1.2.31

* cooperate pause

* fix math

* update lastPause before pausing

* faster cooperation

Co-authored-by: Peli de Halleux <peli@DESKTOP-5B7QRAM.corp.microsoft.com>

docs/coding/ignition.md

@@ -27,7 +27,6 @@ while (true) {
         music.playSoundEffectUntilDone(sounds.mechanicalMotorStart)
         music.playSoundEffectUntilDone(sounds.mechanicalMotorIdle);
     }
-    pause(1);
 }
 ```
 
@@ -43,6 +42,5 @@ while (true) {
         music.playSoundEffectUntilDone(sounds.mechanicalMotorStart)
         music.playSoundEffectUntilDone(sounds.mechanicalMotorIdle);
     }
-    pause(1);
 }
 ```

docs/index-ref.json

@@ -1,3 +1,3 @@
 {
-    "appref": "v1.2.22"
+    "appref": "v1.2.30"
 }

editor/deploy.ts

@@ -64,6 +64,7 @@ class WebSerialPackageIO implements pxt.HF2.PacketIO {
     private _writer: any;
 
     constructor(private port: SerialPort, private options: SerialOptions) {
+        console.log(`serial: new io`)
     }
 
     async readSerialAsync() {
@@ -90,17 +91,24 @@ class WebSerialPackageIO implements pxt.HF2.PacketIO {
         return !!(<any>navigator).serial;
     }
 
+    static portIos: WebSerialPackageIO[] = [];
     static async mkPacketIOAsync(): Promise<pxt.HF2.PacketIO> {
         const serial = (<any>navigator).serial;
         if (serial) {
             try {
                 const requestOptions: SerialPortRequestOptions = {};
                 const port = await serial.requestPort(requestOptions);
-                const options: SerialOptions = {
-                    baudrate: 460800,
-                    buffersize: 4096
-                };
-                return new WebSerialPackageIO(port, options);
+
+                let io = WebSerialPackageIO.portIos.filter(i => i.port == port)[0];
+                if (!io) {
+                    const options: SerialOptions = {
+                        baudrate: 460800,
+                        buffersize: 4096
+                    };
+                    io = new WebSerialPackageIO(port, options);
+                    WebSerialPackageIO.portIos.push(io);
+                }
+                return io;
             } catch (e) {
                 console.log(`connection error`, e)
             }
@@ -125,11 +133,8 @@ class WebSerialPackageIO implements pxt.HF2.PacketIO {
             });
     }
 
-    private closeAsync() {
-        console.log(`serial: closing port`);
-        this.port.close();
-        this._reader = undefined;
-        this._writer = undefined;
+    private async closeAsync() {
+        // don't close port
         return Promise.delay(500);
     }
 

editor/wrap.ts

@@ -116,7 +116,7 @@ export class Ev3Wrapper {
             if (this.dataDump)
                 log("TALK: " + U.toHex(buf))
             return this.io.sendPacketAsync(buf)
-                .then(() => this.msgs.shiftAsync(1000))
+                .then(() => this.msgs.shiftAsync(5000))
                 .then(resp => {
                     if (resp[2] != buf[2] || resp[3] != buf[3])
                         U.userError("msg count de-sync")

libs/core/cooperate.ts

@@ -0,0 +1,11 @@
+namespace control {
+    let lastPause = 0;
+    const COOPERATION_INTERVAL = 20
+    export function cooperate() {
+        const now = control.millis()
+        if (now - lastPause > COOPERATION_INTERVAL) {
+            lastPause = now
+            pause(1)
+        }
+    }
+}

libs/core/input.ts

@@ -21,8 +21,7 @@ namespace sensors.internal {
             const now = control.millis();
             if (now - this.lastQuery >= this.interval * 2)
                 this.queryAndUpdate(); // sensor poller is not allowed to run
-            if (now - this.lastPause >= this.interval * 5)
-                pause(1); // allow events to trigger
+            control.cooperate(); // allow events to trigger
         }
 
         private queryAndUpdate() {

libs/core/output.ts

@@ -124,7 +124,7 @@ namespace motors {
     export function stopAll() {
         const b = mkCmd(Output.ALL, DAL.opOutputStop, 0)
         writePWM(b);
-        pause(1);
+        control.cooperate();
     }
 
     /**
@@ -136,7 +136,7 @@ namespace motors {
     //% help=motors/reset-all
     export function resetAll() {
         reset(Output.ALL)
-        pause(1);
+        control.cooperate();
     }
 
     interface MoveSchedule {
@@ -269,7 +269,7 @@ namespace motors {
             if (this._brake && this._brakeSettleTime > 0)
                 pause(this._brakeSettleTime);
             else {
-                pause(1);
+                control.cooperate();
             }
         }
 
@@ -280,7 +280,7 @@ namespace motors {
                 // allow robot to settle
                 this.settle();
             } else {
-                pause(1);
+                control.cooperate();
             }
         }
 
@@ -357,7 +357,7 @@ namespace motors {
             // special: 0 is infinity
             if (schedule.steps[0] + schedule.steps[1] + schedule.steps[2] == 0) {
                 this._run(schedule.speed);
-                pause(1);
+                control.cooperate();
                 return;
             }
 

libs/core/pxt.json

@@ -26,7 +26,8 @@
         "icons.jres",
         "ns.ts",
         "platform.h",
-        "integrator.ts"
+        "integrator.ts",
+        "cooperate.ts"
     ],
     "testFiles": [
         "test.ts"

libs/music/docs/reference/music.md

@@ -12,4 +12,5 @@ music.setTempo(120)
 music.noteFrequency(Note.C)
 music.beat()
 music.setVolume(50)
-```
+music.volume()
+```

libs/music/music.cpp

@@ -13,7 +13,22 @@
 
 namespace music {
 
-uint8_t currVolume = 50;
+int _readSystemVolume() {
+    char ParBuf[8];
+    int volume;
+
+    int fd = open("../sys/settings/Volume.rtf", O_RDONLY);
+    read(fd, ParBuf, sizeof(ParBuf));
+    close(fd);
+    if (sscanf(ParBuf,"%d",&volume) > 0) {
+        if ((volume >= 0) && (volume <= 100)) {
+            return volume;
+        }
+    }
+    return 50;
+}
+
+uint8_t currVolume = _readSystemVolume();
 uint8_t *lmsSoundMMap;
 
 int writeDev(void *data, int size) {
@@ -37,6 +52,18 @@ void setVolume(int volume) {
     currVolume = max(0, min(100, volume));
 }
 
+/**
+* Return the output volume of the sound synthesizer.
+*/
+//% weight=96
+//% blockId=synth_get_volume block="volume"
+//% parts="speaker" blockGap=8
+//% help=music/volume
+//% weight=1
+int volume() {
+    return currVolume;
+}
+
 #define SOUND_CMD_BREAK 0
 #define SOUND_CMD_TONE 1
 #define SOUND_CMD_PLAY 2
@@ -45,7 +72,7 @@ void setVolume(int volume) {
 
 struct ToneCmd {
     uint8_t cmd;
-    uint8_t vol;
+    uint8_t lvl;
     uint16_t freq;
     uint16_t duration;
 };
@@ -55,10 +82,26 @@ static void _stopSound() {
     writeDev(&cmd, sizeof(cmd));
 }
 
+static uint8_t _getVolumeLevel(uint8_t volume, uint8_t levels) {
+    uint8_t level;
+    uint8_t step = (uint8_t) (100 / (levels - 1));
+    if (volume < step) {
+        level = 0;
+    } else if (volume > step * (levels - 1)) {
+        level = levels;
+    } else {
+        level = (uint8_t) (volume / step);
+    }
+    return level;
+}
+
 static void _playTone(uint16_t frequency, uint16_t duration, uint8_t volume) {
+    // https://github.com/mindboards/ev3sources/blob/78ebaf5b6f8fe31cc17aa5dce0f8e4916a4fc072/lms2012/c_sound/source/c_sound.c#L471
+    uint8_t level = _getVolumeLevel(volume, 13);
+
     ToneCmd cmd;
     cmd.cmd = SOUND_CMD_TONE;
-    cmd.vol = volume;
+    cmd.lvl = level;
     cmd.freq = frequency;
     cmd.duration = duration;
     //   (*SoundInstance.pSound).Busy = TRUE;
@@ -122,7 +165,8 @@ void playSample(Buffer buf) {
     stopUser();
     pthread_mutex_lock(&pumpMutex);
     *lmsSoundMMap = 1; // BUSY
-    uint8_t cmd[] = {SOUND_CMD_PLAY, (uint8_t)((currVolume / 33) + 1)};
+    // https://github.com/mindboards/ev3sources/blob/78ebaf5b6f8fe31cc17aa5dce0f8e4916a4fc072/lms2012/c_sound/source/c_sound.c#L605
+    uint8_t cmd[] = {SOUND_CMD_PLAY, _getVolumeLevel(currVolume, 8)};
     writeDev(cmd, 2);
     decrRC(currentSample);
     currentSample = buf;
@@ -201,4 +245,4 @@ Buffer buffer(Sound snd) {
 void play(Sound snd) {
     music::playSample(snd);
 }
-}
+}

libs/music/shims.d.ts

@@ -13,6 +13,16 @@ declare namespace music {
     //% weight=1 shim=music::setVolume
     function setVolume(volume: int32): void;
 
+    /**
+     * Return the output volume of the sound synthesizer.
+     */
+    //% weight=96
+    //% blockId=synth_get_volume block="volume"
+    //% parts="speaker" blockGap=8
+    //% help=music/volume
+    //% weight=1 shim=music::volume
+    function volume(): int32;
+
     /**
      * Play a tone through the speaker for some amount of time.
      * @param frequency pitch of the tone to play in Hertz (Hz), eg: Note.C

libs/music/test.ts

@@ -5,3 +5,4 @@ music.playTone(1440, 500)
 pause(500)
 music.playTone(2440, 500)
 pause(500)
+music.volume()

package.json

@@ -1,6 +1,6 @@
 {
   "name": "pxt-ev3",
-  "version": "1.2.26",
+  "version": "1.2.31",
   "description": "LEGO MINDSTORMS EV3 for Microsoft MakeCode",
   "private": false,
   "keywords": [

pxtarget.json

@@ -108,7 +108,8 @@
             "de",
             "ja",
             "ru",
-            "zh-CN"
+            "zh-CN",
+            "fr"
         ],
         "highContrast": true,
         "lightToc": true,

sim/state/sounds.ts

@@ -7,6 +7,14 @@ namespace pxsim.music {
     export function stopAllSounds() {
         SoundMethods.stop()
     }
+
+    pxsim.music.setVolume = (volume: number): void => {
+        pxsim.getAudioState().volume = volume;
+    };
+
+    export function volume() {
+        return pxsim.getAudioState().volume;
+    }
 }
 
 namespace pxsim.SoundMethods {