@openhps/sphero/dist/web/openhps-sphero.min.js

Open Hybrid Positioning System - Sphero component

!function(e,t){"object"==typeof exports&&"object"==typeof module?module.exports=t(require("@openhps/core")):"function"==typeof define&&define.amd?define("OpenHPS",["core"],t):"object"==typeof exports?exports.OpenHPS=t(require("@openhps/core")):(e.OpenHPS=e.OpenHPS||{},e.OpenHPS.sphero=t(e.OpenHPS.core))}("undefined"!=typeof self?self:this,(e=>(()=>{"use strict";var t={704:(e,t,n)=>{Object.defineProperty(t,"__esModule",{value:!0}),t.SpheroDataFrame=void 0;const o=n(655),r=n(0),i=n(242);let s=class SpheroDataFrame extends r.DataFrame{constructor(e){super(e)}};o.__decorate([(0,r.SerializableMember)(),o.__metadata("design:type",Number)],s.prototype,"x",void 0),o.__decorate([(0,r.SerializableMember)(),o.__metadata("design:type",Number)],s.prototype,"y",void 0),s=o.__decorate([(0,r.SerializableObject)(),o.__metadata("design:paramtypes",[i.SpheroDataObject])],s),t.SpheroDataFrame=s},13:(e,t,n)=>{Object.defineProperty(t,"__esModule",{value:!0});const o=n(655);o.__exportStar(n(242),t),o.__exportStar(n(704),t)},120:(e,t,n)=>{var o;Object.defineProperty(t,"__esModule",{value:!0}),t.SpheroDataObject=void 0;const r=n(655),i=n(0),s=n(529);let a=o=class SpheroDataObject extends i.DataObject{constructor(e,t,n){super(t,n),this.toy=e}static findSpheroMini(){return new Promise(((e,t)=>{s.Scanner.findSpheroMini().then((t=>{const n=new o(t);n.setPosition(new i.Absolute3DPosition(0,0,0)),e(n)})).catch((e=>{t(e)}))}))}};a=o=r.__decorate([(0,i.SerializableObject)(),r.__metadata("design:paramtypes",[Object,String,String])],a),t.SpheroDataObject=a},242:(e,t,n)=>{Object.defineProperty(t,"__esModule",{value:!0});n(655).__exportStar(n(120),t)},915:(e,t,n)=>{Object.defineProperty(t,"__esModule",{value:!0});const o=n(655);o.__exportStar(n(941),t),o.__exportStar(n(13),t)},709:(e,t,n)=>{Object.defineProperty(t,"__esModule",{value:!0}),t.SpheroInputSource=void 0;const o=n(655),r=n(0),i=n(13);class SpheroInputSource extends r.SourceNode{constructor(e){super(e)}get toy(){return this.source.toy}onPull(){return new Promise((e=>{e(new i.SpheroDataFrame(this.source))}))}roll(e,t,n=[]){return new Promise(((o,s)=>{const a=this.source,c=a.getPosition()||new r.Absolute2DPosition(0,0);c.unit=r.LengthUnit.CENTIMETER,c.timestamp=r.TimeService.now(),c.orientation=r.Orientation.fromEuler({yaw:t,pitch:0,roll:0,unit:r.AngleUnit.DEGREE}),c.velocity.linear=new r.LinearVelocity(1/255*e,0,0,r.LinearVelocityUnit.METER_PER_SECOND),a.setPosition(c);const l=new i.SpheroDataFrame(a);a.toy.roll(e,t,n).then((()=>this.push(l))).then((()=>{setTimeout((()=>{o()}),10)})).catch(s)}))}rollTime(e,t,n,i,s=[]){return new Promise(((a,c)=>o.__awaiter(this,void 0,void 0,(function*(){let o=!0;for(setTimeout((()=>o=!1),i.convert(n,r.TimeUnit.MILLISECOND));o;)yield this.roll(e,t,s);this.roll(0,t,s).then((()=>{a()})).catch((e=>{c(e)}))}))))}}t.SpheroInputSource=SpheroInputSource},332:(e,t,n)=>{Object.defineProperty(t,"__esModule",{value:!0}),t.SpheroSensor=t.SpheroSensorSource=void 0;const o=n(0),r=n(13),i=n(529);class SpheroSensorSource extends o.SourceNode{constructor(e){super(e),this._calibrated=!1,this._calibrated=this.options.skipCalibration,this.once("build",this._initSensors.bind(this))}get toy(){return this.source.toy}_initSensors(){return new Promise(((e,t)=>{this.referenceSpace=new o.ReferenceSpace(this.graph.referenceSpace);const n=this.source;n.toy.on(i.Event.onSensor,this._onSensorEvent.bind(this)),this.options.skipSensorConfiguration?e():n.toy.configureSensorStream(this.options.interval).then((()=>{e()})).catch(t)}))}_onSensorEvent(e){this._calibrated||(this.referenceSpace.rotation(o.Quaternion.fromEuler({yaw:-e.angles.yaw,pitch:-e.angles.pitch,roll:-e.angles.roll,unit:o.AngleUnit.DEGREE})),this.referenceSpace.translation(-e.locator.position.x,-e.locator.position.y),this._calibrated=!0);const t=this.source,n=t.getPosition()||new o.Absolute2DPosition(0,0);n.timestamp=o.TimeService.now(),n.unit=o.LengthUnit.CENTIMETER,this.options.sensors.includes(s.VELOCITY)&&(n.velocity.linear=new o.LinearVelocity(e.locator.velocity.x,e.locator.velocity.y,0,o.LinearVelocityUnit.CENTIMETER_PER_SECOND)),this.options.sensors.includes(s.GYROSCOPE)&&(n.velocity.angular=new o.AngularVelocity(e.gyro.filtered.x,e.gyro.filtered.y,e.gyro.filtered.z,o.AngularVelocityUnit.DEGREE_PER_SECOND)),this.options.sensors.includes(s.LOCATION)&&(n.unit=o.LengthUnit.CENTIMETER,n.x=e.locator.position.x,n.y=e.locator.position.y,n.orientation=o.Orientation.fromEuler({yaw:e.angles.yaw,pitch:e.angles.pitch,roll:e.angles.roll,unit:o.AngleUnit.DEGREE})),t.setPosition(n,this.referenceSpace);const i=new r.SpheroDataFrame(t);new o.Gyroscope(this.uid+"_gyro").value=n.velocity.angular.clone();new o.LinearVelocitySensor(this.uid+"_linearvel").value=n.velocity.linear.clone();new o.RelativeOrientationSensor(this.uid+"_relativeorientation").value=n.orientation.clone();new o.LinearAccelerationSensor(this.uid+"_linearaccl").value=new o.Acceleration(e.accelerometer.filtered.x,e.accelerometer.filtered.y,e.accelerometer.filtered.z),i.x=n.x,i.y=n.y,this.push(i)}onPull(){return new Promise((e=>{e(new r.SpheroDataFrame(this.source))}))}}var s;t.SpheroSensorSource=SpheroSensorSource,function(e){e[e.LOCATION=0]="LOCATION",e[e.GYROSCOPE=1]="GYROSCOPE",e[e.ACCELEROMETER=2]="ACCELEROMETER",e[e.VELOCITY=3]="VELOCITY"}(s=t.SpheroSensor||(t.SpheroSensor={}))},941:(e,t,n)=>{Object.defineProperty(t,"__esModule",{value:!0});const o=n(655);o.__exportStar(n(332),t),o.__exportStar(n(709),t)},876:(e,t,n)=>{Object.defineProperty(t,"__esModule",{value:!0});const o=n(940);t.default=e=>{const t=e(o.DeviceId.apiProcessor);return{echo:()=>t({commandId:o.APIProcessCommandIds.echo})}}},430:(e,t,n)=>{Object.defineProperty(t,"__esModule",{value:!0}),t.factory=t.number=void 0;const o=n(940),r=6;t.number=function(e,t){return Buffer.from(e).readInt16BE(t)};const 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0,function(e){e[e.apiProcessor=16]="apiProcessor",e[e.systemInfo=17]="systemInfo",e[e.powerInfo=19]="powerInfo",e[e.driving=22]="driving",e[e.animatronics=23]="animatronics",e[e.sensor=24]="sensor",e[e.userIO=26]="userIO",e[e.somethingAPI=31]="somethingAPI"}(t.DeviceId||(t.DeviceId={})),function(e){e[e.something5=39]="something5"}(t.SomethingApi||(t.SomethingApi={})),function(e){e[e.echo=0]="echo"}(t.APIProcessCommandIds||(t.APIProcessCommandIds={})),function(e){e[e.mainApplicationVersion=0]="mainApplicationVersion",e[e.bootloaderVersion=1]="bootloaderVersion",e[e.something=6]="something",e[e.something6=18]="something6",e[e.something7=40]="something7"}(t.SystemInfoCommandIds||(t.SystemInfoCommandIds={})),function(e){e[e.deepSleep=0]="deepSleep",e[e.sleep=1]="sleep",e[e.batteryVoltage=3]="batteryVoltage",e[e.wake=13]="wake",e[e.something2=16]="something2",e[e.something3=4]="something3",e[e.something4=30]="something4"}(t.PowerCommandIds||(t.PowerCommandIds={})),function(e){e[e.rawMotor=1]="rawMotor",e[e.resetYaw=6]="resetYaw",e[e.driveAsSphero=4]="driveAsSphero",e[e.driveAsRc=2]="driveAsRc",e[e.driveWithHeading=7]="driveWithHeading",e[e.stabilization=12]="stabilization"}(t.DrivingCommandIds||(t.DrivingCommandIds={})),function(e){e[e.animationBundle=5]="animationBundle",e[e.shoulderAction=13]="shoulderAction",e[e.domePosition=15]="domePosition",e[e.shoulderActionComplete=38]="shoulderActionComplete",e[e.enableShoulderActionCompleteAsync=42]="enableShoulderActionCompleteAsync"}(t.AnimatronicsCommandIds||(t.AnimatronicsCommandIds={})),function(e){e[e.sensorMask=0]="sensorMask",e[e.sensorResponse=2]="sensorResponse",e[e.configureCollision=17]="configureCollision",e[e.collisionDetectedAsync=18]="collisionDetectedAsync",e[e.resetLocator=19]="resetLocator",e[e.enableCollisionAsync=20]="enableCollisionAsync",e[e.sensor1=15]="sensor1",e[e.sensor2=23]="sensor2",e[e.sensorMaskExtended=12]="sensorMaskExtended"}(t.SensorCommandIds||(t.SensorCommandIds={})),function(e){e[e.allLEDs=14]="allLEDs",e[e.allLEDsV21=28]="allLEDsV21",e[e.playAudioFile=7]="playAudioFile",e[e.audioVolume=8]="audioVolume",e[e.stopAudio=10]="stopAudio",e[e.testSound=24]="testSound",e[e.matrixPixel=45]="matrixPixel",e[e.matrixColor=47]="matrixColor",e[e.clearMatrix=56]="clearMatrix",e[e.matrixRotation=58]="matrixRotation",e[e.matrixScrollText=59]="matrixScrollText",e[e.matrixLine=61]="matrixLine",e[e.matrixFill=62]="matrixFill"}(t.UserIOCommandIds||(t.UserIOCommandIds={})),function(e){e[e.isResponse=1]="isResponse",e[e.requestsResponse=2]="requestsResponse",e[e.requestsOnlyErrorResponse=4]="requestsOnlyErrorResponse",e[e.resetsInactivityTimeout=8]="resetsInactivityTimeout",e[e.commandHasTargetId=16]="commandHasTargetId",e[e.commandHasSourceId=32]="commandHasSourceId"}(t.Flags||(t.Flags={})),function(e){e[e.escape=171]="escape",e[e.startOfPacket=141]="startOfPacket",e[e.endOfPacket=216]="endOfPacket",e[e.escapeMask=136]="escapeMask",e[e.escapedEscape=35]="escapedEscape",e[e.escapedStartOfPacket=5]="escapedStartOfPacket",e[e.escapedEndOfPacket=80]="escapedEndOfPacket"}(t.APIConstants||(t.APIConstants={})),function(e){e[e.reverse=1]="reverse",e[e.boost=2]="boost",e[e.fastTurnMode=4]="fastTurnMode",e[e.tankDriveLeftMotorReverse=8]="tankDriveLeftMotorReverse",e[e.tankDriveRightMotorReverse=16]="tankDriveRightMotorReverse"}(t.DriveFlag||(t.DriveFlag={}))},347:(e,t,n)=>{Object.defineProperty(t,"__esModule",{value:!0});const o=n(940);t.default=e=>{const t=e(o.DeviceId.userIO),n=e(o.DeviceId.animatronics);return{allLEDsRaw:e=>t({commandId:o.UserIOCommandIds.allLEDs,payload:e}),setBackLedIntensity:e=>t({commandId:o.UserIOCommandIds.allLEDs,payload:[0,1,e]}),setMainLedBlueIntensity:e=>t({commandId:o.UserIOCommandIds.allLEDs,payload:[0,8,e]}),setMainLedColor:(e,n,r)=>t({commandId:o.UserIOCommandIds.allLEDs,payload:[0,112,e,n,r]}),setMainLedGreenIntensity:e=>t({commandId:o.UserIOCommandIds.allLEDs,payload:[0,4,e]}),setMainLedRedIntensity:e=>t({commandId:o.UserIOCommandIds.allLEDs,payload:[0,2,e]}),playAudioFile:e=>t({commandId:o.UserIOCommandIds.playAudioFile,payload:[e,0,0]}),turnDome:e=>n({commandId:o.AnimatronicsCommandIds.domePosition,payload:[e[1],e[0],0,0]}),setStance:e=>n({commandId:o.AnimatronicsCommandIds.shoulderAction,payload:[e]}),playAnimation:e=>n({commandId:o.AnimatronicsCommandIds.animationBundle,payload:[0,e]})}}},529:(e,t,n)=>{Object.defineProperty(t,"__esModule",{value:!0}),t.Utils=t.Scanner=t.Toys=t.DriveFlag=t.Stance=t.Event=t.Core=t.RollableToy=t.SpheroBolt=t.SpheroMini=t.R2Q5=t.R2D2=t.LightningMcQueen=t.BB9E=void 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yield(0,t.find)(i.LightningMcQueen.advertisement)}))},25:(e,t,n)=>{Object.defineProperty(t,"__esModule",{value:!0}),t.BB9E=void 0;const o=n(911);class BB9E extends o.RollableToy{constructor(){super(...arguments),this.maxVoltage=7.8,this.minVoltage=6.5}}t.BB9E=BB9E,BB9E.advertisement={name:"BB-9E",prefix:"GB-",class:BB9E}},1:function(e,t,n){var o=this&&this.__awaiter||function(e,t,n,o){return new(n||(n=Promise))((function(r,i){function s(e){try{c(o.next(e))}catch(e){i(e)}}function a(e){try{c(o.throw(e))}catch(e){i(e)}}function c(e){var t;e.done?r(e.value):(t=e.value,t instanceof n?t:new n((function(e){e(t)}))).then(s,a)}c((o=o.apply(e,t||[])).next())}))};Object.defineProperty(t,"__esModule",{value:!0}),t.Core=t.Event=t.decodeType=t.commandsType=void 0;const r=n(108),i=n(430),s=n(940),a=n(98),c=n(842),l=n(561);t.commandsType=!1,t.decodeType=!1,function(e){e.onCollision="onCollision",e.onSensor="onSensor"}(t.Event||(t.Event={}));t.Core=class Core{constructor(e){this.maxVoltage=0,this.minVoltage=1,this.apiVersion=c.APIVersion.V2,this.sensorMask={v2:[],v21:[]},this.peripheral=e}batteryVoltage(){return o(this,void 0,void 0,(function*(){const e=yield this.queueCommand(this.commands.power.batteryVoltage());return(0,i.number)(e.command.payload,1)/100}))}batteryLevel(){return o(this,void 0,void 0,(function*(){const e=((yield this.batteryVoltage())-this.minVoltage)/(this.maxVoltage-this.minVoltage);return e>1?1:e}))}wake(){return this.queueCommand(this.commands.power.wake())}sleep(){return this.queueCommand(this.commands.power.sleep())}start(){return o(this,void 0,void 0,(function*(){yield this.init(),yield this.write(this.antiDoSCharacteristic,"usetheforce...band"),this.started=!0;try{yield this.wake()}catch(e){console.error("error",e)}}))}appVersion(){return o(this,void 0,void 0,(function*(){const e=yield 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this.queueCommand(this.commands.sensor.configureCollision(e,t,n,o,r,i))}queueCommand(e){return this.queue.queue({characteristic:this.apiV2Characteristic,command:e})}init(){return o(this,void 0,void 0,(function*(){return new Promise(((e,t)=>o(this,void 0,void 0,(function*(){this.queue=new a.Queue({match:(e,t)=>this.match(e,t),onExecute:e=>this.onExecute(e)}),this.eventsListeners={},this.commands=(0,r.factory)(),this.decoder=(0,i.factory)(((e,t)=>this.onPacketRead(e,t))),this.started=!1,this.server=yield this.peripheral.gatt.connect(),yield this.bindServices(),this.bindListeners(),e(void 0)}))))}))}onExecute(e){return o(this,void 0,void 0,(function*(){this.started&&(yield this.write(e.characteristic,e.command.raw))}))}match(e,t){return e.command.deviceId===t.command.deviceId&&e.command.commandId===t.command.commandId&&e.command.sequenceNumber===t.command.sequenceNumber}bindServices(){return new Promise(((e,t)=>{this.server.getPrimaryService(c.ServicesUUID.apiV2ControlService).then((t=>o(this,void 0,void 0,(function*(){this.apiV2Characteristic=yield t.getCharacteristic(c.CharacteristicUUID.apiV2Characteristic),this.server.getPrimaryService(c.ServicesUUID.nordicDfuService).then((t=>o(this,void 0,void 0,(function*(){this.antiDoSCharacteristic=yield t.getCharacteristic(c.CharacteristicUUID.antiDoSCharacteristic),this.dfuControlCharacteristic=yield t.getCharacteristic(c.CharacteristicUUID.dfuControlCharacteristic),this.subsCharacteristic=yield t.getCharacteristic(c.CharacteristicUUID.subsCharacteristic),e()}))))}))))}))}bindListeners(){this.apiV2Characteristic.startNotifications().then((()=>{this.apiV2Characteristic.addEventListener("characteristicvaluechanged",(e=>{this.onApiRead(new 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