x00, 0x00, 0x00, 0x01]), callback);
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}
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}
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_parseSensorMessage (data) {
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let port = null;
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if (data[3] === 1) {
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port = this.ports["C"];
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} else if (data[3] === 2) {
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port = this.ports["D"];
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} else if (data[3] === 55) {
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port = this.ports["A"];
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} else if (data[3] === 56) {
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port = this.ports["B"];
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} else if (data[3] === 57) {
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port = this.ports["AB"];
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} else if (data[3] === 58) {
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port = this.ports["TILT"];
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} else {
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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[4];
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if (data[5] === 1) {
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distance = data[4] + 255;
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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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this.emit("color", port.id, data[4]);
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let distance = data[5],
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partial = data[7];
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if (partial > 0) {
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distance += 1 / partial;
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}
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this.emit("distance", port.id, Math.floor(distance * 25.4));
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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[4];
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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[5];
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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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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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this.emit("rotate", port.id, rotation);
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break;
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}
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case Consts.Devices.BOOST_TILT:
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{
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let tiltX = data[4] > 160 ? data[4] - 255 : data[4];
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let tiltY = data[5] > 160 ? 255 - data[5] : data[5] - (data[5] * 2);
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this.emit("tilt", port.id, tiltX, tiltY);
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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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module.exports = BoostHub; |