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Merge branch 'master' into icon_font

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This commit is contained in:
Sam El-Husseini 2018-01-03 11:56:28 -08:00
commit e0e5c95989
18 changed files with 10885 additions and 47 deletions
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90
editor/extension.ts
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@ -139,8 +139,98 @@ namespace pxt.editor {
})
}
/**
* Update the shape of Blockly blocks with square corners
*/
function updateBlocklyShape() {
/**
* Rounded corner radius.
* @const
*/
(Blockly.BlockSvg as any).CORNER_RADIUS = 0 * (Blockly.BlockSvg as any).GRID_UNIT;
/**
* Inner space between edge of statement input and notch.
* @const
*/
(Blockly.BlockSvg as any).STATEMENT_INPUT_INNER_SPACE = 3 * (Blockly.BlockSvg as any).GRID_UNIT;
/**
* SVG path for drawing next/previous notch from left to right.
* @const
*/
(Blockly.BlockSvg as any).NOTCH_PATH_LEFT = (
'l 8,8 ' +
'h 16 ' +
'l 8,-8 '
);
/**
* SVG path for drawing next/previous notch from right to left.
* @const
*/
(Blockly.BlockSvg as any).NOTCH_PATH_RIGHT = (
'l -8,8 ' +
'h -16 ' +
'l -8,-8 '
);
/**
* SVG start point for drawing the top-left corner.
* @const
*/
(Blockly.BlockSvg as any).TOP_LEFT_CORNER_START =
'm 0,' + 0;
/**
* SVG path for drawing the rounded top-left corner.
* @const
*/
(Blockly.BlockSvg as any).TOP_LEFT_CORNER =
'l ' + (Blockly.BlockSvg as any).CORNER_RADIUS + ',0 ';
/**
* SVG path for drawing the rounded top-right corner.
* @const
*/
(Blockly.BlockSvg as any).TOP_RIGHT_CORNER =
'l ' + 0 + ',' + (Blockly.BlockSvg as any).CORNER_RADIUS;
/**
* SVG path for drawing the rounded bottom-right corner.
* @const
*/
(Blockly.BlockSvg as any).BOTTOM_RIGHT_CORNER =
'l 0,' + (Blockly.BlockSvg as any).CORNER_RADIUS;
/**
* SVG path for drawing the rounded bottom-left corner.
* @const
*/
(Blockly.BlockSvg as any).BOTTOM_LEFT_CORNER =
'l -' + (Blockly.BlockSvg as any).CORNER_RADIUS + ',0';
/**
* SVG path for drawing the top-left corner of a statement input.
* @const
*/
(Blockly.BlockSvg as any).INNER_TOP_LEFT_CORNER =
'l ' + (Blockly.BlockSvg as any).CORNER_RADIUS + ',-' + 0;
/**
* SVG path for drawing the bottom-left corner of a statement input.
* Includes the rounded inside corner.
* @const
*/
(Blockly.BlockSvg as any).INNER_BOTTOM_LEFT_CORNER =
'l ' + 0 + ',' + (Blockly.BlockSvg as any).CORNER_RADIUS * 2 +
'l ' + (Blockly.BlockSvg as any).CORNER_RADIUS + ',' + 0;
}
initExtensionsAsync = function (opts: pxt.editor.ExtensionOptions): Promise<pxt.editor.ExtensionResult> {
pxt.debug('loading pxt-ev3 target extensions...')
updateBlocklyShape();
const res: pxt.editor.ExtensionResult = {
deployCoreAsync,
};

5914
legoresources/MakeCode_overview.ai Normal file
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1
libs/color-sensor/color.ts
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@ -56,6 +56,7 @@ namespace sensors {
constructor(port: number) {
super(port)
this._setMode(ColorSensorMode.None);
this.thresholdDetector = new sensors.internal.ThresholdDetector(this.id());
}

8
libs/core/_locales/core-jsdoc-strings.json
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@ -75,9 +75,15 @@
"motors.MotorBase.setSpeed": "Sets the speed of the motor.",
"motors.MotorBase.setSpeed|param|speed": "the speed from ``100`` full forward to ``-100`` full backward, eg: 50",
"motors.MotorBase.stop": "Stops the motor(s).",
"motors.SynchedMotorPair.drive": "Makes a differential drive robot move with a given speed (%) and rotation rate (deg/s)\nusing a unicycle model.",
"motors.SynchedMotorPair.drive|param|rotationSpeed": "rotation of the robot around the center point, eg: 30",
"motors.SynchedMotorPair.drive|param|speed": "speed of the center point between motors, eg: 10",
"motors.SynchedMotorPair.drive|param|value": "the amount of movement, eg: 2",
"motors.SynchedMotorPair.setDimensions": "Sets the wheels radius and base length of a directional drive robot",
"motors.SynchedMotorPair.setDimensions|param|wheelRadius": "@param baseLength ",
"motors.SynchedMotorPair.steer": "Turns the motor and the follower motor by a number of rotations",
"motors.SynchedMotorPair.steer|param|speed": "the speed from ``100`` full forward to ``-100`` full backward, eg: 50",
"motors.SynchedMotorPair.steer|param|steering": "the ratio of power sent to the follower motor, from ``-100`` to ``100``",
"motors.SynchedMotorPair.steer|param|turnRatio": "the ratio of power sent to the follower motor, from ``-200`` to ``200``, eg: 0",
"motors.SynchedMotorPair.steer|param|unit": "the meaning of the value",
"motors.SynchedMotorPair.steer|param|value": "the move quantity, eg: 2",
"motors.SynchedMotorPair.tank": "The Move Tank block can make a robot drive forward, backward, turn, or stop. \nUse the Move Tank block for robot vehicles that have two Large Motors, \nwith one motor driving the left side of the vehicle and the other the right side. \nYou can make the two motors go at different speeds or in different directions \nto make your robot turn.",

5
libs/core/_locales/core-strings.json
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@ -54,8 +54,9 @@
"motors.MotorBase.setBrake|block": "set %motor|brake %brake",
"motors.MotorBase.setReversed|block": "set %motor|reversed %reversed",
"motors.MotorBase.setSpeed|block": "set speed of %motor|to %speed|%",
"motors.SynchedMotorPair.steer|block": "steer %chassis|%steering|%|at speed %speed|%|by %value|%unit",
"motors.SynchedMotorPair.tank|block": "tank %chassis|left %speedLeft|%|right %speedRight|%|by %value|%unit",
"motors.SynchedMotorPair.drive|block": "drive %chassis|at %speed|cm/s|turning %rotationSpeed|deg/s|for %value|%unit",
"motors.SynchedMotorPair.steer|block": "steer %chassis turn by|%turnRatio|at speed %speed|%|for %value|%unit",
"motors.SynchedMotorPair.tank|block": "tank %chassis|left %speedLeft|%|right %speedRight|%|for %value|%unit",
"motors.largeAB|block": "large A+B",
"motors.largeAD|block": "large A+D",
"motors.largeA|block": "large A",

1
libs/core/buttons.ts
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@ -66,6 +66,7 @@ namespace brick {
//% hidden
_update(curr: boolean) {
if (this == null) return
if (this._isPressed == curr) return
this._isPressed = curr
if (curr) {

1
libs/core/input.ts
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@ -214,6 +214,7 @@ namespace sensors.internal {
}
public setLevel(level: number) {
if (this == null) return
this.level = this.clampValue(level);
if (this.level >= this.highThreshold) {

119
libs/core/output.ts
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@ -14,7 +14,7 @@ enum Output {
//% block="C+D"
CD = Output.C | Output.D,
//% block="A+D"
AD = Output.B | Output.C,
AD = Output.A | Output.D,
//% block="All"
ALL = 0x0f
}
@ -399,9 +399,13 @@ namespace motors {
//% fixedInstances
export class SynchedMotorPair extends MotorBase {
private wheelRadius: number;
private baseLength: number;
constructor(ports: Output) {
super(ports, () => this.__init(), (speed) => this.__setSpeed(speed), (steps, stepsOrTime, speed) => this.__move(steps, stepsOrTime, speed));
this.wheelRadius = 3;
this.baseLength = 12;
this.markUsed();
}
@ -438,18 +442,82 @@ namespace motors {
}
/**
* Turns the motor and the follower motor by a number of rotations
* @param value the move quantity, eg: 2
* @param unit the meaning of the value
* @param steering the ratio of power sent to the follower motor, from ``-100`` to ``100``
* @param speed the speed from ``100`` full forward to ``-100`` full backward, eg: 50
* The Move Tank block can make a robot drive forward, backward, turn, or stop.
* Use the Move Tank block for robot vehicles that have two Large Motors,
* with one motor driving the left side of the vehicle and the other the right side.
* You can make the two motors go at different speeds or in different directions
* to make your robot turn.
* @param value the amount of movement, eg: 2
* @param unit
* @param speedLeft the speed on the left motor, eg: 50
* @param speedRight the speed on the right motor, eg: 50
*/
//% blockId=motorPairTurn block="steer %chassis|%steering|%|at speed %speed|%|by %value|%unit"
//% blockId=motorPairTank block="tank %chassis|left %speedLeft|%|right %speedRight|%|for %value|%unit"
//% weight=9 blockGap=8
//% steering.min=-100 steering=100
//% speedLeft.min=-100 speedLeft=100
//% speedRight.min=-100 speedRight=100
//% inlineInputMode=inline
//% group="Chassis"
steer(steering: number, speed: number, value: number, unit: MoveUnit) {
tank(speedLeft: number, speedRight: number, value: number, unit: MoveUnit) {
this.init();
speedLeft = Math.clamp(-100, 100, speedLeft >> 0);
speedRight = Math.clamp(-100, 100, speedRight >> 0);
const speed = Math.abs(speedLeft) > Math.abs(speedRight) ? speedLeft : speedRight;
const turnRatio = speedLeft == speed
? (100 - speedRight / speedLeft * 100)
: (speedLeft / speedRight * 100 - 100);
this.steer(turnRatio, speed, value, unit);
}
/**
* Makes a differential drive robot move with a given speed (%) and rotation rate (deg/s)
* using a unicycle model.
* @param speed speed of the center point between motors, eg: 10
* @param rotationSpeed rotation of the robot around the center point, eg: 30
* @param value the amount of movement, eg: 2
* @param unit
*/
//% blockId=motorDrive block="drive %chassis|at %speed|cm/s|turning %rotationSpeed|deg/s|for %value|%unit"
//% inlineInputMode=inline
//% group="Chassis"
//% weight=8 blockGap=8
drive(speed: number, rotationSpeed: number, value: number, unit: MoveUnit) {
this.init();
// speed is expressed in %
const R = this.wheelRadius; // cm
const L = this.baseLength; // cm
const PI = 3.14;
const maxw = 170 / 60 * 2 * PI; // rad / s
const maxv = maxw * R; // cm / s
// speed is cm / s
const v = speed; // cm / s
const w = rotationSpeed / 360 * 2 * PI; // rad / s
const vr = (2 * v + w * L) / (2 * R); // rad / s
const vl = (2 * v - w * L) / (2 * R); // rad / s
const sr = vr / maxw * 100; // %
const sl = vl / maxw * 100; // %
this.tank(sr, sl, value, unit)
}
/**
* Turns the motor and the follower motor by a number of rotations
* @param turnRatio the ratio of power sent to the follower motor, from ``-200`` to ``200``, eg: 0
* @param speed the speed from ``100`` full forward to ``-100`` full backward, eg: 50
* @param value the move quantity, eg: 2
* @param unit the meaning of the value
*/
//% blockId=motorPairTurn block="steer %chassis turn by|%turnRatio|at speed %speed|%|for %value|%unit"
//% weight=6 blockGap=8
//% turnRatio.min=-200 turnRatio=200
//% inlineInputMode=inline
//% group="Chassis"
steer(turnRatio: number, speed: number, value: number, unit: MoveUnit) {
this.init();
speed = Math.clamp(-100, 100, speed >> 0);
if (!speed) {
@ -457,7 +525,7 @@ namespace motors {
return;
}
const turnRatio = Math.clamp(-200, 200, steering + 100 >> 0);
turnRatio = Math.clamp(-200, 200, turnRatio >> 0);
let useSteps: boolean;
let stepsOrTime: number;
switch (unit) {
@ -470,7 +538,7 @@ namespace motors {
useSteps = true;
break;
default:
stepsOrTime = value;
stepsOrTime = value >> 0;
useSteps = false;
break;
}
@ -482,30 +550,17 @@ namespace motors {
stepsOrTime: stepsOrTime,
useBrake: this._brake
});
}
}
/**
* The Move Tank block can make a robot drive forward, backward, turn, or stop.
* Use the Move Tank block for robot vehicles that have two Large Motors,
* with one motor driving the left side of the vehicle and the other the right side.
* You can make the two motors go at different speeds or in different directions
* to make your robot turn.
* @param value the amount of movement, eg: 2
* @param unit
* @param speedLeft the speed on the left motor, eg: 50
* @param speedRight the speed on the right motor, eg: 50
* Sets the wheels radius and base length of a directional drive robot
* @param wheelRadius
* @param baseLength
*/
//% blockId=motorPairTank block="tank %chassis|left %speedLeft|%|right %speedRight|%|by %value|%unit"
//% weight=9 blockGap=8
//% speedLeft.min=-100 speedLeft=100
//% speedRight.min=-100 speedRight=100
//% inlineInputMode=inline
//% group="Chassis"
tank(speedLeft: number, speedRight: number, value: number, unit: MoveUnit) {
speedLeft = Math.clamp(speedLeft >> 0, -100, 100);
speedRight = Math.clamp(speedRight >> 0, -100, 100);
const steering = (speedRight * 100 / speedLeft) >> 0;
this.steer(speedLeft, steering, value, unit);
setDimensions(wheelRadius: number, baseLength: number): void {
this.wheelRadius = wheelRadius;
this.baseLength = baseLength;
}
/**
@ -513,6 +568,8 @@ namespace motors {
*/
//%
toString(): string {
this.init();
let r = outputToName(this._port);
for (let i = 0; i < DAL.NUM_OUTPUTS; ++i) {
if (this._port & (1 << i)) {

11
libs/core/screen.ts
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@ -221,10 +221,14 @@ namespace brick {
// motors
const datas = motors.getAllMotorData();
for(let i = 0; i < datas.length; ++i) {
const x = i * 52;
const data = datas[i];
if (!data.actualSpeed && !data.count) continue;
const x = i * 52;
print(`${data.actualSpeed}%`, x, brick.LINE_HEIGHT)
print(`${data.count}>`, x, 2 * brick.LINE_HEIGHT)
console.logValue(`speed.` + "ABCD"[i], data.actualSpeed);
console.logValue(`angle.` + "ABCD"[i], data.count);
}
// sensors
@ -232,7 +236,10 @@ namespace brick {
for(let i =0; i < sis.length; ++i) {
const si = sis[i];
const x = (si.port() - 1) * 52;
print(`${si._query()}`, x, 9 * brick.LINE_HEIGHT)
const v = si._query();
print(`${v}`, x, 9 * brick.LINE_HEIGHT)
console.logValue(`sensor.` + si.port(), v);
}
}
}

4683
package-lock.json generated Normal file
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2
package.json
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@ -1,6 +1,6 @@
{
"name": "pxt-ev3",
"version": "0.0.46",
"version": "0.0.48",
"description": "LEGO Mindstorms EV3 for Microsoft MakeCode",
"private": true,
"keywords": [

4
sim/state/color.ts
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@ -3,12 +3,13 @@
namespace pxsim {
export enum ColorSensorMode {
None = -1,
Reflected = 0,
Ambient = 1,
Colors = 2,
RefRaw = 3,
RgbRaw = 4,
ColorCal = 5
ColorCal = 5,
}
export enum ThresholdState {
@ -24,6 +25,7 @@ namespace pxsim {
constructor(port: number) {
super(port);
this.mode = -1;
}
getDeviceType() {

51
sim/state/motornode.ts
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@ -15,6 +15,7 @@ namespace pxsim {
private speedCmdValues: number[];
private speedCmdTacho: number;
private speedCmdTime: number;
private _synchedMotor: MotorNode; // non-null if master motor
constructor(port: number, large: boolean) {
super(port);
@ -22,22 +23,34 @@ namespace pxsim {
}
getSpeed() {
return this.speed * (this.polarity == 0 ? -1 : 1);
return this.speed * (this.polarity == 0 ? -1 : 1);
}
getAngle() {
return this.angle;
}
// returns the slave motor if any
getSynchedMotor() {
return this._synchedMotor;
}
setSpeedCmd(cmd: DAL, values: number[]) {
this.speedCmd = cmd;
this.speedCmdValues = values;
this.speedCmdTacho = this.angle;
this.speedCmdTime = pxsim.U.now();
delete this._synchedMotor;
}
setSyncCmd(motor: MotorNode, cmd: DAL, values: number[]) {
this.setSpeedCmd(cmd, values);
this._synchedMotor = motor;
}
clearSpeedCmd() {
delete this.speedCmd;
delete this._synchedMotor;
}
setLarge(large: boolean) {
@ -67,6 +80,7 @@ namespace pxsim {
stop() {
this.started = false;
this.clearSpeedCmd();
}
start() {
@ -77,7 +91,7 @@ namespace pxsim {
console.log(`motor: ${elapsed}ms - ${this.speed}% - ${this.angle}> - ${this.tacho}|`)
const interval = Math.min(20, elapsed);
let t = 0;
while(t < elapsed) {
while (t < elapsed) {
let dt = interval;
if (t + dt > elapsed) dt = elapsed - t;
this.updateStateStep(dt);
@ -97,14 +111,14 @@ namespace pxsim {
case DAL.opOutputTimeSpeed:
case DAL.opOutputTimePower:
case DAL.opOutputStepPower:
case DAL.opOutputStepSpeed:
case DAL.opOutputStepSpeed: {
// ramp up, run, ramp down, <brake> using time
const speed = this.speedCmdValues[0];
const step1 = this.speedCmdValues[1];
const step2 = this.speedCmdValues[2];
const step3 = this.speedCmdValues[3];
const brake = this.speedCmdValues[4];
const dstep = (this.speedCmd == DAL.opOutputTimePower || this.speedCmd == DAL.opOutputTimeSpeed)
const dstep = (this.speedCmd == DAL.opOutputTimePower || this.speedCmd == DAL.opOutputTimeSpeed)
? pxsim.U.now() - this.speedCmdTime
: this.tacho - this.speedCmdTacho;
if (dstep < step1) // rampup
@ -117,9 +131,36 @@ namespace pxsim {
if (brake) this.speed = 0;
this.clearSpeedCmd();
}
this.speed = Math.round(this.speed); // integer only
break;
}
case DAL.opOutputStepSync:
case DAL.opOutputTimeSync: {
if (!this._synchedMotor) // handled in other motor code
break;
const otherMotor = this._synchedMotor;
const speed = this.speedCmdValues[0];
const turnRatio = this.speedCmdValues[1];
const stepsOrTime = this.speedCmdValues[2];
const brake = this.speedCmdValues[3];
const dstep = this.speedCmd == DAL.opOutputTimeSync
? pxsim.U.now() - this.speedCmdTime
: this.tacho - this.speedCmdTacho;
// 0 is special case, run infinite
if (!stepsOrTime || dstep < stepsOrTime)
this.speed = speed;
else {
if (brake) this.speed = 0;
this.clearSpeedCmd();
}
// send synched motor state
otherMotor.speed = Math.floor(this.speed * turnRatio / 100);
if (!this._synchedMotor)
otherMotor.clearSpeedCmd();
break;
}
}
this.speed = Math.round(this.speed); // integer only
// compute delta angle
const rotations = this.getSpeed() / 100 * this.rotationsPerMilliSecond * elapsed;

19
sim/state/output.ts
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@ -56,6 +56,25 @@ namespace pxsim {
motors.forEach(motor => motor.setSpeedCmd(cmd, [speed, step1, step2, step3, brake]));
return 2;
}
case DAL.opOutputStepSync:
case DAL.opOutputTimeSync: {
const port = buf.data[1];
const speed = pxsim.BufferMethods.getNumber(buf, BufferMethods.NumberFormat.Int8LE, 2); // signed byte
// note that b[3] is padding
const turnRatio = pxsim.BufferMethods.getNumber(buf, BufferMethods.NumberFormat.Int16LE, 4);
// b[6], b[7] is padding
const stepsOrTime = pxsim.BufferMethods.getNumber(buf, BufferMethods.NumberFormat.Int32LE, 8);
const brake = pxsim.BufferMethods.getNumber(buf, BufferMethods.NumberFormat.Int8LE, 12);
const motors = ev3board().getMotor(port);
for (const motor of motors) {
const otherMotor = motors.filter(m => m.port != motor.port)[0];
motor.setSyncCmd(
motor.port < otherMotor.port ? otherMotor : undefined,
cmd, [speed, turnRatio, stepsOrTime, brake]);
}
return 2;
}
case DAL.opOutputStop: {
// stop
const port = buf.data[1];

9
sim/state/sensor.ts
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@ -5,6 +5,7 @@ namespace pxsim {
protected mode: number;
protected valueChanged: boolean;
protected modeChanged: boolean;
constructor(port: number) {
super(port);
@ -24,6 +25,8 @@ namespace pxsim {
setMode(mode: number) {
this.mode = mode;
this.changed = true;
this.modeChanged = true;
}
getMode() {
@ -44,6 +47,12 @@ namespace pxsim {
return res;
}
modeChange() {
const res = this.modeChanged;
this.modeChanged = false;
return res;
}
setChangedState() {
this.changed = true;
this.valueChanged = false;

6
sim/visuals/board.ts
View File

@ -183,8 +183,8 @@ namespace pxsim.visuals {
this.layoutView.updateTheme(theme);
}
private getControlForNode(id: NodeType, port: number) {
if (this.cachedControlNodes[id] && this.cachedControlNodes[id][port]) {
private getControlForNode(id: NodeType, port: number, useCache = true) {
if (useCache && this.cachedControlNodes[id] && this.cachedControlNodes[id][port]) {
return this.cachedControlNodes[id][port];
}
@ -406,7 +406,7 @@ namespace pxsim.visuals {
if (view) {
const isSelected = EV3View.isPreviousInputSelected(index, node.id) || view.getSelected();
if (isSelected && !view.getSelected()) view.setSelected(true);
const control = isSelected ? this.getControlForNode(node.id, index) : undefined;
const control = isSelected ? this.getControlForNode(node.id, index, !node.modeChange()) : undefined;
const closeIcon = control ? this.getCloseIconView() : undefined;
this.layoutView.setInput(index, view, control, closeIcon);
view.updateState();

2
sim/visuals/controls/colorGrid.ts
View File

@ -7,7 +7,7 @@ namespace pxsim.visuals {
getInnerView() {
this.group = svg.elt("g") as SVGGElement;
this.group.setAttribute("transform", `translate(1.02, 1.5) scale(0.8)`)
this.group.setAttribute("transform", `translate(2, 2.5) scale(0.6)`)
const colorIds = ['red', 'yellow', 'blue', 'green', undefined, 'grey'];
const colors = ['#f12a21', '#ffd01b', '#006db3', '#00934b', undefined, '#6c2d00'];

6
theme/blockly.less
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@ -69,6 +69,12 @@ span.blocklyTreeLabel {
border-radius: 1rem !important;
}
/* Square shaped corners */
.blocklyDropDownDiv {
border-radius: 0px !important;
}
/* Mobile */
@media only screen and (max-width: @largestMobileScreen) {
#blocklyTrashIcon {