1.2.28

* 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/reference/brick/exit-program.md

@@ -0,0 +1,18 @@
+# exit Program
+
+Stops the program and returns to the brick menu
+
+```sig
+brick.exitProgram();
+```
+
+## Example
+
+Do a sequence of motor commands and stop the program.
+
+```blocks
+motors.largeA.run(50)
+pause(500)
+motors.stopAll()
+brick.exitProgram();
+```

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,
+                let io = WebSerialPackageIO.portIos.filter(i => i.port == port)[0];
-                    buffersize: 4096
+                if (!io) {
-                };
+                    const options: SerialOptions = {
-                return new WebSerialPackageIO(port, options);
+                        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() {
+    private async closeAsync() {
-        console.log(`serial: closing port`);
+        // don't close port
-        this.port.close();
-        this._reader = undefined;
-        this._writer = undefined;
         return Promise.delay(500);
     }
 

fieldeditors/field_motors.ts

@@ -149,9 +149,9 @@ export class FieldMotors extends Blockly.FieldDropdown implements Blockly.FieldC
     getFirstValueI11n(value: string) {
         const firstValue = this.getFirstValue(value);
         const motorOptions = {
-            'medium motor': lf('medium motor'),
+            'medium motor': lf("medium motor"),
-            'large motor': lf('large motor'),
+            'large motor': lf("large motor"),
-            'large motors': lf('large motors')
+            'large motors': lf("large motors")
         }
         return motorOptions[firstValue];
     }

libs/color-sensor/color.ts

@@ -1,5 +1,4 @@
 const enum ColorSensorMode {
-    None = 0,
     //% block="reflected light intensity"
     ReflectedLightIntensity = 0,
     //% block="ambient light intensity"
@@ -59,7 +58,6 @@ namespace sensors {
 
         constructor(port: number) {
             super(port)
-            this._setMode(ColorSensorMode.None);
             this.thresholdDetector = new sensors.ThresholdDetector(this.id());
             this.calibrating = false;
         }
@@ -181,6 +179,22 @@ namespace sensors {
             return this.getNumber(NumberFormat.UInt8LE, 0)
         }
 
+        /**
+         * Checks the color is being detected
+         * @param color the color to detect
+         */
+        //% help=sensors/color-sensor/is-color-detected
+        //% block="is **color sensor** %this|detected|%color=colorEnumPicker"
+        //% blockId=colorisColorDetectedDetected
+        //% parts="colorsensor"
+        //% blockNamespace=sensors
+        //% this.fieldEditor="ports"
+        //% weight=99 blockGap=8
+        //% group="Color Sensor"
+        isColorDetected(color: number) {
+            return this.color() == color;
+        }
+
         /**
          * Get the current raw rgb values as an array from the color sensor.
          * @param sensor the color sensor to query the request

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

@@ -0,0 +1,30 @@
+# Is Color Detected
+
+Checks the color is detected
+
+```sig
+let b = sensors.color1.isColorDetected(ColorSensorColor.Blue)
+```
+
+The [color](/reference/sensors/color) you choose to look for is one of the colors that the sensor can detect. If you want to use colors for tracking, it's best to use a color that is the same or very close to the ones the sensor detects.
+
+## Parameters
+
+* **color**: the [color](/reference/sensors/color) to watch for.
+
+## Example
+
+Wait for the sensor to see ``blue``. Then, show an expression on the screen.
+
+```blocks
+brick.showString("Waiting for blue", 1)
+while(!sensors.color1.isColorDetected(ColorSensorColor.Blue)) {
+    pause(20)
+}
+brick.clearScreen()
+brick.showImage(images.expressionsSick)
+```
+
+## See also
+
+[on color detected](/reference/sensors/color-sensor/on-color-detected), [color](/reference/sensors/color)

libs/core/battery.ts

@@ -26,6 +26,7 @@ namespace brick {
      */
     //% blockId=brickBatteryProperty block="battery %property"
     //% group="Battery"
+    //% blockGap=8
     //% help=brick/battery-property
     export function batteryInfo(property: BatteryProperty): number {
         const info = sensors.internal.getBatteryInfo();

libs/core/buttons.ts

@@ -85,7 +85,7 @@ namespace brick {
         //% blockId=buttonIsPressed
         //% parts="brick"
         //% blockNamespace=brick
-        //% weight=81 blockGap=8
+        //% weight=81
         //% group="Buttons"
         //% button.fieldEditor="brickbuttons"
         isPressed() {

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)
+            control.cooperate(); // allow events to trigger
-                pause(1); // allow events to trigger
         }
 
         private queryAndUpdate() {
@@ -104,7 +103,7 @@ namespace sensors.internal {
         }
     }
 
-    function init() {
+    export function init() {
         if (sensorInfos) return
         sensorInfos = []
         for (let i = 0; i < DAL.NUM_INPUTS; ++i) sensorInfos.push(new SensorInfo(i))
@@ -137,6 +136,7 @@ namespace sensors.internal {
         buf[UartCtlOff.Port] = port
         buf[UartCtlOff.Mode] = mode
         uartMM.ioctl(IO.UART_READ_MODE_INFO, buf)
+        control.dmesg(`UART_READ_MODE_INFO ${buf.toHex()}`)
         return buf
         //let info = `t:${buf[TypesOff.Type]} c:${buf[TypesOff.Connection]} m:${buf[TypesOff.Mode]} n:${buf.slice(0, 12).toHex()}`
         //serial.writeLine("UART " + port + " / " + mode + " - " + info)
@@ -275,21 +275,23 @@ void      cUiUpdatePower(void)
         const conns = analogMM.slice(AnalogOff.InConn, DAL.NUM_INPUTS)
         let r = 0;
         for (let i = 0; i < conns.length; ++i) {
-            r = (r << 8 | conns[i]);
+            r = conns[i] + (r << 6) + (r << 16) - r;
         }
         return r;
     }
 
     let nonActivated = 0;
     function detectDevices() {
-        //control.dmesg(`detect devices (${nonActivated} na)`)
+        control.dmesg(`detect devices (hash ${hashDevices()})`)
         const conns = analogMM.slice(AnalogOff.InConn, DAL.NUM_INPUTS)
         let numChanged = 0;
         const uartSensors: SensorInfo[] = [];
 
         for (const sensorInfo of sensorInfos) {
             const newConn = conns[sensorInfo.port]
-            if (newConn == sensorInfo.connType) {
+            if (newConn == sensorInfo.connType
+                && sensorInfo.sensor
+                && sensorInfo.sensor.isActive()) {
                 // control.dmesg(`connection unchanged ${newConn} at ${sensorInfo.port}`)
                 continue;
             }
@@ -425,11 +427,11 @@ void      cUiUpdatePower(void)
         constructor(port: number) {
             super(port)
             this.mode = 0
-            this.realmode = 0
+            this.realmode = -1
         }
 
         _activated() {
-            this.realmode = 0
+            this.realmode = -1
             this._setMode(this.mode)
         }
 
@@ -456,7 +458,7 @@ void      cUiUpdatePower(void)
 
         reset() {
             if (this.isActive()) uartReset(this._port);
-            this.realmode = 0;
+            this.realmode = -1;
         }
     }
 
@@ -556,7 +558,7 @@ void      cUiUpdatePower(void)
     }
 
     function setUartModes() {
-        control.dmesg(`UART set modes`)
+        control.dmesg(`UART set modes ${devcon.toHex()}`)
         uartMM.ioctl(IO.UART_SET_CONN, devcon)
         const ports: number[] = [];
         for (let port = 0; port < DAL.NUM_INPUTS; ++port) {
@@ -568,7 +570,7 @@ void      cUiUpdatePower(void)
         while (ports.length) {
             const port = ports.pop();
             const status = waitNonZeroUartStatus(port)
-            control.dmesg(`UART set mode ${status} at ${port}`);
+            control.dmesg(`UART status ${status} at ${port}`);
         }
     }
 
@@ -584,6 +586,7 @@ void      cUiUpdatePower(void)
         while (true) {
             if (port < 0) return
             updateUartMode(port, mode);
+            control.dmesg(`UART_SET_CONN ${devcon.toHex()}`)
             uartMM.ioctl(IO.UART_SET_CONN, devcon)
             let status = waitNonZeroUartStatus(port)
             if (status & UART_PORT_CHANGED) {

libs/core/output.ts

@@ -55,7 +55,7 @@ namespace motors {
         Size = 12
     }
 
-    function init() {
+    export function init() {
         if (pwmMM) return
         pwmMM = control.mmap("/dev/lms_pwm", 0, 0)
         if (!pwmMM) control.fail("no PWM file")
@@ -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 {
@@ -159,6 +159,7 @@ namespace motors {
         private _accelerationTime: number;
         private _decelerationSteps: number;
         private _decelerationTime: number;
+        private _inverted: boolean;
 
         protected static output_types: number[] = [0x7, 0x7, 0x7, 0x7];
 
@@ -176,6 +177,7 @@ namespace motors {
             this._accelerationTime = 0;
             this._decelerationSteps = 0;
             this._decelerationTime = 0;
+            this._inverted = false;
         }
 
         /**
@@ -225,9 +227,11 @@ namespace motors {
         //% help=motors/motor/set-inverted
         setInverted(inverted: boolean) {
             this.init();
-            const b = mkCmd(this._port, DAL.opOutputPolarity, 1)
+            this._inverted = inverted;
-            b.setNumber(NumberFormat.Int8LE, 2, inverted ? 0 : 1);
+        }
-            writePWM(b)
+
+        protected invertedFactor(): number {
+            return this._inverted ? -1 : 1;
         }
 
         /** 
@@ -265,7 +269,7 @@ namespace motors {
             if (this._brake && this._brakeSettleTime > 0)
                 pause(this._brakeSettleTime);
             else {
-                pause(1);
+                control.cooperate();
             }
         }
 
@@ -276,7 +280,7 @@ namespace motors {
                 // allow robot to settle
                 this.settle();
             } else {
-                pause(1);
+                control.cooperate();
             }
         }
 
@@ -294,8 +298,9 @@ namespace motors {
         }
 
         private normalizeSchedule(speed: number, step1: number, step2: number, step3: number, unit: MoveUnit): MoveSchedule {
+            // motor polarity is not supported at the firmware level for sync motor operations
             const r: MoveSchedule = {
-                speed: Math.clamp(-100, 100, speed >> 0),
+                speed: Math.clamp(-100, 100, speed | 0) * this.invertedFactor(),
                 useSteps: true,
                 steps: [step1 || 0, step2 || 0, step3 || 0]
             }
@@ -352,7 +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;
             }
 
@@ -562,6 +567,7 @@ namespace motors {
 
         private __init() {
             this.setOutputType(this._large);
+            this.setInverted(false);
         }
 
         /**
@@ -741,7 +747,7 @@ namespace motors {
         //% help=motors/synced/steer
         steer(turnRatio: number, speed: number, value: number = 0, unit: MoveUnit = MoveUnit.MilliSeconds) {
             this.init();
-            speed = Math.clamp(-100, 100, speed >> 0);
+            speed = Math.clamp(-100, 100, speed >> 0) * this.invertedFactor();
             if (!speed) {
                 this.stop();
                 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/ev3/brick.ts

@@ -0,0 +1,13 @@
+namespace brick {
+    /**
+     * Exits the program to the main menu. (in the simulator restarts it)
+     */
+    //% blockId=loopstop block="exit program"
+    //% help=reference/brick/exit-program
+    //% weight=10
+    //% blockGap=8
+    //% group="Buttons"
+    export function exitProgram() {
+        control.reset();
+    }
+}

libs/ev3/ns.ts

@@ -1,6 +1,6 @@
 
 //% color="#68C3E2" weight=100 icon="\uf106"
-//% groups='["Buttons", "Screen", "Battery"]'
+//% groups='["Buttons", "Screen", "Power"]'
 //% labelLineWidth=60
 namespace brick {
 }

libs/ev3/pxt.json

@@ -2,8 +2,9 @@
     "name": "ev3",
     "description": "The EV3 library",
     "files": [
-        "README.md",
+        "README.md",        
         "ns.ts",
+        "brick.ts",
         "startup.ts",
         "images.jres",
         "images.ts",

libs/ev3/startup.ts

@@ -2,9 +2,5 @@
 console.addListener(function(msg: string) {
     control.dmesg(msg.substr(0, msg.length - 1))
 })
-// pulse green, play startup sound, turn off light
+
-brick.setStatusLight(StatusLight.GreenPulse);
+brick.showBoot();
-// We pause for 100ms to give time to read sensor values, so they work in on_start block
-pause(400)
-// and we're ready
-brick.setStatusLight(StatusLight.Off);

libs/screen/targetoverrides.ts

@@ -129,8 +129,8 @@ namespace brick {
 
         screenMode = ScreenMode.Ports;
         renderPorts();
-        control.runInParallel(function() {
+        control.runInParallel(function () {
-            while(screenMode == ScreenMode.Ports) {
+            while (screenMode == ScreenMode.Ports) {
                 renderPorts();
                 pause(50);
             }
@@ -140,8 +140,20 @@ namespace brick {
     function renderPorts() {
         const col = 44;
         const lineHeight8 = image.font8.charHeight + 2;
+        const h = screen.height;
+        const w = screen.width;
+        const blink = (control.millis() >> 5) % (h - 1);
+
         clearScreen();
 
+        for (let i = 0; i < 4; ++i) {
+            const x = i * col + 2;
+            screen.print("ABCD"[i], x, 1 * lineHeight8, 1, image.font8)
+            screen.print((i + 1).toString(), x, h - lineHeight8, 1, image.font8)
+        }
+        screen.drawLine(0, 5 * lineHeight8, screen.width, 5 * lineHeight8, 1);
+        screen.drawLine(0, h - 5 * lineHeight8, screen.width, h - 5 * lineHeight8, 1)
+
         function scale(x: number) {
             if (Math.abs(x) >= 5000) {
                 const k = Math.floor(x / 1000);
@@ -155,25 +167,38 @@ namespace brick {
         const datas = motors.getAllMotorData();
         for (let i = 0; i < datas.length; ++i) {
             const data = datas[i];
+            const x = i * col + 2;
             if (!data.actualSpeed && !data.count) continue;
-            const x = i * col;
+            screen.print(`${scale(data.actualSpeed)}%`, x, 3 * lineHeight8, 1, image.font8)
-            screen.print("ABCD"[i], x + 2, 1 * lineHeight8, 1, image.font8)
+            screen.print(`${scale(data.count)}>`, x, 4 * lineHeight8, 1, image.font8)
-            screen.print(`${scale(data.actualSpeed)}%`, x + 2, 3 * lineHeight8, 1, image.font8)
-            screen.print(`${scale(data.count)}>`, x + 2, 4 * lineHeight8, 1, image.font8)
         }
-        screen.drawLine(0, 5 * lineHeight8, screen.width, 5 * lineHeight8, 1);
 
         // sensors
         const sis = sensors.internal.getActiveSensors();
-        const h = screen.height;
-        screen.drawLine(0, h - 5 * lineHeight8, screen.width, h - 5 * lineHeight8, 1)
         for (let i = 0; i < sis.length; ++i) {
             const si = sis[i];
-            const x = (si.port() - 1) * col;
+            const x = (si.port() - 1) * col + 2;
             const inf = si._info();
-            screen.print(si.port() + "", x, h - 4 * lineHeight8, 1, image.font8)
+            if (inf)
-            screen.print(inf, x, h - 2 * lineHeight8, 1, inf.length > 4 ? image.font5 : image.font8);
+                screen.print(inf, x, h - 2 * lineHeight8, 1, inf.length > 4 ? image.font5 : image.font8);
         }
+
+        // alive dot
+        screen.setPixel(w - 1, blink, 1);
+        screen.setPixel(w - 1, blink - 1, 1);
+        screen.setPixel(w - 2, blink - 1, 1);
+        screen.setPixel(w - 2, blink, 1);
+    }
+
+    export function showBoot() {
+        // pulse green, play startup sound, turn off light
+        brick.setStatusLight(StatusLight.GreenPulse);
+        // We pause for 100ms to give time to read sensor values, so they work in on_start block
+        sensors.internal.init();
+        motors.init();
+        pause(800);
+        // and we're ready
+        brick.setStatusLight(StatusLight.Off);
     }
 
     /**

package.json

@@ -1,6 +1,6 @@
 {
   "name": "pxt-ev3",
-  "version": "1.2.22",
+  "version": "1.2.28",
   "description": "LEGO MINDSTORMS EV3 for Microsoft MakeCode",
   "private": false,
   "keywords": [

sim/state/motornode.ts

@@ -9,7 +9,6 @@ namespace pxsim {
         private angle: number = 0;
         private tacho: number = 0;
         private speed: number = 0;
-        private polarity: number = 1; // -1, 1 or -1
 
         private started: boolean;
         private speedCmd: DAL;
@@ -31,7 +30,7 @@ namespace pxsim {
         }
 
         getSpeed() {
-            return Math.round(this.speed * (!this._synchedMotor && this.polarity == 0 ? -1 : 1));
+            return Math.round(this.speed);
         }
 
         getAngle() {
@@ -82,16 +81,6 @@ namespace pxsim {
             return this.id == NodeType.LargeMotor;
         }
 
-        setPolarity(polarity: number) {
-            // Either 1 or 255 (reverse)
-            /*
-                -1 : Motor will run backward  
-                0 : Motor will run opposite direction  
-                1 : Motor will run forward             
-            */
-            this.polarity = polarity;
-        }
-
         reset() {
             // not sure what reset does...
         }

sim/state/output.ts

@@ -119,11 +119,7 @@ namespace pxsim {
                             return 2;
                         }
                         case DAL.opOutputPolarity: {
-                            // reverse
+                            console.error("opOutputPolarity not supported");
-                            const port = buf.data[1];
-                            const polarity = pxsim.BufferMethods.getNumber(buf, BufferMethods.NumberFormat.Int8LE, 2);
-                            const motors = ev3board().getMotor(port);
-                            motors.forEach(motor => motor.setPolarity(polarity));
                             return 2;
                         }
                         case DAL.opOutputSetType: {