From 4963bf776ad4dc2c8550367d8172d30fce6fed06 Mon Sep 17 00:00:00 2001
From: Peli de Halleux <pelikhan@users.noreply.github.com>
Date: Tue, 1 Nov 2016 08:16:03 -0700
Subject: [PATCH] basic servo simulation (#297)

---
 libs/core/pins.cpp         |  1 +
 libs/core/pxtparts.json    | 31 +++++++++++++++++++++++++++++++
 libs/core/shims.d.ts       |  3 ++-
 sim/dalboard.ts            | 13 +++++++++----
 sim/state/edgeconnector.ts |  8 ++++++--
 5 files changed, 49 insertions(+), 7 deletions(-)

diff --git a/libs/core/pins.cpp b/libs/core/pins.cpp
index 3cd31cc2..74c41332 100644
--- a/libs/core/pins.cpp
+++ b/libs/core/pins.cpp
@@ -201,6 +201,7 @@ namespace pins {
      */
     //% help=pins/servo-write-pin weight=20
     //% blockId=device_set_servo_pin block="servo write|pin %name|to %value" blockGap=8
+    //% parts=microservo trackArgs=0
     void servoWritePin(AnalogPin name, int value) { 
         PINOP(setServoValue(value));
     }
diff --git a/libs/core/pxtparts.json b/libs/core/pxtparts.json
index 4afc3f78..09369c1a 100644
--- a/libs/core/pxtparts.json
+++ b/libs/core/pxtparts.json
@@ -29,6 +29,37 @@
             {"pinIndices": [2, 3]}
         ]
     },
+    "microservo": {
+        "simulationBehavior": "microservo",
+        "visual": {
+            "builtIn": "microservo",
+            "width": 74.85,
+            "height": 200,
+            "pinDistance": 10,
+            "pinLocations": [
+                {"x": 30, "y": 5},
+                {"x": 37, "y": 5},
+                {"x": 45, "y": 5}
+            ]
+        },
+        "numberOfPins": 3,
+        "pinDefinitions": [
+            {"target": {"pinInstantiationIdx": 0}, "style": "croc", "orientation": "+Z"},
+            {"target": "threeVolt", "style": "croc", "orientation": "+Z"},
+            {"target": "ground", "style": "croc", "orientation": "+Z"}
+        ],
+        "instantiation": {
+            "kind": "function",
+            "fullyQualifiedName": "pins.servoWritePin",
+            "argumentRoles": [
+                {"pinInstantiationIdx": 0, "partParameter": "name"}
+            ]
+        },
+        "assembly": [
+            {"part": true, "pinIndices": [2]},
+            {"pinIndices": [0, 1]}
+        ]
+    },
     "neopixel": {
         "simulationBehavior": "neopixel",
         "visual": {
diff --git a/libs/core/shims.d.ts b/libs/core/shims.d.ts
index d2346ad3..e060c3ff 100644
--- a/libs/core/shims.d.ts
+++ b/libs/core/shims.d.ts
@@ -585,7 +585,8 @@ declare namespace pins {
      * @param value angle or rotation speed, eg:180,90,0
      */
     //% help=pins/servo-write-pin weight=20
-    //% blockId=device_set_servo_pin block="servo write|pin %name|to %value" blockGap=8 shim=pins::servoWritePin
+    //% blockId=device_set_servo_pin block="servo write|pin %name|to %value" blockGap=8
+    //% parts=microservo trackArgs=0 shim=pins::servoWritePin
     function servoWritePin(name: AnalogPin, value: number): void;
 
     /**
diff --git a/sim/dalboard.ts b/sim/dalboard.ts
index b888a7bc..67140948 100644
--- a/sim/dalboard.ts
+++ b/sim/dalboard.ts
@@ -12,7 +12,9 @@ namespace pxsim {
         lightSensorState: LightSensorState;
         buttonPairState: ButtonPairState;
         radioState: RadioState;
+        // TODO: not singletons
         neopixelState: NeoPixelState;
+        microServoState: MicroServoState;
 
         constructor() {
             super()
@@ -48,7 +50,7 @@ namespace pxsim {
                     0,
                     0,
                     DAL.MICROBIT_ID_IO_P19,
-                    DAL.MICROBIT_ID_IO_P20                    
+                    DAL.MICROBIT_ID_IO_P20
                 ]
             });
             this.builtinParts["radio"] = this.radioState = new RadioState(runtime);
@@ -58,14 +60,17 @@ namespace pxsim {
             this.builtinParts["lightsensor"] = this.lightSensorState = new LightSensorState();
             this.builtinParts["compass"] = this.compassState = new CompassState();
             this.builtinParts["neopixel"] = this.neopixelState = new NeoPixelState();
+            this.builtinParts["microservo"] = this.microServoState = new MicroServoState();
 
             this.builtinVisuals["buttonpair"] = () => new visuals.ButtonPairView();
             this.builtinVisuals["ledmatrix"] = () => new visuals.LedMatrixView();
-            this.builtinVisuals["neopixel"] = () => new visuals.NeoPixelView();            
+            this.builtinVisuals["neopixel"] = () => new visuals.NeoPixelView();
+            this.builtinVisuals["microservo"] = () => new visuals.MicroServoView();
 
             this.builtinPartVisuals["buttonpair"] = (xy: visuals.Coord) => visuals.mkBtnSvg(xy);
             this.builtinPartVisuals["ledmatrix"] = (xy: visuals.Coord) => visuals.mkLedMatrixSvg(xy, 8, 8);
-            this.builtinPartVisuals["neopixel"] = (xy: visuals.Coord) => visuals.mkNeoPixelPart(xy);            
+            this.builtinPartVisuals["neopixel"] = (xy: visuals.Coord) => visuals.mkNeoPixelPart(xy);
+            this.builtinPartVisuals["microservo"] = (xy: visuals.Coord) => visuals.mkMicroServoPart(xy);
         }
 
         receiveMessage(msg: SimulatorMessage) {
@@ -97,7 +102,7 @@ namespace pxsim {
             const cmpDefs = msg.partDefinitions || {};
             const fnArgs = msg.fnArgs;
 
-            const opts : visuals.BoardHostOpts = {
+            const opts: visuals.BoardHostOpts = {
                 state: this,
                 boardDef: boardDef,
                 partsList: cmpsList,
diff --git a/sim/state/edgeconnector.ts b/sim/state/edgeconnector.ts
index 1f4cef29..feae5343 100644
--- a/sim/state/edgeconnector.ts
+++ b/sim/state/edgeconnector.ts
@@ -11,7 +11,7 @@ namespace pxsim.input {
         if (!pin) return;
         pin.isTouched();
         pxtcore.registerWithDal(pin.id, DAL.MICROBIT_BUTTON_EVT_UP, handler);
-     }
+    }
 
     export function pinIsPressed(pinId: number): boolean {
         let pin = getPin(pinId);
@@ -73,7 +73,11 @@ namespace pxsim.pins {
 
     export function servoWritePin(pinId: number, value: number) {
         analogSetPeriod(pinId, 20000);
-        // TODO
+        // TODO: per pin state
+        if (board().microServoState.angle != value) {
+            board().microServoState.angle = value;
+            runtime.queueDisplayUpdate();
+        }
     }
 
     export function servoSetPulse(pinId: number, micros: number) {