1.1.10

* Add exitThread() polling the exit button

* Add missing includes

* Remove redundant code

.travis.yml

@@ -0,0 +1,9 @@
+language: node_js
+node_js:
+  - "8.9.0"
+script:
+  - "node node_modules/pxt-core/built/pxt.js travis"
+sudo: false
+cache:
+  directories:
+    - node_modules

README.md

@@ -1,10 +1,8 @@
-# LEGO® MINDSTORMS® Education EV3 for Microsoft MakeCode
-
-[![Build Status](https://ci2.dot.net/buildStatus/icon?job=Private/pxt_project_rainbow/master/pxt-ev3_Push)](https://ci2.dot.net/job/Private/job/pxt_project_rainbow/job/master/job/pxt-ev3_Push/)
+# LEGO® MINDSTORMS® Education EV3 for Microsoft MakeCode [![Build Status](https://travis-ci.org/microsoft/pxt-ev3.svg?branch=master)](https://travis-ci.org/microsoft/pxt-ev3)
 
 This repo contains the editor target hosted at https://makecode.mindstorms.com
 
-## Local Dev setup
+## Local setup
 
 These instructions assume familiarity with dev tools and languages.
 
@@ -12,10 +10,6 @@ These instructions assume familiarity with dev tools and languages.
 * install Docker; make sure `docker` command is in your `PATH`
 * (optional) install [Visual Studio Code](https://code.visualstudio.com/)
 
-In a common folder,
-
-* clone https://github.com/Microsoft/pxt to ``pxt`` folder
-* clone https://github.com/Microsoft/pxt-common-packages to ``pxt-common-packages`` folder
 * clone https://github.com/Microsoft/pxt-ev3 to ``pxt-ev3`` folder
 * go to ``pxt`` and run
 
@@ -23,6 +17,18 @@ In a common folder,
 npm install
 ```
 
+* to run the local server,
+```
+pxt serve --cloud
+```
+
+## Local Dev setup
+
+In the common folder,
+
+* clone https://github.com/Microsoft/pxt to ``pxt`` folder
+* clone https://github.com/Microsoft/pxt-common-packages to ``pxt-common-packages`` folder
+
 * go to ``pxt-common-packages`` and run
 
 ```
@@ -54,9 +60,6 @@ cd libs/core
 pxt deploy
 ```
 
-### Jenkins build
-https://ci2.dot.net/job/Private/job/pxt_project_rainbow/job/master/
-
 ## License
 MIT
 

docs/coding/line-detection.md

@@ -190,12 +190,10 @@ if (true) {
 
 ```blocks
 forever(function () {
-    while (true) {
-        sensors.color3.pauseUntilColorDetected(ColorSensorColor.Black)
+    while (sensors.color3.color() == ColorSensorColor.Black) {
         motors.largeBC.steer(-30, 50)
     }
-    while (true) {
-        sensors.color3.pauseUntilColorDetected(ColorSensorColor.White)
+    while (sensors.color3.color() == ColorSensorColor.White) {
         motors.largeBC.steer(30, 50)
     }
 })
@@ -209,11 +207,9 @@ Else the Color Sensor detects the color white, start motors ``B`` and ``C`` (dri
 
 ```blocks
 forever(function () {
-    if (true) {
-        sensors.color3.pauseUntilColorDetected(ColorSensorColor.Black)
+    if (sensors.color3.color() == ColorSensorColor.Black) {
         motors.largeBC.steer(-30, 50)
     } else {
-        sensors.color3.pauseUntilColorDetected(ColorSensorColor.White)
         motors.largeBC.steer(30, 50)
     }
 })

docs/projects.md

@@ -1,46 +1,9 @@
 # Projects
 
-```codecard
-[
-    {
-        "name": "Getting Started",
-        "url": "/getting-started",
-        "imageUrl": "/static/lessons/firmware.png"
-    },
-    {
-        "name": "Tutorials",
-        "url": "/tutorials",
-        "imageUrl": "/static/tutorials/wake-up.png"
-    },
-    {
-        "name": "Design Engineering",
-        "url": "/design-engineering",
-        "imageUrl": "/static/lessons/make-it-move-without-wheels.png"
-    },
-    {
-        "name": "Coding",
-        "url": "/coding",
-        "imageUrl": "/static/lessons/autonomous-parking.png"
-    },
-    {
-        "name": "Maker",
-        "url": "/maker",
-        "imageUrl": "/static/lessons/make-a-sound-machine.png"
-    },
-    {
-        "name": "Videos",
-        "url": "/videos",
-        "imageUrl": "https://legoeducation.videomarketingplatform.co/27288170/35719444/5d009e5f93fbf479c2e5ed2bf87a7990/thumbnail.png"
-    }
-]
-```
+Here are some cool projects that you can build with your @boardname@!
 
-## See Also
+## Basic
 
-[Getting Started](/getting-started),
-[Tutorials](/tutorials),
-[Design Engineering](/design-engineering),
-[Coding](/coding),
-[Maker](/maker),
-[Videos](/videos)
+Basic projects to build with your EV3 Brick.
 
+Coming soon.

docs/projects/SUMMARY.md

@@ -1,35 +0,0 @@
-# Projects
-
-* [Getting Started](/getting-started)
-  * [Prepare](https://makecode.mindstorms.com/troubleshoot)
-  * [Try](/getting-started/try)
-  * [Use](/getting-started/use)
-* [Tutorials](/tutorials)
-  * [Wake Up!](/tutorials/wake-up)
-  * [Make an Animation](/tutorials/make-an-animation)
-  * [What Animal Am I?](/tutorials/what-animal-am-i)
-  * [Music Brick](/tutorials/music-brick)
-  * [Run Motors](/tutorials/run-motors)
-  * [Touch to Run](/tutorials/touch-to-run)
-  * [Touch Sensor Values](/tutorials/touch-sensor-values)
-  * [What Color?](/tutorials/what-color)
-  * [Line Following](/tutorials/line-following)
-  * [Red Light, Green Light](/tutorials/redlight-greenlight)
-  * [Security Alert](/tutorials/security-alert)
-* [Design Engineering](/design-engineering)
-  * [Make It Move Without Wheels](/design-engineering/make-it-move)
-  * [Make It Smarter and Faster](/design-engineering/make-it-smarter)
-  * [Make a System that Communicates](/design-engineering/make-it-communicate)
-* [Coding](/coding)
-  * [Autonomous Parking](/coding/autonomous-parking)
-  * [Object Detection](/coding/object-detection)
-  * [Line Detection](/coding/line-detection)
-* [Maker](/maker)
-  * [Make A Sound Machine](/maker/sound-machine)
-  * [Make A Security Gadget](/maker/security-gadget)
-* [Videos](/videos)
-  * [undefined](https://legoeducation.videomarketingplatform.co/v.ihtml/player.html?token=5d009e5f93fbf479c2e5ed2bf87a7990&source=embed&photo%5fid=35719444)
-  * [undefined](https://legoeducation.videomarketingplatform.co/v.ihtml/player.html?token=2008a566f1fb034d58d5ebe19ba8621f&source=embed&photo%5fid=35719467)
-  * [undefined](https://legoeducation.videomarketingplatform.co/v.ihtml/player.html?token=629730c938e452f0fd7653fbc4708166&source=embed&photo%5fid=35719470)
-  * [undefined](https://legoeducation.videomarketingplatform.co/v.ihtml/player.html?token=3513a83b87fe536b2dc512237465fd1b&source=embed&photo%5fid=35719471)
-  * [undefined](https://legoeducation.videomarketingplatform.co/v.ihtml/player.html?token=5c594c2373367f7870196f519f3bfc7a&source=embed&photo%5fid=35719472)

editor/deploy.ts

@@ -33,7 +33,7 @@ export function initAsync() {
         canHID = false
     } else {
         const forceHexDownload = /forceHexDownload/i.test(window.location.href);
-        if (pxt.BrowserUtils.isLocalHost() && pxt.Cloud.localToken && !forceHexDownload)
+        if (pxt.Cloud.isLocalHost() && pxt.Cloud.localToken && !forceHexDownload)
             canHID = true
     }
 

fieldeditors/extension.ts

@@ -3,7 +3,9 @@
 
 import { FieldPorts } from "./field_ports";
 import { FieldMotors } from "./field_motors";
+import { FieldSpeed } from "./field_speed";
 import { FieldBrickButtons } from "./field_brickbuttons";
+import { FieldTurnRatio } from "./field_turnratio";
 import { FieldColorEnum } from "./field_color";
 import { FieldMusic } from "./field_music";
 
@@ -17,9 +19,15 @@ pxt.editor.initFieldExtensionsAsync = function (opts: pxt.editor.FieldExtensionO
         }, {
             selector: "motors",
             editor: FieldMotors
+        }, {
+            selector: "speed",
+            editor: FieldSpeed
         }, {
             selector: "brickbuttons",
             editor: FieldBrickButtons
+        }, {
+            selector: "turnratio",
+            editor: FieldTurnRatio
         }, {
             selector: "colorenum",
             editor: FieldColorEnum

fieldeditors/field_brickbuttons.ts

@@ -121,7 +121,7 @@ export class FieldBrickButtons extends Blockly.FieldDropdown implements Blockly.
         Blockly.DropDownDiv.setColour('#ffffff', '#dddddd');
 
         // Calculate positioning based on the field position.
-        var scale = (<Blockly.WorkspaceSvg>this.sourceBlock_.workspace).scale;
+        var scale = this.sourceBlock_.workspace.scale;
         var bBox = { width: this.size_.width, height: this.size_.height };
         bBox.width *= scale;
         bBox.height *= scale;
@@ -131,7 +131,7 @@ export class FieldBrickButtons extends Blockly.FieldDropdown implements Blockly.
         var secondaryX = primaryX;
         var secondaryY = position.top;
         // Set bounds to workspace; show the drop-down.
-        (Blockly.DropDownDiv as any).setBoundsElement((<Blockly.WorkspaceSvg>this.sourceBlock_.workspace).getParentSvg().parentNode);
+        (Blockly.DropDownDiv as any).setBoundsElement(this.sourceBlock_.workspace.getParentSvg().parentNode);
         (Blockly.DropDownDiv as any).show(this, primaryX, primaryY, secondaryX, secondaryY,
             this.onHide_.bind(this));
     }
@@ -152,10 +152,9 @@ export class FieldBrickButtons extends Blockly.FieldDropdown implements Blockly.
      * Callback for when the drop-down is hidden.
      */
     private onHide_ = function () {
-        const content = Blockly.DropDownDiv.getContentDiv();
-        content.removeAttribute('role');
-        content.removeAttribute('aria-haspopup');
-        content.removeAttribute('aria-activedescendant');
-        content.style.width = '';
+        Blockly.DropDownDiv.content_.removeAttribute('role');
+        Blockly.DropDownDiv.content_.removeAttribute('aria-haspopup');
+        Blockly.DropDownDiv.content_.removeAttribute('aria-activedescendant');
+        Blockly.DropDownDiv.getContentDiv().style.width = '';
     };
 }

fieldeditors/field_motors.ts

@@ -53,7 +53,7 @@ export class FieldMotors extends Blockly.FieldDropdown implements Blockly.FieldC
         this.arrow_.setAttributeNS('http://www.w3.org/1999/xlink',
             'xlink:href', (Blockly.FieldDropdown as any).DROPDOWN_SVG_DATAURI);
 
-        this.arrow2_ = <SVGImageElement>Blockly.utils.createSvgElement('image', {
+        this.arrow2_ = Blockly.utils.createSvgElement('image', {
             'height': (this as any).arrowSize_ + 'px',
             'width': (this as any).arrowSize_ + 'px'
         });
@@ -79,7 +79,7 @@ export class FieldMotors extends Blockly.FieldDropdown implements Blockly.FieldC
             },
             this.fieldGroup_);
         fieldX += 10; // size of first group.
-        this.textElement2_ = <SVGTextElement>Blockly.utils.createSvgElement('text',
+        this.textElement2_ = Blockly.utils.createSvgElement('text',
             {
                 'class': (this as any).className_,
                 'x': fieldX,
@@ -89,7 +89,7 @@ export class FieldMotors extends Blockly.FieldDropdown implements Blockly.FieldC
             this.fieldGroup_);
 
         this.updateEditable();
-        (this.sourceBlock_ as Blockly.BlockSvg).getSvgRoot().appendChild(this.fieldGroup_);
+        this.sourceBlock_.getSvgRoot().appendChild(this.fieldGroup_);
         // Force a render.
         this.render_();
         this.size_.width = 0;
@@ -99,7 +99,7 @@ export class FieldMotors extends Blockly.FieldDropdown implements Blockly.FieldC
 
         // Add second dropdown 
         if (this.shouldShowRect_()) {
-            this.box_ = <SVGRectElement>Blockly.utils.createSvgElement('rect', {
+            this.box_ = Blockly.utils.createSvgElement('rect', {
                 'rx': (Blockly.BlockSvg as any).CORNER_RADIUS,
                 'ry': (Blockly.BlockSvg as any).CORNER_RADIUS,
                 'x': 0,
@@ -112,7 +112,7 @@ export class FieldMotors extends Blockly.FieldDropdown implements Blockly.FieldC
                 'fill-opacity': 1
             }, null);
             this.fieldGroup_.insertBefore(this.box_, this.textElement_);
-            this.box2_ = <SVGRectElement>Blockly.utils.createSvgElement('rect', {
+            this.box2_ = Blockly.utils.createSvgElement('rect', {
                 'rx': (Blockly.BlockSvg as any).CORNER_RADIUS,
                 'ry': (Blockly.BlockSvg as any).CORNER_RADIUS,
                 'x': 0,
@@ -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"),
-            'large motor': lf("large motor"),
-            'large motors': lf("large motors")
+            'medium motor': lf('medium motor'),
+            'large motor': lf('large motor'),
+            'large motors': lf('large motors')
         }
         return motorOptions[firstValue];
     }
@@ -233,8 +233,8 @@ export class FieldMotors extends Blockly.FieldDropdown implements Blockly.FieldC
         if (this.textElement2_) {
             this.textElement2_.parentNode.appendChild(this.arrow2_);
         }
-        if (this.sourceBlock_ && (<Blockly.BlockSvg>this.sourceBlock_).rendered) {
-            (<Blockly.BlockSvg>this.sourceBlock_).render();
+        if (this.sourceBlock_ && this.sourceBlock_.rendered) {
+            this.sourceBlock_.render();
             this.sourceBlock_.bumpNeighbours_();
         }
     }
@@ -311,12 +311,12 @@ export class FieldMotors extends Blockly.FieldDropdown implements Blockly.FieldC
 
             // First dropdown
             // Use one of the following options, medium motor, large motor or large motors (translated)
-            const textNode1 = document.createTextNode(this.getFirstValueI11n(<string>this.value_));
+            const textNode1 = document.createTextNode(this.getFirstValueI11n(this.value_));
             this.textElement_.appendChild(textNode1);
 
             // Second dropdown, no need to translate. Only port numbers
             if (this.textElement2_) {
-                const textNode2 = document.createTextNode(this.getSecondValue(<string>this.value_));
+                const textNode2 = document.createTextNode(this.getSecondValue(this.value_));
                 this.textElement2_.appendChild(textNode2);
             }
             this.updateWidth();
@@ -401,7 +401,7 @@ export class FieldMotors extends Blockly.FieldDropdown implements Blockly.FieldC
         if (Blockly.DropDownDiv.hideIfOwner(this)) {
             return;
         }
-        this.isFirst_ = e.clientX - this.getScaledBBox_().left < ((this as any).width1 * (<Blockly.WorkspaceSvg>this.sourceBlock_.workspace).scale);
+        this.isFirst_ = e.clientX - this.getScaledBBox_().left < ((this as any).width1 * this.sourceBlock_.workspace.scale);
         // If there is an existing drop-down someone else owns, hide it immediately and clear it.
         Blockly.DropDownDiv.hideWithoutAnimation();
         Blockly.DropDownDiv.clearContent();
@@ -433,8 +433,8 @@ export class FieldMotors extends Blockly.FieldDropdown implements Blockly.FieldC
             vals[text] = value;
         }
 
-        const currentFirst = this.getFirstValue(<string>this.value_);
-        const currentSecond = this.getSecondValue(<string>this.value_);
+        const currentFirst = this.getFirstValue(this.value_);
+        const currentSecond = this.getSecondValue(this.value_);
 
         if (!this.isFirst_) {
             options = opts[currentFirst];
@@ -526,7 +526,7 @@ export class FieldMotors extends Blockly.FieldDropdown implements Blockly.FieldC
         Blockly.DropDownDiv.setColour(this.backgroundColour_, this.borderColour_);
 
         // Calculate positioning based on the field position.
-        let scale = (<Blockly.WorkspaceSvg>this.sourceBlock_.workspace).scale;
+        let scale = this.sourceBlock_.workspace.scale;
         let width = this.isFirst_ ? (this as any).width1 : (this as any).width2;
         let bBox = { width: this.size_.width, height: this.size_.height };
         width *= scale;
@@ -538,7 +538,7 @@ export class FieldMotors extends Blockly.FieldDropdown implements Blockly.FieldC
         let secondaryX = primaryX;
         let secondaryY = position.top;
         // Set bounds to workspace; show the drop-down.
-        (Blockly.DropDownDiv as any).setBoundsElement((<Blockly.WorkspaceSvg>this.sourceBlock_.workspace).getParentSvg().parentNode);
+        (Blockly.DropDownDiv as any).setBoundsElement(this.sourceBlock_.workspace.getParentSvg().parentNode);
         (Blockly.DropDownDiv as any).show(this, primaryX, primaryY, secondaryX, secondaryY,
             this.onHide_.bind(this));
 
@@ -561,11 +561,10 @@ export class FieldMotors extends Blockly.FieldDropdown implements Blockly.FieldC
      * Callback for when the drop-down is hidden.
      */
     protected onHide_() {
-        const content = Blockly.DropDownDiv.getContentDiv();
-        content.removeAttribute('role');
-        content.removeAttribute('aria-haspopup');
-        content.removeAttribute('aria-activedescendant');
-        content.style.width = '';
+        Blockly.DropDownDiv.content_.removeAttribute('role');
+        Blockly.DropDownDiv.content_.removeAttribute('aria-haspopup');
+        Blockly.DropDownDiv.content_.removeAttribute('aria-activedescendant');
+        Blockly.DropDownDiv.getContentDiv().style.width = '';
         if (this.isFirst_ && this.box_) {
             this.box_.setAttribute('fill', this.sourceBlock_.getColour());
         } else if (!this.isFirst_ && this.box2_) {

fieldeditors/field_music.ts

@@ -85,7 +85,7 @@ export class FieldMusic extends pxtblockly.FieldImages implements Blockly.FieldC
         Blockly.DropDownDiv.setColour(this.sourceBlock_.getColour(), this.sourceBlock_.getColourTertiary());
 
         // Calculate positioning based on the field position.
-        let scale = (<Blockly.WorkspaceSvg>this.sourceBlock_.workspace).scale;
+        let scale = this.sourceBlock_.workspace.scale;
         let bBox = { width: this.size_.width, height: this.size_.height };
         bBox.width *= scale;
         bBox.height *= scale;
@@ -95,7 +95,7 @@ export class FieldMusic extends pxtblockly.FieldImages implements Blockly.FieldC
         let secondaryX = primaryX;
         let secondaryY = position.top;
         // Set bounds to workspace; show the drop-down.
-        (Blockly.DropDownDiv as any).setBoundsElement((<Blockly.WorkspaceSvg>this.sourceBlock_.workspace).getParentSvg().parentNode);
+        (Blockly.DropDownDiv as any).setBoundsElement(this.sourceBlock_.workspace.getParentSvg().parentNode);
         (Blockly.DropDownDiv as any).show(this, primaryX, primaryY, secondaryX, secondaryY,
             this.onHide_.bind(this));
 

fieldeditors/field_speed.ts

@@ -0,0 +1,97 @@
+/// <reference path="../node_modules/pxt-core/localtypings/blockly.d.ts"/>
+/// <reference path="../node_modules/pxt-core/built/pxtsim.d.ts"/>
+
+export interface FieldSpeedOptions extends Blockly.FieldCustomOptions {
+    min?: string;
+    max?: string;
+    label?: string;
+}
+
+export class FieldSpeed extends Blockly.FieldSlider implements Blockly.FieldCustom {
+    public isFieldCustom_ = true;
+
+    private params: any;
+
+    private speedSVG: SVGElement;
+    private circleBar: SVGCircleElement;
+    private reporter: SVGTextElement;
+
+    /**
+     * Class for a color wheel field.
+     * @param {number|string} value The initial content of the field.
+     * @param {Function=} opt_validator An optional function that is called
+     *     to validate any constraints on what the user entered.  Takes the new
+     *     text as an argument and returns either the accepted text, a replacement
+     *     text, or null to abort the change.
+     * @extends {Blockly.FieldNumber}
+     * @constructor
+     */
+    constructor(value_: any, params: FieldSpeedOptions, opt_validator?: Function) {
+        super(String(value_), '-100', '100', null, '10', 'Speed', opt_validator);
+        this.params = params;
+        if (this.params['min']) this.min_ = parseFloat(this.params.min);
+        if (this.params['max']) this.max_ = parseFloat(this.params.max);
+        if (this.params['label']) this.labelText_ = this.params.label;
+
+        (this as any).sliderColor_ = '#a8aaa8';
+    }
+
+    createLabelDom_(labelText: string) {
+        var labelContainer = document.createElement('div');
+        this.speedSVG = document.createElementNS("http://www.w3.org/2000/svg", "svg") as SVGGElement;
+        pxsim.svg.hydrate(this.speedSVG, {
+            viewBox: "0 0 200 100",
+            width: "170"
+        });
+
+        labelContainer.appendChild(this.speedSVG);
+
+        const outerCircle = pxsim.svg.child(this.speedSVG, "circle", {
+            'stroke-dasharray': '565.48', 'stroke-dashoffset': '0',
+            'cx': 100, 'cy': 100, 'r': '90', 'style': `fill:transparent; transition: stroke-dashoffset 0.1s linear;`,
+            'stroke': '#a8aaa8', 'stroke-width': '1rem'
+        }) as SVGCircleElement;
+        this.circleBar = pxsim.svg.child(this.speedSVG, "circle", {
+            'stroke-dasharray': '565.48', 'stroke-dashoffset': '0',
+            'cx': 100, 'cy': 100, 'r': '90', 'style': `fill:transparent; transition: stroke-dashoffset 0.1s linear;`,
+            'stroke': '#f12a21', 'stroke-width': '1rem'
+        }) as SVGCircleElement;
+
+        this.reporter = pxsim.svg.child(this.speedSVG, "text", {
+            'x': 100, 'y': 80,
+            'text-anchor': 'middle', 'dominant-baseline': 'middle',
+            'style': 'font-size: 50px',
+            'class': 'sim-text inverted number'
+        }) as SVGTextElement;
+
+        // labelContainer.setAttribute('class', 'blocklyFieldSliderLabel');
+        var readout = document.createElement('span');
+        readout.setAttribute('class', 'blocklyFieldSliderReadout');
+        // var label = document.createElement('span');
+        // label.setAttribute('class', 'blocklyFieldSliderLabelText');
+        // label.innerHTML = labelText;
+        // labelContainer.appendChild(label);
+        // labelContainer.appendChild(readout);
+        return [labelContainer, readout];
+    };
+
+    setReadout_(readout: Element, value: string) {
+        this.updateSpeed(parseFloat(value));
+        // Update reporter
+        this.reporter.textContent = `${value}%`;
+    }
+
+    private updateSpeed(speed: number) {
+        let sign = this.sign(speed);
+        speed = (Math.abs(speed) / 100 * 50) + 50;
+        if (sign == -1) speed = 50 - speed;
+        let c = Math.PI * (90 * 2);
+        let pct = ((100 - speed) / 100) * c;
+        this.circleBar.setAttribute('stroke-dashoffset', `${pct}`);
+    }
+
+    // A re-implementation of Math.sign (since IE11 doesn't support it)
+    private sign(num: number) {
+        return num ? num < 0 ? -1 : 1 : 0;
+    }
+}

fieldeditors/field_turnratio.ts

@@ -0,0 +1,108 @@
+/// <reference path="../node_modules/pxt-core/localtypings/blockly.d.ts"/>
+/// <reference path="../node_modules/pxt-core/built/pxtsim.d.ts"/>
+
+export interface FieldTurnRatioOptions extends Blockly.FieldCustomOptions {
+}
+
+export class FieldTurnRatio extends Blockly.FieldSlider implements Blockly.FieldCustom {
+    public isFieldCustom_ = true;
+
+    private params: any;
+
+    private path_: SVGPathElement;
+    private reporter_: SVGTextElement;
+
+    /**
+     * Class for a color wheel field.
+     * @param {number|string} value The initial content of the field.
+     * @param {Function=} opt_validator An optional function that is called
+     *     to validate any constraints on what the user entered.  Takes the new
+     *     text as an argument and returns either the accepted text, a replacement
+     *     text, or null to abort the change.
+     * @extends {Blockly.FieldNumber}
+     * @constructor
+     */
+    constructor(value_: any, params: FieldTurnRatioOptions, opt_validator?: Function) {
+        super(String(value_), '-100', '100', null, '10', 'TurnRatio', opt_validator);
+        this.params = params;
+        (this as any).sliderColor_ = '#a8aaa8';
+    }
+
+    static HALF = 80;
+    static HANDLE_RADIUS = 30;
+    static RADIUS = FieldTurnRatio.HALF - FieldTurnRatio.HANDLE_RADIUS - 1;
+
+    createLabelDom_(labelText: string) {
+        let labelContainer = document.createElement('div');
+        let svg = Blockly.utils.createSvgElement('svg', {
+            'xmlns': 'http://www.w3.org/2000/svg',
+            'xmlns:html': 'http://www.w3.org/1999/xhtml',
+            'xmlns:xlink': 'http://www.w3.org/1999/xlink',
+            'version': '1.1',
+            'height': (FieldTurnRatio.HALF + FieldTurnRatio.HANDLE_RADIUS + 10) + 'px',
+            'width': (FieldTurnRatio.HALF * 2) + 'px'
+        }, labelContainer);
+        let defs = Blockly.utils.createSvgElement('defs', {}, svg);
+        let marker = Blockly.utils.createSvgElement('marker', {
+            'id': 'head',
+            'orient': "auto",
+            'markerWidth': '2',
+            'markerHeight': '4',
+            'refX': '0.1', 'refY': '1.5'
+        }, defs);
+        let markerPath = Blockly.utils.createSvgElement('path', {
+            'd': 'M0,0 V3 L1.5,1.5 Z',
+            'fill': '#f12a21'
+        }, marker);
+        this.reporter_ = pxsim.svg.child(svg, "text", {
+            'x': FieldTurnRatio.HALF, 'y': 96,
+            'text-anchor': 'middle', 'dominant-baseline': 'middle',
+            'style': 'font-size: 50px',
+            'class': 'sim-text inverted number'
+        }) as SVGTextElement;
+        this.path_ = Blockly.utils.createSvgElement('path', {
+            'x1': FieldTurnRatio.HALF,
+            'y1': FieldTurnRatio.HALF,
+            'marker-end': 'url(#head)',
+            'style': 'fill: none; stroke: #f12a21; stroke-width: 10'
+        }, svg);
+        this.updateGraph_();
+        let readout = document.createElement('span');
+        readout.setAttribute('class', 'blocklyFieldSliderReadout');
+        return [labelContainer, readout];
+    };
+
+    updateGraph_() {
+        if (!this.path_) {
+            return;
+        }
+        let v = goog.math.clamp(parseFloat(this.getText()), -100, 100);
+        if (isNaN(v)) {
+            v = 0;
+        }
+
+        const x = goog.math.clamp(parseFloat(this.getText()), -100, 100) / 100;
+        const theta = x * Math.PI / 2;
+        const cx = FieldTurnRatio.HALF;
+        const cy = FieldTurnRatio.HALF - 14;
+        const gamma = Math.PI - 2 * theta;
+        const r = FieldTurnRatio.RADIUS;
+        const alpha = 0.2 + Math.abs(x) * 0.5;
+        const x1 = 0;
+        const y1 = r * alpha;
+        const y2 = r * Math.sin(Math.PI / 2 - theta);
+        const x2 = r * Math.cos(Math.PI / 2 - theta);
+        const y3 = y2 - r * alpha * Math.cos(2 * theta);
+        const x3 = x2 - r * alpha * Math.sin(2 * theta);
+
+
+        const d = `M ${cx} ${cy} C ${cx} ${cy - y1} ${cx + x3} ${cy - y3} ${cx + x2} ${cy - y2}`;
+        this.path_.setAttribute('d', d);
+
+        this.reporter_.textContent = `${v}`;
+    }
+
+    setReadout_(readout: Element, value: string) {
+        this.updateGraph_();
+    }
+}

jenkins.groovy

@@ -1,41 +0,0 @@
-import jobs.generation.Utilities;
-import jobs.generation.InternalUtilities;
-
-def project = GithubProject
-def projectName = "pxt-ev3"
-
-[true, false].each { isPR ->
-    def newJobName = projectName
-
-    if (isPR) {
-        newJobName += "_PR"
-    } else {
-        newJobName += "_Push"
-    }
-
-    def newJob = job(newJobName) {
-        steps {
-            shell("chmod +x ./jenkins.sh")
-            shell("./jenkins.sh ${isPR}")
-        }
-
-        if (!isPR) {
-            wrappers {
-                credentialsBinding {
-                    string("PXT_ACCESS_TOKEN", "pxt_access_token")
-                    string("PXT_RELEASE_REPO", "pxt_release_repo_ev3")
-                    string("CROWDIN_KEY", "pxt_crowdin_key")
-                }
-            }
-        }
-    }
-
-    Utilities.setMachineAffinity(newJob, "Ubuntu", "20161020")
-    InternalUtilities.standardJobSetup(newJob, project, isPR, "*/*")
-
-    if (isPR) {
-        Utilities.addGithubPRTrigger(newJob, "Default Testing")
-    } else {
-        Utilities.addGithubPushTrigger(newJob)
-    }
-}

jenkins.sh

@@ -1,56 +0,0 @@
-#!/usr/bin/env bash
-
-# Set up NVM
-export NVM_DIR="/home/dotnet-bot/.nvm"
-[ -s "$NVM_DIR/nvm.sh" ] && . "$NVM_DIR/nvm.sh" 
-
-nvm install 8
-
-# Set up build environment variables
-echo ---------- Setting build environment variables
-echo Git branch: $GIT_BRANCH
-echo isPR: $1
-
-originRegex="^origin/.*"
-branchRegex="^origin/\K.*(?=$)"
-releaseBranchRegex="^(master|v\d+)$"
-
-if [[ "$GIT_BRANCH" =~ $originRegex ]]; then
-    branchName=$(echo ${GIT_BRANCH} | grep -oP $branchRegex)
-    echo Setting TRAVIS_BRANCH to ${branchName}
-    export TRAVIS_BRANCH=${branchName}
-else
-    echo Setting TRAVIS_BRANCH to $GIT_BRANCH
-    export TRAVIS_BRANCH=$GIT_BRANCH
-fi
-
-if [ "$1" == "false" ]; then
-    echo Setting TRAVIS_PULL_REQUEST to false
-    export TRAVIS_PULL_REQUEST=false
-
-    if [[ "$TRAVIS_BRANCH" =~ $releaseBranchRegex ]]; then
-        if [[ -z $PXT_RELEASE_REPO ]]; then
-            echo Cannot find release repo\; skipping tag checks
-        else
-            gitTag=$(git describe --tags --exact-match 2> /dev/null)
-            builtTag=$(git ls-remote --tags $PXT_RELEASE_REPO | grep -o "refs/tags/$gitTag$")
-
-            echo Current tag: $gitTag
-            echo Built tag: $builtTag
-
-            if [[ ! -z $gitTag && -z $builtTag ]]; then
-                echo Built tag not found\; building tag
-                echo Setting TRAVIS_BRANCH to $gitTag
-                export TRAVIS_BRANCH=$gitTag
-                echo Setting TRAVIS_TAG to $gitTag
-                export TRAVIS_TAG=$gitTag
-            else
-                echo Not a tag build
-            fi
-        fi
-    fi
-fi
-
-# Perform build
-npm install
-npm test

libs/base/enums.d.ts

@@ -22,8 +22,13 @@
     }
 
 
-    declare const enum PerfCounters {
-    GC = 0,
+    declare const enum ValType {
+    Undefined = 0,
+    Boolean = 1,
+    Number = 2,
+    String = 3,
+    Object = 4,
+    Function = 5,
     }
 
 // Auto-generated. Do not edit. Really.

libs/base/shims.d.ts

@@ -42,12 +42,6 @@ declare interface Buffer {
     //% start.defl=0 length.defl=-1 shim=BufferMethods::shift
     shift(offset: int32, start?: int32, length?: int32): void;
 
-    /**
-     * Convert a buffer to string assuming UTF8 encoding
-     */
-    //% shim=BufferMethods::toString
-    toString(): string;
-
     /**
      * Convert a buffer to its hexadecimal representation.
      */
@@ -78,13 +72,6 @@ declare namespace control {
      */
     //% shim=control::createBuffer
     function createBuffer(size: int32): Buffer;
-
-    /**
-     * Create a new buffer with UTF8-encoded string
-     * @param str the string to put in the buffer
-     */
-    //% shim=control::createBufferFromUTF8
-    function createBufferFromUTF8(str: string): Buffer;
 }
 declare namespace loops {
 
@@ -160,31 +147,7 @@ declare namespace control {
      *
      */
     //% shim=control::__log
-    function __log(prority: int32, text: string): void;
-
-    /**
-     * Dump internal information about a value.
-     */
-    //% shim=control::dmesgValue
-    function dmesgValue(v: any): void;
-
-    /**
-     * Force GC and dump basic information about heap.
-     */
-    //% shim=control::gc
-    function gc(): void;
-
-    /**
-     * Force GC and halt waiting for debugger to do a full heap dump.
-     */
-    //% shim=control::heapDump
-    function heapDump(): void;
-
-    /**
-     * Return true if profiling is enabled in the current build.
-     */
-    //% shim=control::profilingEnabled
-    function profilingEnabled(): boolean;
+    function __log(text: string): void;
 }
 
 // Auto-generated. Do not edit. Really.

libs/color-sensor/color.ts

@@ -1,5 +1,5 @@
 const enum ColorSensorMode {
-    None = -1,
+    None = 0,
     //% block="reflected light intensity"
     ReflectedLightIntensity = 0,
     //% block="ambient light intensity"
@@ -15,7 +15,9 @@ enum LightIntensityMode {
     //% block="reflected light"
     Reflected = ColorSensorMode.ReflectedLightIntensity,
     //% block="ambient light"
-    Ambient = ColorSensorMode.AmbientLightIntensity
+    Ambient = ColorSensorMode.AmbientLightIntensity,
+    //% block="reflected light (raw)"
+    ReflectedRaw = ColorSensorMode.RefRaw
 }
 
 const enum ColorSensorColor {
@@ -93,6 +95,8 @@ namespace sensors {
                 || this.mode == ColorSensorMode.AmbientLightIntensity
                 || this.mode == ColorSensorMode.ReflectedLightIntensity)
                 return this.getNumber(NumberFormat.UInt8LE, 0)
+            if (this.mode == ColorSensorMode.RefRaw || this.mode == ColorSensorMode.RgbRaw)
+                return this.getNumber(NumberFormat.UInt16LE, 0)
             return 0
         }
 
@@ -114,7 +118,7 @@ namespace sensors {
 
         _update(prev: number, curr: number) {
             if (this.calibrating) return; // simply ignore data updates while calibrating
-            if (this.mode == ColorSensorMode.Color)
+            if (this.mode == ColorSensorMode.Color || this.mode == ColorSensorMode.RgbRaw || this.mode == ColorSensorMode.RefRaw)
                 control.raiseEvent(this._id, this._colorEventValue(curr));
             else
                 this.thresholdDetector.setLevel(curr);
@@ -179,6 +183,22 @@ namespace sensors {
             return this.getNumber(NumberFormat.UInt8LE, 0)
         }
 
+        /**
+         * Get the current raw rgb values from the color sensor.
+         * @param sensor the color sensor to query the request
+         */
+        //% help=sensors/color-sensor/rgbraw
+        //% parts="colorsensor"
+        //% blockNamespace=sensors
+        //% this.fieldEditor="ports"
+        //% weight=98
+        //% group="Color Sensor"
+        //% blockGap=8
+        rgbRaw(): number[] {
+            this.setMode(ColorSensorMode.RgbRaw);
+            return [this.getNumber(NumberFormat.UInt16LE, 0), this.getNumber(NumberFormat.UInt16LE, 2), this.getNumber(NumberFormat.UInt16LE, 4)];
+        }
+
         /**
          * Registers code to run when the ambient light changes.
          * @param condition the light condition
@@ -229,7 +249,12 @@ namespace sensors {
         //% group="Color Sensor"
         light(mode: LightIntensityMode) {
             this.setMode(<ColorSensorMode><number>mode)
-            return this.getNumber(NumberFormat.UInt8LE, 0)
+            switch(mode) {
+                case LightIntensityMode.ReflectedRaw:
+                    return this.reflectedLightRaw();
+                default:
+                    return this.getNumber(NumberFormat.UInt8LE, 0)
+            }
         }
 
         /**
@@ -248,6 +273,15 @@ namespace sensors {
             return this.light(LightIntensityMode.Reflected);
         }
 
+        /**
+         * Gets the raw reflection light value
+         */
+        //%
+        reflectedLightRaw(): number {
+            this.setMode(ColorSensorMode.RefRaw);
+            return this.getNumber(NumberFormat.UInt16LE, 0);
+        }
+
         /**
          * Set a threshold value
          * @param condition the dark or bright light condition

libs/core/buttons.ts

@@ -159,12 +159,6 @@ namespace brick {
             if (sl[i])
                 ret |= 1 << i
         }
-        // this needs to be done in query(), which is run without the main JS execution mutex
-        // otherwise, while(true){} will lock the device
-        if (ret & DAL.BUTTON_ID_ESCAPE) {
-            motors.stopAll(); // ensuring that all motors are off
-            control.reset()
-        }
         return ret
     }
 

libs/core/input.ts

@@ -25,8 +25,17 @@ namespace sensors.internal {
         })
     }
 
+    export function bufferToString(buf: Buffer): string {
+        let s = ''
+        for (let i = 0; i < buf.length; i++)
+            s += String.fromCharCode(buf[i])
+
+        return s
+    }
+
     let analogMM: MMap
     let uartMM: MMap
+    let IICMM: MMap
     let devcon: Buffer
     let sensorInfos: SensorInfo[]
 
@@ -36,11 +45,13 @@ namespace sensors.internal {
         sensors: Sensor[]
         connType: number
         devType: number
+        iicid: string
 
         constructor(p: number) {
             this.port = p
             this.connType = DAL.CONN_NONE
             this.devType = DAL.DEVICE_TYPE_NONE
+            this.iicid = ''
             this.sensors = []
         }
     }
@@ -57,20 +68,21 @@ namespace sensors.internal {
         uartMM = control.mmap("/dev/lms_uart", UartOff.Size, 0)
         if (!uartMM) control.fail("no uart sensor")
 
-        forever(() => {
-            detectDevices()
-            pause(500)
-        })
+        IICMM = control.mmap("/dev/lms_iic", IICOff.Size, 0)
+        if (!IICMM) control.fail("no iic sensor")
 
-        for (let info_ of sensorInfos) {
-            let info = info_
+        unsafePollForChanges(500, 
+            () => { return hashDevices(); }, 
+            (prev, curr) => { detectDevices(); 
+        });
+        sensorInfos.forEach(info => {
             unsafePollForChanges(50, () => {
                 if (info.sensor) return info.sensor._query()
                 return 0
             }, (prev, curr) => {
                 if (info.sensor) info.sensor._update(prev, curr)
             })
-        }
+        })
 
     }
 
@@ -89,6 +101,15 @@ namespace sensors.internal {
         //serial.writeLine("UART " + port + " / " + mode + " - " + info)
     }
 
+    export function readIICID(port: number) {
+        const buf = output.createBuffer(IICStr.Size)
+        buf[IICStr.Port] = port
+        IICMM.ioctl(IO.IIC_READ_TYPE_INFO, buf)
+        const manufacturer = bufferToString(buf.slice(IICStr.Manufacturer, 8))
+        const sensorType = bufferToString(buf.slice(IICStr.SensorType, 8))
+        return manufacturer + sensorType;
+    }
+
     export function getBatteryInfo(): { temp: number; current: number } {
         init();
         return {
@@ -97,52 +118,87 @@ namespace sensors.internal {
         }
     }
 
-    function detectDevices() {
-        let conns = analogMM.slice(AnalogOff.InConn, DAL.NUM_INPUTS)
-        let numChanged = 0
+    function hashDevices(): number {
+        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]);
+        }
+        return r;
+    }
 
-        for (let info of sensorInfos) {
-            let newConn = conns[info.port]
-            if (newConn == info.connType)
-                continue
+    let nonActivated = 0;
+    function detectDevices() {
+        control.dmesg(`detect devices (${nonActivated} na)`)
+        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) {
+                // control.dmesg(`connection unchanged ${newConn} at ${sensorInfo.port}`)
+                continue;
+            }
             numChanged++
-            info.connType = newConn
-            info.devType = DAL.DEVICE_TYPE_NONE
+            sensorInfo.connType = newConn
+            sensorInfo.devType = DAL.DEVICE_TYPE_NONE
             if (newConn == DAL.CONN_INPUT_UART) {
-                control.dmesg(`new UART connection at ${info.port}`)
-                setUartMode(info.port, 0)
-                let uinfo = readUartInfo(info.port, 0)
-                info.devType = uinfo[TypesOff.Type]
-                control.dmesg(`UART type ${info.devType}`)
+                control.dmesg(`new UART connection at ${sensorInfo.port}`)
+                updateUartMode(sensorInfo.port, 0);
+                uartSensors.push(sensorInfo);
+            } else if (newConn == DAL.CONN_NXT_IIC) {
+                control.dmesg(`new IIC connection at ${sensorInfo.port}`)
+                sensorInfo.devType = DAL.DEVICE_TYPE_IIC_UNKNOWN
+                sensorInfo.iicid = readIICID(sensorInfo.port)
+                control.dmesg(`IIC ID ${sensorInfo.iicid.length}`)
             } else if (newConn == DAL.CONN_INPUT_DUMB) {
-                control.dmesg(`new DUMB connection at ${info.port}`)
+                control.dmesg(`new DUMB connection at ${sensorInfo.port}`)
                 // TODO? for now assume touch
-                info.devType = DAL.DEVICE_TYPE_TOUCH
+                sensorInfo.devType = DAL.DEVICE_TYPE_TOUCH
             } else if (newConn == DAL.CONN_NONE || newConn == 0) {
-                control.dmesg(`disconnect at ${info.port}`)
+                control.dmesg(`disconnect at port ${sensorInfo.port}`)
             } else {
-                control.dmesg(`unknown connection type: ${newConn} at ${info.port}`)
+                control.dmesg(`unknown connection type: ${newConn} at ${sensorInfo.port}`)
             }
         }
 
-        if (numChanged == 0)
+        if (uartSensors.length > 0) {
+            setUartModes();
+            for (const sensorInfo of uartSensors) {
+                let uinfo = readUartInfo(sensorInfo.port, 0)
+                sensorInfo.devType = uinfo[TypesOff.Type]
+                control.dmesg(`UART type ${sensorInfo.devType}`)
+            }
+        }
+
+        if (numChanged == 0 && nonActivated == 0)
             return
 
-        for (let si of sensorInfos) {
-            if (si.sensor && si.sensor._deviceType() != si.devType) {
-                si.sensor = null
-            }
-            if (si.devType != DAL.DEVICE_TYPE_NONE) {
-                // TODO figure out compiler problem when '|| null' is added here!
-                si.sensor = si.sensors.filter(s => s._deviceType() == si.devType)[0]
-                if (si.sensor == null) {
-                    control.dmesg(`sensor not found for type=${si.devType} at ${si.port}`)
+        control.dmesg(`updating sensor status`)
+        nonActivated = 0;
+        for (const sensorInfo of sensorInfos) {
+            if (sensorInfo.devType == DAL.DEVICE_TYPE_IIC_UNKNOWN) {
+                sensorInfo.sensor = sensorInfo.sensors.filter(s => s._IICId() == sensorInfo.iicid)[0]
+                if (!sensorInfo.sensor) {
+                    control.dmesg(`sensor not found for iicid=${sensorInfo.iicid} at ${sensorInfo.port}`)
+                    nonActivated++;
                 } else {
-                    control.dmesg(`sensor connected type=${si.devType} at ${si.port}`)
-                    si.sensor._activated()
+                    control.dmesg(`sensor connected iicid=${sensorInfo.iicid} at ${sensorInfo.port}`)
+                    sensorInfo.sensor._activated()
+                }
+            } else if (sensorInfo.devType != DAL.DEVICE_TYPE_NONE) {
+                sensorInfo.sensor = sensorInfo.sensors.filter(s => s._deviceType() == sensorInfo.devType)[0]
+                if (!sensorInfo.sensor) {
+                    control.dmesg(`sensor not found for type=${sensorInfo.devType} at ${sensorInfo.port}`)
+                    nonActivated++;
+                } else {
+                    control.dmesg(`sensor connected type=${sensorInfo.devType} at ${sensorInfo.port}`)
+                    sensorInfo.sensor._activated()
                 }
             }
         }
+        control.dmesg(`detect devices done`)
     }
 
     export class Sensor extends control.Component {
@@ -187,6 +243,10 @@ namespace sensors.internal {
         _deviceType() {
             return 0
         }
+
+        _IICId() {
+            return ''
+        }
     }
 
     export class AnalogSensor extends Sensor {
@@ -212,7 +272,6 @@ namespace sensors.internal {
 
         _activated() {
             this.realmode = 0
-            // uartReset(this.port) // TODO is it ever needed?
             this._setMode(this.mode)
         }
 
@@ -243,6 +302,55 @@ namespace sensors.internal {
         }
     }
 
+    export class IICSensor extends Sensor {
+        protected mode: number // the mode user asked for
+        protected realmode: number // the mode the hardware is in
+        private readLength: number
+
+        constructor(port: number) {
+            super(port)
+            this.mode = 0
+            this.realmode = 0
+            this.readLength = 1;
+        }
+
+        _activated() {
+            this.realmode = 0
+            this._setMode(this.mode)
+        }
+
+        protected _setMode(m: number) {
+            let v = m | 0
+            this.mode = v
+            if (!this.isActive()) return
+            if (this.realmode != this.mode) {
+                this.realmode = v
+                setIICMode(this._port, this._deviceType(), v)
+            }
+        }
+
+        getBytes(): Buffer {
+            return getIICBytes(this.isActive() ? this._port : -1, this.readLength)
+        }
+
+        getNumber(fmt: NumberFormat, off: number) {
+            if (!this.isActive())
+                return 0
+            return getIICNumber(this.readLength, fmt, off, this._port)
+        }
+
+        transaction(deviceAddress: number, write: number[], read: number) {
+            this.readLength = read;
+            transactionIIC(this._port, deviceAddress, write, read)
+        }
+
+        _deviceType() {
+            return DAL.DEVICE_TYPE_IIC_UNKNOWN
+        }
+    }
+
+    export const iicsensor = new IICSensor(3)
+
     function uartReset(port: number) {
         if (port < 0) return
         control.dmesg(`UART reset at ${port}`)
@@ -267,6 +375,7 @@ namespace sensors.internal {
     }
 
     function uartClearChange(port: number) {
+        control.dmesg(`UART clear change`);
         const UART_DATA_READY = 8
         const UART_PORT_CHANGED = 1
         while (true) {
@@ -288,20 +397,43 @@ namespace sensors.internal {
         }
     }
 
+    function setUartModes() {
+        control.dmesg(`UART set modes`)
+        uartMM.ioctl(IO.UART_SET_CONN, devcon)
+        const ports: number[] = [];
+        for (let port = 0; port < DAL.NUM_INPUTS; ++port) {
+            if (devcon.getNumber(NumberFormat.Int8LE, DevConOff.Connection + port) == DAL.CONN_INPUT_UART) {
+                ports.push(port);
+            }
+        }
+
+        while (ports.length) {
+            const port = ports.pop();
+            const status = waitNonZeroUartStatus(port)
+            control.dmesg(`UART set mode ${status} at ${port}`);
+        }
+    }
+
+    function updateUartMode(port: number, mode: number) {
+        control.dmesg(`UART set mode to ${mode} at ${port}`)
+        devcon.setNumber(NumberFormat.Int8LE, DevConOff.Connection + port, DAL.CONN_INPUT_UART)
+        devcon.setNumber(NumberFormat.Int8LE, DevConOff.Type + port, 33)
+        devcon.setNumber(NumberFormat.Int8LE, DevConOff.Mode + port, mode)
+    }
+
     function setUartMode(port: number, mode: number) {
         const UART_PORT_CHANGED = 1
         while (true) {
             if (port < 0) return
-            control.dmesg(`UART set mode to ${mode} at ${port}`)
-            devcon.setNumber(NumberFormat.Int8LE, DevConOff.Connection + port, DAL.CONN_INPUT_UART)
-            devcon.setNumber(NumberFormat.Int8LE, DevConOff.Type + port, 33)
-            devcon.setNumber(NumberFormat.Int8LE, DevConOff.Mode + port, mode)
+            updateUartMode(port, mode);
             uartMM.ioctl(IO.UART_SET_CONN, devcon)
             let status = waitNonZeroUartStatus(port)
             if (status & UART_PORT_CHANGED) {
+                control.dmesg(`UART clear changed at ${port}`)
                 uartClearChange(port)
             } else {
-                break
+                control.dmesg(`UART status ${status}`);
+                break;
             }
             pause(10)
         }
@@ -322,6 +454,48 @@ namespace sensors.internal {
             UartOff.Raw + DAL.MAX_DEVICE_DATALENGTH * 300 * port + DAL.MAX_DEVICE_DATALENGTH * index + off)
     }
 
+    export function setIICMode(port: number, type: number, mode: number) {
+        if (port < 0) return;
+        devcon.setNumber(NumberFormat.Int8LE, DevConOff.Connection + port, DAL.CONN_NXT_IIC)
+        devcon.setNumber(NumberFormat.Int8LE, DevConOff.Type + port, type)
+        devcon.setNumber(NumberFormat.Int8LE, DevConOff.Mode + port, mode)
+        IICMM.ioctl(IO.IIC_SET_CONN, devcon)
+    }
+
+    export function transactionIIC(port: number, deviceAddress: number, writeBuf: number[], readLen: number) {
+        if (port < 0) return;
+        let iicdata = output.createBuffer(IICDat.Size)
+        iicdata.setNumber(NumberFormat.Int8LE, IICDat.Port, port)
+        iicdata.setNumber(NumberFormat.Int8LE, IICDat.Repeat, 0)
+        iicdata.setNumber(NumberFormat.Int16LE, IICDat.Time, 0)
+        iicdata.setNumber(NumberFormat.Int8LE, IICDat.WrLng, writeBuf.length + 1)
+        for (let i = 0; i < writeBuf.length; i++)
+            iicdata.setNumber(NumberFormat.Int8LE, IICDat.WrData + i + 1, writeBuf[i])
+        iicdata.setNumber(NumberFormat.Int8LE, IICDat.WrData, deviceAddress)
+        iicdata.setNumber(NumberFormat.Int8LE, IICDat.RdLng, readLen)
+        IICMM.ioctl(IO.IIC_SETUP, iicdata)
+    }
+
+    export function getIICBytes(port: number, length: number) {
+        if (port < 0) return output.createBuffer(length);
+        let index = IICMM.getNumber(NumberFormat.UInt16LE, IICOff.Actual + port * 2);
+        let buf = IICMM.slice(
+            IICOff.Raw + DAL.MAX_DEVICE_DATALENGTH * 300 * port + DAL.MAX_DEVICE_DATALENGTH * index,
+            length
+        );
+
+        // Reverse
+        for (let i = 0; i < length / 2; i++) {
+            let c = buf[i]
+            buf[i] = buf[length - i - 1]
+            buf[length - i - 1] = c
+        }
+        return buf;
+    }
+
+    export function getIICNumber(length: number, format: NumberFormat, off: number, port: number) {
+        return getIICBytes(port, length).getNumber(format, off)
+    }
 
     const enum NxtColOff {
         Calibration = 0, // uint32[4][3]
@@ -405,6 +579,52 @@ namespace sensors.internal {
         Size = 58
     }
 
+    const enum IICOff {
+        TypeData = 0, // Types[8][4]
+        Repeat = 1792, // uint16[300][4]
+        Raw = 4192, // int8[32][300][4]
+        Actual = 42592, // uint16[4]
+        LogIn = 42600, // uint16[4]
+        Status = 42608, // int8[4]
+        Output = 42612, // int8[32][4]
+        OutputLength = 42740, // int8[4]
+        Size = 42744
+    }
+
+    const enum IICCtlOff {
+        TypeData = 0, // Types
+        Port = 56, // int8
+        Mode = 57, // int8
+        Size = 58
+    }
+
+    const enum IICDat {
+        Result = 0,  // result
+        Port = 4, // int8
+        Repeat = 5, // int8
+        Time = 6, // int16
+        WrLng = 8, // int8
+        WrData = 9, // int8[32]
+        RdLng = 41, // int8
+        RdData = 42, //int8[32]
+        Size = 74,
+    }
+
+    const enum IICStr {
+        Port = 0, // int8
+        Time = 2, // int16
+        Type = 4, // int8
+        Mode = 5, // int8
+        Manufacturer = 6, // int8[9]
+        SensorType = 15, // int[9]
+        SetupLng = 24, // int8
+        SetupString = 28, // ulong
+        PollLng = 32, // int8
+        PollString = 36, // ulong
+        ReadLng = 40, // int8
+        Size = 44
+    }
+
     const enum IO {
         UART_SET_CONN = 0xc00c7500,
         UART_READ_MODE_INFO = 0xc03c7501,
@@ -472,7 +692,7 @@ namespace sensors {
         }
 
         public threshold(t: ThresholdState): number {
-            switch(t) {
+            switch (t) {
                 case ThresholdState.High: return this.highThreshold;
                 case ThresholdState.Low: return this.lowThreshold;
                 default: return (this.max - this.min) / 2;
@@ -512,5 +732,5 @@ namespace sensors {
                     break;
             }
         }
-    }    
+    }
 }

libs/core/linux.cpp

@@ -14,6 +14,9 @@
 #include <errno.h>
 #include <fcntl.h>
 #include <malloc.h>
+#include <sys/mman.h>
+#include <sys/ioctl.h>
+#include "ev3const.h"
 
 #define THREAD_DBG(...)
 
@@ -144,6 +147,29 @@ static void startUsb() {
     pthread_detach(pid);
 }
 
+static void *exitThread(void *) {
+    int fd = open("/dev/lms_ui", O_RDWR, 0666);
+    if (fd < 0)
+        return 0;
+    uint8_t *data =
+        (uint8_t *)mmap(NULL, NUM_BUTTONS, PROT_READ | PROT_WRITE, MAP_SHARED, fd, 0);
+    if (data == MAP_FAILED) {
+        close(fd);
+        return 0;
+    }
+    for (;;) {
+        if (data[5])
+            target_reset();
+        sleep_core_us(50000);
+    }
+}
+
+static void startExitThread() {
+    pthread_t pid;
+    pthread_create(&pid, NULL, exitThread, NULL);
+    pthread_detach(pid);
+}
+
 void sendUsb(uint16_t code, const char *data, int len) {
     while (len > 0) {
         int sz = len;
@@ -489,14 +515,22 @@ void runLMS() {
 }
 
 void stopMotors() {
-    uint8_t cmd[2] = { 0xA3, 0x0F };
+    uint8_t cmd[3] = {opOutputStop, 0x0F, 0};
     int fd = open("/dev/lms_pwm", O_RDWR);
-    write(fd, cmd, 2);
+    write(fd, cmd, 3);
+    close(fd);
+}
+
+void stopProgram() {
+    uint8_t cmd[1] = {opOutputProgramStop};
+    int fd = open("/dev/lms_pwm", O_RDWR);
+    write(fd, cmd, 1);
     close(fd);
 }
 
 extern "C" void target_reset() {
     stopMotors();
+    stopProgram();
     if (lmsPid)
         runLMS();
     else
@@ -510,6 +544,7 @@ void initRuntime() {
     DMESG("runtime starting...");
     stopLMS();
     startUsb();
+    startExitThread();
     pthread_t disp;
     pthread_create(&disp, NULL, evtDispatcher, NULL);
     pthread_detach(disp);

libs/core/output.ts

@@ -134,6 +134,7 @@ namespace motors {
         protected _brake: boolean;
         private _pauseOnRun: boolean;
         private _initialized: boolean;
+        private _brakeSettleTime: number;
         private _init: () => void;
         private _run: (speed: number) => void;
         private _move: (steps: boolean, stepsOrTime: number, speed: number) => void;
@@ -147,6 +148,7 @@ namespace motors {
             this._brake = false;
             this._pauseOnRun = true;
             this._initialized = false;
+            this._brakeSettleTime = 10;
             this._init = init;
             this._run = run;
             this._move = move;
@@ -204,6 +206,20 @@ namespace motors {
             writePWM(b)
         }
 
+        /** 
+         * Set the settle time after braking in milliseconds (default is 10ms).
+        */
+        //% blockId=motorSetBrakeSettleTime block="set %motor|brake settle time %millis|ms"
+        //% motor.fieldEditor="motors"
+        //% weight=1 blockGap=8
+        //% group="Properties"
+        //% millis.defl=200 millis.min=0 millis.max=500
+        setBrakeSettleTime(millis: number) {
+            this.init();
+            // ensure in [0,500]
+            this._brakeSettleTime = Math.max(0, Math.min(500, millis | 0))
+        }
+
         /**
          * Stops the motor(s).
          */
@@ -221,8 +237,8 @@ namespace motors {
         protected settle() {
             // if we've recently completed a motor command with brake
             // allow 500ms for robot to settle
-            if (this._brake)
-                pause(500);
+            if (this._brake && this._brakeSettleTime > 0)
+                pause(this._brakeSettleTime);
         }
 
         protected pauseOnRun(stepsOrTime: number) {
@@ -396,7 +412,7 @@ namespace motors {
          */
         //% blockId=outputMotorSetRegulated block="set %motor|regulated %value=toggleOnOff"
         //% motor.fieldEditor="motors"
-        //% weight=58
+        //% weight=58 blockGap=8
         //% group="Properties"
         //% help=motors/motor/set-regulated
         setRegulated(value: boolean) {
@@ -749,3 +765,9 @@ namespace motors {
         control.dmesg('end step')
     }
 }
+
+
+interface Buffer {
+    [index: number]: number;
+    // rest defined in buffer.cpp
+}

libs/ev3/console.ts

@@ -44,7 +44,7 @@ namespace console._screen {
         printLog();
     }
 
-    function log(priority: ConsolePriority, msg: string): void {    
+    function log(msg: string): void {    
         lines.push(msg);
         if (lines.length + 5 > maxLines) {
             lines.splice(0, maxLines - lines.length);

libs/gyro-sensor/gyro.ts

@@ -1,5 +1,5 @@
 const enum GyroSensorMode {
-    None = -1,
+    None = 0,
     Angle = 0,
     Rate = 1,
 }

libs/infrared-sensor/ir.ts

@@ -1,5 +1,5 @@
 const enum InfraredSensorMode {
-    None = -1,
+    None = 0,
     Proximity = 0,
     Seek = 1,
     RemoteControl = 2,

libs/screen/shims.d.ts

@@ -45,18 +45,6 @@ declare interface Image {
     //% shim=ImageMethods::fill
     fill(c: int32): void;
 
-    /**
-     * Copy row(s) of pixel from image to buffer (8 bit per pixel).
-     */
-    //% shim=ImageMethods::getRows
-    getRows(x: int32, dst: Buffer): void;
-
-    /**
-     * Copy row(s) of pixel from buffer to image.
-     */
-    //% shim=ImageMethods::setRows
-    setRows(x: int32, src: Buffer): void;
-
     /**
      * Return a copy of the current image
      */

libs/storage/pxt.json

@@ -1,6 +1,6 @@
 {
     "name": "storage",
-    "description": "USB Pen-drive support and flash storage",
+    "description": "USB Pen-drive support and flash storage - beta",
     "files": [
         "storage.cpp",
         "storage-core.ts",

package.json

@@ -1,8 +1,8 @@
 {
   "name": "pxt-ev3",
-  "version": "1.1.0",
+  "version": "1.1.10",
   "description": "LEGO MINDSTORMS EV3 for Microsoft MakeCode",
-  "private": true,
+  "private": false,
   "keywords": [
     "JavaScript",
     "education",
@@ -39,8 +39,8 @@
     "webfonts-generator": "^0.4.0"
   },
   "dependencies": {
-    "pxt-common-packages": "6.4.13",
-    "pxt-core": "5.5.18"
+    "pxt-common-packages": "0.23.61",
+    "pxt-core": "4.0.9"
   },
   "scripts": {
     "test": "node node_modules/pxt-core/built/pxt.js travis"

pxtarget.json

@@ -16,7 +16,8 @@
         "libs/infrared-sensor",
         "libs/gyro-sensor",
         "libs/screen",
-        "libs/ev3"
+        "libs/ev3",
+        "libs/storage"
     ],
     "simulator": {
         "autoRun": true,

sim/dalboard.ts

@@ -5,7 +5,6 @@
 namespace pxsim {
 
     export class EV3Board extends CoreBoard {
-        viewHost: visuals.BoardHost;
         view: SVGSVGElement;
 
         outputState: EV3OutputState;
@@ -84,16 +83,15 @@ namespace pxsim {
                 highContrast: msg.highContrast,
                 light: msg.light
             };
-            this.viewHost = new visuals.BoardHost(pxsim.visuals.mkBoardView(<pxsim.visuals.BoardViewOptions>{
+            const viewHost = new visuals.BoardHost(pxsim.visuals.mkBoardView({
                 visual: boardDef.visual,
-                boardDef,
                 highContrast: msg.highContrast,
                 light: msg.light
             }), opts);
 
             document.body.innerHTML = ""; // clear children
             document.body.className = msg.light ? "light" : "";
-            document.body.appendChild(this.view = this.viewHost.getView() as SVGSVGElement);
+            document.body.appendChild(this.view = viewHost.getView() as SVGSVGElement);
 
             this.inputNodes = [];
             this.outputNodes = [];
@@ -104,8 +102,8 @@ namespace pxsim {
             return Promise.resolve();
         }
 
-        screenshotAsync(width?: number): Promise<ImageData> {
-            return this.viewHost.screenshotAsync(width);
+        screenshot(): string {
+            return svg.toDataUri(new XMLSerializer().serializeToString(this.view));
         }
 
         getBrickNode() {

sim/state/input.ts

@@ -27,6 +27,7 @@ namespace pxsim.sensors {
 
     export function __sensorUsed(port: number, type: number) {
         //console.log("SENSOR INIT " + port + ", type: " + type);
+        if (type == DAL.DEVICE_TYPE_IIC_UNKNOWN) return; // Ignore IIC        
         if (!ev3board().hasSensor(port)) {
             const sensor = ev3board().getSensor(port, type);
             runtime.queueDisplayUpdate();