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Merge pull request #17 from Microsoft/irevents

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Ultrasonic + IR events + Remote events
This commit is contained in:
Peli de Halleux 2017-10-27 06:25:02 +02:00 committed by GitHub
commit ea72dba6c7
8 changed files with 239 additions and 82 deletions
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24
libs/core/_locales/core-jsdoc-strings.json
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@ -21,7 +21,7 @@
"input": "Respond to and read data from buttons and sensors.",
"input.Button": "Generic button class, for device buttons and sensors.",
"input.Button.isPressed": "Check if button is currently pressed or not.",
"input.Button.onEvent": "Do something when a button or sensor is clicked, double clicked, etc...",
"input.Button.onEvent": "Do something when a button or sensor is clicked, up or down.",
"input.Button.onEvent|param|body": "code to run when the event is raised",
"input.Button.wasPressed": "See if the button was pressed again since the last time you checked.",
"input.ColorSensor.ambientLight": "Get current ambient light value from the color sensor.",
@ -32,22 +32,30 @@
"input.ColorSensor.reflectedLight": "Get current reflected light value from the color sensor.",
"input.GyroSensor.angle": "Get the current angle from the gyroscope.",
"input.GyroSensor.rate": "Get the current rotation rate from the gyroscope.",
"input.IrSensor.distance": "Get the distance measured by the infrared sensor.",
"input.IrSensor.remoteCommand": "Get the remote commandreceived the infrared sensor.",
"input.InfraredSensor.onObjectNear": "Registers code to run when an object is getting near.",
"input.InfraredSensor.onObjectNear|param|handler": "the code to run when detected",
"input.InfraredSensor.proximity": "Get the promixity measured by the infrared sensor, from ``0`` (close) to ``100`` (far)",
"input.InfraredSensor.remoteCommand": "Get the remote commandreceived the infrared sensor.",
"input.RemoteInfraredBeaconButton.isPressed": "Check if a remote button is currently pressed or not.",
"input.RemoteInfraredBeaconButton.onEvent": "Do something when a button or sensor is clicked, up or down",
"input.RemoteInfraredBeaconButton.onEvent|param|body": "code to run when the event is raised",
"input.RemoteInfraredBeaconButton.wasPressed": "See if the remote button was pressed again since the last time you checked.",
"input.TouchSensor.isTouched": "Check if touch sensor is touched.",
"input.TouchSensor.onEvent": "Do something when a touch sensor is touched...",
"input.TouchSensor.onEvent|param|body": "code to run when the event is raised",
"input.UltraSonicSensor.distance": "Gets the distance from the sonar in millimeters",
"input.UltraSonicSensor.onObjectNear": "Registers code to run when the given color is close",
"input.UltraSonicSensor.onObjectNear|param|handler": "the code to run when detected",
"input.buttonDown": "Down button on the EV3 Brick.",
"input.buttonEnter": "Enter button on the EV3 Brick.",
"input.buttonLeft": "Left button on the EV3 Brick.",
"input.buttonRight": "Right button on the EV3 Brick.",
"input.buttonUp": "Up button on the EV3 Brick.",
"input.remoteBottomLeft": "Remote bottom-left button.",
"input.remoteBottomRight": "Remote bottom-right button.",
"input.remoteCenter": "Remote beacon (center) button.",
"input.remoteTopLeft": "Remote top-left button.",
"input.remoteTopRight": "Remote top-right button.",
"input.remoteButtonBottomLeft": "Remote bottom-left button.",
"input.remoteButtonBottomRight": "Remote bottom-right button.",
"input.remoteButtonCenter": "Remote beacon (center) button.",
"input.remoteButtonTopLeft": "Remote top-left button.",
"input.remoteButtonTopRight": "Remote top-right button.",
"output.Motor.off": "Power off the motor.",
"output.Motor.on": "Power on the motor.",
"output.Motor.onForTime": "Power on the motor for a specified number of milliseconds.",

26
libs/core/_locales/core-strings.json
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@ -25,6 +25,8 @@
"Output.B|block": "B",
"Output.C|block": "C",
"Output.D|block": "D",
"PromixityEvent.ObjectDetected|block": "object detected",
"PromixityEvent.ObjectNear|block": "object near",
"TouchSensorEvent.Bumped|block": "bumped",
"TouchSensorEvent.Pressed|block": "pressed",
"TouchSensorEvent.Released|block": "released",
@ -39,11 +41,16 @@
"input.ColorSensor.reflectedLight|block": "%color| reflected light",
"input.GyroSensor.angle|block": "%sensor|angle",
"input.GyroSensor.rate|block": "%sensor|rotation rate",
"input.IrSensor.distance|block": "%infrared|distance",
"input.IrSensor.remoteCommand|block": "%infrared|remote command",
"input.InfraredSensor.onObjectNear|block": "on %sensor|object near",
"input.InfraredSensor.proximity|block": "%infrared|proximity",
"input.InfraredSensor.remoteCommand|block": "%infrared|remote command",
"input.RemoteInfraredBeaconButton.isPressed|block": "%button|is pressed",
"input.RemoteInfraredBeaconButton.onEvent|block": "on %button|%event",
"input.RemoteInfraredBeaconButton.wasPressed|block": "%button|was pressed",
"input.TouchSensor.isTouched|block": "%sensor|is touched",
"input.TouchSensor.onEvent|block": "on %sensor|%event",
"input.UltraSonicSensor.distance|block": "%sensor|distance",
"input.UltraSonicSensor.onObjectNear|block": "on %sensor|object near",
"input.buttonDown|block": "brick button down",
"input.buttonEnter|block": "brick button enter",
"input.buttonLeft|block": "brick button left",
@ -57,11 +64,15 @@
"input.gyro2|block": "gyro sensor 2",
"input.gyro3|block": "gyro sensor 3",
"input.gyro4|block": "gyro sensor 4",
"input.remoteBottomLeft|block": "remote bottom-left",
"input.remoteBottomRight|block": "remote bottom-right",
"input.remoteCenter|block": "remote center",
"input.remoteTopLeft|block": "remote top-left",
"input.remoteTopRight|block": "remote top-right",
"input.infraredSensor1|block": "infrared sensor 1",
"input.infraredSensor2|block": "infrared sensor 2",
"input.infraredSensor3|block": "infrared sensor 3",
"input.infraredSensor4|block": "infrared sensor 4",
"input.remoteButtonBottomLeft|block": "remote button bottom-left",
"input.remoteButtonBottomRight|block": "remote button bottom-right",
"input.remoteButtonCenter|block": "remote button center",
"input.remoteButtonTopLeft|block": "remote button top-left",
"input.remoteButtonTopRight|block": "remote button top-right",
"input.touchSensor1|block": "touch sensor 1",
"input.touchSensor2|block": "touch sensor 2",
"input.touchSensor3|block": "touch sensor 3",
@ -98,6 +109,7 @@
"{id:group}Gyro Sensor": "Gyro Sensor",
"{id:group}Infrared Sensor": "Infrared Sensor",
"{id:group}Motors": "Motors",
"{id:group}Remote Infrared Beacon": "Remote Infrared Beacon",
"{id:group}Touch Sensor": "Touch Sensor",
"{id:group}Ultrasonic Sensor": "Ultrasonic Sensor"
}

6
libs/core/buttons.ts
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@ -65,7 +65,7 @@ namespace input {
}
//% hidden
update(curr: boolean) {
_update(curr: boolean) {
if (this._isPressed == curr) return
this._isPressed = curr
if (curr) {
@ -112,7 +112,7 @@ namespace input {
}
/**
* Do something when a button or sensor is clicked, double clicked, etc...
* Do something when a button or sensor is clicked, up or down.
* @param button the button that needs to be clicked or used
* @param event the kind of button gesture that needs to be detected
* @param body code to run when the event is raised
@ -159,7 +159,7 @@ namespace input {
if (curr & DAL.BUTTON_ID_ESCAPE)
control.reset()
for (let b of buttons)
b.update(!!(curr & b.mask))
b._update(!!(curr & b.mask))
})
control.dmesg("runtime started, " + control.deviceFirmwareVersion())
}

212
libs/core/ir.ts
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@ -40,24 +40,24 @@ namespace input {
}
}
let buttons: Button[]
let buttons: RemoteInfraredBeaconButton[]
function create(ir: IrSensor) {
function create(ir: InfraredSensor) {
// it's created by referencing it
}
export function irButton(id: IrRemoteButton) {
export function irButton(id: IrRemoteButton): RemoteInfraredBeaconButton {
if (buttons == null) {
buttons = []
for (let i = 0; i < 5; ++i) {
buttons.push(new Button())
buttons.push(new RemoteInfraredBeaconButton(new Button()))
}
// make sure sensors are up
create(ir1)
create(ir2)
create(ir3)
create(ir4)
create(infraredSensor1)
create(infraredSensor2)
create(infraredSensor3)
create(infraredSensor4)
}
let num = -1
@ -69,29 +69,101 @@ namespace input {
return buttons[num]
}
//% fixedInstance
export class IrSensor extends internal.UartSensor {
private channel: IrRemoteChannel
//% fixedInstances
export class RemoteInfraredBeaconButton extends control.Component {
private button: Button;
constructor(button: Button) {
super();
this.button = button;
}
_update(curr: boolean) {
this.button._update(curr);
}
/**
* Check if a remote button is currently pressed or not.
* @param button the remote button to query the request
*/
//% help=input/remote-infrared-beacon/is-pressed
//% block="%button|is pressed"
//% blockId=remoteButtonIsPressed
//% parts="remote"
//% blockNamespace=input
//% weight=81 blockGap=8
//% group="Remote Infrared Beacon"
isPressed() {
return this.button.isPressed();
}
/**
* See if the remote button was pressed again since the last time you checked.
* @param button the remote button to query the request
*/
//% help=input/remote-infrared-beacon/was-pressed
//% block="%button|was pressed"
//% blockId=remotebuttonWasPressed
//% parts="remote"
//% blockNamespace=input
//% weight=80 blockGap=8
//% group="Remote Infrared Beacon"
wasPressed() {
return this.button.wasPressed();
}
/**
* Do something when a button or sensor is clicked, up or down
* @param button the button that needs to be clicked or used
* @param event the kind of button gesture that needs to be detected
* @param body code to run when the event is raised
*/
//% help=input/remote-infrared-beacon/on-event
//% blockId=remotebuttonEvent block="on %button|%event"
//% parts="remote"
//% blockNamespace=input
//% weight=99 blockGap=8
//% group="Remote Infrared Beacon"
onEvent(ev: ButtonEvent, body: () => void) {
this.button.onEvent(ev, body);
}
}
//% fixedInstances
export class InfraredSensor extends internal.UartSensor {
private channel: IrRemoteChannel;
private proximityThreshold: number;
constructor(port: number) {
super(port)
this.channel = IrRemoteChannel.Ch0
this.proximityThreshold = 10;
irButton(0) // make sure buttons array is initalized
// and set the mode, as otherwise button events won't work
this.mode = IrSensorMode.RemoteControl
this.mode = IrSensorMode.RemoteControl;
}
_query() {
if (this.mode == IrSensorMode.RemoteControl)
return mapButton(this.getNumber(NumberFormat.UInt8LE, this.channel))
return mapButton(this.getNumber(NumberFormat.UInt8LE, this.channel));
else if (this.mode == IrSensorMode.Proximity) {
const d = this.getNumber(NumberFormat.UInt16LE, 0) & 0x0fff;
return d < this.proximityThreshold ? PromixityEvent.ObjectNear
: d > this.proximityThreshold + 5 ? PromixityEvent.ObjectDetected
: 0;
}
return 0
}
_update(prev: number, curr: number) {
for (let i = 0; i < buttons.length; ++i) {
let v = !!(curr & (1 << i))
buttons[i].update(v)
if (this.mode == IrSensorMode.RemoteControl) {
for (let i = 0; i < buttons.length; ++i) {
let v = !!(curr & (1 << i))
buttons[i]._update(v)
}
} else {
if (curr)
control.raiseEvent(this._id, curr);
}
}
@ -102,26 +174,47 @@ namespace input {
setRemoteChannel(c: IrRemoteChannel) {
c = Math.clamp(0, 3, c | 0)
this.channel = c
this.setMode(IrSensorMode.RemoteControl)
this._setMode(IrSensorMode.RemoteControl)
}
setMode(m: IrSensorMode) {
_setMode(m: IrSensorMode) {
this._setMode(m)
}
/**
* Get the distance measured by the infrared sensor.
* Registers code to run when an object is getting near.
* @param handler the code to run when detected
*/
//% help=input/infrared/on-object-near
//% block="on %sensor|object near"
//% blockId=infraredOnObjectNear
//% parts="infraredsensor"
//% blockNamespace=input
//% weight=100 blockGap=8
//% group="Infrared Sensor"
onObjectNear(handler: () => void) {
control.onEvent(this._id, PromixityEvent.ObjectNear, handler);
if (this.proximity() == PromixityEvent.ObjectNear)
control.runInBackground(handler);
}
setObjectNearThreshold(distance: number) {
this.proximityThreshold = Math.max(1, Math.min(95, distance));
}
/**
* Get the promixity measured by the infrared sensor, from ``0`` (close) to ``100`` (far)
* @param ir the infrared sensor
*/
//% help=input/infrared/distance
//% block="%infrared|distance"
//% blockId=infraredGetDistance
//% help=input/infrared/proximity
//% block="%infrared|proximity"
//% blockId=infraredGetProximity
//% parts="infrared"
//% blockNamespace=input
//% weight=65 blockGap=8
//% group="Infrared Sensor"
distance() {
this.setMode(IrSensorMode.Proximity)
proximity() {
this._setMode(IrSensorMode.Proximity)
return this.getNumber(NumberFormat.UInt8LE, 0)
}
@ -137,56 +230,57 @@ namespace input {
//% weight=65 blockGap=8
//% group="Infrared Sensor"
remoteCommand() {
this.setMode(IrSensorMode.RemoteControl)
this._setMode(IrSensorMode.RemoteControl)
return this.getNumber(NumberFormat.UInt8LE, this.channel)
}
// TODO
getDirectionAndDistance() {
this.setMode(IrSensorMode.Seek)
this._setMode(IrSensorMode.Seek)
return this.getNumber(NumberFormat.UInt16LE, this.channel * 2)
}
}
//% whenUsed
export const ir1: IrSensor = new IrSensor(1)
//% fixedInstance whenUsed block="infrared sensor 1"
export const infraredSensor1: InfraredSensor = new InfraredSensor(1)
//% whenUsed
export const ir2: IrSensor = new IrSensor(2)
//% fixedInstance whenUsed block="infrared sensor 2"
export const infraredSensor2: InfraredSensor = new InfraredSensor(2)
//% whenUsed
export const ir3: IrSensor = new IrSensor(3)
//% fixedInstance whenUsed block="infrared sensor 3"
export const infraredSensor3: InfraredSensor = new InfraredSensor(3)
//% whenUsed
export const ir4: IrSensor = new IrSensor(4)
//% fixedInstance whenUsed block="infrared sensor 4"
export const infraredSensor4: InfraredSensor = new InfraredSensor(4)
/**
* Remote top-left button.
*/
//% whenUsed block="remote top-left" weight=95 fixedInstance
export const remoteTopLeft = irButton(IrRemoteButton.TopLeft)
/**
* Remote top-right button.
*/
//% whenUsed block="remote top-right" weight=95 fixedInstance
export const remoteTopRight = irButton(IrRemoteButton.TopRight)
/**
* Remote bottom-left button.
*/
//% whenUsed block="remote bottom-left" weight=95 fixedInstance
export const remoteBottomLeft = irButton(IrRemoteButton.BottomLeft)
/**
* Remote bottom-right button.
*/
//% whenUsed block="remote bottom-right" weight=95 fixedInstance
export const remoteBottomRight = irButton(IrRemoteButton.BottomRight)
/**
* Remote beacon (center) button.
*/
//% whenUsed block="remote center" weight=95 fixedInstance
export const remoteCenter = irButton(IrRemoteButton.CenterBeacon)
//% whenUsed block="remote button center" weight=95 fixedInstance
export const remoteButtonCenter = irButton(IrRemoteButton.CenterBeacon)
/**
* Remote top-left button.
*/
//% whenUsed block="remote button top-left" weight=95 fixedInstance
export const remoteButtonTopLeft = irButton(IrRemoteButton.TopLeft)
/**
* Remote top-right button.
*/
//% whenUsed block="remote button top-right" weight=95 fixedInstance
export const remoteButtonTopRight = irButton(IrRemoteButton.TopRight)
/**
* Remote bottom-left button.
*/
//% whenUsed block="remote button bottom-left" weight=95 fixedInstance
export const remoteButtonBottomLeft = irButton(IrRemoteButton.BottomLeft)
/**
* Remote bottom-right button.
*/
//% whenUsed block="remote button bottom-right" weight=95 fixedInstance
export const remoteButtonBottomRight = irButton(IrRemoteButton.BottomRight)
}

2
libs/core/ns.ts
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@ -1,5 +1,5 @@
//% color="#B4009E" weight=98 icon="\uf192"
//% groups='["Touch Sensor", "Gyro Sensor", "Color Sensor", "Ultrasonic Sensor", "Infrared Sensor", "Remote", "Brick"]'
//% groups='["Brick", "Touch Sensor", "Color Sensor", "Ultrasonic Sensor", "Infrared Sensor", "Remote Infrared Beacon", "Gyro Sensor"]'
namespace input {
}

4
libs/core/test.ts
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@ -36,12 +36,12 @@ input.touchSensor1.onEvent(TouchSensorEvent.Bumped, () => {
num++
})
input.remoteTopLeft.onEvent(ButtonEvent.Click, () => {
input.remoteButtonTopLeft.onEvent(ButtonEvent.Click, () => {
screen.print("TOPLEFT " + num, 10, 60)
num++
})
input.remoteTopRight.onEvent(ButtonEvent.Down, () => {
input.remoteButtonTopRight.onEvent(ButtonEvent.Down, () => {
screen.print("TOPRIGH " + num, 10, 60)
num++
})

2
libs/core/touch.ts
View File

@ -28,7 +28,7 @@ namespace input {
}
_update(prev: number, curr: number) {
this.button.update(curr > 0)
this.button._update(curr > 0)
}
_deviceType() {

45
libs/core/ultrasonic.ts
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@ -1,15 +1,58 @@
const enum PromixityEvent {
//% block="object near"
ObjectNear = 1,
//% block="object detected"
ObjectDetected = 2
}
namespace input {
//% fixedInstances
export class UltraSonicSensor extends internal.UartSensor {
private promixityThreshold: number;
constructor(port: number) {
super(port)
this.promixityThreshold = 10;
}
_deviceType() {
return DAL.DEVICE_TYPE_ULTRASONIC
}
_query(): number {
const d = this.getNumber(NumberFormat.UInt16LE, 0) & 0x0fff;
return d < this.promixityThreshold ? PromixityEvent.ObjectNear
: d > this.promixityThreshold + 5 ? PromixityEvent.ObjectDetected
: 0;
}
_update(prev: number, curr: number) {
if (curr)
control.raiseEvent(this._id, curr);
}
/**
* Registers code to run when the given color is close
* @param handler the code to run when detected
*/
//% help=input/ultrasonic/on-object-near
//% block="on %sensor|object near"
//% blockId=ultrasonicOnObjectClose
//% parts="infraredsensor"
//% blockNamespace=input
//% weight=100 blockGap=8
//% group="Ultrasonic Sensor"
onObjectNear(distance: number, handler: () => void) {
control.onEvent(this._id, PromixityEvent.ObjectNear, handler);
if (this.distance() == PromixityEvent.ObjectNear)
control.runInBackground(handler);
}
setObjectNearThreshold(distance: number) {
this.promixityThreshold = Math.max(1, Math.min(250, distance));
}
/**
* Gets the distance from the sonar in millimeters
* @param sensor the ultrasonic sensor port
@ -24,7 +67,7 @@ namespace input {
distance() {
// it supposedly also has an inch mode, but we stick to mm
this._setMode(0)
return this.getNumber(NumberFormat.UInt16LE, 0) & 0x0fff
return this.getNumber(NumberFormat.UInt16LE, 0) & 0x0fff;
}
}