0.0.65

* adding timer support

* updates strings

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

@@ -10,10 +10,12 @@
   "MMap.getNumber": "Read a number in specified format from the buffer.",
   "MMap.ioctl": "Perform ioctl(2) on the underlaying file",
   "MMap.length": "Returns the length of a Buffer object.",
+  "MMap.lseek": "Set pointer on the underlaying file.",
   "MMap.read": "Perform read(2) on the underlaying file",
   "MMap.setNumber": "Write a number in specified format in the buffer.",
   "MMap.slice": "Read a range of bytes into a buffer.",
   "MMap.write": "Perform write(2) on the underlaying file",
+  "SeekWhence": "Mode for lseek()",
   "brick.Button": "Generic button class, for device buttons and sensors.",
   "brick.Button.isPressed": "Check if button is currently pressed or not.",
   "brick.Button.onEvent": "Do something when a button or sensor is clicked, up or down.",
@@ -50,6 +52,9 @@
   "console.logValue|param|value": "to write",
   "console.sendToScreen": "Sends the log messages to the brick screen and uses the brick up and down buttons to scroll.",
   "control": "Program controls and events.",
+  "control.Timer.millis": "Gets the elapsed time in millis",
+  "control.Timer.reset": "Resets the timer",
+  "control.Timer.seconds": "Gets the elapsed time in seconds",
   "control.allocateNotifyEvent": "Allocates the next user notification event",
   "control.deviceFirmwareVersion": "Determine the version of system software currently running.",
   "control.dmesg": "Write data to DMESG debugging buffer.",

libs/core/_locales/core-strings.json

@@ -47,7 +47,18 @@
   "console.log|block": "console|log %text",
   "console.sendToScreen|block": "send console to screen",
   "console|block": "console",
+  "control.Timer.millis|block": "%timer|millis",
+  "control.Timer.reset|block": "%timer|reset",
+  "control.Timer.seconds|block": "%timer|seconds",
   "control.raiseEvent|block": "raise event|from %src|with value %value",
+  "control.timer1|block": "timer 1",
+  "control.timer2|block": "timer 2",
+  "control.timer3|block": "timer 3",
+  "control.timer4|block": "timer 4",
+  "control.timer5|block": "timer 5",
+  "control.timer6|block": "timer 6",
+  "control.timer7|block": "timer 7",
+  "control.timer8|block": "timer 8",
   "control|block": "control",
   "motors.Motor.angle|block": "%motor|angle",
   "motors.Motor.clearCounts|block": "%motor|clear counts",

libs/core/console.ts

@@ -58,7 +58,7 @@ namespace console {
 
 namespace console.screen {
     const maxLines = 100;
-    const screenLines = 8;
+    const screenLines = 10;
     let lines: string[];
     let scrollPosition = 0;
 
@@ -66,8 +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(-3))
+            brick.buttonDown.onEvent(ButtonEvent.Click, () => scroll(3))                
         }
     }
 

libs/core/enums.d.ts

@@ -1,6 +1,17 @@
 // Auto-generated. Do not edit.
 
 
+    /**
+     * Mode for lseek()
+     */
+
+    declare const enum SeekWhence {
+    Set = 0,
+    Current = 1,
+    End = 2,
+    }
+
+
     /**
      * Drawing modes
      */

libs/core/mmap.cpp

@@ -7,6 +7,16 @@
 #include <fcntl.h>
 #include <sys/ioctl.h>
 
+/**
+* Mode for lseek()
+*/
+enum class SeekWhence {
+    Set = 0,
+    Current = 1,
+    End = 2,
+};
+
+
 namespace pxt {
 PXT_VTABLE_CTOR(MMap) {
     length = 0;
@@ -111,4 +121,10 @@ int read(MMap *mmap, Buffer data) {
     return ::read(mmap->fd, data->data, data->length);
 }
 
+/** Set pointer on the underlaying file. */
+//%
+int lseek(MMap *mmap, int offset, SeekWhence whence) {
+    return ::lseek(mmap->fd, offset, (int)whence);
+}
+
 }

libs/core/output.ts

@@ -303,7 +303,7 @@ namespace motors {
         }
 
         private __setSpeed(speed: number) {
-            const b = mkCmd(this._port, this._regulated ? DAL.opOutputPower : DAL.opOutputSpeed, 1)
+            const b = mkCmd(this._port, this._regulated ? DAL.opOutputSpeed : DAL.opOutputPower, 1)
             b.setNumber(NumberFormat.Int8LE, 2, speed)
             writePWM(b)
             if (speed) {

libs/core/pxt.json

@@ -11,6 +11,7 @@
         "mmap.cpp",
         "control.cpp",
         "console.ts",
+        "timer.ts",
         "serialnumber.cpp",
         "buttons.ts",
         "png.cpp",

libs/core/shims.d.ts

@@ -41,6 +41,10 @@ declare interface MMap {
     /** Perform read(2) on the underlaying file */
     //% shim=MMapMethods::read
     read(data: Buffer): int32;
+
+    /** Set pointer on the underlaying file. */
+    //% shim=MMapMethods::lseek
+    lseek(offset: int32, whence: SeekWhence): int32;
 }
 declare namespace control {
 

libs/core/timer.ts

@@ -0,0 +1,51 @@
+namespace control {
+    //% fixedInstances
+    export class Timer {
+        start: number;
+
+        constructor() {
+            this.start = control.millis();
+        }
+
+        /**
+         * Gets the elapsed time in millis
+         */
+        //% blockId=timerMillis block="%timer|millis"
+        millis(): number {
+            return control.millis() - this.start;
+        }
+        
+        /**
+         * Gets the elapsed time in seconds
+         */
+        //% blockId=timerSeconds block="%timer|seconds"
+        seconds(): number {
+            return this.millis() / 1000;
+        }
+
+        /**
+         * Resets the timer
+         */
+        //% blockId=timerRest block="%timer|reset"
+        reset() {
+            this.start = control.millis();
+        }
+    }
+
+    //% whenUsed fixedInstance block="timer 1"
+    export const timer1 = new Timer();
+    //% whenUsed fixedInstance block="timer 2"
+    export const timer2 = new Timer();
+    //% whenUsed fixedInstance block="timer 3"
+    export const timer3 = new Timer();
+    //% whenUsed fixedInstance block="timer 4"
+    export const timer4 = new Timer();
+    //% whenUsed fixedInstance block="timer 5"
+    export const timer5 = new Timer();
+    //% whenUsed fixedInstance block="timer 6"
+    export const timer6 = new Timer();
+    //% whenUsed fixedInstance block="timer 7"
+    export const timer7 = new Timer();
+    //% whenUsed fixedInstance block="timer 8"
+    export const timer8 = new Timer();
+}

libs/datalog/README.md

@@ -0,0 +1,3 @@
+# Datalog
+
+A tiny libraty to create CSV datalog files.

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

@@ -0,0 +1,8 @@
+{
+  "datalog.addRow": "Starts a row of data",
+  "datalog.addValue": "Adds a cell to the row of data",
+  "datalog.addValue|param|name": "name of the cell, eg: \"x\"",
+  "datalog.addValue|param|value": "value of the cell, eg: 0",
+  "datalog.setFile": "Starts a new data logger for the given file",
+  "datalog.setStorage": "* @param storage custom storage solution"
+}

libs/datalog/_locales/datalog-strings.json

@@ -0,0 +1,6 @@
+{
+  "datalog.addRow|block": "datalog add row",
+  "datalog.addValue|block": "datalog add %name|=%value",
+  "datalog|block": "datalog",
+  "{id:category}Datalog": "Datalog"
+}

libs/datalog/datalog.ts

@@ -0,0 +1,90 @@
+//% weight=100 color=#0fbc11 icon=""
+namespace datalog {
+    let _headers: string[] = undefined;
+    let _headersLength: number;
+    let _values: number[];
+    let _start: number;
+    let _filename = "data.csv";
+    let _storage: storage.Storage = storage.temporary;
+
+    function clear() {
+        _headers = undefined;        
+        _values = undefined;
+    }
+
+    function init() {
+        if (!_headers) {
+            _headers = [];
+            _headersLength = 0;
+            _start = control.millis();
+            _storage.remove(_filename);
+        }
+        _values = [];
+    }
+
+    function commit() {
+        // write row if any data
+        if (_values && _values.length > 0) {
+            // write headers for the first row
+            if (!_headersLength) {
+                _storage.appendCSVHeaders(_filename, _headers);
+                _headersLength = _storage.size(_filename);
+            }
+            // commit row data
+            _storage.appendCSV(_filename, _values);
+        }
+
+        // clear values
+        _values = undefined;
+    }
+
+    /**
+     * Starts a row of data
+     */
+    //% weight=100
+    //% blockId=datalogAddRow block="datalog add row"
+    export function addRow(): void {
+        commit();
+        init();
+        const s = (control.millis() - _start) / 1000;
+        addValue("time (s)", s);
+    }
+
+    /**
+     * Adds a cell to the row of data
+     * @param name name of the cell, eg: "x"
+     * @param value value of the cell, eg: 0
+     */
+    //% weight=99
+    //% blockId=datalogAddValue block="datalog add %name|=%value"
+    export function addValue(name: string, value: number) {
+        if (!_values) return;
+        let i = _headers.indexOf(name);
+        if (i < 0) {
+            _headers.push(name);
+            i = _headers.length - 1;
+        }
+        _values[i] = value;
+        if (i > 0) // 0 is time
+            console.logValue(name, value)
+    }
+
+    /**
+     * Starts a new data logger for the given file
+     */
+    //%
+    export function setFile(fn: string) {
+        _filename = fn;
+        clear();
+    }
+
+    /**
+     * 
+     * @param storage custom storage solution
+     */
+    //%
+    export function setStorage(storage: storage.Storage) {
+        _storage = storage;
+        clear();
+    }
+}

libs/datalog/pxt.json

@@ -0,0 +1,16 @@
+{
+    "name": "datalog",
+    "description": "Tiny data logging framework",
+    "files": [
+        "README.md",
+        "datalog.ts"
+    ],
+    "testFiles": [
+        "test.ts"
+    ],
+    "public": true,
+    "dependencies": {
+            "core": "file:../core",
+            "storage": "file:../storage"
+    }
+}

libs/datalog/test.ts

@@ -0,0 +1,6 @@
+
+loops.forever(function () {
+    datalog.addRow()
+    datalog.addValue("x", Math.random())
+    datalog.addValue("y", Math.random())
+})

libs/ev3/ns.ts

@@ -56,4 +56,9 @@ namespace loops {
 //% color="#1E5AA8"
 namespace light {
 
+}
+
+//% color="#b0b0b0" advanced=true weight=5
+namespace storage {
+
 }

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

@@ -0,0 +1,29 @@
+{
+  "storage.Storage.append": "Append string data to a new or existing file.",
+  "storage.Storage.appendBuffer": "Append a buffer to a new or existing file.",
+  "storage.Storage.appendCSV": "Append a row of CSV data",
+  "storage.Storage.appendCSVHeaders": "Append a row of CSV headers",
+  "storage.Storage.appendCSVHeaders|param|filename": "the file name to append data, eg: \"data.csv\"",
+  "storage.Storage.appendCSVHeaders|param|headers": "the data to append",
+  "storage.Storage.appendCSV|param|data": "the data to append",
+  "storage.Storage.appendCSV|param|filename": "the file name to append data, eg: \"data.csv\"",
+  "storage.Storage.appendLine": "Appends a new line of data in the file",
+  "storage.Storage.appendLine|param|data": "the data to append",
+  "storage.Storage.appendLine|param|filename": "the file name to append data, eg: \"data.txt\"",
+  "storage.Storage.append|param|data": "the data to append",
+  "storage.Storage.append|param|filename": "the file name to append data, eg: \"data.txt\"",
+  "storage.Storage.exists": "Tests if a file exists",
+  "storage.Storage.exists|param|filename": "the file name to append data, eg: \"data.txt\"",
+  "storage.Storage.limit": "Resizing the size of a file to stay under the limit",
+  "storage.Storage.limit|param|filename": "name of the file to drop",
+  "storage.Storage.limit|param|size": "maximum length",
+  "storage.Storage.overwrite": "Overwrite file with string data.",
+  "storage.Storage.overwriteWithBuffer": "Overwrite file with a buffer.",
+  "storage.Storage.overwrite|param|data": "the data to append",
+  "storage.Storage.overwrite|param|filename": "the file name to append data, eg: \"data.txt\"",
+  "storage.Storage.read": "Read contents of file as a string.",
+  "storage.Storage.readAsBuffer": "Read contents of file as a buffer.",
+  "storage.Storage.remove": "Delete a file, or do nothing if it doesn't exist.",
+  "storage.Storage.size": "Return the size of the file, or -1 if it doesn't exists.",
+  "storage.temporary": "Temporary storage in memory, deleted when the device restarts."
+}

libs/storage/_locales/storage-strings.json

@@ -0,0 +1,15 @@
+{
+  "storage.Storage.appendCSVHeaders|block": "storage %source|%filename|append CSV headers %headers",
+  "storage.Storage.appendCSV|block": "storage %source|%filename|append CSV %data",
+  "storage.Storage.appendLine|block": "storage %source|%filename|append line %data",
+  "storage.Storage.append|block": "storage %source|%filename|append %data",
+  "storage.Storage.exists|block": "storage %source|%filename|exists",
+  "storage.Storage.limit|block": "storage %source|limit %filename|to %size|bytes",
+  "storage.Storage.overwrite|block": "storage %source|%filename|overwrite with|%data",
+  "storage.Storage.read|block": "storage %source|read %filename|as string",
+  "storage.Storage.remove|block": "storage %source|remove %filename",
+  "storage.Storage.size|block": "storage %source|%filename|size",
+  "storage.temporary|block": "temporary",
+  "storage|block": "storage",
+  "{id:category}Storage": "Storage"
+}

libs/storage/pxt.json

@@ -0,0 +1,14 @@
+{
+    "name": "storage",
+    "description": "USB Pen-drive support and flash storage",
+    "files": [
+        "storage.cpp",
+        "storage-core.ts",
+        "storage.ts",
+        "shims.d.ts"
+    ],
+    "public": true,
+    "dependencies": {
+        "core": "file:../core"
+    }
+}

libs/storage/shims.d.ts

@@ -0,0 +1,17 @@
+// Auto-generated. Do not edit.
+declare namespace storage {
+
+    /** Will be moved. */
+    //% shim=storage::__stringToBuffer
+    function __stringToBuffer(s: string): Buffer;
+
+    /** Will be moved. */
+    //% shim=storage::__bufferToString
+    function __bufferToString(s: Buffer): string;
+
+    /** Create named directory. */
+    //% shim=storage::__mkdir
+    function __mkdir(filename: string): void;
+}
+
+// Auto-generated. Do not edit. Really.

libs/storage/storage-core.ts

@@ -0,0 +1,197 @@
+namespace storage {
+    //% shim=storage::__unlink
+    function __unlink(filename: string): void { }
+    //% shim=storage::__truncate
+    function __truncate(filename: string): void { }
+
+    //% fixedInstances
+    export class Storage {
+        csvSeparator: string;
+        constructor() { 
+            this.csvSeparator = ",";
+        }
+
+        protected mapFilename(filename: string) {
+            return filename;
+        }
+
+        private getFile(filename: string): MMap {
+            filename = this.mapFilename(filename)
+            let r = control.mmap(filename, 0, 0)
+            if (!r) {
+                __mkdir(this.dirname(filename))
+                __truncate(filename)
+                r = control.mmap(filename, 0, 0)
+            }
+            if (!r)
+                control.panic(906)
+            return r
+        }
+
+        dirname(filename: string) {
+            let last = 0
+            for (let i = 0; i < filename.length; ++i)
+                if (filename[i] == "/")
+                    last = i
+            return filename.substr(0, last)
+        }
+
+        /**
+         *  Append string data to a new or existing file. 
+         * @param filename the file name to append data, eg: "data.txt"
+         * @param data the data to append
+         */
+        //% blockId=storageAppend block="storage %source|%filename|append %data"
+        append(filename: string, data: string): void {
+            this.appendBuffer(filename, __stringToBuffer(data))
+        }
+
+        /**
+         * Appends a new line of data in the file
+         * @param filename the file name to append data, eg: "data.txt"
+         * @param data the data to append
+         */
+        //% blockId=storageAppendLine block="storage %source|%filename|append line %data"
+        appendLine(filename: string, data: string): void {
+            this.append(filename, data + "\r\n");
+        }
+
+        /** Append a buffer to a new or existing file. */
+        appendBuffer(filename: string, data: Buffer): void {
+            let f = this.getFile(filename);
+            f.lseek(0, SeekWhence.End)
+            f.write(data)
+        }
+
+        /**
+         * Append a row of CSV headers
+         * @param filename the file name to append data, eg: "data.csv"
+         * @param headers the data to append
+         */
+        //% blockId=storageAppendCSVHeaders block="storage %source|%filename|append CSV headers %headers"
+        appendCSVHeaders(filename: string, headers: string[]) {
+            let s = ""
+            for (const d of headers) {
+                if (s) s += this.csvSeparator;
+                s = s + d;
+            }
+            s += "\r\n"
+            this.append(filename, s)
+        }
+
+        /**
+ * Append a row of CSV data
+ * @param filename the file name to append data, eg: "data.csv"
+ * @param data the data to append
+ */
+        //% blockId=storageAppendCSV block="storage %source|%filename|append CSV %data"
+        appendCSV(filename: string, data: number[]) {
+            let s = ""
+            for (const d of data) {
+                if (s) s += this.csvSeparator;
+                s = s + d;
+            }
+            s += "\r\n"
+            this.append(filename, s)
+        }
+
+        /** Overwrite file with string data.
+         * @param filename the file name to append data, eg: "data.txt"
+         * @param data the data to append
+         */
+        //% blockId=storageOverwrite block="storage %source|%filename|overwrite with|%data"
+        overwrite(filename: string, data: string): void {
+            this.overwriteWithBuffer(filename, __stringToBuffer(data))
+        }
+
+        /** Overwrite file with a buffer. */
+        overwriteWithBuffer(filename: string, data: Buffer): void {
+            __truncate(this.mapFilename(filename))
+            this.appendBuffer(filename, data)
+        }
+
+        /** Tests if a file exists
+         * @param filename the file name to append data, eg: "data.txt"
+         */
+        //% blockId=storageExists block="storage %source|%filename|exists"
+        exists(filename: string): boolean {
+            return !!control.mmap(this.mapFilename(filename), 0, 0);
+        }
+
+        /** Delete a file, or do nothing if it doesn't exist. */
+        //% blockId=storageRemove block="storage %source|remove %filename"
+        remove(filename: string): void {
+            __unlink(this.mapFilename(filename))
+        }
+
+        /** Return the size of the file, or -1 if it doesn't exists. */
+        //% blockId=storageSize block="storage %source|%filename|size"
+        size(filename: string): int32 {
+            let f = control.mmap(this.mapFilename(filename), 0, 0)
+            if (!f) return -1;
+            return f.lseek(0, SeekWhence.End)
+        }
+
+        /** Read contents of file as a string. */
+        //% blockId=storageRead block="storage %source|read %filename|as string"
+        read(filename: string): string {
+            return __bufferToString(this.readAsBuffer(filename))
+        }
+
+        /** Read contents of file as a buffer. */
+        //%
+        readAsBuffer(filename: string): Buffer {
+            let f = this.getFile(filename)
+            let sz = f.lseek(0, SeekWhence.End)
+            let b = output.createBuffer(sz)
+            f.lseek(0, SeekWhence.Set);
+            f.read(b)
+            return b
+        }
+
+        /**
+         * Resizing the size of a file to stay under the limit
+         * @param filename name of the file to drop
+         * @param size maximum length
+         */
+        //% blockId=storageLimit block="storage %source|limit %filename|to %size|bytes"
+        limit(filename: string, size: number) {
+            if (!this.exists(filename) || size < 0) return;
+
+            const sz = storage.temporary.size(filename);
+            if (sz > size) {
+                let buf = storage.temporary.readAsBuffer(filename)
+                buf = buf.slice(buf.length / 2);
+                storage.temporary.overwriteWithBuffer(filename, buf);
+            }
+        }
+    }
+
+    class TemporaryStorage extends Storage {
+        constructor() {
+            super();
+        }
+
+        protected mapFilename(filename: string) {
+            if (filename[0] == '/') filename = filename.substr(1);
+            return '/tmp/logs/' + filename;
+        }
+    }
+
+    /**
+     * Temporary storage in memory, deleted when the device restarts.
+     */
+    //% whenUsed fixedInstance block="temporary"
+    export const temporary: Storage = new TemporaryStorage();
+
+    class PermanentStorage extends Storage {
+        constructor() {
+            super()
+        }
+
+        protected mapFilename(filename: string) {
+            if (filename[0] == '/') return filename;
+            return '/' + filename;
+        }
+    }
+}

libs/storage/storage.cpp

@@ -0,0 +1,44 @@
+#include "pxt.h"
+
+#include <sys/types.h>
+#include <unistd.h>
+#include <sys/stat.h>
+#include <fcntl.h>
+
+namespace storage {
+
+/** Will be moved. */
+//%
+Buffer __stringToBuffer(String s) {
+    return mkBuffer((uint8_t *)s->data, s->length);
+}
+
+/** Will be moved. */
+//%
+String __bufferToString(Buffer s) {
+    return mkString((char*)s->data, s->length);
+}
+
+//%
+void __init() {
+    // do nothing
+}
+
+//%
+void __unlink(String filename) {
+    ::unlink(filename->data);
+}
+
+//%
+void __truncate(String filename) {
+    int fd = open(filename->data, O_CREAT | O_TRUNC | O_WRONLY, 0777);
+    close(fd);
+}
+
+/** Create named directory. */
+//%
+void __mkdir(String filename) {
+    ::mkdir(filename->data, 0777);
+}
+
+} // namespace storage

libs/storage/storage.ts

@@ -0,0 +1,11 @@
+namespace storage {
+    // automatically send console output to temp storage
+    storage.temporary.remove("console.txt");
+    console.addListener(function(line) {
+        const fn = "console.txt";
+        const mxs = 65536;
+        const t = control.millis();
+        storage.temporary.appendLine(fn, `${t}> ${line}`);
+        storage.temporary.limit(fn, 65536);
+    })    
+}

package-lock.json

@@ -1,6 +1,6 @@
 {
   "name": "pxt-ev3",
-  "version": "0.0.59",
+  "version": "0.0.64",
   "lockfileVersion": 1,
   "requires": true,
   "dependencies": {

package.json

@@ -1,6 +1,6 @@
 {
   "name": "pxt-ev3",
-  "version": "0.0.60",
+  "version": "0.0.65",
   "description": "LEGO Mindstorms EV3 for Microsoft MakeCode",
   "private": true,
   "keywords": [
@@ -44,8 +44,8 @@
     "webfonts-generator": "^0.4.0"
   },
   "dependencies": {
-    "pxt-common-packages": "0.15.4",
-    "pxt-core": "3.0.8"
+    "pxt-common-packages": "0.15.5",
+    "pxt-core": "3.0.11"
   },
   "scripts": {
     "test": "node node_modules/pxt-core/built/pxt.js travis"

pxtarget.json

@@ -17,6 +17,8 @@
         "libs/gyro-sensor",
         "libs/chassis",
         "libs/ev3",
+        "libs/storage",
+        "libs/datalog",
         "libs/tests",
         "libs/behaviors"
     ],

sim/state/control.ts

@@ -8,6 +8,7 @@ namespace pxsim.MMapMethods {
         read?: (d: Buffer) => number;
         write?: (d: Buffer) => number;
         ioctl?: (id: number, d: Buffer) => number;
+        lseek?: (offset: number, whence: number) => number;
     }
 
     import BM = pxsim.BufferMethods
@@ -23,6 +24,7 @@ namespace pxsim.MMapMethods {
             if (!impl.read) impl.read = () => 0
             if (!impl.write) impl.write = () => 0
             if (!impl.ioctl) impl.ioctl = () => -1
+            if (!impl.lseek) impl.lseek = (offset, whence) => -1
         }
         destroy() {
         }
@@ -68,6 +70,10 @@ namespace pxsim.MMapMethods {
     export function read(m: MMap, data: Buffer): number {
         return m.impl.read(data)
     }
+
+    export function lseek(m: MMap, offset: number, whence: number): number {
+        return m.impl.lseek(offset, whence);
+    }
 }
 
 namespace pxsim.control {

sim/state/motornode.ts

@@ -17,6 +17,8 @@ namespace pxsim {
         private speedCmdTime: number;
         private _synchedMotor: MotorNode; // non-null if synchronized
 
+        private manualSpeed: number = undefined;
+
         constructor(port: number, large: boolean) {
             super(port);
             this.setLarge(large);
@@ -42,7 +44,7 @@ namespace pxsim {
         setSpeedCmd(cmd: DAL, values: number[]) {
             if (this.speedCmd != cmd ||
                 JSON.stringify(this.speedCmdValues) != JSON.stringify(values))
-                this.setChangedState();    
+                this.setChangedState();
             // new command TODO: values
             this.speedCmd = cmd;
             this.speedCmdValues = values;
@@ -96,6 +98,17 @@ namespace pxsim {
             this.started = true;
         }
 
+        manualMotorDown() {
+        }
+
+        manualMotorMove(speed: number) {
+            this.manualSpeed = speed;
+        }
+
+        manualMotorUp() {
+            this.manualSpeed = undefined;
+        }
+
         updateState(elapsed: number) {
             //console.log(`motor: ${elapsed}ms - ${this.speed}% - ${this.angle}> - ${this.tacho}|`)
             const interval = Math.min(20, elapsed);
@@ -109,79 +122,84 @@ namespace pxsim {
         }
 
         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: {
-                    const otherMotor = this._synchedMotor;
-                    if (otherMotor.port < this.port) // handled in other motor code
+            if (!this.manualSpeed) {
+                // 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;
-
-                    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();
                     }
+                    case DAL.opOutputStepSync:
+                    case DAL.opOutputTimeSync: {
+                        const otherMotor = this._synchedMotor;
+                        if (otherMotor.port < this.port) // handled in other motor code
+                            break;
 
-                    // turn ratio is a bit weird to interpret
-                    // see https://communities.theiet.org/blogs/698/1706
-                    if (turnRatio < 0) {
-                        otherMotor.speed = speed;
-                        this.speed *= (100 + turnRatio) / 100;
-                    } else {
-                        otherMotor.speed = this.speed * (100 - turnRatio) / 100;
+                        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();
+                        }
+
+                        // turn ratio is a bit weird to interpret
+                        // see https://communities.theiet.org/blogs/698/1706
+                        if (turnRatio < 0) {
+                            otherMotor.speed = speed;
+                            this.speed *= (100 + turnRatio) / 100;
+                        } else {
+                            otherMotor.speed = this.speed * (100 - turnRatio) / 100;
+                        }
+
+                        // clamp
+                        this.speed = Math.max(-100, Math.min(100, this.speed >> 0));
+                        otherMotor.speed = Math.max(-100, Math.min(100, otherMotor.speed >> 0));;
+
+                        // stop other motor if needed
+                        if (!this._synchedMotor)
+                            otherMotor.clearSpeedCmd();
+                        break;
                     }
-
-                    // clamp
-                    this.speed = Math.max(-100, Math.min(100, this.speed >> 0));
-                    otherMotor.speed = Math.max(-100, Math.min(100, otherMotor.speed >> 0));;
-
-                    // stop other motor if needed
-                    if (!this._synchedMotor)
-                        otherMotor.clearSpeedCmd();
-                    break;
                 }
             }
+            else {
+                this.speed = this.manualSpeed;
+            }
             this.speed = Math.round(this.speed); // integer only
 
             // compute delta angle

sim/state/output.ts

@@ -97,6 +97,7 @@ namespace pxsim {
                             motors.forEach(motor => motor.stop());
                             return 2;
                         }
+                        case DAL.opOutputPower: 
                         case DAL.opOutputSpeed: {
                             // setSpeed
                             const port = buf.data[1];

sim/state/storage.ts

@@ -0,0 +1,23 @@
+namespace pxsim.storage {
+    export function __stringToBuffer(s: string): RefBuffer {
+        // TODO
+        return new RefBuffer(new Uint8Array([]));
+    }
+
+    export function __bufferToString(b: RefBuffer): string {
+        // TODO
+        return "";
+    }
+
+    export function __mkdir(fn: string) {
+        // TODO
+    }
+
+    export function __unlink(filename: string): void { 
+        // TODO
+    }
+
+    export function __truncate(filename: string): void { 
+        // TODO
+    }
+}

sim/visuals/assets/Large Motor.svg

@@ -1,92 +1,77 @@
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-  <defs>
-    <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="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="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="isolation: isolate">
-    <g id="e13b39e7-895d-4931-9be9-7aecaf709784">
-      <g style="clip-path: url(#clip-path)">
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sim/visuals/assets/LargeMotorsvg.ts

@@ -1,94 +1,79 @@
 namespace pxsim {
-    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="clip-path" transform="translate(0.98 1.9)">
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-    </clipPath>
-    <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>
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-    </clipPath>
-  </defs>
-  <title>Large Motor</title>
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-      <g style="clip-path: url(#clip-path)">
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-          <g id="LM_leftside" data-name="LM leftside">
-            <path id="LM_leftside5" data-name="LM leftside5" d="M60.08,126.64H54.47A5.45,5.45,0,0,1,49,121.18h0V98.28a5.46,5.46,0,0,1,5.46-5.46h5.61a5.47,5.47,0,0,1,5.46,5.46v22.9A5.45,5.45,0,0,1,60.08,126.64Z" transform="translate(0.98 1.9)" style="fill: #a8aaa8"/>
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-          <g id="LM_total" data-name="LM total">
-            <g id="LM_whitepart" data-name="LM whitepart">
-              <g style="clip-path: url(#clip-path-2)">
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+    export const LARGE_MOTOR_SVG = `<?xml version="1.0" encoding="UTF-8"?>
+<svg width="82px" height="156px" viewBox="0 0 82 156" version="1.1" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink">
+    <!-- Generator: Sketch 48.2 (47327) - http://www.bohemiancoding.com/sketch -->
+    <title>Large Motor</title>
+    <desc>Created with Sketch.</desc>
+    <defs></defs>
+    <g id="Artboard" stroke="none" stroke-width="1" fill="none" fill-rule="evenodd" transform="translate(-66.000000, -54.000000)">
+        <g id="Large-Motor" transform="translate(66.000000, 54.000000)">
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+            <g id="Group" transform="translate(9.000000, 136.000000)">
+                <image id="Bitmap" opacity="0.3" style="mix-blend-mode: multiply;" x="0" y="0" width="36" height="20" xlink:href="data:image/png;base64,iVBORw0KGgoAAAANSUhEUgAAACUAAAAVCAYAAADB5CeuAAAAAXNSR0IArs4c6QAAAMRJREFUSA3tlrERwjAMRW2OEmYgPQMwFrMwAytBT1iB9OY/x05J1IAopLtv2Y5yevfPhXIpJWVF+oMQSwEDmJ00tKzkFpM6P8Q1bbUZpLN0lLwcw6G7dJFuQOEUQCfJE0rtK0sCigCmq144LIshG4fmqy0DatWiVhBOhVNWB6x18abCKasD1rr+puocY/3pS3ULA1DMMU/pJfHBQ/SGAZY6JYzKVw6Kw5x+vnYGcsptHN5rDxCzlUfg0CgWHJuhPCg+9XwDDy9ID0K8XgsAAAAASUVORK5CYII="></image>
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+            </g>
+            <g id="LM_rightside" transform="translate(22.000000, 37.000000)" fill-rule="nonzero">
+                <path d="M12.06,34.51 L6.45,34.51 C4.99937339,34.5153259 3.60647912,33.9421088 2.57978624,32.9172929 C1.55309337,31.892477 0.977328505,30.5006339 0.98,29.05 L0.98,6.15 C0.977339027,4.70110385 1.55173283,3.31078487 2.57625885,2.28625885 C3.60078487,1.26173283 4.99110385,0.687339027 6.44,0.69 L12.05,0.69 C15.0654747,0.69 17.51,3.13452527 17.51,6.15 L17.51,29.05 C17.5126553,30.4971617 16.939633,31.8859609 15.9172718,32.910198 C14.8949106,33.9344351 13.5071641,34.5100024 12.06,34.51 Z" id="LM_rightside5" fill="#A8AAA8"></path>
+                <circle id="LM_rightside4" fill="#FFFFFF" cx="6.3" cy="29.21" r="3.79"></circle>
+                <circle id="LM_rightside3" fill="#FFFFFF" cx="6.3" cy="6" r="3.79"></circle>
+                <path d="M3.38,24.59 C4.07351535,24.1313154 4.88857129,23.8909784 5.72,23.9 C6.76862292,23.8298668 7.81405119,24.0772848 8.72,24.61 C9.97,25.54 9.95,24.51 9.95,24.51 L9.95,22.71 C9.95,22.26 9.39,21.86 8.72,22.25 L7.72,22.83 C7.72,22.83 7.36,23.02 7.36,22.5 L7.36,19.9 C7.36,19.9 7.36,19.11 8.09,19.13 C8.82,19.15 9.47,19.13 9.47,19.13 C9.47,19.13 9.76,18.88 9.76,17.74 C9.76,16.6 9.47,16.42 9.47,16.42 L8.08,16.42 C8.08,16.42 7.35,16.42 7.35,15.77 L7.35,14.47 C7.35,14.47 7.12,14.11 6.18,14.17 C5.6978322,14.1741563 5.22153417,14.2762201 4.78,14.47 L4.78,15.77 C4.77453579,16.1305967 4.48063814,16.4200414 4.12,16.42 C3.49,16.42 2.86,16.42 2.86,16.42 C2.86,16.42 2.61,16.61 2.57,17.74 C2.53,18.87 2.86,19.13 2.86,19.13 L4.12,19.13 C4.12,19.13 4.92,19.18 4.94,19.9 C4.96,20.62 4.94,22.52 4.94,22.52 C4.94,22.52 4.94,23.03 4.6,22.85 L3.39,22.27 C3.39,22.27 2.56,21.86 2.57,22.73 C2.58,23.6 2.57,24.53 2.57,24.53 C2.57,24.53 2.65,25.02 3.38,24.59 Z" id="LM_rightside2" fill="#FFFFFF"></path>
+                <path d="M10.23,12.79 C10.1913976,13.0147775 10.0630557,13.2141964 9.87446015,13.3424414 C9.68586455,13.4706864 9.453229,13.5167322 9.23,13.47 C9.14591061,13.4523039 9.06499079,13.421959 8.99,13.38 C8.1099436,12.9124008 7.1357966,12.6492102 6.14,12.61 C5.162003,12.5962776 4.20061308,12.8635231 3.37,13.38 C2.54,13.78 2.3,12.79 2.3,12.79 L2.3,11.03 C2.33192589,10.6400455 2.66941985,10.3469587 3.06,10.37 C3.16998614,10.3773249 3.27646607,10.4116733 3.37,10.47 C4.20732336,10.980005 5.16044012,11.2690368 6.14,11.31 C7.13850164,11.2335413 8.10964397,10.9473099 8.99,10.47 C8.99,10.47 10.17,10.23 10.19,11.03 C10.21,11.83 10.23,12.79 10.23,12.79 Z" id="LM_rightside1" fill="#FFFFFF"></path>
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+                <image id="Bitmap" opacity="0.3" style="mix-blend-mode: multiply;" x="44" y="0" width="38" height="38" xlink:href="data:image/png;base64,iVBORw0KGgoAAAANSUhEUgAAACcAAAAnCAYAAACMo1E1AAAAAXNSR0IArs4c6QAAAu1JREFUWAnNmD1y1EAQhb1bhJgjsMT8HAEuQGJHRJyOhAwCTmAyQqpMvOsbYDtGvE/Mm+oZaWUtaHfoqt75n/70WquSZtV13dkhtpKF+Y9V38gpbfeq7OSU2RTnsEBauZq7JkHVMIBdyiltgH2SU9oy8CGQs+AEdq4oALyQR5gaFpgMQiOZga/V3gnwzgNT5SRcUguw1/L3cuCAjGlcqV1bV3UYGLgP8q/yu4dUfFRtkpuVWoABCOgYTF6XKvUc1nFhT+VcGH6tGJMqjiqXwN5og6gWAZYwUkqareLV3jRr4Cy6FgHxVv5F/lP+S06alnT2ZG9iEOs8Mrheg5GOV/KPchYvCTS2FzGIRcw+iwajXKszGqo9T0792DYdz6SiYKLTeav62JUeo49Yo+nt06rBU6ezvkin9yUsFsxp5a99ynQqXGFkbSOHI9s6PWgZuJQ/k6NiCwOsAIzK+QHZAgxBLNAmCVb8W1spZjFQrhDIyrUGMyAcmQW4AbFnNigLFuByrlXP1A3AiB1Z+nuuoG0AFUMWLL7n4oSWdd77buSUvXJFB52NrFPcnTy/4qNc7GBCSyuEAq7oaEmWYmeBfM/ljsZwBYfhYCoGGkAOMmi4wcCJ4RAm3/t6ZeqFWqeKB7aa1EpBBIKDsreo3A/14LM+eP8sX+zXX2QZrN/Zb51q/J+v6QHwiSDfyb/Lj/FJyC0Tfe/3A0xOq9b0hrynSi8Xv5X3xxOCGdxOBZwmcFV5ger+ClN1UQOEL/5vqRyAEW1wVsIV6DX5ikEZNyhnHBs59+S/GhcPCAc5KAbgNomiammjZyVMSeclQAEXD3L6YX4OMKD8qPAZyYMnTQPlHDApyEY3aWM2B5Z3LpeqZlulGiDRIhRvHOy5Y/84aay+V7k4OahoMD4jAbS5n3bxIE3tDKX2/b40sjjaLDgW+HNNVYNQ2gC9SI3PKgG0WbnZUF44G84LKAOouw1Mu1aOI4861V43Wf4V3OSOCw7+BmjmA7QisxQnAAAAAElFTkSuQmCC"></image>
+                <circle id="LM_detail_1" fill="#9A9A9A" fill-rule="nonzero" cx="21.66" cy="86.59" r="2.24"></circle>
+                <g id="hole" transform="translate(45.000000, 1.000000)" fill-rule="nonzero">
+                    <g id="Group" fill="#D42715">
+                        <circle id="LM_red-2" cx="17.96" cy="17.95" r="17.06"></circle>
+                    </g>
+                    <g id="LM_details_in_red" transform="translate(2.000000, 2.000000)">
+                        <circle id="LM_detail_red_hole4" fill="#393939" cx="12.9" cy="27.01" r="3.79"></circle>
+                        <circle id="LM_detail_red_hole3" fill="#393939" cx="4.75" cy="12.89" r="3.79"></circle>
+                        <circle id="LM_detail_red_hole2" fill="#393939" cx="18.87" cy="4.74" r="3.79"></circle>
+                        <circle id="LM_detail_red_hole1" fill="#393939" cx="27.02" cy="18.86" r="3.79"></circle>
+                        <path d="M18.18,15.31 C17.9816076,15.2705154 17.8089761,15.149396 17.7043432,14.9762761 C17.5997103,14.8031562 17.5727287,14.5940066 17.63,14.4 C17.84,13.68 17.99,13.07 17.99,13.07 C17.99,13.07 17.82,12.72 16.72,12.43 C15.62,12.14 15.37,12.37 15.37,12.37 L14.98,13.7 C14.98,13.7 14.82,14.42 14.17,14.24 L12.98,13.9 C12.98,13.9 12.58,14.03 12.38,14.96 C12.2599627,15.4271881 12.2395203,15.9143986 12.32,16.39 L13.57,16.72 C13.9132251,16.8260991 14.1147049,17.1808788 14.03,17.53 C13.87,18.14 13.7,18.74 13.7,18.74 C13.7,18.74 13.82,19.04 14.9,19.36 C15.98,19.68 16.32,19.45 16.32,19.45 L16.64,18.23 C16.64,18.23 16.9,17.47 17.64,17.64 C18.04,17.7533333 18.44,17.8833333 18.84,18.03 C19.3790257,17.4116231 19.6330766,16.5950309 19.54,15.78 C18.89,15.55 18.18,15.31 18.18,15.31 Z" id="LM_detail_hole" fill="#1F1F1F"></path>
+                        <path d="M15.62,23.13 L14.07,22.9 L12.54,22.33 C12.29437,22.2663058 12.1467122,22.015735 12.21,21.77 L12.76,19.72 C12.8281001,19.4784149 13.0772913,19.3360199 13.32,19.4 L14.77,20 L16.4,20.22 C16.64563,20.2836942 16.7932878,20.534265 16.73,20.78 L16.18,22.83 C16.1519467,22.9468655 16.0773095,23.0471692 15.9734274,23.1076097 C15.8695454,23.1680501 15.7454609,23.1833663 15.63,23.15 L15.62,23.13 Z" id="LM_detail_red4" fill="#393939"></path>
+                        <path d="M23.13,16.2 L22.87,17.75 L22.3,19.27 C22.2716803,19.3872072 22.1975067,19.4881458 22.0941102,19.5501837 C21.9907137,19.6122216 21.8667451,19.6301684 21.75,19.6 L19.69,19.05 C19.4484149,18.9818999 19.3060199,18.7327087 19.37,18.49 L19.98,17.05 L20.2,15.42 C20.2283197,15.3027928 20.3024933,15.2018542 20.4058898,15.1398163 C20.5092863,15.0777784 20.6332549,15.0598316 20.75,15.09 L22.75,15.64 C22.9915851,15.7081001 23.1339801,15.9572913 23.07,16.2 L23.13,16.2 Z" id="LM_detail_red3" fill="#393939"></path>
+                        <path d="M16.19,8.69 L17.74,8.94 L19.27,9.51 C19.5107539,9.57376787 19.6570302,9.81756168 19.6,10.06 L19.05,12.11 C18.9818999,12.3515851 18.7327087,12.4939801 18.49,12.43 L17.04,11.83 L15.41,11.61 C15.167847,11.5417439 15.0223875,11.2949036 15.08,11.05 L15.63,9 C15.6580533,8.88313454 15.7326905,8.78283079 15.8365726,8.72239033 C15.9404546,8.66194987 16.0645391,8.64663373 16.18,8.68 L16.19,8.69 Z" id="LM_detail_red2" fill="#393939"></path>
+                        <path d="M8.68,15.62 L8.98,14.07 L9.55,12.55 C9.57831973,12.4327928 9.65249325,12.3318542 9.75588978,12.2698163 C9.85928631,12.2077784 9.98325491,12.1898316 10.1,12.22 L12.16,12.77 C12.4015851,12.8381001 12.5439801,13.0872913 12.48,13.33 L11.87,14.77 L11.65,16.4 C11.6216803,16.5172072 11.5475067,16.6181458 11.4441102,16.6801837 C11.3407137,16.7422216 11.2167451,16.7601684 11.1,16.73 L9.1,16.18 C8.85841494,16.1118999 8.71601994,15.8627087 8.78,15.62 L8.68,15.62 Z" id="LM_detail_red1" fill="#393939"></path>
+                    </g>
                 </g>
-              </g>
             </g>
-            <circle id="LM_detail_2" data-name="LM detail 2" cx="50.32" cy="137.11" r="2.24" style="fill: #9a9a9a"/>
-            <circle id="LM_detail_1" data-name="LM detail 1" cx="21.66" cy="86.59" r="2.24" style="fill: #9a9a9a"/>
-            <g id="hole">
-              <g>
-                <image width="38" height="38" transform="translate(44)" xlink:href="data:image/png;base64,iVBORw0KGgoAAAANSUhEUgAAACcAAAAnCAYAAACMo1E1AAAACXBIWXMAAAsSAAALEgHS3X78AAACRklEQVRYR9WYPXLbMBBGHzgpxRwhTJ3ER0gukMauUvl0btIlhU9gdSkzQ9dWbmBTtTYFdiUA/BGh0ILyzWBAUiTx+C0JYdeJCDlyzrlgdwU02pu2wEb7vSR3IMDNvUahUpgGuNHetAF+aG/aA+dAzoJzztV4gI/EMHOdM+AW2IhIxwxNwqlbNfAZuMXDpTBhmE3pTQ24Be6ANdAdc/HN2A+JW7d4wJphmFTpOTX+Pu/wD7YCWufcpIuDzinYF2K36t6Jp6kjdvFhFFBEooaH+ArcA8/ADh+mJdtO732vY9Uph4iQgjngCviuFx8b5F/bs451hUYxbBWxauCDtqXCOKXp8UbC+cLxp16qvTAS3lLhTJuF9xNBeC2sK84bzlQ2bYXzJ5VOtA1+5n/PvHnsNdT7twmdswmyhEKDGltchF9rKcdMPYMMrjSYyRGwVJQPaaiIpSJek5V0MHrv4D9w7pK0Bf5oT5UeKCghWeJXyQEZvfQ8uljnTHuD7J0r7Zgp4gg/iNKAvQgaXOnQRh+DZWWVbtgPT5RzsJfvhs49apuV8C4sy8jiyF38Mj0AfAt8A37zOinhbLCh7KvjfOHd4d/xO2AtA4l1BKcfx/4CDuFdWh0+4/+l/aARvVqJiHTOuQfd3bJsOULwIGu8AS3wZFNHqtEq00QhB/LXfcIJlabRKpM62HKYnLccsiPrQxlwOlgIlVWjyy0eGlhazbTjcKRwSEZ1cxYcRLXgIeca4Fq3f7JAyRUy4EIlRWuYdo5cKNNJcOfSX2jmA7RYwAeRAAAAAElFTkSuQmCC" style="opacity: 0.30000000000000004;mix-blend-mode: multiply"/>
-                <circle id="LM_red-2" data-name="LM red-2" cx="62.96" cy="18.95" r="17.06" style="fill: #d42715"/>
-              </g>
-              <g id="LM_details_in_red" data-name="LM details in red">
-                <circle id="LM_detail_red_hole4" data-name="LM detail red hole4" cx="59.9" cy="30.01" r="3.79" style="fill: #393939"/>
-                <circle id="LM_detail_red_hole3" data-name="LM detail red hole3" cx="51.75" cy="15.89" r="3.79" style="fill: #393939"/>
-                <circle id="LM_detail_red_hole2" data-name="LM detail red hole2" cx="65.87" cy="7.74" r="3.79" style="fill: #393939"/>
-                <circle id="LM_detail_red_hole1" data-name="LM detail red hole1" cx="74.02" cy="21.86" r="3.79" style="fill: #393939"/>
-                <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>
         </g>
-      </g>
     </g>
-  </g>
 </svg>`;
 }

sim/visuals/board.ts

@@ -44,7 +44,7 @@ namespace pxsim.visuals {
         }
         .sim-text.number {
             font-family: Courier, Lato, Work Sans, PT Serif, Source Serif Pro;
-            font-weight: bold;
+            /*font-weight: bold;*/
         }
         .sim-text.inverted {
             fill:#5A5A5A;
@@ -71,6 +71,15 @@ namespace pxsim.visuals {
             fill: gray !important;
             cursor: pointer;
         }
+
+        /* Motor slider */
+        .sim-motor-btn {
+            cursor: pointer;
+        }
+        .sim-motor-btn:hover .btn {
+            stroke-width: 2px;
+            stroke: black !important;
+        }
     `;
 
     const EV3_WIDTH = 99.984346;
@@ -222,9 +231,8 @@ namespace pxsim.visuals {
                 }
                 case NodeType.MediumMotor:
                 case NodeType.LargeMotor: {
-                    // 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);
+                    view = new MotorSliderControl(this.element, this.defs, state, port);
                     break;
                 }
             }

sim/visuals/controls/distanceSlider.ts

@@ -27,8 +27,8 @@ namespace pxsim.visuals {
             this.group = svg.elt("g") as SVGGElement;
 
             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;
+            reporterGroup.setAttribute("transform", `translate(${this.getWidth() / 2}, 42)`);
+            this.reporter = pxsim.svg.child(reporterGroup, "text", { 'text-anchor': 'middle', 'x': 0, 'y': '0', 'class': 'sim-text number large inverted' }) as SVGTextElement;
 
             const sliderGroup = pxsim.svg.child(this.group, "g");
             sliderGroup.setAttribute("transform", `translate(${this.getWidth() / 2 - this.getSliderWidth() / 2}, ${this.getReporterHeight()})`)
@@ -60,12 +60,15 @@ namespace pxsim.visuals {
             }, ev => {
                 captured = true;
                 if ((ev as MouseEvent).clientY != undefined) {
+                    dragSurface.setAttribute('cursor', '-webkit-grabbing');
                     this.updateSliderValue(pt, parent, ev as MouseEvent);
                 }
             }, () => {
                 captured = false;
+                dragSurface.setAttribute('cursor', '-webkit-grab');
             }, () => {
                 captured = false;
+                dragSurface.setAttribute('cursor', '-webkit-grab');
             })
 
             return this.group;

sim/visuals/controls/motorSlider.ts

@@ -0,0 +1,167 @@
+
+
+namespace pxsim.visuals {
+
+    export class MotorSliderControl extends ControlView<MotorNode> {
+        private group: SVGGElement;
+        private gradient: SVGLinearGradientElement;
+        private slider: SVGGElement;
+
+        private reporter: SVGTextElement;
+
+        private dial: SVGGElement;
+
+        private static SLIDER_RADIUS = 100;
+
+        private internalSpeed: number = 0;
+
+        getInnerView(parent: SVGSVGElement, globalDefs: SVGDefsElement) {
+            this.group = svg.elt("g") as SVGGElement;
+
+            const slider = pxsim.svg.child(this.group, 'g', { 'transform': 'translate(25,25)' })
+            const outerCircle = pxsim.svg.child(slider, "circle", {
+                'stroke-dasharray': '565.48', 'stroke-dashoffset': '0',
+                'cx': 100, 'cy': 100, 'r': '90', 'style': `fill:transparent;`,
+                'stroke': '#a8aaa8', 'stroke-width': '1rem'
+            }) as SVGCircleElement;
+
+            this.reporter = pxsim.svg.child(this.group, "text", {
+                'x': this.getInnerWidth() / 2, 'y': this.getInnerHeight() / 2,
+                'text-anchor': 'middle', 'alignment-baseline': 'middle',
+                'style': 'font-size: 50px',
+                'class': 'sim-text inverted number'
+            }) as SVGTextElement;
+
+            this.dial = pxsim.svg.child(slider, "g", { 'cursor': '-webkit-grab' }) as SVGGElement;
+            const handleInner = pxsim.svg.child(this.dial, "g");
+            pxsim.svg.child(handleInner, "circle", { 'cx': 0, 'cy': 0, 'r': 30, 'style': 'fill: #f12a21;' });
+            pxsim.svg.child(handleInner, "circle", { 'cx': 0, 'cy': 0, 'r': 29.5, 'style': 'fill: none;stroke: #b32e29' });
+
+            this.updateDial();
+
+            let pt = parent.createSVGPoint();
+            let captured = false;
+
+            const dragSurface = svg.child(this.group, "rect", {
+                x: 0,
+                y: 0,
+                width: this.getInnerWidth(),
+                height: this.getInnerHeight(),
+                opacity: 0,
+                cursor: '-webkit-grab'
+            })
+
+            touchEvents(dragSurface, ev => {
+                if (captured && (ev as MouseEvent).clientY != undefined) {
+                    ev.preventDefault();
+                    this.updateSliderValue(pt, parent, ev as MouseEvent);
+                    this.handleSliderMove();
+                }
+            }, ev => {
+                captured = true;
+                if ((ev as MouseEvent).clientY != undefined) {
+                    this.updateSliderValue(pt, parent, ev as MouseEvent);
+                    this.handleSliderDown();
+                }
+            }, () => {
+                captured = false;
+                this.handleSliderUp();
+            }, () => {
+                captured = false;
+                this.handleSliderUp();
+            })
+
+            return this.group;
+        }
+
+        getInnerWidth() {
+            return 250;
+        }
+
+        getInnerHeight() {
+            return 250;
+        }
+
+        private lastPosition: number;
+        private prevVal: number;
+        private updateSliderValue(pt: SVGPoint, parent: SVGSVGElement, ev: MouseEvent) {
+            let cur = svg.cursorPoint(pt, parent, ev);
+            const coords = {
+                x: cur.x / this.scaleFactor - this.left / this.scaleFactor,
+                y: cur.y / this.scaleFactor - this.top / this.scaleFactor
+            };
+            const radius = MotorSliderControl.SLIDER_RADIUS / 2;
+            const dx = coords.x - radius;
+            const dy = coords.y - radius;
+            const atan = Math.atan(-dy / dx);
+            let deg = Math.ceil(atan * (180 / Math.PI));
+
+            if (dx < 0) {
+                deg -= 270;
+            } else if (dy > 0) {
+                deg -= 450;
+            } else if (dx >= 0 && dy <= 0) {
+                deg = 90 - deg;
+            }
+            const value = Math.abs(Math.ceil((deg % 360) / 360 * this.getMax()));
+
+            this.internalSpeed = value;
+            this.updateDial();
+
+            this.prevVal = deg;
+            this.lastPosition = cur.x;
+        }
+
+        private handleSliderDown() {
+            const state = this.state;
+            state.manualMotorDown();
+        }
+
+        private handleSliderMove() {
+            this.dial.setAttribute('cursor', '-webkit-grabbing');
+            const state = this.state;
+            state.manualMotorMove(this.internalSpeed);
+        }
+
+        private handleSliderUp() {
+            this.dial.setAttribute('cursor', '-webkit-grab');
+            const state = this.state;
+            state.manualMotorUp();
+
+            this.internalSpeed = 0;
+            this.updateDial();
+        }
+
+        private updateDial() {
+            let speed = this.internalSpeed;
+
+            // Update dial position
+            const deg = speed / this.getMax() * 360; // degrees
+            const radius = MotorSliderControl.SLIDER_RADIUS;
+            const dialRadius = 5;
+            const x = Math.ceil((radius - dialRadius) * Math.sin(deg * Math.PI / 180)) + radius;
+            const y = Math.ceil((radius - dialRadius) * -Math.cos(deg * Math.PI / 180)) + radius;
+            this.dial.setAttribute('transform', `translate(${x}, ${y})`);
+        }
+
+        updateState() {
+            if (!this.visible) {
+                return;
+            }
+            const node = this.state;
+            const speed = node.getSpeed();
+
+            // Update reporter
+            this.reporter.textContent = `${speed}`;
+        }
+
+        private getMin() {
+            return 0;
+        }
+
+        private getMax() {
+            return 100;
+        }
+    }
+
+}

sim/visuals/nodes/largeMotorView.ts

@@ -46,9 +46,9 @@ namespace pxsim.visuals {
         }
 
         protected renderMotorAngle(holeEl: Element, angle: number) {
-            const width = 125.92;
-            const height = 37.9;
-            const transform = `rotate(${angle} ${width / 2} ${height / 2})`;
+            const width = 35.92;
+            const height = 35.9;
+            const transform = `translate(45.000000, 1.000000) rotate(${angle} ${width / 2} ${height / 2})`;
             holeEl.setAttribute("transform", transform);
         }