/
Vehicle.ts
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/
Vehicle.ts
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import {IVehicle} from "./IVehicle";
import {IDevice} from "../ble/IDevice";
import {ANKI_CHR_WRITE_UUID, ANKI_STR_CHR_READ_UUID} from "../message/GattProfile";
import {CancelLaneChange} from "../message/c2v/CancelLaneChange";
import {IVehicleMessage} from "../message/IVehicleMessage";
import {ChangeLane} from "../message/c2v/ChangeLane";
import {SdkMode} from "../message/c2v/SdkMode";
import {BatteryLevelRequest} from "../message/c2v/BatteryLevelRequest";
import {
ANKI_VEHICLE_MSG_V2C_BATTERY_LEVEL_RESPONSE, ANKI_VEHICLE_MSG_V2C_PING_RESPONSE,
ANKI_VEHICLE_MSG_V2C_VERSION_RESPONSE
} from "../message/Protocol";
import {BatteryLevelResponse} from "../message/v2c/BatteryLevelResponse";
import {MessageBuilder} from "../message/MessageBuilder";
import {PingRequest} from "../message/c2v/PingRequest";
import {PingResponse} from "../message/v2c/PingResponse";
import {VersionRequest} from "../message/c2v/VersionRequest";
import {VersionResponse} from "../message/v2c/VersionResponse";
import {SetOffsetFromRoadCenter} from "../message/c2v/SetOffsetFromRoadCenter";
import {SetSpeed} from "../message/c2v/SetSpeed";
import {Turn, TurnType} from "../message/c2v/Turn";
class Vehicle implements IVehicle {
public readonly address: string;
public readonly id: string;
public readonly name: string;
private _offset: number;
private _device: IDevice
private _listeners: Array<(message: any) => any>
private _builder: MessageBuilder
constructor(device: IDevice, offset = 0.0, name = "") {
this._device = device
this.name = name
this._offset = offset
this.id = device.id
this.address = device.address
this._listeners = []
this._builder = new MessageBuilder()
}
public cancelLaneChange(): void {
this.writeAndPublish(new CancelLaneChange(this.id))
}
public changeLane(offset: number, speed = 300, acceleration = 300, hopIntent = 0x0, tag = 0x0): void {
this.writeAndPublish(new ChangeLane(
this.id,
offset,
speed,
acceleration,
hopIntent,
tag
))
}
public connect(): Promise<Vehicle> {
const self = this
return new Promise<Vehicle>((resolve, reject) => {
self._device.connect(
ANKI_STR_CHR_READ_UUID,
ANKI_CHR_WRITE_UUID
).then(() => {
self.enableSdkMode()
self._device.read((data) => self.readAndPublish(data))
resolve(self)
}).catch(reject)
});
}
public disableSdkMode(): void {
this.writeAndPublish(new SdkMode(this.id, false))
}
public disconnect(): Promise<Vehicle> {
const self = this
return new Promise<Vehicle>((resolve, reject) => {
self.disableSdkMode()
self.removeAllListeners()
self._device.disconnect()
.then(() => {
resolve(self)
}).catch(reject)
});
}
public enableSdkMode(): void {
this.writeAndPublish(new SdkMode(this.id, true))
}
public queryBatterLevel(): Promise<number> {
const self = this
return new Promise<number>((resolve, reject) => {
self.sendRequest<BatteryLevelRequest, BatteryLevelResponse>(
new BatteryLevelRequest(this.id),
ANKI_VEHICLE_MSG_V2C_BATTERY_LEVEL_RESPONSE
).then((message: BatteryLevelResponse) => resolve(message.batteryLevel))
.catch(reject)
});
}
public queryPing(): Promise<number> {
const self = this
return new Promise<number>((resolve, reject) => {
const request = new PingRequest(this.id)
self.sendRequest<PingRequest, PingResponse>(
request,
ANKI_VEHICLE_MSG_V2C_PING_RESPONSE
).then((message: PingResponse) => resolve(message.calculatePing(request)))
.catch(reject)
});
}
public queryVersion(): Promise<number> {
const self = this
return new Promise<number>((resolve, reject) => {
self.sendRequest<VersionRequest, VersionResponse>(
new VersionRequest(this.id),
ANKI_VEHICLE_MSG_V2C_VERSION_RESPONSE
).then((message: VersionResponse) => resolve(message.version))
.catch(reject)
});
}
public setOffset(offset: number): void {
this.writeAndPublish(new SetOffsetFromRoadCenter(
this.id,
offset
))
this._offset = offset
}
public setSpeed(speed: number, acceleration = 500, limit = false): void {
this.writeAndPublish(new SetSpeed(
this.id,
speed,
acceleration,
limit
))
}
public turnLeft(): void {
this.writeAndPublish(new Turn(
this.id,
TurnType.VEHICLE_TURN_LEFT
))
}
public turnRight(): void {
this.writeAndPublish(new Turn(
this.id,
TurnType.VEHICLE_TURN_RIGHT
))
}
public uTurn(): void {
this.writeAndPublish(new Turn(
this.id,
TurnType.VEHICLE_TURN_UTURN
))
}
public uTurnJump(): void {
this.writeAndPublish(new Turn(
this.id,
TurnType.VEHICLE_TURN_UTURN_JUMP
))
}
public addListener<T extends IVehicleMessage>(listener: (message: T) => any): void {
this._listeners.push(listener)
}
public get offset(): number {
return this._offset
}
public removeListener<T extends IVehicleMessage>(listener: (message: T) => any): void {
this._listeners = this._listeners.filter(l => listener !== l)
}
private removeAllListeners(): void {
this._listeners = []
}
private readAndPublish(payload: Buffer): void {
const self = this
this._listeners.forEach(listener =>
listener(self._builder
.messageId(payload.readUInt8(1))
.vehicleId(self.id)
.payload(payload)
.build()
)
)
}
private writeAndPublish<T extends IVehicleMessage>(message: T): void {
const self = this
this._device.write(message.payload).then(() => {
self._listeners.forEach(listener => listener(message))
})
}
private sendRequest<Req extends IVehicleMessage, Res extends IVehicleMessage>(
request: Req, responseId: number): Promise<Res> {
const self = this
return new Promise<Res>((resolve, reject) => {
const listener = (message: Res) => {
if(message && message.payload.readUInt8(1) === responseId) {
clearTimeout(timeout)
self.removeListener(listener)
resolve(message)
}
}
const timeout = setTimeout(() => {
self.removeListener(listener)
reject(new Error("Request timeout for " + responseId))
}, 1500)
self.addListener(listener)
self.writeAndPublish(request)
})
}
}
export {Vehicle}