orbotix/sphero.js

/*! Sphero.js (c) 2015 Orbotix. MIT License */
!function(e){if("object"==typeof exports&&"undefined"!=typeof module)module.exports=e();else if("function"==typeof define&&define.amd)define([],e);else{var t;t="undefined"!=typeof window?window:"undefined"!=typeof global?global:"undefined"!=typeof self?self:this,t.sphero=e()}}(function(){return function e(t,r,n){function o(s,a){if(!r[s]){if(!t[s]){var u="function"==typeof require&&require;if(!a&&u)return u(s,!0);if(i)return i(s,!0);var c=new Error("Cannot find module '"+s+"'");throw c.code="MODULE_NOT_FOUND",c}var l=r[s]={exports:{}};t[s][0].call(l.exports,function(e){var r=t[s][1][e];return o(r?r:e)},l,l.exports,e,t,r,n)}return r[s].exports}for(var i="function"==typeof require&&require,s=0;s<n.length;s++)o(n[s]);return o}({1:[function(e,t,r){"use strict";var n,o=e("util"),i=e("events").EventEmitter,s="undefined"!=typeof chrome;try{n=e(s?"browser-serialport":"serialport")}catch(a){n=null}if(null==n){var u=["It looks like serialport didn't compile properly.","This is a common problem, and it's fix is documented here:","https://github.com/voodootikigod/node-serialport#to-install"].join(" ");throw console.error(u),new Error("Missing serialport dependency")}var c=t.exports=function(e){this.conn=e,this.serialport=null};o.inherits(c,i),c.prototype.open=function(e){function t(e){return r.emit.bind(r,e)}var r=this,o=this.serialport=new n.SerialPort(this.conn,{});o.on("open",function(n){return n?void e(n):(r.emit("open"),o.on("error",t("error")),o.on("close",t("close")),o.on("data",t("data")),void e())})},c.prototype.write=function(e,t){this.serialport.write(e,t)},c.prototype.onRead=function(e){this.on("data",e)},c.prototype.close=function(e){this.serialport.close(e)}},{"browser-serialport":14,events:20,serialport:15,util:24}],2:[function(e,t,r){"use strict";t.exports={aliceblue:15792383,antiquewhite:16444375,aqua:65535,aquamarine:8388564,azure:15794175,beige:16119260,bisque:16770244,black:0,blanchedalmond:16772045,blue:255,blueviolet:9055202,brown:10824234,burlywood:14596231,cadetblue:6266528,chartreuse:8388352,chocolate:13789470,coral:16744272,cornflowerblue:6591981,cornsilk:16775388,crimson:14423100,cyan:65535,darkblue:139,darkcyan:35723,darkgoldenrod:12092939,darkgray:11119017,darkgreen:25600,darkkhaki:12433259,darkmagenta:9109643,darkolivegreen:5597999,darkorange:16747520,darkorchid:10040012,darkred:9109504,darksalmon:15308410,darkseagreen:9419919,darkslateblue:4734347,darkslategray:3100495,darkturquoise:52945,darkviolet:9699539,deeppink:16716947,deepskyblue:49151,dimgray:6908265,dodgerblue:2003199,firebrick:11674146,floralwhite:16775920,forestgreen:2263842,fuchsia:16711935,gainsboro:14474460,ghostwhite:16316671,gold:16766720,goldenrod:14329120,gray:8421504,green:32768,greenyellow:11403055,honeydew:15794160,hotpink:16738740,indianred:13458524,indigo:4915330,ivory:16777200,khaki:15787660,lavender:15132410,lavenderblush:16773365,lawngreen:8190976,lemonchiffon:16775885,lightblue:11393254,lightcoral:15761536,lightcyan:14745599,lightgoldenrodyellow:16448210,lightgreen:9498256,lightgrey:13882323,lightpink:16758465,lightsalmon:16752762,lightseagreen:2142890,lightskyblue:8900346,lightslategray:7833753,lightsteelblue:11584734,lightyellow:16777184,lime:65280,limegreen:3329330,linen:16445670,magenta:16711935,maroon:8388608,mediumaquamarine:6737322,mediumblue:205,mediumorchid:12211667,mediumpurple:9662683,mediumseagreen:3978097,mediumslateblue:8087790,mediumspringgreen:64154,mediumturquoise:4772300,mediumvioletred:13047173,midnightblue:1644912,mintcream:16121850,mistyrose:16770273,moccasin:16770229,navajowhite:16768685,navy:128,oldlace:16643558,olive:8421376,olivedrab:7048739,orange:16753920,orangered:16729344,orchid:14315734,palegoldenrod:15657130,palegreen:10025880,paleturquoise:11529966,palevioletred:14381203,papayawhip:16773077,peachpuff:16767673,peru:13468991,pink:16761035,plum:14524637,powderblue:11591910,purple:8388736,rebeccapurple:6697881,red:16711680,rosybrown:12357519,royalblue:4286945,saddlebrown:9127187,salmon:16416882,sandybrown:16032864,seagreen:3050327,seashell:16774638,sienna:10506797,silver:12632256,skyblue:8900331,slateblue:6970061,slategray:7372944,snow:16775930,springgreen:65407,steelblue:4620980,tan:13808780,teal:32896,thistle:14204888,tomato:16737095,turquoise:4251856,violet:15631086,wheat:16113331,white:16777215,whitesmoke:16119285,yellow:16776960,yellowgreen:10145074}},{}],3:[function(e,t,r){"use strict";t.exports={ping:1,version:2,controlUARTTx:3,setDeviceName:16,getBtInfo:17,setAutoReconnect:18,getAutoReconnect:19,getPwrState:32,setPwrNotify:33,sleep:34,getPowerTrips:35,setPowerTrips:36,setInactiveTimer:37,goToBl:48,runL1Diags:64,runL2Diags:65,clearCounters:66,assignTime:80,pollTimes:81}},{}],4:[function(e,t,r){"use strict";t.exports={setHeading:1,setStabilization:2,setRotationRate:3,setCreationDate:4,getBallRegWebsite:5,reEnableDemo:6,getChassisId:7,setChassisId:8,selfLevel:9,setVdl:10,setDataStreaming:17,setCollisionDetection:18,locator:19,setAccelerometer:20,readLocator:21,setRgbLed:32,setBackLed:33,getRgbLed:34,roll:48,boost:49,move:50,setRawMotors:51,setMotionTimeout:52,setOptionsFlag:53,getOptionsFlag:54,setTempOptionFlags:55,getTempOptionFlags:56,getConfigBlock:64,setSsbParams:65,setDeviceMode:66,setConfigBlock:67,getDeviceMode:68,getSsb:70,setSsb:71,ssbRefill:72,ssbBuy:73,ssbUseConsumeable:74,ssbGrantCores:75,ssbAddXp:76,ssbLevelUpAttr:77,getPwSeed:78,ssbEnableAsync:79,runMacro:80,saveTempMacro:81,saveMacro:82,initMacroExecutive:84,abortMacro:85,macroStatus:86,setMacroParam:87,appendTempMacroChunk:88,eraseOBStorage:96,appendOBFragment:97,execOBProgram:98,abortOBProgram:99,answerInput:100,commitToFlash:101,commitToFlashAlias:112}},{}],5:[function(e,t,r){"use strict";var n=e("../utils"),o=e("../commands/core");t.exports=function(e){var t=e.command.bind(e,0);e.ping=function(e){t(o.ping,null,e)},e.version=function(e){t(o.version,null,e)},e.controlUartTx=function(e){t(o.controlUARTTx,null,e)},e.setDeviceName=function(e,r){for(var n=[],i=0;i<e.length;++i)n[i]=e.charCodeAt(i);t(o.setDeviceName,n,r)},e.getBluetoothInfo=function(e){t(o.getBtInfo,null,e)},e.setAutoReconnect=function(e,r,n){t(o.setAutoReconnect,[e,r],n)},e.getAutoReconnect=function(e){t(o.getAutoReconnect,null,e)},e.getPowerState=function(e){t(o.getPwrState,null,e)},e.setPowerNotification=function(e,r){t(o.setPwrNotify,[e],r)},e.sleep=function(e,r,i,s){e=n.intToHexArray(e,2),i=n.intToHexArray(i,2);var a=[].concat(e,r,i);t(o.sleep,a,s)},e.getVoltageTripPoints=function(e){t(o.getPowerTrips,null,e)},e.setVoltageTripPoints=function(e,r,i){e=n.intToHexArray(e,2),r=n.intToHexArray(r,2);var s=[].concat(e,r);t(o.setPowerTrips,s,i)},e.setInactivityTimeout=function(e,r){var i=n.intToHexArray(e,2);t(o.setInactiveTimer,i,r)},e.jumpToBootloader=function(e){t(o.goToBl,null,e)},e.runL1Diags=function(e){t(o.runL1Diags,null,e)},e.runL2Diags=function(e){t(o.runL2Diags,null,e)},e.clearCounters=function(e){t(o.clearCounters,null,e)},e._coreTimeCmd=function(e,r,o){var i=n.intToHexArray(r,4);t(e,i,o)},e.assignTime=function(t,r){e._coreTimeCmd(o.assignTime,t,r)},e.pollPacketTimes=function(t,r){e._coreTimeCmd(o.pollTimes,t,r)}}},{"../commands/core":3,"../utils":13}],6:[function(e,t,r){"use strict";function n(e){return{red:e>>16&255,green:e>>8&255,blue:255&e}}var o=e("../colors"),i=e("../utils"),s=/^[A-Fa-f0-9]{6}$/m;t.exports=function(e){function t(t,r,n){return n?(r=i.xor32bit(r),e.ds[t]&r):e.ds[t]|r}e.streamData=function(r){var n={n:Math.round(400/(r.sps||2)),m:1,mask1:t("mask1",r.mask1,r.remove),pcnt:0,mask2:t("mask2",r.mask2,r.remove)};e.on("dataStreaming",function(t){for(var n={},o=0;o<r.fields.length;o++)n[r.fields[o]]=t[r.fields[o]];e.emit(r.event,n)}),e.setDataStreaming(n)},e.color=function(t,r){switch(typeof t){case"number":t=n(t);break;case"string":if(o[t]){t=n(o[t]);break}if("#"===t[0]&&(t=t.slice(1)),s.test(t)){var i=s.exec(t);t=n(parseInt(i[0],16))}else console.error("invalid color provided",t),t=n(16777215);break;case"object":["red","green","blue"].forEach(function(e){var r=e[0];t[r]&&"undefined"==typeof t[e]&&(t[e]=t[r])})}e.setRgbLed(t,r)},e.randomColor=function(t){e.setRgbLed(i.randomColor(),t)},e.getColor=function(t){e.getRgbLed(t)},e.detectCollisions=function(t){e.configureCollisions({meth:1,xt:64,yt:64,xs:80,ys:80,dead:80},t)},e.startCalibration=function(t){e.setBackLed(127),e.setStabilization(0,t)},e.finishCalibration=function(t){e.setHeading(0),e.setBackLed(0),e.setStabilization(1,t)},e.streamOdometer=function(t,r){e.streamData({event:"odometer",mask2:201326592,fields:["xOdometer","yOdometer"],sps:t,remove:r})},e.streamVelocity=function(t,r){e.streamData({event:"velocity",mask2:25165824,fields:["xVelocity","yVelocity"],sps:t,remove:r})},e.streamAccelOne=function(t,r){e.streamData({event:"accelOne",mask2:33554432,fields:["accelOne"],sps:t,remove:r})},e.streamImuAngles=function(t,r){e.streamData({event:"imuAngles",mask1:458752,fields:["pitchAngle","rollAngle","yawAngle"],sps:t,remove:r})},e.streamAccelerometer=function(t,r){e.streamData({event:"accelerometer",mask1:57344,fields:["xAccel","yAccel","zAccel"],sps:t,remove:r})},e.streamGyroscope=function(t,r){e.streamData({event:"gyroscope",mask1:7168,fields:["xGyro","yGyro","zGyro"],sps:t,remove:r})},e.streamMotorsBackEmf=function(t,r){e.streamData({event:"motorsBackEmf",mask1:96,fields:["rMotorBackEmf","lMotorBackEmf"],sps:t,remove:r})},e.stopOnDisconnect=function(t,r){"function"==typeof t&&(r=t,t=!1);var n=t?0:1;e.setTempOptionFlags(n,r)}}},{"../colors":2,"../utils":13}],7:[function(e,t,r){"use strict";var n=e("../utils"),o=e("../commands/sphero");t.exports=function(e){var t=e.command.bind(e,2);e.setHeading=function(e,r){e=n.intToHexArray(e,2),t(o.setHeading,e,r)},e.setStabilization=function(e,r){e&=1,t(o.setStabilization,[e],r)},e.setRotationRate=function(e,r){e&=255,t(o.setRotationRate,[e],r)},e.getChassisId=function(e){t(o.getChassisId,null,e)},e.setChassisId=function(e,r){e=n.intToHexArray(e,2),t(o.getChassisId,e,r)},e.selfLevel=function(e,r){var n=[e.options,e.angleLimit,e.timeout,e.trueTime];t(o.selfLevel,n,r)},e.setDataStreaming=function(r,i){var s=n.intToHexArray(r.n,2),a=n.intToHexArray(r.m,2),u=n.intToHexArray(r.mask1,4),c=r.pcnt&=255,l=n.intToHexArray(r.mask2,4);e.ds={mask1:r.mask1,mask2:r.mask2};var f=[].concat(s,a,u,c,l);t(o.setDataStreaming,f,i)},e.configureCollisions=function(e,r){var n=[e.meth,e.xt,e.xs,e.yt,e.ys,e.dead];t(o.setCollisionDetection,n,r)},e.configureLocator=function(e,r){var i=255&e.flags,s=n.intToHexArray(e.x,2),a=n.intToHexArray(e.y,2),u=n.intToHexArray(e.yawTare,2),c=[].concat(i,s,a,u);t(o.locator,c,r)},e.setAccelRange=function(e,r){e&=e,t(o.setAccelerometer,[e],r)},e.readLocator=function(e){t(o.readLocator,null,e)},e.setRgbLed=function(e,r){for(var n=[e.red,e.green,e.blue,e.flag||1],i=0;i<n.length;i++)n[i]&=255;t(o.setRgbLed,n,r)},e.setBackLed=function(e,r){t(o.setBackLed,[e],r)},e.getRgbLed=function(e){t(o.getRgbLed,null,e)},e.roll=function(e,r,i,s){("function"==typeof i||"undefined"==typeof i)&&(s=i,i=1),e&=255,r=n.intToHexArray(r,2),i&=3;var a=[].concat(e,r,i);t(o.roll,a,s)},e.boost=function(e,r){e&=1,t(o.boost,[e],r)},e.setRawMotors=function(e,r){var n=7&e.lmode,i=255&e.lpower,s=7&e.rmode,a=255&e.rpower,u=[n,i,s,a];t(o.setRawMotors,u,r)},e.setMotionTimeout=function(e,r){e=n.intToHexArray(e,2),t(o.setMotionTimeout,e,r)},e.setPermOptionFlags=function(e,r){e=n.intToHexArray(e,4),t(o.setOptionsFlag,e,r)},e.getPermOptionFlags=function(e){t(o.getOptionsFlag,null,e)},e.setTempOptionFlags=function(e,r){e=n.intToHexArray(e,4),t(o.setTempOptionFlags,e,r)},e.getTempOptionFlags=function(e){t(o.getTempOptionFlags,null,e)},e.getConfigBlock=function(e,r){e&=255,t(o.getConfigBlock,[e],r)},e._setSsbBlock=function(e,r,o,i){r=n.intToHexArray(r,4);var s=[].concat(r,o);t(e,s,i)},e.setSsbModBlock=function(t,r,n){e._setSsbBlock(o.setSsbParams,t,r,n)},e.setDeviceMode=function(e,r){e&=1,t(o.setDeviceMode,[e],r)},e.setConfigBlock=function(e,r){t(o.setConfigBlock,e,r)},e.getDeviceMode=function(e){t(o.getDeviceMode,null,e)},e.getSsb=function(e){t(o.getSsb,null,e)},e.setSsb=function(t,r,n){e._setSsbBlock(o.setSsb,t,r,n)},e.refillBank=function(e,r){e&=255,t(o.ssbRefill,[e],r)},e.buyConsumable=function(e,r,n){e&=255,r&=255,t(o.ssbBuy,[e,r],n)},e.useConsumable=function(e,r){e&=255,t(o.ssbUseConsumeable,[e],r)},e.grantCores=function(e,r,i,s){e=n.intToHexArray(e,4),r=n.intToHexArray(r,4),i&=255;var a=[].concat(e,r,i);t(o.ssbGrantCores,a,s)},e._xpOrLevelUp=function(e,r,o,i){r=n.intToHexArray(r,4),o&=255,t(e,[].concat(r,o),i)},e.addXp=function(t,r,n){e._xpOrLevelUp(o.ssbAddXp,t,r,n)},e.levelUpAttr=function(t,r,n){e._xpOrLevelUp(o.ssbLevelUpAttr,t,r,n)},e.getPasswordSeed=function(e){t(o.getPwSeed,null,e)},e.enableSsbAsyncMsg=function(e,r){e&=1,t(o.ssbEnableAsync,[e],r)},e.runMacro=function(e,r){e&=255,t(o.runMacro,[e],r)},e.saveTempMacro=function(e,r){t(o.saveTempMacro,e,r)},e.saveMacro=function(e,r){t(o.saveMacro,e,r)},e.reInitMacroExec=function(e){t(o.initMacroExecutive,null,e)},e.abortMacro=function(e){t(o.abortMacro,null,e)},e.getMacroStatus=function(e){t(o.macroStatus,null,e)},e.setMacroParam=function(e,r,i,s){t(o.setMacroParam,n.argsToHexArray(e,r,i),s)},e.appendMacroChunk=function(e,r){t(o.appendTempMacroChunk,e,r)},e.eraseOrbBasicStorage=function(e,r){e&=255,t(o.eraseOBStorage,[e],r)},e.appendOrbBasicFragment=function(e,r,n){e&=255;var i=[].concat(e,r);t(o.appendOBFragment,i,n)},e.executeOrbBasicProgram=function(e,r,i,s){t(o.execOBProgram,n.argsToHexArray(e,r,i),s)},e.abortOrbBasicProgram=function(e){t(o.abortOBProgram,null,e)},e.submitValueToInput=function(e,r){e=n.intToHexArray(e,4),t(o.answerInput,e,r)},e.commitToFlash=function(e){t(o.commitToFlash,null,e)},e._commitToFlashAlias=function(e){t(o.commitToFlashAlias,null,e)}}},{"../commands/sphero":4,"../utils":13}],8:[function(e,t,r){"use strict";function n(e){return/(\/dev\/|com\d+).*/i.test(e)}t.exports.load=function(t){var r,o=n(t);"undefined"!=typeof chrome;return o&&(r=e("./adaptors/serialport")),new r(t)}},{"./adaptors/serialport":1}],9:[function(e,t,r){(function(r){"use strict";var n=e("util").inherits,o=e("events").EventEmitter,i=e("./utils"),s=e("./parsers/response.js"),a=e("./parsers/async.js"),u=6,c={size:5,sop1:{pos:0,hex:255},sop2:{pos:1,sync:255,async:254},mrspHex:0,seqHex:0,mrspIdCode:2,seqMsb:3,dlenLsb:4,checksum:5,didHex:0,cidHex:1},l=t.exports=function(){this.partialBuffer=new r(0),this.partialCounter=0};n(l,o),l.prototype.create=function(e){e=e||{};var t=void 0===e.sop1?c.sop1.hex:e.sop1,r=void 0===e.sop2?c.sop2.sync:e.sop2,n=void 0===e.did?c.didHex:e.did,o=void 0===e.cid?c.cidHex:e.cid,s=void 0===e.seq?c.seqHex:e.seq,a=e.data?e.data:[],u=a.length+1,l=0,f=[t,r,n,o,s,u].concat(a);return l=i.checksum(f.slice(2)),f.push(l),f},l.prototype.parse=function(e){if(this.partialBuffer.length>0?(e=r.concat([this.partialBuffer,e],e.length+this.partialBuffer.length),this.partialBuffer=new r(0)):this.partialBuffer=new r(e),this._checkSOPs(e)){if(this._checkMinSize(e)&&this._checkExpectedSize(e)>-1)return this._parse(e);this.partialBuffer=new r(e)}return null},l.prototype._parse=function(e){var t={};t.sop1=e[c.sop1.pos],t.sop2=e[c.sop2.pos];var n=e[c.mrspIdCode],o=e[c.seqMsb],i=e[c.dlenLsb];return c.sop2.sync===e[c.sop2.pos]?(t.mrsp=n,t.seq=o,t.dlen=i):(t.idCode=n,t.dlenMsb=o,t.dlenLsb=i),t.dlen=this._extractDlen(e),t.data=new r(t.dlen-1),e.copy(t.data,0,c.size,c.size+t.dlen-1),t.checksum=e[c.size+t.dlen-1],this._dealWithExtraBytes(e),this._verifyChecksum(e,t)},l.prototype._dealWithExtraBytes=function(e){var t=this._checkExpectedSize(e);e.length>t?(this.partialBuffer=new r(e.length-t),e.copy(this.partialBuffer,0,t)):this.partialBuffer=new r(0)},l.prototype._verifyChecksum=function(e,t){var n=e.slice(c.mrspIdCode,c.checksum+t.dlen-1),o=i.checksum(n);return o!==t.checksum&&(t=null,this.partialBuffer=new r(0),this.emit("error",new Error("Incorrect checksum, packet discarded!"))),t},l.prototype.parseAsyncData=function(e,t){var r=a[e.idCode];return this._parseData(r,e,t)},l.prototype.parseResponseData=function(e,t){if(!e||!e.did||!e.cid)return t;var r=e.did.toString(16)+":"+e.cid.toString(16),n=s[r];return this._parseData(n,t)},l.prototype._parseData=function(e,t,r){var n,o,i,s=t.data;if(e&&s.length>0){if(r=this._checkDSMasks(r,e),-1===r)return t;o=e.fields,n={desc:e.desc,idCode:e.idCode,event:e.event,did:e.did,cid:e.cid,packet:t};for(var a=0,u=0,c=0;c<o.length;){if(i=o[c],u=this._checkDSBit(r,i),1===u)i.from=a,i.to=a+=2;else if(0===u){c=this._incParserIndex(c,o,s,u,a);continue}n[i.name]=this._parseField(i,s,n),c=this._incParserIndex(c,o,s,u,a)}}else n=t;return n},l.prototype._checkDSMasks=function(e,t){return 3!==t.idCode?null:e&&null!=e.mask1&&null!=e.mask2?e:-1},l.prototype._incParserIndex=function(e,t,r,n,o){return e++,n>=0&&e===t.length&&o<r.length&&(e=0),e},l.prototype._checkDSBit=function(e,t){return e?Math.abs(e[t.maskField]&t.bitmask)>0?1:0:-1},l.prototype._parseField=function(e,t,n){var o;switch(t=t.slice(e.from,e.to),o=i.bufferToInt(t),e.type){case"number":"hex"===e.format&&(o="0x"+o.toString(16).toUpperCase());break;case"string":o=t.toString(e.format).replace(/\0/g,"0");break;case"raw":o=new r(t);break;case"predefined":null!=e.mask&&(o&=e.mask),o=e.values[o];break;case"bitmask":o=this._parseBitmaskField(o,e,n);break;default:this.emit("error",new Error("Data could not be parsed!")),o="Data could not be parsed!"}return o},l.prototype._parseBitmaskField=function(e,t,r){var n={};return e>t.range.top&&(e=i.twosToInt(e,2)),r[t.name]?(n=r[t.name],n.value.push(e)):n={sensor:t.sensor,range:t.range,units:t.units,value:[e]},n},l.prototype._checkSOPs=function(e){return this._checkSOP1(e)?this._checkSOP2(e):!1},l.prototype._checkSOP1=function(e){return e[c.sop1.pos]===c.sop1.hex},l.prototype._checkSOP2=function(e){var t=e[c.sop2.pos];return t===c.sop2.sync?"sync":t===c.sop2.async?"async":!1},l.prototype._checkExpectedSize=function(e){var t=c.size+this._extractDlen(e),r=e.length;return t>r?-1:t},l.prototype._checkMinSize=function(e){return e.length>=u},l.prototype._extractDlen=function(e){return e[c.sop2.pos]===c.sop2.sync?e[c.dlenLsb]:e[c.seqMsb]<<8|e[c.dlenLsb]}}).call(this,e("buffer").Buffer)},{"./parsers/async.js":10,"./parsers/response.js":11,"./utils":13,buffer:16,events:20,util:24}],10:[function(e,t,r){"use strict";t.exports={1:{desc:"Battery Power State",idCode:1,did:0,cid:33,event:"battery",fields:[{name:"state",type:"predefined",values:{1:"Battery Charging",2:"Battery OK",3:"Battery Low",4:"Battery Critical"}}]},2:{desc:"Level 1 Diagnostic Response",idCode:2,did:0,cid:64,event:"level1Diagnostic",fields:[{name:"diagnostic",type:"string",format:"ascii",from:0,to:void 0}]},3:{desc:"Sensor Data Streaming",idCode:3,did:2,cid:17,event:"dataStreaming",fields:[{name:"xAccelRaw",type:"bitmask",bitmask:2147483648,maskField:"mask1",sensor:"accelerometer axis X, raw",range:{bottom:-2048,top:2047},units:"4mg"},{name:"yAccelRaw",type:"bitmask",bitmask:1073741824,maskField:"mask1",sensor:"accelerometer axis Y, raw",range:{bottom:-2048,top:2047},units:"4mG"},{name:"zAccelRaw",type:"bitmask",bitmask:536870912,maskField:"mask1",sensor:"accelerometer axis Z, raw",range:{bottom:-2048,top:2047},units:"4mG"},{name:"xGyroRaw",type:"bitmask",bitmask:268435456,maskField:"mask1",sensor:"gyroscope axis X, raw",range:{bottom:-32768,top:32767},units:"0.068 degrees"},{name:"yGyroRaw",type:"bitmask",bitmask:134217728,maskField:"mask1",sensor:"gyroscope axis Y, raw",range:{bottom:-32768,top:32767},units:"0.068 degrees"},{name:"zGyroRaw",type:"bitmask",bitmask:67108864,maskField:"mask1",sensor:"gyroscope axis Z, raw",range:{bottom:-32768,top:32767},units:"0.068 degrees"},{name:"rMotorBackEmfRaw",type:"bitmask",bitmask:4194304,maskField:"mask1",sensor:"right motor back EMF, raw",range:{bottom:-32768,top:32767},units:"22.5cm"},{name:"lMotorBackEmfRaw",type:"bitmask",bitmask:2097152,maskField:"mask1",sensor:"left motor back EMF, raw",range:{bottom:-32768,top:32767},units:"22.5cm"},{name:"lMotorPWMRaw",type:"bitmask",bitmask:1048576,maskField:"mask1",sensor:"left motor PWM, raw",range:{bottom:-2048,top:2047},units:"dutyCycle"},{name:"rMotorPWMRaw",type:"bitmask",bitmask:524288,maskField:"mask1",sensor:"right motor PWM, raw",range:{bottom:-2048,top:2047},units:"dutyCycle"},{name:"pitchAngle",type:"bitmask",bitmask:262144,maskField:"mask1",sensor:"IMU pitch angle, filtered",range:{bottom:-179,top:180},units:"degrees"},{name:"rollAngle",type:"bitmask",bitmask:131072,maskField:"mask1",sensor:"IMU roll angle, filtered",range:{bottom:-179,top:180},units:"degrees"},{name:"yawAngle",type:"bitmask",bitmask:65536,maskField:"mask1",sensor:"IMU yaw angle, filtered",range:{bottom:-179,top:180},units:"degrees"},{name:"xAccel",type:"bitmask",bitmask:32768,maskField:"mask1",sensor:"accelerometer axis X, filtered",range:{bottom:-32768,top:32767},units:"1/4096 G"},{name:"yAccel",type:"bitmask",bitmask:16384,maskField:"mask1",sensor:"accelerometer axis Y, filtered",range:{bottom:-32768,top:32767},units:"1/4096 G"},{name:"zAccel",type:"bitmask",bitmask:8192,maskField:"mask1",sensor:"accelerometer axis Z, filtered",range:{bottom:-32768,top:32767},units:"1/4096 G"},{name:"xGyro",type:"bitmask",bitmask:4096,maskField:"mask1",sensor:"gyro axis X, filtered",range:{bottom:-2e4,top:2e4},units:"0.1 dps"},{name:"yGyro",type:"bitmask",bitmask:2048,maskField:"mask1",sensor:"gyro axis Y, filtered",range:{bottom:-2e4,top:2e4},units:"0.1 dps"},{name:"zGyro",type:"bitmask",bitmask:1024,maskField:"mask1",sensor:"gyro axis Z, filtered",range:{bottom:-2e4,top:2e4},units:"0.1 dps"},{name:"rMotorBackEmf",type:"bitmask",bitmask:64,maskField:"mask1",sensor:"right motor back EMF, filtered",range:{bottom:-32768,top:32767},units:"22.5 cm"},{name:"lMotorBackEmf",type:"bitmask",bitmask:32,maskField:"mask1",sensor:"left motor back EMF, filtered",range:{bottom:-32768,top:32767},units:"22.5 cm"},{name:"quaternionQ0",type:"bitmask",bitmask:2147483648,maskField:"mask2",sensor:"quaternion Q0",range:{bottom:-1e4,top:1e4},units:"1/10000 Q"},{name:"quaternionQ1",type:"bitmask",bitmask:1073741824,maskField:"mask2",sensor:"quaternion Q1",range:{bottom:-1e4,top:1e4},units:"1/10000 Q"},{name:"quaternionQ2",type:"bitmask",bitmask:536870912,maskField:"mask2",sensor:"quaternion Q2",range:{bottom:-1e4,top:1e4},units:"1/10000 Q"},{name:"quaternionQ3",type:"bitmask",bitmask:268435456,maskField:"mask2",sensor:"quaternion Q3",range:{bottom:-1e4,top:1e4},units:"1/10000 Q"},{name:"xOdometer",type:"bitmask",bitmask:134217728,maskField:"mask2",sensor:"odomoter X",range:{bottom:-32768,top:32767},units:"cm"},{name:"yOdometer",type:"bitmask",bitmask:67108864,maskField:"mask2",sensor:"odomoter Y",range:{bottom:-32768,top:32767},units:"cm"},{name:"accelOne",type:"bitmask",bitmask:33554432,maskField:"mask2",sensor:"acceleration one",range:{bottom:0,top:8e3},units:"1mG"},{name:"xVelocity",type:"bitmask",bitmask:16777216,maskField:"mask2",sensor:"velocity X",range:{bottom:-32768,top:32767},units:"mm/s"},{name:"yVelocity",type:"bitmask",bitmask:8388608,maskField:"mask2",sensor:"velocity Y",range:{bottom:-32768,top:32767},units:"mm/s"}]},4:{desc:"Config Block Contents",idCode:4,did:2,cid:64,event:"configBlock",fields:[{name:"content",type:"raw"}]},5:{desc:"Pre-sleep Warning",idCode:5,did:null,cid:null,event:"preSleepWarning",fields:[{name:"content",type:"raw"}]},6:{desc:"Macro Markers",idCode:6,did:null,cid:null,event:"macroMarkers",fields:[{name:"content",type:"raw"}]},7:{desc:"Collision detected",idCode:7,did:2,cid:18,event:"collision",fields:[{name:"x",type:"number",from:0,to:2},{name:"y",type:"number",from:2,to:4},{name:"z",type:"number",from:4,to:6},{name:"axis",type:"number",from:6,to:7},{name:"xMagnitude",type:"number",from:7,to:9},{name:"yMagnitude",type:"number",from:9,to:11},{name:"speed",type:"number",from:11,to:12},{name:"timestamp",type:"number",from:12,to:16}]},8:{desc:"Orb-basic Print Message",idCode:8,did:null,cid:null,event:"obPrint",fields:[{name:"content",type:"raw"}]},9:{desc:"Orb-basic ASCII Error Message",idCode:9,did:null,cid:null,event:"obAsciiError",fields:[{name:"content",type:"string",format:"ascii",from:0,to:void 0}]},10:{desc:"Orb-basic Binary Error Message",idCode:10,did:null,cid:null,event:"obBinaryError",fields:[{name:"content",type:"raw"}]},11:{desc:"Self Level",idCode:11,did:2,cid:9,event:"selfLevel",fields:[{name:"result",type:"predefined",values:{0:"Unknown",1:"Timed Out (level was not achived)",2:"Sensors Error",3:"Self Level Disabled (see Option flags)",4:"Aborted (by API call)",5:"Charger Not Found",6:"Success"}}]},12:{desc:"Gyro Axis Limit Exceeded",idCode:12,did:null,cid:null,event:"gyroAxisExceeded",fields:[{name:"x",type:"predefined",mask:3,values:{0:"none",1:"positive",2:"negative"}},{name:"y",type:"predefined",mask:12,values:{0:"none",4:"positive",8:"negative"}},{name:"z",type:"predefined",mask:48,values:{0:"none",16:"positive",32:"negative"}}]},13:{desc:"Sphero's Soul Data",idCode:13,did:2,cid:67,event:"spheroSoulData",fields:[{name:"content",type:"raw"}]},14:{desc:"Level Up",idCode:14,did:null,cid:null,event:"levelUp",fields:[{name:"robotLevel",type:"number",from:0,to:2},{name:"attributePoints",type:"number",from:2,to:4}]},15:{desc:"Shield Damage",idCode:15,did:null,cid:null,event:"shieldDamage",fields:[{name:"robotLevel",type:"number",from:0,to:1}]},16:{desc:"XP % towards next robot level (0 = 0%, 255 = 100%)",idCode:16,did:null,cid:null,event:"xpUpdate",fields:[{name:"cp",type:"number",from:0,to:1}]},17:{desc:"Boost power left (0 = 0%, 255 = 100%)",idCode:17,did:null,cid:null,event:"boostUpdate",fields:[{name:"boost",type:"number",from:0,to:1}]}}},{}],11:[function(e,t,r){"use strict";t.exports={"0:2":{desc:"Get Version",did:0,cid:2,event:"version",fields:[{name:"recv",type:"number",from:0,to:1},{name:"mdl",type:"number",from:1,to:2},{name:"hw",type:"number",from:2,to:3},{name:"msaVer",type:"number",from:3,to:4},{name:"msaRev",type:"number",from:4,to:5},{name:"bl",type:"number",format:"hex",from:5,to:6},{name:"bas",type:"number",format:"hex",from:6,to:7},{name:"macro",type:"number",format:"hex",from:7,to:8},{name:"apiMaj",type:"number",from:8,to:9},{name:"apiMin",type:"number",from:9,to:10}]},"0:11":{desc:"Get Bluetooth Info",did:0,cid:17,event:"bluetoothInfo",fields:[{name:"name",type:"string",format:"ascii",from:0,to:16},{name:"btAddress",type:"string",format:"ascii",from:16,to:28},{name:"separator",type:"number",from:28,to:29},{name:"colors",type:"number",format:"hex",from:29,to:32}]},"0:13":{desc:"Get Auto-reconnect Info",did:0,cid:19,event:"autoReconnectInfo",fields:[{name:"flag",type:"number",from:0,to:1},{name:"time",type:"number",from:1,to:2}]},"0:20":{desc:"Get Power State Info",did:0,cid:32,event:"powerStateInfo",fields:[{name:"recVer",type:"number",from:0,to:1},{name:"batteryState",type:"predefined",from:1,to:2,values:{1:"Battery Charging",2:"Battery OK",3:"Battery Low",4:"Battery Critical"}},{name:"batteryVoltage",type:"number",from:2,to:4},{name:"chargeCount",type:"number",from:4,to:6},{name:"secondsSinceCharge",type:"number",from:6,to:8}]},"0:23":{desc:"Get Voltage Trip Points",did:0,cid:35,event:"voltageTripPoints",fields:[{name:"vLow",type:"number",from:0,to:2},{name:"vCrit",type:"number",from:2,to:4}]},"0:41":{desc:"Level 2 Diagnostics",did:0,cid:65,event:"level2Diagnostics",fields:[{name:"recVer",type:"number",from:0,to:2},{name:"rxGood",type:"number",from:3,to:7},{name:"rxBadDID",type:"number",from:7,to:11},{name:"rxBadDlen",type:"number",from:11,to:15},{name:"rxBadCID",type:"number",from:15,to:19},{name:"rxBadCheck",type:"number",from:19,to:23},{name:"rxBufferOvr",type:"number",from:23,to:27},{name:"txMsg",type:"number",from:27,to:31},{name:"txBufferOvr",type:"number",from:31,to:35},{name:"lastBootReason",type:"number",from:35,to:36},{name:"bootCounters",type:"number",format:"hex",from:36,to:68},{name:"chargeCount",type:"number",from:70,to:72},{name:"secondsSinceCharge",type:"number",from:72,to:74},{name:"secondsOn",type:"number",from:74,to:78},{name:"distanceRolled",type:"number",from:78,to:82},{name:"sensorFailures",type:"number",from:82,to:84},{name:"gyroAdjustCount",type:"number",from:84,to:88}]},"0:51":{desc:"Poll Packet Times",did:0,cid:81,event:"packetTimes",fields:[{name:"t1",type:"number",from:0,to:4},{name:"t2",type:"number",from:4,to:8},{name:"t3",type:"number",from:8,to:12}]},"2:7":{desc:"Get Chassis Id",did:2,cid:7,event:"chassisId",fields:[{name:"chassisId",type:"number"}]},"2:21":{desc:"Read Locator",did:2,cid:33,event:"readLocator",fields:[{name:"xpos",type:"number",from:0,to:2},{name:"ypos",type:"number",from:2,to:4},{name:"xvel",type:"number",from:4,to:6},{name:"yvel",type:"number",from:6,to:8},{name:"sog",type:"number",from:8,to:10}]},"2:22":{desc:"Get RGB LED",did:2,cid:34,event:"rgbLedColor",fields:[{name:"color",type:"number",format:"hex",from:0,to:3},{name:"red",type:"number",from:0,to:1},{name:"green",type:"number",from:1,to:2},{name:"blue",type:"number",from:2,to:3}]},"2:36":{desc:"Get Permanent Option Flags",did:2,cid:54,event:"permanentOptionFlags",fields:[{name:"sleepOnCharger",type:"predefined",mask:1,values:{0:!1,1:!0}},{name:"vectorDrive",type:"predefined",mask:2,values:{0:!1,2:!0}},{name:"selfLevelOnCharger",type:"predefined",mask:4,values:{0:!1,4:!0}},{name:"tailLedAlwaysOn",type:"predefined",mask:8,values:{0:!1,8:!0}},{name:"motionTimeouts",type:"predefined",mask:16,values:{0:!1,16:!0}},{name:"retailDemoOn",type:"predefined",mask:32,values:{0:!1,32:!0}},{name:"awakeSensitivityLight",type:"predefined",mask:64,values:{0:!1,64:!0}},{name:"awakeSensitivityHeavy",type:"predefined",mask:128,values:{0:!1,128:!0}},{name:"gyroMaxAsyncMsg",type:"predefined",mask:256,values:{0:!1,256:!0}}]},"2:38":{desc:"Get Temporal Option Flags",did:2,cid:56,event:"temporalOptionFlags",fields:[{name:"stopOnDisconnect",type:"predefined",mask:1,values:{0:!1,1:!0}}]},"2:44":{desc:"Get Device Mode",did:2,cid:68,event:"deviceMode",fields:[{name:"mode",type:"predefined",values:{0:"Normal",1:"User Hack"}}]},"2:48":{desc:"Refill Bank",did:2,cid:72,event:"refillBank",fields:[{name:"coresRemaining",type:"number"}]},"2:49":{desc:"Buy Consumable",did:2,cid:73,event:"buyConsumable",fields:[{name:"qtyRemaining",type:"number",from:0,to:1},{name:"coresRemaining",type:"number",from:1,to:5}]},"2:4A":{desc:"Use Consumable",did:2,cid:74,event:"buyConsumable",fields:[{name:"id",type:"number",from:0,to:1},{name:"qtyRemaining",type:"number",from:1,to:2}]},"2:4B":{desc:"Grant Cores",did:2,cid:75,event:"grantCores",fields:[{name:"coresRemaining",type:"number"}]},"2:4C":{desc:"Add XP",did:2,cid:76,event:"addXp",fields:[{name:"toNextLevel",type:"number"}]},"2:4D":{desc:"Level up Attr",did:2,cid:77,event:"addXp",fields:[{name:"attrId",type:"number",from:0,to:1},{name:"attrLevel",type:"number",from:1,to:2},{name:"attrPtsRemaining",type:"number",from:2,to:4}]},"2:4E":{desc:"GET PWD SEED",did:2,cid:78,event:"passwordSeed",fields:[{name:"seed",type:"number"}]},"2:55":{desc:"Abort Macro",did:2,cid:85,event:"abortMacro",fields:[{name:"id",type:"number",from:0,to:1},{name:"cmdNum",type:"number",from:1,to:3}]},"2:56":{desc:"Get Macro Status",did:2,cid:85,event:"macroStatus",fields:[{name:"idCode",type:"number",from:0,to:1},{name:"cmdNum",type:"number",from:1,to:3}]}}},{}],12:[function(e,t,r){"use strict";function n(e,t){if(!(e instanceof t))throw new TypeError("Cannot call a class as a function")}var o=e("util"),i=e("events").EventEmitter,s=e("./packet"),a=e("./devices/core"),u=e("./devices/sphero"),c=e("./devices/custom"),l=e("./loader"),f={answer:253,resetTimeout:254,both:255,none:252,sync:255,async:254},p=t.exports=function d(e,t){n(this,d),t=t||{},this.busy=!1,this.ready=!1,this.packet=new s,this.connection=t.adaptor||l.load(e),this.callbackQueue=[],this.commandQueue=[],this.sop2Bitfield=f[t.sop2]||f.answer,this.seqCounter=0,this.timeout=t.timeout||500,this.ds={},a(this),u(this),c(this)};o.inherits(p,i),p.prototype.connect=function(e){function t(e){return r.emit.bind(r,e)}var r=this,n=this.connection,o=this.packet;o.on("error",t("error")),n.open(function(){r.ready=!0,
n.onRead(function(e){r.emit("data",e);var t,n,i=o.parse(e);i&&i.sop1&&(i.sop2===f.sync?(r.emit("response",i),n=r._responseCmd(i.seq),t=o.parseResponseData(n,i),r._execCallback(i.seq,t)):i.sop2===f.async&&(t=o.parseAsyncData(i,r.ds),r.emit("async",t)),t&&t.event&&r.emit(t.event,t))}),n.on("close",t("close")),n.on("error",t("error")),r.emit("ready"),"function"==typeof e&&e()})},p.prototype.disconnect=function(e){this.connection.close(e)},p.prototype.command=function(e,t,r,n){var o=this._incSeq(),i={sop2:this.sop2Bitfield,did:e,cid:t,seq:o,data:r},s=this.packet.create(i);this._queueCommand(s,n),this._execCommand()},p.prototype._queueCommand=function(e,t){256===this.commandQueue.length&&this.commandQueue.shift(),this.commandQueue.push({packet:e,cb:t})},p.prototype._execCommand=function(){var e;!this.busy&&this.commandQueue.length>0&&(e=this.commandQueue.shift(),this.busy=!0,this._queueCallback(e.packet,e.cb),this.connection.write(e.packet))},p.prototype._queueCallback=function(e,t){var r=e[4],n=function(e,n){if(clearTimeout(this.callbackQueue[r].timeoutId),this.callbackQueue[r]=null,this.busy=!1,"function"==typeof t)if(!e&&n)t(null,n);else{var o=new Error("Command sync response was lost.");t(o,null)}this._execCommand()},o=setTimeout(n.bind(this),this.timeout);this.callbackQueue[r]={callback:n.bind(this),timeoutId:o,did:e[2],cid:e[3]}},p.prototype._execCallback=function(e,t){var r=this.callbackQueue[e];r&&r.callback(null,t)},p.prototype._responseCmd=function(e){var t=this.callbackQueue[e];return t?{did:t.did,cid:t.cid}:null},p.prototype._incSeq=function(){return this.seqCounter>255&&(this.seqCounter=0),this.seqCounter++}},{"./devices/core":5,"./devices/custom":6,"./devices/sphero":7,"./loader":8,"./packet":9,events:20,util:24}],13:[function(e,t,r){(function(e){"use strict";var r=t.exports;r.rgbToHex=function(e,t,r){return r|t<<8|e<<16},r.randomColor=function(){function e(){return Math.floor(255*Math.random())}return{red:e(),green:e(),blue:e()}},r.checksum=function(t){for(var r=e.isBuffer(t),n=0,o=0;o<t.length;o++)n+=r?t.readUInt8(o):t[o];return n%256^255},r.intToHexArray=function(e,t){for(var r=new Array(t),n=t-1;n>=0;n--)r[n]=255&e,e>>=8;return r},r.argsToHexArray=function(){for(var e=[],t=0;t<arguments.length;t++)e.push(255&arguments[t]);return e},r.bufferToInt=function(e){for(var t=e[0],r=1;r<e.length;r++)t<<=8,t|=e[r];return t},r.twosToInt=function(e,t){var r=0;t=t||2;for(var n=0;t>n;n++)r=r<<8|255;return~(e^r)},r.xor32bit=function(e,t){var n=r.intToHexArray(e,4);t=t||255;for(var o=0;o<n.length;o++)n[o]^=t;return r.bufferToInt(n)}}).call(this,e("buffer").Buffer)},{buffer:16}],14:[function(e,t,r){(function(r,n){"use strict";function o(e){switch(e.dataBits){case 7:e.dataBits="seven";break;case 8:e.dataBits="eight"}switch(e.stopBits){case 1:e.stopBits="one";break;case 2:e.stopBits="two"}switch(e.parity){case"none":e.parity="no"}return e}function i(e,t,n,i){l.call(this);var s=this,a=Array.prototype.slice.call(arguments);i=a.pop(),"function"!=typeof i&&(i=null),t="function"!=typeof t&&t||{},n=void 0===n||null===n?!0:n,i=i||function(e){e&&s.emit("error",e)};var u;if(t.baudRate=t.baudRate||t.baudrate||y.baudrate,t.dataBits=t.dataBits||t.databits||y.databits,-1===p.indexOf(t.dataBits))return u=new Error('Invalid "databits": '+t.dataBits),void i(u);if(t.stopBits=t.stopBits||t.stopbits||y.stopbits,-1===d.indexOf(t.stopBits))return u=new Error('Invalid "stopbits": '+t.stopbits),void i(u);if(t.parity=t.parity||y.parity,-1===m.indexOf(t.parity))return u=new Error('Invalid "parity": '+t.parity),void i(u);if(!e)return u=new Error("Invalid port specified: "+e),void i(u);if(t.rtscts=y.rtscts,t.flowControl||t.flowcontrol){var c=t.flowControl||t.flowcontrol;if("boolean"==typeof c)t.rtscts=!0;else{var f=c.every(function(e){var r=e.toUpperCase(),n=h.indexOf(r);if(0>n){var o=new Error('Invalid "flowControl": '+r+". 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