1.4.22

* 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);
 }
 ```

libs/base/shims.d.ts

@@ -87,12 +87,6 @@ declare interface Buffer {
      */
     //% shim=BufferMethods::write
     write(dstOffset: int32, src: Buffer): void;
-
-    /**
-     * Compute k-bit FNV-1 non-cryptographic hash of the buffer.
-     */
-    //% shim=BufferMethods::hash
-    hash(bits: int32): uint32;
 }
 declare namespace control {
 
@@ -100,14 +94,14 @@ declare namespace control {
      * Create a new zero-initialized buffer.
      * @param size number of bytes in the buffer
      */
-    //% deprecated=1 shim=control::createBuffer
+    //% 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
      */
-    //% deprecated=1 shim=control::createBufferFromUTF8
+    //% shim=control::createBufferFromUTF8
     function createBufferFromUTF8(str: string): Buffer;
 }
 declare namespace loops {

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() {

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

@@ -28,7 +28,8 @@
         "platform.h",
         "platform.cpp",
         "dmesg.cpp",
-        "integrator.ts"
+        "integrator.ts",
+        "cooperate.ts"
     ],
     "testFiles": [
         "test.ts"

libs/music/music.cpp

@@ -45,7 +45,7 @@ void setVolume(int volume) {
 
 struct ToneCmd {
     uint8_t cmd;
-    uint8_t vol;
+    uint8_t lvl;
     uint16_t freq;
     uint16_t duration;
 };
@@ -55,10 +55,26 @@ 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 +138,8 @@ 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;

package.json

@@ -1,6 +1,6 @@
 {
   "name": "pxt-ev3",
-  "version": "1.4.21",
+  "version": "1.4.22",
   "description": "LEGO MINDSTORMS EV3 for Microsoft MakeCode",
   "private": false,
   "keywords": [
@@ -32,21 +32,21 @@
     "docs/*/*/*.md"
   ],
   "devDependencies": {
+    "typescript": "2.6.1",
     "react": "16.8.3",
+    "semantic-ui-less": "2.2.14",
+    "@types/bluebird": "2.0.33",
+    "@types/marked": "0.3.0",
+    "@types/node": "8.0.53",
     "webfonts-generator": "^0.4.0",
     "@types/jquery": "3.2.16",
     "@types/react": "16.0.25",
     "@types/react-dom": "16.0.3",
-    "@types/web-bluetooth": "0.0.4",
+    "@types/web-bluetooth": "0.0.4"
-    "@types/bluebird": "^2.0.33",
-    "@types/marked": "^0.3.0",
-    "@types/node": "^9.3.0",
-    "semantic-ui-less": "2.2.14",
-    "typescript": "^3.7.5"
   },
   "dependencies": {
-    "pxt-common-packages": "8.1.3",
+    "pxt-common-packages": "6.18.2",
-    "pxt-core": "6.2.8"
+    "pxt-core": "5.32.3"
   },
   "scripts": {
     "test": "node node_modules/pxt-core/built/pxt.js travis"