Merge pull request #64 from Microsoft/color-sensor

Color sensor refactoring

docs/reference.md

@@ -4,4 +4,5 @@
 
 ## See Also
 
-[touch sensor](/reference/sensors/touch-sensor)
+[touch sensor](/reference/sensors/touch-sensor),
+[color sensor](/reference/sensors/color-sensor)

libs/color-sensor/README.md

@@ -0,0 +1,3 @@
+# Color sensor
+
+The library to interact with the Touch Sensor.

libs/color-sensor/_locales/color-sensor-jsdoc-strings.json

@@ -0,0 +1,12 @@
+{
+  "sensors.ColorSensor": "The color sensor is a digital sensor that can detect the color or intensity\nof light that enters the small window on the face of the sensor.",
+  "sensors.ColorSensor.color": "Get the current color from the color sensor.",
+  "sensors.ColorSensor.colorMode": "Gets the current color mode",
+  "sensors.ColorSensor.light": "Measures the ambient or reflected light value from 0 (darkest) to 100 (brightest).",
+  "sensors.ColorSensor.onColorDetected": "Registers code to run when the given color is detected.",
+  "sensors.ColorSensor.onColorDetected|param|color": "the color to detect, eg: ColorSensorColor.Blue",
+  "sensors.ColorSensor.onColorDetected|param|handler": "the code to run when detected",
+  "sensors.ColorSensor.onLightChanged": "Registers code to run when the ambient light changes.",
+  "sensors.ColorSensor.onLightChanged|param|condition": "the light condition",
+  "sensors.ColorSensor.onLightChanged|param|handler": "the code to run when detected"
+}

libs/color-sensor/_locales/color-sensor-strings.json

@@ -0,0 +1,27 @@
+{
+  "ColorSensorColor.Black|block": "black",
+  "ColorSensorColor.Blue|block": "blue",
+  "ColorSensorColor.Brown|block": "brown",
+  "ColorSensorColor.Green|block": "green",
+  "ColorSensorColor.None|block": "none",
+  "ColorSensorColor.Red|block": "red",
+  "ColorSensorColor.White|block": "white",
+  "ColorSensorColor.Yellow|block": "yellow",
+  "ColorSensorMode.AmbientLightIntensity|block": "ambient light intensity",
+  "ColorSensorMode.Color|block": "color",
+  "ColorSensorMode.ReflectedLightIntensity|block": "reflected light intensity",
+  "LightCondition.Dark|block": "dark",
+  "LightIntensityMode.Ambient|block": "ambient light",
+  "LightIntensityMode.Reflected|block": "reflected light",
+  "sensors.ColorSensor.color|block": "`icons.colorSensor` %color| color",
+  "sensors.ColorSensor.light|block": "`icons.colorSensor` %color|%mode",
+  "sensors.ColorSensor.onColorDetected|block": "on `icons.colorSensor` %sensor|detected color %color",
+  "sensors.ColorSensor.onLightChanged|block": "on `icons.colorSensor` %sensor|%mode|%condition",
+  "sensors.colorSensor1|block": "1",
+  "sensors.colorSensor2|block": "2",
+  "sensors.colorSensor3|block": "3",
+  "sensors.colorSensor4|block": "4",
+  "sensors|block": "sensors",
+  "{id:category}Sensors": "Sensors",
+  "{id:group}Color Sensor": "Color Sensor"
+}

libs/color-sensor/color.ts

@@ -0,0 +1,185 @@
+const enum ColorSensorMode {
+    None = -1,
+    //% block="reflected light intensity"
+    ReflectedLightIntensity = 0,
+    //% block="ambient light intensity"
+    AmbientLightIntensity = 1,
+    //% block="color"
+    Color = 2,
+    RefRaw = 3,
+    RgbRaw = 4,
+    ColorCal = 5,
+}
+
+enum LightIntensityMode {
+    //% block="reflected light"
+    Reflected = ColorSensorMode.ReflectedLightIntensity,
+    //% block="ambient light"
+    Ambient = ColorSensorMode.AmbientLightIntensity
+}
+
+const enum ColorSensorColor {
+    //% block="none"
+    None,
+    //% block="black"
+    Black,
+    //% block="blue"
+    Blue,
+    //% block="green"
+    Green,
+    //% block="yellow"
+    Yellow,
+    //% block="red"
+    Red,
+    //% block="white"
+    White,
+    //% block="brown"
+    Brown,
+}
+
+enum LightCondition {
+    //% block="dark"
+    Dark = sensors.internal.ThresholdState.Low,
+    //$ block="bright"
+    Bright = sensors.internal.ThresholdState.High
+}
+
+namespace sensors {
+
+    /**
+     * The color sensor is a digital sensor that can detect the color or intensity
+     * of light that enters the small window on the face of the sensor.
+     */
+    //% fixedInstances
+    export class ColorSensor extends internal.UartSensor {
+        thresholdDetector: sensors.internal.ThresholdDetector;
+
+        constructor(port: number) {
+            super(port)
+            this.thresholdDetector = new sensors.internal.ThresholdDetector(this.id());
+        }
+
+        _colorEventValue(value: number) {
+            return 0xff00 | value;
+        }
+
+        _deviceType() {
+            return DAL.DEVICE_TYPE_COLOR
+        }
+
+        setMode(m: ColorSensorMode) {
+            this._setMode(m)
+        }
+
+        /**
+         * Gets the current color mode
+         */
+        colorMode() { 
+            return <ColorSensorMode>this.mode;
+        }
+
+        _query() {
+            if (this.mode == ColorSensorMode.Color)
+                return this.getNumber(NumberFormat.UInt8LE, 0)
+            return 0
+        }
+
+        _update(prev: number, curr: number) {
+            if (this.mode == ColorSensorMode.Color)
+                control.raiseEvent(this._id, this._colorEventValue(curr));
+            else
+                this.thresholdDetector.setLevel(curr);
+        }
+
+        /**
+         * Registers code to run when the given color is detected.
+         * @param color the color to detect, eg: ColorSensorColor.Blue
+         * @param handler the code to run when detected
+         */
+        //% help=sensors/color-sensor/on-color-detected
+        //% block="on `icons.colorSensor` %sensor|detected color %color"
+        //% blockId=colorOnColorDetected
+        //% parts="colorsensor"
+        //% blockNamespace=sensors
+        //% weight=100 blockGap=8
+        //% group="Color Sensor"
+        onColorDetected(color: ColorSensorColor, handler: () => void) {
+            const v = this._colorEventValue(<number>color);
+            control.onEvent(this._id, v, handler);
+            this.setMode(ColorSensorMode.Color)
+            if (this.color() == color)
+                control.raiseEvent(this._id, v);
+        }
+
+        /**
+         * Get the current color from the color sensor.
+         * @param color the color sensor to query the request
+         */
+        //% help=sensors/color-sensor/color
+        //% block="`icons.colorSensor` %color| color"
+        //% blockId=colorGetColor
+        //% parts="colorsensor"
+        //% blockNamespace=sensors
+        //% weight=99
+        //% group="Color Sensor"
+        color(): ColorSensorColor {
+            this.setMode(ColorSensorMode.Color)
+            return this.getNumber(NumberFormat.UInt8LE, 0)
+        }
+
+        /**
+         * Registers code to run when the ambient light changes.
+         * @param condition the light condition
+         * @param handler the code to run when detected
+         */
+        //% help=sensors/color-sensor/on-light-changed
+        //% block="on `icons.colorSensor` %sensor|%mode|%condition"
+        //% blockId=colorOnLightChanged
+        //% parts="colorsensor"
+        //% blockNamespace=sensors
+        //% weight=89 blockGap=8
+        //% group="Color Sensor"
+        onLightChanged(mode: LightIntensityMode, condition: LightCondition, handler: () => void) {
+            control.onEvent(this._id, <number>condition, handler);
+            this.setMode(<ColorSensorMode><number>mode)
+        }
+
+        /**
+         * Measures the ambient or reflected light value from 0 (darkest) to 100 (brightest).
+         * @param color the color sensor port
+         */
+        //% help=sensors/color-sensor/light
+        //% block="`icons.colorSensor` %color|%mode"
+        //% blockId=colorLight
+        //% parts="colorsensor"
+        //% blockNamespace=sensors
+        //% weight=88
+        //% group="Color Sensor"
+        light(mode: LightIntensityMode) {
+            this.setMode(<ColorSensorMode><number>mode)
+            return this.getNumber(NumberFormat.UInt8LE, 0)
+        }
+
+        //%
+        ambientLight() {
+            return this.light(LightIntensityMode.Ambient);
+        }
+
+        //%
+        reflectedLight() {
+            return this.light(LightIntensityMode.Reflected);
+        }
+    }
+
+    //% whenUsed block="1" weight=95 fixedInstance
+    export const colorSensor1: ColorSensor = new ColorSensor(1)
+    
+    //% whenUsed block="3" weight=90 fixedInstance
+    export const colorSensor3: ColorSensor = new ColorSensor(3)
+    
+    //% whenUsed block="2" weight=90 fixedInstance
+    export const colorSensor2: ColorSensor = new ColorSensor(2)
+
+    //% whenUsed block="4" weight=90 fixedInstance
+    export const colorSensor4: ColorSensor = new ColorSensor(4)
+}

libs/color-sensor/docs/reference/sensors/color-sensor.md

@@ -0,0 +1,16 @@
+# Color Sensor
+
+```cards
+sensors.colorSensor1.onColorDetected(ColorSensorColor.Blue, function () {
+})
+sensors.colorSensor1.color();
+sensors.colorSensor1.ambientLight();
+sensors.colorSensor1.reflectedLight();
+```
+
+## See Also
+
+[on color detected](/reference/sensors/color-sensor/on-color-detected),
+[color](/reference/sensors/color-sensor/color),
+[ambient light](/reference/sensors/color-sensor/ambient-light),
+[reflected light](/reference/sensors/color-sensor/reflected-light),

libs/color-sensor/docs/reference/sensors/color-sensor/ambient-light.md

@@ -0,0 +1,11 @@
+# Ambient Light
+
+```blocks
+loops.forever(function () {
+    if (sensors.colorSensor1.ambientLight() > 20) {
+        brick.setStatusLight(LightsPattern.Green)
+    } else {
+        brick.setStatusLight(LightsPattern.Orange)
+    }
+})
+```

libs/color-sensor/docs/reference/sensors/color-sensor/color.md

@@ -0,0 +1,11 @@
+# color
+
+```blocks
+loops.forever(function () {
+    if (sensors.colorSensor1.color() == ColorSensorColor.Green) {
+        brick.setStatusLight(LightsPattern.Green)
+    } else {
+        brick.setStatusLight(LightsPattern.Orange)
+    }
+})
+```

libs/color-sensor/docs/reference/sensors/color-sensor/on-color-detected.md

@@ -0,0 +1,16 @@
+# On Color Detected
+
+```sig
+sensors.colorSensor1.onColorDetected(ColorSensorColor.Blue, function () { })
+```
+
+# Parameters
+
+## Examples
+
+
+```blocks
+sensors.colorSensor1.onColorDetected(ColorSensorColor.Blue, function () {
+    brick.showImage(images.expressionsSick)
+})
+```

libs/color-sensor/docs/reference/sensors/color-sensor/reflected-light.md

@@ -0,0 +1,11 @@
+# Reflected Light
+
+```blocks
+loops.forever(function () {
+    if (sensors.colorSensor1.reflectedLight() > 20) {
+        brick.setStatusLight(LightsPattern.Green)
+    } else {
+        brick.setStatusLight(LightsPattern.Orange)
+    }
+})
+```

libs/color-sensor/pxt.json

@@ -0,0 +1,15 @@
+{
+    "name": "color-sensor",
+    "description": "Color Sensor support",
+    "files": [
+        "README.md",
+        "color.ts"
+    ],
+    "testFiles": [
+        "test.ts"
+    ],
+    "public": true,
+    "dependencies": {
+            "core": "file:../core"
+    }
+}

libs/core/_locales/core-jsdoc-strings.json

@@ -68,12 +68,6 @@
   "screen.clear": "Clear screen and reset font to normal.",
   "screen.imageOf": "Makes an image bound to a buffer.",
   "screen.unpackPNG": "Decompresses a 1-bit gray scale PNG image to image format.",
-  "sensors.ColorSensor.ambientLight": "Get current ambient light value from the color sensor.",
-  "sensors.ColorSensor.color": "Get the current color from the color sensor.",
-  "sensors.ColorSensor.onColorDetected": "Registers code to run when the given color is detected",
-  "sensors.ColorSensor.onColorDetected|param|color": "the color to dtect",
-  "sensors.ColorSensor.onColorDetected|param|handler": "the code to run when detected",
-  "sensors.ColorSensor.reflectedLight": "Get current reflected light value from the color sensor.",
   "sensors.GyroSensor.angle": "Get the current angle from the gyroscope.",
   "sensors.GyroSensor.rate": "Get the current rotation rate from the gyroscope.",
   "sensors.InfraredSensor.on": "Registers code to run when an object is getting near.",

libs/core/_locales/core-strings.json

@@ -2,14 +2,6 @@
   "ButtonEvent.Click|block": "click",
   "ButtonEvent.Down|block": "down",
   "ButtonEvent.Up|block": "up",
-  "ColorSensorColor.Black|block": "black",
-  "ColorSensorColor.Blue|block": "blue",
-  "ColorSensorColor.Brown|block": "brown",
-  "ColorSensorColor.Green|block": "green",
-  "ColorSensorColor.None|block": "none",
-  "ColorSensorColor.Red|block": "red",
-  "ColorSensorColor.White|block": "white",
-  "ColorSensorColor.Yellow|block": "yellow",
   "InfraredSensorEvent.ObjectDetected|block": "object detected",
   "InfraredSensorEvent.ObjectNear|block": "object near",
   "LightsPattern.GreenFlash|block": "Flashing Green",
@@ -66,10 +58,6 @@
   "motors|block": "motors",
   "output|block": "output",
   "screen|block": "screen",
-  "sensors.ColorSensor.ambientLight|block": "`icons.colorSensor` %color| ambient light",
-  "sensors.ColorSensor.color|block": "`icons.colorSensor` %color| color",
-  "sensors.ColorSensor.onColorDetected|block": "on `icons.colorSensor` %sensor|detected %color",
-  "sensors.ColorSensor.reflectedLight|block": "`icons.colorSensor` %color| reflected light",
   "sensors.GyroSensor.angle|block": "`icons.gyroSensor` %sensor|angle",
   "sensors.GyroSensor.rate|block": "`icons.gyroSensor` %sensor|rotation rate",
   "sensors.InfraredSensor.on|block": "on `icons.infraredSensor` %sensor|%event",
@@ -82,10 +70,6 @@
   "sensors.UltraSonicSensor.distance|block": "`icons.ultrasonicSensor` %sensor|distance",
   "sensors.UltraSonicSensor.on|block": "on `icons.ultrasonicSensor` %sensor|%event",
   "sensors.UltraSonicSensor.wait|block": "wait `icons.ultrasonicSensor` %sensor|for %event",
-  "sensors.color1|block": "1",
-  "sensors.color2|block": "2",
-  "sensors.color3|block": "3",
-  "sensors.color4|block": "4",
   "sensors.gyro1|block": "1",
   "sensors.gyro2|block": "2",
   "sensors.gyro3|block": "3",
@@ -116,7 +100,6 @@
   "{id:category}Sensors": "Sensors",
   "{id:category}Serial": "Serial",
   "{id:group}Buttons": "Buttons",
-  "{id:group}Color Sensor": "Color Sensor",
   "{id:group}Gyro Sensor": "Gyro Sensor",
   "{id:group}Infrared Sensor": "Infrared Sensor",
   "{id:group}Light": "Light",

libs/core/color.ts

@@ -1,135 +0,0 @@
-const enum ColorSensorMode {
-    None = -1,
-    Reflect = 0,
-    Ambient = 1,
-    Color = 2,
-    RefRaw = 3,
-    RgbRaw = 4,
-    ColorCal = 5,
-}
-
-const enum ColorSensorColor {
-    //% block="none"
-    None,
-    //% block="black"
-    Black,
-    //% block="blue"
-    Blue,
-    //% block="green"
-    Green,
-    //% block="yellow"
-    Yellow,
-    //% block="red"
-    Red,
-    //% block="white"
-    White,
-    //% block="brown"
-    Brown,
-}
-
-namespace sensors {
-
-    //% fixedInstances
-    export class ColorSensor extends internal.UartSensor {
-        constructor(port: number) {
-            super(port)
-        }
-
-        _deviceType() {
-            return DAL.DEVICE_TYPE_COLOR
-        }
-
-        setMode(m: ColorSensorMode) {
-            this._setMode(m)
-        }
-
-        _query() {
-            if (this.mode == ColorSensorMode.Color)
-                return this.getNumber(NumberFormat.UInt8LE, 0)
-            return 0
-        }
-
-        _update(prev: number, curr: number) {
-            control.raiseEvent(this._id, curr);
-        }
-
-        /**
-         * Registers code to run when the given color is detected
-         * @param color the color to dtect
-         * @param handler the code to run when detected
-         */
-        //% help=input/color/on-color-detected
-        //% block="on `icons.colorSensor` %sensor|detected %color"
-        //% blockId=colorOnColorDetected
-        //% parts="colorsensor"
-        //% blockNamespace=sensors
-        //% weight=100 blockGap=8
-        //% group="Color Sensor"
-        onColorDetected(color: ColorSensorColor, handler: () => void) {
-            control.onEvent(this._id, <number>color, handler);
-            this.setMode(ColorSensorMode.Color)
-            if (this.color() == color)
-                control.runInBackground(handler)
-        }
-
-        /**
-         * Get current ambient light value from the color sensor.
-         * @param color the color sensor to query the request
-         */
-        //% help=input/color/ambient-light
-        //% block="`icons.colorSensor` %color| ambient light"
-        //% blockId=colorGetAmbient
-        //% parts="colorsensor"
-        //% blockNamespace=sensors
-        //% weight=65 blockGap=8
-        //% group="Color Sensor"
-        ambientLight() {
-            this.setMode(ColorSensorMode.Ambient)
-            return this.getNumber(NumberFormat.UInt8LE, 0)
-        }
-
-        /**
-         * Get current reflected light value from the color sensor.
-         * @param color the color sensor to query the request
-         */
-        //% help=input/color/refelected-light
-        //% block="`icons.colorSensor` %color| reflected light"
-        //% blockId=colorGetReflected
-        //% parts="colorsensor"
-        //% blockNamespace=sensors
-        //% weight=64 blockGap=8
-        //% group="Color Sensor"
-        reflectedLight(): number {
-            this.setMode(ColorSensorMode.Reflect)
-            return this.getNumber(NumberFormat.UInt8LE, 0)
-        }
-
-        /**
-         * Get the current color from the color sensor.
-         * @param color the color sensor to query the request
-         */
-        //% help=input/color/color
-        //% block="`icons.colorSensor` %color| color"
-        //% blockId=colorGetColor
-        //% parts="colorsensor"
-        //% blockNamespace=sensors
-        //% weight=66 blockGap=8
-        //% group="Color Sensor"
-        color(): ColorSensorColor {
-            this.setMode(ColorSensorMode.Color)
-            return this.getNumber(NumberFormat.UInt8LE, 0)
-        }
-    }
-
-    //% whenUsed block="1" weight=95 fixedInstance
-    export const color1: ColorSensor = new ColorSensor(1)
-    
-    //% whenUsed block="3" weight=90 fixedInstance
-    export const color3: ColorSensor = new ColorSensor(3)
-    
-    //% whenUsed block="2" weight=90 fixedInstance
-    export const color2: ColorSensor = new ColorSensor(2)
-
-    //% whenUsed block="4" weight=90 fixedInstance
-    export const color4: ColorSensor = new ColorSensor(4)
-}

libs/core/input.ts

@@ -177,7 +177,81 @@ namespace sensors.internal {
         }
     }
 
+    export enum ThresholdState {
+        Normal = 1,
+        High = 2,
+        Low = 3,
+    }
 
+    export class ThresholdDetector {        
+        public id: number;
+        private min: number;
+        private max: number;
+        private lowThreshold: number;
+        private highThreshold: number;
+        private level: number;
+        private state: ThresholdState;
+
+        constructor(id: number, min = 0, max = 100, lowThreshold = 20, highThreshold = 80) {
+            this.id = id;
+            this.min = min;
+            this.max = max;
+            this.lowThreshold = lowThreshold;
+            this.highThreshold = highThreshold;
+            this.level = Math.ceil((max - min) / 2);
+            this.state = ThresholdState.Normal;
+        }
+
+        public setLevel(level: number) {
+            this.level = this.clampValue(level);
+
+            if (this.level >= this.highThreshold) {
+                this.setState(ThresholdState.High);
+            }
+            else if (this.level <= this.lowThreshold) {
+                this.setState(ThresholdState.Low);
+            }
+            else {
+                this.setState(ThresholdState.Normal);
+            }
+        }
+
+        public setLowThreshold(value: number) {
+            this.lowThreshold = this.clampValue(value);
+            this.highThreshold = Math.max(this.lowThreshold + 1, this.highThreshold);
+        }
+
+        public setHighThreshold(value: number) {
+            this.highThreshold = this.clampValue(value);
+            this.lowThreshold = Math.min(this.highThreshold - 1, this.lowThreshold);
+        }
+
+        private clampValue(value: number) {
+            if (value < this.min) {
+                return this.min;
+            }
+            else if (value > this.max) {
+                return this.max;
+            }
+            return value;
+        }
+
+        private setState(state: ThresholdState) {
+            if (this.state == state) return;
+
+            this.state = state;
+            switch (state) {
+                case ThresholdState.High:
+                    control.raiseEvent(this.id, ThresholdState.High);
+                    break;
+                case ThresholdState.Low:
+                    control.raiseEvent(this.id, ThresholdState.Low);
+                    break;
+                case ThresholdState.Normal:
+                    break;
+            }
+        }
+    }
 
     export class UartSensor extends Sensor {
         protected mode: number // the mode user asked for

libs/core/pxt.json

@@ -19,7 +19,6 @@
         "core.ts",
         "input.ts",
         "ir.ts",
-        "color.ts",
         "gyro.ts",
         "ultrasonic.ts",
         "shims.d.ts",

libs/ev3/pxt.json

@@ -9,6 +9,7 @@
         "base": "file:../base",
         "core": "file:../core",
         "music": "file:../music",
+        "color-sensor": "file:../color-sensor",
         "touch-sensor": "file:../touch-sensor"
     },
     "public": true

pxtarget.json

@@ -10,6 +10,7 @@
         "libs/base",
         "libs/core",
         "libs/music",
+        "libs/color-sensor",
         "libs/touch-sensor",
         "libs/ev3"
     ],