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Attempt to read differents device modes #56

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Attempt to read differents device modes #56

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fe59c95
Attempt to read differents device modes
Nov 21, 2019
3bc8404
Reset port mode on detach
Nov 22, 2019
5f041e6
Fix rgb color reading
Nov 22, 2019
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28 changes: 28 additions & 0 deletions src/consts.ts
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Original file line number Diff line number Diff line change
Expand Up @@ -186,3 +186,31 @@ export enum BLECharacteristic {
WEDO2_NAME_ID = "00001524-1212-efde-1523-785feabcd123", // "1524"
LPF2_ALL = "00001624-1212-efde-1623-785feabcd123"
}

export enum ColorAndDistanceInputModes {
COLOR = 0,
PROX = 1,
COUNT = 2,
REFLT = 3,
AMBI = 4,
RGB_I = 6,
SPEC_1 = 8
}

export enum BoostTiltModes {
ANGLE = 0,
TILT = 1,
ORINT = 2,
IMPCT = 3,
ACCEL = 4,
OR_CF = 5,
IM_CF = 6,
CALIB = 7
}

export enum MotorModes {
POWER = 0,
SPEED = 1,
POS = 2,
APOS = 3
}
13 changes: 9 additions & 4 deletions src/hub.ts
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Original file line number Diff line number Diff line change
Expand Up @@ -157,11 +157,15 @@ export class Hub extends EventEmitter {
*/
public subscribe (port: string, mode?: number) {
return new Promise((resolve, reject) => {
let newMode = this._getModeForDeviceType(this._portLookup(port).type);
const { type, value } = this._portLookup(port);

let newMode = this._getModeForDeviceType(type);
if (mode !== undefined) {
newMode = mode;
}
this._activatePortDevice(this._portLookup(port).value, this._portLookup(port).type, newMode, 0x00, () => {

this._ports[port].mode = newMode;
this._activatePortDevice(value, type, newMode, 0x00, () => {
return resolve();
});
});
Expand All @@ -175,8 +179,8 @@ export class Hub extends EventEmitter {
*/
public unsubscribe (port: string) {
return new Promise((resolve, reject) => {
const mode = this._getModeForDeviceType(this._portLookup(port).type);
this._deactivatePortDevice(this._portLookup(port).value, this._portLookup(port).type, mode, 0x00, () => {
const { type, value, mode } = this._portLookup(port);
this._deactivatePortDevice(value, type, mode || this._getModeForDeviceType(type), 0x00, () => {
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This will switch the port mode to the default for type (_getModeForDeviceType) if the mode is 0 since 0 is falsy.
Technically it should be mode === null but this could only happen when you call unsubscribe before subscribe, so not sure if that should be handled.

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I am not sure to understand how subscriptions work: I don't get why mode is needed to unsubscribe...

return resolve();
});
});
Expand Down Expand Up @@ -279,6 +283,7 @@ export class Hub extends EventEmitter {
}
} else {
port.type = Consts.DeviceType.UNKNOWN;
port.mode = null;
debug(`Port ${port.id} disconnected`);
/**
* Emits when an attached motor or sensor is detached from the Hub.
Expand Down
285 changes: 199 additions & 86 deletions src/lpf2hub.ts
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Original file line number Diff line number Diff line change
Expand Up @@ -4,7 +4,7 @@ import { Hub } from "./hub";
import { Port } from "./port";

import * as Consts from "./consts";
import { toBin, toHex } from "./utils";
import { toBin, toDistance, toHex } from "./utils";

import Debug = require("debug");
const debug = Debug("lpf2hub");
Expand Down Expand Up @@ -456,90 +456,14 @@ export class LPF2Hub extends Hub {
break;
}
case Consts.DeviceType.BOOST_DISTANCE: {

/**
* Emits when a color sensor is activated.
* @event LPF2Hub#color
* @param {string} port
* @param {Color} color
*/
if (data[4] <= 10) {
this.emit("color", port.id, data[4]);
}

let distance = data[5];
const partial = data[7];

if (partial > 0) {
distance += 1.0 / partial;
}

distance = Math.floor(distance * 25.4) - 20;

this.emit("distance", port.id, distance);

/**
* A combined color and distance event, emits when the sensor is activated.
* @event LPF2Hub#colorAndDistance
* @param {string} port
* @param {Color} color
* @param {number} distance Distance, in millimeters.
*/
if (data[4] <= 10) {
this.emit("colorAndDistance", port.id, data[4], distance);
}
break;
}
case Consts.DeviceType.WEDO2_TILT: {
const tiltX = data.readInt8(4);
const tiltY = data.readInt8(5);
this._lastTiltX = tiltX;
this._lastTiltY = tiltY;
/**
* Emits when a tilt sensor is activated.
* @event LPF2Hub#tilt
* @param {string} port If the event is fired from the Move Hub or Control+ Hub's in-built tilt sensor, the special port "TILT" is used.
* @param {number} x
* @param {number} y
* @param {number} z (Only available when using a Control+ Hub)
*/
this.emit("tilt", port.id, this._lastTiltX, this._lastTiltY, this._lastTiltZ);
break;
}
case Consts.DeviceType.BOOST_TACHO_MOTOR: {
const rotation = data.readInt32LE(4);
/**
* Emits when a rotation sensor is activated.
* @event LPF2Hub#rotate
* @param {string} port
* @param {number} rotation
*/
this.emit("rotate", port.id, rotation);
break;
}
case Consts.DeviceType.BOOST_MOVE_HUB_MOTOR: {
const rotation = data.readInt32LE(4);
this.emit("rotate", port.id, rotation);
break;
}
case Consts.DeviceType.CONTROL_PLUS_LARGE_MOTOR: {
const rotation = data.readInt32LE(4);
this.emit("rotate", port.id, rotation);
this._parseBoostColorAndDistance(port, data);
break;
}
case Consts.DeviceType.BOOST_TACHO_MOTOR:
case Consts.DeviceType.BOOST_MOVE_HUB_MOTOR:
case Consts.DeviceType.CONTROL_PLUS_LARGE_MOTOR:
case Consts.DeviceType.CONTROL_PLUS_XLARGE_MOTOR: {
const rotation = data.readInt32LE(4);
this.emit("rotate", port.id, rotation);
break;
}
case Consts.DeviceType.CONTROL_PLUS_TILT: {
const tiltZ = data.readInt16LE(4);
const tiltY = data.readInt16LE(6);
const tiltX = data.readInt16LE(8);
this._lastTiltX = tiltX;
this._lastTiltY = tiltY;
this._lastTiltZ = tiltZ;
this.emit("tilt", "TILT", this._lastTiltX, this._lastTiltY, this._lastTiltZ);
this._parseMotor(port, data);
break;
}
case Consts.DeviceType.CONTROL_PLUS_ACCELEROMETER: {
Expand All @@ -557,12 +481,19 @@ export class LPF2Hub extends Hub {
this.emit("accel", "ACCEL", accelX, accelY, accelZ);
break;
}
case Consts.DeviceType.BOOST_TILT: {
const tiltX = data.readInt8(4);
const tiltY = data.readInt8(5);
case Consts.DeviceType.CONTROL_PLUS_TILT: {
const tiltZ = data.readInt16LE(4);
const tiltY = data.readInt16LE(6);
const tiltX = data.readInt16LE(8);
this._lastTiltX = tiltX;
this._lastTiltY = tiltY;
this.emit("tilt", port.id, this._lastTiltX, this._lastTiltY, this._lastTiltZ);
this._lastTiltZ = tiltZ;
this.emit("tilt", "TILT", this._lastTiltX, this._lastTiltY, this._lastTiltZ);
break;
}
case Consts.DeviceType.WEDO2_TILT:
case Consts.DeviceType.BOOST_TILT: {
this._parseBoostTilt(port, data);
break;
}
case Consts.DeviceType.POWERED_UP_REMOTE_BUTTON: {
Expand Down Expand Up @@ -608,5 +539,187 @@ export class LPF2Hub extends Hub {

}

private _parseBoostColorAndDistance(port: Port, data: Buffer) {
// store common data buffer indices
const commons: { [dataType: string]: number } = {};

switch (port.mode) {
case Consts.ColorAndDistanceInputModes.COLOR: {
commons.color = 4;
break;
}

case Consts.ColorAndDistanceInputModes.PROX: {
commons.distance = 4;
break;
}

case Consts.ColorAndDistanceInputModes.SPEC_1: {
commons.color = 4;
commons.distance = 5;
commons.partial = 7;
break;
}
}

const color = commons.color ? data[commons.color] : undefined;
const partial = commons.partial ? data[commons.partial] : undefined;
const distance = commons.distance ? toDistance(data[commons.distance], partial) : undefined;

if (color !== undefined) {
/**
* Emits when a color sensor is activated.
* @event LPF2Hub#color
* @param {string} port
* @param {Color} color
*/
this.emit("color", port.id, color);
}

if (distance !== undefined) {
/**
* Emits when a distance sensor is activated.
* @event LPF2Hub#distance
* @param {string} port
* @param {number} distance Distance, in millimeters.
*/
this.emit("distance", port.id, distance);
}

if (color !== undefined && distance !== undefined) {
/**
* A combined color and distance event, emits when the sensor is activated.
* @event LPF2Hub#colorAndDistance
* @param {string} port
* @param {Color} color
* @param {number} distance Distance, in millimeters.
*/
this.emit("colorAndDistance", port.id, color, distance);
}

if (port.mode === Consts.ColorAndDistanceInputModes.COUNT) {
/**
* Emits when a count mode distance sensor is activated.
* @event LPF2Hub#count
* @param {string} port
* @param {number} count
*/
this.emit("count", port.id, data[4]);
}

if (port.mode === Consts.ColorAndDistanceInputModes.REFLT) {
/**
* Emits when a reflect mode color sensor is activated.
* @event LPF2Hub#reflectivity
* @param {string} port
* @param {number} reflectivity
*/
this.emit("reflectivity", port.id, data[4]);
}

if (port.mode === Consts.ColorAndDistanceInputModes.AMBI) {
/**
* Emits when a ambiant mode color sensor is activated.
* @event LPF2Hub#luminosity
* @param {string} port
* @param {number} luminosity
*/
this.emit("luminosity", port.id, data[4]);
}

if (port.mode === Consts.ColorAndDistanceInputModes.RGB_I) {
/**
* Emits when a RGB mode color sensor is activated.
* @event LPF2Hub#rgb
* @param {string} port
* @param {number} r
* @param {number} g
* @param {number} b
*/
this.emit("rgb", port.id, data.readInt16LE(4), data.readInt16LE(6), data.readInt16LE(8));
}
}

private _parseBoostTilt(port: Port, data: Buffer) {
const values: number[] = [];
let event = '';

switch (port.mode) {
case Consts.BoostTiltModes.ANGLE: {
values.push(data.readInt8(4));
values.push(data.readInt8(5));
event = 'angle';
break;
}

case Consts.BoostTiltModes.TILT: {
values.push(data[4]);
event = 'tilt';
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In this mode the sensor returns a discrete direction of tilt (1, 3, 5, or 7) for each major direction as far as I remember. This is not a very useful mode IMO, but previously the 'tilt' event was reporting acceleration (boost and control+ hubs) or angles (wedo sensor), so this is another change to the API.

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I have to admit that I don't know either why this mode exists as it could be calculated from angle...

Maybe to save some power and require angle only when you have a tilt trigger ?

break;
}

case Consts.BoostTiltModes.ORINT: {
values.push(data[4]);
event = 'orientation';
break;
}

case Consts.BoostTiltModes.IMPCT: {
values.push(data.readUInt32BE(4));
event = 'impact';
break;
}

case Consts.BoostTiltModes.ACCEL: {
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This change makes the API incompatible since previously this mode, which is the default mode for this sensor was reported as "tilt".

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I don't know what should be done as it breaks but on the other hand, it use information from the lego side which should be "the truth".

There is a lot of changes in this PR and it definitly could not be merge without a new major version.

/**
* Emits when a tilt sensor is activated.
* @event LPF2Hub#tilt
* @param {string} port If the event is fired from the Move Hub or Control+ Hub's in-built tilt sensor, the special port "TILT" is used.
* @param {number} x
* @param {number} y
* @param {number} z
*/
values.push(data.readInt8(4));
values.push(data.readInt8(5));
values.push(data.readInt8(6));
event = 'accel';
break;
}
}

this.emit(event, port.id, ...values);
}

private _parseMotor(port: Port, data: Buffer) {
const values: number[] = [];
let event = '';

switch (port.mode) {
case Consts.MotorModes.POWER: {
values.push(data.readInt8(4));
event = 'power';
break;
}

case Consts.MotorModes.SPEED: {
values.push(data.readInt8(4));
event = 'speed';
break;
}

case Consts.MotorModes.POS: {
values.push(data.readInt32BE(4));
event = 'rotate';
break;
}

case Consts.MotorModes.APOS: {
values.push(data.readInt16BE(4));
event = 'absoluteRotate';
break;
}
}

this.emit(event, port.id, ...values);
}
}
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