0.0.52

* adding avoid crash behavior

* more implementation

* add another simple behavior

* fixed synched motors

* bump common packages

cmds/cmds.ts

@@ -2,7 +2,7 @@
 
 import * as fs from 'fs';
 
-require("./editor")
+require("./editor/deploy")
 
 declare namespace pxt.editor {
     function deployCoreAsync(resp: pxtc.CompileResult, disconnect?: boolean): Promise<void>;

docs/static/fonts/icons/iconfont.css

@@ -1,8 +1,8 @@
 @font-face {
 	font-family: "iconfont";
-	src: url("iconfont.eot?e05611aaee246c1da118a83eaf515de9?#iefix") format("embedded-opentype"),
-url("iconfont.woff2?e05611aaee246c1da118a83eaf515de9") format("woff2"),
-url("iconfont.woff?e05611aaee246c1da118a83eaf515de9") format("woff");
+	src: url("iconfont.eot?73552ec404b3a3d3769a3f04fa58c2c4?#iefix") format("embedded-opentype"),
+url("iconfont.woff2?73552ec404b3a3d3769a3f04fa58c2c4") format("woff2"),
+url("iconfont.woff?73552ec404b3a3d3769a3f04fa58c2c4") format("woff");
 }
 
 .icon {
@@ -28,3 +28,63 @@ url("iconfont.woff?e05611aaee246c1da118a83eaf515de9") format("woff");
 .icon-gyro:before {
 	content: "\f104";
 }
+.icon-addpackage:before {
+	content: "\f105";
+}
+.icon-brick:before {
+	content: "\f106";
+}
+.icon-controls:before {
+	content: "\f107";
+}
+.icon-functions:before {
+	content: "\f108";
+}
+.icon-list:before {
+	content: "\f109";
+}
+.icon-logic:before {
+	content: "\f10a";
+}
+.icon-loops:before {
+	content: "\f10b";
+}
+.icon-math:before {
+	content: "\f10c";
+}
+.icon-motors:before {
+	content: "\f10d";
+}
+.icon-music:before {
+	content: "\f10e";
+}
+.icon-sensors:before {
+	content: "\f10f";
+}
+.icon-text:before {
+	content: "\f110";
+}
+.icon-variables:before {
+	content: "\f111";
+}
+.icon-advancedcollapsed:before {
+	content: "\f112";
+}
+.icon-advancedexpanded:before {
+	content: "\f113";
+}
+.icon-cancel:before {
+	content: "\f114";
+}
+.icon-check:before {
+	content: "\f115";
+}
+.icon-download:before {
+	content: "\f116";
+}
+.icon-save:before {
+	content: "\f117";
+}
+.icon-blocks:before {
+	content: "\f118";
+}

docs/static/fonts/icons/iconfont.svg

@@ -19,6 +19,66 @@
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       unicode="&#xF104;"
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+    <glyph glyph-name="addpackage"
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   </font>
 </defs>
 </svg>

editor/deploy.ts

@@ -0,0 +1,133 @@
+/// <reference path="../node_modules/pxt-core/built/pxteditor.d.ts"/>
+/// <reference path="../node_modules/pxt-core/built/pxtsim.d.ts"/>
+
+import UF2 = pxtc.UF2;
+
+export let ev3: pxt.editor.Ev3Wrapper
+
+export function debug() {
+    return initAsync()
+        .then(w => w.downloadFileAsync("/tmp/dmesg.txt", v => console.log(pxt.Util.uint8ArrayToString(v))))
+}
+
+function hf2Async() {
+    return pxt.HF2.mkPacketIOAsync()
+        .then(h => {
+            let w = new pxt.editor.Ev3Wrapper(h)
+            ev3 = w
+            return w.reconnectAsync(true)
+                .then(() => w)
+        })
+}
+
+let noHID = false
+
+let initPromise: Promise<pxt.editor.Ev3Wrapper>
+export function initAsync() {
+    if (initPromise)
+        return initPromise
+
+    let canHID = false
+    if (pxt.U.isNodeJS) {
+        canHID = true
+    } else {
+        const forceHexDownload = /forceHexDownload/i.test(window.location.href);
+        if (pxt.Cloud.isLocalHost() && pxt.Cloud.localToken && !forceHexDownload)
+            canHID = true
+    }
+
+    if (noHID)
+        canHID = false
+
+    if (canHID) {
+        initPromise = hf2Async()
+            .catch(err => {
+                initPromise = null
+                noHID = true
+                return Promise.reject(err)
+            })
+    } else {
+        noHID = true
+        initPromise = Promise.reject(new Error("no HID"))
+    }
+
+    return initPromise
+}
+
+// this comes from aux/pxt.lms
+const rbfTemplate = `
+4c45474f580000006d000100000000001c000000000000000e000000821b038405018130813e8053
+74617274696e672e2e2e0084006080XX00448581644886488405018130813e80427965210084000a
+`
+export function deployCoreAsync(resp: pxtc.CompileResult, isCli = false) {
+    let w: pxt.editor.Ev3Wrapper
+
+    let filename = resp.downloadFileBaseName || "pxt"
+    filename = filename.replace(/^lego-/, "")
+
+    let fspath = "../prjs/BrkProg_SAVE/"
+
+    let elfPath = fspath + filename + ".elf"
+    let rbfPath = fspath + filename + ".rbf"
+
+    let rbfHex = rbfTemplate
+        .replace(/\s+/g, "")
+        .replace("XX", pxt.U.toHex(pxt.U.stringToUint8Array(elfPath)))
+    let rbfBIN = pxt.U.fromHex(rbfHex)
+    pxt.HF2.write16(rbfBIN, 4, rbfBIN.length)
+
+    let origElfUF2 = UF2.parseFile(pxt.U.stringToUint8Array(atob(resp.outfiles[pxt.outputName()])))
+
+    let mkFile = (ext: string, data: Uint8Array = null) => {
+        let f = UF2.newBlockFile()
+        f.filename = "Projects/" + filename + ext
+        if (data)
+            UF2.writeBytes(f, 0, data)
+        return f
+    }
+
+    let elfUF2 = mkFile(".elf")
+    for (let b of origElfUF2) {
+        UF2.writeBytes(elfUF2, b.targetAddr, b.data)
+    }
+
+    let r = UF2.concatFiles([elfUF2, mkFile(".rbf", rbfBIN)])
+    let data = UF2.serializeFile(r)
+
+    resp.outfiles[pxtc.BINARY_UF2] = btoa(data)
+
+    let saveUF2Async = () => {
+        if (isCli || !pxt.commands.saveOnlyAsync) {
+            return Promise.resolve()
+        } else {
+            return pxt.commands.saveOnlyAsync(resp)
+        }
+    }
+
+    if (noHID) return saveUF2Async()
+
+    return initAsync()
+        .then(w_ => {
+            w = w_
+            if (w.isStreaming)
+                pxt.U.userError("please stop the program first")
+            return w.stopAsync()
+        })
+        .then(() => w.rmAsync(elfPath))
+        .then(() => w.flashAsync(elfPath, UF2.readBytes(origElfUF2, 0, origElfUF2.length * 256)))
+        .then(() => w.flashAsync(rbfPath, rbfBIN))
+        .then(() => w.runAsync(rbfPath))
+        .then(() => {
+            if (isCli)
+                return w.disconnectAsync()
+            else
+                return Promise.resolve()
+            //return Promise.delay(1000).then(() => w.dmesgAsync())
+        }).catch(e => {
+            // if we failed to initalize, retry
+            if (noHID)
+                return saveUF2Async()
+            else
+                return Promise.reject(e)
+        })
+}

editor/extension.ts

@@ -1,152 +1,120 @@
-/// <reference path="../node_modules/pxt-core/built/pxteditor.d.ts" />
+/// <reference path="../node_modules/pxt-core/built/pxteditor.d.ts"/>
+/// <reference path="../node_modules/pxt-core/built/pxtsim.d.ts"/>
+
+import { deployCoreAsync, initAsync } from "./deploy";
+import { FieldPorts } from "./field_ports";
+import { FieldImages } from "./field_images";
+
+pxt.editor.initExtensionsAsync = function(opts: pxt.editor.ExtensionOptions): Promise<pxt.editor.ExtensionResult> {
+    pxt.debug('loading pxt-ev3 target extensions...')
+    updateBlocklyShape();
+    const res: pxt.editor.ExtensionResult = {
+        fieldEditors: [{
+            selector: "ports",
+            editor: FieldPorts
+        }, {
+            selector: "images",
+            editor: FieldImages
+        }],
+        deployCoreAsync
+    };
+    initAsync().catch(e => {
+        // probably no HID - we'll try this again upon deployment
+    })
+    return Promise.resolve<pxt.editor.ExtensionResult>(res);
+}
+
+/**
+ * Update the shape of Blockly blocks with square corners
+ */
+function updateBlocklyShape() {
+
+    /**
+     * Rounded corner radius.
+     * @const
+     */
+    (Blockly.BlockSvg as any).CORNER_RADIUS = 0 * (Blockly.BlockSvg as any).GRID_UNIT;
+
+    /**
+     * Inner space between edge of statement input and notch.
+     * @const
+     */
+    (Blockly.BlockSvg as any).STATEMENT_INPUT_INNER_SPACE = 3 * (Blockly.BlockSvg as any).GRID_UNIT;
+    /**
+     * SVG path for drawing next/previous notch from left to right.
+     * @const
+     */
+    (Blockly.BlockSvg as any).NOTCH_PATH_LEFT = (
+        'l 8,8 ' +
+        'h 16 ' +
+        'l 8,-8 '
+    );
+
+    /**
+     * SVG path for drawing next/previous notch from right to left.
+     * @const
+     */
+    (Blockly.BlockSvg as any).NOTCH_PATH_RIGHT = (
+        'l -8,8 ' +
+        'h -16 ' +
+        'l -8,-8 '
+    );
+
+    /**
+     * SVG start point for drawing the top-left corner.
+     * @const
+     */
+    (Blockly.BlockSvg as any).TOP_LEFT_CORNER_START =
+        'm 0,' + 0;
+
+    /**
+     * SVG path for drawing the rounded top-left corner.
+     * @const
+     */
+    (Blockly.BlockSvg as any).TOP_LEFT_CORNER =
+        'l ' + (Blockly.BlockSvg as any).CORNER_RADIUS + ',0 ';
+
+    /**
+     * SVG path for drawing the rounded top-right corner.
+     * @const
+     */
+    (Blockly.BlockSvg as any).TOP_RIGHT_CORNER =
+        'l ' + 0 + ',' + (Blockly.BlockSvg as any).CORNER_RADIUS;
+
+    /**
+     * SVG path for drawing the rounded bottom-right corner.
+     * @const
+     */
+    (Blockly.BlockSvg as any).BOTTOM_RIGHT_CORNER =
+        'l 0,' + (Blockly.BlockSvg as any).CORNER_RADIUS;
+
+    /**
+     * SVG path for drawing the rounded bottom-left corner.
+     * @const
+     */
+    (Blockly.BlockSvg as any).BOTTOM_LEFT_CORNER =
+        'l -' + (Blockly.BlockSvg as any).CORNER_RADIUS + ',0';
+
+    /**
+     * SVG path for drawing the top-left corner of a statement input.
+     * @const
+     */
+    (Blockly.BlockSvg as any).INNER_TOP_LEFT_CORNER =
+        'l ' + (Blockly.BlockSvg as any).CORNER_RADIUS + ',-' + 0;
+
+    /**
+     * SVG path for drawing the bottom-left corner of a statement input.
+     * Includes the rounded inside corner.
+     * @const
+     */
+    (Blockly.BlockSvg as any).INNER_BOTTOM_LEFT_CORNER =
+        'l ' + 0 + ',' + (Blockly.BlockSvg as any).CORNER_RADIUS * 2 +
+        'l ' + (Blockly.BlockSvg as any).CORNER_RADIUS + ',' + 0;
+
+}
 
 // When require()d from node, bind the global pxt namespace
-namespace pxt {
-    export const dummyExport = 1;
-}
-eval("if (typeof process === 'object' && process + '' === '[object process]') pxt = global.pxt")
-
-namespace pxt.editor {
-    import UF2 = pxtc.UF2;
-
-    export let ev3: Ev3Wrapper
-
-    export function debug() {
-        return initAsync()
-            .then(w => w.downloadFileAsync("/tmp/dmesg.txt", v => console.log(pxt.Util.uint8ArrayToString(v))))
-    }
-
-    // this comes from aux/pxt.lms
-    const rbfTemplate = `
-4c45474f580000006d000100000000001c000000000000000e000000821b038405018130813e8053
-74617274696e672e2e2e0084006080XX00448581644886488405018130813e80427965210084000a
-`
-
-    function hf2Async() {
-        return pxt.HF2.mkPacketIOAsync()
-            .then(h => {
-                let w = new Ev3Wrapper(h)
-                ev3 = w
-                return w.reconnectAsync(true)
-                    .then(() => w)
-            })
-    }
-
-    let noHID = false
-
-    let initPromise: Promise<Ev3Wrapper>
-    function initAsync() {
-        if (initPromise)
-            return initPromise
-
-        let canHID = false
-        if (U.isNodeJS) {
-            canHID = true
-        } else {
-            const forceHexDownload = /forceHexDownload/i.test(window.location.href);
-            if (Cloud.isLocalHost() && Cloud.localToken && !forceHexDownload)
-                canHID = true
-        }
-
-        if (noHID)
-            canHID = false
-
-        if (canHID) {
-            initPromise = hf2Async()
-                .catch(err => {
-                    initPromise = null
-                    noHID = true
-                    return Promise.reject(err)
-                })
-        } else {
-            noHID = true
-            initPromise = Promise.reject(new Error("no HID"))
-        }
-
-        return initPromise
-    }
-
-    export function deployCoreAsync(resp: pxtc.CompileResult, isCli = false) {
-        let w: Ev3Wrapper
-
-        let filename = resp.downloadFileBaseName || "pxt"
-        filename = filename.replace(/^lego-/, "")
-
-        let fspath = "../prjs/BrkProg_SAVE/"
-
-        let elfPath = fspath + filename + ".elf"
-        let rbfPath = fspath + filename + ".rbf"
-
-        let rbfHex = rbfTemplate
-            .replace(/\s+/g, "")
-            .replace("XX", U.toHex(U.stringToUint8Array(elfPath)))
-        let rbfBIN = U.fromHex(rbfHex)
-        HF2.write16(rbfBIN, 4, rbfBIN.length)
-
-        let origElfUF2 = UF2.parseFile(U.stringToUint8Array(atob(resp.outfiles[pxt.outputName()])))
-
-        let mkFile = (ext: string, data: Uint8Array = null) => {
-            let f = UF2.newBlockFile()
-            f.filename = "Projects/" + filename + ext
-            if (data)
-                UF2.writeBytes(f, 0, data)
-            return f
-        }
-
-        let elfUF2 = mkFile(".elf")
-        for (let b of origElfUF2) {
-            UF2.writeBytes(elfUF2, b.targetAddr, b.data)
-        }
-
-        let r = UF2.concatFiles([elfUF2, mkFile(".rbf", rbfBIN)])
-        let data = UF2.serializeFile(r)
-
-        resp.outfiles[pxtc.BINARY_UF2] = btoa(data)
-
-        let saveUF2Async = () => {
-            if (isCli || !pxt.commands.saveOnlyAsync) {
-                return Promise.resolve()
-            } else {
-                return pxt.commands.saveOnlyAsync(resp)
-            }
-        }
-
-        if (noHID) return saveUF2Async()
-
-        return initAsync()
-            .then(w_ => {
-                w = w_
-                if (w.isStreaming)
-                    U.userError("please stop the program first")
-                return w.stopAsync()
-            })
-            .then(() => w.rmAsync(elfPath))
-            .then(() => w.flashAsync(elfPath, UF2.readBytes(origElfUF2, 0, origElfUF2.length * 256)))
-            .then(() => w.flashAsync(rbfPath, rbfBIN))
-            .then(() => w.runAsync(rbfPath))
-            .then(() => {
-                if (isCli)
-                    return w.disconnectAsync()
-                else
-                    return Promise.resolve()
-                //return Promise.delay(1000).then(() => w.dmesgAsync())
-            }).catch(e => {
-                // if we failed to initalize, retry
-                if (noHID)
-                    return saveUF2Async()
-                else
-                    return Promise.reject(e)
-            })
-    }
-
-    initExtensionsAsync = function (opts: pxt.editor.ExtensionOptions): Promise<pxt.editor.ExtensionResult> {
-        pxt.debug('loading pxt-ev3 target extensions...')
-        const res: pxt.editor.ExtensionResult = {
-            deployCoreAsync,
-        };
-        initAsync().catch(e => {
-            // probably no HID - we'll try this again upon deployment
-        })
-        return Promise.resolve<pxt.editor.ExtensionResult>(res);
-    }
-}
+// namespace pxt {
+//     export const dummyExport = 1;
+// }
+// eval("if (typeof process === 'object' && process + '' === '[object process]') pxt = global.pxt")

editor/field_images.ts

@@ -0,0 +1,114 @@
+/// <reference path="../node_modules/pxt-core/localtypings/blockly.d.ts"/>
+/// <reference path="../node_modules/pxt-core/built/pxtblocks.d.ts"/>
+/// <reference path="../node_modules/pxt-core/built/pxtsim.d.ts"/>
+
+export interface FieldImagesOptions extends pxtblockly.FieldImageDropdownOptions {
+}
+
+export class FieldImages extends pxtblockly.FieldImageDropdown implements Blockly.FieldCustom {
+    public isFieldCustom_ = true;
+
+    constructor(text: string, options: FieldImagesOptions, validator?: Function) {
+        super(text, options, validator);
+    }
+
+    /**
+     * Create a dropdown menu under the text.
+     * @private
+     */
+    public showEditor_() {
+        // If there is an existing drop-down we own, this is a request to hide the drop-down.
+        if (Blockly.DropDownDiv.hideIfOwner(this)) {
+            return;
+        }
+        // If there is an existing drop-down someone else owns, hide it immediately and clear it.
+        Blockly.DropDownDiv.hideWithoutAnimation();
+        Blockly.DropDownDiv.clearContent();
+        // Populate the drop-down with the icons for this field.
+        let dropdownDiv = Blockly.DropDownDiv.getContentDiv();
+        let contentDiv = document.createElement('div');
+        // Accessibility properties
+        contentDiv.setAttribute('role', 'menu');
+        contentDiv.setAttribute('aria-haspopup', 'true');
+        const options = this.getOptions();
+        for (let i = 0, option: any; option = options[i]; i++) {
+            let content = (options[i] as any)[0]; // Human-readable text or image.
+            const value = (options[i] as any)[1]; // Language-neutral value.
+            // Icons with the type property placeholder take up space but don't have any functionality
+            // Use for special-case layouts
+            if (content.type == 'placeholder') {
+                let placeholder = document.createElement('span');
+                placeholder.setAttribute('class', 'blocklyDropDownPlaceholder');
+                placeholder.style.width = content.width + 'px';
+                placeholder.style.height = content.height + 'px';
+                contentDiv.appendChild(placeholder);
+                continue;
+            }
+            let button = document.createElement('button');
+            button.setAttribute('id', ':' + i); // For aria-activedescendant
+            button.setAttribute('role', 'menuitem');
+            button.setAttribute('class', 'blocklyDropDownButton');
+            button.title = content.alt;
+            if ((this as any).columns_) {
+                button.style.width = (((this as any).width_ / (this as any).columns_) - 8) + 'px';
+                //button.style.height = ((this.width_ / this.columns_) - 8) + 'px';
+            } else {
+                button.style.width = content.width + 'px';
+                button.style.height = content.height + 'px';
+            }
+            let backgroundColor = this.sourceBlock_.getColour();
+            if (value == this.getValue()) {
+                // This icon is selected, show it in a different colour
+                backgroundColor = this.sourceBlock_.getColourTertiary();
+                button.setAttribute('aria-selected', 'true');
+            }
+            button.style.backgroundColor = backgroundColor;
+            button.style.borderColor = this.sourceBlock_.getColourTertiary();
+            Blockly.bindEvent_(button, 'click', this, (this as any).buttonClick_);
+            Blockly.bindEvent_(button, 'mouseup', this, (this as any).buttonClick_);
+            // These are applied manually instead of using the :hover pseudoclass
+            // because Android has a bad long press "helper" menu and green highlight
+            // that we must prevent with ontouchstart preventDefault
+            Blockly.bindEvent_(button, 'mousedown', button, function (e) {
+                this.setAttribute('class', 'blocklyDropDownButton blocklyDropDownButtonHover');
+                e.preventDefault();
+            });
+            Blockly.bindEvent_(button, 'mouseover', button, function () {
+                this.setAttribute('class', 'blocklyDropDownButton blocklyDropDownButtonHover');
+                contentDiv.setAttribute('aria-activedescendant', this.id);
+            });
+            Blockly.bindEvent_(button, 'mouseout', button, function () {
+                this.setAttribute('class', 'blocklyDropDownButton');
+                contentDiv.removeAttribute('aria-activedescendant');
+            });
+            let buttonImg = document.createElement('img');
+            buttonImg.src = content.src;
+            //buttonImg.alt = icon.alt;
+            // Upon click/touch, we will be able to get the clicked element as e.target
+            // Store a data attribute on all possible click targets so we can match it to the icon.
+            button.setAttribute('data-value', value);
+            buttonImg.setAttribute('data-value', value);
+            button.appendChild(buttonImg);
+            contentDiv.appendChild(button);
+        }
+        contentDiv.style.width = (this as any).width_ + 'px';
+        dropdownDiv.appendChild(contentDiv);
+
+        Blockly.DropDownDiv.setColour(this.sourceBlock_.getColour(), this.sourceBlock_.getColourTertiary());
+
+        // Calculate positioning based on the field position.
+        var scale = this.sourceBlock_.workspace.scale;
+        var bBox = { width: this.size_.width, height: this.size_.height };
+        bBox.width *= scale;
+        bBox.height *= scale;
+        var position = this.fieldGroup_.getBoundingClientRect();
+        var primaryX = position.left + bBox.width / 2;
+        var primaryY = position.top + bBox.height;
+        var secondaryX = primaryX;
+        var secondaryY = position.top;
+        // Set bounds to workspace; show the drop-down.
+        (Blockly.DropDownDiv as any).setBoundsElement(this.sourceBlock_.workspace.getParentSvg().parentNode);
+        (Blockly.DropDownDiv as any).show(this, primaryX, primaryY, secondaryX, secondaryY,
+            (this as any).onHide_.bind(this));
+    }
+}

editor/field_ports.ts

@@ -0,0 +1,147 @@
+/// <reference path="../node_modules/pxt-core/localtypings/blockly.d.ts"/>
+/// <reference path="../node_modules/pxt-core/built/pxtsim.d.ts"/>
+
+export interface FieldPortsOptions extends Blockly.FieldCustomDropdownOptions {
+    columns?: string;
+    width?: string;
+}
+
+export class FieldPorts extends Blockly.FieldDropdown implements Blockly.FieldCustom {
+    public isFieldCustom_ = true;
+
+    // Width in pixels
+    private width_: number;
+
+    // Columns in grid
+    private columns_: number;
+
+    private savedPrimary_: string;
+
+    constructor(text: string, options: FieldPortsOptions, validator?: Function) {
+        super(options.data);
+
+        this.columns_ = parseInt(options.columns) || 4;
+        this.width_ = parseInt(options.width) || 300;
+    }
+
+    /**
+     * Create a dropdown menu under the text.
+     * @private
+     */
+    public showEditor_() {
+        // If there is an existing drop-down we own, this is a request to hide the drop-down.
+        if (Blockly.DropDownDiv.hideIfOwner(this)) {
+            return;
+        }
+        // If there is an existing drop-down someone else owns, hide it immediately and clear it.
+        Blockly.DropDownDiv.hideWithoutAnimation();
+        Blockly.DropDownDiv.clearContent();
+        // Populate the drop-down with the icons for this field.
+        let dropdownDiv = Blockly.DropDownDiv.getContentDiv();
+        let contentDiv = document.createElement('div');
+        // Accessibility properties
+        contentDiv.setAttribute('role', 'menu');
+        contentDiv.setAttribute('aria-haspopup', 'true');
+        const options = this.getOptions();
+        for (let i = 0, option: any; option = options[i]; i++) {
+            let content = (options[i] as any)[0]; // Human-readable text or image.
+            const value = (options[i] as any)[1]; // Language-neutral value.
+            // Icons with the type property placeholder take up space but don't have any functionality
+            // Use for special-case layouts
+            if (content.type == 'placeholder') {
+                let placeholder = document.createElement('span');
+                placeholder.setAttribute('class', 'blocklyDropDownPlaceholder');
+                placeholder.style.width = content.width + 'px';
+                placeholder.style.height = content.height + 'px';
+                contentDiv.appendChild(placeholder);
+                continue;
+            }
+            let button = document.createElement('button');
+            button.setAttribute('id', ':' + i); // For aria-activedescendant
+            button.setAttribute('role', 'menuitem');
+            button.setAttribute('class', 'blocklyDropDownButton');
+            button.title = content.alt;
+            if (this.columns_) {
+                button.style.width = ((this.width_ / this.columns_) - 8) + 'px';
+                button.style.height = ((this.width_ / this.columns_) - 8) + 'px';
+            } else {
+                button.style.width = content.width + 'px';
+                button.style.height = content.height + 'px';
+            }
+            let backgroundColor = this.sourceBlock_.getColour();
+            if (value == this.getValue()) {
+                // This icon is selected, show it in a different colour
+                backgroundColor = this.sourceBlock_.getColourTertiary();
+                button.setAttribute('aria-selected', 'true');
+            }
+            button.style.backgroundColor = backgroundColor;
+            button.style.borderColor = this.sourceBlock_.getColourTertiary();
+            Blockly.bindEvent_(button, 'click', this, this.buttonClick_);
+            Blockly.bindEvent_(button, 'mouseup', this, this.buttonClick_);
+            // These are applied manually instead of using the :hover pseudoclass
+            // because Android has a bad long press "helper" menu and green highlight
+            // that we must prevent with ontouchstart preventDefault
+            Blockly.bindEvent_(button, 'mousedown', button, function (e) {
+                this.setAttribute('class', 'blocklyDropDownButton blocklyDropDownButtonHover');
+                e.preventDefault();
+            });
+            Blockly.bindEvent_(button, 'mouseover', button, function () {
+                this.setAttribute('class', 'blocklyDropDownButton blocklyDropDownButtonHover');
+                contentDiv.setAttribute('aria-activedescendant', this.id);
+            });
+            Blockly.bindEvent_(button, 'mouseout', button, function () {
+                this.setAttribute('class', 'blocklyDropDownButton');
+                contentDiv.removeAttribute('aria-activedescendant');
+            });
+            let buttonImg = document.createElement('img');
+            buttonImg.src = content.src;
+            //buttonImg.alt = icon.alt;
+            // Upon click/touch, we will be able to get the clicked element as e.target
+            // Store a data attribute on all possible click targets so we can match it to the icon.
+            button.setAttribute('data-value', value);
+            buttonImg.setAttribute('data-value', value);
+            button.appendChild(buttonImg);
+            contentDiv.appendChild(button);
+        }
+        contentDiv.style.width = this.width_ + 'px';
+        dropdownDiv.appendChild(contentDiv);
+
+        Blockly.DropDownDiv.setColour(this.sourceBlock_.getColour(), this.sourceBlock_.getColourTertiary());
+
+        // Calculate positioning based on the field position.
+        var scale = this.sourceBlock_.workspace.scale;
+        var bBox = { width: this.size_.width, height: this.size_.height };
+        bBox.width *= scale;
+        bBox.height *= scale;
+        var position = this.fieldGroup_.getBoundingClientRect();
+        var primaryX = position.left + bBox.width / 2;
+        var primaryY = position.top + bBox.height;
+        var secondaryX = primaryX;
+        var secondaryY = position.top;
+        // Set bounds to workspace; show the drop-down.
+        (Blockly.DropDownDiv as any).setBoundsElement(this.sourceBlock_.workspace.getParentSvg().parentNode);
+        (Blockly.DropDownDiv as any).show(this, primaryX, primaryY, secondaryX, secondaryY,
+            this.onHide_.bind(this));
+    }
+
+    /**
+     * Callback for when a button is clicked inside the drop-down.
+     * Should be bound to the FieldIconMenu.
+     * @param {Event} e DOM event for the click/touch
+     * @private
+     */
+    private buttonClick_ = function (e: any) {
+        let value = e.target.getAttribute('data-value');
+        this.setValue(value);
+        Blockly.DropDownDiv.hide();
+    };
+
+    /**
+     * Callback for when the drop-down is hidden.
+     */
+    private onHide_ = function () {
+        Blockly.DropDownDiv.content_.removeAttribute('role');
+        Blockly.DropDownDiv.content_.removeAttribute('aria-haspopup');
+        Blockly.DropDownDiv.content_.removeAttribute('aria-activedescendant');
+    };
+}

editor/tsconfig.json

@@ -1,12 +1,14 @@
 {
     "compilerOptions": {
         "target": "es5",
-        "noImplicitAny": true,
+        "noImplicitAny": false,
         "noImplicitReturns": true,
-        "declaration": true,
-        "out": "../built/editor.js",
+        "module": "commonjs",
+        "outDir": "../built/editor",
         "rootDir": ".",
         "newLine": "LF",
-        "sourceMap": false
+        "sourceMap": false,
+        "allowSyntheticDefaultImports": true,
+        "declaration": true
     }
 }

libs/behaviors/_locales/behaviors-jsdoc-strings.json

@@ -0,0 +1,14 @@
+{
+  "behaviors": "Behavior drive blocks",
+  "behaviors.Behavior": "A behavior",
+  "behaviors.BehaviorManager": "A manager for behaviors",
+  "behaviors.BehaviorManager.add": "Adds a new behavior to the behavior manager",
+  "behaviors.BehaviorManager.add|param|behavior": "the behavior to add",
+  "behaviors.BehaviorManager.start": "Starts the behavior control loop",
+  "behaviors.BehaviorManager.stop": "Stops the execution loop",
+  "behaviors.addBehavior": "Adds the behavior and starts it",
+  "behaviors.addBehavior|param|behavior": "a behavior",
+  "behaviors.avoidCrash": "A behavior that stops all motors if the sensor distance get too short",
+  "behaviors.driveForward": "A behavior that turns on the motors to the specified speed",
+  "behaviors.driveForward|param|motors": "@param speed the desired speed, eg: 50"
+}

libs/behaviors/_locales/behaviors-strings.json

@@ -0,0 +1,7 @@
+{
+  "behaviors.addBehavior|block": "add behavior %behavior",
+  "behaviors.avoidCrash|block": "avoid crash using %ultrasonic",
+  "behaviors.driveForward|block": "drive %motors|forward at %speed|%",
+  "behaviors|block": "behaviors",
+  "{id:category}Behaviors": "Behaviors"
+}

libs/behaviors/pxt.json

@@ -0,0 +1,6 @@
+{
+    "additionalFilePath": "../../node_modules/pxt-common-packages/libs/behaviors",
+    "dependencies": {
+        "core": "file:../ev3"
+    }
+}

libs/behaviors/targetoverrides.ts

@@ -0,0 +1,56 @@
+namespace behaviors {
+    class AvoidCrashBehavior extends behaviors.Behavior {
+        private ultrasonic: sensors.UltraSonicSensor;
+        constructor(ultrasonic: sensors.UltraSonicSensor) {
+            super();
+            this.ultrasonic = ultrasonic;
+        }
+
+        shouldRun(): boolean {
+            return this.ultrasonic.distance() < 5;
+        }
+
+        run(): void {
+            motors.stopAllMotors();
+            this.active = false;
+        }
+    }
+
+    /**
+     * A behavior that stops all motors if the sensor distance get too short
+     */
+    //% blockId=behaviorsAvoidCrash block="avoid crash using %ultrasonic"
+    export function avoidCrash(ultrasonic: sensors.UltraSonicSensor) : behaviors.Behavior {
+        return new AvoidCrashBehavior(ultrasonic);
+    }
+
+    class DriveForwardBehavior extends behaviors.Behavior {
+        private motors: motors.MotorBase;
+        private speed: number;
+        constructor(motors: motors.MotorBase, speed: number) {
+            super();
+            this.motors = motors;
+            this.speed = speed;
+        }
+
+        shouldRun(): boolean { 
+            return true;
+        }
+
+        run(): void {
+            this.motors.setSpeed(this.speed);
+            pauseUntil(() => !this.active);
+            this.motors.setSpeed(0);
+        }
+    }
+
+    /**
+     * A behavior that turns on the motors to the specified speed
+     * @param motors 
+     * @param speed the desired speed, eg: 50
+     */
+    //% blockId=behaviorsDriveForward block="drive %motors|forward at %speed|%"
+    export function driveForward(motors: motors.MotorBase, speed: number): behaviors.Behavior {
+        return new DriveForwardBehavior(motors, speed);
+    }
+}

libs/color-sensor/color.ts

@@ -56,6 +56,7 @@ namespace sensors {
 
         constructor(port: number) {
             super(port)
+            this._setMode(ColorSensorMode.None);
             this.thresholdDetector = new sensors.internal.ThresholdDetector(this.id());
         }
 
@@ -68,6 +69,13 @@ namespace sensors {
         }
 
         setMode(m: ColorSensorMode) {
+            if (m == ColorSensorMode.AmbientLightIntensity) {
+                this.thresholdDetector.setLowThreshold(5);
+                this.thresholdDetector.setHighThreshold(20);
+            } else {
+                this.thresholdDetector.setLowThreshold(20);
+                this.thresholdDetector.setHighThreshold(80);
+            }
             this._setMode(m)
         }
 
@@ -103,6 +111,7 @@ namespace sensors {
         //% blockId=colorOnColorDetected
         //% parts="colorsensor"
         //% blockNamespace=sensors
+        //% sensor.fieldEditor="ports"
         //% weight=100 blockGap=8
         //% group="Color Sensor"
         onColorDetected(color: ColorSensorColor, handler: () => void) {
@@ -122,6 +131,7 @@ namespace sensors {
         //% blockId=colorPauseForColorDetected
         //% parts="colorsensor"
         //% blockNamespace=sensors
+        //% sensor.fieldEditor="ports"
         //% weight=99 blockGap=8
         //% group="Color Sensor"
         pauseForColor(color: ColorSensorColor) {
@@ -141,6 +151,7 @@ namespace sensors {
         //% blockId=colorGetColor
         //% parts="colorsensor"
         //% blockNamespace=sensors
+        //% sensor.fieldEditor="ports"
         //% weight=99
         //% group="Color Sensor"
         color(): ColorSensorColor {
@@ -158,6 +169,7 @@ namespace sensors {
         //% blockId=colorOnLightChanged
         //% parts="colorsensor"
         //% blockNamespace=sensors
+        //% sensor.fieldEditor="ports"
         //% weight=89 blockGap=8
         //% group="Color Sensor"
         onLightChanged(mode: LightIntensityMode, condition: LightCondition, handler: () => void) {
@@ -174,6 +186,7 @@ namespace sensors {
         //% blockId=colorPauseForLight
         //% parts="colorsensor"
         //% blockNamespace=sensors
+        //% sensor.fieldEditor="ports"
         //% weight=88 blockGap=8
         //% group="Color Sensor"
         pauseForLight(mode: LightIntensityMode, condition: LightCondition) {
@@ -191,6 +204,7 @@ namespace sensors {
         //% blockId=colorLight
         //% parts="colorsensor"
         //% blockNamespace=sensors
+        //% sensor.fieldEditor="ports"
         //% weight=87
         //% group="Color Sensor"
         light(mode: LightIntensityMode) {

libs/core/_locales/core-jsdoc-strings.json

@@ -21,8 +21,6 @@
   "brick.Button.pauseUntil": "Waits until the event is raised",
   "brick.Button.pauseUntil|param|ev": "the event to wait for",
   "brick.Button.wasPressed": "See if the button was pressed again since the last time you checked.",
-  "brick._imagePicker": "An image",
-  "brick._imagePicker|param|image": "the image",
   "brick.buttonDown": "Down button on the EV3 Brick.",
   "brick.buttonEnter": "Enter button on the EV3 Brick.",
   "brick.buttonLeft": "Left button on the EV3 Brick.",
@@ -31,16 +29,12 @@
   "brick.clearScreen": "Clears the screen",
   "brick.lightPattern": "Pattern block.",
   "brick.lightPattern|param|pattern": "the lights pattern to use. eg: LightsPattern.Green",
-  "brick.print": "Show text on the screen.",
-  "brick.print|param|text": "the text to print on the screen, eg: \"Hello world\"",
-  "brick.print|param|x": "the starting position's x coordinate, eg: 0",
-  "brick.print|param|y": "the starting position's x coordinate, eg: 0",
-  "brick.setPixel": "Sets a pixel on or off",
-  "brick.setPixel|param|on": "a value indicating if the pixel should be on or off",
-  "brick.setPixel|param|x": "the starting position's x coordinate, eg: 0",
-  "brick.setPixel|param|y": "the starting position's x coordinate, eg: 0",
-  "brick.setStatusLight": "Set lights.",
-  "brick.setStatusLight|param|pattern": "the lights pattern to use.",
+  "brick.printLine": "Show text on the screen at a specific line.",
+  "brick.printLine|param|line": "the line number to print the text at, eg: 0",
+  "brick.printLine|param|text": "the text to print on the screen, eg: \"Hello world\"",
+  "brick.printPorts": "Prints the port states on the screen",
+  "brick.setLight": "Set lights.",
+  "brick.setLight|param|pattern": "the lights pattern to use.",
   "brick.showImage": "Shows an image on screen",
   "brick.showImage|param|image": "image to draw",
   "console": "Reading and writing data to the console output.\n\nReading and writing data to the console output.",
@@ -58,9 +52,10 @@
   "control.raiseEvent": "Announce that an event happened to registered handlers.",
   "control.raiseEvent|param|src": "ID of the Component that generated the event",
   "control.raiseEvent|param|value": "Component specific code indicating the cause of the event.",
-  "motors.Motor.angle": "Gets motor ration angle.",
-  "motors.Motor.clearCount": "Clears the motor count",
+  "motors.Motor.angle": "Gets motor angle.",
+  "motors.Motor.clearCounts": "Clears the motor count",
   "motors.Motor.speed": "Gets motor actual speed.",
+  "motors.Motor.tacho": "Gets motor tachometer count.",
   "motors.Motor.toString": "Returns the status of the motor",
   "motors.MotorBase.isReady": "Returns a value indicating if the motor is still running a previous command.",
   "motors.MotorBase.move": "Moves the motor by a number of rotations, degress or seconds",
@@ -76,9 +71,15 @@
   "motors.MotorBase.setSpeed": "Sets the speed of the motor.",
   "motors.MotorBase.setSpeed|param|speed": "the speed from ``100`` full forward to ``-100`` full backward, eg: 50",
   "motors.MotorBase.stop": "Stops the motor(s).",
+  "motors.SynchedMotorPair.drive": "Makes a differential drive robot move with a given speed (%) and rotation rate (deg/s)\nusing a unicycle model.",
+  "motors.SynchedMotorPair.drive|param|rotationSpeed": "rotation of the robot around the center point, eg: 30",
+  "motors.SynchedMotorPair.drive|param|speed": "speed of the center point between motors, eg: 10",
+  "motors.SynchedMotorPair.drive|param|value": "the amount of movement, eg: 2",
+  "motors.SynchedMotorPair.setDimensions": "Sets the wheels radius and base length of a directional drive robot",
+  "motors.SynchedMotorPair.setDimensions|param|wheelRadius": "@param baseLength ",
   "motors.SynchedMotorPair.steer": "Turns the motor and the follower motor by a number of rotations",
   "motors.SynchedMotorPair.steer|param|speed": "the speed from ``100`` full forward to ``-100`` full backward, eg: 50",
-  "motors.SynchedMotorPair.steer|param|steering": "the ratio of power sent to the follower motor, from ``-100`` to ``100``",
+  "motors.SynchedMotorPair.steer|param|turnRatio": "the ratio of power sent to the follower motor, from ``-200`` to ``200``, eg: 0",
   "motors.SynchedMotorPair.steer|param|unit": "the meaning of the value",
   "motors.SynchedMotorPair.steer|param|value": "the move quantity, eg: 2",
   "motors.SynchedMotorPair.tank": "The Move Tank block can make a robot drive forward, backward, turn, or stop. \nUse the Move Tank block for robot vehicles that have two Large Motors, \nwith one motor driving the left side of the vehicle and the other the right side. \nYou can make the two motors go at different speeds or in different directions \nto make your robot turn.",

libs/core/_locales/core-strings.json

@@ -24,22 +24,21 @@
   "Output.CD|block": "C+D",
   "Output.C|block": "C",
   "Output.D|block": "D",
-  "brick.Button.isPressed|block": "`icons.brickButtons` %button|is pressed",
-  "brick.Button.onEvent|block": "on `icons.brickButtons` %button|%event",
-  "brick.Button.pauseUntil|block": "pause until `icons.brickButtons` %button|%event",
-  "brick.Button.wasPressed|block": "`icons.brickButtons` %button|was pressed",
-  "brick._imagePicker|block": "%image",
+  "brick.Button.isPressed|block": "%button|is pressed",
+  "brick.Button.onEvent|block": "on %button|%event",
+  "brick.Button.pauseUntil|block": "pause until %button|%event",
+  "brick.Button.wasPressed|block": "%button|was pressed",
   "brick.buttonDown|block": "down",
   "brick.buttonEnter|block": "enter",
   "brick.buttonLeft|block": "left",
   "brick.buttonRight|block": "right",
   "brick.buttonUp|block": "up",
-  "brick.clearScreen|block": "`icons.brickDisplay` clear screen",
+  "brick.clearScreen|block": "clear screen",
   "brick.lightPattern|block": "%pattern",
-  "brick.print|block": "`icons.brickDisplay` print %text| at x: %x| y: %y",
-  "brick.setPixel|block": "`icons.brickDisplay` set pixel %on| at x: %x| y: %y",
-  "brick.setStatusLight|block": "set `icons.brickButtons` to %pattern=led_pattern",
-  "brick.showImage|block": "`icons.brickDisplay` show image %image=screen_image_picker",
+  "brick.printLine|block": "print %text| at line %line",
+  "brick.printPorts|block": "print ports",
+  "brick.setLight|block": "set light to %pattern=led_pattern",
+  "brick.showImage|block": "show image %image=screen_image_picker",
   "brick|block": "brick",
   "console.logValue|block": "console|log value %name|= %value",
   "console.log|block": "console|log %text",
@@ -48,14 +47,17 @@
   "control.raiseEvent|block": "raise event|from %src|with value %value",
   "control|block": "control",
   "motors.Motor.angle|block": "%motor|angle",
+  "motors.Motor.clearCounts|block": "%motor|clear counts",
   "motors.Motor.speed|block": "%motor|speed",
+  "motors.Motor.tacho|block": "%motor|tacho",
   "motors.MotorBase.move|block": "move %motor|for %value|%unit|at %speed|%",
   "motors.MotorBase.pauseUntilReady|block": "%motor|pause until ready",
   "motors.MotorBase.setBrake|block": "set %motor|brake %brake",
   "motors.MotorBase.setReversed|block": "set %motor|reversed %reversed",
   "motors.MotorBase.setSpeed|block": "set speed of %motor|to %speed|%",
-  "motors.SynchedMotorPair.steer|block": "steer %chassis|%steering|%|at speed %speed|%|by %value|%unit",
-  "motors.SynchedMotorPair.tank|block": "tank %chassis|left %speedLeft|%|right %speedRight|%|by %value|%unit",
+  "motors.SynchedMotorPair.drive|block": "drive %chassis|at %speed|cm/s|turning %rotationSpeed|deg/s|for %value|%unit",
+  "motors.SynchedMotorPair.steer|block": "steer %chassis turn by|%turnRatio|at speed %speed|%|for %value|%unit",
+  "motors.SynchedMotorPair.tank|block": "tank %chassis|left %speedLeft|%|right %speedRight|%|for %value|%unit",
   "motors.largeAB|block": "large A+B",
   "motors.largeAD|block": "large A+D",
   "motors.largeA|block": "large A",

libs/core/buttons.ts

@@ -66,6 +66,7 @@ namespace brick {
 
         //% hidden
         _update(curr: boolean) {
+            if (this == null) return
             if (this._isPressed == curr) return
             this._isPressed = curr
             if (curr) {
@@ -85,7 +86,7 @@ namespace brick {
          * @param button the button to query the request
          */
         //% help=input/button/is-pressed
-        //% block="`icons.brickButtons` %button|is pressed"
+        //% block="%button|is pressed"
         //% blockId=buttonIsPressed
         //% parts="brick"
         //% blockNamespace=brick
@@ -100,11 +101,11 @@ namespace brick {
          * @param button the button to query the request
          */
         //% help=input/button/was-pressed
-        //% block="`icons.brickButtons` %button|was pressed"
+        //% block="%button|was pressed"
         //% blockId=buttonWasPressed
         //% parts="brick"
         //% blockNamespace=brick
-        //% weight=80 blockGap=8
+        //% weight=80
         //% group="Buttons"
         wasPressed() {
             const r = this._wasPressed
@@ -119,7 +120,7 @@ namespace brick {
          * @param body code to run when the event is raised
          */
         //% help=input/button/on-event
-        //% blockId=buttonEvent block="on `icons.brickButtons` %button|%event"
+        //% blockId=buttonEvent block="on %button|%event"
         //% parts="brick"
         //% blockNamespace=brick
         //% weight=99 blockGap=8
@@ -133,7 +134,7 @@ namespace brick {
          * @param ev the event to wait for
          */
         //% help=input/button/pause-until
-        //% blockId=buttonWaitUntil block="pause until `icons.brickButtons` %button|%event"
+        //% blockId=buttonWaitUntil block="pause until %button|%event"
         //% parts="brick"
         //% blockNamespace=brick
         //% weight=98 blockGap=8
@@ -248,9 +249,9 @@ namespace brick {
      * Set lights.
      * @param pattern the lights pattern to use.
      */
-    //% blockId=setLights block="set `icons.brickButtons` to %pattern=led_pattern"
-    //% weight=100 group="Light"
-    export function setStatusLight(pattern: number): void {
+    //% blockId=setLights block="set light to %pattern=led_pattern"
+    //% weight=100 group="Buttons"
+    export function setLight(pattern: number): void {
         if (currPattern === pattern)
             return
         currPattern = pattern

libs/core/console.ts

@@ -59,7 +59,6 @@ namespace console {
 namespace console.screen {
     const maxLines = 100;
     const screenLines = 8;
-    const lineHeight = 12;
     let lines: string[];
     let scrollPosition = 0;
 
@@ -67,8 +66,8 @@ namespace console.screen {
         if (!lines) {
             lines = [];
             console.addListener(log);
-            brick.buttonUp.onEvent(ButtonEvent.Click, () => scroll(1))
-            brick.buttonDown.onEvent(ButtonEvent.Click, () => scroll(-1))                
+            brick.buttonUp.onEvent(ButtonEvent.Click, () => scroll(-1))
+            brick.buttonDown.onEvent(ButtonEvent.Click, () => scroll(1))                
         }
     }
 
@@ -78,7 +77,7 @@ namespace console.screen {
         for (let i = 0; i < screenLines; ++i) {
             const line = lines[i + scrollPosition];
             if (line)
-                brick.print(line, 0, 4 + i * lineHeight)
+                brick.print(line, 0, 4 + i * brick.LINE_HEIGHT)
         }
     }
 

libs/core/images.ts

@@ -1,260 +1,260 @@
 namespace images {
-    //% fixedInstance jres blockIdentity=brick._imagePicker
+    //% fixedInstance jres blockIdentity=brick.__imagePicker
     export const expressionsBigSmile = screen.unpackPNG(hex``);
-    //% fixedInstance jres blockIdentity=brick._imagePicker
+    //% fixedInstance jres blockIdentity=brick.__imagePicker
     export const expressionsHeartLarge = screen.unpackPNG(hex``);
-    //% fixedInstance jres blockIdentity=brick._imagePicker
+    //% fixedInstance jres blockIdentity=brick.__imagePicker
     export const expressionsHeartSmall = screen.unpackPNG(hex``);
-    //% fixedInstance jres blockIdentity=brick._imagePicker
+    //% fixedInstance jres blockIdentity=brick.__imagePicker
     export const expressionsMouth1open = screen.unpackPNG(hex``);
-    //% fixedInstance jres blockIdentity=brick._imagePicker
+    //% fixedInstance jres blockIdentity=brick.__imagePicker
     export const expressionsMouth1shut = screen.unpackPNG(hex``);
-    //% fixedInstance jres blockIdentity=brick._imagePicker
+    //% fixedInstance jres blockIdentity=brick.__imagePicker
     export const expressionsMouth2open = screen.unpackPNG(hex``);
-    //% fixedInstance jres blockIdentity=brick._imagePicker
+    //% fixedInstance jres blockIdentity=brick.__imagePicker
     export const expressionsMouth2shut = screen.unpackPNG(hex``);
-    //% fixedInstance jres blockIdentity=brick._imagePicker
+    //% fixedInstance jres blockIdentity=brick.__imagePicker
     export const expressionsSad = screen.unpackPNG(hex``);
-    //% fixedInstance jres blockIdentity=brick._imagePicker
+    //% fixedInstance jres blockIdentity=brick.__imagePicker
     export const expressionsSick = screen.unpackPNG(hex``);
-    //% fixedInstance jres blockIdentity=brick._imagePicker
+    //% fixedInstance jres blockIdentity=brick.__imagePicker
     export const expressionsSmile = screen.unpackPNG(hex``);
-    //% fixedInstance jres blockIdentity=brick._imagePicker
+    //% fixedInstance jres blockIdentity=brick.__imagePicker
     export const expressionsSwearing = screen.unpackPNG(hex``);
-    //% fixedInstance jres blockIdentity=brick._imagePicker
+    //% fixedInstance jres blockIdentity=brick.__imagePicker
     export const expressionsTalking = screen.unpackPNG(hex``);
-    //% fixedInstance jres blockIdentity=brick._imagePicker
+    //% fixedInstance jres blockIdentity=brick.__imagePicker
     export const expressionsWink = screen.unpackPNG(hex``);
-    //% fixedInstance jres blockIdentity=brick._imagePicker
+    //% fixedInstance jres blockIdentity=brick.__imagePicker
     export const expressionsZzz = screen.unpackPNG(hex``);
-    //% fixedInstance jres blockIdentity=brick._imagePicker
+    //% fixedInstance jres blockIdentity=brick.__imagePicker
     export const eyesAngry = screen.unpackPNG(hex``);
-    //% fixedInstance jres blockIdentity=brick._imagePicker
+    //% fixedInstance jres blockIdentity=brick.__imagePicker
     export const eyesAwake = screen.unpackPNG(hex``);
-    //% fixedInstance jres blockIdentity=brick._imagePicker
+    //% fixedInstance jres blockIdentity=brick.__imagePicker
     export const eyesBlackEye = screen.unpackPNG(hex``);
-    //% fixedInstance jres blockIdentity=brick._imagePicker
+    //% fixedInstance jres blockIdentity=brick.__imagePicker
     export const eyesBottomLeft = screen.unpackPNG(hex``);
-    //% fixedInstance jres blockIdentity=brick._imagePicker
+    //% fixedInstance jres blockIdentity=brick.__imagePicker
     export const eyesBottomRight = screen.unpackPNG(hex``);
-    //% fixedInstance jres blockIdentity=brick._imagePicker
+    //% fixedInstance jres blockIdentity=brick.__imagePicker
     export const eyesCrazy1 = screen.unpackPNG(hex``);
-    //% fixedInstance jres blockIdentity=brick._imagePicker
+    //% fixedInstance jres blockIdentity=brick.__imagePicker
     export const eyesCrazy2 = screen.unpackPNG(hex``);
-    //% fixedInstance jres blockIdentity=brick._imagePicker
+    //% fixedInstance jres blockIdentity=brick.__imagePicker
     export const eyesDisappointed = screen.unpackPNG(hex``);
-    //% fixedInstance jres blockIdentity=brick._imagePicker
+    //% fixedInstance jres blockIdentity=brick.__imagePicker
     export const eyesDizzy = screen.unpackPNG(hex``);
-    //% fixedInstance jres blockIdentity=brick._imagePicker
+    //% fixedInstance jres blockIdentity=brick.__imagePicker
     export const eyesDown = screen.unpackPNG(hex``);
-    //% fixedInstance jres blockIdentity=brick._imagePicker
+    //% fixedInstance jres blockIdentity=brick.__imagePicker
     export const eyesEvil = screen.unpackPNG(hex``);
-    //% fixedInstance jres blockIdentity=brick._imagePicker
+    //% fixedInstance jres blockIdentity=brick.__imagePicker
     export const eyesHurt = screen.unpackPNG(hex``);
-    //% fixedInstance jres blockIdentity=brick._imagePicker
+    //% fixedInstance jres blockIdentity=brick.__imagePicker
     export const eyesKnockedOut = screen.unpackPNG(hex``);
-    //% fixedInstance jres blockIdentity=brick._imagePicker
+    //% fixedInstance jres blockIdentity=brick.__imagePicker
     export const eyesLove = screen.unpackPNG(hex``);
-    //% fixedInstance jres blockIdentity=brick._imagePicker
+    //% fixedInstance jres blockIdentity=brick.__imagePicker
     export const eyesMiddleLeft = screen.unpackPNG(hex``);
-    //% fixedInstance jres blockIdentity=brick._imagePicker
+    //% fixedInstance jres blockIdentity=brick.__imagePicker
     export const eyesMiddleRight = screen.unpackPNG(hex``);
-    //% fixedInstance jres blockIdentity=brick._imagePicker
+    //% fixedInstance jres blockIdentity=brick.__imagePicker
     export const eyesNeutral = screen.unpackPNG(hex``);
-    //% fixedInstance jres blockIdentity=brick._imagePicker
+    //% fixedInstance jres blockIdentity=brick.__imagePicker
     export const eyesNuclear = screen.unpackPNG(hex``);
-    //% fixedInstance jres blockIdentity=brick._imagePicker
+    //% fixedInstance jres blockIdentity=brick.__imagePicker
     export const eyesPinchLeft = screen.unpackPNG(hex``);
-    //% fixedInstance jres blockIdentity=brick._imagePicker
+    //% fixedInstance jres blockIdentity=brick.__imagePicker
     export const eyesPinchMiddle = screen.unpackPNG(hex``);
-    //% fixedInstance jres blockIdentity=brick._imagePicker
+    //% fixedInstance jres blockIdentity=brick.__imagePicker
     export const eyesPinchRight = screen.unpackPNG(hex``);
-    //% fixedInstance jres blockIdentity=brick._imagePicker
+    //% fixedInstance jres blockIdentity=brick.__imagePicker
     export const eyesSleeping = screen.unpackPNG(hex``);
-    //% fixedInstance jres blockIdentity=brick._imagePicker
+    //% fixedInstance jres blockIdentity=brick.__imagePicker
     export const eyesTear = screen.unpackPNG(hex``);
-    //% fixedInstance jres blockIdentity=brick._imagePicker
+    //% fixedInstance jres blockIdentity=brick.__imagePicker
     export const eyesTiredLeft = screen.unpackPNG(hex``);
-    //% fixedInstance jres blockIdentity=brick._imagePicker
+    //% fixedInstance jres blockIdentity=brick.__imagePicker
     export const eyesTiredMiddle = screen.unpackPNG(hex``);
-    //% fixedInstance jres blockIdentity=brick._imagePicker
+    //% fixedInstance jres blockIdentity=brick.__imagePicker
     export const eyesTiredRight = screen.unpackPNG(hex``);
-    //% fixedInstance jres blockIdentity=brick._imagePicker
+    //% fixedInstance jres blockIdentity=brick.__imagePicker
     export const eyesToxic = screen.unpackPNG(hex``);
-    //% fixedInstance jres blockIdentity=brick._imagePicker
+    //% fixedInstance jres blockIdentity=brick.__imagePicker
     export const eyesUp = screen.unpackPNG(hex``);
-    //% fixedInstance jres blockIdentity=brick._imagePicker
+    //% fixedInstance jres blockIdentity=brick.__imagePicker
     export const eyesWinking = screen.unpackPNG(hex``);
-    //% fixedInstance jres blockIdentity=brick._imagePicker
+    //% fixedInstance jres blockIdentity=brick.__imagePicker
     export const informationAccept = screen.unpackPNG(hex``);
-    //% fixedInstance jres blockIdentity=brick._imagePicker
+    //% fixedInstance jres blockIdentity=brick.__imagePicker
     export const informationBackward = screen.unpackPNG(hex``);
-    //% fixedInstance jres blockIdentity=brick._imagePicker
+    //% fixedInstance jres blockIdentity=brick.__imagePicker
     export const informationDecline = screen.unpackPNG(hex``);
-    //% fixedInstance jres blockIdentity=brick._imagePicker
+    //% fixedInstance jres blockIdentity=brick.__imagePicker
     export const informationForward = screen.unpackPNG(hex``);
-    //% fixedInstance jres blockIdentity=brick._imagePicker
+    //% fixedInstance jres blockIdentity=brick.__imagePicker
     export const informationLeft = screen.unpackPNG(hex``);
-    //% fixedInstance jres blockIdentity=brick._imagePicker
+    //% fixedInstance jres blockIdentity=brick.__imagePicker
     export const informationNoGo = screen.unpackPNG(hex``);
-    //% fixedInstance jres blockIdentity=brick._imagePicker
+    //% fixedInstance jres blockIdentity=brick.__imagePicker
     export const informationQuestionMark = screen.unpackPNG(hex``);
-    //% fixedInstance jres blockIdentity=brick._imagePicker
+    //% fixedInstance jres blockIdentity=brick.__imagePicker
     export const informationRight = screen.unpackPNG(hex``);
-    //% fixedInstance jres blockIdentity=brick._imagePicker
+    //% fixedInstance jres blockIdentity=brick.__imagePicker
     export const informationStop1 = screen.unpackPNG(hex``);
-    //% fixedInstance jres blockIdentity=brick._imagePicker
+    //% fixedInstance jres blockIdentity=brick.__imagePicker
     export const informationStop2 = screen.unpackPNG(hex``);
-    //% fixedInstance jres blockIdentity=brick._imagePicker
+    //% fixedInstance jres blockIdentity=brick.__imagePicker
     export const informationThumbsDown = screen.unpackPNG(hex``);
-    //% fixedInstance jres blockIdentity=brick._imagePicker
+    //% fixedInstance jres blockIdentity=brick.__imagePicker
     export const informationThumbsUp = screen.unpackPNG(hex``);
-    //% fixedInstance jres blockIdentity=brick._imagePicker
+    //% fixedInstance jres blockIdentity=brick.__imagePicker
     export const informationWarning = screen.unpackPNG(hex``);
-    //% fixedInstance jres blockIdentity=brick._imagePicker
+    //% fixedInstance jres blockIdentity=brick.__imagePicker
     export const legoColorSensor = screen.unpackPNG(hex``);
-    //% fixedInstance jres blockIdentity=brick._imagePicker
+    //% fixedInstance jres blockIdentity=brick.__imagePicker
     export const legoEv3icon = screen.unpackPNG(hex``);
-    //% fixedInstance jres blockIdentity=brick._imagePicker
+    //% fixedInstance jres blockIdentity=brick.__imagePicker
     export const legoEv3 = screen.unpackPNG(hex``);
-    //% fixedInstance jres blockIdentity=brick._imagePicker
+    //% fixedInstance jres blockIdentity=brick.__imagePicker
     export const legoGyroSensor = screen.unpackPNG(hex``);
-    //% fixedInstance jres blockIdentity=brick._imagePicker
+    //% fixedInstance jres blockIdentity=brick.__imagePicker
     export const legoIrBeacon = screen.unpackPNG(hex``);
-    //% fixedInstance jres blockIdentity=brick._imagePicker
+    //% fixedInstance jres blockIdentity=brick.__imagePicker
     export const legoIrSensor = screen.unpackPNG(hex``);
-    //% fixedInstance jres blockIdentity=brick._imagePicker
+    //% fixedInstance jres blockIdentity=brick.__imagePicker
     export const legoLego = screen.unpackPNG(hex``);
-    //% fixedInstance jres blockIdentity=brick._imagePicker
+    //% fixedInstance jres blockIdentity=brick.__imagePicker
     export const legoLargeMotor = screen.unpackPNG(hex``);
-    //% fixedInstance jres blockIdentity=brick._imagePicker
+    //% fixedInstance jres blockIdentity=brick.__imagePicker
     export const legoMindstorms = screen.unpackPNG(hex``);
-    //% fixedInstance jres blockIdentity=brick._imagePicker
+    //% fixedInstance jres blockIdentity=brick.__imagePicker
     export const legoMediumMotor = screen.unpackPNG(hex``);
-    //% fixedInstance jres blockIdentity=brick._imagePicker
+    //% fixedInstance jres blockIdentity=brick.__imagePicker
     export const legoSoundSensor = screen.unpackPNG(hex``);
-    //% fixedInstance jres blockIdentity=brick._imagePicker
+    //% fixedInstance jres blockIdentity=brick.__imagePicker
     export const legoTempSensor = screen.unpackPNG(hex``);
-    //% fixedInstance jres blockIdentity=brick._imagePicker
+    //% fixedInstance jres blockIdentity=brick.__imagePicker
     export const legoTouchSensor = screen.unpackPNG(hex``);
-    //% fixedInstance jres blockIdentity=brick._imagePicker
+    //% fixedInstance jres blockIdentity=brick.__imagePicker
     export const legoUsSensor = screen.unpackPNG(hex``);
-    //% fixedInstance jres blockIdentity=brick._imagePicker
+    //% fixedInstance jres blockIdentity=brick.__imagePicker
     export const objectsBomb = screen.unpackPNG(hex``);
-    //% fixedInstance jres blockIdentity=brick._imagePicker
+    //% fixedInstance jres blockIdentity=brick.__imagePicker
     export const objectsBoom = screen.unpackPNG(hex``);
-    //% fixedInstance jres blockIdentity=brick._imagePicker
+    //% fixedInstance jres blockIdentity=brick.__imagePicker
     export const objectsFire = screen.unpackPNG(hex``);
-    //% fixedInstance jres blockIdentity=brick._imagePicker
+    //% fixedInstance jres blockIdentity=brick.__imagePicker
     export const objectsFlowers = screen.unpackPNG(hex``);
-    //% fixedInstance jres blockIdentity=brick._imagePicker
+    //% fixedInstance jres blockIdentity=brick.__imagePicker
     export const objectsForest = screen.unpackPNG(hex``);
-    //% fixedInstance jres blockIdentity=brick._imagePicker
+    //% fixedInstance jres blockIdentity=brick.__imagePicker
     export const objectsLightOff = screen.unpackPNG(hex``);
-    //% fixedInstance jres blockIdentity=brick._imagePicker
+    //% fixedInstance jres blockIdentity=brick.__imagePicker
     export const objectsLightOn = screen.unpackPNG(hex``);
-    //% fixedInstance jres blockIdentity=brick._imagePicker
+    //% fixedInstance jres blockIdentity=brick.__imagePicker
     export const objectsLightning = screen.unpackPNG(hex``);
-    //% fixedInstance jres blockIdentity=brick._imagePicker
+    //% fixedInstance jres blockIdentity=brick.__imagePicker
     export const objectsNight = screen.unpackPNG(hex``);
-    //% fixedInstance jres blockIdentity=brick._imagePicker
+    //% fixedInstance jres blockIdentity=brick.__imagePicker
     export const objectsPirate = screen.unpackPNG(hex``);
-    //% fixedInstance jres blockIdentity=brick._imagePicker
+    //% fixedInstance jres blockIdentity=brick.__imagePicker
     export const objectsSnow = screen.unpackPNG(hex``);
-    //% fixedInstance jres blockIdentity=brick._imagePicker
+    //% fixedInstance jres blockIdentity=brick.__imagePicker
     export const objectsTarget = screen.unpackPNG(hex``);
-    //% fixedInstance jres blockIdentity=brick._imagePicker
+    //% fixedInstance jres blockIdentity=brick.__imagePicker
     export const progressBar0 = screen.unpackPNG(hex``);
-    //% fixedInstance jres blockIdentity=brick._imagePicker
+    //% fixedInstance jres blockIdentity=brick.__imagePicker
     export const progressBar1 = screen.unpackPNG(hex``);
-    //% fixedInstance jres blockIdentity=brick._imagePicker
+    //% fixedInstance jres blockIdentity=brick.__imagePicker
     export const progressBar2 = screen.unpackPNG(hex``);
-    //% fixedInstance jres blockIdentity=brick._imagePicker
+    //% fixedInstance jres blockIdentity=brick.__imagePicker
     export const progressBar3 = screen.unpackPNG(hex``);
-    //% fixedInstance jres blockIdentity=brick._imagePicker
+    //% fixedInstance jres blockIdentity=brick.__imagePicker
     export const progressBar4 = screen.unpackPNG(hex``);
-    //% fixedInstance jres blockIdentity=brick._imagePicker
+    //% fixedInstance jres blockIdentity=brick.__imagePicker
     export const progressDial0 = screen.unpackPNG(hex``);
-    //% fixedInstance jres blockIdentity=brick._imagePicker
+    //% fixedInstance jres blockIdentity=brick.__imagePicker
     export const progressDial1 = screen.unpackPNG(hex``);
-    //% fixedInstance jres blockIdentity=brick._imagePicker
+    //% fixedInstance jres blockIdentity=brick.__imagePicker
     export const progressDial2 = screen.unpackPNG(hex``);
-    //% fixedInstance jres blockIdentity=brick._imagePicker
+    //% fixedInstance jres blockIdentity=brick.__imagePicker
     export const progressDial3 = screen.unpackPNG(hex``);
-    //% fixedInstance jres blockIdentity=brick._imagePicker
+    //% fixedInstance jres blockIdentity=brick.__imagePicker
     export const progressDial4 = screen.unpackPNG(hex``);
-    //% fixedInstance jres blockIdentity=brick._imagePicker
+    //% fixedInstance jres blockIdentity=brick.__imagePicker
     export const progressDots0 = screen.unpackPNG(hex``);
-    //% fixedInstance jres blockIdentity=brick._imagePicker
+    //% fixedInstance jres blockIdentity=brick.__imagePicker
     export const progressDots1 = screen.unpackPNG(hex``);
-    //% fixedInstance jres blockIdentity=brick._imagePicker
+    //% fixedInstance jres blockIdentity=brick.__imagePicker
     export const progressDots2 = screen.unpackPNG(hex``);
-    //% fixedInstance jres blockIdentity=brick._imagePicker
+    //% fixedInstance jres blockIdentity=brick.__imagePicker
     export const progressDots3 = screen.unpackPNG(hex``);
-    //% fixedInstance jres blockIdentity=brick._imagePicker
+    //% fixedInstance jres blockIdentity=brick.__imagePicker
     export const progressHourglass0 = screen.unpackPNG(hex``);
-    //% fixedInstance jres blockIdentity=brick._imagePicker
+    //% fixedInstance jres blockIdentity=brick.__imagePicker
     export const progressHourglass1 = screen.unpackPNG(hex``);
-    //% fixedInstance jres blockIdentity=brick._imagePicker
+    //% fixedInstance jres blockIdentity=brick.__imagePicker
     export const progressHourglass2 = screen.unpackPNG(hex``);
-    //% fixedInstance jres blockIdentity=brick._imagePicker
+    //% fixedInstance jres blockIdentity=brick.__imagePicker
     export const progressTimer0 = screen.unpackPNG(hex``);
-    //% fixedInstance jres blockIdentity=brick._imagePicker
+    //% fixedInstance jres blockIdentity=brick.__imagePicker
     export const progressTimer1 = screen.unpackPNG(hex``);
-    //% fixedInstance jres blockIdentity=brick._imagePicker
+    //% fixedInstance jres blockIdentity=brick.__imagePicker
     export const progressTimer2 = screen.unpackPNG(hex``);
-    //% fixedInstance jres blockIdentity=brick._imagePicker
+    //% fixedInstance jres blockIdentity=brick.__imagePicker
     export const progressTimer3 = screen.unpackPNG(hex``);
-    //% fixedInstance jres blockIdentity=brick._imagePicker
+    //% fixedInstance jres blockIdentity=brick.__imagePicker
     export const progressTimer4 = screen.unpackPNG(hex``);
-    //% fixedInstance jres blockIdentity=brick._imagePicker
+    //% fixedInstance jres blockIdentity=brick.__imagePicker
     export const progressWaterLevel0 = screen.unpackPNG(hex``);
-    //% fixedInstance jres blockIdentity=brick._imagePicker
+    //% fixedInstance jres blockIdentity=brick.__imagePicker
     export const progressWaterLevel1 = screen.unpackPNG(hex``);
-    //% fixedInstance jres blockIdentity=brick._imagePicker
+    //% fixedInstance jres blockIdentity=brick.__imagePicker
     export const progressWaterLevel2 = screen.unpackPNG(hex``);
-    //% fixedInstance jres blockIdentity=brick._imagePicker
+    //% fixedInstance jres blockIdentity=brick.__imagePicker
     export const progressWaterLevel3 = screen.unpackPNG(hex``);
-    //% fixedInstance jres blockIdentity=brick._imagePicker
+    //% fixedInstance jres blockIdentity=brick.__imagePicker
     export const systemAccept1 = screen.unpackPNG(hex``);
-    //% fixedInstance jres blockIdentity=brick._imagePicker
+    //% fixedInstance jres blockIdentity=brick.__imagePicker
     export const systemAccept2 = screen.unpackPNG(hex``);
-    //% fixedInstance jres blockIdentity=brick._imagePicker
+    //% fixedInstance jres blockIdentity=brick.__imagePicker
     export const systemAlert = screen.unpackPNG(hex``);
-    //% fixedInstance jres blockIdentity=brick._imagePicker
+    //% fixedInstance jres blockIdentity=brick.__imagePicker
     export const systemBox = screen.unpackPNG(hex``);
-    //% fixedInstance jres blockIdentity=brick._imagePicker
+    //% fixedInstance jres blockIdentity=brick.__imagePicker
     export const systemBusy0 = screen.unpackPNG(hex``);
-    //% fixedInstance jres blockIdentity=brick._imagePicker
+    //% fixedInstance jres blockIdentity=brick.__imagePicker
     export const systemBusy1 = screen.unpackPNG(hex``);
-    //% fixedInstance jres blockIdentity=brick._imagePicker
+    //% fixedInstance jres blockIdentity=brick.__imagePicker
     export const systemDecline1 = screen.unpackPNG(hex``);
-    //% fixedInstance jres blockIdentity=brick._imagePicker
+    //% fixedInstance jres blockIdentity=brick.__imagePicker
     export const systemDecline2 = screen.unpackPNG(hex``);
-    //% fixedInstance jres blockIdentity=brick._imagePicker
+    //% fixedInstance jres blockIdentity=brick.__imagePicker
     export const systemDotEmpty = screen.unpackPNG(hex``);
-    //% fixedInstance jres blockIdentity=brick._imagePicker
+    //% fixedInstance jres blockIdentity=brick.__imagePicker
     export const systemDotFull = screen.unpackPNG(hex``);
-    //% fixedInstance jres blockIdentity=brick._imagePicker
+    //% fixedInstance jres blockIdentity=brick.__imagePicker
     export const systemEv3small = screen.unpackPNG(hex``);
-    //% fixedInstance jres blockIdentity=brick._imagePicker
+    //% fixedInstance jres blockIdentity=brick.__imagePicker
     export const systemPlay = screen.unpackPNG(hex``);
-    //% fixedInstance jres blockIdentity=brick._imagePicker
+    //% fixedInstance jres blockIdentity=brick.__imagePicker
     export const systemSlider0 = screen.unpackPNG(hex``);
-    //% fixedInstance jres blockIdentity=brick._imagePicker
+    //% fixedInstance jres blockIdentity=brick.__imagePicker
     export const systemSlider1 = screen.unpackPNG(hex``);
-    //% fixedInstance jres blockIdentity=brick._imagePicker
+    //% fixedInstance jres blockIdentity=brick.__imagePicker
     export const systemSlider2 = screen.unpackPNG(hex``);
-    //% fixedInstance jres blockIdentity=brick._imagePicker
+    //% fixedInstance jres blockIdentity=brick.__imagePicker
     export const systemSlider3 = screen.unpackPNG(hex``);
-    //% fixedInstance jres blockIdentity=brick._imagePicker
+    //% fixedInstance jres blockIdentity=brick.__imagePicker
     export const systemSlider4 = screen.unpackPNG(hex``);
-    //% fixedInstance jres blockIdentity=brick._imagePicker
+    //% fixedInstance jres blockIdentity=brick.__imagePicker
     export const systemSlider5 = screen.unpackPNG(hex``);
-    //% fixedInstance jres blockIdentity=brick._imagePicker
+    //% fixedInstance jres blockIdentity=brick.__imagePicker
     export const systemSlider6 = screen.unpackPNG(hex``);
-    //% fixedInstance jres blockIdentity=brick._imagePicker
+    //% fixedInstance jres blockIdentity=brick.__imagePicker
     export const systemSlider7 = screen.unpackPNG(hex``);
-    //% fixedInstance jres blockIdentity=brick._imagePicker
+    //% fixedInstance jres blockIdentity=brick.__imagePicker
     export const systemSlider8 = screen.unpackPNG(hex``);
 }

libs/core/input.ts

@@ -74,6 +74,11 @@ namespace sensors.internal {
 
     }
 
+    export function getActiveSensors(): Sensor[] {
+        init();
+        return sensorInfos.filter(si => si.sensor && si.sensor.isActive()).map(si => si.sensor);
+    }
+
     function readUartInfo(port: number, mode: number) {
         let buf = output.createBuffer(UartCtlOff.Size)
         buf[UartCtlOff.Port] = port
@@ -209,6 +214,7 @@ namespace sensors.internal {
         }
 
         public setLevel(level: number) {
+            if (this == null) return
             this.level = this.clampValue(level);
 
             if (this.level >= this.highThreshold) {

libs/core/output.ts

@@ -14,7 +14,7 @@ enum Output {
     //% block="C+D"
     CD = Output.C | Output.D,
     //% block="A+D"
-    AD = Output.B | Output.C,
+    AD = Output.A | Output.D,
     //% block="All"
     ALL = 0x0f
 }
@@ -75,9 +75,9 @@ namespace motors {
      * @param buf message buffer
      */
     //%
-    export function readPWM(buf: Buffer): number {
+    export function readPWM(buf: Buffer): void {
         init()
-        return pwmMM.read(buf);
+        pwmMM.read(buf);
     }
 
     /**
@@ -109,7 +109,7 @@ namespace motors {
      * Stops all motors
      */
     //% blockId=motorStopAll block="stop all motors"
-    //% weight=97
+    //% weight=5
     //% group="Motion"
     export function stopAllMotors() {
         const b = mkCmd(Output.ALL, DAL.opOutputStop, 0)
@@ -258,12 +258,19 @@ namespace motors {
         /**
          * Returns a value indicating if the motor is still running a previous command.
          */
-        //%
+        //% group="Sensors"
         isReady(): boolean {
             this.init();
-            const r = readPWM(mkCmd(this._port, DAL.opOutputTest, 0))
-            // 0 = ready, 1 = busy
-            return r == 0;
+            const buf = mkCmd(this._port, DAL.opOutputTest, 2);
+            readPWM(buf)
+            const flags = buf.getNumber(NumberFormat.UInt8LE, 2);
+            // TODO: FIX with ~ support
+            for(let i = 0; i < DAL.NUM_OUTPUTS; ++i) {
+                const flag = 1 << i;
+                if ((this._port & flag) && (flags & flag))
+                    return false;
+            }
+            return true;
         }
 
         /**
@@ -271,6 +278,7 @@ namespace motors {
          * @param timeOut optional maximum pausing time in milliseconds
          */
         //% blockId=motorPauseUntilRead block="%motor|pause until ready"
+        //% weight=97
         //% group="Motion"
         pauseUntilReady(timeOut?: number) {
             pauseUntil(() => this.isReady(), timeOut);
@@ -323,7 +331,8 @@ namespace motors {
          * @param motor the port which connects to the motor
          */
         //% blockId=motorSpeed block="%motor|speed"
-        //% weight=72 blockGap=8
+        //% weight=72 
+        //% blockGap=8
         //% group="Sensors"
         speed(): number {
             this.init();
@@ -331,10 +340,10 @@ namespace motors {
         }
 
         /**
-         * Gets motor ration angle.
+         * Gets motor angle.
          * @param motor the port which connects to the motor
          */
-        //% blockId=motorTachoCount block="%motor|angle"
+        //% blockId=motorAngle block="%motor|angle"
         //% weight=70
         //% group="Sensors"
         angle(): number {
@@ -342,11 +351,28 @@ namespace motors {
             return getMotorData(this._port).count;
         }
 
+
+        /**
+         * Gets motor tachometer count.
+         * @param motor the port which connects to the motor
+         */
+        //% blockId=motorTachoCount block="%motor|tacho"
+        //% weight=69
+        //% blockGap=8
+        //% group="Sensors"
+        tacho(): number {
+            this.init();
+            return getMotorData(this._port).tachoCount;
+        }
+
         /**
          * Clears the motor count
          */
-        //% group="Motion"
-        clearCount() {
+        //% blockId=motorClearCount block="%motor|clear counts"
+        //% weight=68
+        //% blockGap=8
+        //% group="Sensors"
+        clearCounts() {
             this.init();
             const b = mkCmd(this._port, DAL.opOutputClearCount, 0)
             writePWM(b)
@@ -392,9 +418,13 @@ namespace motors {
 
     //% fixedInstances
     export class SynchedMotorPair extends MotorBase {
+        private wheelRadius: number;
+        private baseLength: number;
 
         constructor(ports: Output) {
             super(ports, () => this.__init(), (speed) => this.__setSpeed(speed), (steps, stepsOrTime, speed) => this.__move(steps, stepsOrTime, speed));
+            this.wheelRadius = 3;
+            this.baseLength = 12;
             this.markUsed();
         }
 
@@ -415,7 +445,7 @@ namespace motors {
         private __setSpeed(speed: number) {
             syncMotors(this._port, {
                 speed: speed,
-                turnRatio: 0,
+                turnRatio: 100, // same speed
                 useBrake: !!this._brake
             })
         }
@@ -430,53 +460,6 @@ namespace motors {
             });
         }
 
-        /**
-         * Turns the motor and the follower motor by a number of rotations
-         * @param value the move quantity, eg: 2
-         * @param unit the meaning of the value
-         * @param steering the ratio of power sent to the follower motor, from ``-100`` to ``100``
-         * @param speed the speed from ``100`` full forward to ``-100`` full backward, eg: 50
-         */
-        //% blockId=motorPairTurn block="steer %chassis|%steering|%|at speed %speed|%|by %value|%unit"
-        //% weight=9 blockGap=8
-        //% steering.min=-100 steering=100
-        //% inlineInputMode=inline
-        //% group="Chassis"
-        steer(steering: number, speed: number, value: number, unit: MoveUnit) {
-            this.init();
-            speed = Math.clamp(-100, 100, speed >> 0);
-            if (!speed) {
-                stop(this._port, this._brake);
-                return;
-            }
-
-            const turnRatio = Math.clamp(-200, 200, steering + 100 >> 0);
-            let useSteps: boolean;
-            let stepsOrTime: number;
-            switch (unit) {
-                case MoveUnit.Rotations:
-                    stepsOrTime = (value * 360) >> 0;
-                    useSteps = true;
-                    break;
-                case MoveUnit.Degrees:
-                    stepsOrTime = value >> 0;
-                    useSteps = true;
-                    break;
-                default:
-                    stepsOrTime = value;
-                    useSteps = false;
-                    break;
-            }
-
-            syncMotors(this._port, {
-                useSteps: useSteps,
-                speed: speed,
-                turnRatio: turnRatio,
-                stepsOrTime: stepsOrTime,
-                useBrake: this._brake
-            });
-        }
-
         /**
          * The Move Tank block can make a robot drive forward, backward, turn, or stop. 
          * Use the Move Tank block for robot vehicles that have two Large Motors, 
@@ -488,17 +471,115 @@ namespace motors {
          * @param speedLeft the speed on the left motor, eg: 50
          * @param speedRight the speed on the right motor, eg: 50
          */
-        //% blockId=motorPairTank block="tank %chassis|left %speedLeft|%|right %speedRight|%|by %value|%unit"
+        //% blockId=motorPairTank block="tank %chassis|left %speedLeft|%|right %speedRight|%|for %value|%unit"
         //% weight=9 blockGap=8
         //% speedLeft.min=-100 speedLeft=100
         //% speedRight.min=-100 speedRight=100
         //% inlineInputMode=inline
         //% group="Chassis"
         tank(speedLeft: number, speedRight: number, value: number, unit: MoveUnit) {
-            speedLeft = Math.clamp(speedLeft >> 0, -100, 100);
-            speedRight = Math.clamp(speedRight >> 0, -100, 100);
-            const steering = (speedRight * 100 / speedLeft) >> 0;
-            this.steer(speedLeft, steering, value, unit);
+            this.init();
+
+            speedLeft = Math.clamp(-100, 100, speedLeft >> 0);
+            speedRight = Math.clamp(-100, 100, speedRight >> 0);
+
+            const speed = Math.abs(speedLeft) > Math.abs(speedRight) ? speedLeft : speedRight;
+            const turnRatio = speedLeft == speed
+                ? (100 - speedRight / speedLeft * 100)
+                : (speedLeft / speedRight * 100 - 100);
+            this.steer(turnRatio, speed, value, unit);
+        }
+
+        /**
+         * Makes a differential drive robot move with a given speed (%) and rotation rate (deg/s)
+         * using a unicycle model.
+         * @param speed speed of the center point between motors, eg: 10
+         * @param rotationSpeed rotation of the robot around the center point, eg: 30
+         * @param value the amount of movement, eg: 2
+         * @param unit 
+         */
+        //% blockId=motorDrive block="drive %chassis|at %speed|cm/s|turning %rotationSpeed|deg/s|for %value|%unit"
+        //% inlineInputMode=inline
+        //% group="Chassis"
+        //% weight=8 blockGap=8
+        drive(speed: number, rotationSpeed: number, value: number, unit: MoveUnit) {
+            this.init();
+
+            // speed is expressed in %
+            const R = this.wheelRadius; // cm
+            const L = this.baseLength; // cm
+            const PI = 3.14;
+            const maxw = 170 / 60 * 2 * PI; // rad / s
+            const maxv = maxw * R; // cm / s
+            // speed is cm / s
+            const v = speed; // cm / s
+            const w = rotationSpeed / 360 * 2 * PI; // rad / s
+
+            const vr = (2 * v + w * L) / (2 * R); // rad / s
+            const vl = (2 * v - w * L) / (2 * R); // rad / s
+
+            const sr = vr / maxw * 100; // % 
+            const sl = vl / maxw * 100; // %
+
+            this.tank(sr, sl, value, unit)
+        }    
+        
+        /**
+         * Turns the motor and the follower motor by a number of rotations
+         * @param turnRatio the ratio of power sent to the follower motor, from ``-200`` to ``200``, eg: 0
+         * @param speed the speed from ``100`` full forward to ``-100`` full backward, eg: 50
+         * @param value the move quantity, eg: 2
+         * @param unit the meaning of the value
+         */
+        //% blockId=motorPairTurn block="steer %chassis turn by|%turnRatio|at speed %speed|%|for %value|%unit"
+        //% weight=6 blockGap=8
+        //% turnRatio.min=-200 turnRatio=200
+        //% inlineInputMode=inline
+        //% group="Chassis"
+        steer(turnRatio: number, speed: number, value: number, unit: MoveUnit) {
+            this.init();
+            speed = Math.clamp(-100, 100, speed >> 0);
+            if (!speed) {
+                stop(this._port, this._brake);
+                return;
+            }
+
+            turnRatio = Math.clamp(-200, 200, turnRatio >> 0);
+            let useSteps: boolean;
+            let stepsOrTime: number;
+            switch (unit) {
+                case MoveUnit.Rotations:
+                    stepsOrTime = (value * 360) >> 0;
+                    useSteps = true;
+                    break;
+                case MoveUnit.Degrees:
+                    stepsOrTime = value >> 0;
+                    useSteps = true;
+                    break;
+                default:
+                    stepsOrTime = value >> 0;
+                    useSteps = false;
+                    break;
+            }
+
+            syncMotors(this._port, {
+                useSteps: useSteps,
+                speed: speed,
+                turnRatio: turnRatio,
+                stepsOrTime: stepsOrTime,
+                useBrake: this._brake
+            });
+        }        
+
+        /**
+         * Sets the wheels radius and base length of a directional drive robot
+         * @param wheelRadius 
+         * @param baseLength 
+         */
+        //% group="Chassis"
+        setDimensions(wheelRadius: number, baseLength: number): void {
+            this.wheelRadius = wheelRadius;
+            this.baseLength = baseLength;
         }
 
         /**
@@ -506,6 +587,8 @@ namespace motors {
          */
         //%
         toString(): string {
+            this.init();
+
             let r = outputToName(this._port);
             for (let i = 0; i < DAL.NUM_OUTPUTS; ++i) {
                 if (this._port & (1 << i)) {
@@ -529,8 +612,8 @@ namespace motors {
     export const largeCD = new SynchedMotorPair(Output.CD);
 
     function reset(out: Output) {
-        let b = mkCmd(out, DAL.opOutputReset, 0)
-        writePWM(b)
+        writePWM(mkCmd(out, DAL.opOutputReset, 0))
+        writePWM(mkCmd(out, DAL.opOutputClearCount, 0))
     }
 
     function outOffset(out: Output) {
@@ -541,7 +624,7 @@ namespace motors {
         return 0
     }
 
-    interface MotorData {
+    export interface MotorData {
         actualSpeed: number; // -100..+100
         tachoCount: number;
         count: number;
@@ -550,7 +633,7 @@ namespace motors {
     // only a single output at a time
     function getMotorData(out: Output): MotorData {
         init()
-        let buf = motorMM.slice(outOffset(out), MotorDataOff.Size)
+        const buf = motorMM.slice(outOffset(out), MotorDataOff.Size)
         return {
             actualSpeed: buf.getNumber(NumberFormat.Int8LE, MotorDataOff.Speed),
             tachoCount: buf.getNumber(NumberFormat.Int32LE, MotorDataOff.TachoCounts),
@@ -558,6 +641,11 @@ namespace motors {
         }
     }
 
+    export function getAllMotorData(): MotorData[] {
+        init();
+        return [Output.A, Output.B, Output.C, Output.D].map(out => getMotorData(out));
+    }
+
     interface SyncOptions {
         useSteps?: boolean;
         speed: number;

libs/core/screen.ts

@@ -1,4 +1,6 @@
 namespace brick {
+    export const LINE_HEIGHT = 12;
+
     //% shim=screen::_setPixel
     function _setPixel(p0: uint32, p1: uint32, mode: Draw): void { }
 
@@ -78,15 +80,6 @@ namespace brick {
         }
     }
 
-    /**
-     * Sets a pixel on or off
-     * @param on a value indicating if the pixel should be on or off
-     * @param x the starting position's x coordinate, eg: 0
-     * @param y the starting position's x coordinate, eg: 0
-     */
-    //% blockId=screen_setpixel block="`icons.brickDisplay` set pixel %on| at x: %x| y: %y"
-    //% weight=98 group="Screen"
-    //% x.min=0 x.max=178 y.min=0 y.max=128 on.fieldEditor=toggleonoff
     export function setPixel(on: boolean, x: number, y: number) {
         x |= 0
         y |= 0
@@ -95,14 +88,20 @@ namespace brick {
     }
 
     /**
-     * Show text on the screen.
+     * Show text on the screen at a specific line.
      * @param text the text to print on the screen, eg: "Hello world"
-     * @param x the starting position's x coordinate, eg: 0
-     * @param y the starting position's x coordinate, eg: 0
+     * @param line the line number to print the text at, eg: 0
      */
-    //% blockId=screen_print block="`icons.brickDisplay` print %text| at x: %x| y: %y"
-    //% weight=99 group="Screen" inlineInputMode="inline" blockGap=8
-    //% x.min=0 x.max=178 y.min=0 y.max=128
+    //% blockId=screen_print block="print %text| at line %line"
+    //% weight=98 group="Screen" inlineInputMode="inline" blockGap=8
+    //% line.min=0 line.max=9
+    export function printLine(text: string, line: number) {
+        const NUM_LINES = 9;
+        const offset = 5;
+        const y = offset + (Math.clamp(0, NUM_LINES, line) / (NUM_LINES + 2)) * DAL.LCD_HEIGHT;
+        brick.print(text, offset, y);
+    }
+
     export function print(text: string, x: number, y: number, mode = Draw.Normal) {
         x |= 0
         y |= 0
@@ -137,8 +136,8 @@ namespace brick {
      * Shows an image on screen
      * @param image image to draw
      */
-    //% blockId=screen_show_image block="`icons.brickDisplay` show image %image=screen_image_picker"
-    //% weight=95 group="Screen" blockGap=8
+    //% blockId=screen_show_image block="show image %image=screen_image_picker"
+    //% weight=100 group="Screen" blockGap=8
     export function showImage(image: Image, delay: number = 400) {
         if (!image) return;
         image.draw(0, 0, Draw.Normal);
@@ -152,19 +151,19 @@ namespace brick {
      * @param image the image
      */
     //% blockId=screen_image_picker block="%image" shim=TD_ID
-    //% image.fieldEditor="imagedropdown"
+    //% image.fieldEditor="images"
     //% image.fieldOptions.columns=6
-    //% image.fieldOptions.hasSearchBar=true
+    //% image.fieldOptions.width=600
     //% group="Screen" weight=0 blockHidden=1
-    export function _imagePicker(image: Image): Image {
+    export function __imagePicker(image: Image): Image {
         return image;
     }
 
     /**
      * Clears the screen
      */
-    //% blockId=screen_clear_screen block="`icons.brickDisplay` clear screen"
-    //% weight=94 group="Screen" blockGap=8
+    //% blockId=screen_clear_screen block="clear screen"
+    //% weight=90 group="Screen"
     export function clearScreen() {
         screen.clear();
     }
@@ -208,5 +207,36 @@ namespace brick {
             setLineCore(x, x1, y, mode);
     }
 
+    /**
+     * Prints the port states on the screen
+     */
+    //% blockId=brickPrintPorts block="print ports"
+    //% weight=1 group="Screen"
+    export function printPorts() {
+        clearScreen();
 
+        // motors
+        const datas = motors.getAllMotorData();
+        for(let i = 0; i < datas.length; ++i) {
+            const data = datas[i];
+            if (!data.actualSpeed && !data.count) continue;
+            const x = i * 52;
+            print(`${data.actualSpeed}%`, x, brick.LINE_HEIGHT)
+            print(`${data.count}>`, x, 2 * brick.LINE_HEIGHT)
+
+            console.logValue(`speed.` + "ABCD"[i], data.actualSpeed);
+            console.logValue(`angle.` + "ABCD"[i], data.count);
+        }
+
+        // sensors
+        const sis = sensors.internal.getActiveSensors();
+        for(let i =0; i < sis.length; ++i) {
+            const si = sis[i];
+            const x = (si.port() - 1) * 52;
+            const v = si._query();
+            print(`${v}`, x, 9 * brick.LINE_HEIGHT)
+
+            console.logValue(`sensor.` + si.port(), v);
+        }
+    }
 }

libs/core/test.ts

@@ -2,7 +2,7 @@ screen.clear()
 brick.print("PXT!", 10, 30, Draw.Quad)
 
 brick.drawRect(40, 40, 20, 10, Draw.Fill)
-brick.setStatusLight(LightsPattern.Orange)
+brick.setLight(LightsPattern.Orange)
 
 brick.heart.doubled().draw(100, 50, Draw.Double | Draw.Transparent)
 
@@ -12,7 +12,7 @@ brick.buttonEnter.onEvent(ButtonEvent.Click, () => {
 
 brick.buttonLeft.onEvent(ButtonEvent.Click, () => {
     brick.drawRect(10, 70, 20, 10, Draw.Fill)
-    brick.setStatusLight(LightsPattern.Red)
+    brick.setLight(LightsPattern.Red)
     brick.setFont(brick.microbitFont())
 })
 

libs/ev3/ns.ts

@@ -1,30 +1,34 @@
 
-//% color="#68C3E2" weight=100
-//% groups='["Light", "Buttons", "Screen"]'
+//% color="#68C3E2" weight=100 icon="\uf106"
+//% groups='["Buttons", "Screen"]'
 //% labelLineWidth=0
 namespace brick {
 }
 
 
-//% color="#C8509B" weight=95 icon="\uf192"
+//% color="#C8509B" weight=95 icon="\uf10f"
 //% labelLineWidth=0
 //% groups='["Ultrasonic Sensor", "Touch Sensor", "Color Sensor", "Infrared Sensor", "Remote Infrared Beacon", "Gyro Sensor"]'
 //% groupIcons='["\uf101","\uf103","\uf102","","","\uf104"]'
 namespace sensors {
 }
 
-//% color="#A5CA18" weight=90 icon="\uf185"
+//% color="#A5CA18" weight=90 icon="\uf10d"
 //% groups='["Motion", "Sensors", "Chassis"]'
 //% labelLineWidth=0
 namespace motors {
 }
 
-//% color="#D67923" weight=80
+//% labelLineWidth=0
+namespace behaviors {
+}
+
+//% color="#D67923" weight=80 icon="\uf10e"
 namespace music {
 
 }
 
-//% color="#48150C"
+//% color="#5F3109" icon="\uf107"
 namespace control {
 
 }

libs/gyro-sensor/gyro.ts

@@ -28,6 +28,7 @@ namespace sensors {
         //% blockId=gyroGetAngle
         //% parts="gyroscope"
         //% blockNamespace=sensors
+        //% sensor.fieldEditor="ports"
         //% weight=65 blockGap=8
         //% group="Gyro Sensor"
         angle(): number {
@@ -44,6 +45,7 @@ namespace sensors {
         //% blockId=gyroGetRate
         //% parts="gyroscope"
         //% blockNamespace=sensors
+        //% sensor.fieldEditor="ports"
         //% weight=65 blockGap=8        
         //% group="Gyro Sensor"
         rate(): number {

libs/infrared-sensor/ir.ts

@@ -112,7 +112,7 @@ namespace sensors {
         //% blockId=remotebuttonWasPressed
         //% parts="remote"
         //% blockNamespace=sensors
-        //% weight=80 blockGap=8
+        //% weight=80
         //% group="Remote Infrared Beacon"
         wasPressed() {
             return this.button.wasPressed();
@@ -238,7 +238,7 @@ namespace sensors {
         //% blockId=infraredGetRemoteCommand
         //% parts="infrared"
         //% blockNamespace=sensors
-        //% weight=65 blockGap=8        
+        //% weight=65       
         //% group="Infrared Sensor"     
         remoteCommand(): number {
             this._setMode(IrSensorMode.RemoteControl)

libs/music/_locales/music-jsdoc-strings.json

@@ -2,8 +2,6 @@
   "Sound.buffer": "Returns the underlaying Buffer object.",
   "Sound.play": "Play sound.",
   "music": "Generation of music tones.",
-  "music._soundPicker": "A sound",
-  "music._soundPicker|param|sound": "the sound",
   "music.beat": "Return the duration of a beat in milliseconds (the beat fraction).",
   "music.beat|param|fraction": "the fraction of the current whole note, eg: BeatFraction.Half",
   "music.changeTempoBy": "Change the tempo up or down by some amount of beats per minute (bpm).",

libs/music/_locales/music-strings.json

@@ -20,7 +20,6 @@
   "Note.GSharp|block": "G#",
   "SoundOutputDestination.Pin|block": "pin",
   "SoundOutputDestination.Speaker|block": "speaker",
-  "music._soundPicker|block": "%sound",
   "music.beat|block": "%fraction|beat",
   "music.changeTempoBy|block": "change tempo by %value|(bpm)",
   "music.noteFrequency|block": "%note",

libs/music/music.cpp

@@ -170,7 +170,7 @@ void playTone(int frequency, int ms) {
 //% blockId=music_stop_all_sounds block="stop all sounds"
 //% parts="headphone"
 //% blockNamespace=music
-//% weight=76 blockGap=8
+//% weight=97
 void stopAllSounds() {
     if (currentSample) {
         samplePtr = currentSample->length;

libs/music/shims.d.ts

@@ -32,7 +32,7 @@ declare namespace music {
     //% blockId=music_stop_all_sounds block="stop all sounds"
     //% parts="headphone"
     //% blockNamespace=music
-    //% weight=76 blockGap=8 shim=music::stopAllSounds
+    //% weight=97 shim=music::stopAllSounds
     function stopAllSounds(): void;
 
     /** Makes a sound bound to a buffer in WAV format. */

libs/music/sounds.ts

@@ -264,10 +264,12 @@ namespace music {
      * @param sound the sound to play
      */
     //% blockId=music_play_sound_effect_until_done block="play sound effect %sound|until done"
-    //% weight=98
+    //% weight=98 blockGap=8
     export function playSoundEffectUntilDone(sound: Sound) {
-        if (!sound) return;
+        if (!sound || numSoundsPlaying >= soundsLimit) return;
+        numSoundsPlaying++;
         sound.play();
+        numSoundsPlaying--;
     }
 
     /**
@@ -276,7 +278,7 @@ namespace music {
      */
     //% blockId=music_sound_picker block="%sound" shim=TD_ID
     //% weight=0 blockHidden=1
-    export function _soundPicker(sound: Sound): Sound {
+    export function __soundPicker(sound: Sound): Sound {
         return sound;
     }
 
@@ -285,7 +287,7 @@ namespace music {
      * @param sound the sound to play
      */
     //% blockId=music_play_sound_effect block="play sound effect %sound"
-    //% weight=99
+    //% weight=99 blockGap=8
     export function playSoundEffect(sound: Sound) {
         if (!sound || numSoundsPlaying >= soundsLimit) return;
         numSoundsPlaying++;

libs/tests/_locales/tests-jsdoc-strings.json

@@ -1,9 +1,11 @@
 {
-  "tests": "Unit tests framework",
+  "TestEvent": "Various test event in the execution cycle",
+  "tests": "A Unit tests framework",
   "tests.assert": "Checks a boolean condition",
   "tests.assertClose": "Checks that 2 values are close to each other",
   "tests.assertClose|param|actual": "what the value was",
   "tests.assertClose|param|expected": "what the value should be",
-  "tests.assertClose|param|tolerance": "the acceptable error margin",
+  "tests.assertClose|param|tolerance": "the acceptable error margin, eg: 5",
+  "tests.onEvent": "Registers code to be called at various points in the test execution",
   "tests.test": "Registers a test to run"
 }

libs/tests/_locales/tests-strings.json

@@ -1,4 +1,9 @@
 {
+  "TestEvent.RunSetUp|block": "run setup",
+  "TestEvent.RunTearDown|block": "run teardown",
+  "TestEvent.TestSetUp|block": "test setup",
+  "TestEvent.TestTearDown|block": "test teardown",
+  "tests.assertClose|block": "assert %message|%expected|close to %actual|by %tolerance",
   "tests.assert|block": "assert %message|%condition",
   "tests.test|block": "test %name",
   "tests|block": "tests",

libs/tests/pxt.json

@@ -1,14 +1,6 @@
 {
-    "name": "tests",
-    "description": "A unit test library",
-    "files": [
-        "README.md",
-        "tests.ts"
-    ],
-    "testFiles": [
-    ],
-    "public": true,
+    "additionalFilePath": "../../node_modules/pxt-common-packages/libs/tests",
     "dependencies": {
-        "core": "file:../core"
+        "core": "file:../ev3"
     }
 }

libs/tests/targetoverrides.ts

@@ -0,0 +1,12 @@
+// EV3 specific test functions
+tests.onEvent(TestEvent.RunSetUp, function() {
+    console.sendToScreen();
+})
+tests.onEvent(TestEvent.TestSetUp, function() {
+    motors.stopAllMotors();
+    motors.resetAllMotors();
+})
+tests.onEvent(TestEvent.TestTearDown, function() {
+    motors.stopAllMotors();
+    motors.resetAllMotors();
+})

libs/tests/tests.ts

@@ -1,89 +0,0 @@
-/**
- * Unit tests framework
- */
-//% weight=100 color=#0fbc11 icon=""
-namespace tests {
-    class Test {
-        name: string;
-        handler: () => void;
-        errors: string[];
-
-        constructor(name: string, handler: () => void) {
-            this.name = name;
-            this.handler = handler;
-            this.errors = [];
-        }
-
-        reset() {
-            motors.stopAllMotors();
-            motors.resetAllMotors();
-        }
-
-        run() {
-            // clear state
-            this.reset();
-
-            console.log(`# ${this.name}`)
-            this.handler()
-
-            // ensure clean state after test
-            this.reset();
-        }
-    }
-
-    let _tests: Test[] = undefined;
-    let _currentTest: Test = undefined;
-
-    function run() {
-        if (!_tests) return;
-
-        const start = control.millis();
-        console.sendToScreen();
-        console.log(`${_tests.length} tests`)
-        for (let i = 0; i < _tests.length; ++i) {
-            const t = _currentTest = _tests[i];
-            t.run();
-            _currentTest = undefined;
-        }
-        console.log(`${_tests.map(t => t.errors.length).reduce((p, c) => p + c, 0)} X, ${Math.ceil((control.millis() - start) / 1000)}s`)
-    }
-
-    /**
-     * Registers a test to run
-     */
-    //% blockId=testtest block="test %name"
-    export function test(name: string, handler: () => void): void {
-        if (!name || !handler) return;
-        if (!_tests) {
-            _tests = [];
-            control.runInBackground(function () {
-                // should run after on start
-                loops.pause(100)
-                run()
-            })
-        }
-        _tests.push(new Test(name, handler));
-    }
-
-    /** 
-     * Checks a boolean condition
-     */
-    //% blockId=testAssert block="assert %message|%condition"
-    export function assert(message: string, condition: boolean) {
-        if (!condition) {
-            console.log(` X ${message || ''}`)
-            if (_currentTest)
-                _currentTest.errors.push(message);
-        }
-    }
-
-    /**
-     * Checks that 2 values are close to each other
-     * @param expected what the value should be
-     * @param actual what the value was
-     * @param tolerance the acceptable error margin
-     */
-    export function assertClose(name: string, expected: number, actual: number, tolerance: number) {
-        assert(`${name} ${expected} != ${actual} +-${tolerance}`, Math.abs(expected - actual) <= tolerance);
-    }
-}

libs/touch-sensor/touch.ts

@@ -45,6 +45,7 @@ namespace sensors {
         //% blockId=touchEvent block="on %sensor|%event"
         //% parts="touch"
         //% blockNamespace=sensors
+        //% sensor.fieldEditor="ports"
         //% weight=99 blockGap=8
         //% group="Touch Sensor"
         onEvent(ev: TouchSensorEvent, body: () => void) {
@@ -60,6 +61,7 @@ namespace sensors {
         //% blockId=touchWaitUntil block="pause until %sensor|%event"
         //% parts="touch"
         //% blockNamespace=sensors
+        //% sensor.fieldEditor="ports"
         //% weight=98 blockGap=8
         //% group="Touch Sensor"
         pauseUntil(ev: TouchSensorEvent) {
@@ -75,7 +77,8 @@ namespace sensors {
         //% blockId=touchIsPressed
         //% parts="touch"
         //% blockNamespace=sensors
-        //% weight=81 blockGap=8
+        //% sensor.fieldEditor="ports"
+        //% weight=81
         //% group="Touch Sensor"
         isPressed() {
             return this.button.isPressed();
@@ -90,6 +93,7 @@ namespace sensors {
         //% blockId=touchWasPressed
         //% parts="touch"
         //% blockNamespace=sensors
+        //% sensor.fieldEditor="ports"
         //% weight=81 blockGap=8
         //% group="Touch Sensor"
         wasPressed() {

libs/ultrasonic-sensor/ultrasonic.ts

@@ -25,7 +25,7 @@ namespace sensors {
         }
 
         _query(): number {
-            return (this.getNumber(NumberFormat.UInt16LE, 0) & 0x0fff) * 0.1; // range is 0..2550, in 0.1 cm increments.
+            return ((this.getNumber(NumberFormat.UInt16LE, 0) & 0x0fff) / 10) >> 0; // range is 0..2550, in 0.1 cm increments.
         }
 
         _update(prev: number, curr: number) {
@@ -46,6 +46,7 @@ namespace sensors {
         //% block="on %sensor|%event"
         //% parts="ultrasonicsensor"
         //% blockNamespace=sensors
+        //% sensor.fieldEditor="ports"
         //% weight=100 blockGap=8
         //% group="Ultrasonic Sensor"
         onEvent(event: UltrasonicSensorEvent, handler: () => void) {
@@ -60,6 +61,7 @@ namespace sensors {
         //% blockId=ultrasonicWait
         //% parts="ultrasonicsensor"
         //% blockNamespace=sensors
+        //% sensor.fieldEditor="ports"
         //% weight=99 blockGap=8
         //% group="Ultrasonic Sensor"        
         pauseUntil(event: UltrasonicSensorEvent) {
@@ -75,12 +77,13 @@ namespace sensors {
         //% blockId=sonarGetDistance
         //% parts="ultrasonicsensor"
         //% blockNamespace=sensors
-        //% weight=65 blockGap=8   
+        //% sensor.fieldEditor="ports"
+        //% weight=65
         //% group="Ultrasonic Sensor"     
         distance(): number {
             // it supposedly also has an inch mode, but we stick to cm
             this._setMode(0)
-            return (this.getNumber(NumberFormat.UInt16LE, 0) & 0x0fff) * 0.1; // range is 0..2550, in 0.1 cm increments.
+            return this._query();
         }
     }
     

package.json

@@ -1,6 +1,6 @@
 {
   "name": "pxt-ev3",
-  "version": "0.0.43",
+  "version": "0.0.52",
   "description": "LEGO Mindstorms EV3 for Microsoft MakeCode",
   "private": true,
   "keywords": [
@@ -44,8 +44,8 @@
     "webfonts-generator": "^0.4.0"
   },
   "dependencies": {
-    "pxt-common-packages": "0.14.13",
-    "pxt-core": "3.0.2"
+    "pxt-common-packages": "0.15.3",
+    "pxt-core": "3.0.5"
   },
   "scripts": {
     "test": "node node_modules/pxt-core/built/pxt.js travis"

pxtarget.json

@@ -16,7 +16,8 @@
         "libs/infrared-sensor",
         "libs/gyro-sensor",
         "libs/ev3",
-        "libs/tests"
+        "libs/tests",
+        "libs/behaviors"
     ],
     "simulator": {
         "autoRun": true,
@@ -94,6 +95,7 @@
         "privacyUrl": "https://go.microsoft.com/fwlink/?LinkId=521839",
         "termsOfUseUrl": "https://go.microsoft.com/fwlink/?LinkID=206977",
         "githubUrl": "https://github.com/Microsoft/pxt-ev3",
+        "betaUrl": "https://lego.makecode.com/",
         "boardName": "LEGO Mindstorms EV3 Brick",
         "selectLanguage": true,
         "highContrast": true,
@@ -132,16 +134,23 @@
             "logic": "#1E5AA8",
             "math": "#9DC3F7",
             "variables": "#B40000",
-            "text": "#F0890A",
+            "text": "#FCAC00",
             "advanced": "#969696",
-            "functions": "#064597",
-            "arrays": "#890058"
+            "functions": "#19325A",
+            "arrays": "#901F76"
+        },
+        "blockIcons": {
+            "loops": "\uf10b",
+            "logic": "\uf10a",
+            "math": "\uf10c",
+            "variables": "\uf111",
+            "text": "\uf110",
+            "functions": "\uf108",
+            "arrays": "\uf109"
         },
         "monacoColors": {
             "editor.background": "#ecf6ff"
-        },
-        "simAnimationEnter": "horizontal flip in",
-        "simAnimationExit": "horizontal flip out"
+        }
     },
     "ignoreDocsErrors": true
 }

sim/dalboard.ts

@@ -23,20 +23,6 @@ namespace pxsim {
     }
 
     export class EV3Board extends CoreBoard {
-        // state & update logic for component services
-        // neopixelState: CommonNeoPixelState;
-        buttonState: EV3ButtonState;
-        slideSwitchState: SlideSwitchState;
-        lightSensorState: AnalogSensorState;
-        thermometerState: AnalogSensorState;
-        thermometerUnitState: number;
-        microphoneState: AnalogSensorState;
-        edgeConnectorState: EdgeConnectorState;
-        capacitiveSensorState: CapacitiveSensorState;
-        accelerometerState: AccelerometerState;
-        touchButtonState: TouchButtonState;
-        irState: InfraredState;
-
         view: SVGSVGElement;
 
         outputState: EV3OutputState;
@@ -86,11 +72,6 @@ namespace pxsim {
                     // TODO
                     break;
                 }
-                case "irpacket": {
-                    let ev = <SimulatorInfraredPacketMessage>msg;
-                    this.irState.receive(new RefBuffer(ev.packet));
-                    break;
-                }
             }
         }
 
@@ -120,6 +101,9 @@ namespace pxsim {
             document.body.innerHTML = ""; // clear children
             document.body.appendChild(this.view = viewHost.getView() as SVGSVGElement);
 
+            this.inputNodes = [];
+            this.outputNodes = [];
+
             return Promise.resolve();
         }
 
@@ -127,26 +111,33 @@ namespace pxsim {
             return svg.toDataUri(new XMLSerializer().serializeToString(this.view));
         }
 
-        //defaultNeopixelPin() {
-        //    return this.edgeConnectorState.getPin(CPlayPinName.D8);
-        //}
-
-        getDefaultPitchPin() {
-            return this.edgeConnectorState.getPin(CPlayPinName.D6);
-        }
-
         getBrickNode() {
             return this.brickNode;
         }
 
+        motorUsed(port:number, large: boolean) {
+            for(let i = 0; i < DAL.NUM_OUTPUTS; ++i) {
+                const p = 1 << i;
+                if (port & p) {
+                    const motorPort = this.motorMap[p];
+                    if (!this.outputNodes[motorPort])
+                        this.outputNodes[motorPort] = new MotorNode(motorPort, large);
+                }    
+            }            
+        }
+
         getMotor(port: number, large?: boolean): MotorNode[] {
-            if (port == 0xFF) return this.getMotors(); // Return all motors
-            const motorPort = this.motorMap[port];
-            if (this.outputNodes[motorPort] == undefined) {
-                this.outputNodes[motorPort] = large ?
-                    new LargeMotorNode(motorPort) : new MediumMotorNode(motorPort);
+            const r = [];
+            for(let i = 0; i < DAL.NUM_OUTPUTS; ++i) {
+                const p = 1 << i;
+                if (port & p) {
+                    const motorPort = this.motorMap[p];
+                    const outputNode = this.outputNodes[motorPort];
+                    if (outputNode)
+                        r.push(outputNode);
+                }    
             }
-            return [this.outputNodes[motorPort]];
+            return r;
         }
 
         getMotors() {
@@ -154,7 +145,7 @@ namespace pxsim {
         }
 
         getSensor(port: number, type: number): SensorNode {
-            if (this.inputNodes[port] == undefined) {
+            if (!this.inputNodes[port]) {
                 switch (type) {
                     case DAL.DEVICE_TYPE_GYRO: this.inputNodes[port] = new GyroSensorNode(port); break;
                     case DAL.DEVICE_TYPE_COLOR: this.inputNodes[port] = new ColorSensorNode(port); break;

sim/state/color.ts

@@ -3,12 +3,13 @@
 namespace pxsim {
 
     export enum ColorSensorMode {
+        None = -1,
         Reflected = 0,
         Ambient = 1,
         Colors = 2,
         RefRaw = 3,
         RgbRaw = 4,
-        ColorCal = 5
+        ColorCal = 5,
     }
 
     export enum ThresholdState {
@@ -20,23 +21,20 @@ namespace pxsim {
     export class ColorSensorNode extends UartSensorNode {
         id = NodeType.ColorSensor;
 
-        private color: number;
+        private color: number = 50;
 
         constructor(port: number) {
             super(port);
+            this.mode = -1;
         }
 
         getDeviceType() {
             return DAL.DEVICE_TYPE_COLOR;
         }
-        
+
         setColor(color: number) {
             this.color = color;
-            this.changed = true;
-            this.valueChanged = true;
-
-            runtime.queueDisplayUpdate();
-
+            this.setChangedState();
         }
 
         getValue() {

sim/state/control.ts

@@ -81,7 +81,6 @@ namespace pxsim.control {
     export function dmesg(s: string) {
         console.log("DMESG: " + s)
     }
-
 }
 
 namespace pxsim.output {

sim/state/gyro.ts

@@ -22,20 +22,14 @@ namespace pxsim {
         setAngle(angle: number) {
             if (this.angle != angle) {
                 this.angle = angle;
-                this.changed = true;
-                this.valueChanged = true;
-
-                runtime.queueDisplayUpdate();
+                this.setChangedState();
             }
         }
 
         setRate(rate: number) {
             if (this.rate != rate) {
                 this.rate = rate;
-                this.changed = true;
-                this.valueChanged = true;
-
-                runtime.queueDisplayUpdate();
+                this.setChangedState();
             }
         }
 

sim/state/input.ts

@@ -2,8 +2,8 @@
 namespace pxsim.motors {
 
     export function __motorUsed(port: number, large: boolean) {
-        console.log("MOTOR INIT " + port);
-        const motors = ev3board().getMotor(port, large);
+        //console.log("MOTOR INIT " + port);
+        ev3board().motorUsed(port, large);
         runtime.queueDisplayUpdate();
     }
 }
@@ -11,7 +11,7 @@ namespace pxsim.motors {
 namespace pxsim.sensors {
 
     export function __sensorUsed(port: number, type: number) {
-        console.log("SENSOR INIT " + port + ", type: " + type);
+        //console.log("SENSOR INIT " + port + ", type: " + type);
         const sensor = ev3board().getSensor(port, type);
         runtime.queueDisplayUpdate();
     }

sim/state/light.ts

@@ -12,8 +12,11 @@ namespace pxsim {
 namespace pxsim.output {
 
     export function setLights(pattern: number) {
-        const lightState = ev3board().getBrickNode().lightState;
-        lightState.lightPattern = pattern;
-        runtime.queueDisplayUpdate();
+        const brickState = ev3board().getBrickNode();
+        const lightState = brickState.lightState;
+        if (lightState.lightPattern != pattern) {
+            lightState.lightPattern = pattern;
+            brickState.setChangedState();
+        }
     }
 }

sim/state/motor.ts

@@ -15,11 +15,20 @@ namespace pxsim {
             MMapMethods.register("/dev/lms_motor", {
                 data,
                 beforeMemRead: () => {
-                    console.log("motor before read");
+                    const outputs = ev3board().outputNodes;
+                    // console.log("motor before read");
                     for (let port = 0; port < DAL.NUM_OUTPUTS; ++port) {
-                        data[MotorDataOff.TachoCounts * port] = 0; // Tacho count
-                        data[MotorDataOff.Speed * port] = 50; // Speed
-                        data[MotorDataOff.TachoSensor * port] = 0; // Count
+                        const output = outputs[port];
+                        const speed = output ? outputs[port].getSpeed() : 0;
+                        const angle = output ? outputs[port].getAngle() : 0;
+                        const tci = MotorDataOff.TachoCounts + port * MotorDataOff.Size;
+                        const tsi = MotorDataOff.TachoSensor + port * MotorDataOff.Size;
+                        data[tci] = data[tci + 1] = data[tci + 2] = data[tci + 3] = 0; // Tacho count
+                        data[MotorDataOff.Speed + port * MotorDataOff.Size] = speed; // Speed
+                        data[tsi] = angle & 0xff; // Count
+                        data[tsi + 1] = (angle >> 8) & 0xff; // Count
+                        data[tsi + 2] = (angle >> 16) & 0xff; // Count
+                        data[tsi + 3] = (angle >> 24); // Count
                     }
                 },
                 read: buf => {

sim/state/motornode.ts

@@ -0,0 +1,182 @@
+namespace pxsim {
+
+    export class MotorNode extends BaseNode {
+        isOutput = true;
+        private rotationsPerMilliSecond: number;
+
+        // current state
+        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;
+        private speedCmdValues: number[];
+        private speedCmdTacho: number;
+        private speedCmdTime: number;
+        private _synchedMotor: MotorNode; // non-null if master motor
+
+        constructor(port: number, large: boolean) {
+            super(port);
+            this.setLarge(large);
+        }
+
+        getSpeed() {
+            return this.speed * (this.polarity == 0 ? -1 : 1);
+        }
+
+        getAngle() {
+            return this.angle;
+        }
+
+        // returns the slave motor if any
+        getSynchedMotor() {
+            return this._synchedMotor;
+        }
+
+        setSpeedCmd(cmd: DAL, values: number[]) {
+            this.speedCmd = cmd;
+            this.speedCmdValues = values;
+            this.speedCmdTacho = this.angle;
+            this.speedCmdTime = pxsim.U.now();
+            delete this._synchedMotor;
+        }
+
+        setSyncCmd(motor: MotorNode, cmd: DAL, values: number[]) {
+            this.setSpeedCmd(cmd, values);
+            this._synchedMotor = motor;
+        }
+
+        clearSpeedCmd() {
+            delete this.speedCmd;
+            delete this._synchedMotor;
+        }
+
+        setLarge(large: boolean) {
+            this.id = large ? NodeType.LargeMotor : NodeType.MediumMotor;
+            // large 170 rpm  (https://education.lego.com/en-us/products/ev3-large-servo-motor/45502)
+            this.rotationsPerMilliSecond = (large ? 170 : 250) / 60000;
+        }
+
+        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...
+        }
+
+        clearCount() {
+            this.tacho = 0;
+            this.angle = 0;
+        }
+
+        stop() {
+            this.started = false;
+            this.clearSpeedCmd();
+        }
+
+        start() {
+            this.started = true;
+        }
+
+        updateState(elapsed: number) {
+            console.log(`motor: ${elapsed}ms - ${this.speed}% - ${this.angle}> - ${this.tacho}|`)
+            const interval = Math.min(20, elapsed);
+            let t = 0;
+            while (t < elapsed) {
+                let dt = interval;
+                if (t + dt > elapsed) dt = elapsed - t;
+                this.updateStateStep(dt);
+                t += dt;
+            }
+        }
+
+        private updateStateStep(elapsed: number) {
+            // compute new speed
+            switch (this.speedCmd) {
+                case DAL.opOutputSpeed:
+                case DAL.opOutputPower:
+                    // assume power == speed
+                    // TODO: PID
+                    this.speed = this.speedCmdValues[0];
+                    break;
+                case DAL.opOutputTimeSpeed:
+                case DAL.opOutputTimePower:
+                case DAL.opOutputStepPower:
+                case DAL.opOutputStepSpeed: {
+                    // ramp up, run, ramp down, <brake> using time
+                    const speed = this.speedCmdValues[0];
+                    const step1 = this.speedCmdValues[1];
+                    const step2 = this.speedCmdValues[2];
+                    const step3 = this.speedCmdValues[3];
+                    const brake = this.speedCmdValues[4];
+                    const dstep = (this.speedCmd == DAL.opOutputTimePower || this.speedCmd == DAL.opOutputTimeSpeed)
+                        ? pxsim.U.now() - this.speedCmdTime
+                        : this.tacho - this.speedCmdTacho;
+                    if (dstep < step1) // rampup
+                        this.speed = speed * dstep / step1;
+                    else if (dstep < step1 + step2) // run
+                        this.speed = speed;
+                    else if (dstep < step1 + step2 + step3)
+                        this.speed = speed * (step1 + step2 + step3 - dstep) / (step1 + step2 + step3);
+                    else {
+                        if (brake) this.speed = 0;
+                        this.clearSpeedCmd();
+                    }
+                    break;
+                }
+                case DAL.opOutputStepSync:
+                case DAL.opOutputTimeSync: {
+                    if (!this._synchedMotor) // handled in other motor code
+                        break;
+
+                    const otherMotor = this._synchedMotor;
+                    const speed = this.speedCmdValues[0];
+                    const turnRatio = this.speedCmdValues[1];
+                    const stepsOrTime = this.speedCmdValues[2];
+                    const brake = this.speedCmdValues[3];
+                    const dstep = this.speedCmd == DAL.opOutputTimeSync
+                        ? pxsim.U.now() - this.speedCmdTime
+                        : this.tacho - this.speedCmdTacho;
+                    // 0 is special case, run infinite
+                    if (!stepsOrTime || dstep < stepsOrTime)
+                        this.speed = speed;
+                    else {
+                        if (brake) this.speed = 0;
+                        this.clearSpeedCmd();
+                    }
+                    // send synched motor state
+                    otherMotor.speed = Math.floor(this.speed * turnRatio / 100);
+                    if (!this._synchedMotor)
+                        otherMotor.clearSpeedCmd();
+                    break;
+                }
+            }
+            this.speed = Math.round(this.speed); // integer only
+
+            // compute delta angle
+            const rotations = this.getSpeed() / 100 * this.rotationsPerMilliSecond * elapsed;
+            const deltaAngle = Math.round(rotations * 360);
+            if (deltaAngle) {
+                this.angle += deltaAngle;
+                this.tacho += Math.abs(deltaAngle);
+                this.setChangedState();
+            }
+
+            // if the motor was stopped or there are no speed commands,
+            // let it coast to speed 0
+            if (this.speed && !(this.started || this.speedCmd)) {
+                // decay speed 5% per tick
+                this.speed = Math.round(Math.max(0, Math.abs(this.speed) - 10) * Math.sign(this.speed));
+            }
+        }
+    }
+}

sim/state/motors.ts

@@ -1,73 +0,0 @@
-namespace pxsim {
-
-    export class MotorNode extends BaseNode {
-        isOutput = true;
-
-        public angle: number = 0;
-
-        private speed: number;
-        private large: boolean;
-        private rotation: number;
-        private polarity: boolean;
-
-        constructor(port: number) {
-            super(port);
-        }
-
-        setSpeed(speed: number) {
-            if (this.speed != speed) {
-                this.speed = speed;
-                this.changed = true;
-                runtime.queueDisplayUpdate();
-            }
-        }
-
-        setLarge(large: boolean) {
-            this.large = large;
-        }
-
-        getSpeed() {
-            return this.speed;
-        }
-
-        stepSpeed(speed: number, angle: number, brake: boolean) {
-            // TODO: implement
-        }
-
-        setPolarity(polarity: number) {
-            // Either 1 or 255 (reverse)
-            this.polarity = polarity === 255;
-            // TODO: implement
-        }
-
-        reset() {
-            // TODO: implement
-        }
-
-        stop() {
-            // TODO: implement
-        }
-
-        start() {
-            // TODO: implement
-            runtime.queueDisplayUpdate();
-        }
-    }
-
-    export class MediumMotorNode extends MotorNode {
-        id = NodeType.MediumMotor;
-
-        constructor(port: number) {
-            super(port);
-        }
-    }
-
-    export class LargeMotorNode extends MotorNode {
-        id = NodeType.LargeMotor;
-
-        constructor(port: number) {
-            super(port);
-        }
-
-    }
-}

sim/state/nodeTypes.ts

@@ -32,5 +32,17 @@ namespace pxsim {
             this.changed = false;
             return res;
         }
+
+        setChangedState() {
+            this.changed = true;
+        }
+
+        /**
+         * Updates any internal state according to the elapsed time since the last call to `updateState`
+         * @param elapsed
+         */
+        updateState(elapsed: number) {
+
+        }
     }
 }

sim/state/output.ts

@@ -34,24 +34,51 @@ namespace pxsim {
                             motors.forEach(motor => motor.reset());
                             return 2;
                         }
-                        case DAL.opOutputStepSpeed: {
+                        case DAL.opOutputClearCount:
+                            const port = buf.data[1];
+                            const motors = ev3board().getMotor(port);
+                            motors.forEach(motor => motor.clearCount());
+                            break;
+                        case DAL.opOutputStepPower:
+                        case DAL.opOutputStepSpeed:
+                        case DAL.opOutputTimePower:
+                        case DAL.opOutputTimeSpeed: {
                             // step speed
                             const port = buf.data[1];
-                            const speed = buf.data[2];
-                            // note that b[3] is padding
-                            const step1 = buf.data[4];
-                            const step2 = buf.data[5]; // angle
-                            const step3 = buf.data[6];
-                            const brake = buf.data[7];
+                            const speed = pxsim.BufferMethods.getNumber(buf, BufferMethods.NumberFormat.Int8LE, 2); // signed byte
+                            // note that b[3] is padding                            
+                            const step1 = pxsim.BufferMethods.getNumber(buf, BufferMethods.NumberFormat.Int32LE, 4);
+                            const step2 = pxsim.BufferMethods.getNumber(buf, BufferMethods.NumberFormat.Int32LE, 8);
+                            const step3 = pxsim.BufferMethods.getNumber(buf, BufferMethods.NumberFormat.Int32LE, 12);
+                            const brake = pxsim.BufferMethods.getNumber(buf, BufferMethods.NumberFormat.Int8LE, 16);
                             //console.log(buf);
                             const motors = ev3board().getMotor(port);
-                            motors.forEach(motor => motor.stepSpeed(speed, step2, brake === 1));
+                            motors.forEach(motor => motor.setSpeedCmd(cmd, [speed, step1, step2, step3, brake]));
+                            return 2;
+                        }
+                        case DAL.opOutputStepSync:
+                        case DAL.opOutputTimeSync: {
+                            const port = buf.data[1];
+                            const speed = pxsim.BufferMethods.getNumber(buf, BufferMethods.NumberFormat.Int8LE, 2); // signed byte
+                            // note that b[3] is padding
+                            const turnRatio = pxsim.BufferMethods.getNumber(buf, BufferMethods.NumberFormat.Int16LE, 4);
+                            // b[6], b[7] is padding
+                            const stepsOrTime = pxsim.BufferMethods.getNumber(buf, BufferMethods.NumberFormat.Int32LE, 8);
+                            const brake = pxsim.BufferMethods.getNumber(buf, BufferMethods.NumberFormat.Int8LE, 12);
+
+                            const motors = ev3board().getMotor(port);
+                            for (const motor of motors) {
+                                const otherMotor = motors.filter(m => m.port != motor.port)[0];
+                                motor.setSyncCmd(
+                                    motor.port < otherMotor.port ? otherMotor : undefined,
+                                    cmd, [speed, turnRatio, stepsOrTime, brake]);
+                            }
                             return 2;
                         }
                         case DAL.opOutputStop: {
                             // stop
                             const port = buf.data[1];
-                            const brake = buf.data[2];
+                            const brake = pxsim.BufferMethods.getNumber(buf, BufferMethods.NumberFormat.Int8LE, 2);
                             const motors = ev3board().getMotor(port);
                             motors.forEach(motor => motor.stop());
                             return 2;
@@ -59,9 +86,9 @@ namespace pxsim {
                         case DAL.opOutputSpeed: {
                             // setSpeed
                             const port = buf.data[1];
-                            const speed = buf.data[2];
+                            const speed = pxsim.BufferMethods.getNumber(buf, BufferMethods.NumberFormat.Int8LE, 2);
                             const motors = ev3board().getMotor(port);
-                            motors.forEach(motor => motor.setSpeed(speed));
+                            motors.forEach(motor => motor.setSpeedCmd(cmd, [speed]));
                             return 2;
                         }
                         case DAL.opOutputStart: {
@@ -74,7 +101,7 @@ namespace pxsim {
                         case DAL.opOutputPolarity: {
                             // reverse
                             const port = buf.data[1];
-                            const polarity = buf.data[2];
+                            const polarity = pxsim.BufferMethods.getNumber(buf, BufferMethods.NumberFormat.Int8LE, 2);
                             const motors = ev3board().getMotor(port);
                             motors.forEach(motor => motor.setPolarity(polarity));
                             return 2;
@@ -86,6 +113,9 @@ namespace pxsim {
                             motors.forEach(motor => motor.setLarge(large));
                             return 2;
                         }
+                        default:
+                            console.warn('unknown cmd: ' + cmd);
+                            break;
                     }
 
                     console.log("pwm write");

sim/state/screen.ts

@@ -7,6 +7,7 @@ namespace pxsim {
 
 
     export class EV3ScreenState {
+        changed: boolean = true;
         points: Uint8Array;
         constructor() {
             this.points = new Uint8Array(visuals.SCREEN_WIDTH * visuals.SCREEN_HEIGHT)
@@ -23,13 +24,13 @@ namespace pxsim {
 
         setPixel(x: number, y: number, v: number) {
             this.applyMode(OFF(x, y), v)
-            runtime.queueDisplayUpdate();
+            this.changed = true;
         }
 
         clear() {
             for (let i = 0; i < this.points.length; ++i)
                 this.points[i] = 0;
-            runtime.queueDisplayUpdate();
+            this.changed = true;
         }
 
         blitLineCore(x: number, y: number, w: number, buf: RefBuffer, mode: Draw, offset = 0) {
@@ -58,7 +59,7 @@ namespace pxsim {
                 }
             }
 
-            runtime.queueDisplayUpdate();
+            this.changed = true;
         }
 
         clearLine(x: number, y: number, w: number) {
@@ -72,6 +73,12 @@ namespace pxsim {
                 off++
             }
         }
+
+        didChange() {
+            const res = this.changed;
+            this.changed = false;
+            return res;
+        }
     }
 }
 

sim/state/sensor.ts

@@ -5,6 +5,7 @@ namespace pxsim {
 
         protected mode: number;
         protected valueChanged: boolean;
+        protected modeChanged: boolean;
 
         constructor(port: number) {
             super(port);
@@ -24,6 +25,8 @@ namespace pxsim {
 
         setMode(mode: number) {
             this.mode = mode;
+            this.changed = true;
+            this.modeChanged = true;
         }
 
         getMode() {
@@ -43,6 +46,17 @@ namespace pxsim {
             this.valueChanged = false;
             return res;
         }
+
+        modeChange() {
+            const res = this.modeChanged;
+            this.modeChanged = false;
+            return res;
+        }
+
+        setChangedState() {
+            this.changed = true;
+            this.valueChanged = false;
+        }
     }
 
     export class AnalogSensorNode extends SensorNode {

sim/state/sounds.ts

@@ -10,8 +10,6 @@ namespace pxsim.music {
 }
 
 namespace pxsim.SoundMethods {
-    let numSoundsPlaying = 0;
-    const soundsLimit = 1;
     let audio: HTMLAudioElement;
 
     export function buffer(buf: RefBuffer) {
@@ -27,18 +25,15 @@ namespace pxsim.SoundMethods {
     }
 
     export function play(buf: RefBuffer, volume: number) {
-        if (!buf || numSoundsPlaying >= soundsLimit) {
+        if (!buf) {
             return Promise.resolve();
         }
         return new Promise<void>(resolve => {
             let url = "data:audio/wav;base64," + btoa(uint8ArrayToString(buf.data))
             audio = new Audio(url)
-            audio.onended = () => {
-                resolve();
-                numSoundsPlaying--;
-            }
-            numSoundsPlaying++;
-            audio.play()
+            audio.onended = () => resolve();
+            audio.onpause = () => resolve();
+            audio.play();
         })
     }
 
@@ -46,8 +41,8 @@ namespace pxsim.SoundMethods {
         return new Promise<void>(resolve => {
             if (audio) {
                 audio.pause();
-                numSoundsPlaying--;
             }
+            resolve();
         })
     }
 

sim/state/touch.ts

@@ -14,8 +14,7 @@ namespace pxsim {
 
         public setPressed(pressed: boolean) {
             this.pressed.push(pressed);
-            this.changed = true;
-            this.valueChanged = true;
+            this.setChangedState();
         }
 
         public isPressed() {

sim/state/uart.ts

@@ -88,7 +88,7 @@ namespace pxsim {
                     const inputNodes = ev3board().getInputNodes();
                     for (let port = 0; port < DAL.NUM_INPUTS; port++) {
                         const node = inputNodes[port];
-                        if (node) {
+                        if (node && node.isUart()) {
                             // Actual
                             const index = 0; //UartOff.Actual + port * 2;
                             util.map16Bit(data, UartOff.Raw + DAL.MAX_DEVICE_DATALENGTH * 300 * port + DAL.MAX_DEVICE_DATALENGTH * index, Math.floor(node.getValue()))

sim/state/ultrasonic.ts

@@ -17,10 +17,7 @@ namespace pxsim {
         setDistance(distance: number) {
             if (this.distance != distance) {
                 this.distance = distance;
-                this.changed = true;
-                this.valueChanged = true;
-
-                runtime.queueDisplayUpdate();
+                this.setChangedState();
             }
         }
 

sim/visuals/assets/Large Motor.svg

@@ -1,69 +1,87 @@
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+<svg xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" viewBox="0 0 82 156">
   <defs>
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+    <clipPath id="clip-path" transform="translate(0.98 1.9)">
+      <path d="M79,17.05A17.07,17.07,0,0,1,64.92,33.86l.36.39V70c0,.42-.14.4-.39.68L54,81.22v10l.75.78v.79h6.79a4,4,0,0,1,4,4v25.82a4,4,0,0,1-4,4H54.75v8.18A5.79,5.79,0,0,1,49,140.61h-6.5v7.57a4,4,0,0,1-2.9,3.84v1a.6.6,0,0,1-.6.6H12.69a.6.6,0,0,1-.6-.6h0v-1.29a4,4,0,0,1-2.17-3.55v-7.57H6.3a5.78,5.78,0,0,1-5.78-5.79h0V105.18C10.89,91.12,18.65,81.32,18.65,81.32h.59l13.68.1,0-11.8H26a4,4,0,0,1-4-4V39.79a4,4,0,0,1,4-4h6.78l0-11.77c0-.84.15-.84.46-1.14l10.41-10.1.22-.19a1.53,1.53,0,0,1,1.59.23A17.07,17.07,0,0,1,79,17.05Z" style="fill: none"/>
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+      <path d="M49,140.61H6.3a5.78,5.78,0,0,1-5.78-5.79h0V105.18C10.89,91.12,18.65,81.32,18.65,81.32h.59s19.46.14,23.87.14a2.27,2.27,0,0,1,2.37,1L54.75,92v42.79A5.79,5.79,0,0,1,49,140.61Z" style="fill: none"/>
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+    <clipPath id="clip-path-3" transform="translate(0.98 1.9)">
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     </clipPath>
   </defs>
   <title>Large Motor</title>
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+                <path id="LM_detail_hole" data-name="LM detail hole" d="M64.2,16.41a.72.72,0,0,1-.55-.91c.21-.72.36-1.33.36-1.33s-.17-.35-1.27-.64-1.35-.06-1.35-.06L61,14.8s-.16.72-.81.54L59,15s-.4.13-.6,1.06a3.44,3.44,0,0,0-.06,1.43l1.25.33a.68.68,0,0,1,.46.81c-.16.61-.33,1.21-.33,1.21s.12.3,1.2.62,1.42.09,1.42.09l.32-1.22s.26-.76,1-.59q.6.17,1.2.39a2.92,2.92,0,0,0,.7-2.25C64.91,16.65,64.2,16.41,64.2,16.41Z" transform="translate(0.98 1.9)" style="fill: #1f1f1f"/>
+                <path id="LM_detail_red4" data-name="LM detail red4" d="M61.64,24.23,60.09,24l-1.53-.57a.46.46,0,0,1-.33-.56h0l.55-2.05a.46.46,0,0,1,.56-.32l1.45.6,1.63.22a.46.46,0,0,1,.33.56h0l-.55,2.05a.44.44,0,0,1-.55.32Z" transform="translate(0.98 1.9)" style="fill: #393939"/>
+                <path id="LM_detail_red3" data-name="LM detail red3" d="M69.15,17.3l-.26,1.55-.57,1.52a.45.45,0,0,1-.55.33h0l-2.06-.55a.46.46,0,0,1-.32-.56L66,18.15l.22-1.63a.45.45,0,0,1,.55-.33h0l2,.55a.46.46,0,0,1,.32.56Z" transform="translate(0.98 1.9)" style="fill: #393939"/>
+                <path id="LM_detail_red2" data-name="LM detail red2" d="M62.21,9.79l1.55.25,1.53.57a.46.46,0,0,1,.33.55h0l-.55,2.05a.46.46,0,0,1-.56.32l-1.45-.6-1.63-.22a.47.47,0,0,1-.33-.56h0l.55-2.05a.44.44,0,0,1,.55-.32Z" transform="translate(0.98 1.9)" style="fill: #393939"/>
+                <path id="LM_detail_red1" data-name="LM detail red1" d="M54.7,16.72,55,15.17l.57-1.52a.45.45,0,0,1,.55-.33h0l2.06.55a.46.46,0,0,1,.32.56l-.61,1.44-.22,1.63a.45.45,0,0,1-.55.33h0l-2-.55a.46.46,0,0,1-.32-.56Z" transform="translate(0.98 1.9)" style="fill: #393939"/>
               </g>
             </g>
           </g>

sim/visuals/assets/LargeMotorsvg.ts

@@ -1,70 +1,88 @@
 namespace pxsim {
-    export const LARGE_MOTOR_SVG = `<svg id="e13b39e7-895d-4931-9be9-7aecaf709784" data-name="46d2506d-be16-4175-90b0-aabf357ea333" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" viewBox="0 0 79.56 153.61">
+    export const LARGE_MOTOR_SVG = `<svg xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" viewBox="0 0 82 156">
   <defs>
-    <clipPath id="7dd75c25-af24-4f64-9ea1-f270fbd17872">
-      <path d="M12.82.54a17.07,17.07,0,0,1,20.77,12.3,1.53,1.53,0,0,1,1.6-.24l.21.19,10.41,10.1c.31.3.47.3.47,1.14V35.81h6.79a4,4,0,0,1,4,4V65.63a4,4,0,0,1-4,4H46.15v11.8l13.68-.1h.61s7.76,9.81,18.12,23.87v29.64h0a5.78,5.78,0,0,1-5.78,5.78H69.17v7.57A4,4,0,0,1,67,151.75V153h0a.63.63,0,0,1-.61.61H40.08a.6.6,0,0,1-.64-.56V152a4,4,0,0,1-2.89-3.85v-7.57H30.07a5.78,5.78,0,0,1-5.78-5.78v-8.18h-6.8a4,4,0,0,1-4-4V96.84a4,4,0,0,1,4-4h6.8V92l.75-.78v-10L14.13,70.71c-.25-.27-.39-.25-.39-.67V34.27l.37-.39A17.06,17.06,0,0,1,12.82.54Z" style="fill: none"/>
+    <clipPath id="clip-path" transform="translate(0.98 1.9)">
+      <path d="M79,17.05A17.07,17.07,0,0,1,64.92,33.86l.36.39V70c0,.42-.14.4-.39.68L54,81.22v10l.75.78v.79h6.79a4,4,0,0,1,4,4v25.82a4,4,0,0,1-4,4H54.75v8.18A5.79,5.79,0,0,1,49,140.61h-6.5v7.57a4,4,0,0,1-2.9,3.84v1a.6.6,0,0,1-.6.6H12.69a.6.6,0,0,1-.6-.6h0v-1.29a4,4,0,0,1-2.17-3.55v-7.57H6.3a5.78,5.78,0,0,1-5.78-5.79h0V105.18C10.89,91.12,18.65,81.32,18.65,81.32h.59l13.68.1,0-11.8H26a4,4,0,0,1-4-4V39.79a4,4,0,0,1,4-4h6.78l0-11.77c0-.84.15-.84.46-1.14l10.41-10.1.22-.19a1.53,1.53,0,0,1,1.59.23A17.07,17.07,0,0,1,79,17.05Z" style="fill: none"/>
     </clipPath>
-    <clipPath id="9d9a0722-eca6-4c98-bf03-49097e654f0e">
-      <path d="M30.07,140.62a5.78,5.78,0,0,1-5.78-5.78V92l9.26-9.58a2.29,2.29,0,0,1,2.38-1c4.4,0,23.86-.15,23.86-.15h.65s7.76,9.8,18.12,23.87v29.64h0a5.78,5.78,0,0,1-5.78,5.78Z" style="fill: none"/>
+    <clipPath id="clip-path-2" transform="translate(0.98 1.9)">
+      <path d="M49,140.61H6.3a5.78,5.78,0,0,1-5.78-5.79h0V105.18C10.89,91.12,18.65,81.32,18.65,81.32h.59s19.46.14,23.87.14a2.27,2.27,0,0,1,2.37,1L54.75,92v42.79A5.79,5.79,0,0,1,49,140.61Z" style="fill: none"/>
     </clipPath>
-    <clipPath id="0f29df77-bfe3-4749-8432-7a5b3681f927">
-      <path d="M35.85,135.26a5.78,5.78,0,0,1-5.78-5.78h0V92.6h0a5.78,5.78,0,0,1,5.77-5.79H57.17S64.08,96,72.73,107.22v22.25h0A5.78,5.78,0,0,1,67,135.26H35.85Z" style="fill: none"/>
+    <clipPath id="clip-path-3" transform="translate(0.98 1.9)">
+      <path d="M43.18,135.24H12.09a5.78,5.78,0,0,1-5.79-5.78h0V107.21C15,95.94,21.86,86.8,21.86,86.8H43.18A5.78,5.78,0,0,1,49,92.58h0v36.88a5.78,5.78,0,0,1-5.78,5.78Z" style="fill: none"/>
     </clipPath>
   </defs>
   <title>Large Motor</title>
-  <g style="clip-path: url(#7dd75c25-af24-4f64-9ea1-f270fbd17872)">
-    <g>
-      <path id="1614620b-40ec-4523-b90a-428aad6bd045" data-name="eadcf40d-5b1f-4f82-8d01-d628e9e4bcbb" d="M40.49,64.16V41.26A5.48,5.48,0,0,1,46,35.8h5.62A5.48,5.48,0,0,1,57,41.26v22.9h0a5.45,5.45,0,0,1-5.46,5.46H46A5.45,5.45,0,0,1,40.49,64.16Z" style="fill: #a8a9a8"/>
-      <circle id="1a43435f-56ec-4b4e-a3ae-b40d13b2f218" data-name="93612c19-30fe-4c1d-bb05-67002522431d" cx="51.72" cy="64.32" r="3.79" style="fill: #fff"/>
-      <circle id="43fd443a-13b5-48ef-af02-32d5de3e95b1" data-name="aee14a95-6af8-4dce-8543-2eda3545de29" cx="51.72" cy="41.11" r="3.79" style="fill: #fff"/>
-      <path id="7bfb4e09-fb97-433a-8104-a0426c319fe6" data-name="1d2e9494-7cc7-48f0-9562-12d1d83b7bb0" d="M39.44,153v-5.29a.61.61,0,0,1,.61-.61H66.34a.61.61,0,0,1,.61.61h0V153h0a.63.63,0,0,1-.61.61H40.08a.61.61,0,0,1-.64-.58Z" style="fill: #a8a9a8"/>
-      <path id="ded8d34f-3eb8-4d18-bbd7-80e03d734fef" data-name="ccd9d8b0-00ff-4f0b-bfdc-94153d199419" d="M36.58,151.58V136.89a.61.61,0,0,1,.61-.61H68.51a.61.61,0,0,1,.61.61h0v14.69a.61.61,0,0,1-.61.61H37.19a.61.61,0,0,1-.61-.61Z" style="fill: #a8a9a8"/>
-      <path id="a30c6f9d-adb5-4251-ad04-1bd8bfaab7af" data-name="e8b462c5-81f0-4111-9486-bb5fc1221c77" d="M55.44,59.6V57.8c0-.87-.81-.46-.81-.46l-1.19.59c-.38.18-.33-.34-.33-.34V55c0-.72.82-.77.82-.77h1.25s.26-.2.26-1.38-.29-1.32-.29-1.32H53.9a.68.68,0,0,1-.66-.65v-1.3a3.57,3.57,0,0,0-1.4-.31c-1-.05-1.17.31-1.17.31v1.3c0,.67-.73.65-.73.65H48.56s-.3.18-.3,1.32.3,1.38.3,1.38h1.38a.73.73,0,0,1,.73.77v2.62c0,.52-.36.34-.36.34l-1-.59c-.68-.38-1.23,0-1.23.46v1.8s0,1,1.23.1a5.08,5.08,0,0,1,3-.7,4.18,4.18,0,0,1,2.35.7C55.37,60.14,55.44,59.6,55.44,59.6Z" style="fill: #fff"/>
-      <path id="c7805530-90df-4e25-868f-c9475cacc294" data-name="51a46c0a-a8a3-4420-b297-1d82512a0b32" d="M47.79,46.14c0-.8,1.2-.56,1.2-.56a7,7,0,0,0,2.85.84,5.72,5.72,0,0,0,2.76-.84.85.85,0,0,1,.31-.09.71.71,0,0,1,.76.65V47.9s-.24,1-1.07.6a5,5,0,0,0-2.76-.77A6.46,6.46,0,0,0,49,48.5a.68.68,0,0,1-.24.08.83.83,0,0,1-1-.61s0,0,0-.07S47.76,46.94,47.79,46.14Z" style="fill: #fff"/>
-      <path id="f8fcbff1-7e8c-4c85-8f0e-222f81e36654" data-name="be4fbc2c-74e0-495a-bfad-cf557a83a287" d="M13.75,70V34.27L33.21,13.56c0-.84,1.4-1.36,2-1l.21.19,10.42,10.1c.31.3.46.3.46,1.14l-.19,59-18.57.67-13.4-13C13.89,70.44,13.75,70.46,13.75,70Z" style="fill: #a8a9a8"/>
-      <path id="1dc809f3-4ab0-4e83-b8a0-ab178c9c843d" data-name="4d02192d-b81d-48fe-8732-1ddf5bded46b" d="M35.44,82.8l10.67-.57v-8l-4.43-4.7H30.05a1.6,1.6,0,0,0-1.16.4L25.34,73.6c-.28.27-.3,1.12-.3,1.12V92Z" style="fill: #a8a9a8"/>
-      <g id="e0794b99-de5a-4337-b43b-7cdb158e4272" data-name="233cb9b7-9706-41a9-a0a4-7b51b61b2ff5">
-        <path id="c86708aa-fcc1-4e15-8d85-6e5415398b0c" data-name="6ed465b7-465a-4389-8ebc-d8f92a4226dd" d="M13.49,121.2V98.29A5.46,5.46,0,0,1,19,92.84h5.62A5.45,5.45,0,0,1,30,98.3v22.9h0a5.48,5.48,0,0,1-5.46,5.46H19A5.48,5.48,0,0,1,13.49,121.2Z" style="fill: #a8a9a8"/>
-        <circle id="0355a228-ed20-4633-ba10-c36cf551e228" data-name="955ad5d6-af09-42ad-8d56-9ff62c40912d" cx="18.35" cy="121.35" r="3.79" style="fill: #fff"/>
-        <circle id="73922eab-afce-48dd-9bae-80da92a8b392" data-name="75a0ff09-d40c-46e3-aaf0-c5878f2efdac" cx="18.35" cy="98.14" r="3.79" style="fill: #fff"/>
-        <path id="e9f7b6a6-dcdd-4d55-a7bb-ad3951bb1e39" data-name="eeb5a6b6-ef4a-4f05-95cd-8b1c3eb419c4" d="M22.07,116.64v-1.8c0-.86-.81-.46-.81-.46L20,115c-.38.18-.33-.34-.33-.34V112c0-.72.82-.76.82-.76h1.25s.32-.26.29-1.39-.29-1.32-.29-1.32H20.53a.67.67,0,0,1-.66-.65v-1.3a3.57,3.57,0,0,0-1.4-.31c-1,0-1.17.31-1.17.31v1.3c0,.67-.73.65-.73.65H15.19s-.3.18-.3,1.32.3,1.39.3,1.39h1.38a.71.71,0,0,1,.73.69v2.69c0,.52-.36.34-.36.34l-1-.58c-.68-.39-1.23,0-1.23.46v1.8s0,1,1.23.1a5.09,5.09,0,0,1,3-.71,4.16,4.16,0,0,1,2.35.71C22,117.17,22.07,116.64,22.07,116.64Z" style="fill: #fff"/>
-        <path id="82138da6-9b2a-4b9a-952e-568841e5ed52" data-name="80481c02-bb01-43aa-bd64-15ab30fbbb5e" d="M14.44,103.18c0-.8,1.2-.56,1.2-.56a7,7,0,0,0,2.85.83,5.78,5.78,0,0,0,2.77-.83.7.7,0,0,1,1,.25.67.67,0,0,1,.1.31v1.76s-.24,1-1.07.59a5,5,0,0,0-2.77-.77,6.59,6.59,0,0,0-2.85.77.68.68,0,0,1-.24.08.83.83,0,0,1-1-.63v0S14.44,104,14.44,103.18Z" style="fill: #fff"/>
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-      <path id="aa62b88a-4cd5-4c76-acaf-e85a7fd45341" data-name="6b63d025-68d6-47eb-ba62-60017f4a1dd4" d="M30.07,140.62a5.78,5.78,0,0,1-5.78-5.78h0V92l9.26-9.57a2.29,2.29,0,0,1,2.38-1c4.4,0,23.87-.14,23.87-.14h.64s7.76,9.8,18.13,23.86v29.64h0a5.79,5.79,0,0,1-5.79,5.79Z" style="fill: #a8a9a8"/>
-      <g>
-        <g id="1172473e-5b0c-4dd6-85c5-28f5593b9312" data-name="a0498222-7e69-48db-90b7-05f2ce124a03">
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-            </g>
+  <g style="isolation: isolate">
+    <g id="e13b39e7-895d-4931-9be9-7aecaf709784">
+      <g style="clip-path: url(#clip-path)">
+        <g id="Large_Motor" data-name="Large Motor">
+          <path id="LM_back2" data-name="LM back2" d="M39,153.62H12.69a.6.6,0,0,1-.6-.6h0v-5.3a.6.6,0,0,1,.6-.6H39a.6.6,0,0,1,.6.6V153A.6.6,0,0,1,39,153.62Z" transform="translate(0.98 1.9)" style="fill: #a8aaa8"/>
+          <g>
+            <image width="36" height="20" transform="translate(9 136)" xlink:href="data:image/png;base64,iVBORw0KGgoAAAANSUhEUgAAACUAAAAVCAYAAADB5CeuAAAACXBIWXMAAAsSAAALEgHS3X78AAAAp0lEQVRIS+3WsW3DMBBG4Y+GSmcGp/cAHsuzeIasFPdWVpD6c0FKcBWwOxV8wIEgSIAPvOL+EhFKKcUBiIiAgjO+25rJildErJMqdMdVlcwg8MQDv5P6Q1fc5ErRujW1TfmoLPa3T//dymJI9TKkehlSvQypXoZUL5vUNhAz2R1Oao75w9IOMmpRHVZqSpjxo3KRw+YwQ2lx+EsVykqfK+aIWGhSR+MNDy9ID5XUCOsAAAAASUVORK5CYII=" style="opacity: 0.30000000000000004;mix-blend-mode: multiply"/>
+            <path id="LM_back1-2" data-name="LM back1-2" d="M41.86,152.17H10.53a.6.6,0,0,1-.6-.6v-14.7a.6.6,0,0,1,.6-.6H41.86a.6.6,0,0,1,.6.6h0v14.7A.6.6,0,0,1,41.86,152.17Z" transform="translate(0.98 1.9)" style="fill: #a8aaa8"/>
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+          <g id="LM_rightside" data-name="LM rightside">
+            <path id="LM_rightside5" data-name="LM rightside5" d="M33.08,69.61H27.47A5.45,5.45,0,0,1,22,64.15h0V41.25a5.45,5.45,0,0,1,5.46-5.46h5.61a5.46,5.46,0,0,1,5.46,5.46v22.9A5.45,5.45,0,0,1,33.08,69.61Z" transform="translate(0.98 1.9)" style="fill: #a8aaa8"/>
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+                <path id="LM_detail_hole" data-name="LM detail hole" d="M64.2,16.41a.72.72,0,0,1-.55-.91c.21-.72.36-1.33.36-1.33s-.17-.35-1.27-.64-1.35-.06-1.35-.06L61,14.8s-.16.72-.81.54L59,15s-.4.13-.6,1.06a3.44,3.44,0,0,0-.06,1.43l1.25.33a.68.68,0,0,1,.46.81c-.16.61-.33,1.21-.33,1.21s.12.3,1.2.62,1.42.09,1.42.09l.32-1.22s.26-.76,1-.59q.6.17,1.2.39a2.92,2.92,0,0,0,.7-2.25C64.91,16.65,64.2,16.41,64.2,16.41Z" transform="translate(0.98 1.9)" style="fill: #1f1f1f"/>
+                <path id="LM_detail_red4" data-name="LM detail red4" d="M61.64,24.23,60.09,24l-1.53-.57a.46.46,0,0,1-.33-.56h0l.55-2.05a.46.46,0,0,1,.56-.32l1.45.6,1.63.22a.46.46,0,0,1,.33.56h0l-.55,2.05a.44.44,0,0,1-.55.32Z" transform="translate(0.98 1.9)" style="fill: #393939"/>
+                <path id="LM_detail_red3" data-name="LM detail red3" d="M69.15,17.3l-.26,1.55-.57,1.52a.45.45,0,0,1-.55.33h0l-2.06-.55a.46.46,0,0,1-.32-.56L66,18.15l.22-1.63a.45.45,0,0,1,.55-.33h0l2,.55a.46.46,0,0,1,.32.56Z" transform="translate(0.98 1.9)" style="fill: #393939"/>
+                <path id="LM_detail_red2" data-name="LM detail red2" d="M62.21,9.79l1.55.25,1.53.57a.46.46,0,0,1,.33.55h0l-.55,2.05a.46.46,0,0,1-.56.32l-1.45-.6-1.63-.22a.47.47,0,0,1-.33-.56h0l.55-2.05a.44.44,0,0,1,.55-.32Z" transform="translate(0.98 1.9)" style="fill: #393939"/>
+                <path id="LM_detail_red1" data-name="LM detail red1" d="M54.7,16.72,55,15.17l.57-1.52a.45.45,0,0,1,.55-.33h0l2.06.55a.46.46,0,0,1,.32.56l-.61,1.44-.22,1.63a.45.45,0,0,1-.55.33h0l-2-.55a.46.46,0,0,1-.32-.56Z" transform="translate(0.98 1.9)" style="fill: #393939"/>
               </g>
             </g>
           </g>

sim/visuals/assets/MediumMotor.svg

@@ -1,28 +1,33 @@
-<svg id="svg7610" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" viewBox="0 0 44.14 44.15">
+<svg xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" viewBox="0 0 48 48">
   <defs>
-    <linearGradient id="motor-linear-gradient" x1="-313.1" y1="551.59" x2="-313.1" y2="551.43" gradientTransform="matrix(44.14, 0, 0, -44.15, 13843.7, 24396.04)" gradientUnits="userSpaceOnUse">
-      <stop offset="0" stop-color="#a8a9a8"/>
-      <stop offset="1" stop-color="#545554"/>
+    <linearGradient id="linear-gradient" x1="-427.2" y1="440.79" x2="-427.2" y2="440.63" gradientTransform="matrix(44.14, 0, 0, -44.15, 18878.72, 19502.57)" gradientUnits="userSpaceOnUse">
+      <stop offset="0" stop-color="#a8aaa8"/>
+      <stop offset="1" stop-color="#535453"/>
     </linearGradient>
   </defs>
   <title>MediumMotor</title>
-  <g id="Medium_Motor" data-name="Medium Motor">
-    <g id="Group_4" data-name="Group 4">
-      <path id="Path_1" data-name="Path 1" d="M4.07,1.5h39a2.36,2.36,0,0,1,2.57,2V43.82c0,1-1.1,1.82-2.57,1.82h-39c-1.47,0-2.57-.81-2.57-1.82V3.47A2.36,2.36,0,0,1,4.07,1.5Z" transform="translate(-1.5 -1.49)" style="fill: url(#motor-linear-gradient)"/>
-    </g>
-    <g id="Group_7" data-name="Group 7">
-      <g id="g7596">
-        <path id="Union_1-2" data-name="Union 1-2" d="M1.5,22.74a6.21,6.21,0,0,1,6.22-6.22h8.8V7.72A6.22,6.22,0,0,1,22.74,1.5H24.4a6.21,6.21,0,0,1,6.22,6.22v8.8h8.8a6.21,6.21,0,0,1,6.22,6.22V24.4a6.22,6.22,0,0,1-6.22,6.22h-8.8v8.8a6.22,6.22,0,0,1-6.22,6.22H22.74a6.23,6.23,0,0,1-6.22-6.22h0v-8.8H7.72A6.22,6.22,0,0,1,1.5,24.4h0Z" transform="translate(-1.5 -1.49)" style="fill: #a8a9a8"/>
+  <g style="isolation: isolate">
+    <g id="svg7610">
+      <g id="Medium_Motor" data-name="Medium Motor">
+        <g id="medmotor_box" data-name="medmotor box">
+          <path id="medmotor_box_wgradient" data-name="medmotor box wgradient" d="M2.57,0h39a2.36,2.36,0,0,1,2.57,2V42.33c0,1-1.1,1.82-2.57,1.82h-39C1.1,44.15,0,43.34,0,42.33V2A2.36,2.36,0,0,1,2.57,0Z" transform="translate(2 1.84)" style="fill: url(#linear-gradient)"/>
+        </g>
+        <g id="medmotor_star" data-name="medmotor star">
+          <g>
+            <image width="48" height="48" xlink:href="data:image/png;base64,iVBORw0KGgoAAAANSUhEUgAAADAAAAAxCAYAAACcXioiAAAACXBIWXMAAAsSAAALEgHS3X78AAACfElEQVRoQ+2aPXLbMBBG32ZUijlCnDo/R1AukCoHyAFS5Sw5g5t0bnwCu0ofpTZ9A1usvSmwoClRJEEAI4gzejMcqliS+2FB4AMoUVVyISICrIErO3dpgBpoNONDJde9RKTCJf4R+Ga/u9TADbAFalXdkYEsAiz5L8B3nICxCmyBa+Auh4jVVMAUneR/ABugAuRIaIUT9w4TJyLJIpIEWJ+/wrX8Bng7fgViMRtcRR5F5G/KO/FmKiCANa5Vq6nADhXwwY7DrjaLHALgeJcZQ4D32MtulYwil4AYfOXOogKxRLe8p7SAZC4CSnMRUJrBmThwbBbSRxIh4HFDs3VPwIQl7oXj/M1U3BBr3PUAY3aiEZGjVnzPjQZY4mOscbNqjIgGeLDzGINWvBUQaImHSOlGIUZu2IqbgAr4CtwCT8AL7sbndLzgcrvF5Vq1jQ98An5bwNSNSh9PuFw/A+KH0RhLXIo9K96dB1L68SnZs+JLnchaK75UAWA9ZskCgGULUFiugAZ4BJquAB0IPjcUZz9ugNoL8IqSNplOxA74Z0ezUlU1p3eNG5787tocUuaQOZXfAfe4XB9UVVcAqroTkTsLaghzoZ5TuFGPb+jWzA3Z6dBk/Hrgp53nVEJx7vKXnUMq0XBgp/cWNFaJbe+yYXzCoS14SINL/g9hAnors96KbM5Gqy0Dg+MHUNxjo+6z1Hmg5SKgNBcBpSktIGrk6VJSQOsopwLHKCVAed2sqmPnAMgnICaB9sv9VOAYOQTEWPEdGZKHRAFWeu8Q74Fnpjemnnm1xEndBxI/dEOUFe9Z4hSy/FcCZlnxniVOIZsACPhKYaR2my5ZBZTgP7HrUIs43RAaAAAAAElFTkSuQmCC" style="opacity: 0.30000000000000004;mix-blend-mode: multiply"/>
+            <path id="medmotor_cut-2" data-name="medmotor cut-2" d="M0,21.25A6.21,6.21,0,0,1,6.22,15H15V6.23A6.22,6.22,0,0,1,21.24,0H22.9a6.22,6.22,0,0,1,6.22,6.22V15h8.8a6.21,6.21,0,0,1,6.22,6.22v1.66a6.21,6.21,0,0,1-6.22,6.22h-8.8v8.8a6.21,6.21,0,0,1-6.22,6.22H21.24A6.22,6.22,0,0,1,15,37.93v-8.8H6.22A6.22,6.22,0,0,1,0,22.92H0Z" transform="translate(2 1.84)" style="fill: #a8aaa8"/>
+          </g>
+          <circle id="medmotor_hole_4" data-name="medmotor hole 4" cx="39.77" cy="24" r="4.85" style="fill: #393939"/>
+          <circle id="medmotor_hole_3" data-name="medmotor hole 3" cx="8.37" cy="24" r="4.85" style="fill: #393939"/>
+          <circle id="medmotor_hole_2" data-name="medmotor hole 2" cx="24.15" cy="8.22" r="4.85" style="fill: #393939"/>
+          <circle id="medmotor_hole_1" data-name="medmotor hole 1" cx="24.15" cy="39.62" r="4.85" style="fill: #393939"/>
+        </g>
+        <g id="medmotor_red" data-name="medmotor red">
+          <circle cx="24.3" cy="24" r="6.75" style="fill: #d42715"/>
+          <circle cx="24.3" cy="24" r="6.63" style="fill: none;stroke: #a20800;stroke-width: 0.25px"/>
+        </g>
+        <path id="medmotor_Hole" data-name="medmotor Hole" d="M20.59,19.46s-.05,1-.77,1-1.46,0-1.46,0a2.38,2.38,0,0,0-.45,1.69c0,1.27.36,1.6.36,1.6h1.62a.64.64,0,0,1,.7.59.21.21,0,0,1,0,.11v1.67a4,4,0,0,0,1.77.29A6.88,6.88,0,0,0,24,26.15V24.48a.73.73,0,0,1,.73-.7,9.89,9.89,0,0,0,1.44-.14s.4-.37.44-1.63-.36-1.64-.36-1.64H24.6a.65.65,0,0,1-.75-.51.49.49,0,0,1,0-.17,11.22,11.22,0,0,1,0-1.64,4.78,4.78,0,0,0-3.25,0C20.58,18.74,20.59,19.46,20.59,19.46Z" transform="translate(2 1.84)"/>
       </g>
-      <circle id="Ellipse_1" data-name="Ellipse 1" cx="37.77" cy="22.16" r="4.85" style="fill: #3c3c3c"/>
-      <circle id="Ellipse_2" data-name="Ellipse 2" cx="6.37" cy="22.16" r="4.85" style="fill: #3c3c3c"/>
-      <circle id="Ellipse_1-2" data-name="Ellipse 1-2" cx="22.15" cy="6.38" r="4.85" style="fill: #3c3c3c"/>
-      <circle id="Ellipse_2-2" data-name="Ellipse 2-2" cx="22.15" cy="37.78" r="4.85" style="fill: #3c3c3c"/>
     </g>
-    <g id="Ellipse_4" data-name="Ellipse 4">
-      <circle id="ellipse7603" cx="22.3" cy="22.16" r="6.75" style="fill: #b72b1c"/>
-      <circle id="ellipse7605" cx="22.3" cy="22.16" r="6.63" style="fill: none;stroke: #8b1104;stroke-width: 0.25px"/>
-    </g>
-    <path id="Hole" d="M23.9,26.72s.56-.86,1.18-.51,1.27.73,1.27.73a2.37,2.37,0,0,0,1.24-1.23c.63-1.1.49-1.57.49-1.57l-1.41-.81a.64.64,0,0,1-.32-.86l.06-.1.84-1.44a3.9,3.9,0,0,0-1.39-1.13,6,6,0,0,0-1.6-.59l-.83,1.44a.73.73,0,0,1-1,.24,11.15,11.15,0,0,0-1.32-.6s-.54.13-1.2,1.2-.51,1.6-.51,1.6l1.46.84a.64.64,0,0,1,.4.82.55.55,0,0,1-.08.15,11.25,11.25,0,0,1-.82,1.43A4.83,4.83,0,0,0,23.19,28C23.56,27.35,23.9,26.72,23.9,26.72Z" transform="translate(-1.5 -1.49)"/>
   </g>
 </svg>

sim/visuals/assets/MediumMotorsvg.ts

@@ -1,30 +1,35 @@
 namespace pxsim.visuals {
-    export const MEDIUM_MOTOR_SVG = `<svg id="svg7610" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" viewBox="0 0 44.14 44.15">
+    export const MEDIUM_MOTOR_SVG = `<svg xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" viewBox="0 0 48 48">
   <defs>
-    <linearGradient id="motor-linear-gradient" x1="-313.1" y1="551.59" x2="-313.1" y2="551.43" gradientTransform="matrix(44.14, 0, 0, -44.15, 13843.7, 24396.04)" gradientUnits="userSpaceOnUse">
-      <stop offset="0" stop-color="#a8a9a8"/>
-      <stop offset="1" stop-color="#545554"/>
+    <linearGradient id="linear-gradient" x1="-427.2" y1="440.79" x2="-427.2" y2="440.63" gradientTransform="matrix(44.14, 0, 0, -44.15, 18878.72, 19502.57)" gradientUnits="userSpaceOnUse">
+      <stop offset="0" stop-color="#a8aaa8"/>
+      <stop offset="1" stop-color="#535453"/>
     </linearGradient>
   </defs>
-  <title>Medium Motor</title>
-  <g id="Medium_Motor" data-name="Medium Motor">
-    <g id="Group_4" data-name="Group 4">
-      <path id="Path_1" data-name="Path 1" d="M4.07,1.5h39a2.36,2.36,0,0,1,2.57,2V43.82c0,1-1.1,1.82-2.57,1.82h-39c-1.47,0-2.57-.81-2.57-1.82V3.47A2.36,2.36,0,0,1,4.07,1.5Z" transform="translate(-1.5 -1.49)" style="fill: url(#motor-linear-gradient)"/>
-    </g>
-    <g id="Group_7" data-name="Group 7">
-      <g id="g7596">
-        <path id="Union_1-2" data-name="Union 1-2" d="M1.5,22.74a6.21,6.21,0,0,1,6.22-6.22h8.8V7.72A6.22,6.22,0,0,1,22.74,1.5H24.4a6.21,6.21,0,0,1,6.22,6.22v8.8h8.8a6.21,6.21,0,0,1,6.22,6.22V24.4a6.22,6.22,0,0,1-6.22,6.22h-8.8v8.8a6.22,6.22,0,0,1-6.22,6.22H22.74a6.23,6.23,0,0,1-6.22-6.22h0v-8.8H7.72A6.22,6.22,0,0,1,1.5,24.4h0Z" transform="translate(-1.5 -1.49)" style="fill: #a8a9a8"/>
+  <title>MediumMotor</title>
+  <g style="isolation: isolate">
+    <g id="svg7610">
+      <g id="Medium_Motor" data-name="Medium Motor">
+        <g id="medmotor_box" data-name="medmotor box">
+          <path id="medmotor_box_wgradient" data-name="medmotor box wgradient" d="M2.57,0h39a2.36,2.36,0,0,1,2.57,2V42.33c0,1-1.1,1.82-2.57,1.82h-39C1.1,44.15,0,43.34,0,42.33V2A2.36,2.36,0,0,1,2.57,0Z" transform="translate(2 1.84)" style="fill: url(#linear-gradient)"/>
+        </g>
+        <g id="medmotor_star" data-name="medmotor star">
+          <g>
+            <image width="48" height="48" xlink:href="data:image/png;base64,iVBORw0KGgoAAAANSUhEUgAAADAAAAAxCAYAAACcXioiAAAACXBIWXMAAAsSAAALEgHS3X78AAACfElEQVRoQ+2aPXLbMBBG32ZUijlCnDo/R1AukCoHyAFS5Sw5g5t0bnwCu0ofpTZ9A1usvSmwoClRJEEAI4gzejMcqliS+2FB4AMoUVVyISICrIErO3dpgBpoNONDJde9RKTCJf4R+Ga/u9TADbAFalXdkYEsAiz5L8B3nICxCmyBa+Auh4jVVMAUneR/ABugAuRIaIUT9w4TJyLJIpIEWJ+/wrX8Bng7fgViMRtcRR5F5G/KO/FmKiCANa5Vq6nADhXwwY7DrjaLHALgeJcZQ4D32MtulYwil4AYfOXOogKxRLe8p7SAZC4CSnMRUJrBmThwbBbSRxIh4HFDs3VPwIQl7oXj/M1U3BBr3PUAY3aiEZGjVnzPjQZY4mOscbNqjIgGeLDzGINWvBUQaImHSOlGIUZu2IqbgAr4CtwCT8AL7sbndLzgcrvF5Vq1jQ98An5bwNSNSh9PuFw/A+KH0RhLXIo9K96dB1L68SnZs+JLnchaK75UAWA9ZskCgGULUFiugAZ4BJquAB0IPjcUZz9ugNoL8IqSNplOxA74Z0ezUlU1p3eNG5787tocUuaQOZXfAfe4XB9UVVcAqroTkTsLaghzoZ5TuFGPb+jWzA3Z6dBk/Hrgp53nVEJx7vKXnUMq0XBgp/cWNFaJbe+yYXzCoS14SINL/g9hAnors96KbM5Gqy0Dg+MHUNxjo+6z1Hmg5SKgNBcBpSktIGrk6VJSQOsopwLHKCVAed2sqmPnAMgnICaB9sv9VOAYOQTEWPEdGZKHRAFWeu8Q74Fnpjemnnm1xEndBxI/dEOUFe9Z4hSy/FcCZlnxniVOIZsACPhKYaR2my5ZBZTgP7HrUIs43RAaAAAAAElFTkSuQmCC" style="opacity: 0.30000000000000004;mix-blend-mode: multiply"/>
+            <path id="medmotor_cut-2" data-name="medmotor cut-2" d="M0,21.25A6.21,6.21,0,0,1,6.22,15H15V6.23A6.22,6.22,0,0,1,21.24,0H22.9a6.22,6.22,0,0,1,6.22,6.22V15h8.8a6.21,6.21,0,0,1,6.22,6.22v1.66a6.21,6.21,0,0,1-6.22,6.22h-8.8v8.8a6.21,6.21,0,0,1-6.22,6.22H21.24A6.22,6.22,0,0,1,15,37.93v-8.8H6.22A6.22,6.22,0,0,1,0,22.92H0Z" transform="translate(2 1.84)" style="fill: #a8aaa8"/>
+          </g>
+          <circle id="medmotor_hole_4" data-name="medmotor hole 4" cx="39.77" cy="24" r="4.85" style="fill: #393939"/>
+          <circle id="medmotor_hole_3" data-name="medmotor hole 3" cx="8.37" cy="24" r="4.85" style="fill: #393939"/>
+          <circle id="medmotor_hole_2" data-name="medmotor hole 2" cx="24.15" cy="8.22" r="4.85" style="fill: #393939"/>
+          <circle id="medmotor_hole_1" data-name="medmotor hole 1" cx="24.15" cy="39.62" r="4.85" style="fill: #393939"/>
+        </g>
+        <g id="medmotor_red" data-name="medmotor red">
+          <circle cx="24.3" cy="24" r="6.75" style="fill: #d42715"/>
+          <circle cx="24.3" cy="24" r="6.63" style="fill: none;stroke: #a20800;stroke-width: 0.25px"/>
+        </g>
+        <path id="medmotor_Hole" data-name="medmotor Hole" d="M20.59,19.46s-.05,1-.77,1-1.46,0-1.46,0a2.38,2.38,0,0,0-.45,1.69c0,1.27.36,1.6.36,1.6h1.62a.64.64,0,0,1,.7.59.21.21,0,0,1,0,.11v1.67a4,4,0,0,0,1.77.29A6.88,6.88,0,0,0,24,26.15V24.48a.73.73,0,0,1,.73-.7,9.89,9.89,0,0,0,1.44-.14s.4-.37.44-1.63-.36-1.64-.36-1.64H24.6a.65.65,0,0,1-.75-.51.49.49,0,0,1,0-.17,11.22,11.22,0,0,1,0-1.64,4.78,4.78,0,0,0-3.25,0C20.58,18.74,20.59,19.46,20.59,19.46Z" transform="translate(2 1.84)"/>
       </g>
-      <circle id="Ellipse_1" data-name="Ellipse 1" cx="37.77" cy="22.16" r="4.85" style="fill: #3c3c3c"/>
-      <circle id="Ellipse_2" data-name="Ellipse 2" cx="6.37" cy="22.16" r="4.85" style="fill: #3c3c3c"/>
-      <circle id="Ellipse_1-2" data-name="Ellipse 1-2" cx="22.15" cy="6.38" r="4.85" style="fill: #3c3c3c"/>
-      <circle id="Ellipse_2-2" data-name="Ellipse 2-2" cx="22.15" cy="37.78" r="4.85" style="fill: #3c3c3c"/>
     </g>
-    <g id="Ellipse_4" data-name="Ellipse 4">
-      <circle id="ellipse7603" cx="22.3" cy="22.16" r="6.75" style="fill: #b72b1c"/>
-      <circle id="ellipse7605" cx="22.3" cy="22.16" r="6.63" style="fill: none;stroke: #8b1104;stroke-width: 0.25px"/>
-    </g>
-    <path id="Hole" d="M22.09,21s-.05,1-.77,1H19.86a2.37,2.37,0,0,0-.45,1.69c0,1.27.36,1.6.36,1.6h1.62a.64.64,0,0,1,.7.59.2.2,0,0,1,0,.11v1.67a4,4,0,0,0,1.77.29,6.88,6.88,0,0,0,1.68-.29V26a.73.73,0,0,1,.73-.7,9.89,9.89,0,0,0,1.44-.14s.4-.37.44-1.63-.36-1.64-.36-1.64H26.1a.65.65,0,0,1-.75-.51.5.5,0,0,1,0-.17,11.36,11.36,0,0,1,0-1.65,4.9,4.9,0,0,0-3.25,0C22.08,20.23,22.09,21,22.09,21Z" transform="translate(-1.5 -1.49)"/>
   </g>
 </svg>`;
 }

sim/visuals/board.ts

@@ -1,5 +1,9 @@
 /// <reference path="./layoutView.ts" />
 
+namespace pxsim {
+    export const GAME_LOOP_FPS = 32;
+}
+
 namespace pxsim.visuals {
 
     const EV3_STYLE = `
@@ -29,13 +33,21 @@ namespace pxsim.visuals {
             font-family:"Lucida Console", Monaco, monospace;
             font-size:8px;
             fill:#fff;
-            pointer-events: none; user-select: none;
+            pointer-events: none;
+            user-select: none;
         }
         .sim-text.small {
             font-size:6px;
         }
+        .sim-text.large {
+            font-size:30px;
+        }
+        .sim-text.number {
+            font-family: Courier, Lato, Work Sans, PT Serif, Source Serif Pro;
+            font-weight: bold;
+        }
         .sim-text.inverted {
-            fill:#000;
+            fill:#5A5A5A;
         }
 
         /* Color Grid */
@@ -95,16 +107,9 @@ namespace pxsim.visuals {
 
         private layoutView: LayoutView;
 
-        private controlGroup: ViewContainer;
-        private selectedNode: NodeType;
-        private selectedPort: number;
-        private controlView: View;
         private cachedControlNodes: { [index: string]: View[] } = {};
         private cachedDisplayViews: { [index: string]: LayoutElement[] } = {};
 
-        private closeGroup: ViewContainer;
-        private closeIconView: View;
-
         private screenCanvas: HTMLCanvasElement;
         private screenCanvasCtx: CanvasRenderingContext2D;
         private screenCanvasData: ImageData;
@@ -136,6 +141,17 @@ namespace pxsim.visuals {
                 this.board.updateSubscribers.push(() => this.updateState());
                 this.updateState();
             }
+
+            Runtime.messagePosted = (msg) => {
+                switch (msg.type || "") {
+                    case "status": {
+                        const state = (msg as pxsim.SimulatorStateMessage).state;
+                        if (state == "killed") this.kill();
+                        if (state == "running") this.begin();
+                        break;
+                    }
+                }
+            }
         }
 
         public getView(): SVGAndSize<SVGSVGElement> {
@@ -167,86 +183,8 @@ namespace pxsim.visuals {
             this.layoutView.updateTheme(theme);
         }
 
-        public updateState() {
-            this.updateVisibleNodes();
-            this.updateScreen();
-        }
-
-        private updateVisibleNodes() {
-            const inputNodes = ev3board().getInputNodes();
-            inputNodes.forEach((node, index) => {
-                const view = this.getDisplayViewForNode(node.id, index);
-                if (view) {
-                    this.layoutView.setInput(index, view);
-                    view.updateState();
-                }
-            });
-
-            this.getDisplayViewForNode(ev3board().getBrickNode().id, -1).updateState();
-
-            const outputNodes = ev3board().getMotors();
-            outputNodes.forEach((node, index) => {
-                const view = this.getDisplayViewForNode(node.id, index);
-                if (view) {
-                    this.layoutView.setOutput(index, view);
-                    view.updateState();
-                }
-            });
-
-            const selected = this.layoutView.getSelected();
-            if (selected && (selected.getId() !== this.selectedNode || selected.getPort() !== this.selectedPort)) {
-                this.selectedNode = selected.getId();
-                this.selectedPort = selected.getPort();
-                this.controlGroup.clear();
-                const control = this.getControlForNode(this.selectedNode, selected.getPort());
-                if (control) {
-                    this.controlView = control;
-                    this.controlGroup.addView(control);
-                }
-                this.closeIconView.setVisible(true);
-            } else if (!selected) {
-                this.controlGroup.clear();
-                this.controlView = undefined;
-                this.selectedNode = undefined;
-                this.selectedPort = undefined;
-                this.closeIconView.setVisible(false);
-            }
-
-            this.resize();
-        }
-
-        public resize() {
-            const bounds = this.element.getBoundingClientRect();
-            this.width = bounds.width;
-            this.height = bounds.height;
-            this.layoutView.layout(bounds.width, bounds.height);
-
-            if (this.selectedNode) {
-                const scale = this.width / this.closeIconView.getInnerWidth() / 10;
-                // Translate close icon
-                this.closeIconView.scale(Math.max(0, Math.min(1, scale)));
-                const closeIconWidth = this.closeIconView.getWidth();
-                const closeIconHeight = this.closeIconView.getHeight();
-                const closeCoords = this.layoutView.getCloseIconCoords(closeIconWidth, closeIconHeight);
-                this.closeIconView.translate(closeCoords.x, closeCoords.y);
-            }
-
-            if (this.controlView) {
-                const h = this.controlView.getInnerHeight();
-                const w = this.controlView.getInnerWidth();
-                const bh = this.layoutView.getModuleBounds().height - this.closeIconView.getHeight();
-                const bw = this.layoutView.getModuleBounds().width - (this.width * MODULE_INNER_PADDING_RATIO * 2);
-                this.controlView.scale(Math.min(bh / h, bw / w), false);
-
-                const controlCoords = this.layoutView.getSelectedCoords();
-                this.controlView.translate(controlCoords.x, controlCoords.y);
-            }
-
-            this.updateScreen();
-        }
-
-        private getControlForNode(id: NodeType, port: number) {
-            if (this.cachedControlNodes[id] && this.cachedControlNodes[id][port]) {
+        private getControlForNode(id: NodeType, port: number, useCache = true) {
+            if (useCache && this.cachedControlNodes[id] && this.cachedControlNodes[id][port]) {
                 return this.cachedControlNodes[id][port];
             }
 
@@ -275,9 +213,10 @@ namespace pxsim.visuals {
                 }
                 case NodeType.MediumMotor:
                 case NodeType.LargeMotor: {
-                    // const state = ev3board().getMotor(port)[0];
-                    // view = new MotorInputControl(this.element, this.defs, state, port);
-                    // break;
+                    // TODO: figure out if the motor is in "input" or "output" mode
+                    const state = ev3board().getMotors()[port];
+                    view = new MotorReporterControl(this.element, this.defs, state, port);
+                    break;
                 }
             }
 
@@ -323,6 +262,10 @@ namespace pxsim.visuals {
             return undefined;
         }
 
+        private getCloseIconView() {
+            return new CloseIconControl(this.element, this.defs, new PortNode(-1), -1);
+        }
+
         private buildDom() {
             this.wrapper = document.createElement('div');
             this.wrapper.style.display = 'inline';
@@ -337,25 +280,10 @@ namespace pxsim.visuals {
             this.layoutView = new LayoutView();
             this.layoutView.inject(this.element);
 
-            this.controlGroup = new ViewContainer();
-            this.controlGroup.inject(this.element);
-
-            this.closeGroup = new ViewContainer();
-            this.closeGroup.inject(this.element);
-
             // Add EV3 module element
             this.layoutView.setBrick(new BrickView(-1));
 
-            this.closeIconView = new CloseIconControl(this.element, this.defs, new PortNode(-1), -1);
-            this.closeIconView.registerClick(() => {
-                this.layoutView.clearSelected();
-                this.updateState();
-            })
-            this.closeGroup.addView(this.closeIconView);
-            this.closeIconView.setVisible(false);
-
             this.resize();
-            this.updateState();
 
             // Add Screen canvas to board
             this.buildScreenCanvas();
@@ -369,6 +297,17 @@ namespace pxsim.visuals {
             });
         }
 
+        public resize() {
+            if (!this.element) return;
+            this.width = document.body.offsetWidth;
+            this.height = document.body.offsetHeight;
+            this.layoutView.layout(this.width, this.height);
+
+            this.updateState();
+            let state = ev3board().screenState;
+            this.updateScreenStep(state);
+        }
+
         private buildScreenCanvas() {
             this.screenCanvas = document.createElement("canvas");
             this.screenCanvas.id = "board-screen-canvas";
@@ -394,9 +333,115 @@ namespace pxsim.visuals {
             this.screenCanvasTemp.style.display = 'none';
         }
 
-        private updateScreen() {
-            let state = ev3board().screenState;
+        private kill() {
+            this.running = false;
+            if (this.lastAnimationIds.length > 0) {
+                this.lastAnimationIds.forEach(animationId => {
+                    cancelAnimationFrame(animationId);
+                })
+            }
+            // Save previous inputs for the next cycle
+            EV3View.previousSelectedInputs = ev3board().getInputNodes().map((node, index) => (this.getDisplayViewForNode(node.id, index).getSelected()) ? node.id : -1)
+            EV3View.previousSeletedOutputs = ev3board().getMotors().map((node, index) => (this.getDisplayViewForNode(node.id, index).getSelected()) ? node.id : -1);
+        }
 
+        private static previousSelectedInputs: number[];
+        private static previousSeletedOutputs: number[];
+
+        private static isPreviousInputSelected(index: number, id: number) {
+            if (EV3View.previousSelectedInputs && EV3View.previousSelectedInputs[index] == id) {
+                EV3View.previousSelectedInputs[index] = undefined;
+                return true;
+            }
+            return false;
+        }
+
+        private static isPreviousOutputSelected(index: number, id: number) {
+            if (EV3View.previousSeletedOutputs && EV3View.previousSeletedOutputs[index] == id) {
+                EV3View.previousSeletedOutputs[index] = undefined;
+                return true;
+            }
+            return false;
+        }
+
+        private begin() {
+            this.running = true;
+            this.updateState();
+        }
+
+        private running: boolean = false;
+        private lastAnimationIds: number[] = [];
+        public updateState() {
+            if (this.lastAnimationIds.length > 0) {
+                this.lastAnimationIds.forEach(animationId => {
+                    cancelAnimationFrame(animationId);
+                })
+            }
+            if (!this.running) return;
+            const fps = GAME_LOOP_FPS;
+            let now;
+            let then = pxsim.U.now();
+            let interval = 1000 / fps;
+            let delta;
+            let that = this;
+            function loop() {
+                const animationId = requestAnimationFrame(loop);
+                that.lastAnimationIds.push(animationId);
+                now = pxsim.U.now();
+                delta = now - then;
+                if (delta > interval) {
+                    then = now;
+                    that.updateStateStep(delta);
+                }
+            }
+            loop();
+        }
+
+        private updateStateStep(elapsed: number) {
+            const inputNodes = ev3board().getInputNodes();
+            inputNodes.forEach((node, index) => {
+                node.updateState(elapsed);
+                const view = this.getDisplayViewForNode(node.id, index);
+                if (!node.didChange() && !view.didChange()) return;
+                if (view) {
+                    const isSelected = EV3View.isPreviousInputSelected(index, node.id) || view.getSelected();
+                    if (isSelected && !view.getSelected()) view.setSelected(true);
+                    const control = isSelected ? this.getControlForNode(node.id, index, !node.modeChange()) : undefined;
+                    const closeIcon = control ? this.getCloseIconView() : undefined;
+                    this.layoutView.setInput(index, view, control, closeIcon);
+                    view.updateState();
+                    if (control) control.updateState();
+                }
+            });
+
+            const brickNode = ev3board().getBrickNode();
+            if (brickNode.didChange()) {
+                this.getDisplayViewForNode(brickNode.id, -1).updateState();
+            }
+
+            const outputNodes = ev3board().getMotors();
+            outputNodes.forEach((node, index) => {
+                node.updateState(elapsed);
+                const view = this.getDisplayViewForNode(node.id, index);
+                if (!node.didChange() && !view.didChange()) return;
+                if (view) {
+                    const isSelected = EV3View.isPreviousOutputSelected(index, node.id) || view.getSelected();
+                    if (isSelected && !view.getSelected()) view.setSelected(true);
+                    const control = isSelected ? this.getControlForNode(node.id, index) : undefined;
+                    const closeIcon = control ? this.getCloseIconView() : undefined;
+                    this.layoutView.setOutput(index, view, control, closeIcon);
+                    view.updateState();
+                    if (control) control.updateState();
+                }
+            });
+
+            let state = ev3board().screenState;
+            if (state.didChange()) {
+                this.updateScreenStep(state);
+            }
+        }
+
+        private updateScreenStep(state: EV3ScreenState) {
             const bBox = this.layoutView.getBrick().getScreenBBox();
             if (!bBox || bBox.width == 0) return;
 

sim/visuals/controlView.ts

@@ -1,17 +1,20 @@
-/// <reference path="./nodes/staticView.ts" />
+/// <reference path="./nodes/moduleView.ts" />
 
 namespace pxsim.visuals {
 
     export const CONTROL_WIDTH = 87.5;
     export const CONTROL_HEIGHT = 175;
 
+    export const CONTROL_TEXT_COLOR = '#000';
+
     export abstract class ControlView<T extends BaseNode> extends SimView<T> implements LayoutElement {
-        private background: SVGSVGElement;
+        protected content: SVGSVGElement;
 
         abstract getInnerView(parent: SVGSVGElement, globalDefs: SVGDefsElement): SVGElement;
 
         constructor(protected parent: SVGSVGElement, protected globalDefs: SVGDefsElement, protected state: T, protected port: number) {
             super(state);
+
         }
 
         getInnerWidth(): number {
@@ -34,18 +37,39 @@ namespace pxsim.visuals {
             return false;
         }
 
-        buildDom(width: number): SVGElement {
-            this.background = svg.elt("svg", { height: "100%", width: "100%"}) as SVGSVGElement;
-            this.background.appendChild(this.getInnerView(this.parent, this.globalDefs));
-            return this.background;
+        buildDom(): SVGElement {
+            this.content = svg.elt("svg", { viewBox: `0 0 ${this.getInnerWidth()} ${this.getInnerHeight()}` }) as SVGSVGElement;
+            this.content.appendChild(this.getInnerView(this.parent, this.globalDefs));
+            return this.content;
+        }
+
+        public resize(width: number, height: number) {
+            super.resize(width, height);
+            this.updateDimensions(width, height);
+        }
+
+        private updateDimensions(width: number, height: number) {
+            if (this.content) {
+                const currentWidth = this.getInnerWidth();
+                const currentHeight = this.getInnerHeight();
+                const newHeight = currentHeight / currentWidth * width;
+                const newWidth = currentWidth / currentHeight * height;
+                if (newHeight > height) {
+                    // scale width instead
+                    this.content.setAttribute('width', `${newWidth}`);
+                    this.content.setAttribute('height', `${height}`);
+                    // translate to the middle (width)
+                    this.translate(width / 2 - newWidth / 2, 0);
+                } else {
+                    this.content.setAttribute('width', `${width}`);
+                    this.content.setAttribute('height', `${newHeight}`);
+                    // translate to the middle (height)
+                    this.translate(0, height / 2 - newHeight / 2);
+                }
+            }
         }
 
         onComponentVisible() {
-
-        }
-
-        getWeight() {
-            return 0;
         }
     }
 }

sim/visuals/controls/closeIcon.ts

@@ -17,6 +17,17 @@ namespace pxsim.visuals {
             return this.closeGroup;
         }
 
+
+        buildDom(): SVGElement {
+            this.content = svg.elt("svg", { width: "100%", height: "100%"}) as SVGSVGElement;
+            this.content.appendChild(this.getInnerView());
+            return this.content;
+        }
+
+        public resize(width: number, height: number) {
+            super.resize(width, height);
+        }
+
         public getInnerHeight() {
             return 32;
         }

sim/visuals/controls/colorGrid.ts

@@ -7,35 +7,44 @@ namespace pxsim.visuals {
 
         getInnerView() {
             this.group = svg.elt("g") as SVGGElement;
-            this.group.setAttribute("transform", `translate(17, ${35 + this.getHeight() / 4}) scale(5)`)
+            this.group.setAttribute("transform", `translate(2, 2.5) scale(0.6)`)
 
-            const colorIds = ['red', 'yellow', 'blue', 'green', 'black', 'grey'];
-            const colors = ['#f12a21', '#ffd01b', '#006db3', '#00934b', '#000', '#6c2d00'];
+            const colorIds = ['red', 'yellow', 'blue', 'green', undefined, 'grey'];
+            const colors = ['#f12a21', '#ffd01b', '#006db3', '#00934b', undefined, '#6c2d00'];
             const colorValue = [5, 4, 2, 3, 1, 7];
 
             let cy = -4;
             for (let c = 0; c < colorIds.length; c++) {
                 const cx = c % 2 == 0 ? 2.2 : 8.2;
                 if (c % 2 == 0) cy += 5;
-                const circle = pxsim.svg.child(this.group, "circle", { 'class': 'sim-color-grid-circle', 'cx': cx, 'cy': cy, 'r': '2', 'style': `fill: ${colors[c]}` });
-                circle.addEventListener(pointerEvents.down, ev => {
-                    this.setColor(colorValue[c]);
-                })
+                if (colorIds[c]) {
+                    const circle = pxsim.svg.child(this.group, "circle", { 'class': 'sim-color-grid-circle', 'cx': cx, 'cy': cy, 'r': '2', 'style': `fill: ${colors[c]}` });
+                    circle.addEventListener(pointerEvents.down, ev => {
+                        this.setColor(colorValue[c]);
+                    })
+                }
             }
 
             const whiteCircleWrapper = pxsim.svg.child(this.group, "g", { 'id': 'white-cirlce-wrapper' });
-            pxsim.svg.child(whiteCircleWrapper, "circle", { 'class': 'sim-color-grid-circle', 'cx': 2.2, 'cy': '16', 'r': '2', 'style': `fill: #fff` });
-            pxsim.svg.child(whiteCircleWrapper, "circle", { 'cx': 2.2, 'cy': '16', 'r': '2', 'style': `fill: none;stroke: #94989b;stroke-width: 0.5px` });
+            pxsim.svg.child(whiteCircleWrapper, "circle", { 'class': 'sim-color-grid-circle', 'cx': 2.2, 'cy': '11', 'r': '2', 'style': `fill: #fff` });
+            pxsim.svg.child(whiteCircleWrapper, "circle", { 'cx': 2.2, 'cy': '11', 'r': '2', 'style': `fill: none;stroke: #94989b;stroke-width: 0.1px` });
             whiteCircleWrapper.addEventListener(pointerEvents.down, ev => {
                 this.setColor(6);
             })
             return this.group;
         }
 
+        getInnerWidth() {
+            return 10.2;
+        }
+
+        getInnerHeight() {
+            return 15;
+        }
+
         private setColor(color: number) {
             const state = this.state;
             state.setColor(color);
         }
     }
-
 }

sim/visuals/controls/colorWheel.ts

@@ -4,30 +4,78 @@ namespace pxsim.visuals {
 
     export class ColorWheelControl extends ControlView<ColorSensorNode> {
         private group: SVGGElement;
+        private colorGradient: SVGLinearGradientElement;
+        private defs: SVGDefsElement;
 
-        private static COLOR_DARK = 1;
-        private static COLOR_LIGHT = 99;
-
-        getInnerView() {
+        getInnerView(parent: SVGSVGElement) {
+            this.defs = <SVGDefsElement>svg.child(this.element, "defs", {});
             this.group = svg.elt("g") as SVGGElement;
-            this.group.setAttribute("transform", `translate(12, ${this.getHeight() / 2 - 15}) scale(2.5)`)
+            this.group.setAttribute("transform", `translate(12, 0) scale(2)`)
+
+            let gc = "gradient-color";
+            this.colorGradient = svg.linearGradient(this.defs, gc, true);
+            svg.setGradientValue(this.colorGradient, "50%");
+            svg.setGradientColors(this.colorGradient, "black", "white");
 
             const circle = pxsim.svg.child(this.group, "g");
-            const lightHalf = pxsim.svg.child(circle, "path", { 'class': 'sim-color-wheel-half', 'd': 'M19,28.76a11.71,11.71,0,1,1,4.58-.92A11.74,11.74,0,0,1,19,28.76Z', 'transform': 'translate(-6.5 -4.5)', 'style': `fill: #fff;stroke: #000;stroke-miterlimit: 10` });
-            pxsim.svg.child(circle, "path", { 'd': 'M19,28.52a11.42,11.42,0,0,0,4.48-.9,11.75,11.75,0,0,0,3.67-2.47,11.55,11.55,0,0,0,2.46-3.67,11.48,11.48,0,0,0,0-9,11.41,11.41,0,0,0-6.13-6.13,11.48,11.48,0,0,0-9,0,11.41,11.41,0,0,0-6.13,6.13,11.48,11.48,0,0,0,0,9,11.55,11.55,0,0,0,2.46,3.67,11.75,11.75,0,0,0,3.67,2.47,11.42,11.42,0,0,0,4.48.9M19,29A12,12,0,1,1,31,17,12,12,0,0,1,19,29Z', 'transform': 'translate(-6.5 -4.5)', 'style': `fill: #fff;stroke: #000;stroke-miterlimit: 10` });
-            lightHalf.addEventListener(pointerEvents.down, ev => {
-                this.setColor(ColorWheelControl.COLOR_LIGHT);
-            })
-            const darkHalf = pxsim.svg.child(this.group, "path", { 'class': 'sim-color-wheel-half', 'd': 'M19,5c.16,8.54,0,14.73,0,24A12,12,0,0,1,19,5Z', 'transform': 'translate(-6.5 -4.5)' });
-            darkHalf.addEventListener(pointerEvents.down, ev => {
-                this.setColor(ColorWheelControl.COLOR_DARK);
-            })
+            const innerCircle = pxsim.svg.child(circle, "circle",
+                {cursor: '-webkit-grab',
+                fill: `url(#${gc})`,
+                r: 17,
+                cx: 13,
+                cy: 20,
+                stroke: 'black',
+                'stroke-width': 2
+            });
+
+            let pt = parent.createSVGPoint();
+            let captured = false;
+            touchEvents(circle,
+                ev => {
+                    if (captured && (ev as MouseEvent).clientX) {
+                        ev.preventDefault();
+                        this.setColor(pt, parent, ev as MouseEvent);
+                    }
+                },
+                ev => {
+                    captured = true;
+                    if ((ev as MouseEvent).clientX) {
+                        this.setColor(pt, parent, ev as MouseEvent);
+                    }
+                },
+                ev => {
+                    captured = false;
+                },
+                ev => {
+                    captured = false;
+                }
+            )
             return this.group;
         }
 
-        private setColor(color: number) {
+        getInnerWidth() {
+            return CONTROL_WIDTH;
+        }
+
+        getInnerHeight() {
+            return CONTROL_WIDTH;
+        }
+
+        updateState() {
+            if (!this.visible) {
+                return;
+            }
+            const node = this.state;
+            const percentage = node.getValue();
+            svg.setGradientValue(this.colorGradient, percentage + "%");
+        }
+
+        private setColor(pt: SVGPoint, parent: SVGSVGElement, ev: MouseEvent) {
+            const width = CONTROL_WIDTH;
+            let cur = svg.cursorPoint(pt, parent, ev);
+            let t = Math.max(0, Math.min(1, (width + this.left / this.scaleFactor - cur.x / this.scaleFactor) / width));
             const state = this.state;
-            state.setColor(color);
+            state.setColor((1-t)*100);
         }
     }
 

sim/visuals/controls/distanceSlider.ts

@@ -7,33 +7,38 @@ namespace pxsim.visuals {
         private gradient: SVGLinearGradientElement;
         private slider: SVGGElement;
 
-        private static SLIDER_HANDLE_HEIGHT = 31;
+        private reporter: SVGTextElement;
 
-        private isVisible = false;
+        private static SLIDER_HANDLE_HEIGHT = 26;
+        private static SLIDER_SIDE_PADDING = 6;
 
         getInnerView(parent: SVGSVGElement, globalDefs: SVGDefsElement) {
             let gid = "gradient-slider-" + this.getId();
             this.group = svg.elt("g") as SVGGElement;
             this.gradient = createGradient(gid, this.getGradientDefinition());
-            this.gradient.setAttribute('x1', '-438.37');
-            this.gradient.setAttribute('y1', '419.43');
-            this.gradient.setAttribute('x2', '-438.37');
-            this.gradient.setAttribute('y2', '418.43');
-            this.gradient.setAttribute('gradientTransform', 'matrix(50, 0, 0, -110, 21949.45, 46137.67)');
-            this.gradient.setAttribute('gradientUnits', 'userSpaceOnUse');
+            this.gradient.setAttribute('x1', '0%');
+            this.gradient.setAttribute('y1', '0%');
+            this.gradient.setAttribute('x2', '0%');
+            this.gradient.setAttribute('y2', '100%');
+            // this.gradient.setAttribute('gradientTransform', 'matrix(50, 0, 0, -110, 21949.45, 46137.67)');
+            // this.gradient.setAttribute('gradientUnits', 'userSpaceOnUse');
             globalDefs.appendChild(this.gradient);
 
             this.group = svg.elt("g") as SVGGElement;
 
-            const sliderGroup = pxsim.svg.child(this.group, "g");
-            sliderGroup.setAttribute("transform", `translate(0, ${10 + this.getTopPadding()})`)
+            const reporterGroup = pxsim.svg.child(this.group, "g");
+            reporterGroup.setAttribute("transform", `translate(31, 42)`);
+            this.reporter = pxsim.svg.child(reporterGroup, "text", { 'x': 0, 'y': '0', 'class': 'sim-text number large inverted' }) as SVGTextElement;
 
-            const rect = pxsim.svg.child(sliderGroup, "rect", { 'x': this.getLeftPadding(), 'y': 2, 'width': this.getWidth() - this.getLeftPadding() * 2, 'height': this.getContentHeight(), 'style': `fill: url(#${gid})` });
+            const sliderGroup = pxsim.svg.child(this.group, "g");
+            sliderGroup.setAttribute("transform", `translate(${this.getWidth() / 2 - this.getSliderWidth() / 2}, ${this.getReporterHeight()})`)
+
+            const rect = pxsim.svg.child(sliderGroup, "rect", { 'x': DistanceSliderControl.SLIDER_SIDE_PADDING, 'y': 2, 'width': this.getSliderWidth() - DistanceSliderControl.SLIDER_SIDE_PADDING * 2, 'height': this.getSliderHeight(), 'style': `fill: url(#${gid})` });
 
             this.slider = pxsim.svg.child(sliderGroup, "g", { "transform": "translate(0,0)" }) as SVGGElement;
             const sliderInner = pxsim.svg.child(this.slider, "g");
-            pxsim.svg.child(sliderInner, "rect", { 'width': this.getWidth(), 'height': DistanceSliderControl.SLIDER_HANDLE_HEIGHT, 'rx': '2', 'ry': '2', 'style': 'fill: #f12a21' });
-            pxsim.svg.child(sliderInner, "rect", { 'x': '0.5', 'y': '0.5', 'width': this.getWidth() - 1, 'height': DistanceSliderControl.SLIDER_HANDLE_HEIGHT - 1, 'rx': '1.5', 'ry': '1.5', 'style': 'fill: none;stroke: #b32e29' });
+            pxsim.svg.child(sliderInner, "rect", { 'width': this.getSliderWidth(), 'height': DistanceSliderControl.SLIDER_HANDLE_HEIGHT, 'rx': '2', 'ry': '2', 'style': 'fill: #f12a21' });
+            pxsim.svg.child(sliderInner, "rect", { 'x': '0.5', 'y': '0.5', 'width': this.getSliderWidth() - 1, 'height': DistanceSliderControl.SLIDER_HANDLE_HEIGHT - 1, 'rx': '1.5', 'ry': '1.5', 'style': 'fill: none;stroke: #b32e29' });
 
             const dragSurface = svg.child(this.group, "rect", {
                 x: 0,
@@ -66,42 +71,43 @@ namespace pxsim.visuals {
             return this.group;
         }
 
-        private getLeftPadding() {
-            return this.getInnerWidth() * 0.12;
+        getInnerHeight() {
+            return 192;
         }
 
-        private getTopPadding() {
-            return this.getInnerHeight() / 4;
+        getInnerWidth() {
+            return 111;
         }
 
-        private getContentHeight() {
-            return this.getInnerHeight() * 0.6;
+        private getReporterHeight() {
+            return 50;
         }
 
-        onBoardStateChanged() {
-            if (!this.isVisible) {
+        private getSliderHeight() {
+            return 110;
+        }
+
+        private getSliderWidth() {
+            return 62;
+        }
+
+        updateState() {
+            if (!this.visible) {
                 return;
             }
             const node = this.state;
             const percentage = node.getValue() / 10; /* convert back to cm */
-            const y = this.getContentHeight() * percentage / this.getMax();
+            const y = this.getSliderHeight() * percentage / this.getMax();
             this.slider.setAttribute("transform", `translate(0, ${y - DistanceSliderControl.SLIDER_HANDLE_HEIGHT / 2})`);
-        }
-
-        onComponentVisible() {
-            super.onComponentVisible();
-            this.isVisible = true;
-            this.onBoardStateChanged();
-        }
-
-        onComponentHidden() {
-            this.isVisible = false;
+            // Update reporter text
+            this.reporter.textContent = `${parseFloat((percentage).toString()).toFixed(0)}`;
         }
 
         private updateSliderValue(pt: SVGPoint, parent: SVGSVGElement, ev: MouseEvent) {
             let cur = svg.cursorPoint(pt, parent, ev);
-            const height = this.getContentHeight(); //DistanceSliderControl.SLIDER_HEIGHT;
-            let t = Math.max(0, Math.min(1, (this.getTopPadding() + height + this.top / this.scaleFactor - cur.y / this.scaleFactor) / height))
+            const height = this.getSliderHeight();
+            const bBox = this.content.getBoundingClientRect();
+            let t = Math.max(0, Math.min(1, (DistanceSliderControl.SLIDER_HANDLE_HEIGHT + height + bBox.top / this.scaleFactor - cur.y / this.scaleFactor) / height))
 
             const state = this.state;
             state.setDistance((1 - t) * (this.getMax()));
@@ -119,7 +125,7 @@ namespace pxsim.visuals {
             return {
                 stops: [
                     { offset: 0, color: '#626262' },
-                    { offset: 1, color: "#ddd" }
+                    { offset: 100, color: "#ddd" }
                 ]
             };
         }