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better support for simulating gestures

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This commit is contained in:
Peli de Halleux 2016-03-19 19:15:20 -07:00
parent d7466797c4
commit 5f863adaf7
5 changed files with 422 additions and 43 deletions
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20
.vscode/tasks.json vendored Normal file
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@ -0,0 +1,20 @@
{
"version": "0.1.0",
// Task runner is jake
"command": "kind",
// Need to be executed in shell / cmd
"isShellCommand": true,
"showOutput": "always",
"tasks": [
{
// TS build command is local.
"taskName": "serve",
// Make this the default build command.
"isBuildCommand": true,
// Use the redefined Typescript output problem matcher.
"problemMatcher": [
"$tsc"
]
}
]
}

19
sim/enums.ts
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@ -78,5 +78,22 @@ namespace ks.rt.micro_bit {
MICROBIT_ID_RADIO: number;
MICROBIT_RADIO_EVT_DATAGRAM: number;
MICROBIT_ID_GESTURE: number;
}
MICROBIT_ACCELEROMETER_REST_TOLERANCE: number;
MICROBIT_ACCELEROMETER_TILT_TOLERANCE: number;
MICROBIT_ACCELEROMETER_FREEFALL_TOLERANCE: number;
MICROBIT_ACCELEROMETER_SHAKE_TOLERANCE: number;
MICROBIT_ACCELEROMETER_3G_TOLERANCE: number;
MICROBIT_ACCELEROMETER_6G_TOLERANCE: number;
MICROBIT_ACCELEROMETER_8G_TOLERANCE: number;
MICROBIT_ACCELEROMETER_GESTURE_DAMPING: number;
MICROBIT_ACCELEROMETER_SHAKE_DAMPING: number;
MICROBIT_ACCELEROMETER_REST_THRESHOLD: number;
MICROBIT_ACCELEROMETER_FREEFALL_THRESHOLD: number;
MICROBIT_ACCELEROMETER_3G_THRESHOLD: number;
MICROBIT_ACCELEROMETER_6G_THRESHOLD: number;
MICROBIT_ACCELEROMETER_8G_THRESHOLD: number;
MICROBIT_ACCELEROMETER_SHAKE_COUNT_THRESHOLD: number;
MICROBIT_ACCELEROMETER_EVT_DATA_UPDATE: number;
MICROBIT_ID_ACCELEROMETER: number;
}
}

19
sim/libmbit.ts
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@ -237,6 +237,7 @@ namespace ks.rt.micro_bit {
export function onGesture(gesture: number, handler: RefAction) {
let ens = enums();
let b = board();
b.accelerometer.activate();
if (gesture == 11 && !b.useShake) { // SAKE
b.useShake = true;
@ -294,23 +295,19 @@ namespace ks.rt.micro_bit {
export function getAcceleration(dimension: number): number {
let b = board();
if (!b.usesAcceleration) {
b.usesAcceleration = true;
runtime.queueDisplayUpdate();
}
let acc = b.acceleration;
let acc = b.accelerometer;
acc.activate();
switch (dimension) {
case 0: return acc[0];
case 1: return acc[1];
case 2: return acc[2];
default: return Math.sqrt(acc[0] * acc[0] + acc[1] * acc[1] + acc[2] * acc[2]);
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 setAccelerometerRange(range : number) {
let b = board();
b.accelerometerRange = Math.max(1, Math.min(8, range));
runtime.queueDisplayUpdate();
b.accelerometer.setSampleRange(range);
}
export function lightLevel(): number {

37
sim/simsvg.ts
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@ -436,15 +436,15 @@ namespace ks.rt.micro_bit {
private updateTilt() {
if (this.props.disableTilt) return;
let state = this.board;
if (!state || !state.usesAcceleration) return;
if (!state || !state.accelerometer.isActive) return;
var acc = state.acceleration;
var af = 8 / 1023;
if(acc && !isNaN(acc[0]) && !isNaN(acc[1])) {
this.element.style.transform = "perspective(30em) rotateX(" + -acc[1]*af + "deg) rotateY(" + acc[0]*af +"deg)"
this.element.style.perspectiveOrigin = "50% 50% 50%";
this.element.style.perspective = "30em";
}
let x = state.accelerometer.getX();
let y = state.accelerometer.getY();
let af = 8 / 1023;
this.element.style.transform = "perspective(30em) rotateX(" + y*af + "deg) rotateY(" + x*af +"deg)"
this.element.style.perspectiveOrigin = "50% 50% 50%";
this.element.style.perspective = "30em";
}
private buildDom() {
@ -557,23 +557,24 @@ namespace ks.rt.micro_bit {
}
this.element.addEventListener("mousemove", (ev: MouseEvent) => {
let state = this.board;
if (!state.acceleration) return;
if (!state.accelerometer.isActive) return;
let ax = (ev.clientX - this.element.clientWidth / 2) / (this.element.clientWidth / 3);
let ay = (ev.clientY - this.element.clientHeight / 2) / (this.element.clientHeight / 3);
state.acceleration[0] = Math.max(-1023, Math.min(1023, Math.floor(ax * 1023)));
state.acceleration[1] = Math.max(-1023, Math.min(1023, Math.floor(ay * 1023)));
state.acceleration[2] = Math.floor(Math.sqrt(1023*1023
- state.acceleration[0] *state.acceleration[0]
- state.acceleration[1] *state.acceleration[1]));
let x = - Math.max(- 1023, Math.min(1023, Math.floor(ax * 1023)));
let y = Math.max(- 1023, Math.min(1023, Math.floor(ay * 1023)));
let z2 = 1023*1023 - x * x - y * y;
let z = Math.floor((z2 > 0 ? -1 : 1)* Math.sqrt(Math.abs(z2)));
state.accelerometer.update(x,y,z);
this.updateTilt();
}, false);
this.element.addEventListener("mouseleave", (ev: MouseEvent) => {
let state = this.board;
if (!state.acceleration) return;
if (!state.accelerometer.isActive) return;
state.acceleration[0] = 0;
state.acceleration[1] = 0;
state.acceleration[2] = -1023;
state.accelerometer.update(0,0,-1023);
this.updateTilt();
}, false);

370
sim/state.ts
View File

@ -108,7 +108,7 @@ namespace ks.rt.micro_bit {
setGroup(id: number) {
this.groupId = id & 0xff; // byte only
}
setTransmitPower(power: number) {
this.power = Math.max(0, Math.min(7, power));
}
@ -125,6 +125,351 @@ namespace ks.rt.micro_bit {
}
}
export enum BasicGesture {
GESTURE_NONE,
GESTURE_UP,
GESTURE_DOWN,
GESTURE_LEFT,
GESTURE_RIGHT,
GESTURE_FACE_UP,
GESTURE_FACE_DOWN,
GESTURE_FREEFALL,
GESTURE_3G,
GESTURE_6G,
GESTURE_8G,
GESTURE_SHAKE
};
interface AccelerometerSample {
x: number;
y: number;
z: number;
}
interface ShakeHistory {
x: boolean;
y: boolean;
z: boolean;
count: number;
shaken: number;
timer: number;
}
/**
* Co-ordinate systems that can be used.
* RAW: Unaltered data. Data will be returned directly from the accelerometer.
*
* SIMPLE_CARTESIAN: Data will be returned based on an easy to understand alignment, consistent with the cartesian system taught in schools.
* When held upright, facing the user:
*
* /
* +--------------------+ z
* | |
* | ..... |
* | * ..... * |
* ^ | ..... |
* | | |
* y +--------------------+ x-->
*
*
* NORTH_EAST_DOWN: Data will be returned based on the industry convention of the North East Down (NED) system.
* When held upright, facing the user:
*
* z
* +--------------------+ /
* | |
* | ..... |
* | * ..... * |
* ^ | ..... |
* | | |
* x +--------------------+ y-->
*
*/
export enum MicroBitCoordinateSystem {
RAW,
SIMPLE_CARTESIAN,
NORTH_EAST_DOWN
}
export class Accelerometer {
private sigma: number = 0; // the number of ticks that the instantaneous gesture has been stable.
private lastGesture: BasicGesture = BasicGesture.GESTURE_NONE; // the last, stable gesture recorded.
private currentGesture: BasicGesture = BasicGesture.GESTURE_NONE; // the instantaneous, unfiltered gesture detected.
private sample: AccelerometerSample = { x: 0, y: 0, z: -1023 }
private shake: ShakeHistory = { x: false, y: false, z: false, count: 0, shaken: 0, timer: 0 }; // State information needed to detect shake events.
private pitch:number;
private roll:number;
private id: number;
public isActive = false;
public sampleRange = 2;
constructor(public runtime: Runtime) {
this.id = (<Enums><any>runtime.enums).MICROBIT_ID_ACCELEROMETER;
}
public setSampleRange(range : number) {
this.activate();
this.sampleRange = Math.max(1, Math.min(8, range));
}
public activate() {
if (!this.isActive) {
this.isActive = true;
this.runtime.queueDisplayUpdate();
}
}
/**
* Reads the acceleration data from the accelerometer, and stores it in our buffer.
* This is called by the tick() member function, if the interrupt is set!
*/
public update(x : number, y : number, z : number) {
// read MSB values...
this.sample.x = Math.floor(x);
this.sample.y = Math.floor(y);
this.sample.z = Math.floor(z);
// Update gesture tracking
this.updateGesture();
// Indicate that a new sample is available
board().bus.queue(this.id, enums().MICROBIT_ACCELEROMETER_EVT_DATA_UPDATE)
}
public instantaneousAccelerationSquared() {
// Use pythagoras theorem to determine the combined force acting on the device.
return this.sample.x * this.sample.x + this.sample.y * this.sample.y + this.sample.z * this.sample.z;
}
/**
* Service function. Determines the best guess posture of the device based on instantaneous data.
* This makes no use of historic data (except for shake), and forms this input to the filter implemented in updateGesture().
*
* @return A best guess of the current posture of the device, based on instantaneous data.
*/
private instantaneousPosture(): BasicGesture {
let ens = enums()
let force = this.instantaneousAccelerationSquared();
let shakeDetected = false;
// Test for shake events.
// We detect a shake by measuring zero crossings in each axis. In other words, if we see a strong acceleration to the left followed by
// a string acceleration to the right, then we can infer a shake. Similarly, we can do this for each acxis (left/right, up/down, in/out).
//
// If we see enough zero crossings in succession (MICROBIT_ACCELEROMETER_SHAKE_COUNT_THRESHOLD), then we decide that the device
// has been shaken.
if ((this.getX() < -ens.MICROBIT_ACCELEROMETER_SHAKE_TOLERANCE && this.shake.x) || (this.getX() > ens.MICROBIT_ACCELEROMETER_SHAKE_TOLERANCE && !this.shake.x)) {
shakeDetected = true;
this.shake.x = !this.shake.x;
}
if ((this.getY() < -ens.MICROBIT_ACCELEROMETER_SHAKE_TOLERANCE && this.shake.y) || (this.getY() > ens.MICROBIT_ACCELEROMETER_SHAKE_TOLERANCE && !this.shake.y)) {
shakeDetected = true;
this.shake.y = !this.shake.y;
}
if ((this.getZ() < -ens.MICROBIT_ACCELEROMETER_SHAKE_TOLERANCE && this.shake.z) || (this.getZ() > ens.MICROBIT_ACCELEROMETER_SHAKE_TOLERANCE && !this.shake.z)) {
shakeDetected = true;
this.shake.z = !this.shake.z;
}
if (shakeDetected && this.shake.count < ens.MICROBIT_ACCELEROMETER_SHAKE_COUNT_THRESHOLD && ++this.shake.count == ens.MICROBIT_ACCELEROMETER_SHAKE_COUNT_THRESHOLD)
this.shake.shaken = 1;
if (++this.shake.timer >= ens.MICROBIT_ACCELEROMETER_SHAKE_DAMPING) {
this.shake.timer = 0;
if (this.shake.count > 0) {
if (--this.shake.count == 0)
this.shake.shaken = 0;
}
}
if (this.shake.shaken)
return BasicGesture.GESTURE_SHAKE;
if (force < ens.MICROBIT_ACCELEROMETER_FREEFALL_THRESHOLD)
return BasicGesture.GESTURE_FREEFALL;
if (force > ens.MICROBIT_ACCELEROMETER_3G_THRESHOLD)
return BasicGesture.GESTURE_3G;
if (force > ens.MICROBIT_ACCELEROMETER_6G_THRESHOLD)
return BasicGesture.GESTURE_6G;
if (force > ens.MICROBIT_ACCELEROMETER_8G_THRESHOLD)
return BasicGesture.GESTURE_8G;
// Determine our posture.
if (this.getX() < (-1000 + ens.MICROBIT_ACCELEROMETER_TILT_TOLERANCE))
return BasicGesture.GESTURE_LEFT;
if (this.getX() > (1000 - ens.MICROBIT_ACCELEROMETER_TILT_TOLERANCE))
return BasicGesture.GESTURE_RIGHT;
if (this.getY() < (-1000 + ens.MICROBIT_ACCELEROMETER_TILT_TOLERANCE))
return BasicGesture.GESTURE_DOWN;
if (this.getY() > (1000 - ens.MICROBIT_ACCELEROMETER_TILT_TOLERANCE))
return BasicGesture.GESTURE_UP;
if (this.getZ() < (-1000 + ens.MICROBIT_ACCELEROMETER_TILT_TOLERANCE))
return BasicGesture.GESTURE_FACE_UP;
if (this.getZ() > (1000 - ens.MICROBIT_ACCELEROMETER_TILT_TOLERANCE))
return BasicGesture.GESTURE_FACE_DOWN;
return BasicGesture.GESTURE_NONE;
}
updateGesture() {
let ens = enums()
// Determine what it looks like we're doing based on the latest sample...
let g = this.instantaneousPosture();
// Perform some low pass filtering to reduce jitter from any detected effects
if (g == this.currentGesture) {
if (this.sigma < ens.MICROBIT_ACCELEROMETER_GESTURE_DAMPING)
this.sigma++;
}
else {
this.currentGesture = g;
this.sigma = 0;
}
// If we've reached threshold, update our record and raise the relevant event...
if (this.currentGesture != this.lastGesture && this.sigma >= ens.MICROBIT_ACCELEROMETER_GESTURE_DAMPING) {
this.lastGesture = this.currentGesture;
board().bus.queue(ens.MICROBIT_ID_GESTURE, this.lastGesture);
}
}
/**
* Reads the X axis value of the latest update from the accelerometer.
* @param system The coordinate system to use. By default, a simple cartesian system is provided.
* @return The force measured in the X axis, in milli-g.
*
* Example:
* @code
* uBit.accelerometer.getX();
* uBit.accelerometer.getX(RAW);
* @endcode
*/
public getX(system : MicroBitCoordinateSystem = MicroBitCoordinateSystem.SIMPLE_CARTESIAN): number {
this.activate();
switch (system) {
case MicroBitCoordinateSystem.SIMPLE_CARTESIAN:
return -this.sample.x;
case MicroBitCoordinateSystem.NORTH_EAST_DOWN:
return this.sample.y;
//case MicroBitCoordinateSystem.SIMPLE_CARTESIAN.RAW:
default:
return this.sample.x;
}
}
/**
* Reads the Y axis value of the latest update from the accelerometer.
* @param system The coordinate system to use. By default, a simple cartesian system is provided.
* @return The force measured in the Y axis, in milli-g.
*
* Example:
* @code
* uBit.accelerometer.getY();
* uBit.accelerometer.getY(RAW);
* @endcode
*/
public getY(system : MicroBitCoordinateSystem = MicroBitCoordinateSystem.SIMPLE_CARTESIAN): number {
this.activate();
switch (system) {
case MicroBitCoordinateSystem.SIMPLE_CARTESIAN:
return -this.sample.y;
case MicroBitCoordinateSystem.NORTH_EAST_DOWN:
return -this.sample.x;
//case RAW:
default:
return this.sample.y;
}
}
/**
* Reads the Z axis value of the latest update from the accelerometer.
* @param system The coordinate system to use. By default, a simple cartesian system is provided.
* @return The force measured in the Z axis, in milli-g.
*
* Example:
* @code
* uBit.accelerometer.getZ();
* uBit.accelerometer.getZ(RAW);
* @endcode
*/
public getZ(system : MicroBitCoordinateSystem = MicroBitCoordinateSystem.SIMPLE_CARTESIAN): number {
this.activate();
switch (system) {
case MicroBitCoordinateSystem.NORTH_EAST_DOWN:
return -this.sample.z;
//case MicroBitCoordinateSystem.SIMPLE_CARTESIAN:
//case MicroBitCoordinateSystem.RAW:
default:
return this.sample.z;
}
}
/**
* Provides a rotation compensated pitch of the device, based on the latest update from the accelerometer.
* @return The pitch of the device, in degrees.
*
* Example:
* @code
* uBit.accelerometer.getPitch();
* @endcode
*/
public getPitch(): number {
this.activate();
return Math.floor((360 * this.getPitchRadians()) / (2 * Math.PI));
}
getPitchRadians() : number {
this.recalculatePitchRoll();
return this.pitch;
}
/**
* Provides a rotation compensated roll of the device, based on the latest update from the accelerometer.
* @return The roll of the device, in degrees.
*
* Example:
* @code
* uBit.accelerometer.getRoll();
* @endcode
*/
public getRoll(): number {
this.activate();
return Math.floor((360 * this.getRollRadians()) / (2 * Math.PI));
}
getRollRadians(): number {
this.recalculatePitchRoll();
return this.roll;
}
/**
* Recalculate roll and pitch values for the current sample.
* We only do this at most once per sample, as the necessary trigonemteric functions are rather
* heavyweight for a CPU without a floating point unit...
*/
recalculatePitchRoll() {
let x = this.getX(MicroBitCoordinateSystem.NORTH_EAST_DOWN);
let y = this.getY(MicroBitCoordinateSystem.NORTH_EAST_DOWN);
let z = this.getZ(MicroBitCoordinateSystem.NORTH_EAST_DOWN);
this.roll = Math.atan2(y, z);
this.pitch = Math.atan(-x / (y * Math.sin(this.roll) + z * Math.cos(this.roll)));
}
}
export interface SimulatorEventBusMessage extends SimulatorMessage {
id: number;
eventid: number;
@ -164,11 +509,9 @@ namespace ks.rt.micro_bit {
// serial
serialIn: string[] = [];
// sensors
usesAcceleration = false;
acceleration = [0, 0, -1023];
accelerometerRange = 2;
// sensors
accelerometer : Accelerometer;
// gestures
useShake = false;
@ -189,6 +532,7 @@ namespace ks.rt.micro_bit {
this.animationQ = new AnimationQueue(runtime);
this.bus = new EventBus(runtime);
this.radio = new RadioBus(runtime);
this.accelerometer = new Accelerometer(runtime);
let ens = enums();
this.buttons = [
new Button(ens.MICROBIT_ID_BUTTON_A),
@ -310,17 +654,17 @@ namespace ks.rt.micro_bit {
}
}
public shiftLeft(cols: number) {
for(let x = 0; x < this.width;++x)
for(let y = 0; y < 5;++y)
this.set(x, y, x < this.width - cols ? this.get(x + cols,y) : 0);
for (let x = 0; x < this.width; ++x)
for (let y = 0; y < 5; ++y)
this.set(x, y, x < this.width - cols ? this.get(x + cols, y) : 0);
}
public shiftRight(cols: number) {
for(let x = this.width -1; x <=0;--x)
for(let y = 0; y < 5;++y)
this.set(x, y, x > cols ? this.get(x - cols,y) : 0);
for (let x = this.width - 1; x <= 0; --x)
for (let y = 0; y < 5; ++y)
this.set(x, y, x > cols ? this.get(x - cols, y) : 0);
}
public clear(): void {
for (var i = 0; i < this.data.length; ++i)
this.data[i] = 0;