From 0529759a809f3de8f21632562d53f219ec4d00ac Mon Sep 17 00:00:00 2001
From: Sam El-Husseini <microsoftsam@users.noreply.github.com>
Date: Mon, 18 Dec 2017 20:30:56 -0800
Subject: [PATCH] Fix ultrasonic value to use cm instead of 0.1 cm units (#110)

* Fix simulator

* use 250 instead of 255
---
 libs/ultrasonic-sensor/ultrasonic.ts   |  4 ++--
 sim/state/analog.ts                    |  2 +-
 sim/state/uart.ts                      |  2 +-
 sim/state/ultrasonic.ts                |  4 ++--
 sim/state/util.ts                      |  4 ++--
 sim/visuals/controls/distanceSlider.ts | 14 +++++++++++---
 6 files changed, 19 insertions(+), 11 deletions(-)

diff --git a/libs/ultrasonic-sensor/ultrasonic.ts b/libs/ultrasonic-sensor/ultrasonic.ts
index e7cda4b6..2b2e78c5 100644
--- a/libs/ultrasonic-sensor/ultrasonic.ts
+++ b/libs/ultrasonic-sensor/ultrasonic.ts
@@ -25,7 +25,7 @@ namespace sensors {
         }
 
         _query(): number {
-            return this.getNumber(NumberFormat.UInt16LE, 0) & 0x0fff;            
+            return (this.getNumber(NumberFormat.UInt16LE, 0) & 0x0fff) * 0.1; // range is 0..2550, in 0.1 cm increments.
         }
 
         _update(prev: number, curr: number) {
@@ -86,7 +86,7 @@ namespace sensors {
         distance(): number {
             // it supposedly also has an inch mode, but we stick to cm
             this._setMode(0)
-            return this.getNumber(NumberFormat.UInt16LE, 0) & 0x0fff; // range is 0..255
+            return (this.getNumber(NumberFormat.UInt16LE, 0) & 0x0fff) * 0.1; // range is 0..2550, in 0.1 cm increments.
         }
     }
     
diff --git a/sim/state/analog.ts b/sim/state/analog.ts
index 12a48029..f39cb865 100644
--- a/sim/state/analog.ts
+++ b/sim/state/analog.ts
@@ -38,7 +38,7 @@ namespace pxsim {
                             data[AnalogOff.InConn + port] = node.isUart() ? DAL.CONN_INPUT_UART : DAL.CONN_INPUT_DUMB;
                             if (node.isAnalog() && node.hasData()) {
                                 //data[AnalogOff.InPin6 + 2 * port] = node.getValue();
-                                util.map16Bit(data, AnalogOff.InPin6 + 2 * port, node.getValue())
+                                util.map16Bit(data, AnalogOff.InPin6 + 2 * port, Math.floor(node.getValue()));
                             }
                         }
                     }
diff --git a/sim/state/uart.ts b/sim/state/uart.ts
index eaf8fb92..eeabdb9d 100644
--- a/sim/state/uart.ts
+++ b/sim/state/uart.ts
@@ -91,7 +91,7 @@ namespace pxsim {
                         if (node) {
                             // Actual
                             const index = 0; //UartOff.Actual + port * 2;
-                            data[UartOff.Raw + DAL.MAX_DEVICE_DATALENGTH * 300 * port + DAL.MAX_DEVICE_DATALENGTH * index] = node.getValue();
+                            util.map16Bit(data, UartOff.Raw + DAL.MAX_DEVICE_DATALENGTH * 300 * port + DAL.MAX_DEVICE_DATALENGTH * index, Math.floor(node.getValue()))
                             // Status
                             data[UartOff.Status + port] = node.valueChange() ? UartStatus.UART_PORT_CHANGED : UartStatus.UART_DATA_READY;
                         }
diff --git a/sim/state/ultrasonic.ts b/sim/state/ultrasonic.ts
index dcee3213..714a1712 100644
--- a/sim/state/ultrasonic.ts
+++ b/sim/state/ultrasonic.ts
@@ -4,7 +4,7 @@ namespace pxsim {
     export class UltrasonicSensorNode extends UartSensorNode {
         id = NodeType.UltrasonicSensor;
 
-        private distance: number = 50;
+        private distance: number = 127; // in cm
 
         constructor(port: number) {
             super(port);
@@ -25,7 +25,7 @@ namespace pxsim {
         }
 
         getValue() {
-            return this.distance;
+            return this.distance * 10; // convert to 0.1 cm
         }
     }
 }
\ No newline at end of file
diff --git a/sim/state/util.ts b/sim/state/util.ts
index 31ce4feb..083ce856 100644
--- a/sim/state/util.ts
+++ b/sim/state/util.ts
@@ -1,7 +1,7 @@
 namespace pxsim.util {
 
     export function map16Bit(buffer: Uint8Array, index: number, value: number) {
-        buffer[index] = (value >> 8) & 0xff;
-        buffer[index+1] = value & 0xff;
+        buffer[index] = value & 0xFF;
+        buffer[index + 1] = (value >> 8) & 0xFF;
     }
 }
\ No newline at end of file
diff --git a/sim/visuals/controls/distanceSlider.ts b/sim/visuals/controls/distanceSlider.ts
index 5535fb0c..466cd24e 100644
--- a/sim/visuals/controls/distanceSlider.ts
+++ b/sim/visuals/controls/distanceSlider.ts
@@ -83,8 +83,8 @@ namespace pxsim.visuals {
                 return;
             }
             const node = this.state;
-            const percentage = node.getValue();
-            const y = this.getContentHeight() * percentage / 100;
+            const percentage = node.getValue() / 10; /* convert back to cm */
+            const y = this.getContentHeight() * percentage / this.getMax();
             this.slider.setAttribute("transform", `translate(0, ${y - DistanceSliderControl.SLIDER_HANDLE_HEIGHT / 2})`);
         }
 
@@ -104,7 +104,15 @@ namespace pxsim.visuals {
             let t = Math.max(0, Math.min(1, (this.getTopPadding() + height + this.top / this.scaleFactor - cur.y / this.scaleFactor) / height))
 
             const state = this.state;
-            state.setDistance((1 - t) * (100));
+            state.setDistance((1 - t) * (this.getMax()));
+        }
+
+        private getMin() {
+            return 0;
+        }
+
+        private getMax() {
+            return 250; //cm
         }
 
         private getGradientDefinition(): LinearGradientDefinition {