fixing isReady query on motors (#197)

libs/core/output.ts

@@ -270,13 +270,7 @@ namespace motors {
             const buf = mkCmd(this._port, DAL.opOutputTest, 2);
             readPWM(buf)
             const flags = buf.getNumber(NumberFormat.UInt8LE, 2);
-            // TODO: FIX with ~ support
+            return (~flags & this._port) == this._port;
-            for (let i = 0; i < DAL.NUM_OUTPUTS; ++i) {
-                const flag = 1 << i;
-                if ((this._port & flag) && (flags & flag))
-                    return false;
-            }
-            return true;
         }
 
         /**
@@ -448,7 +442,7 @@ namespace motors {
         private __setSpeed(speed: number) {
             syncMotors(this._port, {
                 speed: speed,
-                turnRatio: 100, // same speed
+                turnRatio: 0, // same speed
                 useBrake: !!this._brake
             })
         }
@@ -457,7 +451,7 @@ namespace motors {
             syncMotors(this._port, {
                 useSteps: steps,
                 speed: speed,
-                turnRatio: 100, // same speed
+                turnRatio: 0, // same speed
                 stepsOrTime: stepsOrTime,
                 useBrake: this._brake
             });

sim/state/motornode.ts

@@ -22,6 +22,10 @@ namespace pxsim {
             this.setLarge(large);
         }
 
+        isReady() {
+            return !this.speedCmd;
+        }
+
         getSpeed() {
             return this.speed * (this.polarity == 0 ? -1 : 1);
         }
@@ -154,8 +158,21 @@ namespace pxsim {
                         if (brake) this.speed = 0;
                         this.clearSpeedCmd();
                     }
-                    // send synched motor state
+
-                    otherMotor.speed = Math.floor(this.speed * turnRatio / 100);
+                    // turn ratio is a bit weird to interpret
+                    // see https://communities.theiet.org/blogs/698/1706
+                    if (turnRatio < 0) {
+                        otherMotor.speed = speed;
+                        this.speed *= (100 + turnRatio) / 100;
+                    } else {
+                        otherMotor.speed = this.speed * (100 - turnRatio) / 100;
+                    }
+
+                    // clamp
+                    this.speed = Math.max(-100, Math.min(100, this.speed >> 0));
+                    otherMotor.speed = Math.max(-100, Math.min(100, otherMotor.speed >> 0));;
+
+                    // stop other motor if needed
                     if (!this._synchedMotor)
                         otherMotor.clearSpeedCmd();
                     break;

sim/state/output.ts

@@ -12,10 +12,24 @@ namespace pxsim {
                         data[i] = 0
                 },
                 read: buf => {
-                    let v = "vSIM"
+                    // console.log("pwm read");
-                    for (let i = 0; i < buf.data.length; ++i)
+                    if (buf.data.length == 0) return 2;
-                        buf.data[i] = v.charCodeAt(i) || 0
+                    const cmd = buf.data[0];
-                    console.log("pwm read");
+                    switch (cmd) {
+                        case DAL.opOutputTest:
+                            const port = buf.data[1];
+                            let r = 0;
+                            ev3board().getMotor(port)
+                                .filter(motor => !motor.isReady())
+                                .forEach(motor => r |= (1 << motor.port));
+                            pxsim.BufferMethods.setNumber(buf, BufferMethods.NumberFormat.UInt8LE, 2, r);
+                            break;
+                        default:
+                            let v = "vSIM"
+                            for (let i = 0; i < buf.data.length; ++i)
+                                buf.data[i] = v.charCodeAt(i) || 0
+                            break;
+                    }
                     return buf.data.length
                 },
                 write: buf => {