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4 times more sensors\!

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This commit is contained in:
Michal Moskal
2017-10-24 19:58:52 +01:00
parent 60d5271de2
commit 005447ce44
8 changed files with 161 additions and 130 deletions
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10
libs/core/_locales/core-strings.json
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@@ -30,13 +30,19 @@
"input.buttonLeft|block": "button left",
"input.buttonRight|block": "button right",
"input.buttonUp|block": "button up",
"input.color|block": "color sensor",
"input.color1|block": "color sensor 1",
"input.color2|block": "color sensor 2",
"input.color3|block": "color sensor 3",
"input.color4|block": "color sensor 4",
"input.remoteBottomLeft|block": "remote bottom-left",
"input.remoteBottomRight|block": "remote bottom-right",
"input.remoteCenter|block": "remote center",
"input.remoteTopLeft|block": "remote top-left",
"input.remoteTopRight|block": "remote top-right",
"input.touchSensor|block": "touch sensor",
"input.touchSensor1|block": "touch sensor 1",
"input.touchSensor2|block": "touch sensor 2",
"input.touchSensor3|block": "touch sensor 3",
"input.touchSensor4|block": "touch sensor 4",
"input|block": "input",
"output.getCurrentSpeed|block": "motor %out|speed",
"output.pattern|block": "%pattern",

17
libs/core/color.ts
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@@ -23,8 +23,8 @@ namespace input {
//% fixedInstances
export class ColorSensor extends internal.UartSensor {
constructor() {
super()
constructor(port: number) {
super(port)
}
_deviceType() {
@@ -81,6 +81,15 @@ namespace input {
}
}
//% whenUsed block="color sensor" weight=95 fixedInstance
export const color: ColorSensor = new ColorSensor()
//% whenUsed block="color sensor 1" weight=95 fixedInstance
export const color1: ColorSensor = new ColorSensor(1)
//% whenUsed block="color sensor 2" weight=95 fixedInstance
export const color2: ColorSensor = new ColorSensor(2)
//% whenUsed block="color sensor 3" weight=95 fixedInstance
export const color3: ColorSensor = new ColorSensor(3)
//% whenUsed block="color sensor 4" weight=95 fixedInstance
export const color4: ColorSensor = new ColorSensor(4)
}

15
libs/core/gyro.ts
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@@ -7,8 +7,8 @@ const enum GyroSensorMode {
namespace input {
//% fixedInstances
export class GyroSensor extends internal.UartSensor {
constructor() {
super()
constructor(port: number) {
super(port)
}
_deviceType() {
@@ -51,5 +51,14 @@ namespace input {
}
//% whenUsed
export const gyro: GyroSensor = new GyroSensor()
export const gyro1: GyroSensor = new GyroSensor(1)
//% whenUsed
export const gyro2: GyroSensor = new GyroSensor(2)
//% whenUsed
export const gyro3: GyroSensor = new GyroSensor(3)
//% whenUsed
export const gyro4: GyroSensor = new GyroSensor(4)
}

128
libs/core/input.ts
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@@ -27,30 +27,27 @@ namespace input.internal {
let analogMM: MMap
let uartMM: MMap
let devcon: Buffer
let sensors: SensorInfo[]
let autoSensors: Sensor[]
let sensorInfos: SensorInfo[]
class SensorInfo {
port: number
sensor: Sensor
sensors: Sensor[]
connType: number
devType: number
manual: boolean
constructor(p: number) {
this.port = p
this.connType = DAL.CONN_NONE
this.devType = DAL.DEVICE_TYPE_NONE
this.sensor = null
this.manual = false
this.sensors = []
}
}
function init() {
if (sensors) return
sensors = []
for (let i = 0; i < DAL.NUM_INPUTS; ++i) sensors.push(new SensorInfo(i))
autoSensors = []
if (sensorInfos) return
sensorInfos = []
for (let i = 0; i < DAL.NUM_INPUTS; ++i) sensorInfos.push(new SensorInfo(i))
devcon = output.createBuffer(DevConOff.Size)
analogMM = control.mmap("/dev/lms_analog", AnalogOff.Size, 0)
@@ -64,7 +61,7 @@ namespace input.internal {
loops.pause(500)
})
for (let info_ of sensors) {
for (let info_ of sensorInfos) {
let info = info_
unsafePollForChanges(50, () => {
if (info.sensor) return info.sensor._query()
@@ -90,7 +87,7 @@ namespace input.internal {
let conns = analogMM.slice(AnalogOff.InConn, DAL.NUM_INPUTS)
let numChanged = 0
for (let info of sensors) {
for (let info of sensorInfos) {
let newConn = conns[info.port]
if (newConn == info.connType)
continue
@@ -117,77 +114,42 @@ namespace input.internal {
if (numChanged == 0)
return
let autos = sensors.filter(s => !s.manual)
// first free up disconnected sensors
for (let info of autos) {
if (info.sensor && info.devType == DAL.DEVICE_TYPE_NONE)
info.sensor._setPort(0)
}
for (let info of autos) {
if (!info.sensor && info.devType != DAL.DEVICE_TYPE_NONE) {
let found = false
for (let s of autoSensors) {
if (s.getPort() == 0 && s._deviceType() == info.devType) {
s._setPort(info.port + 1)
found = true
break
}
for (let si of sensorInfos) {
if (si.sensor && si.sensor._deviceType() != si.devType) {
si.sensor = null
}
if (si.devType != DAL.DEVICE_TYPE_NONE) {
si.sensor = si.sensors.filter(s => s._deviceType() == si.devType)[0] || null
if (si.sensor == null) {
control.dmesg(`sensor not found for type=${si.devType} at ${si.port}`)
} else {
control.dmesg(`sensor connected type=${si.devType} at ${si.port}`)
si.sensor._activated()
}
if (!found)
control.dmesg(`sensor not found for type=${info.devType} at ${info.port}`)
}
}
}
export class Sensor extends control.Component {
protected port: number
protected port: number // this is 0-based
constructor() {
constructor(port_: number) {
super()
if (!(1 <= port_ && port_ <= DAL.NUM_INPUTS))
control.panic(120)
this.port = port_ - 1
init()
this.port = -1
let tp = this._deviceType()
if (autoSensors.filter(s => s._deviceType() == tp).length == 0) {
autoSensors.push(this)
}
}
// 0 - disable, 1-4 port number
_setPort(port: number, manual = false) {
port = Math.clamp(0, 4, port | 0) - 1;
if (port == this.port) return
this.port = port
control.dmesg(`sensor set port ${port} on devtype=${this._deviceType()}`)
for (let i = 0; i < sensors.length; ++i) {
if (i != this.port && sensors[i].sensor == this) {
sensors[i].sensor = null
sensors[i].manual = false
}
}
if (this.port >= 0) {
let prev = sensors[this.port].sensor
if (prev && prev != this)
prev._setPort(0)
sensors[this.port].sensor = this
sensors[this.port].manual = manual
}
this._portUpdated()
}
protected _portUpdated() { }
setPort(port: number) {
this._setPort(port, true)
}
_activated() { }
// 1-based
getPort() {
return this.port + 1
}
isManual() {
return this.port >= 0 && sensors[this.port].manual
isActive() {
return sensorInfos[this.port].sensor == this
}
_query() {
@@ -203,12 +165,12 @@ namespace input.internal {
}
export class AnalogSensor extends Sensor {
constructor() {
super()
constructor(port: number) {
super(port)
}
_readPin6() {
if (this.port < 0) return 0
if (!this.isActive()) return 0
return analogMM.getNumber(NumberFormat.Int16LE, AnalogOff.InPin6 + 2 * this.port)
}
}
@@ -216,32 +178,26 @@ namespace input.internal {
export class UartSensor extends Sensor {
protected mode: number
protected realmode: number
protected mode: number // the mode user asked for
protected realmode: number // the mode the hardware is in
constructor() {
super()
constructor(port: number) {
super(port)
this.mode = 0
this.realmode = -1
}
protected _portUpdated() {
this.realmode = -1
if (this.port >= 0) {
if (this.isManual()) {
uartReset(this.port)
} else {
this.realmode = 0
}
this._setMode(this.mode)
}
_activated() {
this.realmode = 0
// uartReset(this.port) // TODO is it ever needed?
this._setMode(this.mode)
}
protected _setMode(m: number) {
//control.dmesg(`_setMode p=${this.port} m: ${this.realmode} -> ${m}`)
let v = m | 0
this.mode = v
if (this.port < 0) return
if (!this.isActive()) return
if (this.realmode != this.mode) {
this.realmode = v
setUartMode(this.port, v)
@@ -249,10 +205,12 @@ namespace input.internal {
}
getBytes(): Buffer {
return getUartBytes(this.port)
return getUartBytes(this.isActive() ? this.port : -1)
}
getNumber(fmt: NumberFormat, off: number) {
if (!this.isActive())
return 0
return getUartNumber(fmt, off, this.port)
}
}

77
libs/core/ir.ts
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@@ -40,30 +40,46 @@ namespace input {
}
}
let buttons: Button[]
function create(ir: IrSensor) {
// it's created by referencing it
}
export function irButton(id: IrRemoteButton) {
if (buttons == null) {
buttons = []
for (let i = 0; i < 5; ++i) {
buttons.push(new Button())
}
// make sure sensors are up
create(ir1)
create(ir2)
create(ir3)
create(ir4)
}
let num = -1
while (id) {
id >>= 1;
num++;
}
num = Math.clamp(0, buttons.length - 1, num)
return buttons[num]
}
//% fixedInstance
export class IrSensor extends internal.UartSensor {
private channel: IrRemoteChannel
private buttons: Button[];
constructor() {
super()
constructor(port: number) {
super(port)
this.channel = IrRemoteChannel.Ch0
this.buttons = []
// otherwise button events won't work
this.mode = IrSensorMode.RemoteControl
for (let i = 0; i < 5; ++i) {
this.buttons.push(new Button())
}
}
irButton(0) // make sure buttons array is initalized
button(id: IrRemoteButton) {
let num = -1
while (id) {
id >>= 1;
num++;
}
num = Math.clamp(0, this.buttons.length - 1, num)
return this.buttons[num]
// and set the mode, as otherwise button events won't work
this.mode = IrSensorMode.RemoteControl
}
_query() {
@@ -73,9 +89,9 @@ namespace input {
}
_update(prev: number, curr: number) {
for (let i = 0; i < this.buttons.length; ++i) {
for (let i = 0; i < buttons.length; ++i) {
let v = !!(curr & (1 << i))
this.buttons[i].update(v)
buttons[i].update(v)
}
}
@@ -131,35 +147,44 @@ namespace input {
}
//% whenUsed
export const ir: IrSensor = new IrSensor()
export const ir1: IrSensor = new IrSensor(1)
//% whenUsed
export const ir2: IrSensor = new IrSensor(2)
//% whenUsed
export const ir3: IrSensor = new IrSensor(3)
//% whenUsed
export const ir4: IrSensor = new IrSensor(4)
/**
* Remote top-left button.
*/
//% whenUsed block="remote top-left" weight=95 fixedInstance
export const remoteTopLeft = ir.button(IrRemoteButton.TopLeft)
export const remoteTopLeft = irButton(IrRemoteButton.TopLeft)
/**
* Remote top-right button.
*/
//% whenUsed block="remote top-right" weight=95 fixedInstance
export const remoteTopRight = ir.button(IrRemoteButton.TopRight)
export const remoteTopRight = irButton(IrRemoteButton.TopRight)
/**
* Remote bottom-left button.
*/
//% whenUsed block="remote bottom-left" weight=95 fixedInstance
export const remoteBottomLeft = ir.button(IrRemoteButton.BottomLeft)
export const remoteBottomLeft = irButton(IrRemoteButton.BottomLeft)
/**
* Remote bottom-right button.
*/
//% whenUsed block="remote bottom-right" weight=95 fixedInstance
export const remoteBottomRight = ir.button(IrRemoteButton.BottomRight)
export const remoteBottomRight = irButton(IrRemoteButton.BottomRight)
/**
* Remote beacon (center) button.
*/
//% whenUsed block="remote center" weight=95 fixedInstance
export const remoteCenter = ir.button(IrRemoteButton.CenterBeacon)
export const remoteCenter = irButton(IrRemoteButton.CenterBeacon)
}

4
libs/core/test.ts
View File

@@ -31,7 +31,7 @@ input.buttonUp.onEvent(ButtonEvent.Click, () => {
let num = 0
input.touchSensor.onEvent(ButtonEvent.Click, () => {
input.touchSensor1.onEvent(ButtonEvent.Click, () => {
screen.print("Click! " + num, 10, 60)
num++
})
@@ -57,4 +57,4 @@ loops.forever(() => {
screen.print(10, 60, v + " ")
loops.pause(200)
})
*/
*/

25
libs/core/touch.ts
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@@ -4,8 +4,8 @@ namespace input {
export class TouchSensor extends internal.AnalogSensor {
button: Button;
constructor() {
super()
constructor(port: number) {
super(port)
this.button = new Button()
}
@@ -23,8 +23,23 @@ namespace input {
}
//% whenUsed
export const touchSensorImpl: TouchSensor = new TouchSensor()
export const touchSensorImpl1: TouchSensor = new TouchSensor(1)
//% whenUsed
export const touchSensorImpl2: TouchSensor = new TouchSensor(2)
//% whenUsed
export const touchSensorImpl3: TouchSensor = new TouchSensor(3)
//% whenUsed
export const touchSensorImpl4: TouchSensor = new TouchSensor(4)
//% whenUsed block="touch sensor" weight=95 fixedInstance
export const touchSensor: Button = touchSensorImpl.button
//% whenUsed block="touch sensor 1" weight=95 fixedInstance
export const touchSensor1: Button = touchSensorImpl1.button
//% whenUsed block="touch sensor 2" weight=95 fixedInstance
export const touchSensor2: Button = touchSensorImpl2.button
//% whenUsed block="touch sensor 3" weight=95 fixedInstance
export const touchSensor3: Button = touchSensorImpl3.button
//% whenUsed block="touch sensor 4" weight=95 fixedInstance
export const touchSensor4: Button = touchSensorImpl4.button
}

15
libs/core/ultrasonic.ts
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@@ -1,8 +1,8 @@
namespace input {
export class UltraSonicSensor extends internal.UartSensor {
constructor() {
super()
constructor(port: number) {
super(port)
}
_deviceType() {
@@ -18,5 +18,14 @@ namespace input {
}
//% whenUsed
export const ultrasonic: UltraSonicSensor = new UltraSonicSensor()
export const ultrasonic1: UltraSonicSensor = new UltraSonicSensor(1)
//% whenUsed
export const ultrasonic2: UltraSonicSensor = new UltraSonicSensor(2)
//% whenUsed
export const ultrasonic3: UltraSonicSensor = new UltraSonicSensor(3)
//% whenUsed
export const ultrasonic4: UltraSonicSensor = new UltraSonicSensor(4)
}