rework port output command handling

src/consts.ts

@@ -703,3 +703,27 @@ export enum MarioColor {
     BROWN = 0x6a00,
     CYAN = 0x4201,
 }
+
+/**
+ * @typedef CommandFeedback
+ * @param {number} TRANSMISSION_PENDING 0x00 waiting for previous commands to complete transmission or execution
+ * @param {number} TRANSMISSION_BUSY 0x10 waiting for device to acknowledge reception
+ * @param {number} TRANSMISSION_DISCARDED 0x44 interrupt command has been recieved or device disconnected
+ * @param {number} EXECUTION_PENDING 0x20 device is waiting for previous command to complete
+ * @param {number} EXECUTION_BUSY 0x21 device is executing the command
+ * @param {number} EXECUTION_DISCARDED 0x24 device discarded the command e.g. due to interrupt
+ * @param {number} EXECUTION_COMPLETED 0x22 device reported successful completion of command
+ * @param {number} FEEDBACK_MISSING 0x66 device disconnected or failed to report feedback
+ * @param {number} FEEDBACK_DISABLED 0x26 feedback not implemented for this command
+ */
+export enum CommandFeedback {
+    TRANSMISSION_PENDING = 0x00,
+    TRANSMISSION_BUSY = 0x10,
+    TRANSMISSION_DISCARDED = 0x44,
+    EXECUTION_PENDING = 0x20,
+    EXECUTION_BUSY = 0x21,
+    EXECUTION_DISCARDED = 0x24,
+    EXECUTION_COMPLETED = 0x22,
+    FEEDBACK_MISSING = 0x66,
+    FEEDBACK_DISABLED = 0x26,
+}

src/devices/absolutemotor.ts

@@ -40,34 +40,29 @@ export class AbsoluteMotor extends TachoMotor {
      * @method AbsoluteMotor#gotoAngle
      * @param {number} angle Absolute position the motor should go to (degrees from 0).
      * @param {number} [speed=100] For forward, a value between 1 - 100 should be set. For reverse, a value between -1 to -100.
-     * @returns {Promise} Resolved upon successful completion of command (ie. once the motor is finished).
+     * @param {boolean} [interrupt=false] If true, previous commands are discarded.
+     * @returns {Promise<CommandFeedback>} Resolved upon completion of command (i.e. once the motor is finished).
      */
-    public gotoAngle (angle: [number, number] | number, speed: number = 100) {
+    public gotoAngle (angle: [number, number] | number, speed: number = 100, interrupt: boolean = false) {
         if (!this.isVirtualPort && angle instanceof Array) {
             throw new Error("Only virtual ports can accept multiple positions");
         }
         if (this.isWeDo2SmartHub) {
             throw new Error("Absolute positioning is not available on the WeDo 2.0 Smart Hub");
         }
-        this.cancelEventTimer();
-        return new Promise<void>((resolve) => {
-            if (speed === undefined || speed === null) {
-                speed = 100;
-            }
-            let message;
-            if (angle instanceof Array) {
-                message = Buffer.from([0x81, this.portId, 0x11, 0x0e, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, mapSpeed(speed), this._maxPower, this._brakeStyle, this.useProfile()]);
-                message.writeInt32LE(normalizeAngle(angle[0]), 4);
-                message.writeInt32LE(normalizeAngle(angle[1]), 8);
-            } else {
-                message = Buffer.from([0x81, this.portId, 0x11, 0x0d, 0x00, 0x00, 0x00, 0x00, mapSpeed(speed), this._maxPower, this._brakeStyle, this.useProfile()]);
-                message.writeInt32LE(normalizeAngle(angle), 4);
-            }
-            this.send(message);
-            this._finishedCallbacks.push(() => {
-                return resolve();
-            });
-        });
+        if (speed === undefined || speed === null) {
+            speed = 100;
+        }
+        let message;
+        if (angle instanceof Array) {
+            message = Buffer.from([0x0e, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, mapSpeed(speed), this._maxPower, this._brakeStyle, this.useProfile()]);
+            message.writeInt32LE(normalizeAngle(angle[0]), 1);
+            message.writeInt32LE(normalizeAngle(angle[1]), 5);
+        } else {
+            message = Buffer.from([0x0d, 0x00, 0x00, 0x00, 0x00, mapSpeed(speed), this._maxPower, this._brakeStyle, this.useProfile()]);
+            message.writeInt32LE(normalizeAngle(angle), 1);
+        }
+        return this.sendPortOutputCommand(message, interrupt);
     }
 
 
@@ -77,10 +72,10 @@ export class AbsoluteMotor extends TachoMotor {
      * Real zero is marked on Technic angular motors (SPIKE Prime). It is also available on Technic linear motors (Control+) but is unmarked.
      * @method AbsoluteMotor#gotoRealZero
      * @param {number} [speed=100] Speed between 1 - 100. Note that this will always take the shortest path to zero.
-     * @returns {Promise} Resolved upon successful completion of command (ie. once the motor is finished).
+     * @returns {Promise<CommandFeedback>} Resolved upon completion of command (i.e. once the motor is finished).
      */
     public gotoRealZero (speed: number = 100) {
-        return new Promise<void>((resolve) => {
+        return new Promise<Consts.CommandFeedback>((resolve) => {
             const oldMode = this.mode;
             let calibrated = false;
             this.on("absolute", async ({ angle }) => {
@@ -95,7 +90,7 @@ export class AbsoluteMotor extends TachoMotor {
                     if (oldMode) {
                         this.subscribe(oldMode);
                     }
-                    return resolve();
+                    return resolve(Consts.CommandFeedback.FEEDBACK_DISABLED);
                 }
             });
             this.requestUpdate();
@@ -106,14 +101,12 @@ export class AbsoluteMotor extends TachoMotor {
     /**
      * Reset zero to current position
      * @method AbsoluteMotor#resetZero
-     * @returns {Promise} Resolved upon successful completion of command (ie. once the motor is finished).
+     * @param {boolean} [interrupt=false] If true, previous commands are discarded.
+     * @returns {Promise<CommandFeedback>} Resolved upon completion of command (i.e. once the motor is finished).
      */
-    public resetZero () {
-        return new Promise<void>((resolve) => {
-            const data = Buffer.from([0x81, this.portId, 0x11, 0x51, 0x02, 0x00, 0x00, 0x00, 0x00]);
-            this.send(data);
-            return resolve();
-        });
+    public resetZero (interrupt: boolean = false) {
+        const data = Buffer.from([0x51, 0x02, 0x00, 0x00, 0x00, 0x00]);
+        return this.sendPortOutputCommand(data, interrupt);
     }
 
 

src/devices/basicmotor.ts

@@ -1,9 +1,6 @@
 import { Device } from "./device";
-
 import { IDeviceInterface } from "../interfaces";
-
 import * as Consts from "../consts";
-
 import { calculateRamp, mapSpeed } from "../utils";
 
 /**
@@ -22,13 +19,11 @@ export class BasicMotor extends Device {
      * Set the motor power.
      * @method BasicMotor#setPower
      * @param {number} power For forward, a value between 1 - 100 should be set. For reverse, a value between -1 to -100. Stop is 0.
-     * @returns {Promise} Resolved upon successful issuance of the command.
+     * @param {boolean} [interrupt=false] If true, previous commands are discarded.
+     * @returns {Promise<CommandFeedback>} Resolved upon completion of command.
      */
-    public setPower (power: number, interrupt: boolean = true) {
-        if (interrupt) {
-            this.cancelEventTimer();
-        }
-        return this.writeDirect(0x00, Buffer.from([mapSpeed(power)]));
+    public setPower (power: number, interrupt: boolean = false) {
+        return this.writeDirect(0x00, Buffer.from([mapSpeed(power)]), interrupt);
     }
 
 
@@ -38,39 +33,35 @@ export class BasicMotor extends Device {
      * @param {number} fromPower For forward, a value between 1 - 100 should be set. For reverse, a value between -1 to -100. Stop is 0.
      * @param {number} toPower For forward, a value between 1 - 100 should be set. For reverse, a value between -1 to -100. Stop is 0.
      * @param {number} time How long the ramp should last (in milliseconds).
-     * @returns {Promise} Resolved upon successful completion of command.
+     * @returns {Promise<CommandFeedback>} Resolved upon completion of command.
      */
     public rampPower (fromPower: number, toPower: number, time: number) {
-        this.cancelEventTimer();
-        return new Promise((resolve) => {
-            calculateRamp(this, fromPower, toPower, time)
-            .on("changePower", (power) => {
-                this.setPower(power, false);
-            })
-            .on("finished", resolve);
+        const powerValues = calculateRamp(fromPower, toPower, time);
+        powerValues.forEach(value => {
+            this.setPower(value);
+            this.addPortOutputSleep(Math.round(time/powerValues.length));
         });
+        return this.setPower(toPower);
     }
 
 
     /**
-     * Stop the motor.
+     * Stop the motor. Previous commands that have not completed are discarded.
      * @method BasicMotor#stop
-     * @returns {Promise} Resolved upon successful issuance of the command.
+     * @returns {Promise<CommandFeedback>} Resolved upon completion of command.
      */
     public stop () {
-        this.cancelEventTimer();
-        return this.setPower(0);
+        return this.setPower(0, true);
     }
 
 
     /**
-     * Brake the motor.
+     * Brake the motor. Previous commands that have not completed are discarded.
      * @method BasicMotor#brake
-     * @returns {Promise} Resolved upon successful issuance of the command.
+     * @returns {Promise<CommandFeedback>} Resolved upon completion of command.
      */
     public brake () {
-        this.cancelEventTimer();
-        return this.setPower(Consts.BrakingStyle.BRAKE);
+        return this.setPower(Consts.BrakingStyle.BRAKE, true);
     }
 
 

src/devices/colordistancesensor.ts

@@ -159,7 +159,7 @@ export class ColorDistanceSensor extends Device {
      * NOTE: Calling this with channel 5-8 with switch off extended channel mode for this receiver.
      * @method ColorDistanceSensor#setPFExtendedChannel
      * @param {number} channel Channel number, between 1-8
-     * @returns {Promise} Resolved upon successful issuance of the command.
+     * @returns {Promise<CommandFeedback>} Resolved upon completion of the command.
      */
     public setPFExtendedChannel (channel: number) {
         let address = 0;
@@ -181,7 +181,7 @@ export class ColorDistanceSensor extends Device {
      * @param {number} channel Channel number, between 1-4
      * @param {string} output Outport port, "RED" (A) or "BLUE" (B)
      * @param {number} power -7 (full reverse) to 7 (full forward). 0 is stop. 8 is brake.
-     * @returns {Promise} Resolved upon successful issuance of the command.
+     * @returns {Promise<CommandFeedback>} Resolved upon completion of the command.
      */
     public setPFPower (channel: number, output: Output, power: number) {
         let address = 0;
@@ -205,7 +205,7 @@ export class ColorDistanceSensor extends Device {
      * @param {Buffer} channel Channel number, between 1-4
      * @param {Buffer} powerA -7 (full reverse) to 7 (full forward). 0 is stop. 8 is brake.
      * @param {Buffer} powerB -7 (full reverse) to 7 (full forward). 0 is stop. 8 is brake.
-     * @returns {Promise} Resolved upon successful issuance of the command.
+     * @returns {Promise<CommandFeedback>} Resolved upon completion of the command.
      */
     public startPFMotors (channel: number, powerBlue: number, powerRed: number) {
         let address = 0;
@@ -225,7 +225,7 @@ export class ColorDistanceSensor extends Device {
      * Send a raw Power Functions IR command
      * @method ColorDistanceSensor#sendPFIRMessage
      * @param {Buffer} message 2 byte payload making up a Power Functions protocol command. NOTE: Only specify nibbles 1-3, nibble 4 should be zeroed.
-     * @returns {Promise} Resolved upon successful issuance of the command.
+     * @returns {Promise<CommandFeedback>} Resolved upon completion of the command.
      */
     public sendPFIRMessage (message: Buffer) {
         if (this.isWeDo2SmartHub) {
@@ -244,41 +244,35 @@ export class ColorDistanceSensor extends Device {
      * Set the color of the LED on the sensor via a color value.
      * @method ColorDistanceSensor#setColor
      * @param {Color} color
-     * @returns {Promise} Resolved upon successful issuance of the command.
+     * @returns {Promise<CommandFeedback>} Resolved upon completion of the command.
      */
     public setColor (color: number | boolean) {
-        return new Promise<void>((resolve) => {
-            if (color === false) {
-                color = 0;
-            }
-            if (this.isWeDo2SmartHub) {
-                throw new Error("Setting LED color is not available on the WeDo 2.0 Smart Hub");
-            } else {
-                this.subscribe(Mode.LED);
-                this.writeDirect(0x05, Buffer.from([color as number]));
-            }
-            return resolve();
-        });
+        if (color === false) {
+            color = 0;
+        }
+        if (this.isWeDo2SmartHub) {
+            throw new Error("Setting LED color is not available on the WeDo 2.0 Smart Hub");
+        } else {
+            this.subscribe(Mode.LED);
+            return this.writeDirect(0x05, Buffer.from([color as number]));
+        }
     }
 
     /**
      * Set the distance count value.
      * @method ColorDistanceSensor#setDistanceCount
      * @param {count} distance count between 0 and 2^32
-     * @returns {Promise} Resolved upon successful issuance of the command.
+     * @returns {Promise<CommandFeedback>} Resolved upon completion of the command.
      */
     public setDistanceCount (count: number) {
-        return new Promise<void>((resolve) => {
-            if (this.isWeDo2SmartHub) {
-                throw new Error("Setting distance count is not available on the WeDo 2.0 Smart Hub");
-            } else {
-		const payload = Buffer.alloc(4);
-		payload.writeUInt32LE(count % 2**32);
-                // no need to subscribe, can be set in different mode
-                this.writeDirect(0x02, payload);
-            }
-            return resolve();
-        });
+        if (this.isWeDo2SmartHub) {
+            throw new Error("Setting distance count is not available on the WeDo 2.0 Smart Hub");
+        } else {
+            const payload = Buffer.alloc(4);
+            payload.writeUInt32LE(count % 2**32);
+            // no need to subscribe, can be set in different mode
+            return this.writeDirect(0x02, payload);
+        }
     }
 
     private _pfPowerToPWM (power: number) {