pxt-calliope/sim/libmbit.ts

685 lines
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/// <reference path="../node_modules/pxt-core/typings/bluebird/bluebird.d.ts"/>
/// <reference path="../node_modules/pxt-core/built/pxtsim.d.ts"/>
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/// <reference path="../libs/microbit/dal.d.ts"/>
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namespace pxsim {
pxsim.initCurrentRuntime = () => {
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U.assert(!runtime.board);
runtime.board = new Board();
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}
export function board() {
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return runtime.board as Board;
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}
export interface AnimationOptions {
interval: number;
// false means last frame
frame: () => boolean;
whenDone?: (cancelled: boolean) => void;
}
export class AnimationQueue {
private queue: AnimationOptions[] = [];
private process: () => void;
constructor(private runtime: Runtime) {
this.process = () => {
let top = this.queue[0]
if (!top) return
if (this.runtime.dead) return
runtime = this.runtime
let res = top.frame()
runtime.queueDisplayUpdate()
runtime.maybeUpdateDisplay()
if (res === false) {
this.queue.shift();
// if there is already something in the queue, start processing
if (this.queue[0])
setTimeout(this.process, this.queue[0].interval)
// this may push additional stuff
top.whenDone(false);
} else {
setTimeout(this.process, top.interval)
}
}
}
public cancelAll() {
let q = this.queue
this.queue = []
for (let a of q) {
a.whenDone(true)
}
}
public cancelCurrent() {
let top = this.queue[0]
if (top) {
this.queue.shift();
top.whenDone(true);
}
}
public enqueue(anim: AnimationOptions) {
if (!anim.whenDone) anim.whenDone = () => { };
this.queue.push(anim)
// we start processing when the queue goes from 0 to 1
if (this.queue.length == 1)
this.process()
}
public executeAsync(anim: AnimationOptions) {
U.assert(!anim.whenDone)
return new Promise<boolean>((resolve, reject) => {
anim.whenDone = resolve
this.enqueue(anim)
})
}
}
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/**
* Error codes used in the micro:bit runtime.
*/
export enum PanicCode {
// PANIC Codes. These are not return codes, but are terminal conditions.
// These induce a panic operation, where all code stops executing, and a panic state is
// entered where the panic code is diplayed.
// Out out memory error. Heap storage was requested, but is not available.
MICROBIT_OOM = 20,
// Corruption detected in the micro:bit heap space
MICROBIT_HEAP_ERROR = 30,
// Dereference of a NULL pointer through the ManagedType class,
MICROBIT_NULL_DEREFERENCE = 40,
};
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export function panic(code: number) {
console.log("PANIC:", code)
led.setBrightness(255);
let img = board().image;
img.clear();
img.set(0, 4, 255);
img.set(1, 3, 255);
img.set(2, 3, 255);
img.set(3, 3, 255);
img.set(4, 4, 255);
img.set(0, 0, 255);
img.set(1, 0, 255);
img.set(0, 1, 255);
img.set(1, 1, 255);
img.set(3, 0, 255);
img.set(4, 0, 255);
img.set(3, 1, 255);
img.set(4, 1, 255);
runtime.updateDisplay();
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throw new Error("PANIC " + code)
}
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export function getPin(id: number) {
return board().pins.filter(p => p && p.id == id)[0] || null
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}
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export namespace AudioContextManager {
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let _context: any; // AudioContext
let _vco: any; // OscillatorNode;
let _vca: any; // GainNode;
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function context(): any {
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if (!_context) _context = freshContext();
return _context;
}
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function freshContext(): any {
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(<any>window).AudioContext = (<any>window).AudioContext || (<any>window).webkitAudioContext;
if ((<any>window).AudioContext) {
try {
// this call my crash.
// SyntaxError: audio resources unavailable for AudioContext construction
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return new (<any>window).AudioContext();
} catch (e) { }
}
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return undefined;
}
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export function stop() {
if (_vca) _vca.gain.value = 0;
}
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export function tone(frequency: number, gain: number) {
if (frequency <= 0) return;
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let ctx = context();
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if (!ctx) return;
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gain = Math.max(0, Math.min(1, gain));
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if (!_vco) {
try {
_vco = ctx.createOscillator();
_vca = ctx.createGain();
_vco.connect(_vca);
_vca.connect(ctx.destination);
_vca.gain.value = gain;
_vco.start(0);
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} catch (e) {
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_vco = undefined;
_vca = undefined;
return;
}
}
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_vco.frequency.value = frequency;
_vca.gain.value = gain;
}
}
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}
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namespace pxsim.basic {
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export var pause = thread.pause;
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export var forever = thread.forever;
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export function showNumber(x: number, interval: number) {
if (interval < 0) return;
let leds = createImageFromString(x.toString());
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if (x < 0 || x >= 10) ImageMethods.scrollImage(leds, interval, 1);
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else showLeds(leds, interval * 5);
}
export function showString(s: string, interval: number) {
if (interval < 0) return;
if (s.length == 0) {
clearScreen();
pause(interval * 5);
} else {
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if (s.length == 1) showLeds(createImageFromString(s), interval * 5)
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else ImageMethods.scrollImage(createImageFromString(s + " "), interval, 1);
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}
}
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export function showLeds(leds: Image, delay: number): void {
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showAnimation(leds, delay);
}
export function clearScreen() {
board().image.clear();
runtime.queueDisplayUpdate()
}
export function showAnimation(leds: Image, interval: number = 400): void {
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ImageMethods.scrollImage(leds, interval, 5);
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}
export function plotLeds(leds: Image): void {
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ImageMethods.plotImage(leds, 0);
}
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}
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namespace pxsim.control {
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export var inBackground = thread.runInBackground;
export function reset() {
U.userError("reset not implemented in simulator yet")
}
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export function deviceName(): string {
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let b = board();
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return b && b.id
? b.id.slice(0, 4)
: "abcd";
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}
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export function deviceSerialNumber(): number {
let b = board();
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return parseInt(b && b.id
? b.id.slice(1)
: "42");
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}
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export function onEvent(id: number, evid: number, handler: RefAction) {
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pxt.registerWithDal(id, evid, handler)
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}
export function raiseEvent(id: number, evid: number, mode: number) {
// TODO mode?
board().bus.queue(id, evid)
}
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}
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namespace pxsim.pxt {
export function registerWithDal(id: number, evid: number, handler: RefAction) {
board().bus.listen(id, evid, handler);
}
}
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namespace pxsim.input {
export function onButtonPressed(button: number, handler: RefAction): void {
let b = board();
if (button == DAL.MICROBIT_ID_BUTTON_AB && !board().usesButtonAB) {
b.usesButtonAB = true;
runtime.queueDisplayUpdate();
}
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pxt.registerWithDal(button, DAL.MICROBIT_BUTTON_EVT_CLICK, handler);
}
export function buttonIsPressed(button: number): boolean {
let b = board();
if (button == DAL.MICROBIT_ID_BUTTON_AB && !board().usesButtonAB) {
b.usesButtonAB = true;
runtime.queueDisplayUpdate();
}
let bts = b.buttons;
if (button == DAL.MICROBIT_ID_BUTTON_A) return bts[0].pressed;
if (button == DAL.MICROBIT_ID_BUTTON_B) return bts[1].pressed;
return bts[2].pressed || (bts[0].pressed && bts[1].pressed);
}
export function onGesture(gesture: number, handler: RefAction) {
let b = board();
b.accelerometer.activate();
if (gesture == 11 && !b.useShake) { // SAKE
b.useShake = true;
runtime.queueDisplayUpdate();
}
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pxt.registerWithDal(DAL.MICROBIT_ID_GESTURE, gesture, handler);
}
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export function onPinPressed(pinId: number, handler: RefAction) {
let pin = getPin(pinId);
if (!pin) return;
pin.isTouched();
input.onButtonPressed(pin.id, handler);
}
export function pinIsPressed(pinId: number): boolean {
let pin = getPin(pinId);
if (!pin) return false;
return pin.isTouched();
}
export function compassHeading(): number {
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let b = board();
if (!b.usesHeading) {
b.usesHeading = true;
runtime.queueDisplayUpdate();
}
return b.heading;
}
export function temperature(): number {
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let b = board();
if (!b.usesTemperature) {
b.usesTemperature = true;
runtime.queueDisplayUpdate();
}
return b.temperature;
}
export function acceleration(dimension: number): number {
let b = board();
let acc = b.accelerometer;
acc.activate();
switch (dimension) {
case 0: return acc.getX();
case 1: return acc.getY();
case 2: return acc.getZ();
default: return Math.floor(Math.sqrt(acc.instantaneousAccelerationSquared()));
}
}
export function rotation(kind: number): number {
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let b = board();
let acc = b.accelerometer;
acc.activate();
let x = acc.getX(MicroBitCoordinateSystem.NORTH_EAST_DOWN);
let y = acc.getX(MicroBitCoordinateSystem.NORTH_EAST_DOWN);
let z = acc.getX(MicroBitCoordinateSystem.NORTH_EAST_DOWN);
let roll = Math.atan2(y, z);
let pitch = Math.atan(-x / (y * Math.sin(roll) + z * Math.cos(roll)));
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let r = 0;
switch (kind) {
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case 0: r = pitch; break;
case 1: r = roll; break;
}
return Math.floor(r / Math.PI * 180);
}
export function setAccelerometerRange(range: number) {
let b = board();
b.accelerometer.setSampleRange(range);
}
export function lightLevel(): number {
let b = board();
if (!b.usesLightLevel) {
b.usesLightLevel = true;
runtime.queueDisplayUpdate();
}
return b.lightLevel;
}
export function magneticForce(): number {
// TODO
return 0;
}
export function runningTime(): number {
return runtime.runningTime();
}
export function calibrate() {
}
}
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namespace pxsim.led {
export function plot(x: number, y: number) {
board().image.set(x, y, 255);
runtime.queueDisplayUpdate()
}
export function unplot(x: number, y: number) {
board().image.set(x, y, 0);
runtime.queueDisplayUpdate()
}
export function point(x: number, y: number): boolean {
return !!board().image.get(x, y);
}
export function brightness(): number {
return board().brigthness;
}
export function setBrightness(value: number): void {
board().brigthness = value;
runtime.queueDisplayUpdate()
}
export function stopAnimation(): void {
board().animationQ.cancelAll();
}
export function setDisplayMode(mode: DisplayMode): void {
board().displayMode = mode;
runtime.queueDisplayUpdate()
}
export function screenshot(): Image {
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let img = createImage(5)
board().image.copyTo(0, 5, img, 0);
return img;
}
}
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namespace pxsim.serial {
export function writeString(s: string) {
board().writeSerial(s);
}
export function readString(): string {
return board().readSerial();
}
}
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namespace pxsim.radio {
export function broadcastMessage(msg: number): void {
board().radio.broadcast(msg);
}
export function onBroadcastMessageReceived(msg: number, handler: RefAction): void {
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pxt.registerWithDal(DAL.MES_BROADCAST_GENERAL_ID, msg, handler);
}
export function setGroup(id: number): void {
board().radio.setGroup(id);
}
export function setTransmitPower(power: number): void {
board().radio.setTransmitPower(power);
}
export function setTransmitSerialNumber(transmit: boolean): void {
board().radio.setTransmitSerialNumber(transmit);
}
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export function sendNumber(value: number): void {
board().radio.datagram.send([value]);
}
export function sendString(msg: string): void {
board().radio.datagram.send(msg);
}
export function writeValueToSerial(): void {
let b = board();
let v = b.radio.datagram.recv().data[0];
b.writeSerial(`{v:${v}}`);
}
export function sendValue(name: string, value: number) {
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board().radio.datagram.send([value]);
}
export function receiveNumber(): number {
let buffer = board().radio.datagram.recv().data;
if (buffer instanceof Array) return buffer[0];
return 0;
}
export function receiveString(): string {
let buffer = board().radio.datagram.recv().data;
if (typeof buffer === "string") return <string>buffer;
return "";
}
export function receivedNumberAt(index: number): number {
let buffer = board().radio.datagram.recv().data;
if (buffer instanceof Array) return buffer[index] || 0;
return 0;
}
export function receivedSignalStrength(): number {
return board().radio.datagram.lastReceived.rssi;
}
export function onDataReceived(handler: RefAction): void {
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pxt.registerWithDal(DAL.MICROBIT_ID_RADIO, DAL.MICROBIT_RADIO_EVT_DATAGRAM, handler);
}
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}
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namespace pxsim.pins {
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export function onPulse(name: number, pulse: number, body: RefAction) {
}
export function pulseDuration(): number {
return 0;
}
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export function digitalReadPin(pinId: number): number {
let pin = getPin(pinId);
if (!pin) return;
pin.mode = PinMode.Digital | PinMode.Input;
return pin.value > 100 ? 1 : 0;
}
export function digitalWritePin(pinId: number, value: number) {
let pin = getPin(pinId);
if (!pin) return;
pin.mode = PinMode.Digital | PinMode.Output;
pin.value = value > 0 ? 1023 : 0;
runtime.queueDisplayUpdate();
}
export function analogReadPin(pinId: number): number {
let pin = getPin(pinId);
if (!pin) return;
pin.mode = PinMode.Analog | PinMode.Input;
return pin.value || 0;
}
export function analogWritePin(pinId: number, value: number) {
let pin = getPin(pinId);
if (!pin) return;
pin.mode = PinMode.Analog | PinMode.Output;
pin.value = value ? 1 : 0;
runtime.queueDisplayUpdate();
}
export function analogSetPeriod(pinId: number, micros: number) {
let pin = getPin(pinId);
if (!pin) return;
pin.mode = PinMode.Analog | PinMode.Output;
pin.period = micros;
runtime.queueDisplayUpdate();
}
export function servoWritePin(pinId: number, value: number) {
analogSetPeriod(pinId, 20000);
// TODO
}
export function servoSetPulse(pinId: number, micros: number) {
let pin = getPin(pinId);
if (!pin) return;
// TODO
}
export function analogSetPitchPin(pinId: number) {
let pin = getPin(pinId);
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if (!pin) return;
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board().pins.filter(p => !!p).forEach(p => p.pitch = false);
pin.pitch = true;
}
export function analogPitch(frequency: number, ms: number) {
// update analog output
let pin = board().pins.filter(pin => !!pin && pin.pitch)[0] || board().pins[0];
pin.mode = PinMode.Analog | PinMode.Output;
if (frequency <= 0) {
pin.value = 0;
pin.period = 0;
} else {
pin.value = 512;
pin.period = 1000000 / frequency;
}
runtime.queueDisplayUpdate();
let cb = getResume();
AudioContextManager.tone(frequency, 1);
if (ms <= 0) cb();
else {
setTimeout(() => {
AudioContextManager.stop();
pin.value = 0;
pin.period = 0;
pin.mode = PinMode.Unused;
runtime.queueDisplayUpdate();
cb()
}, ms);
}
}
}
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namespace pxsim.images {
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export function createImage(img: Image) { return img }
export function createBigImage(img: Image) { return img }
}
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namespace pxsim.ImageMethods {
export function showImage(leds: Image, offset: number) {
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if (!leds) panic(PanicCode.MICROBIT_NULL_DEREFERENCE);
leds.copyTo(offset, 5, board().image, 0)
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runtime.queueDisplayUpdate()
}
export function plotImage(leds: Image, offset: number): void {
if (!leds) panic(PanicCode.MICROBIT_NULL_DEREFERENCE);
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leds.copyTo(offset, 5, board().image, 0)
runtime.queueDisplayUpdate()
}
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export function height(leds: Image): number {
if (!leds) panic(PanicCode.MICROBIT_NULL_DEREFERENCE);
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return Image.height;
}
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export function width(leds: Image): number {
if (!leds) panic(PanicCode.MICROBIT_NULL_DEREFERENCE);
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return leds.width;
}
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export function plotFrame(leds: Image, frame: number) {
ImageMethods.plotImage(leds, frame * Image.height);
}
export function showFrame(leds: Image, frame: number) {
ImageMethods.showImage(leds, frame * Image.height);
}
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export function pixel(leds: Image, x: number, y: number): number {
if (!leds) panic(PanicCode.MICROBIT_NULL_DEREFERENCE);
return leds.get(x, y);
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}
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export function setPixel(leds: Image, x: number, y: number, v: number) {
if (!leds) panic(PanicCode.MICROBIT_NULL_DEREFERENCE);
leds.set(x, y, v);
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}
export function clear(leds: Image) {
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if (!leds) panic(PanicCode.MICROBIT_NULL_DEREFERENCE);
leds.clear();
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}
export function setPixelBrightness(i: Image, x: number, y: number, b: number) {
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if (!i) panic(PanicCode.MICROBIT_NULL_DEREFERENCE);
i.set(x, y, b);
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}
export function pixelBrightness(i: Image, x: number, y: number): number {
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if (!i) panic(PanicCode.MICROBIT_NULL_DEREFERENCE);
return i.get(x, y);
}
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export function scrollImage(leds: Image, interval: number, stride: number): void {
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if (!leds) panic(PanicCode.MICROBIT_NULL_DEREFERENCE);
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let cb = getResume()
let off = stride > 0 ? 0 : leds.width - 1;
let display = board().image;
board().animationQ.enqueue({
interval: interval,
frame: () => {
if (off >= leds.width || off < 0) return false;
stride > 0 ? display.shiftLeft(stride) : display.shiftRight(-stride);
let c = Math.min(stride, leds.width - off);
leds.copyTo(off, c, display, 5 - stride)
off += stride;
return true;
},
whenDone: cb
})
}
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}