web serial cleanup (#928)

* updated ticks

* fix enable and compile

* add debug mode

* don't try to change UI while downloading

* cleanup

* don't double open

* use cu

* add delay before reconnecting

* support for 200 ragne in field turn ratio

* updated docs

* fix docs

docs/labview.md

@@ -61,6 +61,12 @@ motors.largeBC.steer(0, 50, 1, MoveUnit.Rotations);
 motors.largeBC.stop();
 ```
 
+### ~ hint
+
+The **turn ratio range is -200, 200** unlike LabView who used -100,100.
+
+### ~
+
 ## Tank
 
 The **tank** blocks control the speed of two motors. These are commonly used for a differential drive robot. The blocks can also specify the duration, angle, or number of rotations.

docs/reference/motors/synced/steer.md

@@ -22,7 +22,7 @@ If you decide to use a **value** of rotation distance, you need to choose a type
 
 ## Parameters
 
-* **turnRatio**: a [number](/types/number) that is the percentage of speed of the drive motor. The follower motor runs at this speed. A negative number steers to the left and a positive number steers to the right. This is a number between `-100` and `100`.
+* **turnRatio**: a [number](/types/number) that is the percentage of speed of the drive motor. The follower motor runs at this speed. A negative number steers to the left and a positive number steers to the right. This is a number between `-200` and `200`.
 * **speed**: a [number](/types/number) that is the percentage of full speed. A negative value runs the motors in the reverse direction. This is the speed that the drive motor runs at.
 * **value**: the [number](/types/number) of movement units to rotate for. A value of `0` means run the motor continuously.
 * **unit**: the movement unit of rotation. This can be `milliseconds`, `seconds`, `degrees`, or `rotations`. If the number for **value** is `0`, this parameter isn't used.

editor/deploy.ts

@@ -64,7 +64,6 @@ class WebSerialPackageIO implements pxt.HF2.PacketIO {
     private _writer: any;
 
     constructor(private port: SerialPort, private options: SerialOptions) {
-        this.openAsync();
     }
 
     async readSerialAsync() {
@@ -173,7 +172,7 @@ export function initAsync(): Promise<void> {
     }
 
     if (WebSerialPackageIO.isSupported())
-        pxt.tickEvent("bluetooth.supported");
+        pxt.tickEvent("webserial.supported");
 
     return Promise.resolve();
 }
@@ -274,7 +273,7 @@ export function deployCoreAsync(resp: pxtc.CompileResult) {
 
     if (!useHID) return saveUF2Async()
 
-    pxt.tickEvent("bluetooth.flash");
+    pxt.tickEvent("webserial.flash");
     let w: Ev3Wrapper;
     return initHidAsync()
         .then(w_ => {
@@ -291,12 +290,14 @@ export function deployCoreAsync(resp: pxtc.CompileResult) {
                                 `<ul>
 <li>${lf("Make sure to stop your program or exit portview on the EV3.")}</li>
 <li>${lf("Check your battery level.")}</li>
+<li>${lf("Close EV3 LabView or other MakeCode editor tabs.")}
 </ul>`,
                             hasCloseIcon: true,
                             hideCancel: true,
                             hideAgree: false,
                             agreeLbl: lf("Try again"),
                         }).then(() => w.disconnectAsync())
+                            .then(() => Promise.delay(1000))
                             .then(() => w.reconnectAsync());
 
                     // nothing we can do
@@ -309,11 +310,11 @@ export function deployCoreAsync(resp: pxtc.CompileResult) {
         .then(() => w.flashAsync(rbfPath, rbfBIN))
         .then(() => w.runAsync(rbfPath))
         .then(() => {
-            pxt.tickEvent("bluetooth.success");
+            pxt.tickEvent("webserial.success");
             return w.disconnectAsync()
             //return Promise.delay(1000).then(() => w.dmesgAsync())
         }).catch(e => {
-            pxt.tickEvent("bluetooth.fail");
+            pxt.tickEvent("webserial.fail");
             useHID = false;
             useWebSerial = false;
             // if we failed to initalize, tell the user to retry

editor/extension.ts

@@ -7,6 +7,13 @@ let bluetoothDialogShown = false;
 pxt.editor.initExtensionsAsync = function (opts: pxt.editor.ExtensionOptions): Promise<pxt.editor.ExtensionResult> {
     const projectView = opts.projectView;
     pxt.debug('loading pxt-ev3 target extensions...')
+
+    function enableWebSerialAndCompileAsync() {
+        return enableWebSerialAsync()
+        .then(() => Promise.delay(500))
+        .then(() => projectView.compile());
+    }
+
     const res: pxt.editor.ExtensionResult = {
         deployCoreAsync,
         showUploadInstructionsAsync: (fn: string, url: string, confirmAsync: (options: any) => Promise<number>) => {
@@ -84,7 +91,7 @@ pxt.editor.initExtensionsAsync = function (opts: pxt.editor.ExtensionOptions): P
                     onclick: () => {
                         pxt.tickEvent("bluetooth.enable");
                         if (bluetoothDialogShown) {
-                            enableWebSerialAsync().done();
+                            enableWebSerialAndCompileAsync().done();
                         } else {
                             bluetoothDialogShown = true;
                             confirmAsync({
@@ -99,13 +106,13 @@ pxt.editor.initExtensionsAsync = function (opts: pxt.editor.ExtensionOptions): P
                                 }],
                                 htmlBody: `<p>
 ${lf("You will be prompted to select a serial port.")}
-${pxt.BrowserUtils.isWindows() ? lf("Look for 'Standard Serial over Bluetooth link'.") : lf("Loop for 'tty.EV3-SerialPort' or 'cu.EV3-SerialPort'")}
+${pxt.BrowserUtils.isWindows() 
+    ? lf("Look for 'Standard Serial over Bluetooth link'.") 
+    : lf("Loop for 'cu.EV3-SerialPort'.")}
 ${lf("If you have paired multiple EV3, you might have to try out multiple ports until you find the correct one.")}
 </p>
 `
-                            }).then(() => enableWebSerialAsync())
+                            }).then(() => enableWebSerialAndCompileAsync())
-                                .then(() => Promise.delay(500))
-                                .then(() => projectView.compile())
                         }
                     }
                 } : undefined, downloadAgain ? {

editor/wrap.ts

@@ -1,8 +1,12 @@
+/**
+ * See https://www.lego.com/cdn/cs/set/assets/blt6879b00ae6951482/LEGO_MINDSTORMS_EV3_Communication_Developer_Kit.pdf
+ * https://github.com/mindboards/ev3sources/blob/master/lms2012/lms2012/source/bytecodes.h#L146
+ */
 import HF2 = pxt.HF2
 import U = pxt.U
 
 function log(msg: string) {
-    pxt.debug("EWRAP: " + msg)
+    pxt.log("serial: " + msg)
 }
 
 export interface DirEntry {
@@ -19,7 +23,7 @@ export class Ev3Wrapper {
     private cmdSeq = U.randomUint32() & 0xffff;
     private lock = new U.PromiseQueue();
     isStreaming = false;
-    dataDump = false;
+    dataDump = /talkdbg=1/.test(window.location.href);
 
     constructor(public io: pxt.HF2.PacketIO) {
         io.onData = buf => {

fieldeditors/field_turnratio.ts

@@ -23,7 +23,7 @@ export class FieldTurnRatio extends Blockly.FieldSlider implements Blockly.Field
      * @constructor
      */
     constructor(value_: any, params: FieldTurnRatioOptions, opt_validator?: Function) {
-        super(String(value_), '-100', '100', null, '10', 'TurnRatio', opt_validator);
+        super(String(value_), '-200', '200', null, '10', 'TurnRatio', opt_validator);
         this.params = params;
         (this as any).sliderColor_ = '#a8aaa8';
     }
@@ -76,26 +76,26 @@ export class FieldTurnRatio extends Blockly.FieldSlider implements Blockly.Field
         if (!this.path_) {
             return;
         }
-        let v = goog.math.clamp(parseFloat(this.getText()), -100, 100);
+        let v = goog.math.clamp(parseFloat(this.getText()), -200, 200);
         if (isNaN(v)) {
             v = 0;
         }
-
+        const x = v / 100;
-        const x = goog.math.clamp(parseFloat(this.getText()), -100, 100) / 100;
+        const nx = Math.max(-1, Math.min(1, x));
-        const theta = x * Math.PI / 2;
+        const theta = Math.max(nx) * Math.PI / 2;
-        const cx = FieldTurnRatio.HALF;
+        const r = FieldTurnRatio.RADIUS - 6;
-        const cy = FieldTurnRatio.HALF - 14;
+        let cx = FieldTurnRatio.HALF;
-        const gamma = Math.PI - 2 * theta;
+        const cy = FieldTurnRatio.HALF - 22;
-        const r = FieldTurnRatio.RADIUS;
+        if (Math.abs(x) > 1) {
-        const alpha = 0.2 + Math.abs(x) * 0.5;
+            cx -= (x - (x > 0 ? 1 : -1)) * r / 2; // move center of circle
-        const x1 = 0;
+        }
+        const alpha = 0.2 + Math.abs(nx) * 0.5;
         const y1 = r * alpha;
         const y2 = r * Math.sin(Math.PI / 2 - theta);
         const x2 = r * Math.cos(Math.PI / 2 - theta);
         const y3 = y2 - r * alpha * Math.cos(2 * theta);
         const x3 = x2 - r * alpha * Math.sin(2 * theta);
 
-
         const d = `M ${cx} ${cy} C ${cx} ${cy - y1} ${cx + x3} ${cy - y3} ${cx + x2} ${cy - y2}`;
         this.path_.setAttribute('d', d);