4 times more sensors\!
This commit is contained in:
Michal Moskal
parent
60d5271de2
commit
005447ce44
@ -30,13 +30,19 @@
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"input.buttonLeft|block": "button left",
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"input.buttonRight|block": "button right",
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"input.buttonUp|block": "button up",
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"input.color|block": "color sensor",
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"input.color1|block": "color sensor 1",
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"input.color2|block": "color sensor 2",
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"input.color3|block": "color sensor 3",
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"input.color4|block": "color sensor 4",
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"input.remoteBottomLeft|block": "remote bottom-left",
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"input.remoteBottomRight|block": "remote bottom-right",
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"input.remoteCenter|block": "remote center",
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"input.remoteTopLeft|block": "remote top-left",
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"input.remoteTopRight|block": "remote top-right",
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"input.touchSensor|block": "touch sensor",
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"input.touchSensor1|block": "touch sensor 1",
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"input.touchSensor2|block": "touch sensor 2",
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"input.touchSensor3|block": "touch sensor 3",
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"input.touchSensor4|block": "touch sensor 4",
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"input|block": "input",
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"output.getCurrentSpeed|block": "motor %out|speed",
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"output.pattern|block": "%pattern",
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@ -23,8 +23,8 @@ namespace input {
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//% fixedInstances
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export class ColorSensor extends internal.UartSensor {
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constructor() {
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super()
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constructor(port: number) {
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super(port)
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}
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_deviceType() {
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@ -81,6 +81,15 @@ namespace input {
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}
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}
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//% whenUsed block="color sensor" weight=95 fixedInstance
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export const color: ColorSensor = new ColorSensor()
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//% whenUsed block="color sensor 1" weight=95 fixedInstance
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export const color1: ColorSensor = new ColorSensor(1)
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//% whenUsed block="color sensor 2" weight=95 fixedInstance
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export const color2: ColorSensor = new ColorSensor(2)
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//% whenUsed block="color sensor 3" weight=95 fixedInstance
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export const color3: ColorSensor = new ColorSensor(3)
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//% whenUsed block="color sensor 4" weight=95 fixedInstance
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export const color4: ColorSensor = new ColorSensor(4)
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}
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@ -7,8 +7,8 @@ const enum GyroSensorMode {
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namespace input {
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//% fixedInstances
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export class GyroSensor extends internal.UartSensor {
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constructor() {
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super()
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constructor(port: number) {
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super(port)
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}
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_deviceType() {
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@ -51,5 +51,14 @@ namespace input {
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}
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//% whenUsed
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export const gyro: GyroSensor = new GyroSensor()
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export const gyro1: GyroSensor = new GyroSensor(1)
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//% whenUsed
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export const gyro2: GyroSensor = new GyroSensor(2)
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//% whenUsed
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export const gyro3: GyroSensor = new GyroSensor(3)
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//% whenUsed
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export const gyro4: GyroSensor = new GyroSensor(4)
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}
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@ -27,30 +27,27 @@ namespace input.internal {
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let analogMM: MMap
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let uartMM: MMap
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let devcon: Buffer
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let sensors: SensorInfo[]
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let autoSensors: Sensor[]
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let sensorInfos: SensorInfo[]
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class SensorInfo {
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port: number
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sensor: Sensor
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sensors: Sensor[]
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connType: number
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devType: number
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manual: boolean
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constructor(p: number) {
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this.port = p
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this.connType = DAL.CONN_NONE
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this.devType = DAL.DEVICE_TYPE_NONE
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this.sensor = null
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this.manual = false
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this.sensors = []
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}
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}
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function init() {
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if (sensors) return
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sensors = []
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for (let i = 0; i < DAL.NUM_INPUTS; ++i) sensors.push(new SensorInfo(i))
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autoSensors = []
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if (sensorInfos) return
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sensorInfos = []
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for (let i = 0; i < DAL.NUM_INPUTS; ++i) sensorInfos.push(new SensorInfo(i))
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devcon = output.createBuffer(DevConOff.Size)
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analogMM = control.mmap("/dev/lms_analog", AnalogOff.Size, 0)
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@ -64,7 +61,7 @@ namespace input.internal {
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loops.pause(500)
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})
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for (let info_ of sensors) {
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for (let info_ of sensorInfos) {
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let info = info_
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unsafePollForChanges(50, () => {
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if (info.sensor) return info.sensor._query()
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@ -90,7 +87,7 @@ namespace input.internal {
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let conns = analogMM.slice(AnalogOff.InConn, DAL.NUM_INPUTS)
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let numChanged = 0
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for (let info of sensors) {
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for (let info of sensorInfos) {
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let newConn = conns[info.port]
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if (newConn == info.connType)
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continue
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@ -117,77 +114,42 @@ namespace input.internal {
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if (numChanged == 0)
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return
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let autos = sensors.filter(s => !s.manual)
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// first free up disconnected sensors
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for (let info of autos) {
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if (info.sensor && info.devType == DAL.DEVICE_TYPE_NONE)
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info.sensor._setPort(0)
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}
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for (let info of autos) {
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if (!info.sensor && info.devType != DAL.DEVICE_TYPE_NONE) {
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let found = false
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for (let s of autoSensors) {
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if (s.getPort() == 0 && s._deviceType() == info.devType) {
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s._setPort(info.port + 1)
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found = true
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break
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}
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for (let si of sensorInfos) {
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if (si.sensor && si.sensor._deviceType() != si.devType) {
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si.sensor = null
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}
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if (si.devType != DAL.DEVICE_TYPE_NONE) {
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si.sensor = si.sensors.filter(s => s._deviceType() == si.devType)[0] || null
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if (si.sensor == null) {
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control.dmesg(`sensor not found for type=${si.devType} at ${si.port}`)
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} else {
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control.dmesg(`sensor connected type=${si.devType} at ${si.port}`)
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si.sensor._activated()
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}
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if (!found)
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control.dmesg(`sensor not found for type=${info.devType} at ${info.port}`)
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}
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}
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}
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export class Sensor extends control.Component {
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protected port: number
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protected port: number // this is 0-based
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constructor() {
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constructor(port_: number) {
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super()
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if (!(1 <= port_ && port_ <= DAL.NUM_INPUTS))
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control.panic(120)
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this.port = port_ - 1
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init()
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this.port = -1
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let tp = this._deviceType()
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if (autoSensors.filter(s => s._deviceType() == tp).length == 0) {
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autoSensors.push(this)
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}
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}
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// 0 - disable, 1-4 port number
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_setPort(port: number, manual = false) {
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port = Math.clamp(0, 4, port | 0) - 1;
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if (port == this.port) return
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this.port = port
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control.dmesg(`sensor set port ${port} on devtype=${this._deviceType()}`)
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for (let i = 0; i < sensors.length; ++i) {
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if (i != this.port && sensors[i].sensor == this) {
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sensors[i].sensor = null
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sensors[i].manual = false
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}
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}
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if (this.port >= 0) {
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let prev = sensors[this.port].sensor
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if (prev && prev != this)
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prev._setPort(0)
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sensors[this.port].sensor = this
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sensors[this.port].manual = manual
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}
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this._portUpdated()
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}
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protected _portUpdated() { }
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setPort(port: number) {
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this._setPort(port, true)
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}
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_activated() { }
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// 1-based
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getPort() {
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return this.port + 1
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}
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isManual() {
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return this.port >= 0 && sensors[this.port].manual
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isActive() {
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return sensorInfos[this.port].sensor == this
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}
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_query() {
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@ -203,12 +165,12 @@ namespace input.internal {
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}
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export class AnalogSensor extends Sensor {
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constructor() {
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super()
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constructor(port: number) {
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super(port)
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}
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_readPin6() {
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if (this.port < 0) return 0
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if (!this.isActive()) return 0
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return analogMM.getNumber(NumberFormat.Int16LE, AnalogOff.InPin6 + 2 * this.port)
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}
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}
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@ -216,32 +178,26 @@ namespace input.internal {
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export class UartSensor extends Sensor {
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protected mode: number
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protected realmode: number
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protected mode: number // the mode user asked for
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protected realmode: number // the mode the hardware is in
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constructor() {
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super()
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constructor(port: number) {
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super(port)
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this.mode = 0
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this.realmode = -1
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}
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protected _portUpdated() {
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this.realmode = -1
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if (this.port >= 0) {
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if (this.isManual()) {
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uartReset(this.port)
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} else {
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this.realmode = 0
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}
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this._setMode(this.mode)
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}
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_activated() {
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this.realmode = 0
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// uartReset(this.port) // TODO is it ever needed?
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this._setMode(this.mode)
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}
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protected _setMode(m: number) {
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//control.dmesg(`_setMode p=${this.port} m: ${this.realmode} -> ${m}`)
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let v = m | 0
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this.mode = v
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if (this.port < 0) return
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if (!this.isActive()) return
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if (this.realmode != this.mode) {
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this.realmode = v
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setUartMode(this.port, v)
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@ -249,10 +205,12 @@ namespace input.internal {
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}
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getBytes(): Buffer {
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return getUartBytes(this.port)
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return getUartBytes(this.isActive() ? this.port : -1)
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}
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getNumber(fmt: NumberFormat, off: number) {
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if (!this.isActive())
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return 0
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return getUartNumber(fmt, off, this.port)
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}
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}
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@ -40,30 +40,46 @@ namespace input {
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}
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}
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let buttons: Button[]
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function create(ir: IrSensor) {
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// it's created by referencing it
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}
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export function irButton(id: IrRemoteButton) {
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if (buttons == null) {
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buttons = []
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for (let i = 0; i < 5; ++i) {
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buttons.push(new Button())
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}
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// make sure sensors are up
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create(ir1)
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create(ir2)
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create(ir3)
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create(ir4)
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}
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let num = -1
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while (id) {
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id >>= 1;
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num++;
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}
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num = Math.clamp(0, buttons.length - 1, num)
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return buttons[num]
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}
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//% fixedInstance
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export class IrSensor extends internal.UartSensor {
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private channel: IrRemoteChannel
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private buttons: Button[];
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constructor() {
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super()
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constructor(port: number) {
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super(port)
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this.channel = IrRemoteChannel.Ch0
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this.buttons = []
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// otherwise button events won't work
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this.mode = IrSensorMode.RemoteControl
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for (let i = 0; i < 5; ++i) {
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this.buttons.push(new Button())
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}
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}
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irButton(0) // make sure buttons array is initalized
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button(id: IrRemoteButton) {
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let num = -1
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while (id) {
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id >>= 1;
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num++;
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}
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num = Math.clamp(0, this.buttons.length - 1, num)
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return this.buttons[num]
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// and set the mode, as otherwise button events won't work
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this.mode = IrSensorMode.RemoteControl
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}
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_query() {
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@ -73,9 +89,9 @@ namespace input {
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}
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_update(prev: number, curr: number) {
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for (let i = 0; i < this.buttons.length; ++i) {
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for (let i = 0; i < buttons.length; ++i) {
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let v = !!(curr & (1 << i))
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this.buttons[i].update(v)
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buttons[i].update(v)
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}
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}
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@ -131,35 +147,44 @@ namespace input {
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}
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//% whenUsed
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export const ir: IrSensor = new IrSensor()
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export const ir1: IrSensor = new IrSensor(1)
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//% whenUsed
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export const ir2: IrSensor = new IrSensor(2)
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//% whenUsed
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export const ir3: IrSensor = new IrSensor(3)
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//% whenUsed
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export const ir4: IrSensor = new IrSensor(4)
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/**
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* Remote top-left button.
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*/
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//% whenUsed block="remote top-left" weight=95 fixedInstance
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export const remoteTopLeft = ir.button(IrRemoteButton.TopLeft)
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export const remoteTopLeft = irButton(IrRemoteButton.TopLeft)
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/**
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* Remote top-right button.
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*/
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//% whenUsed block="remote top-right" weight=95 fixedInstance
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export const remoteTopRight = ir.button(IrRemoteButton.TopRight)
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export const remoteTopRight = irButton(IrRemoteButton.TopRight)
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/**
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* Remote bottom-left button.
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*/
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//% whenUsed block="remote bottom-left" weight=95 fixedInstance
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export const remoteBottomLeft = ir.button(IrRemoteButton.BottomLeft)
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export const remoteBottomLeft = irButton(IrRemoteButton.BottomLeft)
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/**
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* Remote bottom-right button.
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*/
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//% whenUsed block="remote bottom-right" weight=95 fixedInstance
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export const remoteBottomRight = ir.button(IrRemoteButton.BottomRight)
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export const remoteBottomRight = irButton(IrRemoteButton.BottomRight)
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/**
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* Remote beacon (center) button.
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*/
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//% whenUsed block="remote center" weight=95 fixedInstance
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export const remoteCenter = ir.button(IrRemoteButton.CenterBeacon)
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export const remoteCenter = irButton(IrRemoteButton.CenterBeacon)
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}
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@ -31,7 +31,7 @@ input.buttonUp.onEvent(ButtonEvent.Click, () => {
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let num = 0
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input.touchSensor.onEvent(ButtonEvent.Click, () => {
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input.touchSensor1.onEvent(ButtonEvent.Click, () => {
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screen.print("Click! " + num, 10, 60)
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num++
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})
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@ -4,8 +4,8 @@ namespace input {
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export class TouchSensor extends internal.AnalogSensor {
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button: Button;
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constructor() {
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super()
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constructor(port: number) {
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super(port)
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this.button = new Button()
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}
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@ -23,8 +23,23 @@ namespace input {
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}
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//% whenUsed
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export const touchSensorImpl: TouchSensor = new TouchSensor()
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export const touchSensorImpl1: TouchSensor = new TouchSensor(1)
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//% whenUsed
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export const touchSensorImpl2: TouchSensor = new TouchSensor(2)
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//% whenUsed
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export const touchSensorImpl3: TouchSensor = new TouchSensor(3)
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//% whenUsed
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export const touchSensorImpl4: TouchSensor = new TouchSensor(4)
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//% whenUsed block="touch sensor" weight=95 fixedInstance
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export const touchSensor: Button = touchSensorImpl.button
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//% whenUsed block="touch sensor 1" weight=95 fixedInstance
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export const touchSensor1: Button = touchSensorImpl1.button
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//% whenUsed block="touch sensor 2" weight=95 fixedInstance
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export const touchSensor2: Button = touchSensorImpl2.button
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//% whenUsed block="touch sensor 3" weight=95 fixedInstance
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export const touchSensor3: Button = touchSensorImpl3.button
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//% whenUsed block="touch sensor 4" weight=95 fixedInstance
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export const touchSensor4: Button = touchSensorImpl4.button
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}
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@ -1,8 +1,8 @@
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namespace input {
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export class UltraSonicSensor extends internal.UartSensor {
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constructor() {
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super()
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constructor(port: number) {
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super(port)
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}
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_deviceType() {
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@ -18,5 +18,14 @@ namespace input {
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}
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//% whenUsed
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export const ultrasonic: UltraSonicSensor = new UltraSonicSensor()
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export const ultrasonic1: UltraSonicSensor = new UltraSonicSensor(1)
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//% whenUsed
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export const ultrasonic2: UltraSonicSensor = new UltraSonicSensor(2)
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//% whenUsed
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export const ultrasonic3: UltraSonicSensor = new UltraSonicSensor(3)
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//% whenUsed
|
||||
export const ultrasonic4: UltraSonicSensor = new UltraSonicSensor(4)
|
||||
}
|
||||
|
||||
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Reference in New Issue
Block a user