Add missing modes to (WeDo-)TiltSensor

nathankellenicki · Oct 8, 2022 · b58e608 · b58e608
1 parent e4c68e5
commit b58e608
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Showing 2 changed files with 110 additions and 6 deletions.
diff --git a/src/consts.ts b/src/consts.ts
@@ -703,3 +703,47 @@ export enum MarioColor {
     BROWN = 0x6a00,
     CYAN = 0x4201,
 }
+
+
+/**
+ * @typedef TiltDirection
+ * @param {number} NEUTRAL 0
+ * @param {number} BACKWARD 3
+ * @param {number} RIGHT 5
+ * @param {number} LEFT 7
+ * @param {number} FORWARD 9
+ * @param {number} UNKNOWN 10
+ */
+export enum TiltDirection {
+    NEUTRAL = 0,
+    BACKWARD = 3,
+    RIGHT = 5,
+    LEFT = 7,
+    FORWARD = 9,
+    UNKNOWN = 10,
+}
+
+
+/**
+ * @typedef CommandFeedback
+ * @param {number} TRANSMISSION_PENDING 0x00 waiting for previous commands to complete transmission or execution
+ * @param {number} TRANSMISSION_BUSY 0x10 waiting for device to acknowledge reception
+ * @param {number} TRANSMISSION_DISCARDED 0x44 interrupt command has been recieved or device disconnected
+ * @param {number} EXECUTION_PENDING 0x20 device is waiting for previous command to complete
+ * @param {number} EXECUTION_BUSY 0x21 device is executing the command
+ * @param {number} EXECUTION_DISCARDED 0x24 device discarded the command e.g. due to interrupt
+ * @param {number} EXECUTION_COMPLETED 0x22 device reported successful completion of command
+ * @param {number} FEEDBACK_MISSING 0x66 device disconnected or failed to report feedback
+ * @param {number} FEEDBACK_DISABLED 0x26 feedback not implemented for this command
+ */
+export enum CommandFeedback {
+    TRANSMISSION_PENDING = 0x00,
+    TRANSMISSION_BUSY = 0x10,
+    TRANSMISSION_DISCARDED = 0x44,
+    EXECUTION_PENDING = 0x20,
+    EXECUTION_BUSY = 0x21,
+    EXECUTION_DISCARDED = 0x24,
+    EXECUTION_COMPLETED = 0x22,
+    FEEDBACK_MISSING = 0x66,
+    FEEDBACK_DISABLED = 0x26,
+}
diff --git a/src/devices/tiltsensor.ts b/src/devices/tiltsensor.ts
@@ -16,11 +16,18 @@ export class TiltSensor extends Device {
 
     public receive (message: Buffer) {
         const mode = this._mode;
+        let x = 0;
+        let y = 0;
+        let z = 0;
 
         switch (mode) {
             case Mode.TILT:
-                const x = message.readInt8(this.isWeDo2SmartHub ? 2 : 4);
-                const y = message.readInt8(this.isWeDo2SmartHub ? 3 : 5);
+                if (message.length !== (this.isWeDo2SmartHub ? 4 : 6)) {
+                    // if mode of device has not changed to this._mode yet
+                    break;
+                }
+                x = message.readInt8(this.isWeDo2SmartHub ? 2 : 4);
+                y = message.readInt8(this.isWeDo2SmartHub ? 3 : 5);
                 /**
                  * Emits when a tilt sensor is activated.
                  * @event TiltSensor#tilt
@@ -30,15 +37,68 @@ export class TiltSensor extends Device {
                  */
                 this.notify("tilt", { x, y });
                 break;
+            case Mode.DIRECTION:
+                const dir = message.readInt8(this.isWeDo2SmartHub ? 2 : 4);
+                /**
+                 * Emits when the tilt sensor direction changes.
+                 * @event TiltSensor#direction
+                 * @type {object}
+                 * @param {TiltDirection} dir
+                 */
+                this.notify("direction", { dir });
+                break;
+            case Mode.CRASH:
+                if (message.length !== (this.isWeDo2SmartHub ? 5 : 7)) {
+                    // if mode of device has not changed to this._mode yet
+                    break;
+                }
+                x = message.readUInt8(this.isWeDo2SmartHub ? 2 : 4);
+                y = message.readUInt8(this.isWeDo2SmartHub ? 3 : 5);
+                z = message.readUInt8(this.isWeDo2SmartHub ? 4 : 6);
+                /**
+                 * Emits when proper acceleration is above threshold (e.g. on impact when being thrown to the ground).
+                 * @event TiltSensor#impactCount
+                 * @type {object}
+                 * @param {number} x
+                 * @param {number} y
+                 * @param {number} z
+                 */
+                this.notify("impactCount", { x, y, z });
+                break;
+            case Mode.CAL:
+                if (message.length !== (this.isWeDo2SmartHub ? 5 : 7)) {
+                    // if mode of device has not changed to this._mode yet
+                    break;
+                }
+                const ax = message.readInt8(this.isWeDo2SmartHub ? 2 : 4)*Math.PI/180;
+                const ay = message.readInt8(this.isWeDo2SmartHub ? 3 : 5)*Math.PI/180;
+                const az = message.readInt8(this.isWeDo2SmartHub ? 4 : 6)*Math.PI/180;
+                x = Math.round(1000*Math.sqrt(2)*Math.sin(ax)*Math.cos(ay)*Math.cos(az))
+                y = Math.round(1000*Math.sqrt(2)*Math.cos(ax)*Math.sin(ay)*Math.cos(az))
+                z = Math.round(1000*Math.sqrt(2)*Math.cos(ax)*Math.cos(ay)*Math.sin(az))
+                /**
+                 * Emits when tilt sensor detects acceleration. Measured in mG.
+                 * @event TiltSensor#accel
+                 * @type {object}
+                 * @param {number} x
+                 * @param {number} y
+                 * @param {number} z
+                 */
+                this.notify("accel", { x, y, z });
+                break;
         }
     }
 
-}
-
 export enum Mode {
-    TILT = 0x00
+    TILT = 0x00,
+    DIRECTION = 0x01,
+    CRASH = 0x02,
+    CAL = 0x03
 }
 
 export const ModeMap: {[event: string]: number} = {
-    "tilt": Mode.TILT
+    "tilt": Mode.TILT,
+    "direction": Mode.DIRECTION,
+    "impactCount": Mode.CRASH,
+    "accel": Mode.CAL
 };