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Ir proximity in simulator (#299)

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* support for IR proximity

* fixing build issue

* missing break

* remove auto-start of sensor

* setting mode on onEvent

* flooring slider value

* bump up proximity

* fixing threshold blocks
This commit is contained in:
Peli de Halleux 2018-02-01 22:03:01 -08:00 committed by GitHub
parent 15ee6ebe9c
commit 89a82b54dc
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GPG Key ID: 4AEE18F83AFDEB23
8 changed files with 285 additions and 10 deletions
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15
libs/infrared-sensor/ir.ts
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@ -23,7 +23,7 @@ const enum IrRemoteButton {
const enum InfraredSensorEvent {
//% block="object near"
ObjectNear = 1,
ObjectNear = 3,
//% block="object detected"
ObjectDetected = 2
}
@ -60,11 +60,12 @@ namespace sensors {
buttons.push(new RemoteInfraredBeaconButton(new brick.Button()))
}
// this defeats our static allocation system
// make sure sensors are up
create(infraredSensor1)
create(infraredSensor2)
create(infraredSensor3)
create(infraredSensor4)
//create(infraredSensor1)
//create(infraredSensor2)
//create(infraredSensor3)
//create(infraredSensor4)
}
let num = -1
@ -196,6 +197,7 @@ namespace sensors {
//% weight=100 blockGap=8
//% group="Infrared Sensor"
onEvent(event: InfraredSensorEvent, handler: () => void) {
this._setMode(IrSensorMode.Proximity)
control.onEvent(this._id, event, handler);
}
@ -210,6 +212,7 @@ namespace sensors {
//% weight=99 blockGap=8
//% group="Infrared Sensor"
pauseUntil(event: InfraredSensorEvent) {
this._setMode(IrSensorMode.Proximity)
control.waitForEvent(this._id, event);
}
@ -222,7 +225,7 @@ namespace sensors {
//% blockId=infraredGetProximity
//% parts="infrared"
//% blockNamespace=sensors
//% weight=65 blockGap=8
//% weight=98 blockGap=8
//% group="Infrared Sensor"
proximity(): number {
this._setMode(IrSensorMode.Proximity)

1
sim/dalboard.ts
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@ -143,6 +143,7 @@ namespace pxsim {
case DAL.DEVICE_TYPE_COLOR: this.inputNodes[port] = new ColorSensorNode(port); break;
case DAL.DEVICE_TYPE_TOUCH: this.inputNodes[port] = new TouchSensorNode(port); break;
case DAL.DEVICE_TYPE_ULTRASONIC: this.inputNodes[port] = new UltrasonicSensorNode(port); break;
case DAL.DEVICE_TYPE_IR: this.inputNodes[port] = new InfraredSensorNode(port); break;
}
}
return this.inputNodes[port];

35
sim/state/infrared.ts Normal file
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@ -0,0 +1,35 @@
/// <reference path="./sensor.ts"/>
namespace pxsim {
export enum InfraredSensorMode {
None = -1,
Proximity = 0,
Seek = 1,
RemoteControl = 2
}
export class InfraredSensorNode extends UartSensorNode {
id = NodeType.InfraredSensor;
private proximity: number = 50; // [0..100]
constructor(port: number) {
super(port);
}
getDeviceType() {
return DAL.DEVICE_TYPE_IR;
}
setPromixity(proximity: number) {
if (this.proximity != proximity) {
this.proximity = proximity;
this.setChangedState();
}
}
getValue() {
return this.proximity;
}
}
}

3
sim/state/nodeTypes.ts
View File

@ -7,7 +7,8 @@ namespace pxsim {
LargeMotor = 4,
GyroSensor = 5,
ColorSensor = 6,
UltrasonicSensor = 7
UltrasonicSensor = 7,
InfraredSensor = 8
}
export interface Node {

79
sim/visuals/assets/infraredsvg.ts Normal file
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@ -0,0 +1,79 @@
namespace pxsim {
export const INFRARED_SVG = `<svg id="svg5190" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" viewBox="0 0 83.53 35.14">
<defs>
<clipPath id="clip-path" transform="translate(0.04 -22.43)">
<circle cx="17.53" cy="40" r="6.98" style="fill: none"/>
</clipPath>
<clipPath id="clip-path-2" transform="translate(0.04 -22.43)">
<circle cx="65.92" cy="40" r="6.98" style="fill: none"/>
</clipPath>
</defs>
<title>ultra sonic</title>
<g id="ultra_sonic" data-name="ultra sonic">
<rect id="US_main_black2" data-name="US main black2" x="22.57" y="1.49" width="43.38" height="31.25" style="fill: #242424"/>
<rect id="US_main_black1" data-name="US main black1" x="30.16" y="8.47" width="25.33" height="17.59"/>
<g id="US_eye1" data-name="US eye1">
<g id="US_eye1_black" data-name="US eye1 black">
<circle cx="17.57" cy="17.57" r="17.44" style="stroke: #b3b3b3;stroke-miterlimit: 10;stroke-width: 0.25px"/>
<circle cx="17.57" cy="17.57" r="17.32" style="fill: none"/>
</g>
<circle id="US_eye1_red" data-name="US eye1 red" cx="17.57" cy="17.57" r="10.77" style="fill: #ab1919"/>
<circle id="US_eye1_gold_circle" data-name="US eye1 gold circle" cx="17.57" cy="17.57" r="8.04" style="fill: #aa7707"/>
<circle id="US_eye1_wh_in_gold" data-name="US eye1 wh in gold" cx="17.57" cy="17.57" r="6.98" style="fill: #f1f1f1"/>
<g id="US_eye1_net" data-name="US eye1 net">
<g style="clip-path: url(#clip-path)">
<g id="US_eye1_net_mask" data-name="US eye1 net mask">
<g id="US_eye1_net_total" data-name="US eye1 net total">
<rect id="US_eye1_net14" data-name="US eye1 net14" x="10.84" y="33.53" width="0.61" height="22.79" transform="translate(-20.93 -10.84) rotate(-30)" style="fill: #aa7707"/>
<rect id="US_eye1_net13" data-name="US eye1 net13" x="11.8" y="47.44" width="22.51" height="0.61" transform="translate(-20.75 -4.51) rotate(-30)" style="fill: #aa7707"/>
<rect id="US_eye1_net12" data-name="US eye1 net12" x="13.33" y="32.09" width="0.61" height="22.79" transform="translate(-19.88 -9.79) rotate(-30)" style="fill: #aa7707"/>
<rect id="US_eye1_net11" data-name="US eye1 net11" x="10.36" y="44.95" width="22.51" height="0.61" transform="translate(-19.7 -5.56) rotate(-30)" style="fill: #aa7707"/>
<rect id="US_eye1_net10" data-name="US eye1 net10" x="15.83" y="30.65" width="0.61" height="22.79" transform="translate(-18.82 -8.73) rotate(-30)" style="fill: #aa7707"/>
<rect id="US_eye1_net9" data-name="US eye1 net9" x="8.92" y="42.45" width="22.51" height="0.61" transform="translate(-18.64 -6.62) rotate(-30)" style="fill: #aa7707"/>
<rect id="US_eye1_net8" data-name="US eye1 net8" x="18.33" y="29.21" width="0.61" height="22.79" transform="translate(-17.77 -7.68) rotate(-30)" style="fill: #aa7707"/>
<rect id="US_eye1_net7" data-name="US eye1 net7" x="7.47" y="39.96" width="22.51" height="0.61" transform="translate(-17.59 -7.67) rotate(-30)" style="fill: #aa7707"/>
<rect id="US_eye1_net6" data-name="US eye1 net6" x="20.82" y="27.77" width="0.61" height="22.79" transform="translate(-16.72 -6.62) rotate(-30)" style="fill: #aa7707"/>
<rect id="US_eye1_net5" data-name="US eye1 net5" x="6.03" y="37.46" width="22.51" height="0.61" transform="translate(-16.53 -8.73) rotate(-30)" style="fill: #aa7707"/>
<rect id="US_eye1_net4" data-name="US eye1 net4" x="23.32" y="26.32" width="0.61" height="22.79" transform="translate(-15.66 -5.57) rotate(-30)" style="fill: #aa7707"/>
<rect id="US_eye1_net3" data-name="US eye1 net3" x="4.59" y="34.96" width="22.51" height="0.61" transform="translate(-15.48 -9.78) rotate(-30)" style="fill: #aa7707"/>
<rect id="US_eye1_net2" data-name="US eye1 net2" x="25.81" y="24.88" width="0.61" height="22.79" transform="translate(-14.61 -4.51) rotate(-30)" style="fill: #aa7707"/>
<rect id="US_eye1_net1" data-name="US eye1 net1" x="3.15" y="32.47" width="22.51" height="0.61" transform="translate(-14.42 -10.84) rotate(-30)" style="fill: #aa7707"/>
</g>
</g>
</g>
</g>
</g>
<g id="US_eye2" data-name="US eye2">
<g id="US_eye2_black" data-name="US eye2 black">
<circle cx="65.96" cy="17.57" r="17.44" style="stroke: #b3b3b3;stroke-miterlimit: 10;stroke-width: 0.25px"/>
<circle cx="65.96" cy="17.57" r="17.32" style="fill: none"/>
</g>
<circle id="US_eye2_red" data-name="US eye2 red" cx="65.96" cy="17.57" r="10.77" style="fill: #ab1919"/>
<circle id="US_eye2_gold_circle" data-name="US eye2 gold circle" cx="65.96" cy="17.57" r="8.04" style="fill: #aa7707"/>
<circle id="US_eye2_wh_in_gold" data-name="US eye2 wh in gold" cx="65.96" cy="17.57" r="6.98" style="fill: #f1f1f1"/>
<g id="US_eye2_net" data-name="US eye2 net">
<g style="clip-path: url(#clip-path-2)">
<g id="US_eye2_net_mask" data-name="US eye2 net mask">
<g id="US_eye2_net_total" data-name="US eye2 net total">
<rect id="US_eye2_net14" data-name="US eye2 net14" x="59.23" y="33.53" width="0.61" height="22.79" transform="translate(-14.45 13.35) rotate(-30)" style="fill: #aa7707"/>
<rect id="US_eye2_net13" data-name="US eye2 net13" x="60.18" y="47.44" width="22.51" height="0.61" transform="translate(-14.27 19.69) rotate(-30)" style="fill: #aa7707"/>
<rect id="US_eye2_net12" data-name="US eye2 net12" x="61.72" y="32.09" width="0.61" height="22.79" transform="translate(-13.4 14.41) rotate(-30)" style="fill: #aa7707"/>
<rect id="US_eye2_net11" data-name="US eye2 net11" x="58.74" y="44.95" width="22.51" height="0.61" transform="translate(-13.21 18.63) rotate(-30)" style="fill: #aa7707"/>
<rect id="US_eye2_net10" data-name="US eye2 net10" x="64.22" y="30.65" width="0.61" height="22.79" transform="translate(-12.34 15.46) rotate(-30)" style="fill: #aa7707"/>
<rect id="US_eye2_net9" data-name="US eye2 net9" x="57.3" y="42.45" width="22.51" height="0.61" transform="translate(-12.16 17.58) rotate(-30)" style="fill: #aa7707"/>
<rect id="US_eye2_net8" data-name="US eye2 net8" x="66.71" y="29.21" width="0.61" height="22.79" transform="translate(-11.29 16.52) rotate(-30)" style="fill: #aa7707"/>
<rect id="US_eye2_net7" data-name="US eye2 net7" x="55.86" y="39.96" width="22.51" height="0.61" transform="translate(-11.1 16.52) rotate(-30)" style="fill: #aa7707"/>
<rect id="US_eye2_net6" data-name="US eye2 net6" x="69.21" y="27.77" width="0.61" height="22.79" transform="translate(-10.23 17.57) rotate(-30)" style="fill: #aa7707"/>
<rect id="US_eye2_net5" data-name="US eye2 net5" x="54.42" y="37.46" width="22.51" height="0.61" transform="translate(-10.05 15.47) rotate(-30)" style="fill: #aa7707"/>
<rect id="US_eye2_net4" data-name="US eye2 net4" x="71.71" y="26.32" width="0.61" height="22.79" transform="translate(-9.18 18.63) rotate(-30)" style="fill: #aa7707"/>
<rect id="US_eye2_net3" data-name="US eye2 net3" x="52.98" y="34.96" width="22.51" height="0.61" transform="translate(-8.99 14.41) rotate(-30)" style="fill: #aa7707"/>
<rect id="US_eye2_net2" data-name="US eye2 net2" x="74.2" y="24.88" width="0.61" height="22.79" transform="translate(-8.12 19.68) rotate(-30)" style="fill: #aa7707"/>
<rect id="US_eye2_net1" data-name="US eye2 net1" x="51.54" y="32.47" width="22.51" height="0.61" transform="translate(-7.94 13.36) rotate(-30)" style="fill: #aa7707"/>
</g>
</g>
</g>
</g>
</g>
</g>
</svg>`;
}

10
sim/visuals/board.ts
View File

@ -230,6 +230,12 @@ namespace pxsim.visuals {
view = new DistanceSliderControl(this.element, this.defs, state, port);
break;
}
case NodeType.InfraredSensor: {
const state = ev3board().getInputNodes()[0] as InfraredSensorNode;
if (state.getMode() == InfraredSensorMode.Proximity)
view = new ProximitySliderControl(this.element, this.defs, state, port);
break;
}
case NodeType.GyroSensor: {
const state = ev3board().getInputNodes()[port] as GyroSensorNode;
view = new RotationSliderControl(this.element, this.defs, state, port);
@ -271,6 +277,8 @@ namespace pxsim.visuals {
view = new ColorSensorView(port); break;
case NodeType.UltrasonicSensor:
view = new UltrasonicSensorView(port); break;
case NodeType.InfraredSensor:
view = new InfraredView(port); break;
case NodeType.Brick:
//return new BrickView(0);
view = this.layoutView.getBrick(); break;
@ -309,7 +317,7 @@ namespace pxsim.visuals {
this.layoutView.unselectBrick();
this.resize();
});
const brick =new BrickView(-1);
const brick = new BrickView(-1);
brick.setSelected(EV3View.isPreviousBrickSelected());
this.layoutView.setBrick(brick, brickCloseIcon);

138
sim/visuals/controls/proximitySlider.ts Normal file
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@ -0,0 +1,138 @@
namespace pxsim.visuals {
export class ProximitySliderControl extends ControlView<InfraredSensorNode> {
private group: SVGGElement;
private gradient: SVGLinearGradientElement;
private slider: SVGGElement;
private reporter: SVGTextElement;
private static SLIDER_HANDLE_HEIGHT = 26;
private static SLIDER_SIDE_PADDING = 6;
getInnerView(parent: SVGSVGElement, globalDefs: SVGDefsElement) {
let gid = "gradient-slider-" + this.getId();
this.group = svg.elt("g") as SVGGElement;
this.gradient = createGradient(gid, this.getGradientDefinition());
this.gradient.setAttribute('x1', '0%');
this.gradient.setAttribute('y1', '0%');
this.gradient.setAttribute('x2', '0%');
this.gradient.setAttribute('y2', '100%');
// this.gradient.setAttribute('gradientTransform', 'matrix(50, 0, 0, -110, 21949.45, 46137.67)');
// this.gradient.setAttribute('gradientUnits', 'userSpaceOnUse');
globalDefs.appendChild(this.gradient);
this.group = svg.elt("g") as SVGGElement;
const reporterGroup = pxsim.svg.child(this.group, "g");
reporterGroup.setAttribute("transform", `translate(${this.getWidth() / 2}, 42)`);
this.reporter = pxsim.svg.child(reporterGroup, "text", { 'text-anchor': 'middle', 'x': 0, 'y': '0', 'class': 'sim-text number large inverted' }) as SVGTextElement;
const sliderGroup = pxsim.svg.child(this.group, "g");
sliderGroup.setAttribute("transform", `translate(${this.getWidth() / 2 - this.getSliderWidth() / 2}, ${this.getReporterHeight()})`)
const rect = pxsim.svg.child(sliderGroup, "rect", { 'x': ProximitySliderControl.SLIDER_SIDE_PADDING, 'y': 2, 'width': this.getSliderWidth() - ProximitySliderControl.SLIDER_SIDE_PADDING * 2, 'height': this.getSliderHeight(), 'style': `fill: url(#${gid})` });
this.slider = pxsim.svg.child(sliderGroup, "g", { "transform": "translate(0,0)" }) as SVGGElement;
const sliderInner = pxsim.svg.child(this.slider, "g");
pxsim.svg.child(sliderInner, "rect", { 'width': this.getSliderWidth(), 'height': ProximitySliderControl.SLIDER_HANDLE_HEIGHT, 'rx': '2', 'ry': '2', 'style': 'fill: #f12a21' });
pxsim.svg.child(sliderInner, "rect", { 'x': '0.5', 'y': '0.5', 'width': this.getSliderWidth() - 1, 'height': ProximitySliderControl.SLIDER_HANDLE_HEIGHT - 1, 'rx': '1.5', 'ry': '1.5', 'style': 'fill: none;stroke: #b32e29' });
const dragSurface = svg.child(this.group, "rect", {
x: 0,
y: 0,
width: this.getInnerWidth(),
height: this.getInnerHeight(),
opacity: 0,
cursor: '-webkit-grab'
})
let pt = parent.createSVGPoint();
let captured = false;
touchEvents(dragSurface, ev => {
if (captured && (ev as MouseEvent).clientY != undefined) {
ev.preventDefault();
this.updateSliderValue(pt, parent, ev as MouseEvent);
}
}, ev => {
captured = true;
if ((ev as MouseEvent).clientY != undefined) {
dragSurface.setAttribute('cursor', '-webkit-grabbing');
this.updateSliderValue(pt, parent, ev as MouseEvent);
}
}, () => {
captured = false;
dragSurface.setAttribute('cursor', '-webkit-grab');
}, () => {
captured = false;
dragSurface.setAttribute('cursor', '-webkit-grab');
})
return this.group;
}
getInnerHeight() {
return 192;
}
getInnerWidth() {
return 111;
}
private getReporterHeight() {
return 50;
}
private getSliderHeight() {
return 110;
}
private getSliderWidth() {
return 62;
}
updateState() {
if (!this.visible) {
return;
}
const node = this.state;
const percentage = node.getValue();
const y = this.getSliderHeight() * percentage / this.getMax();
this.slider.setAttribute("transform", `translate(0, ${y - ProximitySliderControl.SLIDER_HANDLE_HEIGHT / 2})`);
// Update reporter text
this.reporter.textContent = `${parseFloat((percentage).toString()).toFixed(0)}`;
}
private updateSliderValue(pt: SVGPoint, parent: SVGSVGElement, ev: MouseEvent) {
let cur = svg.cursorPoint(pt, parent, ev);
const height = this.getSliderHeight();
const bBox = this.content.getBoundingClientRect();
let t = Math.max(0, Math.min(1, (ProximitySliderControl.SLIDER_HANDLE_HEIGHT + height + bBox.top / this.scaleFactor - cur.y / this.scaleFactor) / height))
const state = this.state;
const v = Math.floor((1 - t) * (this.getMax()));
state.setPromixity(v);
}
private getMin() {
return 0;
}
private getMax() {
return 100;
}
private getGradientDefinition(): LinearGradientDefinition {
return {
stops: [
{ offset: 0, color: '#626262' },
{ offset: 100, color: "#ddd" }
]
};
}
}
}

10
sim/visuals/nodes/infraredview.ts Normal file
View File

@ -0,0 +1,10 @@
/// <reference path="./moduleView.ts" />
namespace pxsim.visuals {
export class InfraredView extends ModuleView implements LayoutElement {
constructor(port: number) {
super(INFRARED_SVG, "infrared", NodeType.InfraredSensor, port);
}
}
}