Attempt to read differents device modes #56

aileo · 2019-11-21T20:18:30Z

This is not ready to be merged, working on #55 took me further than I expected and I ended trying to read every input mode from every device I have.

Now I need help/advice/review to check what I did wrong and test devices I don't have (WeDo2 hub and accessories, Duplo train base)

To handle different data from different mode I added several events:

BOOST_DISTANCE
- count
- reflectivity
- luminosity
- rgb
Motors
- power
- speed
- absolutePosition
BOOST_TILT
- angle
- orientation
- impact
- accel

Using the debug output I summed up mode numbers and names for each hub.
The bad news is: the same device on different hubs does not expose exactly the same modes.

Color and distance

HUB	0x00	0x01	0x02	0x03	0x04	0x05	0x06	0x07	0x08	0x09	0x0a
WEDO2_SMART_HUB	?	?	?	?	?	?	?	?	?	?	?
BOOST_MOVE_HUB	COLOR	PROX	COUNT	REFLT	AMBI	COL_O	RGB_I	IR_Tx	SPEC_1	DEBUG	CALIB
POWERED_UP_HUB	COLOR	PROX	COUNT	REFLT	AMBI	COL_O	RGB_I	IR_Tx	SPEC_1	DEBUG	CALIB
CONTROL_PLUS_HUB	COLOR	PROX	COUNT	REFLT	AMBI	COL_O	RGB_I	IR_Tx	SPEC_1	DEBUG	CALIB

Motors

BASIC_MOTOR

HUB	0x00
WEDO2_SMART_HUB	?
BOOST_MOVE_HUB	LPF2-MMOTOR
POWERED_UP_HUB	LPF2-MMOTOR
CONTROL_PLUS_HUB	LPF2-MMOTOR

BOOST_TACHO_MOTOR

HUB	0x00	0x01	0x02	0x03
WEDO2_SMART_HUB	?	?	?	?
BOOST_MOVE_HUB	POWER	SPEED	POS	TEST
POWERED_UP_HUB	POWER	SPEED	POS
CONTROL_PLUS_HUB	POWER	SPEED	POS

BOOST_MOVE_HUB_MOTOR

HUB	0x00	0x01	0x02
BOOST_MOVE_HUB	POWER	SPEED	POS

CONTROL_PLUS_LARGE_MOTOR / CONTROL_PLUS_XLARGE_MOTOR

HUB	0x00	0x01	0x02	0x03	0x04	0x05
WEDO2_SMART_HUB	?	?	?	?	?	?
BOOST_MOVE_HUB	POWER	SPEED	POS	APOS	CALIB	STATS
POWERED_UP_HUB	POWER	SPEED	POS	APOS	LOAD	CALIB
CONTROL_PLUS_HUB	POWER	SPEED	POS	APOS	LOAD	CALIB

Tilt/accel sensors

Internal

HUB	Port	0x00	0x01	0x02	0x03	0x04	0x05	0x06	0x07
BOOST_MOVE_HUB	0x3a	ANGLE	TILT	ORINT	IMPCT	ACCEL	OR_CF	IM_CF	CALIB
CONTROL_PLUS_HUB	0x62	ROT
CONTROL_PLUS_HUB	0x63	POS	IMP	CFG

WeDo tilt sensor

???

nutki

Thanks for implementing this. I was thinking of doing similar extensions. Good job on investigating output of all those device modes.

nutki · 2019-11-21T21:08:41Z

src/lpf2hub.ts

+                break;
+            }
+
+            case Consts.BoostTiltModes.ACCEL: {


This change makes the API incompatible since previously this mode, which is the default mode for this sensor was reported as "tilt".

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.

nutki · 2019-11-21T21:18:27Z

src/hub.ts

-            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, () => {


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.

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

nutki · 2019-11-21T21:21:41Z

src/port.ts

@@ -17,6 +18,7 @@ export class Port {
        this.id = id;
        this.value = value;
        this.type = Consts.DeviceType.UNKNOWN;
+        this.mode = null;


Is mode also cleared on device reconnect? If not it could lead into one device "inheriting" the mode of the previous device if you don't use autoSubscribe (which will reset it to default for the device on attach).

I did not because the mode would be overwritten by the next subscribe (either auto or not, you have to recall subscribe when device change).

However, that's a good point regarding consistency so I fixed it in 3bc8404 . It can also be used to know if the devices already have a subscription.

nutki · 2019-11-21T21:35:24Z

Here is the mode info for WeDo 2.0 tilt sensor (it does not seem to be able to return the raw accelerometer reading like the boost internal sensor):

90842b0e7cad Port 01, type 0022 (WEDO2_TILT)
90842b0e7cad Port 01, hardware v1.0.00.0000, software v1.0.00.0000
90842b0e7cad Port 01, total modes 4, input modes 1111, output modes 0000
90842b0e7cad Port 01, mode combinations []
90842b0e7cad Port 01, mode 0, name LPF2-ANGLE
90842b0e7cad Port 01, mode 0, RAW min -45, max 45
90842b0e7cad Port 01, mode 0, PCT min -100, max 100
90842b0e7cad Port 01, mode 0, SI min -45, max 45
90842b0e7cad Port 01, mode 0, SI symbol DEG
90842b0e7cad Port 01, mode 0, Value 2 x 8bit, Decimal format 3.0
90842b0e7cad Port 01, mode 1, name LPF2-TILT
90842b0e7cad Port 01, mode 1, RAW min 0, max 10
90842b0e7cad Port 01, mode 1, PCT min 0, max 100
90842b0e7cad Port 01, mode 1, SI min 0, max 10
90842b0e7cad Port 01, mode 1, SI symbol DIR
90842b0e7cad Port 01, mode 1, Value 1 x 8bit, Decimal format 2.0
90842b0e7cad Port 01, mode 2, name LPF2-CRASH
90842b0e7cad Port 01, mode 2, RAW min 0, max 100
90842b0e7cad Port 01, mode 2, PCT min 0, max 100
90842b0e7cad Port 01, mode 2, SI min 0, max 100
90842b0e7cad Port 01, mode 2, SI symbol CNT
90842b0e7cad Port 01, mode 2, Value 3 x 8bit, Decimal format 3.0
90842b0e7cad Port 01, mode 3, name LPF2-CAL
90842b0e7cad Port 01, mode 3, RAW min -45, max 45
90842b0e7cad Port 01, mode 3, PCT min -100, max 100
90842b0e7cad Port 01, mode 3, SI min -45, max 45
90842b0e7cad Port 01, mode 3, SI symbol CAL
90842b0e7cad Port 01, mode 3, Value 3 x 8bit, Decimal format 3.0

And WeDo 2.0 distance sensor

90842b0e7cad Port 01, type 0023 (WEDO2_DISTANCE)
90842b0e7cad Port 01, hardware v1.0.00.0000, software v1.0.00.0000
90842b0e7cad Port 01, total modes 3, input modes 111, output modes 000
90842b0e7cad Port 01, mode combinations []
90842b0e7cad Port 01, mode 0, name LPF2-DETECT
90842b0e7cad Port 01, mode 0, RAW min 0, max 10
90842b0e7cad Port 01, mode 0, PCT min 0, max 100
90842b0e7cad Port 01, mode 0, SI min 0, max 10
90842b0e7cad Port 01, mode 0, SI symbol 
90842b0e7cad Port 01, mode 0, Value 1 x 8bit, Decimal format 3.0
90842b0e7cad Port 01, mode 1, name LPF2-COUNT
90842b0e7cad Port 01, mode 1, RAW min 0, max 100
90842b0e7cad Port 01, mode 1, PCT min 0, max 100
90842b0e7cad Port 01, mode 1, SI min 0, max 100
90842b0e7cad Port 01, mode 1, SI symbol CNT
90842b0e7cad Port 01, mode 1, Value 1 x 32bit, Decimal format 4.0
90842b0e7cad Port 01, mode 2, name LPF2-CAL
90842b0e7cad Port 01, mode 2, RAW min 0, max 1023
90842b0e7cad Port 01, mode 2, PCT min 0, max 100
90842b0e7cad Port 01, mode 2, SI min 0, max 1023
90842b0e7cad Port 01, mode 2, SI symbol RAW
90842b0e7cad Port 01, mode 2, Value 3 x 16bit, Decimal format 3.0

nutki · 2019-11-21T21:42:34Z

src/lpf2hub.ts

+
+            case Consts.BoostTiltModes.TILT: {
+                values.push(data[4]);
+                event = 'tilt';


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.

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 ?

src/lpf2hub.ts

nutki · 2019-11-21T22:05:33Z

src/utils.ts

@@ -7,3 +7,6 @@ export function toHex (value: number, length: number = 2) {
 export function toBin (value: number, length: number = 8) {
    return value.toString(2).padStart(length, "0");
 }
+export function toDistance(value: number, partial: number = 1) {
+    return Math.floor((value + 1 / Math.max(partial, 1)) * 25.4) - 20;


Note this changes the result when partial is 0. In the old code nothing was added to the inch distance, now you add 1. I am not sure what is the source for the previous formula (I am guessing empirical reverse engineering). At least after the change the result is not negative as often.

I was just trying to make it a nice oneliner but I missed that is add 25.4 to the final result. It makes the result >5.4 in any case.

I did not understood that partial value so I tried to get more information. According to a comment on eurobricks from @dlech, the format would be:

<COLOR CODE> <DISTANCE> <LED COLOR> <REFLECTED LIGHT>

If this right, the result should differ by ~24.5 for obstacles with significant reflectivity gap at the same distance.

It also explain why that partial is not part of the distance mode data. So SPEC_1 and PROX mode does not get the same accuracy in this implementation. I guess the formula should be removed for consistency ?

aileo · 2019-12-06T13:29:12Z

this is outdated by #60

Attempt to read differents device modes

fe59c95

nutki reviewed Nov 21, 2019

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src/lpf2hub.ts Outdated Show resolved Hide resolved

nutki reviewed Nov 21, 2019

View reviewed changes

Leo Bonnargent added 2 commits November 22, 2019 07:42

Reset port mode on detach

3bc8404

Fix rgb color reading

5f041e6

nathankellenicki mentioned this pull request Dec 3, 2019

Using boost color and distance sensor in mode 1 returns distance as color #55

Closed

aileo closed this Dec 6, 2019

aileo mentioned this pull request Dec 18, 2019

Experiment: read sensor data with mode informations #60

Closed

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Attempt to read differents device modes #56

Attempt to read differents device modes #56

aileo commented Nov 21, 2019 •

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Attempt to read differents device modes #56

Attempt to read differents device modes #56

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aileo commented Nov 21, 2019 • edited Loading

Color and distance

Motors

Tilt/accel sensors

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aileo commented Dec 6, 2019

aileo commented Nov 21, 2019 •

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