"use strict";
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Object.defineProperty(exports, "__esModule", { value: true });
exports.Output = exports.ModeMap = exports.Mode = exports.ColorDistanceSensor = void 0;
const device_1 = require("./device");
const Consts = __importStar(require("../consts"));
const utils_1 = require("../utils");
/**
* @class ColorDistanceSensor
* @extends Device
*/
class ColorDistanceSensor extends device_1.Device {
constructor(hub, portId) {
super(hub, portId, exports.ModeMap, Consts.DeviceType.COLOR_DISTANCE_SENSOR);
}
receive(message) {
const mode = this._mode;
switch (mode) {
case Mode.COLOR:
if (message[this.isWeDo2SmartHub ? 2 : 4] <= 10) {
const color = (0, utils_1.parseColor)(message[this.isWeDo2SmartHub ? 2 : 4]);
/**
* Emits when a color sensor is activated.
* @event ColorDistanceSensor#color
* @type {object}
* @param {Color} color
*/
this.notify("color", { color });
}
break;
case Mode.DISTANCE:
if (this.isWeDo2SmartHub) {
break;
}
if (message[4] <= 10) {
let distance = Math.floor(message[4] * 25.4) - 20;
if (distance < 0) {
distance = 0;
}
/**
* Emits when a distance sensor is activated.
* @event ColorDistanceSensor#distance
* @type {object}
* @param {number} distance Distance, in millimeters.
*/
this.notify("distance", { distance });
}
break;
case Mode.DISTANCE_COUNT:
if (this.isWeDo2SmartHub) {
break;
}
if (message.length !== 8) {
// if mode of device has not changed to this._mode yet
break;
}
const count = message.readUInt32LE(4);
/**
* Emits when distance is reduced to less than 10 centimeters.
* @event ColorDistanceSensor#distanceCount
* @type {object}
* @param {number} number of distance events.
*/
this.notify("distanceCount", { count });
break;
case Mode.REFLECT:
if (this.isWeDo2SmartHub) {
break;
}
const reflect = message[4];
/**
* Event measuring reflection change, emits when the sensor is activated.
* @event ColorDistanceSensor#reflect
* @type {object}
* @param {number} percentage from 0 to 100.
*/
this.notify("reflect", { reflect });
break;
case Mode.AMBIENT:
if (this.isWeDo2SmartHub) {
break;
}
const ambient = message[4];
/**
* Event measuring abient light change, emits when the sensor is activated.
* @event ColorDistanceSensor#ambient
* @type {object}
* @param {number} percentage from 0 to 100.
*/
this.notify("ambient", { ambient });
break;
case Mode.RGB_I:
if (this.isWeDo2SmartHub) {
break;
}
if (message.length !== 10) {
// if mode of device has not changed to this._mode yet
break;
}
const red = message.readUInt16LE(4);
const green = message.readUInt16LE(6);
const blue = message.readUInt16LE(8);
/**
* Emits when a color sensor is activated.
* @event ColorDistanceSensor#rgbIntensity
* @type {object}
* @param {number} red
* @param {number} green
* @param {number} blue
*/
this.notify("rgbIntensity", { red, green, blue });
break;
case Mode.COLOR_AND_DISTANCE:
if (this.isWeDo2SmartHub) {
break;
}
let distance = message[5];
const partial = message[7];
if (partial > 0) {
distance += 1.0 / partial;
}
distance = Math.floor(distance * 25.4) - 20;
/**
* A combined color and distance event, emits when the sensor is activated.
* @event ColorDistanceSensor#colorAndDistance
* @type {object}
* @param {Color} color
* @param {number} distance Distance, in millimeters.
*/
if (message[4] <= 10) {
const color = message[4];
this.notify("colorAndDistance", { color, distance });
}
break;
}
}
/**
* Switches the IR receiver into extended channel mode. After setting this, use channels 5-8 instead of 1-4 for this receiver.
*
* 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.
*/
setPFExtendedChannel(channel) {
let address = 0;
if (channel >= 4) {
channel -= 4;
address = 1;
}
const message = Buffer.alloc(2);
// Send "Extended toggle address command"
message[0] = ((channel - 1) << 4) + (address << 3);
message[1] = 6 << 4;
return this.sendPFIRMessage(message);
}
/**
* Set the power of a Power Functions motor via IR
* @method ColorDistanceSensor#setPFPower
* @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.
*/
setPFPower(channel, output, power) {
let address = 0;
if (channel > 4) {
channel -= 4;
address = 1;
}
const message = Buffer.alloc(2);
// Send "Single output mode"
message[0] = ((channel - 1) << 4) + (address << 3) + (output === "RED" ? 4 : 5);
message[1] = this._pfPowerToPWM(power) << 4;
return this.sendPFIRMessage(message);
}
/**
* Start Power Functions motors running via IR
*
* NOTE: This command is designed for bang-bang style operation. To keep the motors running, the sensor needs to be within range of the IR receiver constantly.
* @method ColorDistanceSensor#startPFMotors
* @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.
*/
startPFMotors(channel, powerBlue, powerRed) {
let address = 0;
if (channel > 4) {
channel -= 4;
address = 1;
}
const message = Buffer.alloc(2);
// Send "Combo PWM mode"
message[0] = (((channel - 1) + 4 + (address << 3)) << 4) + this._pfPowerToPWM(powerBlue);
message[1] = this._pfPowerToPWM(powerRed) << 4;
return this.sendPFIRMessage(message);
}
/**
* 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.
*/
sendPFIRMessage(message) {
if (this.isWeDo2SmartHub) {
throw new Error("Power Functions IR is not available on the WeDo 2.0 Smart Hub");
}
else {
const payload = Buffer.alloc(2);
payload[0] = (message[0] << 4) + (message[1] >> 4);
payload[1] = message[0] >> 4;
this.subscribe(Mode.PF_IR);
return this.writeDirect(0x07, payload);
}
}
/**
* 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.
*/
setColor(color) {
return new Promise((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]));
}
return resolve();
});
}
/**
* 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.
*/
setDistanceCount(count) {
return new Promise((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();
});
}
_pfPowerToPWM(power) {
return power & 15;
}
}
exports.ColorDistanceSensor = ColorDistanceSensor;
var Mode;
(function (Mode) {
Mode[Mode["COLOR"] = 0] = "COLOR";
Mode[Mode["DISTANCE"] = 1] = "DISTANCE";
Mode[Mode["DISTANCE_COUNT"] = 2] = "DISTANCE_COUNT";
Mode[Mode["REFLECT"] = 3] = "REFLECT";
Mode[Mode["AMBIENT"] = 4] = "AMBIENT";
Mode[Mode["LED"] = 5] = "LED";
Mode[Mode["RGB_I"] = 6] = "RGB_I";
Mode[Mode["PF_IR"] = 7] = "PF_IR";
Mode[Mode["COLOR_AND_DISTANCE"] = 8] = "COLOR_AND_DISTANCE";
})(Mode || (exports.Mode = Mode = {}));
exports.ModeMap = {
"color": Mode.COLOR,
"distance": Mode.DISTANCE,
"distanceCount": Mode.DISTANCE_COUNT,
"reflect": Mode.REFLECT,
"ambient": Mode.AMBIENT,
"rgbIntensity": Mode.RGB_I,
"colorAndDistance": Mode.COLOR_AND_DISTANCE
};
var Output;
(function (Output) {
Output["RED"] = "RED";
Output["BLUE"] = "BLUE";
})(Output || (exports.Output = Output = {}));
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