Safepolling (#915)
* headstart on safe polling * poke in sensors * more poking * typo
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@ -179,6 +179,7 @@ namespace sensors {
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//% group="Color Sensor"
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//% blockGap=8
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color(): ColorSensorColor {
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this.poke();
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this.setMode(ColorSensorMode.Color)
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return this.getNumber(NumberFormat.UInt8LE, 0)
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}
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@ -196,6 +197,7 @@ namespace sensors {
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//% group="Color Sensor"
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//% blockGap=8
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rgbRaw(): number[] {
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this.poke();
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this.setMode(ColorSensorMode.RgbRaw);
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return [this.getNumber(NumberFormat.UInt16LE, 0), this.getNumber(NumberFormat.UInt16LE, 2), this.getNumber(NumberFormat.UInt16LE, 4)];
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}
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@ -249,6 +251,7 @@ namespace sensors {
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//% weight=87 blockGap=8
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//% group="Color Sensor"
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light(mode: LightIntensityMode) {
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this.poke();
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this.setMode(<ColorSensorMode><number>mode)
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switch(mode) {
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case LightIntensityMode.ReflectedRaw:
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@ -279,6 +282,7 @@ namespace sensors {
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*/
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//%
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reflectedLightRaw(): number {
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this.poke();
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this.setMode(ColorSensorMode.RefRaw);
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return this.getNumber(NumberFormat.UInt16LE, 0);
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}
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@ -55,6 +55,10 @@ namespace brick {
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this._wasPressed = false
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}
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protected poke() {
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}
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//% hidden
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_update(curr: boolean) {
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if (this == null) return
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@ -85,6 +89,7 @@ namespace brick {
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//% group="Buttons"
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//% button.fieldEditor="brickbuttons"
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isPressed() {
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this.poke();
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return this._isPressed
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}
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@ -102,6 +107,7 @@ namespace brick {
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//% group="Buttons"
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//% button.fieldEditor="brickbuttons"
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wasPressed() {
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this.poke();
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const r = this._wasPressed
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this._wasPressed = false
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return r
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@ -144,6 +150,7 @@ namespace brick {
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namespace brick {
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let btnsMM: MMap
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let buttons: DevButton[]
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let buttonPoller: sensors.internal.Poller;
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export namespace internal {
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export function getBtnsMM() {
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@ -167,7 +174,7 @@ namespace brick {
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btnsMM = control.mmap("/dev/lms_ui", DAL.NUM_BUTTONS, 0)
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if (!btnsMM) control.fail("no buttons?")
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buttons = []
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sensors.internal.unsafePollForChanges(50, readButtons, (prev, curr) => {
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buttonPoller = new sensors.internal.Poller(50, readButtons, (prev, curr) => {
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for (let b of buttons)
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b._update(!!(curr & b.mask))
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})
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@ -182,6 +189,10 @@ namespace brick {
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initBtns()
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buttons.push(this)
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}
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protected poke() {
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buttonPoller.poke();
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}
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}
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initBtns() // always ON as it handles ESCAPE button
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@ -1,28 +1,51 @@
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namespace sensors.internal {
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//% shim=pxt::unsafePollForChanges
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export function unsafePollForChanges(
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periodMs: number,
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query: () => number,
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changeHandler: (prev: number, curr: number) => void
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) {
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// This is implemented in C++ without blocking the regular JS when query() is runnning
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// which is generally unsafe. Query should not update globally visible state, and cannot
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// call any yielding functions, like sleep().
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export class Poller {
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private query: () => number;
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private update: (previous: number, current: number) => void;
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public interval: number;
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// This is implementation for the simulator.
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private previousValue: number;
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private currentValue: number;
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private lastQuery: number; // track down the last time we did a query/update cycle
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private lastPause: number; // track down the last time we pause in the sensor polling loop
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control.runInParallel(() => {
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let prev = query()
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changeHandler(prev, prev)
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while (true) {
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pause(periodMs)
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let curr = query()
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if (prev !== curr) {
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changeHandler(prev, curr)
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prev = curr
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}
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constructor(interval: number, query: () => number, update: (previous: number, current: number) => void) {
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this.interval = interval | 0;
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this.query = query;
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this.update = update;
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this.poll();
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}
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poke(): void {
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const now = control.millis();
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if (now - this.lastQuery >= this.interval * 2)
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this.queryAndUpdate(); // sensor poller is not allowed to run
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if (now - this.lastPause >= this.interval * 5)
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pause(1); // allow events to trigger
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}
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private queryAndUpdate() {
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this.lastQuery = control.millis();
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this.currentValue = this.query();
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if (this.previousValue != this.currentValue) {
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this.update(this.previousValue, this.currentValue);
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this.previousValue = this.currentValue;
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}
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})
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}
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private poll() {
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control.runInBackground(() => {
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this.lastQuery = this.lastPause = control.millis();
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this.previousValue = this.currentValue = this.query();
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this.update(this.previousValue, this.currentValue);
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while (true) {
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this.lastPause = control.millis();
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pause(this.interval);
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this.queryAndUpdate();
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}
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})
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}
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}
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export function bufferToString(buf: Buffer): string {
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@ -38,6 +61,7 @@ namespace sensors.internal {
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let IICMM: MMap
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let powerMM: MMap
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let devcon: Buffer
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let devPoller: Poller
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let sensorInfos: SensorInfo[];
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let batteryInfo: {
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@ -55,6 +79,7 @@ namespace sensors.internal {
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connType: number
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devType: number
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iicid: string
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poller: Poller;
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constructor(p: number) {
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this.port = p
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@ -62,6 +87,20 @@ namespace sensors.internal {
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this.devType = DAL.DEVICE_TYPE_NONE
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this.iicid = ''
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this.sensors = []
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this.poller = new Poller(50, () => this.query(), (prev, curr) => this.update(prev, curr));
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}
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poke() {
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this.poller.poke();
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}
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private query() {
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if (this.sensor) return this.sensor._query();
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return 0;
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}
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private update(prev: number, curr: number) {
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if (this.sensor) this.sensor._update(prev, curr)
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}
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}
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@ -82,20 +121,11 @@ namespace sensors.internal {
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powerMM = control.mmap("/dev/lms_power", 2, 0)
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unsafePollForChanges(500,
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() => { return hashDevices(); },
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devPoller = new Poller(500, () => { return hashDevices(); },
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(prev, curr) => {
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detectDevices();
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});
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sensorInfos.forEach(info => {
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unsafePollForChanges(50, () => {
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if (info.sensor) return info.sensor._query()
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return 0
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}, (prev, curr) => {
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if (info.sensor) info.sensor._update(prev, curr)
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})
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})
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}
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}
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export function getActiveSensors(): Sensor[] {
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init();
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@ -225,13 +255,13 @@ void cUiUpdatePower(void)
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#endif
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}
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*/
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const CinV = CNT_V(CinCnt) / AMP_CIN;
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const Vbatt = CNT_V(VinCnt) / AMP_VIN + CinV + VCE;
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const Ibatt = CinV / SHUNT_IN;
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const CoutV = CNT_V(CoutCnt) / AMP_COUT;
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const Imotor = CoutV / SHUNT_OUT;
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const level = Math.max(0, Math.min(100, Math.floor((Vbatt * 1000.0 - batteryVMin)
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/ (batteryVMax - batteryVMin) * 100)));
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const CinV = CNT_V(CinCnt) / AMP_CIN;
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const Vbatt = CNT_V(VinCnt) / AMP_VIN + CinV + VCE;
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const Ibatt = CinV / SHUNT_IN;
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const CoutV = CNT_V(CoutCnt) / AMP_COUT;
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const Imotor = CoutV / SHUNT_OUT;
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const level = Math.max(0, Math.min(100, Math.floor((Vbatt * 1000.0 - batteryVMin)
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/ (batteryVMax - batteryVMin) * 100)));
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return {
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level: level,
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@ -337,6 +367,11 @@ void cUiUpdatePower(void)
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this.markUsed();
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}
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poke() {
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if (this.isActive())
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sensorInfos[this._port].poke();
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}
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markUsed() {
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sensors.__sensorUsed(this._port, this._deviceType());
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}
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@ -446,11 +446,6 @@ static void runPoller(Thread *thr) {
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// disposeThread(thr);
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}
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//%
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void unsafePollForChanges(int ms, Action query, Action handler) {
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setupThread(handler, 0, runPoller, query, fromInt(ms));
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}
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uint32_t afterProgramPage() {
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return 0;
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}
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@ -45,6 +45,7 @@ namespace sensors {
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//% weight=64 blockGap=8
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//% group="Gyro Sensor"
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angle(): number {
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this.poke();
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if (this.calibrating)
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pauseUntil(() => !this.calibrating, 2000);
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@ -65,6 +66,7 @@ namespace sensors {
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//% weight=65 blockGap=8
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//% group="Gyro Sensor"
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rate(): number {
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this.poke();
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if (this.calibrating)
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pauseUntil(() => !this.calibrating, 2000);
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@ -235,6 +235,7 @@ namespace sensors {
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//% group="Infrared Sensor"
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//% this.fieldEditor="ports"
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proximity(): number {
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this.poke();
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this._setMode(InfraredSensorMode.Proximity)
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return this.getNumber(NumberFormat.UInt8LE, 0)
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}
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@ -284,6 +285,7 @@ namespace sensors {
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// TODO
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private getDirectionAndDistance() {
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this.poke();
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this._setMode(InfraredSensorMode.Seek)
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return this.getNumber(NumberFormat.UInt16LE, this._channel * 2)
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}
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//% weight=81 blockGap=8
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//% group="Touch Sensor"
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isPressed() {
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this.poke();
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return this.button.isPressed();
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}
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@ -90,6 +91,7 @@ namespace sensors {
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//% weight=81
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//% group="Touch Sensor"
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wasPressed() {
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this.poke();
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return this.button.wasPressed();
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}
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}
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@ -84,6 +84,7 @@ namespace sensors {
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//% weight=65
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//% group="Ultrasonic Sensor"
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distance(): number {
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this.poke();
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// it supposedly also has an inch mode, but we stick to cm
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this._setMode(0)
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return this._query();
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