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Dynamic modes #97

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ea6b23b
Autoparsing POC
Jun 22, 2020
ec37e6d
Merge branch 'master' into dynamic-modes
Jun 22, 2020
d4ea7cb
Add autoparse output write
Jun 23, 2020
299963b
Improve autoparseWriteDirect
Jun 24, 2020
b4f1880
Enable autoparse for unknown devices
Jun 24, 2020
57c7baa
Add value normalization
Jun 25, 2020
45b0c20
naming
Jun 28, 2020
4edd5eb
fix condition
Jun 28, 2020
8c451f2
Defer port messages to devices
Jun 28, 2020
8feffd6
Prevent modeInfoDebug to overwite modes
Jun 28, 2020
4c429e2
Fix hubled RGB mode
Jun 28, 2020
c830cb9
Attemp to be weDo2.0 compatible
Jun 29, 2020
df8ebd2
Renamed input/output modes getters
Jun 29, 2020
405b5f2
fix waitForDevice[...] using isReady
Jul 4, 2020
351bc90
No more clamping in normalize
Jul 4, 2020
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19 changes: 19 additions & 0 deletions src/consts.ts
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Original file line number Diff line number Diff line change
Expand Up @@ -636,4 +636,23 @@ export enum PortInputFormatSetupSubCommand {
}


/**
* @typedef ValueType
* @param {number} Int8 0x01
* @param {number} Int16 0x02
* @param {number} Int32 0x03
* @param {number} Float 0x04
*/
export enum ValueType {
Int8 = 0x00,
Int16 = 0x01,
Int32 = 0x02,
Float = 0x03,
}

export const ValueTypeSize = {
[ValueType.Int8]: 1,
[ValueType.Int16]: 2,
[ValueType.Int32]: 4,
[ValueType.Float]: 4,
}
4 changes: 4 additions & 0 deletions src/devices/absolutemotor.ts
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Expand Up @@ -16,6 +16,10 @@ export class AbsoluteMotor extends TachoMotor {
}

public receive (message: Buffer) {
if (this.hub.autoParse) {
return super.receive(message);
}

const mode = this._mode;

switch (mode) {
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4 changes: 4 additions & 0 deletions src/devices/colordistancesensor.ts
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Expand Up @@ -15,6 +15,10 @@ export class ColorDistanceSensor extends Device {
}

public receive (message: Buffer) {
if (this.hub.autoParse) {
return super.receive(message);
}

const mode = this._mode;

switch (mode) {
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106 changes: 104 additions & 2 deletions src/devices/device.ts
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@@ -1,9 +1,11 @@
import { EventEmitter } from "events";

import { IDeviceInterface } from "../interfaces";
import { IDeviceInterface, IMode } from "../interfaces";

import * as Consts from "../consts";

import { normalize } from "../utils";

/**
* @class Device
* @extends EventEmitter
Expand All @@ -13,10 +15,12 @@ export class Device extends EventEmitter {
public autoSubscribe: boolean = true;
public values: {[event: string]: any} = {};

protected _modes: IMode[] = [];
protected _mode: number | undefined;
protected _busy: boolean = false;
protected _finished: (() => void) | undefined;

private _ready: boolean = false;
private _hub: IDeviceInterface;
private _portId: number;
private _connected: boolean = true;
Expand All @@ -37,7 +41,7 @@ export class Device extends EventEmitter {
this._isVirtualPort = this.hub.isPortVirtual(portId);

const eventAttachListener = (event: string) => {
if (event === "detach") {
if (event === "detach" || !this._ready) {
return;
}
if (this.autoSubscribe) {
Expand All @@ -64,6 +68,11 @@ export class Device extends EventEmitter {
this.hub.on("newListener", eventAttachListener);
this.on("newListener", eventAttachListener);
this.hub.on("detach", deviceDetachListener);

if (!this.autoparse) {
this._ready = true;
this.emit('ready');
}
}

/**
Expand Down Expand Up @@ -126,6 +135,22 @@ export class Device extends EventEmitter {
return this._isVirtualPort;
}

/**
* @readonly
* @property {string[]} events List of availlable events (input modes).
*/
public get events () {
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return this._modes.filter(mode => mode.input).map(({ name }) => name);
}

/**
* @readonly
* @property {string[]} writeModes List of availlable write (output modes).
*/
public get writeModes () {
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return this._modes.filter(mode => mode.output).map(({ name }) => name);
}

public writeDirect (mode: number, data: Buffer) {
if (this.isWeDo2SmartHub) {
return this.send(Buffer.concat([Buffer.from([this.portId, 0x01, 0x02]), data]), Consts.BLECharacteristic.WEDO2_MOTOR_VALUE_WRITE);
Expand All @@ -134,6 +159,36 @@ export class Device extends EventEmitter {
}
}

public autoparseWriteDirect (mode: string, ...data: number[]) {
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if (!this.autoparse) return;
const modeId = this._modeMap[mode];
if (modeId === undefined) return;

const { values } = this._modes[modeId];
const valueSize = Consts.ValueTypeSize[values.type];

const buf = Buffer.alloc(values.count * valueSize);
for(let v = 0; v < values.count; v++) {
const offset = v * valueSize;
switch(values.type) {
case Consts.ValueType.Int8:
buf.writeInt8(data[v] || 0, offset);
break;
case Consts.ValueType.Int16:
buf.writeInt16LE(data[v] || 0, offset);
break;
case Consts.ValueType.Int32:
buf.writeInt32LE(data[v] || 0, offset);
break;
case Consts.ValueType.Float:
buf.writeFloatLE(data[v] || 0, offset);
break;
}
}

return this.writeDirect(modeId, buf);
}

public send (data: Buffer, characteristic: string = Consts.BLECharacteristic.LPF2_ALL) {
this._ensureConnected();
return this.hub.send(data, characteristic);
Expand All @@ -153,6 +208,38 @@ export class Device extends EventEmitter {

public receive (message: Buffer) {
this.notify("receive", { message });

const mode = this._mode;
if (mode === undefined) {
return;
}
const { name, raw, pct, si, values } = this._modes[mode];
const valueSize = Consts.ValueTypeSize[values.type];
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@nathankellenicki nathankellenicki Jun 27, 2020

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I haven't checked on all devices, but do all device modes only accept one type of value? Even for multiple values?

Are there any instances where a device could have ie. 3x int32, 1x uint8? I don't know if the UART protocol even supports that.

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@aileo aileo Jun 28, 2020

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I would say they mix everything as in the boost color and distance sensor:

[
  {
    "name": "COLOR",
    "input": true,
    "output": false,
    "raw": { "min": 0, "max": 10 },
    "pct": { "min": 0, "max": 100 },
    "si": { "min": 0, "max": 10, "symbol": "IDX" },
    "values": {
      "count": 1,
      "type": 0
    }
  },
  {
    "name": "PROX",
    "input": true,
    "output": false,
    "raw": { "min": 0, "max": 10 },
    "pct": { "min": 0, "max": 100 },
    "si": { "min": 0, "max": 10, "symbol": "DIS" },
    "values": {
      "count": 1,
      "type": 0
    }
  },
  "[...]",
  {
    "name": "SPEC 1",
    "input": true,
    "output": false,
    "raw": { "min": 0, "max": 255 },
    "pct": { "min": 0, "max": 100 },
    "si": { "min": 0, "max": 255, "symbol": "N/A" },
    "values": {
      "count": 4,
      "type": 0
    }
  },
  "[...]"
]

For SPEC 1, which includes values from COLOR and PROX modes, it use 0-255 as range instead of 0-10 to match other values.

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@tthiery tthiery Jul 1, 2020 •
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As an example, the tilt sensor of the TechnicMediumHub has different data types for different modes in use (Int8, Int32, Int16) but within one mode, the data type is always the same. At least, that is what the device/spec is self-declaring.

Port: 99
    IOTypeId: TechnicMediumHubTiltSensor
    HardwareRevision: 0.0.0.1
    SoftwareRevision: 0.0.0.1
    OutputCapability: True
    InputCapability: True
    LogicalCombinableCapability: True
    LogicalSynchronizableCapability: True
    ModeCombinations: []
    UsedCombinationIndex: 0
    MultiUpdateEnabled: False
    ConfiguredModeDataSetIndex: []
    Mode: 0
      Name: POS
      IsInput: True
      IsOutput: False
      RawMin: -180
      RawMax: 180
      PctMin: -100
      PctMax: 100
      SIMin: -180
      SIMax: 180
      Symbol: DEG
      InputSupportsNull: False
      InputSupportFunctionalMapping20: True
      InputAbsolute: True
      InputRelative: False
      InputDiscrete: False
      OutputSupportsNull: False
      OutputSupportFunctionalMapping20: False
      OutputAbsolute: False
      OutputRelative: False
      OutputDiscrete: False
      NumberOfDatasets: 3
      DatasetType: Int16
      TotalFigures: 3
      Decimals: 0
      DeltaInterval: 0
      NotificationEnabled: False
    Mode: 1
      Name: IMP
      IsInput: True
      IsOutput: False
      RawMin: 0
      RawMax: 100
      PctMin: 0
      PctMax: 100
      SIMin: 0
      SIMax: 100
      Symbol: CNT
      InputSupportsNull: False
      InputSupportFunctionalMapping20: False
      InputAbsolute: False
      InputRelative: True
      InputDiscrete: False
      OutputSupportsNull: False
      OutputSupportFunctionalMapping20: False
      OutputAbsolute: False
      OutputRelative: False
      OutputDiscrete: False
      NumberOfDatasets: 1
      DatasetType: Int32
      TotalFigures: 3
      Decimals: 0
      DeltaInterval: 0
      NotificationEnabled: False
    Mode: 2
      Name: CFG
      IsInput: False
      IsOutput: True
      RawMin: 0
      RawMax: 255
      PctMin: 0
      PctMax: 100
      SIMin: 0
      SIMax: 255
      Symbol:
      InputSupportsNull: False
      InputSupportFunctionalMapping20: False
      InputAbsolute: False
      InputRelative: False
      InputDiscrete: False
      OutputSupportsNull: False
      OutputSupportFunctionalMapping20: False
      OutputAbsolute: True
      OutputRelative: False
      OutputDiscrete: False
      NumberOfDatasets: 2
      DatasetType: SByte
      TotalFigures: 3
      Decimals: 0
      DeltaInterval: 0
      NotificationEnabled: False

const data = [];

for(let v = 0; v < values.count; v++) {
const offset = 4 + v * valueSize;
switch(values.type) {
case Consts.ValueType.Int8:
data.push(message.readInt8(offset));
break;
case Consts.ValueType.Int16:
data.push(message.readInt16LE(offset));
break;
case Consts.ValueType.Int32:
data.push(message.readInt32LE(offset));
break;
case Consts.ValueType.Float:
data.push(message.readFloatLE(offset));
break;
}
}

this.notify(name, {
raw: data,
pct: data.map(value => normalize(value, {raw, out: pct})),
si: data.map(value => normalize(value, {raw, out: si}))
});
}

public notify (event: string, values: any) {
Expand Down Expand Up @@ -192,4 +279,19 @@ export class Device extends EventEmitter {
}
}

public setModes(modes: IMode[]) {
this._modes = modes;

this._modeMap = modes.reduce((map: {[name: string]: number}, mode, index) => {
map[mode.name] = index;
return map;
}, {});

this._ready = true;
this.emit('ready');
}

private get autoparse() {
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return this.hub.autoParse || this._type === Consts.DeviceType.UNKNOWN;
}
}
4 changes: 4 additions & 0 deletions src/devices/duplotrainbasecolorsensor.ts
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Expand Up @@ -15,6 +15,10 @@ export class DuploTrainBaseColorSensor extends Device {
}

public receive (message: Buffer) {
if (this.hub.autoParse) {
return super.receive(message);
}

const mode = this._mode;

switch (mode) {
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4 changes: 4 additions & 0 deletions src/devices/duplotrainbasespeedometer.ts
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Expand Up @@ -15,6 +15,10 @@ export class DuploTrainBaseSpeedometer extends Device {
}

public receive (message: Buffer) {
if (this.hub.autoParse) {
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@nathankellenicki nathankellenicki Jun 27, 2020

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These are quite repetitive, and error prone when new devices are added (ie. could forget to do this). Could the check be done at hub level, calling either receive or autoParse?

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@aileo aileo Jun 28, 2020

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I am thinking about another way to do this:

  1. Define all known modes like auto parsed ones and add them in the constructor.
  2. always use Device.receive to parse incoming messages (including mode information) and emit lego named events
  3. make the specific device classes to listen on their lego events to emit proper ones

No more receive method in specific device classes, just event handlers that could use private methods to handle mode calculation and formating.

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@aileo aileo Jun 28, 2020

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I totally forgot about the subscription logic in the comment above. It will need the correct mode map.

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return super.receive(message);
}

const mode = this._mode;

switch (mode) {
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4 changes: 4 additions & 0 deletions src/devices/motionsensor.ts
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Expand Up @@ -15,6 +15,10 @@ export class MotionSensor extends Device {
}

public receive (message: Buffer) {
if (this.hub.autoParse) {
return super.receive(message);
}

const mode = this._mode;

switch (mode) {
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4 changes: 4 additions & 0 deletions src/devices/movehubtiltsensor.ts
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Expand Up @@ -15,6 +15,10 @@ export class MoveHubTiltSensor extends Device {
}

public receive (message: Buffer) {
if (this.hub.autoParse) {
return super.receive(message);
}

const mode = this._mode;

switch (mode) {
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4 changes: 4 additions & 0 deletions src/devices/remotecontrolbutton.ts
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Expand Up @@ -15,6 +15,10 @@ export class RemoteControlButton extends Device {
}

public receive (message: Buffer) {
if (this.hub.autoParse) {
return super.receive(message);
}

const mode = this._mode;

switch (mode) {
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4 changes: 4 additions & 0 deletions src/devices/tachomotor.ts
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Expand Up @@ -21,6 +21,10 @@ export class TachoMotor extends BasicMotor {
}

public receive (message: Buffer) {
if (this.hub.autoParse) {
return super.receive(message);
}

const mode = this._mode;

switch (mode) {
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4 changes: 4 additions & 0 deletions src/devices/techniccolorsensor.ts
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Expand Up @@ -15,6 +15,10 @@ export class TechnicColorSensor extends Device {
}

public receive (message: Buffer) {
if (this.hub.autoParse) {
return super.receive(message);
}

const mode = this._mode;

switch (mode) {
Expand Down
4 changes: 4 additions & 0 deletions src/devices/technicdistancesensor.ts
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Expand Up @@ -15,6 +15,10 @@ export class TechnicDistanceSensor extends Device {
}

public receive (message: Buffer) {
if (this.hub.autoParse) {
return super.receive(message);
}

const mode = this._mode;

switch (mode) {
Expand Down
4 changes: 4 additions & 0 deletions src/devices/technicforcesensor.ts
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Expand Up @@ -15,6 +15,10 @@ export class TechnicForceSensor extends Device {
}

public receive (message: Buffer) {
if (this.hub.autoParse) {
return super.receive(message);
}

const mode = this._mode;

switch (mode) {
Expand Down
4 changes: 4 additions & 0 deletions src/devices/technicmediumhubaccelerometersensor.ts
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Expand Up @@ -15,6 +15,10 @@ export class TechnicMediumHubAccelerometerSensor extends Device {
}

public receive (message: Buffer) {
if (this.hub.autoParse) {
return super.receive(message);
}

const mode = this._mode;

switch (mode) {
Expand Down
4 changes: 4 additions & 0 deletions src/devices/technicmediumhubgyrosensor.ts
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Expand Up @@ -15,6 +15,10 @@ export class TechnicMediumHubGyroSensor extends Device {
}

public receive (message: Buffer) {
if (this.hub.autoParse) {
return super.receive(message);
}

const mode = this._mode;

switch (mode) {
Expand Down
4 changes: 4 additions & 0 deletions src/devices/technicmediumhubtiltsensor.ts
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Expand Up @@ -15,6 +15,10 @@ export class TechnicMediumHubTiltSensor extends Device {
}

public receive (message: Buffer) {
if (this.hub.autoParse) {
return super.receive(message);
}

const mode = this._mode;

switch (mode) {
Expand Down
4 changes: 4 additions & 0 deletions src/devices/tiltsensor.ts
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Expand Up @@ -15,6 +15,10 @@ export class TiltSensor extends Device {
}

public receive (message: Buffer) {
if (this.hub.autoParse) {
return super.receive(message);
}

const mode = this._mode;

switch (mode) {
Expand Down
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