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Fixing #1457: extension should parse incoming messages using port table.
This commit is contained in:
Evelyn Eastmond
parent
d61f6e3d6f
commit
13edf16caa
1 changed files with 93 additions and 87 deletions
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@ -59,6 +59,24 @@ const WeDo2Commands = {
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SET_VOLUME: 255
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};
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/**
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* Enum for modes for input sensors on the WeDo2.
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* @enum {number}
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*/
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const WeDo2Modes = {
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TILT: 0, // angle
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DISTANCE: 0 // detect
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};
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/**
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* Enum for units for input sensors on the WeDo2.
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* @enum {number}
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*/
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const WeDo2Units = {
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TILT: 0, // raw
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DISTANCE: 1 // percent
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};
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/**
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* Manage power, direction, and timers for one WeDo 2.0 motor.
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*/
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@ -503,90 +521,38 @@ class WeDo2 {
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const data = Base64Util.base64ToUint8Array(base64);
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// log.info(data);
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if (data.length === 2) { // disconnect sensor
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/**
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* If first byte of data is '1' or '2', then either clear the
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* sensor present in ports 1 or 2 or set their format.
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*
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* If first byte of data is anything else, read incoming sensor value.
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*/
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switch (data[0]) {
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case 1:
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case 2: {
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const connectID = data[0];
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// zero out tilt
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if (this._ports[connectID - 1] === WeDo2Types.TILT) {
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this._sensors.tiltX = this._sensors.tiltY = 0;
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}
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// zero out distance
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if (this._ports[connectID - 1] === WeDo2Types.DISTANCE) {
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this._sensors.distance = 0;
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}
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// remove references to ports and motors
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if (connectID === 1 || connectID === 2) {
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this._ports[connectID - 1] = 'none';
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this._motors[connectID - 1] = null;
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// log.info(`this._ports = ${this._ports}`);
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// log.info(`this._motors = ${this._mtors}`);
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if (data[1] === 0) {
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// clear sensor or motor
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this._clearPort(connectID);
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} else {
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// register sensor or motor
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this._registerSensorOrMotor(connectID, data[3]);
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}
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break;
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}
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if (data.length === 3) { // distance sensor value?
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this._sensors.distance = data[2];
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}
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if (data.length === 4) { // tilt sensor value?
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this._sensors.tiltX = data[2];
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this._sensors.tiltY = data[3];
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}
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if (data.length === 12) { // attached io?
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const connectID = data[0];
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const type = data[3];
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// Record which port is connected to what type of device
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if (connectID === 1 || connectID === 2) {
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this._ports[connectID - 1] = type;
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}
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// Motor
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if (type === WeDo2Types.MOTOR) {
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this._motors[connectID - 1] = new WeDo2Motor(this, connectID - 1);
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}
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// Tilt Sensor
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if (type === WeDo2Types.TILT) {
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const cmd = new Uint8Array(11);
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cmd[0] = 1; // sensor format
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cmd[1] = 2; // command type: write
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cmd[2] = connectID; // connect id
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cmd[3] = WeDo2Types.TILT; // type
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cmd[4] = 0; // mode: angle
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cmd[5] = 1; // delta interval, 4 bytes
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cmd[6] = 0;
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cmd[7] = 0;
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cmd[8] = 0;
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cmd[9] = 0; // unit: raw
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cmd[10] = 1; // notifications enabled: true
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this._send(UUID.INPUT_COMMAND, Base64Util.uint8ArrayToBase64(cmd))
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.then(() => {
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this._ble.read(UUID.IO_SERVICE, UUID.INPUT_VALUES, true, this._onMessage.bind(this));
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});
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}
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// Distance Sensor
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default: {
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// read incoming sensor value
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const connectID = data[1];
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const type = this._ports[connectID - 1];
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if (type === WeDo2Types.DISTANCE) {
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const cmd = new Uint8Array(11);
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cmd[0] = 1; // sensor format
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cmd[1] = 2; // command type: write
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cmd[2] = connectID; // connect id
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cmd[3] = WeDo2Types.DISTANCE; // type
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cmd[4] = 0; // mode: detect
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cmd[5] = 1; // delta interval, 4 bytes
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cmd[6] = 0;
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cmd[7] = 0;
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cmd[8] = 0;
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cmd[9] = 1; // unit: percent
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cmd[10] = 1; // notifications enabled: true
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this._send(UUID.INPUT_COMMAND, Base64Util.uint8ArrayToBase64(cmd))
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.then(() => {
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this._ble.read(UUID.IO_SERVICE, UUID.INPUT_VALUES, true, this._onMessage.bind(this));
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});
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this._sensors.distance = data[2];
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}
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if (type === WeDo2Types.TILT) {
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this._sensors.tiltX = data[2];
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this._sensors.tiltY = data[3];
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}
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break;
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}
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}
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}
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@ -603,17 +569,57 @@ class WeDo2 {
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}
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/**
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* Sets the volume for the piezo.
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* Clear the sensor or motor present at port 1 or 2.
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* @param {number} connectID - the port to clear.
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* @private
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*/
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_setVolume () {
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const cmd = new Uint8Array(4);
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cmd[0] = WeDo2ConnectIDs.PIEZO; // connect id
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cmd[1] = WeDo2Commands.SET_VOLUME; // command
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cmd[2] = 1; // 1 byte to follow
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cmd[3] = 100; // volume in range 0-100
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_clearPort (connectID) {
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const type = this._ports[connectID - 1];
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if (type === WeDo2Types.TILT) {
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this._sensors.tiltX = this._sensors.tiltY = 0;
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}
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if (type === WeDo2Types.DISTANCE) {
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this._sensors.distance = 0;
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}
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this._ports[connectID - 1] = 'none';
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this._motors[connectID - 1] = null;
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}
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this._send(UUID.OUTPUT_COMMAND, Base64Util.uint8ArrayToBase64(cmd));
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/**
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* Register a new sensor or motor connected at a port. Store the type of
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* sensor or motor internally, and then register for notifications on input
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* values if it is a sensor.
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* @param {number} connectID - the port to register a sensor or motor on.
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* @param {number} type - the type ID of the sensor or motor
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*/
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_registerSensorOrMotor (connectID, type) {
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// Record which port is connected to what type of device
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this._ports[connectID - 1] = type;
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// Register motor
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if (type === WeDo2Types.MOTOR) {
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this._motors[connectID - 1] = new WeDo2Motor(this, connectID - 1);
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} else {
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// Register tilt or distance sensor
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const typeString = type === WeDo2Types.DISTANCE ? 'DISTANCE' : 'TILT';
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const cmd = new Uint8Array(11);
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cmd[0] = 1; // sensor format
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cmd[1] = 2; // command type: write
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cmd[2] = connectID; // connect id
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cmd[3] = type; // type
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cmd[4] = WeDo2Modes[typeString]; // mode
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cmd[5] = 1; // delta interval, 4 bytes, 1 = continuous updates
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cmd[6] = 0;
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cmd[7] = 0;
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cmd[8] = 0;
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cmd[9] = WeDo2Units[typeString]; // unit
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cmd[10] = 1; // notifications enabled: true
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this._send(UUID.INPUT_COMMAND, Base64Util.uint8ArrayToBase64(cmd))
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.then(() => {
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this._ble.read(UUID.IO_SERVICE, UUID.INPUT_VALUES, true, this._onMessage.bind(this));
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});
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}
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}
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/**
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