merge master

libs/color-sensor/color.ts

@@ -179,6 +179,22 @@ namespace sensors {
             return this.getNumber(NumberFormat.UInt8LE, 0)
         }
 
+        /**
+         * Checks the color is being detected
+         * @param color the color to detect
+         */
+        //% help=sensors/color-sensor/is-color-detected
+        //% block="is **color sensor** %this|detected|%color=colorEnumPicker"
+        //% blockId=colorisColorDetectedDetected
+        //% parts="colorsensor"
+        //% blockNamespace=sensors
+        //% this.fieldEditor="ports"
+        //% weight=99 blockGap=8
+        //% group="Color Sensor"
+        isColorDetected(color: number) {
+            return this.color() == color;
+        }
+
         /**
          * Get the current raw rgb values as an array from the color sensor.
          * @param sensor the color sensor to query the request

libs/color-sensor/docs/reference/sensors/color-sensor/is-color-detected.md

@@ -0,0 +1,30 @@
+# Is Color Detected
+
+Checks the color is detected
+
+```sig
+let b = sensors.color1.isColorDetected(ColorSensorColor.Blue)
+```
+
+The [color](/reference/sensors/color) you choose to look for is one of the colors that the sensor can detect. If you want to use colors for tracking, it's best to use a color that is the same or very close to the ones the sensor detects.
+
+## Parameters
+
+* **color**: the [color](/reference/sensors/color) to watch for.
+
+## Example
+
+Wait for the sensor to see ``blue``. Then, show an expression on the screen.
+
+```blocks
+brick.showString("Waiting for blue", 1)
+while(!sensors.color1.isColorDetected(ColorSensorColor.Blue)) {
+    pause(20)
+}
+brick.clearScreen()
+brick.showImage(images.expressionsSick)
+```
+
+## See also
+
+[on color detected](/reference/sensors/color-sensor/on-color-detected), [color](/reference/sensors/color)

libs/core/input.ts

@@ -293,7 +293,8 @@ void      cUiUpdatePower(void)
             if (newConn == sensorInfo.connType
                 && sensorInfo.sensor
                 && sensorInfo.sensor.isActive()) {
-                // control.dmesg(`connection unchanged ${newConn} at ${sensorInfo.port}`)
+                if (newConn == DAL.CONN_INPUT_UART)
+                    uartSensors.push(sensorInfo);
                 continue;
             }
             numChanged++
@@ -324,7 +325,8 @@ void      cUiUpdatePower(void)
             for (const sensorInfo of uartSensors) {
                 let uinfo = readUartInfo(sensorInfo.port, 0)
                 sensorInfo.devType = uinfo[TypesOff.Type]
-                control.dmesg(`UART type ${sensorInfo.devType}`)
+                const mode = uinfo[TypesOff.Mode];
+                control.dmesg(`UART type ${sensorInfo.devType} mode ${mode}`)
             }
         }
 
@@ -537,8 +539,6 @@ void      cUiUpdatePower(void)
 
     function uartClearChange(port: number) {
         control.dmesg(`UART clear change`);
-        const UART_DATA_READY = 8
-        const UART_PORT_CHANGED = 1
         while (true) {
             let status = getUartStatus(port)
             if (port < 0) break
@@ -559,7 +559,7 @@ void      cUiUpdatePower(void)
     }
 
     function setUartModes() {
-        control.dmesg(`UART set modes`)
+        control.dmesg(`UART set modes 0x${devcon.toHex()}`)
         uartMM.ioctl(IO.UART_SET_CONN, devcon)
         const ports: number[] = [];
         for (let port = 0; port < DAL.NUM_INPUTS; ++port) {
@@ -572,21 +572,25 @@ void      cUiUpdatePower(void)
             const port = ports.pop();
             const status = waitNonZeroUartStatus(port)
             control.dmesg(`UART status ${status} at ${port}`);
+            if (!(status & UART_DATA_READY))
+                setUartMode(port, devcon[DevConOff.Mode + port]);
         }
     }
 
     function updateUartMode(port: number, mode: number) {
-        control.dmesg(`UART set mode to ${mode} at ${port}`)
+        control.dmesg(`UART update mode to ${mode} at ${port}`)
         devcon.setNumber(NumberFormat.Int8LE, DevConOff.Connection + port, DAL.CONN_INPUT_UART)
         devcon.setNumber(NumberFormat.Int8LE, DevConOff.Type + port, 33)
         devcon.setNumber(NumberFormat.Int8LE, DevConOff.Mode + port, mode)
     }
 
+    const UART_PORT_CHANGED = 1
+    const UART_DATA_READY = 8
     function setUartMode(port: number, mode: number) {
-        const UART_PORT_CHANGED = 1
         while (true) {
             if (port < 0) return
             updateUartMode(port, mode);
+            control.dmesg(`UART set mode 0x${devcon.toHex()}`)
             uartMM.ioctl(IO.UART_SET_CONN, devcon)
             let status = waitNonZeroUartStatus(port)
             if (status & UART_PORT_CHANGED) {
@@ -594,7 +598,8 @@ void      cUiUpdatePower(void)
                 uartClearChange(port)
             } else {
                 control.dmesg(`UART status ${status}`);
-                break;
+                if (status & UART_DATA_READY)
+                    break;
             }
             pause(10)
         }