slow down device poller

* refactor bootsequence

* inf can be null

* align elements

.gitignore

@@ -17,6 +17,7 @@ clients/**/bin/**
 clients/**/obj/**
 clients/electron/projects
 libs/**/_locales/**
+package-lock.json
 
 videos/**
 

cmds/cmds.ts

@@ -1,14 +0,0 @@
-/// <reference path="../node_modules/pxt-core/built/pxtlib.d.ts" />
-
-import * as fs from 'fs';
-
-const deploy = require("./editor/deploy")
-
-export function deployCoreAsync(resp: pxtc.CompileResult) {
-    return deploy.deployCoreAsync(resp, process.env["PXT_SERIAL"] ? false : true)
-        .then(() => {
-            fs.writeFileSync("built/full-" + pxtc.BINARY_UF2, resp.outfiles[pxtc.BINARY_UF2], {
-                encoding: "base64"
-            })
-        })
-}

cmds/tsconfig.json

@@ -1,14 +0,0 @@
-{
-    "compilerOptions": {
-        "target": "es5",
-        "noImplicitAny": true,
-        "noImplicitReturns": true,
-        "declaration": true,
-        "outDir": "../built",
-        "module": "commonjs",
-        "rootDir": ".",
-        "newLine": "LF",
-        "sourceMap": false,
-        "types": ["node"]
-    }
-}

docs/SUMMARY.md

@@ -4,6 +4,8 @@
 
 * [Troubleshoot](/troubleshoot)
 * [EV3 Manager](https://ev3manager.education.lego.com/)
+* [Bluetooth](/bluetooth)
+* [Forum](https://forum.makecode.com)
 * [LEGO Support](https://www.lego.com/service/)
 * [FIRST LEGO League](/fll)
 

docs/about.md

@@ -28,7 +28,7 @@ program to a **.uf2** file, which you then copy to the **@drivename@** drive. Th
 
 ### ~ hint
 
-Not seeing the **@drivename@** drive? Make sure to upgrade your firmware at https://ev3manager.education.lego.com/. Try these [troubleshooting](/troubleshoot) tips if you still have trouble getting the drive to appear.
+**Experimental support** for Bluetooth download is now available. Please read the [Bluetooth](/bluetooth) page for more information.
 
 ### ~
 

docs/bluetooth.md

@@ -0,0 +1,62 @@
+# Bluetooth
+
+This page describes the procedure to download MakeCode program to the EV3 brick 
+over Bluetooth.
+
+## ~ hint
+
+### WARNING: EXPERIMENTAL FEATURES AHEAD! 
+
+Support for Bluetooth download relies on [Web Serial](https://wicg.github.io/serial/),
+an experimental browser feature. Web Serial is a work [in progress](https://www.chromestatus.com/feature/6577673212002304); 
+it may change or be removed in future versions without notice.
+
+By enabling these experimental browser features, you could lose browser data or compromise your device security 
+or privacy.
+
+## ~
+
+https://youtu.be/VIq8-6Egtqs
+
+## Supported browsers
+
+* Chrome desktop, version 77 and higher, Windows 10 or Mac OS.
+* [Edge Insider desktop](https://www.microsoftedgeinsider.com), version 77 and higher, Windows 10 or Mac OS.
+
+To make sure your browser is up to date, go to the '...' menu, click "Help" then "About".
+
+Next you need to enable the experimental features (this may change in the future)
+
+* go to **chrome://flags/#enable-experimental-web-platform-features** and **enable** 
+**Experimental Web Platform features**
+
+![A screenshot of the flags page in chrome](/static/bluetooth/experimental.png)
+
+## Machine Setup
+
+* pair your EV3 brick with your computer over Bluetooth. This is the usual pairing procedure.
+
+## Download over Bluetooth
+
+* go to https://makecode.mindstorms.com/
+* click on **Download** to start a file download as usual
+* on the download dialog, you should see a **Bluetooth** button. Click on the
+**Bluetooth** button to enable the mode.
+* **make sure the EV3 brick is not running a program**
+* click on **Download** again to download over bluetooth.
+
+## Choosing the correct serial port
+
+Unfortunately, the browser dialog does not make it easy to select which serial port is the brick.
+
+* On Windows, choose ``Standard Serial over Bluetooth``. There might be multiple of those but only one works. Try your luck! Once you know the COM port number, remember it for the next time around.
+* On Mac OS, choose ``cu.BRICKNAME-SerialPort``
+
+## Known issues
+
+* We do not detect properly that the program is running on the brick. Make sure to stop the program before starting the download procedure.
+* The list of programs on the brick screen is not updated when uploading via bluetooth.
+
+## Feedback
+
+Please send us your feedback through https://forum.makecode.com.

docs/examples.md

@@ -212,6 +212,12 @@ Here are some fun programs for your @boardname@!
   "description": "Keep your brick entertained and happy",
   "url":"/examples/happy-unhappy",
   "cardType": "example"
+}, {
+{
+  "name": "Turtle",
+  "description": "Encode moves and run them on a driving base",
+  "url":"/examples/turtle",
+  "cardType": "example"
 }, {
   "name": "Distance Measurer",
   "description": "Use a motor to measure angle and distance",

docs/fll.md

@@ -2,7 +2,9 @@
 
 ![FIRST LEGO League logo](/static/fll/fll-logo.png)
 
-**For teams participating in the Open Software Platform Pilot utilizing MakeCode**, we’ve compiled a list of resources and information that we hope will be helpful for you.
+**For teams participating in City Shaper challenge**, you can use MakeCode for your challenge (see [City Shaper Challenge, page 7 bottom](https://firstinspiresst01.blob.core.windows.net/fll/2020/city-shaper-game-guide-pdf.pdf)!
+
+We’ve compiled a list of resources and information that we hope will be helpful for you.
 
 * **Got a question? Post it on the forums** at https://forum.makecode.com/
 
@@ -17,23 +19,33 @@ If you found a bug, please try if it hasn't been fixed yet! Go to https://makeco
 * You will need to install the latest EV3 firmware on your brick. Instructions on how to do that are located here: https://makecode.mindstorms.com/troubleshoot.
 * You will need a computer with a USB port to connect to the EV3 in order to download your programs.
 * You will need internet access and a browser on your computer to get to https://makecode.mindstorms.com.
+* You can [install the app](/offline-app) to use the editor offline.
+
+### I know LabView, how is MakeCode different?
+
+We have compiled a guide for EV3 LabView users at https://makecode.mindstorms.com/labview.
 
 ### What’s the best way to get started with MakeCode?
 
-Watch some of the videos at https://makecode.mindstorms.com (at the bottom of the page).
-Try some of the provided tutorials:
+Go to https://makecode.mindstorms.com. The home screen is filled with videos, tutorials and examples that might be relevant for your missions.
 
-* [Wake Up!](@homeurl@#tutorial:tutorials/wake-up) – show your EV3 brick waking up
-* [Animation](@homeurl@#tutorial:tutorials/make-an-animation) – create a custom animation to show
-* [Music Brick](@homeurl@#tutorial:tutorials/music-brick) – transform your EV3 into a musical instrument
-* [Run Motors](@homeurl@#tutorial:tutorials/run-motors) – control the motors of your robot
-* [Red Light, Green Light](@homeurl@#tutorial:tutorials/redlight-greenlight) – play red light, green light with the color sensor
-* [Line Following](@homeurl@#tutorial:tutorials/line-following) – have your robot follow a line
+On the home page, scroll down to the **FLL / City Shaper** section for specific lessons related to Mission 2.
 
 ### Can I load both LEGO MINDSTORMS EV3 Software and MakeCode programs onto my EV3?
 
 Yes.
 
+### Can I run the program again on the brick?
+
+![EV3 Brick with Try in BrkProg_Save Folder in File Manager](/static/getting-started/try-in-file-manager.png)
+
+Use the Brick Buttons and navigate to the File Manager tab.  Open the **BrkProg_SAVE** folder, 
+select your program and click the center button to run it again.
+
+### Does it work without internet?
+
+No, the editor is cached in your browser cache. However, you can also download the [offline app](/offline-app) in case you need to install it on a computer.
+
 ### How do I figure out what a block does?
 
 You can right-click on any block and select “Help” in the context menu to open the documentation page describing what that block does.
@@ -87,6 +99,18 @@ You can share your projects by clicking on the **share** button in the top left
 
 Sharing programs is also shown in the [Tips and Tricks](https://legoeducation.videomarketingplatform.co/v.ihtml/player.html?token=5c594c2373367f7870196f519f3bfc7a&source=embed&photo%5fid=35719472) video.
 
+### Can I use Bluetooth to transfer my program?
+
+The official answer is currently no. That being said, we have **Experimental support** for Bluetooth download. Please read the [Bluetooth](/bluetooth) page for more information.
+
+https://youtu.be/VIq8-6Egtqs
+
+## Are there YouTube videos on MakeCode for EV3?
+
+The MakeCode has a [FLL / City Shaper YouTube Channel](https://www.youtube.com/watch?v=IqL0Pyeu5Ng&list=PLMMBk9hE-SeqkOObethhlZtBTEK6FYx3n) with useful videos.
+
+https://youtu.be/-AirqwC9DL4
+
 ### Why can't I delete my program (*.uf2) files from the Brick?
 
 There's a bug in the firmware which prevents you from deleting the programs (``*.uf2`` files) from your EV3 Brick. There isn't a firmware update to fix this yet.

docs/getting-started/try.md

@@ -54,6 +54,12 @@ Verify that the program you just created shows eyes on the Brick Display, and th
 
 **Well done!**
 
+## Run it Again
+
+![EV3 Brick with Try in BrkProg_Save Folder in File Manager](/static/getting-started/try-in-file-manager.png)
+
+Use the Brick Buttons and navigate to the File Manager tab.  Open the **BrkProg_SAVE** folder, select **Try** and click the center button to run it again.
+
 ## Connect a Large Motor
 
 Now you will learn to control the Large Motor.

docs/index-ref.json

@@ -1,3 +1,3 @@
 {
-    "appref": "v1.0.11"
+    "appref": "v1.2.22"
 }

docs/labview.md

@@ -61,6 +61,12 @@ motors.largeBC.steer(0, 50, 1, MoveUnit.Rotations);
 motors.largeBC.stop();
 ```
 
+### ~ hint
+
+The **turn ratio range is -200, 200** unlike LabView who used -100,100.
+
+### ~
+
 ## Tank
 
 The **tank** blocks control the speed of two motors. These are commonly used for a differential drive robot. The blocks can also specify the duration, angle, or number of rotations.

docs/offline-app.html

@@ -388,12 +388,12 @@
         }
         function downloadWin64() {
             // TODO: Keep this link up-to-date with the desired release version
-            window.open("https://makecode.com/api/release/ev3/v1.0.11/win64");
+            window.open("https://makecode.com/api/release/ev3/v1.2.22/win64");
             tickEvent("offlineapp.download", { "target": "ev3", "platform": "win64" });
         }
         function downloadMac64() {
             // TODO: Keep this link up-to-date with the desired release version
-            window.open("https://makecode.com/api/release/ev3/v1.0.11/mac64");
+            window.open("https://makecode.com/api/release/ev3/v1.2.22/mac64");
             tickEvent("offlineapp.download", { "target": "ev3", "platform": "mac64" });
         }
     </script>

docs/offline.md

@@ -3,9 +3,3 @@
 ## Offline app #target-app
 
 The MakeCode editor is available as app which you can install on a computer with Windows or Mac OS. Once installed, the **[MakeCode Offline App](/offline-app)** lets you create, run, and download your projects to the @boardname@. It works the same as the Web application does in your browser but it's a stand-alone application that will work when a connection to the internet is restricted or not available.
-
-### ~ hint
-
-The [MakeCode Offline App](/offline-app) is currently in development and is made available as a **pre-release** version. 
-
-### ~

docs/projects.md

@@ -1,9 +1,88 @@
 # Projects
 
-Here are some cool projects that you can build with your @boardname@!
+```codecard
+[
+    {
+        "name": "Getting Started",
+        "url": "/getting-started",
+        "imageUrl": "/static/lessons/firmware.png"
+    },
+    {
+        "name": "Brick Tutorials",
+        "url": "/tutorials/brick",
+        "imageUrl": "/static/tutorials/wake-up.png"
+    },
+    {
+        "name": "Motor Tutorials",
+        "url": "/tutorials/motors",
+        "imageUrl": "/static/tutorials/run-motors.png"
+    },
+    {
+        "name": "Touch Sensor Tutorials",
+        "url": "/tutorials/touch-sensor",
+        "imageUrl": "/static/tutorials/touch-to-run.png"
+    },
+    {
+        "name": "Color Sensor Tutorials",
+        "url": "/tutorials/color-sensor",
+        "imageUrl": "/static/tutorials/what-color.png"
+    },
+    {
+        "name": "Ultrasonic Sensor Tutorials",
+        "url": "/tutorials/ultrasonic-sensor",
+        "imageUrl": "/static/tutorials/object-near.png"
+    },
+    {
+        "name": "Gyro Tutorials",
+        "url": "/tutorials/gyro",
+        "imageUrl": "/static/tutorials/calibrate-gyro.png"
+    },
+    {
+        "name": "Infrared Sensor Tutorials",
+        "url": "/tutorials/infrared-sensor",
+        "imageUrl": "/static/tutorials/security-alert.png"
+    },
+    {
+        "name": "FLL / City Shaper",
+        "url": "/tutorials/city-shaper",
+        "imageUrl": "/static/tutorials/city-shaper/robot1.jpg"
+    },
+    {
+        "name": "Design Engineering",
+        "url": "/design-engineering",
+        "imageUrl": "/static/lessons/make-it-move-without-wheels.png"
+    },
+    {
+        "name": "Coding",
+        "url": "/coding",
+        "imageUrl": "/static/lessons/autonomous-parking.png"
+    },
+    {
+        "name": "Maker",
+        "url": "/maker",
+        "imageUrl": "/static/lessons/make-a-sound-machine.png"
+    },
+    {
+        "name": "Tutorial Videos",
+        "url": "/videos",
+        "imageUrl": "https://legoeducation.videomarketingplatform.co/27288170/35719444/5d009e5f93fbf479c2e5ed2bf87a7990/thumbnail.png"
+    }
+]
+```
 
-## Basic
+## See Also
 
-Basic projects to build with your EV3 Brick.
+[Getting Started](/getting-started),
+[Brick Tutorials](/tutorials/brick),
+[Motor Tutorials](/tutorials/motors),
+[Touch Sensor Tutorials](/tutorials/touch-sensor),
+[Color Sensor Tutorials](/tutorials/color-sensor),
+[Ultrasonic Sensor Tutorials](/tutorials/ultrasonic-sensor),
+[Gyro Tutorials](/tutorials/gyro),
+[Infrared Sensor Tutorials](/tutorials/infrared-sensor),
+[FLL / City Shaper](/tutorials/city-shaper),
+[Design Engineering](/design-engineering),
+[Coding](/coding),
+[Maker](/maker),
+[Tutorial Videos](/videos)
 
-Coming soon.

docs/projects/SUMMARY.md

@@ -0,0 +1,69 @@
+# Projects
+
+* [Getting Started](/getting-started)
+  * [Prepare](https://makecode.mindstorms.com/troubleshoot)
+  * [Try](/getting-started/try)
+  * [Use](/getting-started/use)
+  * [First LEGO League](/fll)
+* [Brick Tutorials](/tutorials/brick)
+  * [Wake Up!](/tutorials/wake-up)
+  * [Make an Animation](/tutorials/make-an-animation)
+  * [What Animal Am I?](/tutorials/what-animal-am-i)
+  * [Music Brick](/tutorials/music-brick)
+  * [Pause On Start](/tutorials/pause-on-start)
+* [Motor Tutorials](/tutorials/motors)
+  * [Run Motors](/tutorials/run-motors)
+  * [Spin Turn](/tutorials/spin-turn)
+  * [Pivot Turn](/tutorials/pivot-turn)
+  * [Smooth Turn](/tutorials/smooth-turn)
+  * [Tank ZigZag](/tutorials/tank-zigzag)
+  * [Coast Or Brake](/tutorials/coast-or-brake)
+  * [Turtle](/tutorials/turtle)
+* [Touch Sensor Tutorials](/tutorials/touch-sensor)
+  * [Touch to Run](/tutorials/touch-to-run)
+  * [Sensor Values](/tutorials/touch-sensor-values)
+  * [Stop At Object](/tutorials/stop-at-object)
+* [Color Sensor Tutorials](/tutorials/color-sensor)
+  * [What Color?](/tutorials/what-color)
+  * [Line Following](/tutorials/line-following)
+  * [Red Light, Green Light](/tutorials/redlight-greenlight)
+  * [Move To Color](/tutorials/move-to-color)
+  * [Reflected Light Measure](/tutorials/reflected-light-measure)
+  * [Reflected Light Calibration](/tutorials/reflected-light-calibration)
+* [Ultrasonic Sensor Tutorials](/tutorials/ultrasonic-sensor)
+  * [Object Near](/tutorials/object-near)
+  * [Wall Follower](/tutorials/wall-follower)
+* [Gyro Tutorials](/tutorials/gyro)
+  * [Calibrate](/tutorials/calibrate-gyro)
+  * [Turn](/tutorials/turn-with-gyro)
+  * [Move Straight](/tutorials/move-straight-with-gyro)
+  * [Drifter](/tutorials/drifter)
+* [Infrared Sensor Tutorials](/tutorials/infrared-sensor)
+  * [Security Alert](/tutorials/security-alert)
+* [FLL / City Shaper](/tutorials/city-shaper)
+  * [Crane Mission / Robot 1](/tutorials/city-shaper/robot-1)
+  * [Crane Mission / Robot 2](/tutorials/city-shaper/robot-2)
+  * [Crane Mission / Video 1](https://youtu.be/IqL0Pyeu5Ng)
+  * [Bluetooth download (beta)](https://youtu.be/VIq8-6Egtqs)
+  * [Turn with Gyro](https://youtu.be/I7ncuXAfBwk)
+  * [Moving with Gyro](https://youtu.be/ufiOPvW37xc)
+  * [Line following with 1 color sensor](https://youtu.be/_LeduyKQVjg)
+  * [Proportional line following with 1 color sensor](https://youtu.be/-AirqwC9DL4)
+  * [Proportional line following with 2 color sensors](https://youtu.be/QWOflBuu9Oo)
+* [Design Engineering](/design-engineering)
+  * [Make It Move Without Wheels](/design-engineering/make-it-move)
+  * [Make It Smarter and Faster](/design-engineering/make-it-smarter)
+  * [Make a System that Communicates](/design-engineering/make-it-communicate)
+* [Coding](/coding)
+  * [Autonomous Parking](/coding/autonomous-parking)
+  * [Object Detection](/coding/object-detection)
+  * [Line Detection](/coding/line-detection)
+* [Maker](/maker)
+  * [Make A Sound Machine](/maker/sound-machine)
+  * [Make A Security Gadget](/maker/security-gadget)
+* [Tutorial Videos](/videos)
+  * [undefined](https://legoeducation.videomarketingplatform.co/v.ihtml/player.html?token=5d009e5f93fbf479c2e5ed2bf87a7990&source=embed&photo%5fid=35719444)
+  * [undefined](https://legoeducation.videomarketingplatform.co/v.ihtml/player.html?token=2008a566f1fb034d58d5ebe19ba8621f&source=embed&photo%5fid=35719467)
+  * [undefined](https://legoeducation.videomarketingplatform.co/v.ihtml/player.html?token=629730c938e452f0fd7653fbc4708166&source=embed&photo%5fid=35719470)
+  * [undefined](https://legoeducation.videomarketingplatform.co/v.ihtml/player.html?token=3513a83b87fe536b2dc512237465fd1b&source=embed&photo%5fid=35719471)
+  * [undefined](https://legoeducation.videomarketingplatform.co/v.ihtml/player.html?token=5c594c2373367f7870196f519f3bfc7a&source=embed&photo%5fid=35719472)

docs/reference/brick/exit-program.md

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

docs/reference/brick/show-ports.md

@@ -10,12 +10,12 @@ You can find out what's connected to the ports on the brick and show its status.
 
 ## Example
 
-Show the status of the ports on the brick when the ``enter`` button is pressed.
+Show the status of the ports on the brick. Resets all motors when ENTER is pressed.
 
 ```blocks
-brick.showString("Press ENTER for port status", 1)
+brick.showPorts()
 brick.buttonEnter.onEvent(ButtonEvent.Pressed, function () {
-    brick.showPorts()
+    motors.resetAll()
 })
 ```
 

docs/reference/motors/reset-all.md

@@ -0,0 +1,25 @@
+# reset All Motors
+
+Reset all motors currently running on the brick.
+
+```sig
+motors.resetAll();
+```
+
+The motors counters are resetted. 
+
+## Example
+
+Tank the EV3 Brick forward at half speed for 5 seconds and then stop.
+
+```blocks
+motors.largeAB.tank(50, 50);
+pause(5000);
+motors.stopAll();
+motors.resetAll();
+```
+
+## See also
+
+[stop all](/reference/motors/motor/stop-all), 
+[reset](/reference/motors/motor/reset)

docs/reference/motors/stop-all.md

@@ -22,4 +22,5 @@ motors.stopAll();
 
 [stop](/reference/motors/motor/stop), 
 [reset](/reference/motors/motor/reset),
+[reset-all](/reference/motors/motor/reset-all),
 [set brake](/reference/motors/motor/set-brake)

docs/reference/motors/synced/steer.md

@@ -22,7 +22,7 @@ If you decide to use a **value** of rotation distance, you need to choose a type
 
 ## Parameters
 
-* **turnRatio**: a [number](/types/number) that is the percentage of speed of the drive motor. The follower motor runs at this speed. A negative number steers to the left and a positive number steers to the right. This is a number between `-100` and `100`.
+* **turnRatio**: a [number](/types/number) that is the percentage of speed of the drive motor. The follower motor runs at this speed. A negative number steers to the left and a positive number steers to the right. This is a number between `-200` and `200`.
 * **speed**: a [number](/types/number) that is the percentage of full speed. A negative value runs the motors in the reverse direction. This is the speed that the drive motor runs at.
 * **value**: the [number](/types/number) of movement units to rotate for. A value of `0` means run the motor continuously.
 * **unit**: the movement unit of rotation. This can be `milliseconds`, `seconds`, `degrees`, or `rotations`. If the number for **value** is `0`, this parameter isn't used.

docs/tutorials.md

@@ -25,6 +25,11 @@ Step by step guides to coding your @boardname@.
   "description": "Use the color sensor to follow line or detect colors",
   "url":"/tutorials/color-sensor",
   "imageUrl":"/static/tutorials/what-color.png"
+}, {
+  "name": "Gyro",
+  "description": "Drive straight or turn more precisely with the gyro",
+  "url":"/tutorials/gyro",
+  "imageUrl":"/static/tutorials/calibrate-gyro.png"
 }, {
   "name": "Ultrasonic Sensor",
   "description": "Use the ultrasonic sensor to detect obstacles",

docs/tutorials/brick.md

@@ -27,6 +27,12 @@
   "cardType": "tutorial",
   "url":"/tutorials/music-brick",
   "imageUrl":"/static/tutorials/music-brick.png"
+}, {
+  "name": "Pause On Start",
+  "description": "Don't start running immediately!",
+  "cardType": "tutorial",
+  "url":"/tutorials/pause-on-start",
+  "imageUrl":"/static/tutorials/pause-on-start.png"
 }]
 ```
 

docs/tutorials/calibrate-gyro.md

@@ -0,0 +1,37 @@
+# Calibrate Gyro
+
+## Introduction @fullscreen
+
+The gyroscope is a very useful sensor in the EV3 system. It detects the rotation rate
+which can be very useful to correct the trajectory of the robot and do precise turns.
+
+However, the sensor can be imprecise and subject to drifting. It is recommend to
+calibrate your sensor at least once after starting your brick. You don't have to 
+recalibrate on every run.
+
+* [EV3 Driving Base](https://le-www-live-s.legocdn.com/sc/media/lessons/mindstorms-ev3/building-instructions/ev3-rem-driving-base-79bebfc16bd491186ea9c9069842155e.pdf)
+* [EV3 Driving Base with Gyro](https://le-www-live-s.legocdn.com/sc/media/lessons/mindstorms-ev3/building-instructions/ev3-gyro-sensor-driving-base-a521f8ebe355c281c006418395309e15.pdf)
+
+
+## Step 1 Show ports
+
+Add the ``||brick:show ports||`` to see the status of the gyroscope.
+
+```blocks
+brick.showPorts()
+```
+
+
+## Step 2 Calibration
+
+Add a ``||sensors:calibrate gyro||`` block to calibrate the gyro. The block
+detects if the sensor is present and does a full reset of the sensor if necessary.
+
+```blocks
+brick.showPorts()
+sensors.gyro2.calibrate()
+```
+
+## Step 3 Download and run @fullscreen
+
+Download this program to your brick and press the ENTER button.

docs/tutorials/city-shaper.md

@@ -0,0 +1,54 @@
+# City Shaper
+
+## Tutorials
+
+```codecard
+[
+{
+    "name": "Crane Mission / Robot 1",
+    "description": "Learn the basics and build your first robot driving base.",
+    "cardType": "tutorial",
+    "url":"/tutorials/city-shaper/robot-1",
+    "imageUrl": "/static/tutorials/city-shaper/robot1.jpg"
+}, {
+    "name": "Crane Mission / Robot 2",
+    "description": "Program your robot to move in different ways.",
+    "cardType": "tutorial",
+    "url":"/tutorials/city-shaper/robot-2",
+    "imageUrl": "/static/tutorials/city-shaper/robot2.jpg"
+}, {
+    "name": "Crane Mission / Video 1",
+    "description": "A video of the Robot 1 tutorial",
+    "youTubeId": "IqL0Pyeu5Ng"
+}, {
+    "name": "Bluetooth download (beta)",
+    "description": "EXPERIMENTAL! Learn how to download code via Bluetooth.",
+    "youTubeId": "VIq8-6Egtqs"
+}, {
+    "name": "Turn with Gyro",
+    "description": "Use the gyro for precise turns.",
+    "youTubeId": "I7ncuXAfBwk"
+}, {
+    "name": "Moving with Gyro",
+    "description": "Use the gyro for correct the robot trajectory.",
+    "youTubeId": "ufiOPvW37xc"
+}, {
+    "name": "Line following with 1 color sensor",
+    "description": "Simple line following using the color sensor.",
+    "youTubeId": "_LeduyKQVjg"
+}, {
+    "name": "Proportional line following with 1 color sensor",
+    "description": "Proportional line following using the color sensor.",
+    "youTubeId": "-AirqwC9DL4"
+}, {
+    "name": "Proportional line following with 2 color sensors",
+    "description": "Proportional line following using two color sensor.",
+    "youTubeId": "QWOflBuu9Oo"
+}]
+```
+
+## See Also
+
+[Robot 1](/tutorials/city-shaper/robot-1),
+[Robot 2](/tutorials/city-shaper/robot-2)
+

docs/tutorials/city-shaper/crane-mission.md

@@ -0,0 +1,27 @@
+# Crane Mission Lessons
+
+The [Crane Mission Lessons](https://firstinspiresst01.blob.core.windows.net/fll/2020/fll-ev3-overview.pdf) adapted for MakeCode.
+
+## Lessons
+
+```codecard
+[
+{
+    "name": "Crane Mission / Robot 1",
+    "description": "Learn the basics and build your first robot driving base.",
+    "cardType": "tutorial",
+    "url":"/tutorials/city-shaper/robot-1"
+}, {
+    "name": "Crane Mission / Robot 2",
+    "description": "Program your robot to move in different ways.",
+    "cardType": "tutorial",
+    "url":"/tutorials/city-shaper/robot-2"
+}
+]
+```
+
+## See Also
+
+[Robot 1](/tutorials/city-shaper/robot-1),
+[Robot 2](/tutorials/city-shaper/robot-2)
+

docs/tutorials/city-shaper/mission-2.md

@@ -0,0 +1,20 @@
+# Mission 2 Lesson
+
+Use the program below to tell your robot how to solve the Crane Mission (Mission 2).
+
+```blocks
+brick.buttonEnter.onEvent(ButtonEvent.Pressed, function () {
+    motors.largeBC.steer(0, 25, 2.25, MoveUnit.Rotations)
+    control.timer1.reset()
+    while (control.timer1.seconds() < 1.5) {
+        motors.largeBC.steer(sensors.color1.light(LightIntensityMode.Reflected) - 40, 50)
+    }
+    motors.largeBC.stop()
+    motors.largeBC.steer(0, 15, 0.25, MoveUnit.Rotations)
+    motors.mediumA.run(25, 60, MoveUnit.Degrees)
+    pause(2000)
+    motors.mediumA.run(-25, 1, MoveUnit.Seconds)
+    motors.largeBC.steer(0, -100, 4, MoveUnit.Rotations)
+})
+motors.largeBC.setBrake(true)
+```

docs/tutorials/city-shaper/robot-1.md

@@ -0,0 +1,53 @@
+# Robot 1 Lesson
+
+## Step 1 - Build Your Driving Base Robot @unplugged
+
+Build the medium motor robot driving base:
+
+* [Driving base](https://le-www-live-s.legocdn.com/sc/media/lessons/mindstorms-ev3/building-instructions/ev3-rem-driving-base-79bebfc16bd491186ea9c9069842155e.pdf)
+* [Medium motor driving base](https://le-www-live-s.legocdn.com/sc/media/lessons/mindstorms-ev3/building-instructions/ev3-medium-motor-driving-base-e66e2fc0d917485ef1aa023e8358e7a7.pdf)
+
+If clicking on the image above doesn't open the instructions, right-click on the image and choose "Save link as..." to download the PDF.
+
+## Step 2 - Show an image @fullscreen
+
+At first, it's nice to know that your program is running. Plug in a ``||brick:show mood||`` from the **BRICK** toolbox drawer
+into the ``||loops:on start||`` block. Change the image to something else if you want!
+
+```blocks
+brick.showMood(moods.sleeping)
+```
+
+## Step 3 - Try your code @fullscreen
+
+Look at the simulator and check that your image is showing on the screen. When you are ready, press the **DOWNLOAD** button
+and follow the instructions to transfer your code on the brick.
+
+## Step 4 - Pause on Start @fullscreen
+
+As you may have noticed, the code starts running immediately once you download it to the brick. To prevent the robot
+from rolling away, add a ``||brick:pause until enter pressed||`` button to wait for the user to press enter.
+
+```blocks
+brick.showMood(moods.sleeping)
+brick.buttonEnter.pauseUntil(ButtonEvent.Pressed)
+```
+
+## Step 5 - Steer motors @fullscreen
+
+Drag a ``||motors:steer motors||`` block from the **MOTORS** toolbox drawer and snap it in under ``||brick:show mood||``.
+Click on the **(+)** symbol and make sure to tell your motors to turn **1** rotation.
+
+```blocks
+brick.showMood(moods.sleeping)
+brick.buttonEnter.pauseUntil(ButtonEvent.Pressed)
+brick.showMood(moods.neutral)
+motors.largeBC.steer(0, 50, 1, MoveUnit.Rotations)
+```
+
+## Step 6 - Try your code @fullscreen
+
+Whenever you make a code change, the simulator will restart so you can see what your latest change will do.
+When you are ready, click **DOWNLOAD** and follow the instructions to transfer the code into your brick.
+
+**Remember**: Take the driving base apart at the end of the session so that another group can build their robot too.

docs/tutorials/city-shaper/robot-2.md

@@ -0,0 +1,100 @@
+# Robot 2 Lesson
+
+## Step 1 - Build Your Driving Base Robot @unplugged
+
+Build the robot driving base:
+
+[![EV3 Driving Base](/static/lessons/common/ev3-driving-base.jpg)](https://le-www-live-s.legocdn.com/sc/media/lessons/mindstorms-ev3/building-instructions/ev3-rem-driving-base-79bebfc16bd491186ea9c9069842155e.pdf)
+
+If clicking on the image above doesn't open the instructions, right-click on the image and choose "Save link as..." to download the PDF.
+
+## Step 2 - Show an image and move @fullscreen
+
+Add blocks to the ``||loops:on start||`` block to show an image and move the motors **B+C** for ``1`` rotation.
+
+```blocks
+brick.showMood(moods.neutral)
+motors.largeBC.steer(0, 50, 1, MoveUnit.Rotations)
+```
+
+## Step 3 - Brick button @fullscreen
+
+Let's change the code so that your robot moves when the **UP** button is pressed.
+Add an ``||brick:on button up||`` block and move ``||motors:steer motors||`` inside of it.
+After downloading your code, press **UP** to move the robot.
+
+```blocks
+brick.buttonUp.onEvent(ButtonEvent.Pressed, function () {
+    brick.showMood(moods.awake)
+    motors.largeBC.steer(0, 50, 1, MoveUnit.Rotations)
+})
+brick.showMood(moods.neutral)
+```
+
+## Step 4 - Braking @fullscreen
+
+When the motors are done turning, the robot keeps on moving for a short distance. 
+Turn on the **brakes** so that your robot stops immediately.
+Drag a ``||motors:set brake||`` block into the ``||loops:on start||`` and set it to **ON** for the the **BC** motors.
+
+```blocks
+brick.buttonUp.onEvent(ButtonEvent.Pressed, function () {
+    brick.showMood(moods.awake)
+    motors.largeBC.steer(0, 50, 1, MoveUnit.Rotations)
+})
+brick.showMood(moods.neutral)
+motors.largeBC.setBrake(true)
+```
+
+## Step 5 - Left and Right turn @fullscreen
+
+Let's make the robot turn to the left when the **LEFT** button is pressed on the brick.
+Find an ``||brick:on button||`` block and put a ``||motors:steer motors||`` in it. Make the turn ratio drive the motor to left.
+Get another ``||brick:on button||`` and set it to run when the **RIGHT** is pressed.
+Put a ``||motors:steer motors||`` in for that button and set the turn ratio to drive to the right.
+
+```blocks
+brick.buttonLeft.onEvent(ButtonEvent.Pressed, function () {
+    brick.showMood(moods.middleLeft)
+    motors.largeBC.steer(-50, 50, 1, MoveUnit.Rotations)
+})
+brick.buttonRight.onEvent(ButtonEvent.Pressed, function () {
+    brick.showMood(moods.middleRight)
+    motors.largeBC.steer(50, 50, 1, MoveUnit.Rotations)
+})
+```
+
+## Step 6 - Backwards @fullscreen
+
+Let's make the robot go backwards when the **DOWN** button is pressed on the brick.
+Add a ``||motors:steer motors||`` to an ``||brick:on button||`` block and change the speed to be negative. This will make the motor go backwards.
+
+```blocks
+brick.buttonDown.onEvent(ButtonEvent.Pressed, function () {
+    brick.showMood(moods.knockedOut)
+    motors.largeBC.steer(0, -50, 1, MoveUnit.Rotations)
+})
+```
+
+## Step 7 - Add an Ultrasonic sensor @fullscreen
+
+Add an Ultrasonic sensor to your driving base.
+
+[![EV3 Driving Base with Ultrasonic Sensor](/static/lessons/common/ev3-ultrasonic-sensor-driving-base.jpg)](https://le-www-live-s.legocdn.com/sc/media/lessons/mindstorms-ev3/building-instructions/ev3-ultrasonic-sensor-driving-base-61ffdfa461aee2470b8ddbeab16e2070.pdf)
+
+If clicking on the image above doesn't open the instructions, right-click on the image and choose "Save link as..." to download the PDF.
+
+## Step 8 - Stopping distance @fullscreen
+
+Create a program that moves the Driving Base and makes it stop 6 cm from the Cuboid.
+
+```blocks
+brick.buttonEnter.onEvent(ButtonEvent.Pressed, function () {
+    brick.showMood(moods.dizzy)
+    motors.largeBC.steer(0, 50)
+    pauseUntil(() => sensors.ultrasonic4.distance() < 6)
+    motors.largeBC.stop()
+})
+```
+
+Try sending your robot towards a wall!

docs/tutorials/color-sensor.md

@@ -21,6 +21,12 @@
   "cardType": "tutorial",
   "url":"/tutorials/redlight-greenlight",
   "imageUrl":"/static/tutorials/redlight-greenlight.png"
+}, {
+  "name": "Move To Color",
+  "description": "Move straight until a color is detected.",
+  "cardType": "tutorial",
+  "url":"/tutorials/move-to-color",
+  "imageUrl":"/static/tutorials/move-to-color.png"
 }, {
   "name": "Reflected Light Measure",
   "description": "Teach the sensor what light or dark is.",

docs/tutorials/drifter.md

@@ -0,0 +1,34 @@
+# Drifter
+
+Use this program to try out the gyro sensor and the effect of drifting.
+
+```typescript
+// this loop shows the rate, angle and drift of the robot
+forever(() => {
+    brick.showValue("rate", sensors.gyro2.rate(), 1)
+    brick.showValue("angle", sensors.gyro2.angle(), 2)
+    brick.showValue("drift", sensors.gyro2.drift(), 3)
+})
+// this loop shows wheter the sensor is calibrating
+forever(() => {
+    brick.showString(sensors.gyro2.isCalibrating() ? "calibrating..." : "", 4)
+})
+// instructions on how to use the buttons
+brick.showString("ENTER: calibrate", 7)
+brick.showString("       (reset+drift)", 8)
+brick.showString("LEFT: reset", 9)
+brick.showString("RIGHT: compute drift", 10)
+
+// enter -> calibrate
+brick.buttonEnter.onEvent(ButtonEvent.Pressed, function () {
+    sensors.gyro2.calibrate()
+})
+// right -> compute drift
+brick.buttonRight.onEvent(ButtonEvent.Pressed, function () {
+    sensors.gyro2.computeDrift()
+})
+// left -> reset
+brick.buttonLeft.onEvent(ButtonEvent.Pressed, function () {
+    sensors.gyro2.reset()
+})
+```

docs/tutorials/gyro.md

@@ -0,0 +1,31 @@
+# Gyro tutorials
+
+## Tutorials
+
+```codecard
+[{
+  "name": "Calibrate",
+  "description": "Make sure you gyro sensor is ready to use",
+  "cardType": "tutorial",
+  "url":"/tutorials/calibrate-gyro",
+  "imageUrl":"/static/tutorials/calibrate-gyro.png"
+}, {
+  "name": "Turn",
+  "description": "Use the gyro to turn precisely",
+  "cardType": "tutorial",
+  "url":"/tutorials/turn-with-gyro",
+  "imageUrl":"/static/tutorials/turn-with-gyro.png"
+}, {
+  "name": "Move Straight",
+  "description": "Use the gyro to correct the trajectory of the robot",
+  "cardType": "tutorial",
+  "url":"/tutorials/move-straight-with-gyro",
+  "imageUrl":"/static/tutorials/move-straight-with-gyro.png"
+}, {
+  "name": "Drifter",
+  "description": "Explore how the gyro is drifting",
+  "cardType": "example",
+  "url":"/tutorials/drifter",
+  "imageUrl":"/static/tutorials/drifter.png"
+}]
+```

docs/tutorials/motors.md

@@ -39,6 +39,11 @@
   "cardType": "example",
   "url":"/tutorials/coast-or-brake",
   "imageUrl":"/static/tutorials/coast-or-brake.png"
+}, {
+  "name": "Turtle",
+  "description": "Encode moves and run them on a driving base",
+  "url":"/tutorials/turtle",
+  "cardType": "example"
 }]
 ```
 
@@ -49,4 +54,5 @@
 [Pivot Turn](/tutorials/pivot-turn),
 [Smooth Turn](/tutorials/smooth-turn),
 [Tank ZigZag](/tutorials/tank-zigzag),
-[Coast Or Brake](/tutorials/coast-or-brake)
+[Coast Or Brake](/tutorials/coast-or-brake),
+[Turtle](/tutorials/turtle)

docs/tutorials/move-straight-with-gyro.md

@@ -0,0 +1,61 @@
+# Move Straight With Gyro
+
+## Introduction @fullscreen
+
+Rotating using a wheel is not precise. The wheel can slip or the motors
+can be slightly different. 
+With the help of the gyro you can detect and correct deviations in your trajectory.
+
+* [EV3 Driving Base](https://le-www-live-s.legocdn.com/sc/media/lessons/mindstorms-ev3/building-instructions/ev3-rem-driving-base-79bebfc16bd491186ea9c9069842155e.pdf)
+* [EV3 Driving Base with Gyro](https://le-www-live-s.legocdn.com/sc/media/lessons/mindstorms-ev3/building-instructions/ev3-gyro-sensor-driving-base-a521f8ebe355c281c006418395309e15.pdf)
+
+
+## Step 1 Calibration
+
+Add a ``||sensors:calibrate gyro||`` block in a ``||brick:on button enter pressed||`` block so that you can manually start a calibration process. Run the calibration
+at least once after connecting the gyro.
+
+```blocks
+brick.showPorts()
+sensors.gyro2.calibrate()
+```
+
+## Step 2 Compute the error
+
+Make a new **error** variable and drag the ``||sensors:gyro rate||``
+and multiply it by -1. Since the rate shows the rotation rate, we will
+counter it by negating it.
+
+```blocks
+let error = 0
+brick.showPorts()
+sensors.gyro2.calibrate()
+while (true) {
+    error = sensors.gyro2.rate() * -1
+}
+```
+
+## Step 3 Steer with feedback
+
+Drag a ``||motors:steer motors||`` block under the variable and pass
+the **error** variable into the turn ratio section.
+
+If the robot is turning right, the gyro will report a positive rotation rate
+and the turn ratio will be negative which will the turn the robot left!
+
+```blocks
+let error = 0
+brick.showPorts()
+sensors.gyro2.calibrate()
+while (true) {
+    error = sensors.gyro2.rate() * -1
+    motors.largeBC.steer(error, 50)
+}
+```
+
+## Step 4 Run it!
+
+Download to your brick and test out if the robot is going straight.
+
+This kind of technique is called a proportional controller; 
+it corrects the inputs (motor speed) with a feedback proportional to the output (rotation rate).

docs/tutorials/move-to-color.md

@@ -0,0 +1,65 @@
+# Move To Color
+
+## Introduction @fullscreen
+
+This tutorial shows how to move the EV3 driving base until the color sensor detects a color.
+
+Here are the building instructions for the robot:
+
+* [EV3 driving base](https://le-www-live-s.legocdn.com/sc/media/lessons/mindstorms-ev3/building-instructions/ev3-rem-driving-base-79bebfc16bd491186ea9c9069842155e.pdf)
+* [Color sensor down](https://le-www-live-s.legocdn.com/sc/media/lessons/mindstorms-ev3/building-instructions/ev3-rem-color-sensor-down-driving-base-d30ed30610c3d6647d56e17bc64cf6e2.pdf)
+
+
+## Step 1 Run code on button pressed
+
+Drag ``||brick:on button pressed||`` block so that your code starts when the enter button is pressed (and not at the start). We are also using the ``||brick:show string||``
+message easily diagnose if the program does not work.
+
+```blocks
+brick.buttonEnter.onEvent(ButtonEvent.Pressed, function () {
+    brick.showString("started", 1)
+})
+```
+
+## Step 2 Turn on the motors
+
+Drag a ``||motors:steer motors B+C||`` block under the button pressed event. This will turn on both motors.
+
+```blocks
+brick.buttonEnter.onEvent(ButtonEvent.Pressed, function () {
+    brick.showString("started", 1)
+    motors.largeBC.steer(0, 50)
+})
+```
+
+## Step 3 Pause until color
+
+Drag a ``||sensors:pause until color detected||`` block after the steer and select the color you want to detect. This block will stop the program until the color is detected.
+
+```blocks
+brick.buttonEnter.onEvent(ButtonEvent.Pressed, function () {
+    brick.showString("started", 1)
+    motors.largeBC.steer(0, 50)
+    brick.showString("looking for red", 1)
+    sensors.color3.pauseUntilColorDetected(ColorSensorColor.Red)
+})
+```
+
+### Step 4 Stop the motors!
+
+Once the color is detected, the program will continue to run blocks. Drag a ``||motors:stop B+C motor||`` so that both motors stop.
+
+```blocks
+brick.buttonEnter.onEvent(ButtonEvent.Pressed, function () {
+    brick.showString("started", 1)
+    motors.largeBC.steer(0, 50)
+    brick.showString("looking for red", 1)
+    sensors.color3.pauseUntilColorDetected(ColorSensorColor.Red)
+    brick.showString("stop", 1)
+    motors.largeBC.stop()
+})
+```
+
+## Step 5
+
+Download your program to your brick and try it out!

docs/tutorials/pause-on-start.md

@@ -0,0 +1,33 @@
+# Pause On Start
+
+## Introduction @unplugged
+
+Sometimes you don't want your program to run right away... you can use a button to wait before moving the motors.
+
+## Step 1
+
+Let's start by showing an image on the screen so the user knows that the robot is ready and waiting.
+
+```blocks
+brick.showImage(images.informationStop1)
+```
+
+## Step 2
+
+Drag the ``||brick:pause until enter pressed||`` button to wait for the user to press the Enter button.
+
+```blocks
+brick.showImage(images.informationStop1)
+brick.buttonEnter.pauseUntil(ButtonEvent.Pressed)
+```
+
+## Step 3
+
+Add all the motor and sensor code you want after those blocks!
+
+```blocks
+brick.showImage(images.informationStop1)
+brick.buttonEnter.pauseUntil(ButtonEvent.Pressed)
+brick.showImage(images.expressionsBigSmile)
+motors.largeBC.tank(50, 50, 1, MoveUnit.Seconds)
+```

docs/tutorials/stop-at-object.md

@@ -0,0 +1,9 @@
+# Stop At Object
+
+This is a code example to detect contact or collision with another object. It uses a touch sensor to detect hitting a wall or other obstacle. The motors are run and then stopped when the sensor is pressed.
+
+```blocks
+motors.largeBC.tank(50, 50)
+sensors.touch1.pauseUntil(ButtonEvent.Pressed)
+motors.largeBC.stop()
+```

docs/tutorials/touch-sensor.md

@@ -16,10 +16,10 @@
   "url":"/tutorials/touch-sensor-values",
   "imageUrl":"/static/tutorials/touch-sensor-values.png"
 }, {
-  "name": "Pause Until Pressed",
+  "name": "Stop At Object",
   "description": "Waits for the sensor to be pressed before continuing the program",
   "cardType": "tutorial",
-  "url":"/tutorials/pause-until-pressed",
+  "url":"/tutorials/stop-at-object",
   "imageUrl":"/static/tutorials/pause-until-pressed.png"
 }]
 ```
@@ -28,4 +28,4 @@
 
 [Touch to Run](/tutorials/touch-to-run),
 [Touch Sensor Values](/tutorials/touch-sensor-values),
-[Pause Until Pressed](/tutorials/pause-until-pressed)
+[Stop At Object](/tutorials/stop-at-object)

docs/tutorials/turn-with-gyro.md

@@ -0,0 +1,43 @@
+# Turn With Gyro
+
+## Introduction @fullscreen
+
+Use the gyro to measure how much the robot is turning, regardless if your wheels are slipping.
+
+## Step 1 Calibrate
+
+Add the ``||sensors:calibrate gyro||`` block to make sure your gyro is ready to use.
+
+```blocks
+sensors.gyro2.calibrate()
+```
+
+## Step 2 Turn
+
+Use motor blocks to make the robot turn. Don't go too fast!
+
+```blocks
+sensors.gyro2.calibrate()
+motors.largeBC.steer(200, 20)
+```
+
+## Step 3 Pause for turn
+
+Use the ``||sensors:pause until rotated||`` block to wait until the desired amount of rotation has occured.
+
+```blocks
+sensors.gyro2.calibrate()
+motors.largeBC.steer(200, 20)
+sensors.gyro2.pauseUntilRotated(90)
+```
+
+## Step 4 Stop
+
+Stop the motors!
+
+```blocks
+sensors.gyro2.calibrate()
+motors.largeBC.steer(200, 20)
+sensors.gyro2.pauseUntilRotated(90)
+motors.stopAll()
+```

docs/tutorials/turtle.md

@@ -0,0 +1,52 @@
+# Turtle
+
+A fun interactive program where the user enters a sequence of moves using the buttons and the robot executes it.
+
+
+```blocks
+/**
+* Run this program with a driving base.
+**/
+let indent = ""
+let command = ""
+let c = ""
+brick.buttonLeft.onEvent(ButtonEvent.Pressed, function () {
+    command = command + "L"
+})
+brick.buttonRight.onEvent(ButtonEvent.Pressed, function () {
+    command = command + "R"
+})
+brick.buttonUp.onEvent(ButtonEvent.Pressed, function () {
+    command = command + "F"
+})
+brick.buttonDown.onEvent(ButtonEvent.Pressed, function () {
+    command = command + "B"
+})
+brick.buttonEnter.onEvent(ButtonEvent.Pressed, function () {
+    indent = ""
+    for (let index = 0; index <= command.length; index++) {
+        c = command[index]
+        brick.showString("" + indent + c, 4)
+        indent = "" + indent + " "
+        if (c == "L") {
+            motors.largeBC.steer(-100, 50, 378, MoveUnit.Degrees)
+        } else if (c == "R") {
+            motors.largeBC.steer(100, 50, 378, MoveUnit.Degrees)
+        } else if (c == "F") {
+            motors.largeBC.steer(0, 50, 1, MoveUnit.Rotations)
+        } else if (c == "B") {
+            motors.largeBC.steer(0, -50, 1, MoveUnit.Rotations)
+        }
+    }
+    command = ""
+    brick.showString("", 2)
+})
+motors.largeBC.setBrake(true)
+forever(function () {
+    brick.showString("TURTLE", 1)
+    brick.showString(command, 3)
+    brick.showString("up/down: forward/backward", 8)
+    brick.showString("left/right: turn", 9)
+    brick.showString("enter: play commands", 10)
+})
+```

editor/deploy.ts

@@ -2,72 +2,231 @@
 /// <reference path="../node_modules/pxt-core/built/pxtsim.d.ts"/>
 
 import UF2 = pxtc.UF2;
+import { Ev3Wrapper } from "./wrap";
+import { bluetoothTryAgainAsync } from "./dialogs";
 
-export let ev3: pxt.editor.Ev3Wrapper
+export let ev3: Ev3Wrapper;
 
 export function debug() {
-    return initAsync()
+    return initHidAsync()
         .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)
-        })
+// Web Serial API https://wicg.github.io/serial/
+// chromium bug https://bugs.chromium.org/p/chromium/issues/detail?id=884928
+// Under experimental features in Chrome Desktop 77+
+enum ParityType {
+    "none",
+    "even",
+    "odd",
+    "mark",
+    "space"
+}
+declare interface SerialOptions {
+    baudrate?: number;
+    databits?: number;
+    stopbits?: number;
+    parity?: ParityType;
+    buffersize?: number;
+    rtscts?: boolean;
+    xon?: boolean;
+    xoff?: boolean;
+    xany?: boolean;
+}
+type SerialPortInfo = pxt.Map<string>;
+type SerialPortRequestOptions = any;
+declare class SerialPort {
+    open(options?: SerialOptions): Promise<void>;
+    close(): void;
+    readonly readable: any;
+    readonly writable: any;
+    //getInfo(): SerialPortInfo;
+}
+declare interface Serial extends EventTarget {
+    onconnect: any;
+    ondisconnect: any;
+    getPorts(): Promise<SerialPort[]>
+    requestPort(options: SerialPortRequestOptions): Promise<SerialPort>;
 }
 
-let noHID = false
+class WebSerialPackageIO implements pxt.HF2.PacketIO {
+    onData: (v: Uint8Array) => void;
+    onError: (e: Error) => void;
+    onEvent: (v: Uint8Array) => void;
+    onSerial: (v: Uint8Array, isErr: boolean) => void;
+    sendSerialAsync: (buf: Uint8Array, useStdErr: boolean) => Promise<void>;
+    private _reader: any;
+    private _writer: any;
 
-let initPromise: Promise<pxt.editor.Ev3Wrapper>
-export function initAsync() {
-    if (initPromise)
-        return initPromise
+    constructor(private port: SerialPort, private options: SerialOptions) {
+    }
 
-    let canHID = false
+    async readSerialAsync() {
+        this._reader = this.port.readable.getReader();
+        let buffer: Uint8Array;
+        const reader = this._reader;
+        while (reader === this._reader) { // will change if we recycle the connection
+            const { done, value } = await this._reader.read()
+            if (!buffer) buffer = value;
+            else { // concat
+                let tmp = new Uint8Array(buffer.length + value.byteLength)
+                tmp.set(buffer, 0)
+                tmp.set(value, buffer.length)
+                buffer = tmp;
+            }
+            if (buffer && buffer.length >= 6) {
+                this.onData(new Uint8Array(buffer));
+                buffer = undefined;
+            }
+        }
+    }
+
+    static isSupported(): boolean {
+        return !!(<any>navigator).serial;
+    }
+
+    static async mkPacketIOAsync(): Promise<pxt.HF2.PacketIO> {
+        const serial = (<any>navigator).serial;
+        if (serial) {
+            try {
+                const requestOptions: SerialPortRequestOptions = {};
+                const port = await serial.requestPort(requestOptions);
+                const options: SerialOptions = {
+                    baudrate: 460800,
+                    buffersize: 4096
+                };
+                return new WebSerialPackageIO(port, options);
+            } catch (e) {
+                console.log(`connection error`, e)
+            }
+        }
+        throw new Error("could not open serial port");
+    }
+
+    error(msg: string): any {
+        console.error(msg);
+        throw new Error(lf("error on brick ({0})", msg))
+    }
+
+    private openAsync() {
+        console.log(`serial: opening port`)
+        if (!!this._reader) return Promise.resolve();
+        this._reader = undefined;
+        this._writer = undefined;
+        return this.port.open(this.options)
+            .then(() => {
+                this.readSerialAsync();
+                return Promise.resolve();
+            });
+    }
+
+    private closeAsync() {
+        console.log(`serial: closing port`);
+        this.port.close();
+        this._reader = undefined;
+        this._writer = undefined;
+        return Promise.delay(500);
+    }
+
+    reconnectAsync(): Promise<void> {
+        return this.openAsync();
+    }
+
+    disconnectAsync(): Promise<void> {
+        return this.closeAsync();
+    }
+
+    sendPacketAsync(pkt: Uint8Array): Promise<void> {
+        if (!this._writer)
+            this._writer = this.port.writable.getWriter();
+        return this._writer.write(pkt);
+    }
+}
+
+function hf2Async() {
+    const pktIOAsync: Promise<pxt.HF2.PacketIO> = useWebSerial
+        ? WebSerialPackageIO.mkPacketIOAsync() : pxt.HF2.mkPacketIOAsync()
+    return pktIOAsync.then(h => {
+        let w = new Ev3Wrapper(h)
+        ev3 = w
+        return w.reconnectAsync(true)
+            .then(() => w)
+    })
+}
+
+let useHID = false;
+let useWebSerial = false;
+export function initAsync(): Promise<void> {
     if (pxt.U.isNodeJS) {
         // doesn't seem to work ATM
-        canHID = false
+        useHID = false
     } else {
-        const forceHexDownload = /forceHexDownload/i.test(window.location.href);
-        if (pxt.Cloud.isLocalHost() && pxt.Cloud.localToken && !forceHexDownload)
-            canHID = true
+        const nodehid = /nodehid/i.test(window.location.href);
+        if (pxt.BrowserUtils.isLocalHost() && pxt.Cloud.localToken && nodehid)
+            useHID = true;
     }
 
-    if (noHID)
-        canHID = false
+    if (WebSerialPackageIO.isSupported())
+        pxt.tickEvent("webserial.supported");
 
-    if (canHID) {
-        initPromise = hf2Async()
+    return Promise.resolve();
+}
+
+export function canUseWebSerial() {
+    return WebSerialPackageIO.isSupported();
+}
+
+export function enableWebSerialAsync() {
+    initPromise = undefined;
+    useWebSerial = WebSerialPackageIO.isSupported();
+    useHID = useWebSerial;
+    if (useWebSerial)
+        return initHidAsync().then(() => { });
+    else return Promise.resolve();
+}
+
+function cleanupAsync() {
+    if (ev3) {
+        console.log('cleanup previous port')
+        return ev3.disconnectAsync()
+            .catch(e => { })
+            .finally(() => { ev3 = undefined; });
+    }
+    return Promise.resolve();
+}
+
+let initPromise: Promise<Ev3Wrapper>
+function initHidAsync() { // needs to run within a click handler
+    if (initPromise)
+        return initPromise
+    if (useHID) {
+        initPromise = cleanupAsync()
+            .then(() => hf2Async())
             .catch(err => {
+                console.error(err);
                 initPromise = null
-                noHID = true
-                return Promise.reject(err)
+                useHID = false;
+                useWebSerial = false;
+                return Promise.reject(err);
             })
     } else {
-        noHID = true
+        useHID = false
+        useWebSerial = false;
         initPromise = Promise.reject(new Error("no HID"))
     }
-
-    return initPromise
+    return initPromise;
 }
 
 // this comes from aux/pxt.lms
+const fspath = "../prjs/BrkProg_SAVE/"
 const rbfTemplate = `
 4c45474f580000006d000100000000001c000000000000000e000000821b038405018130813e8053
 74617274696e672e2e2e0084006080XX00448581644886488405018130813e80427965210084000a
 `
 export function deployCoreAsync(resp: pxtc.CompileResult) {
-    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"
 
@@ -107,27 +266,41 @@ export function deployCoreAsync(resp: pxtc.CompileResult) {
         return Promise.resolve();
     }
 
-    if (noHID) return saveUF2Async()
+    if (!useHID) return saveUF2Async()
 
-    return initAsync()
+    pxt.tickEvent("webserial.flash");
+    let w: Ev3Wrapper;
+    return initHidAsync()
         .then(w_ => {
             w = w_
             if (w.isStreaming)
                 pxt.U.userError("please stop the program first")
-            return w.stopAsync()
+            return w.reconnectAsync(false)
+                .catch(e => {
+                    // user easily forgets to stop robot
+                    bluetoothTryAgainAsync().then(() => w.disconnectAsync())
+                        .then(() => Promise.delay(1000))
+                        .then(() => w.reconnectAsync());
+
+                    // nothing we can do
+                    return Promise.reject(e);
+                })
         })
+        .then(() => 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(() => Promise.delay(500))
         .then(() => {
+            pxt.tickEvent("webserial.success");
             return w.disconnectAsync()
             //return Promise.delay(1000).then(() => w.dmesgAsync())
         }).catch(e => {
-            // if we failed to initalize, retry
-            if (noHID)
-                return saveUF2Async()
-            else
-                return Promise.reject(e)
+            pxt.tickEvent("webserial.fail");
+            useHID = false;
+            useWebSerial = false;
+            // if we failed to initalize, tell the user to retry
+            return Promise.reject(e)
         })
 }

editor/dialogs.tsx

@@ -0,0 +1,145 @@
+import * as React from "react";
+import { canUseWebSerial, enableWebSerialAsync } from "./deploy";
+import { projectView } from "./extension";
+
+let confirmAsync: (options: any) => Promise<number>;
+
+export function bluetoothTryAgainAsync(): Promise<void> {
+    return confirmAsync({
+        header: lf("Bluetooth download failed..."),
+        jsx: <ul>
+            <li>{lf("Make sure to stop your program or exit portview on the EV3.")}</li>
+            <li>{lf("Check your battery level.")}</li>
+            <li>{lf("Close EV3 LabView or other MakeCode editor tabs.")}</li>
+        </ul>,
+        hasCloseIcon: false,
+        hideCancel: true,
+        hideAgree: false,
+        agreeLbl: lf("Try again")
+    }).then(r => {});
+}
+
+function enableWebSerialAndCompileAsync() {
+    return enableWebSerialAsync()
+        .then(() => Promise.delay(500))
+        .then(() => projectView.compile());
+}
+
+let bluetoothDialogShown = false;
+function explainWebSerialPairingAsync(): Promise<void> {
+    if (!confirmAsync || bluetoothDialogShown) return Promise.resolve();
+
+    bluetoothDialogShown = true;
+    return confirmAsync({
+        header: lf("Bluetooth pairing"),
+        hasCloseIcon: false,
+        hideCancel: true,
+        buttons: [{
+            label: lf("Help"),
+            icon: "question circle",
+            className: "lightgrey",
+            url: "/bluetooth"
+        }],
+        jsx: <p>
+            {lf("You will be prompted to select a serial port.")}
+            {pxt.BrowserUtils.isWindows()
+                ? lf("Look for 'Standard Serial over Bluetooth link'.")
+                : lf("Loop for 'cu.EV3-SerialPort'.")}
+            {lf("If you have paired multiple EV3, you might have to try out multiple ports until you find the correct one.")}
+        </p>
+    }).then(() => { })
+}
+
+export function showUploadDialogAsync(fn: string, url: string, _confirmAsync: (options: any) => Promise<number>): Promise<void> {
+    confirmAsync = _confirmAsync;
+    // https://msdn.microsoft.com/en-us/library/cc848897.aspx
+    // "For security reasons, data URIs are restricted to downloaded resources. 
+    // Data URIs cannot be used for navigation, for scripting, or to populate frame or iframe elements"
+    const downloadAgain = !pxt.BrowserUtils.isIE() && !pxt.BrowserUtils.isEdge();
+    const docUrl = pxt.appTarget.appTheme.usbDocs;
+
+    const jsx =
+        <div className="ui grid stackable">
+            <div className="column five wide" style={{ backgroundColor: "#E2E2E2" }}>
+                <div className="ui header">{lf("First time here?")}</div>
+                <strong style={{ fontSize: "small" }}>{lf("You must have version 1.10E or above of the firmware")}</strong>
+                <div style={{ justifyContent: "center", display: "flex", padding: "1rem" }}>
+                    <img className="ui image" src="/static/download/firmware.png" style={{ height: "100px" }} />
+                </div>
+                <a href="/troubleshoot" target="_blank">{lf("Check your firmware version here and update if needed")}</a>
+            </div>
+            <div className="column eleven wide">
+                <div className="ui grid">
+                    <div className="row">
+                        <div className="column">
+                            <div className="ui two column grid padded">
+                                <div className="column">
+                                    <div className="ui">
+                                        <div className="image">
+                                            <img className="ui medium rounded image" src="/static/download/connect.svg" style={{ height: "109px", width: "261px", marginBottom: "1rem" }} />
+                                        </div>
+                                        <div className="content">
+                                            <div className="description">
+                                                <span className="ui yellow circular label">1</span>
+                                                <strong>{lf("Connect the EV3 to your computer with a USB cable")}</strong>
+                                                <br />
+                                                <span style={{ fontSize: "small" }}>{lf("Use the miniUSB port on the top of the EV3 Brick")}</span>
+                                            </div>
+                                        </div>
+                                    </div>
+                                </div>
+                                <div className="column">
+                                    <div className="ui">
+                                        <div className="image">
+                                            <img className="ui medium rounded image" src="/static/download/transfer.svg" style={{ height: "109px", width: "261px", marginBottom: "1rem" }} />
+                                        </div>
+                                        <div className="content">
+                                            <div className="description">
+                                                <span className="ui yellow circular label">2</span>
+                                                <strong>{lf("Move the .uf2 file to the EV3 Brick")}</strong>
+                                                <br />
+                                                <span style={{ fontSize: "small" }}>{lf("Locate the downloaded .uf2 file and drag it to the EV3 USB drive")}</span>
+                                            </div>
+                                        </div>
+                                    </div>
+                                </div>
+                            </div>
+                        </div>
+                    </div>
+                </div>
+            </div>
+        </div>;
+
+    return confirmAsync({
+        header: lf("Download to your EV3"),
+        jsx,
+        hasCloseIcon: true,
+        hideCancel: true,
+        hideAgree: false,
+        agreeLbl: lf("I got it"),
+        className: 'downloaddialog',
+        buttons: [canUseWebSerial() ? {
+            label: lf("Bluetooth"),
+            icon: "bluetooth",
+            className: "bluetooth focused",
+            onclick: () => {
+                pxt.tickEvent("bluetooth.enable");
+                explainWebSerialPairingAsync()
+                    .then(() => enableWebSerialAndCompileAsync())
+                    .done();
+            }
+        } : undefined, downloadAgain ? {
+            label: fn,
+            icon: "download",
+            className: "lightgrey focused",
+            url,
+            fileName: fn
+        } : undefined, docUrl ? {
+            label: lf("Help"),
+            icon: "help",
+            className: "lightgrey",
+            url: docUrl
+        } : undefined]
+        //timeout: 20000
+    }).then(() => { });
+}

editor/extension.ts

@@ -1,113 +1,26 @@
+/// <reference path="../node_modules/pxt-core/localtypings/pxtarget.d.ts" />
+/// <reference path="../node_modules/pxt-core/built/pxtblocks.d.ts" />
+/// <reference path="../node_modules/pxt-core/built/pxtcompiler.d.ts" />
+/// <reference path="../node_modules/pxt-core/built/pxtlib.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 { showUploadDialogAsync } from "./dialogs";
+
+export let projectView: pxt.editor.IProjectView;
 
 pxt.editor.initExtensionsAsync = function (opts: pxt.editor.ExtensionOptions): Promise<pxt.editor.ExtensionResult> {
     pxt.debug('loading pxt-ev3 target extensions...')
+    projectView = opts.projectView;
+
     const res: pxt.editor.ExtensionResult = {
-        deployCoreAsync,
-        showUploadInstructionsAsync: (fn: string, url: string, confirmAsync: (options: any) => Promise<number>) => {
-            let resolve: (thenableOrResult?: void | PromiseLike<void>) => void;
-            let reject: (error: any) => void;
-            const deferred = new Promise<void>((res, rej) => {
-                resolve = res;
-                reject = rej;
-            });
-            const boardName = pxt.appTarget.appTheme.boardName || "???";
-            const boardDriveName = pxt.appTarget.appTheme.driveDisplayName || pxt.appTarget.compile.driveName || "???";
-
-            // https://msdn.microsoft.com/en-us/library/cc848897.aspx
-            // "For security reasons, data URIs are restricted to downloaded resources. 
-            // Data URIs cannot be used for navigation, for scripting, or to populate frame or iframe elements"
-            const downloadAgain = !pxt.BrowserUtils.isIE() && !pxt.BrowserUtils.isEdge();
-            const docUrl = pxt.appTarget.appTheme.usbDocs;
-            const saveAs = pxt.BrowserUtils.hasSaveAs();
-
-            const htmlBody = `
-            <div class="ui grid stackable">
-                <div class="column five wide" style="background-color: #E2E2E2;">
-                    <div class="ui header">${lf("First time here?")}</div>
-                    <strong style="font-size:small">${lf("You must have version 1.10E or above of the firmware")}</strong>
-                    <div style="justify-content: center;display: flex;padding: 1rem;">
-                        <img class="ui image" src="/static/download/firmware.png" style="height:100px;" />
-                    </div>
-                    <a href="/troubleshoot" target="_blank">${lf("Check your firmware version here and update if needed")}</a>
-                </div>
-                <div class="column eleven wide">
-                    <div class="ui grid">
-                        <div class="row">
-                            <div class="column">
-                                <div class="ui two column grid padded">
-                                    <div class="column">
-                                        <div class="ui">
-                                            <div class="image">
-                                                <img class="ui medium rounded image" src="/static/download/connect.svg" style="height:109px;width:261px;margin-bottom:1rem;" />
-                                            </div>
-                                            <div class="content">
-                                                <div class="description">
-                                                    <span class="ui yellow circular label">1</span>
-                                                    <strong>${lf("Connect the EV3 to your computer with a USB cable")}</strong>
-                                                    <br />
-                                                    <span style="font-size:small">${lf("Use the miniUSB port on the top of the EV3 Brick")}</span>
-                                                </div>
-                                            </div>
-                                        </div>
-                                    </div>
-                                    <div class="column">
-                                        <div class="ui">
-                                            <div class="image">
-                                                <img class="ui medium rounded image" src="/static/download/transfer.svg" style="height:109px;width:261px;margin-bottom:1rem;" />
-                                            </div>
-                                            <div class="content">
-                                                <div class="description">
-                                                    <span class="ui yellow circular label">2</span>
-                                                    <strong>${lf("Move the .uf2 file to the EV3 Brick")}</strong>
-                                                    <br />
-                                                    <span style="font-size:small">${lf("Locate the downloaded .uf2 file and drag it to the EV3 USB drive")}</span>
-                                                </div>
-                                            </div>
-                                        </div>
-                                    </div>
-                                </div>
-                            </div>
-                        </div>
-                    </div>
-                </div>
-            </div>`;
-
-            return confirmAsync({
-                header: lf("Download to your EV3"),
-                htmlBody,
-                hasCloseIcon: true,
-                hideCancel: true,
-                hideAgree: false,
-                agreeLbl: lf("I got it"),
-                className: 'downloaddialog',
-                buttons: [downloadAgain ? {
-                    label: fn,
-                    icon: "download",
-                    className: "lightgrey focused",
-                    url,
-                    fileName: fn
-                } : undefined, docUrl ? {
-                    label: lf("Help"),
-                    icon: "help",
-                    className: "lightgrey",
-                    url: docUrl
-                } : undefined]
-                //timeout: 20000
-            }).then(() => { });
-        }
+        deployAsync: deployCoreAsync,
+        showUploadInstructionsAsync: showUploadDialogAsync
     };
+
     initAsync().catch(e => {
         // probably no HID - we'll try this again upon deployment
     })
     return Promise.resolve<pxt.editor.ExtensionResult>(res);
 }
-
-// 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")

editor/tsconfig.json

@@ -1,14 +1,17 @@
 {
     "compilerOptions": {
         "target": "es5",
-        "noImplicitAny": false,
+        "noImplicitAny": true,
         "noImplicitReturns": true,
+        "noImplicitThis": true,
+        "declaration": true,
         "module": "commonjs",
+        "moduleResolution": "node",
+        "isolatedModules": false,
         "outDir": "../built/editor",
         "rootDir": ".",
         "newLine": "LF",
         "sourceMap": false,
-        "allowSyntheticDefaultImports": true,
-        "declaration": true
+        "jsx": "react"
     }
 }

editor/wrap.ts

@@ -1,285 +1,286 @@
-namespace pxt.editor {
-    import HF2 = pxt.HF2
-    import U = pxt.U
+/**
+ * See https://www.lego.com/cdn/cs/set/assets/blt6879b00ae6951482/LEGO_MINDSTORMS_EV3_Communication_Developer_Kit.pdf
+ * https://github.com/mindboards/ev3sources/blob/master/lms2012/lms2012/source/bytecodes.h#L146
+ */
+import HF2 = pxt.HF2
+import U = pxt.U
 
-    function log(msg: string) {
-        pxt.log("EWRAP: " + msg)
+function log(msg: string) {
+    pxt.log("serial: " + msg)
+}
+
+export interface DirEntry {
+    name: string;
+    md5?: string;
+    size?: number;
+}
+
+const runTemplate = "C00882010084XX0060640301606400"
+const usbMagic = 0x3d3f
+const DIRECT_COMMAND_NO_REPLY = 0x80
+
+export class Ev3Wrapper {
+    msgs = new U.PromiseBuffer<Uint8Array>()
+    private cmdSeq = U.randomUint32() & 0xffff;
+    private lock = new U.PromiseQueue();
+    isStreaming = false;
+    dataDump = /talkdbg=1/.test(window.location.href);
+
+    constructor(public io: pxt.HF2.PacketIO) {
+        io.onData = buf => {
+            buf = buf.slice(0, HF2.read16(buf, 0) + 2)
+            if (HF2.read16(buf, 4) == usbMagic) {
+                let code = HF2.read16(buf, 6)
+                let payload = buf.slice(8)
+                if (code == 1) {
+                    let str = U.uint8ArrayToString(payload)
+                    if (U.isNodeJS)
+                        pxt.debug("SERIAL: " + str.replace(/\n+$/, ""))
+                    else
+                        window.postMessage({
+                            type: 'serial',
+                            id: 'n/a', // TODO?
+                            data: str
+                        }, "*")
+                } else
+                    pxt.debug("Magic: " + code + ": " + U.toHex(payload))
+                return
+            }
+            if (this.dataDump)
+                log("RECV: " + U.toHex(buf))
+            this.msgs.push(buf)
+        }
     }
 
-    export interface DirEntry {
-        name: string;
-        md5?: string;
-        size?: number;
+    private allocCore(addSize: number, replyType: number) {
+        let len = 5 + addSize
+        let buf = new Uint8Array(len)
+        HF2.write16(buf, 0, len - 2)  // pktLen
+        HF2.write16(buf, 2, this.cmdSeq++) // msgCount
+        buf[4] = replyType
+        return buf
     }
 
-    const runTemplate = "C00882010084XX0060640301606400"
-    const usbMagic = 0x3d3f
+    private allocSystem(addSize: number, cmd: number, replyType = 1) {
+        let buf = this.allocCore(addSize + 1, replyType)
+        buf[5] = cmd
+        return buf
+    }
 
-    export class Ev3Wrapper {
-        msgs = new U.PromiseBuffer<Uint8Array>()
-        private cmdSeq = U.randomUint32() & 0xffff;
-        private lock = new U.PromiseQueue();
-        isStreaming = false;
-        dataDump = false;
+    private allocCustom(code: number, addSize = 0) {
+        let buf = this.allocCore(1 + 2 + addSize, 0)
+        HF2.write16(buf, 4, usbMagic)
+        HF2.write16(buf, 6, code)
+        return buf
+    }
 
-        constructor(public io: pxt.HF2.PacketIO) {
-            io.onData = buf => {
-                buf = buf.slice(0, HF2.read16(buf, 0) + 2)
-                if (HF2.read16(buf, 4) == usbMagic) {
-                    let code = HF2.read16(buf, 6)
-                    let payload = buf.slice(8)
-                    if (code == 1) {
-                        let str = U.uint8ArrayToString(payload)
-                        if (Util.isNodeJS)
-                            console.log("SERIAL: " + str.replace(/\n+$/, ""))
-                        else
-                            window.postMessage({
-                                type: 'serial',
-                                id: 'n/a', // TODO?
-                                data: str
-                            }, "*")
-                    } else
-                        console.log("Magic: " + code + ": " + U.toHex(payload))
-                    return
-                }
-                if (this.dataDump)
-                    log("RECV: " + U.toHex(buf))
-                this.msgs.push(buf)
-            }
-        }
-
-        private allocCore(addSize: number, replyType: number) {
-            let len = 5 + addSize
-            let buf = new Uint8Array(len)
-            HF2.write16(buf, 0, len - 2)  // pktLen
-            HF2.write16(buf, 2, this.cmdSeq++) // msgCount
-            buf[4] = replyType
-            return buf
-        }
-
-        private allocSystem(addSize: number, cmd: number, replyType = 1) {
-            let buf = this.allocCore(addSize + 1, replyType)
-            buf[5] = cmd
-            return buf
-        }
-
-        private allocCustom(code: number, addSize = 0) {
-            let buf = this.allocCore(1 + 2 + addSize, 0)
-            HF2.write16(buf, 4, usbMagic)
-            HF2.write16(buf, 6, code)
-            return buf
-        }
-
-        stopAsync() {
-            return this.isVmAsync()
-                .then(vm => {
-                    if (vm) return Promise.resolve();
-                    log(`stopping PXT app`)
-                    let buf = this.allocCustom(2)
-                    return this.justSendAsync(buf)
-                        .then(() => Promise.delay(500))
-                })
-        }
-
-        dmesgAsync() {
-            log(`asking for DMESG buffer over serial`)
-            let buf = this.allocCustom(3)
-            return this.justSendAsync(buf)
-        }
-
-        runAsync(path: string) {
-            let codeHex = runTemplate.replace("XX", U.toHex(U.stringToUint8Array(path)))
-            let code = U.fromHex(codeHex)
-            let pkt = this.allocCore(2 + code.length, 0)
-            HF2.write16(pkt, 5, 0x0800)
-            U.memcpy(pkt, 7, code)
-            log(`run ${path}`)
-            return this.justSendAsync(pkt)
-        }
-
-        justSendAsync(buf: Uint8Array) {
-            return this.lock.enqueue("talk", () => {
-                this.msgs.drain()
-                if (this.dataDump)
-                    log("SEND: " + U.toHex(buf))
-                return this.io.sendPacketAsync(buf)
-            })
-        }
-
-        talkAsync(buf: Uint8Array, altResponse = 0) {
-            return this.lock.enqueue("talk", () => {
-                this.msgs.drain()
-                if (this.dataDump)
-                    log("TALK: " + U.toHex(buf))
-                return this.io.sendPacketAsync(buf)
-                    .then(() => this.msgs.shiftAsync(1000))
-                    .then(resp => {
-                        if (resp[2] != buf[2] || resp[3] != buf[3])
-                            U.userError("msg count de-sync")
-                        if (buf[4] == 1) {
-                            if (altResponse != -1 && resp[5] != buf[5])
-                                U.userError("cmd de-sync")
-                            if (altResponse != -1 && resp[6] != 0 && resp[6] != altResponse)
-                                U.userError("cmd error: " + resp[6])
-                        }
-                        return resp
-                    })
-            })
-        }
-
-        flashAsync(path: string, file: Uint8Array) {
-            log(`write ${file.length} bytes to ${path}`)
-
-            let handle = -1
-
-            let loopAsync = (pos: number): Promise<void> => {
-                if (pos >= file.length) return Promise.resolve()
-                let size = file.length - pos
-                if (size > 1000) size = 1000
-                let upl = this.allocSystem(1 + size, 0x93, 0x1)
-                upl[6] = handle
-                U.memcpy(upl, 6 + 1, file, pos, size)
-                return this.talkAsync(upl, 8) // 8=EOF
-                    .then(() => loopAsync(pos + size))
-            }
-
-            let begin = this.allocSystem(4 + path.length + 1, 0x92)
-            HF2.write32(begin, 6, file.length) // fileSize
-            U.memcpy(begin, 10, U.stringToUint8Array(path))
-            return this.lock.enqueue("file", () =>
-                this.talkAsync(begin)
-                    .then(resp => {
-                        handle = resp[7]
-                        return loopAsync(0)
-                    }))
-        }
-
-        lsAsync(path: string): Promise<DirEntry[]> {
-            let lsReq = this.allocSystem(2 + path.length + 1, 0x99)
-            HF2.write16(lsReq, 6, 1024) // maxRead
-            U.memcpy(lsReq, 8, U.stringToUint8Array(path))
-
-            return this.talkAsync(lsReq, 8)
-                .then(resp =>
-                    U.uint8ArrayToString(resp.slice(12)).split(/\n/).map(s => {
-                        if (!s) return null as DirEntry
-                        let m = /^([A-F0-9]+) ([A-F0-9]+) ([^\/]*)$/.exec(s)
-                        if (m)
-                            return {
-                                md5: m[1],
-                                size: parseInt(m[2], 16),
-                                name: m[3]
-                            }
-                        else
-                            return {
-                                name: s.replace(/\/$/, "")
-                            }
-                    }).filter(v => !!v))
-        }
-
-        rmAsync(path: string): Promise<void> {
-            log(`rm ${path}`)
-            let rmReq = this.allocSystem(path.length + 1, 0x9c)
-            U.memcpy(rmReq, 6, U.stringToUint8Array(path))
-
-            return this.talkAsync(rmReq, 5)
-                .then(resp => { })
-        }
-
-        isVmAsync(): Promise<boolean> {
-            let path = "/no/such/dir"
-            let mkdirReq = this.allocSystem(path.length + 1, 0x9b)
-            U.memcpy(mkdirReq, 6, U.stringToUint8Array(path))
-            return this.talkAsync(mkdirReq, -1)
-                .then(resp => {
-                    let isVM = resp[6] == 0x05
-                    log(`${isVM ? "PXT app" : "VM"} running`)
-                    return isVM
-                })
-        }
-
-        private streamFileOnceAsync(path: string, cb: (d: Uint8Array) => void) {
-            let fileSize = 0
-            let filePtr = 0
-            let handle = -1
-            let resp = (buf: Uint8Array): Promise<void> => {
-                if (buf[6] == 2) {
-                    // handle not ready - file is missing
-                    this.isStreaming = false
-                    return Promise.resolve()
-                }
-
-                if (buf[6] != 0 && buf[6] != 8)
-                    U.userError("bad response when streaming file: " + buf[6] + " " + U.toHex(buf))
-
-                this.isStreaming = true
-                fileSize = HF2.read32(buf, 7)
-                if (handle == -1) {
-                    handle = buf[11]
-                    log(`stream on, handle=${handle}`)
-                }
-                let data = buf.slice(12)
-                filePtr += data.length
-                if (data.length > 0)
-                    cb(data)
-
-                if (buf[6] == 8) {
-                    // end of file
-                    this.isStreaming = false
-                    return this.rmAsync(path)
-                }
-
-                let contFileReq = this.allocSystem(1 + 2, 0x97)
-                HF2.write16(contFileReq, 7, 1000) // maxRead
-                contFileReq[6] = handle
-                return Promise.delay(data.length > 0 ? 0 : 500)
-                    .then(() => this.talkAsync(contFileReq, -1))
-                    .then(resp)
-            }
-
-            let getFileReq = this.allocSystem(2 + path.length + 1, 0x96)
-            HF2.write16(getFileReq, 6, 1000) // maxRead
-            U.memcpy(getFileReq, 8, U.stringToUint8Array(path))
-            return this.talkAsync(getFileReq, -1).then(resp)
-        }
-
-        streamFileAsync(path: string, cb: (d: Uint8Array) => void) {
-            let loop = (): Promise<void> =>
-                this.lock.enqueue("file", () =>
-                    this.streamFileOnceAsync(path, cb))
+    stopAsync() {
+        return this.isVmAsync()
+            .then(vm => {
+                if (vm) return Promise.resolve();
+                log(`stopping PXT app`)
+                let buf = this.allocCustom(2)
+                return this.justSendAsync(buf)
                     .then(() => Promise.delay(500))
-                    .then(loop)
-            return loop()
+            })
+    }
+
+    dmesgAsync() {
+        log(`asking for DMESG buffer over serial`)
+        let buf = this.allocCustom(3)
+        return this.justSendAsync(buf)
+    }
+
+    runAsync(path: string) {
+        let codeHex = runTemplate.replace("XX", U.toHex(U.stringToUint8Array(path)))
+        let code = U.fromHex(codeHex)
+        let pkt = this.allocCore(2 + code.length, DIRECT_COMMAND_NO_REPLY)
+        HF2.write16(pkt, 5, 0x0800)
+        U.memcpy(pkt, 7, code)
+        log(`run ${path}`)
+        return this.justSendAsync(pkt)
+    }
+
+    justSendAsync(buf: Uint8Array) {
+        return this.lock.enqueue("talk", () => {
+            this.msgs.drain()
+            if (this.dataDump)
+                log("SEND: " + U.toHex(buf))
+            return this.io.sendPacketAsync(buf)
+        })
+    }
+
+    talkAsync(buf: Uint8Array, altResponse = 0) {
+        return this.lock.enqueue("talk", () => {
+            this.msgs.drain()
+            if (this.dataDump)
+                log("TALK: " + U.toHex(buf))
+            return this.io.sendPacketAsync(buf)
+                .then(() => this.msgs.shiftAsync(1000))
+                .then(resp => {
+                    if (resp[2] != buf[2] || resp[3] != buf[3])
+                        U.userError("msg count de-sync")
+                    if (buf[4] == 1) {
+                        if (altResponse != -1 && resp[5] != buf[5])
+                            U.userError("cmd de-sync")
+                        if (altResponse != -1 && resp[6] != 0 && resp[6] != altResponse)
+                            U.userError("cmd error: " + resp[6])
+                    }
+                    return resp
+                })
+        })
+    }
+
+    flashAsync(path: string, file: Uint8Array) {
+        log(`write ${file.length} bytes to ${path}`)
+
+        let handle = -1
+
+        let loopAsync = (pos: number): Promise<void> => {
+            if (pos >= file.length) return Promise.resolve()
+            let size = file.length - pos
+            if (size > 1000) size = 1000
+            let upl = this.allocSystem(1 + size, 0x93, 0x1)
+            upl[6] = handle
+            U.memcpy(upl, 6 + 1, file, pos, size)
+            return this.talkAsync(upl, 8) // 8=EOF
+                .then(() => loopAsync(pos + size))
         }
 
+        let begin = this.allocSystem(4 + path.length + 1, 0x92)
+        HF2.write32(begin, 6, file.length) // fileSize
+        U.memcpy(begin, 10, U.stringToUint8Array(path))
+        return this.lock.enqueue("file", () =>
+            this.talkAsync(begin)
+                .then(resp => {
+                    handle = resp[7]
+                    return loopAsync(0)
+                }))
+    }
 
-        downloadFileAsync(path: string, cb: (d: Uint8Array) => void) {
-            return this.lock.enqueue("file", () =>
-                    this.streamFileOnceAsync(path, cb))
-        }
-        
+    lsAsync(path: string): Promise<DirEntry[]> {
+        let lsReq = this.allocSystem(2 + path.length + 1, 0x99)
+        HF2.write16(lsReq, 6, 1024) // maxRead
+        U.memcpy(lsReq, 8, U.stringToUint8Array(path))
 
-        private initAsync() {
-            return Promise.resolve()
+        return this.talkAsync(lsReq, 8)
+            .then(resp =>
+                U.uint8ArrayToString(resp.slice(12)).split(/\n/).map(s => {
+                    if (!s) return null as DirEntry
+                    let m = /^([A-F0-9]+) ([A-F0-9]+) ([^\/]*)$/.exec(s)
+                    if (m)
+                        return {
+                            md5: m[1],
+                            size: parseInt(m[2], 16),
+                            name: m[3]
+                        }
+                    else
+                        return {
+                            name: s.replace(/\/$/, "")
+                        }
+                }).filter(v => !!v))
+    }
+
+    rmAsync(path: string): Promise<void> {
+        log(`rm ${path}`)
+        let rmReq = this.allocSystem(path.length + 1, 0x9c)
+        U.memcpy(rmReq, 6, U.stringToUint8Array(path))
+
+        return this.talkAsync(rmReq, 5)
+            .then(resp => { })
+    }
+
+    isVmAsync(): Promise<boolean> {
+        let path = "/no/such/dir"
+        let mkdirReq = this.allocSystem(path.length + 1, 0x9b)
+        U.memcpy(mkdirReq, 6, U.stringToUint8Array(path))
+        return this.talkAsync(mkdirReq, -1)
+            .then(resp => {
+                let isVM = resp[6] == 0x05
+                log(`${isVM ? "PXT app" : "VM"} running`)
+                return isVM
+            })
+    }
+
+    private streamFileOnceAsync(path: string, cb: (d: Uint8Array) => void) {
+        let fileSize = 0
+        let filePtr = 0
+        let handle = -1
+        let resp = (buf: Uint8Array): Promise<void> => {
+            if (buf[6] == 2) {
+                // handle not ready - file is missing
+                this.isStreaming = false
+                return Promise.resolve()
+            }
+
+            if (buf[6] != 0 && buf[6] != 8)
+                U.userError("bad response when streaming file: " + buf[6] + " " + U.toHex(buf))
+
+            this.isStreaming = true
+            fileSize = HF2.read32(buf, 7)
+            if (handle == -1) {
+                handle = buf[11]
+                log(`stream on, handle=${handle}`)
+            }
+            let data = buf.slice(12)
+            filePtr += data.length
+            if (data.length > 0)
+                cb(data)
+
+            if (buf[6] == 8) {
+                // end of file
+                this.isStreaming = false
+                return this.rmAsync(path)
+            }
+
+            let contFileReq = this.allocSystem(1 + 2, 0x97)
+            HF2.write16(contFileReq, 7, 1000) // maxRead
+            contFileReq[6] = handle
+            return Promise.delay(data.length > 0 ? 0 : 500)
+                .then(() => this.talkAsync(contFileReq, -1))
+                .then(resp)
         }
 
-        private resetState() {
+        let getFileReq = this.allocSystem(2 + path.length + 1, 0x96)
+        HF2.write16(getFileReq, 6, 1000) // maxRead
+        U.memcpy(getFileReq, 8, U.stringToUint8Array(path))
+        return this.talkAsync(getFileReq, -1).then(resp)
+    }
 
-        }
-
-        reconnectAsync(first = false): Promise<void> {
-            this.resetState()
-            if (first) return this.initAsync()
-            log(`reconnect`);
-            return this.io.reconnectAsync()
-                .then(() => this.initAsync())
-        }
-
-        disconnectAsync() {
-            log(`disconnect`);
-            return this.io.disconnectAsync()
-        }
+    streamFileAsync(path: string, cb: (d: Uint8Array) => void) {
+        let loop = (): Promise<void> =>
+            this.lock.enqueue("file", () =>
+                this.streamFileOnceAsync(path, cb))
+                .then(() => Promise.delay(500))
+                .then(loop)
+        return loop()
     }
 
 
-}
+    downloadFileAsync(path: string, cb: (d: Uint8Array) => void) {
+        return this.lock.enqueue("file", () =>
+            this.streamFileOnceAsync(path, cb))
+    }
+
+
+    private initAsync() {
+        return Promise.resolve()
+    }
+
+    private resetState() {
+
+    }
+
+    reconnectAsync(first = false): Promise<void> {
+        this.resetState()
+        if (first) return this.initAsync()
+        log(`reconnect`);
+        return this.io.reconnectAsync()
+            .then(() => this.initAsync())
+    }
+
+    disconnectAsync() {
+        log(`disconnect`);
+        return this.io.disconnectAsync()
+    }
+}

fieldeditors/extension.ts

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

fieldeditors/field_brickbuttons.ts

@@ -121,17 +121,17 @@ export class FieldBrickButtons extends Blockly.FieldDropdown implements Blockly.
         Blockly.DropDownDiv.setColour('#ffffff', '#dddddd');
 
         // Calculate positioning based on the field position.
-        var scale = this.sourceBlock_.workspace.scale;
-        var bBox = { width: this.size_.width, height: this.size_.height };
+        let scale = (<Blockly.WorkspaceSvg>this.sourceBlock_.workspace).scale;
+        let 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;
+        let position = this.fieldGroup_.getBoundingClientRect();
+        let primaryX = position.left + bBox.width / 2;
+        let primaryY = position.top + bBox.height;
+        let secondaryX = primaryX;
+        let 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).setBoundsElement((<Blockly.WorkspaceSvg>this.sourceBlock_.workspace).getParentSvg().parentNode);
         (Blockly.DropDownDiv as any).show(this, primaryX, primaryY, secondaryX, secondaryY,
             this.onHide_.bind(this));
     }
@@ -152,9 +152,10 @@ export class FieldBrickButtons extends Blockly.FieldDropdown implements Blockly.
      * 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');
-        Blockly.DropDownDiv.getContentDiv().style.width = '';
+        const content = Blockly.DropDownDiv.getContentDiv();
+        content.removeAttribute('role');
+        content.removeAttribute('aria-haspopup');
+        content.removeAttribute('aria-activedescendant');
+        (content as HTMLElement).style.width = '';
     };
 }

fieldeditors/field_color.ts

@@ -44,7 +44,7 @@ export class FieldColorEnum extends pxtblockly.FieldColorNumber implements Block
      * @return {string} Current colour in '#rrggbb' format.
      */
     getValue(opt_asHex?: boolean) {
-        var colour = this.mapColour(this.colour_);
+        const colour = this.mapColour(this.value_);
         if (!opt_asHex && colour.indexOf('#') > -1) {
             return `0x${colour.replace(/^#/, '')}`;
         }
@@ -56,13 +56,13 @@ export class FieldColorEnum extends pxtblockly.FieldColorNumber implements Block
      * @param {string} colour The new colour in '#rrggbb' format.
      */
     setValue(colorStr: string) {
-        var colour = this.mapEnum(colorStr);
+        let colour = this.mapEnum(colorStr);
         if (this.sourceBlock_ && Blockly.Events.isEnabled() &&
-            this.colour_ != colour) {
+            this.value_ != colour) {
             Blockly.Events.fire(new (Blockly as any).Events.BlockChange(
-                this.sourceBlock_, 'field', this.name, this.colour_, colour));
+                this.sourceBlock_, 'field', this.name, this.value_, colour));
         }
-        this.colour_ = colour;
+        this.value_ = colour;
         if (this.sourceBlock_) {
             this.sourceBlock_.setColour(colour, colour, colour);
         }

fieldeditors/field_motors.ts

@@ -46,31 +46,31 @@ export class FieldMotors extends Blockly.FieldDropdown implements Blockly.FieldC
         (this as any).arrowX_ = 0;
         /** @type {Number} */
         this.arrowY_ = 11;
-        this.arrow_ = Blockly.utils.createSvgElement('image', {
+        this.arrow_ = Blockly.utils.dom.createSvgElement('image', {
             'height': (this as any).arrowSize_ + 'px',
             'width': (this as any).arrowSize_ + 'px'
-        });
+        }, null);
         this.arrow_.setAttributeNS('http://www.w3.org/1999/xlink',
             'xlink:href', (Blockly.FieldDropdown as any).DROPDOWN_SVG_DATAURI);
 
-        this.arrow2_ = Blockly.utils.createSvgElement('image', {
+        this.arrow2_ = <SVGImageElement>Blockly.utils.dom.createSvgElement('image', {
             'height': (this as any).arrowSize_ + 'px',
             'width': (this as any).arrowSize_ + 'px'
-        });
+        }, null);
         this.arrow2_.setAttributeNS('http://www.w3.org/1999/xlink',
             'xlink:href', (Blockly.FieldDropdown as any).DROPDOWN_SVG_DATAURI);
         (this as any).className_ += ' blocklyDropdownText';
 
         // Build the DOM.
-        this.fieldGroup_ = Blockly.utils.createSvgElement('g', {}, null);
+        this.fieldGroup_ = Blockly.utils.dom.createSvgElement('g', {}, null);
         if (!this.visible_) {
             (this.fieldGroup_ as any).style.display = 'none';
         }
         // Adjust X to be flipped for RTL. Position is relative to horizontal start of source block.
-        var size = this.getSize();
-        var fieldX = (this.sourceBlock_.RTL) ? -size.width / 2 : size.width / 2;
+        let size = this.getSize();
+        let fieldX = (this.sourceBlock_.RTL) ? -size.width / 2 : size.width / 2;
         /** @type {!Element} */
-        this.textElement_ = Blockly.utils.createSvgElement('text',
+        this.textElement_ = Blockly.utils.dom.createSvgElement('text',
             {
                 'class': (this as any).className_,
                 'x': fieldX,
@@ -79,7 +79,7 @@ export class FieldMotors extends Blockly.FieldDropdown implements Blockly.FieldC
             },
             this.fieldGroup_);
         fieldX += 10; // size of first group.
-        this.textElement2_ = Blockly.utils.createSvgElement('text',
+        this.textElement2_ = <SVGTextElement>Blockly.utils.dom.createSvgElement('text',
             {
                 'class': (this as any).className_,
                 'x': fieldX,
@@ -89,17 +89,17 @@ export class FieldMotors extends Blockly.FieldDropdown implements Blockly.FieldC
             this.fieldGroup_);
 
         this.updateEditable();
-        this.sourceBlock_.getSvgRoot().appendChild(this.fieldGroup_);
+        (this.sourceBlock_ as Blockly.BlockSvg).getSvgRoot().appendChild(this.fieldGroup_);
         // Force a render.
         this.render_();
-        this.size_.width = 0;
+        this.isDirty_ = true;
         (this as any).mouseDownWrapper_ =
             Blockly.bindEventWithChecks_((this as any).getClickTarget_(), 'mousedown', this,
                 (this as any).onMouseDown_);
 
         // Add second dropdown 
         if (this.shouldShowRect_()) {
-            this.box_ = Blockly.utils.createSvgElement('rect', {
+            this.box_ = <SVGRectElement>Blockly.utils.dom.createSvgElement('rect', {
                 'rx': (Blockly.BlockSvg as any).CORNER_RADIUS,
                 'ry': (Blockly.BlockSvg as any).CORNER_RADIUS,
                 'x': 0,
@@ -112,7 +112,7 @@ export class FieldMotors extends Blockly.FieldDropdown implements Blockly.FieldC
                 'fill-opacity': 1
             }, null);
             this.fieldGroup_.insertBefore(this.box_, this.textElement_);
-            this.box2_ = Blockly.utils.createSvgElement('rect', {
+            this.box2_ = <SVGRectElement>Blockly.utils.dom.createSvgElement('rect', {
                 'rx': (Blockly.BlockSvg as any).CORNER_RADIUS,
                 'ry': (Blockly.BlockSvg as any).CORNER_RADIUS,
                 'x': 0,
@@ -128,7 +128,7 @@ export class FieldMotors extends Blockly.FieldDropdown implements Blockly.FieldC
         }
 
         // Force a reset of the text to add the arrow.
-        var text = this.text_;
+        let text = this.text_;
         this.text_ = null;
         this.setText(text);
     }
@@ -149,9 +149,9 @@ export class FieldMotors extends Blockly.FieldDropdown implements Blockly.FieldC
     getFirstValueI11n(value: string) {
         const firstValue = this.getFirstValue(value);
         const motorOptions = {
-            'medium motor': lf('medium motor'),
-            'large motor': lf('large motor'),
-            'large motors': lf('large motors')
+            'medium motor': lf("medium motor"),
+            'large motor': lf("large motor"),
+            'large motors': lf("large motors")
         }
         return motorOptions[firstValue];
     }
@@ -179,7 +179,7 @@ export class FieldMotors extends Blockly.FieldDropdown implements Blockly.FieldC
             // Not rendered yet.
             return;
         }
-        var text = this.text_;
+        let text = this.text_;
         if (text.length > this.maxDisplayLength) {
             // Truncate displayed string and add an ellipsis ('...').
             text = text.substring(0, this.maxDisplayLength - 2) + '\u2026';
@@ -200,11 +200,11 @@ export class FieldMotors extends Blockly.FieldDropdown implements Blockly.FieldC
             // Prevent the field from disappearing if empty.
             text = Blockly.Field.NBSP;
         }
-        var textNode = document.createTextNode(text);
+        let textNode = document.createTextNode(text);
         this.textElement2_.appendChild(textNode);
 
         // Cached width is obsolete.  Clear it.
-        this.size_.width = 0;
+        this.isDirty_ = true;
     };
 
     patchDualMotorText(text: string) {
@@ -233,8 +233,8 @@ export class FieldMotors extends Blockly.FieldDropdown implements Blockly.FieldC
         if (this.textElement2_) {
             this.textElement2_.parentNode.appendChild(this.arrow2_);
         }
-        if (this.sourceBlock_ && this.sourceBlock_.rendered) {
-            this.sourceBlock_.render();
+        if (this.sourceBlock_ && (<Blockly.BlockSvg>this.sourceBlock_).rendered) {
+            (<Blockly.BlockSvg>this.sourceBlock_).render();
             this.sourceBlock_.bumpNeighbours_();
         }
     }
@@ -244,7 +244,7 @@ export class FieldMotors extends Blockly.FieldDropdown implements Blockly.FieldC
             return 0;
         }
 
-        var addedWidth = 0;
+        let addedWidth = 0;
         if (this.sourceBlock_.RTL) {
             (this as any).arrow2X_ = (this as any).arrowSize_ - (Blockly.BlockSvg as any).DROPDOWN_ARROW_PADDING;
             addedWidth = (this as any).arrowSize_ + (Blockly.BlockSvg as any).DROPDOWN_ARROW_PADDING;
@@ -263,10 +263,10 @@ export class FieldMotors extends Blockly.FieldDropdown implements Blockly.FieldC
         return addedWidth;
     };
 
-    updateWidth() {
+    updateSize_() {
         // Calculate width of field
-        var width = Blockly.Field.getCachedWidth(this.textElement_);
-        var width2 = Blockly.Field.getCachedWidth(this.textElement2_);
+        let width = Blockly.Field.getCachedWidth(this.textElement_);
+        let width2 = Blockly.Field.getCachedWidth(this.textElement2_);
 
         // Add padding to left and right of text.
         if (this.EDITABLE) {
@@ -311,15 +311,15 @@ export class FieldMotors extends Blockly.FieldDropdown implements Blockly.FieldC
 
             // First dropdown
             // Use one of the following options, medium motor, large motor or large motors (translated)
-            const textNode1 = document.createTextNode(this.getFirstValueI11n(this.value_));
+            const textNode1 = document.createTextNode(this.getFirstValueI11n(<string>this.value_));
             this.textElement_.appendChild(textNode1);
 
             // Second dropdown, no need to translate. Only port numbers
             if (this.textElement2_) {
-                const textNode2 = document.createTextNode(this.getSecondValue(this.value_));
+                const textNode2 = document.createTextNode(this.getSecondValue(<string>this.value_));
                 this.textElement2_.appendChild(textNode2);
             }
-            this.updateWidth();
+            this.updateSize_();
 
             // Update text centering, based on newly calculated width.
             let centerTextX = ((this as any).width1 - this.arrowWidth_) / 2;
@@ -347,8 +347,8 @@ export class FieldMotors extends Blockly.FieldDropdown implements Blockly.FieldC
             }
 
             // Apply new text element x position.
-            var width = Blockly.Field.getCachedWidth(this.textElement_);
-            var newX = centerTextX - width / 2;
+            let width = Blockly.Field.getCachedWidth(this.textElement_);
+            let newX = centerTextX - width / 2;
             this.textElement_.setAttribute('x', `${newX}`);
 
             // Update text centering, based on newly calculated width.
@@ -377,8 +377,8 @@ export class FieldMotors extends Blockly.FieldDropdown implements Blockly.FieldC
             }
 
             // Apply new text element x position.
-            var width2 = Blockly.Field.getCachedWidth(this.textElement2_);
-            var newX2 = centerTextX2 - width2 / 2;
+            let width2 = Blockly.Field.getCachedWidth(this.textElement2_);
+            let newX2 = centerTextX2 - width2 / 2;
             this.textElement2_.setAttribute('x', `${newX2 + (this as any).width1 + Blockly.BlockSvg.BOX_FIELD_PADDING}`);
         }
 
@@ -401,7 +401,7 @@ export class FieldMotors extends Blockly.FieldDropdown implements Blockly.FieldC
         if (Blockly.DropDownDiv.hideIfOwner(this)) {
             return;
         }
-        this.isFirst_ = e.clientX - this.getScaledBBox_().left < ((this as any).width1 * this.sourceBlock_.workspace.scale);
+        this.isFirst_ = e.clientX - this.getScaledBBox_().left < ((this as any).width1 * (<Blockly.WorkspaceSvg>this.sourceBlock_.workspace).scale);
         // If there is an existing drop-down someone else owns, hide it immediately and clear it.
         Blockly.DropDownDiv.hideWithoutAnimation();
         Blockly.DropDownDiv.clearContent();
@@ -411,14 +411,14 @@ export class FieldMotors extends Blockly.FieldDropdown implements Blockly.FieldC
         // Accessibility properties
         contentDiv.setAttribute('role', 'menu');
         contentDiv.setAttribute('aria-haspopup', 'true');
-        let options = this.getOptions();
+        const foptions = this.getOptions(); // [img info, text]
 
         let opts = {};
         let conts = {};
         let vals = {};
         // Go through all option values and split them into groups
-        for (let opt = 0; opt < options.length; opt++) {
-            const value = options[opt][1];
+        for (let opt = 0; opt < foptions.length; opt++) {
+            const value = foptions[opt][1];
             const motorValue = value.substring(value.indexOf('.') + 1);
             const typeValue = motorValue.indexOf('large') == 0 ? 'large' : 'medium';
             const portValue = motorValue.indexOf('large') == 0 ? motorValue.substring(5) : motorValue.substring(6);
@@ -429,13 +429,14 @@ export class FieldMotors extends Blockly.FieldDropdown implements Blockly.FieldC
             if (!opts[key]) opts[key] = [];
             opts[key].push(portValue);
 
-            conts[text] = options[opt][0];
+            conts[text] = foptions[opt][0];
             vals[text] = value;
         }
 
-        const currentFirst = this.getFirstValue(this.value_);
-        const currentSecond = this.getSecondValue(this.value_);
+        const currentFirst = this.getFirstValue(<string>this.value_);
+        //const currentSecond = this.getSecondValue(<string>this.value_);
 
+        let options: string[];
         if (!this.isFirst_) {
             options = opts[currentFirst];
         } else {
@@ -526,7 +527,7 @@ export class FieldMotors extends Blockly.FieldDropdown implements Blockly.FieldC
         Blockly.DropDownDiv.setColour(this.backgroundColour_, this.borderColour_);
 
         // Calculate positioning based on the field position.
-        let scale = this.sourceBlock_.workspace.scale;
+        let scale = (<Blockly.WorkspaceSvg>this.sourceBlock_.workspace).scale;
         let width = this.isFirst_ ? (this as any).width1 : (this as any).width2;
         let bBox = { width: this.size_.width, height: this.size_.height };
         width *= scale;
@@ -538,7 +539,7 @@ export class FieldMotors extends Blockly.FieldDropdown implements Blockly.FieldC
         let secondaryX = primaryX;
         let secondaryY = position.top;
         // Set bounds to workspace; show the drop-down.
-        (Blockly.DropDownDiv as any).setBoundsElement(this.sourceBlock_.workspace.getParentSvg().parentNode);
+        (Blockly.DropDownDiv as any).setBoundsElement((<Blockly.WorkspaceSvg>this.sourceBlock_.workspace).getParentSvg().parentNode);
         (Blockly.DropDownDiv as any).show(this, primaryX, primaryY, secondaryX, secondaryY,
             this.onHide_.bind(this));
 
@@ -561,10 +562,11 @@ export class FieldMotors extends Blockly.FieldDropdown implements Blockly.FieldC
      * Callback for when the drop-down is hidden.
      */
     protected onHide_() {
-        Blockly.DropDownDiv.content_.removeAttribute('role');
-        Blockly.DropDownDiv.content_.removeAttribute('aria-haspopup');
-        Blockly.DropDownDiv.content_.removeAttribute('aria-activedescendant');
-        Blockly.DropDownDiv.getContentDiv().style.width = '';
+        const content = Blockly.DropDownDiv.getContentDiv();
+        content.removeAttribute('role');
+        content.removeAttribute('aria-haspopup');
+        content.removeAttribute('aria-activedescendant');
+        (content as HTMLElement).style.width = '';
         if (this.isFirst_ && this.box_) {
             this.box_.setAttribute('fill', this.sourceBlock_.getColour());
         } else if (!this.isFirst_ && this.box2_) {

fieldeditors/field_music.ts

@@ -26,7 +26,7 @@ export class FieldMusic extends pxtblockly.FieldImages implements Blockly.FieldC
         this.width_ = parseInt(options.width) || 380;
 
         this.setText = Blockly.FieldDropdown.prototype.setText;
-        this.updateWidth = (Blockly.Field as any).prototype.updateWidth;
+        this.updateSize_ = (Blockly.Field as any).prototype.updateSize_;
         this.updateTextNode_ = Blockly.Field.prototype.updateTextNode_;
 
         if (!pxt.BrowserUtils.isIE() && !soundCache) {
@@ -78,14 +78,14 @@ export class FieldMusic extends pxtblockly.FieldImages implements Blockly.FieldC
         contentDiv.style.width = (this as any).width_ + 'px';
         contentDiv.style.cssFloat = 'left';
 
-        dropdownDiv.style.maxHeight = `410px`;
+        (dropdownDiv as HTMLElement).style.maxHeight = `410px`;
         dropdownDiv.appendChild(categoriesDiv);
         dropdownDiv.appendChild(contentDiv);
 
         Blockly.DropDownDiv.setColour(this.sourceBlock_.getColour(), this.sourceBlock_.getColourTertiary());
 
         // Calculate positioning based on the field position.
-        let scale = this.sourceBlock_.workspace.scale;
+        let scale = (<Blockly.WorkspaceSvg>this.sourceBlock_.workspace).scale;
         let bBox = { width: this.size_.width, height: this.size_.height };
         bBox.width *= scale;
         bBox.height *= scale;
@@ -95,7 +95,7 @@ export class FieldMusic extends pxtblockly.FieldImages implements Blockly.FieldC
         let secondaryX = primaryX;
         let secondaryY = position.top;
         // Set bounds to workspace; show the drop-down.
-        (Blockly.DropDownDiv as any).setBoundsElement(this.sourceBlock_.workspace.getParentSvg().parentNode);
+        (Blockly.DropDownDiv as any).setBoundsElement((<Blockly.WorkspaceSvg>this.sourceBlock_.workspace).getParentSvg().parentNode);
         (Blockly.DropDownDiv as any).show(this, primaryX, primaryY, secondaryX, secondaryY,
             this.onHide_.bind(this));
 
@@ -236,7 +236,7 @@ export class FieldMusic extends pxtblockly.FieldImages implements Blockly.FieldC
 
     protected onHide_() {
         super.onHide_();
-        Blockly.DropDownDiv.getContentDiv().style.maxHeight = '';
+        (Blockly.DropDownDiv.getContentDiv() as HTMLElement).style.maxHeight = '';
         this.stopSounds();
     }
 

fieldeditors/field_ports.ts

@@ -17,7 +17,7 @@ export class FieldPorts extends pxtblockly.FieldImages implements Blockly.FieldC
         this.width_ = parseInt(options.width) || 300;
 
         this.setText = Blockly.FieldDropdown.prototype.setText;
-        this.updateWidth = (Blockly.Field as any).prototype.updateWidth;
+        this.updateSize_ = (Blockly.Field as any).prototype.updateSize_;
         this.updateTextNode_ = Blockly.Field.prototype.updateTextNode_;
     }
 

fieldeditors/field_speed.ts

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

fieldeditors/field_turnratio.ts

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

libs/base/enums.d.ts

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

libs/base/shims.d.ts

@@ -4,6 +4,18 @@
 
     //% indexerGet=BufferMethods::getByte indexerSet=BufferMethods::setByte
 declare interface Buffer {
+    /**
+     * Reads an unsigned byte at a particular location
+     */
+    //% shim=BufferMethods::getUint8
+    getUint8(off: int32): int32;
+
+    /**
+     * Writes an unsigned byte at a particular location
+     */
+    //% shim=BufferMethods::setUint8
+    setUint8(off: int32, v: int32): void;
+
     /**
      * Write a number in specified format in the buffer.
      */
@@ -42,6 +54,12 @@ declare interface Buffer {
     //% start.defl=0 length.defl=-1 shim=BufferMethods::shift
     shift(offset: int32, start?: int32, length?: int32): void;
 
+    /**
+     * Convert a buffer to string assuming UTF8 encoding
+     */
+    //% shim=BufferMethods::toString
+    toString(): string;
+
     /**
      * Convert a buffer to its hexadecimal representation.
      */
@@ -72,6 +90,13 @@ declare namespace control {
      */
     //% shim=control::createBuffer
     function createBuffer(size: int32): Buffer;
+
+    /**
+     * Create a new buffer with UTF8-encoded string
+     * @param str the string to put in the buffer
+     */
+    //% shim=control::createBufferFromUTF8
+    function createBufferFromUTF8(str: string): Buffer;
 }
 declare namespace loops {
 
@@ -101,6 +126,12 @@ declare namespace control {
     //% blockId=control_running_time block="millis (ms)" shim=control::millis
     function millis(): int32;
 
+    /**
+     * Gets current time in microseconds. Overflows every ~18 minutes.
+     */
+    //% shim=control::micros
+    function micros(): int32;
+
     /**
      * Used internally
      */
@@ -143,11 +174,54 @@ declare namespace control {
     //% help=control/device-serial-number shim=control::deviceSerialNumber
     function deviceSerialNumber(): int32;
 
+    /**
+     * Derive a unique, consistent 64-bit serial number of this device from internal data.
+     */
+    //% blockId="control_device_long_serial_number" block="device long serial number" weight=9
+    //% help=control/device-long-serial-number shim=control::deviceLongSerialNumber
+    function deviceLongSerialNumber(): Buffer;
+
     /**
      *
      */
     //% shim=control::__log
-    function __log(text: string): void;
+    function __log(prority: int32, text: string): void;
+
+    /**
+     * Dump internal information about a value.
+     */
+    //% shim=control::dmesgValue
+    function dmesgValue(v: any): void;
+
+    /**
+     * Force GC and dump basic information about heap.
+     */
+    //% shim=control::gc
+    function gc(): void;
+
+    /**
+     * Force GC and halt waiting for debugger to do a full heap dump.
+     */
+    //% shim=control::heapDump
+    function heapDump(): void;
+
+    /**
+     * Set flags used when connecting an external debugger.
+     */
+    //% shim=control::setDebugFlags
+    function setDebugFlags(flags: int32): void;
+
+    /**
+     * Record a heap snapshot to debug memory leaks.
+     */
+    //% shim=control::heapSnapshot
+    function heapSnapshot(): void;
+
+    /**
+     * Return true if profiling is enabled in the current build.
+     */
+    //% shim=control::profilingEnabled
+    function profilingEnabled(): boolean;
 }
 
 // Auto-generated. Do not edit. Really.

libs/broadcast/broadcast.ts

@@ -0,0 +1,66 @@
+/**
+ * Message broadcasting
+ */
+//% weight=70
+//% color="#58AB41"
+namespace broadcast {
+    const broadcastEventId = control.allocateNotifyEvent();
+    const broadcastDoneEventId = control.allocateNotifyEvent();
+
+    function normalizeId(id: number) {
+        // upper ids are reserved for answer
+        return ((id + 1) | 0) & 0xffff;
+    }
+
+    /**
+     * An enum shim
+     */
+    //% shim=ENUM_GET
+    //% blockId=msg_enum_shim
+    //% block="$arg"
+    //% enumName="Messages"
+    //% enumMemberName="message"
+    //% enumPromptHint="e.g. Move, Turn, ..."
+    //% enumInitialMembers="message1"
+    //% blockHidden=1
+    //% enumIsHash=1
+    export function __messageShim(arg: number) {
+        // This function should do nothing, but must take in a single
+        // argument of type number and return a number value.
+        return arg;
+    }
+
+    /**
+     * Register code to run when a message is received
+     */
+    //% block="on %id=msg_enum_shim|received"
+    //% blockId=broadcastonreceived draggableParameters
+    export function onMessageReceived(message: number, body: () => void) {
+        const messageid = normalizeId(message);
+        control.onEvent(broadcastEventId, messageid, function () {
+            body();
+            control.raiseEvent(broadcastDoneEventId, messageid);
+        })
+    }
+
+    /**
+     * Sends a message to activate code
+     */
+    //% block="send %id=msg_enum_shim"
+    //% blockId=broadcastsend draggableParameters
+    export function sendMessage(message: number) {
+        const messageid = normalizeId(message);
+        control.raiseEvent(broadcastEventId, messageid);
+    }
+
+    /**
+     * Sends a message and pauses until the handler to finishes.
+     */
+    //% block="send %id=msg_enum_shim| and pause"
+    //% blockId=broadcastsendpause
+    export function sendMessageAndPause(message: number) {
+        const messageid = normalizeId(message);
+        control.raiseEvent(broadcastEventId, messageid);
+        control.waitForEvent(broadcastDoneEventId, messageid);
+    }
+}

libs/broadcast/pxt.json

@@ -0,0 +1,11 @@
+{
+    "name": "broadcast",
+    "description": "Broadcasting messages - beta",
+    "files": [
+        "broadcast.ts"
+    ],
+    "public": true,
+    "dependencies": {
+            "core": "file:../core"
+    }
+}

libs/color-sensor/color.ts

@@ -59,9 +59,9 @@ namespace sensors {
 
         constructor(port: number) {
             super(port)
-            this._setMode(ColorSensorMode.None);
             this.thresholdDetector = new sensors.ThresholdDetector(this.id());
             this.calibrating = false;
+            this.setMode(ColorSensorMode.ReflectedLightIntensity);
         }
 
         _colorEventValue(value: number) {
@@ -73,13 +73,7 @@ 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);
-            }
+            // don't change threshold after initialization
             this._setMode(m)
         }
 
@@ -111,6 +105,9 @@ namespace sensors {
                         "red",
                         "white",
                         "brown"][this._query()];
+                case ColorSensorMode.AmbientLightIntensity:
+                case ColorSensorMode.ReflectedLightIntensity:
+                    return `${this._query()}%`;
                 default:
                     return this._query().toString();
             }
@@ -180,6 +177,7 @@ namespace sensors {
         //% blockGap=8
         color(): ColorSensorColor {
             this.setMode(ColorSensorMode.Color)
+            this.poke();
             return this.getNumber(NumberFormat.UInt8LE, 0)
         }
 
@@ -197,6 +195,7 @@ namespace sensors {
         //% blockGap=8
         rgbRaw(): number[] {
             this.setMode(ColorSensorMode.RgbRaw);
+            this.poke();
             return [this.getNumber(NumberFormat.UInt16LE, 0), this.getNumber(NumberFormat.UInt16LE, 2), this.getNumber(NumberFormat.UInt16LE, 4)];
         }
 
@@ -250,7 +249,8 @@ namespace sensors {
         //% group="Color Sensor"
         light(mode: LightIntensityMode) {
             this.setMode(<ColorSensorMode><number>mode)
-            switch(mode) {
+            this.poke();
+            switch (mode) {
                 case LightIntensityMode.ReflectedRaw:
                     return this.reflectedLightRaw();
                 default:
@@ -280,6 +280,7 @@ namespace sensors {
         //%
         reflectedLightRaw(): number {
             this.setMode(ColorSensorMode.RefRaw);
+            this.poke();
             return this.getNumber(NumberFormat.UInt16LE, 0);
         }
 

libs/core/battery.ts

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

libs/core/buttons.ts

@@ -55,6 +55,10 @@ namespace brick {
             this._wasPressed = false
         }
 
+        protected poke() {
+
+        }
+
         //% hidden
         _update(curr: boolean) {
             if (this == null) return
@@ -81,10 +85,11 @@ namespace brick {
         //% blockId=buttonIsPressed
         //% parts="brick"
         //% blockNamespace=brick
-        //% weight=81 blockGap=8
+        //% weight=81
         //% group="Buttons"
         //% button.fieldEditor="brickbuttons"
         isPressed() {
+            this.poke();
             return this._isPressed
         }
 
@@ -102,6 +107,7 @@ namespace brick {
         //% group="Buttons"
         //% button.fieldEditor="brickbuttons"
         wasPressed() {
+            this.poke();
             const r = this._wasPressed
             this._wasPressed = false
             return r
@@ -144,6 +150,7 @@ namespace brick {
 namespace brick {
     let btnsMM: MMap
     let buttons: DevButton[]
+    let buttonPoller: sensors.internal.Poller;
 
     export namespace internal {
         export function getBtnsMM() {
@@ -167,7 +174,7 @@ namespace brick {
         btnsMM = control.mmap("/dev/lms_ui", DAL.NUM_BUTTONS, 0)
         if (!btnsMM) control.fail("no buttons?")
         buttons = []
-        sensors.internal.unsafePollForChanges(50, readButtons, (prev, curr) => {
+        buttonPoller = new sensors.internal.Poller(50, readButtons, (prev, curr) => {
             for (let b of buttons)
                 b._update(!!(curr & b.mask))
         })
@@ -182,6 +189,10 @@ namespace brick {
             initBtns()
             buttons.push(this)
         }
+
+        protected poke() {
+            buttonPoller.poke();
+        }
     }    
 
     initBtns() // always ON as it handles ESCAPE button

libs/core/control.cpp

@@ -1,40 +0,0 @@
-#include "pxt.h"
-
-namespace control {
-
-/**
- * Announce that an event happened to registered handlers.
- * @param src ID of the Component that generated the event
- * @param value Component specific code indicating the cause of the event.
- * @param mode optional definition of how the event should be processed after construction.
- */
-//% weight=21 blockGap=12 blockId="control_raise_event"
-//% block="raise event|from %src|with value %value" blockExternalInputs=1
-//% help=control/raise-event
-void raiseEvent(int src, int value) {
-    pxt::raiseEvent(src, value);
-}
-
-/**
-* Allocates the next user notification event
-*/
-//% help=control/allocate-notify-event
-int allocateNotifyEvent() {
-    return pxt::allocateNotifyEvent();
-}
-
-/** Write data to DMESG debugging buffer. */
-//%
-void dmesg(String s) {
-    DMESG("# %s", s->data);
-}
-
-}
-
-namespace serial {
-    /** Send DMESG debug buffer over serial. */
-    //%
-    void writeDmesg() {
-        pxt::dumpDmesg();
-    }
-}

libs/core/dal.d.ts

@@ -1,6 +1,305 @@
 // Auto-generated. Do not edit.
 declare const enum DAL {
-    // built/dockermake/pxtapp/ev3const.h
+    // /pxtapp/configkeys.h
+    CFG_PIN_NAME_MSK = 65535,
+    CFG_PIN_CONFIG_MSK = 4294901760,
+    CFG_PIN_CONFIG_ACTIVE_LO = 65536,
+    CFG_MAGIC0 = 513675505,
+    CFG_MAGIC1 = 539130489,
+    CFG_PIN_ACCELEROMETER_INT = 1,
+    CFG_PIN_ACCELEROMETER_SCL = 2,
+    CFG_PIN_ACCELEROMETER_SDA = 3,
+    CFG_PIN_BTN_A = 4,
+    CFG_PIN_BTN_B = 5,
+    CFG_PIN_BTN_SLIDE = 6,
+    CFG_PIN_DOTSTAR_CLOCK = 7,
+    CFG_PIN_DOTSTAR_DATA = 8,
+    CFG_PIN_FLASH_CS = 9,
+    CFG_PIN_FLASH_MISO = 10,
+    CFG_PIN_FLASH_MOSI = 11,
+    CFG_PIN_FLASH_SCK = 12,
+    CFG_PIN_LED = 13,
+    CFG_PIN_LIGHT = 14,
+    CFG_PIN_MICROPHONE = 15,
+    CFG_PIN_MIC_CLOCK = 16,
+    CFG_PIN_MIC_DATA = 17,
+    CFG_PIN_MISO = 18,
+    CFG_PIN_MOSI = 19,
+    CFG_PIN_NEOPIXEL = 20,
+    CFG_PIN_RX = 21,
+    CFG_PIN_RXLED = 22,
+    CFG_PIN_SCK = 23,
+    CFG_PIN_SCL = 24,
+    CFG_PIN_SDA = 25,
+    CFG_PIN_SPEAKER_AMP = 26,
+    CFG_PIN_TEMPERATURE = 27,
+    CFG_PIN_TX = 28,
+    CFG_PIN_TXLED = 29,
+    CFG_PIN_IR_OUT = 30,
+    CFG_PIN_IR_IN = 31,
+    CFG_PIN_DISPLAY_SCK = 32,
+    CFG_PIN_DISPLAY_MISO = 33,
+    CFG_PIN_DISPLAY_MOSI = 34,
+    CFG_PIN_DISPLAY_CS = 35,
+    CFG_PIN_DISPLAY_DC = 36,
+    CFG_DISPLAY_WIDTH = 37,
+    CFG_DISPLAY_HEIGHT = 38,
+    CFG_DISPLAY_CFG0 = 39,
+    CFG_DISPLAY_CFG1 = 40,
+    CFG_DISPLAY_CFG2 = 41,
+    CFG_DISPLAY_CFG3 = 42,
+    CFG_PIN_DISPLAY_RST = 43,
+    CFG_PIN_DISPLAY_BL = 44,
+    CFG_PIN_SERVO_1 = 45,
+    CFG_PIN_SERVO_2 = 46,
+    CFG_PIN_BTN_LEFT = 47,
+    CFG_PIN_BTN_RIGHT = 48,
+    CFG_PIN_BTN_UP = 49,
+    CFG_PIN_BTN_DOWN = 50,
+    CFG_PIN_BTN_MENU = 51,
+    CFG_PIN_LED_R = 52,
+    CFG_PIN_LED_G = 53,
+    CFG_PIN_LED_B = 54,
+    CFG_PIN_LED1 = 55,
+    CFG_PIN_LED2 = 56,
+    CFG_PIN_LED3 = 57,
+    CFG_PIN_LED4 = 58,
+    CFG_SPEAKER_VOLUME = 59,
+    CFG_PIN_JACK_TX = 60,
+    CFG_PIN_JACK_SENSE = 61,
+    CFG_PIN_JACK_HPEN = 62,
+    CFG_PIN_JACK_BZEN = 63,
+    CFG_PIN_JACK_PWREN = 64,
+    CFG_PIN_JACK_SND = 65,
+    CFG_PIN_JACK_BUSLED = 66,
+    CFG_PIN_JACK_COMMLED = 67,
+    CFG_PIN_BTN_SOFT_RESET = 69,
+    CFG_ACCELEROMETER_TYPE = 70,
+    CFG_PIN_BTNMX_LATCH = 71,
+    CFG_PIN_BTNMX_CLOCK = 72,
+    CFG_PIN_BTNMX_DATA = 73,
+    CFG_PIN_BTN_MENU2 = 74,
+    CFG_PIN_BATTSENSE = 75,
+    CFG_PIN_VIBRATION = 76,
+    CFG_PIN_PWREN = 77,
+    CFG_DISPLAY_TYPE = 78,
+    CFG_PIN_ROTARY_ENCODER_A = 79,
+    CFG_PIN_ROTARY_ENCODER_B = 80,
+    CFG_ACCELEROMETER_SPACE = 81,
+    CFG_PIN_WIFI_MOSI = 82,
+    CFG_PIN_WIFI_MISO = 83,
+    CFG_PIN_WIFI_SCK = 84,
+    CFG_PIN_WIFI_TX = 85,
+    CFG_PIN_WIFI_RX = 86,
+    CFG_PIN_WIFI_CS = 87,
+    CFG_PIN_WIFI_BUSY = 88,
+    CFG_PIN_WIFI_RESET = 89,
+    CFG_PIN_WIFI_GPIO0 = 90,
+    CFG_PIN_WIFI_AT_TX = 91,
+    CFG_PIN_WIFI_AT_RX = 92,
+    CFG_PIN_USB_POWER = 93,
+    ACCELEROMETER_TYPE_LIS3DH = 50,
+    ACCELEROMETER_TYPE_LIS3DH_ALT = 48,
+    ACCELEROMETER_TYPE_MMA8453 = 56,
+    ACCELEROMETER_TYPE_FXOS8700 = 60,
+    ACCELEROMETER_TYPE_MMA8653 = 58,
+    ACCELEROMETER_TYPE_MSA300 = 76,
+    ACCELEROMETER_TYPE_MPU6050 = 104,
+    DISPLAY_TYPE_ST7735 = 7735,
+    DISPLAY_TYPE_ILI9341 = 9341,
+    CFG_PIN_A0 = 100,
+    CFG_PIN_A1 = 101,
+    CFG_PIN_A2 = 102,
+    CFG_PIN_A3 = 103,
+    CFG_PIN_A4 = 104,
+    CFG_PIN_A5 = 105,
+    CFG_PIN_A6 = 106,
+    CFG_PIN_A7 = 107,
+    CFG_PIN_A8 = 108,
+    CFG_PIN_A9 = 109,
+    CFG_PIN_A10 = 110,
+    CFG_PIN_A11 = 111,
+    CFG_PIN_A12 = 112,
+    CFG_PIN_A13 = 113,
+    CFG_PIN_A14 = 114,
+    CFG_PIN_A15 = 115,
+    CFG_PIN_A16 = 116,
+    CFG_PIN_A17 = 117,
+    CFG_PIN_A18 = 118,
+    CFG_PIN_A19 = 119,
+    CFG_PIN_A20 = 120,
+    CFG_PIN_A21 = 121,
+    CFG_PIN_A22 = 122,
+    CFG_PIN_A23 = 123,
+    CFG_PIN_A24 = 124,
+    CFG_PIN_A25 = 125,
+    CFG_PIN_A26 = 126,
+    CFG_PIN_A27 = 127,
+    CFG_PIN_A28 = 128,
+    CFG_PIN_A29 = 129,
+    CFG_PIN_A30 = 130,
+    CFG_PIN_A31 = 131,
+    CFG_PIN_D0 = 150,
+    CFG_PIN_D1 = 151,
+    CFG_PIN_D2 = 152,
+    CFG_PIN_D3 = 153,
+    CFG_PIN_D4 = 154,
+    CFG_PIN_D5 = 155,
+    CFG_PIN_D6 = 156,
+    CFG_PIN_D7 = 157,
+    CFG_PIN_D8 = 158,
+    CFG_PIN_D9 = 159,
+    CFG_PIN_D10 = 160,
+    CFG_PIN_D11 = 161,
+    CFG_PIN_D12 = 162,
+    CFG_PIN_D13 = 163,
+    CFG_PIN_D14 = 164,
+    CFG_PIN_D15 = 165,
+    CFG_PIN_D16 = 166,
+    CFG_PIN_D17 = 167,
+    CFG_PIN_D18 = 168,
+    CFG_PIN_D19 = 169,
+    CFG_PIN_D20 = 170,
+    CFG_PIN_D21 = 171,
+    CFG_PIN_D22 = 172,
+    CFG_PIN_D23 = 173,
+    CFG_PIN_D24 = 174,
+    CFG_PIN_D25 = 175,
+    CFG_PIN_D26 = 176,
+    CFG_PIN_D27 = 177,
+    CFG_PIN_D28 = 178,
+    CFG_PIN_D29 = 179,
+    CFG_PIN_D30 = 180,
+    CFG_PIN_D31 = 181,
+    CFG_NUM_NEOPIXELS = 200,
+    CFG_NUM_DOTSTARS = 201,
+    CFG_DEFAULT_BUTTON_MODE = 202,
+    CFG_SWD_ENABLED = 203,
+    CFG_FLASH_BYTES = 204,
+    CFG_RAM_BYTES = 205,
+    CFG_SYSTEM_HEAP_BYTES = 206,
+    CFG_LOW_MEM_SIMULATION_KB = 207,
+    CFG_BOOTLOADER_BOARD_ID = 208,
+    CFG_UF2_FAMILY = 209,
+    CFG_PINS_PORT_SIZE = 210,
+    CFG_BOOTLOADER_PROTECTION = 211,
+    CFG_POWER_DEEPSLEEP_TIMEOUT = 212,
+    CFG_ANALOG_BUTTON_THRESHOLD = 213,
+    CFG_CPU_MHZ = 214,
+    CFG_CONTROLLER_LIGHT_MAX_BRIGHTNESS = 215,
+    CFG_PIN_B0 = 300,
+    CFG_PIN_B1 = 301,
+    CFG_PIN_B2 = 302,
+    CFG_PIN_B3 = 303,
+    CFG_PIN_B4 = 304,
+    CFG_PIN_B5 = 305,
+    CFG_PIN_B6 = 306,
+    CFG_PIN_B7 = 307,
+    CFG_PIN_B8 = 308,
+    CFG_PIN_B9 = 309,
+    CFG_PIN_B10 = 310,
+    CFG_PIN_B11 = 311,
+    CFG_PIN_B12 = 312,
+    CFG_PIN_B13 = 313,
+    CFG_PIN_B14 = 314,
+    CFG_PIN_B15 = 315,
+    CFG_PIN_B16 = 316,
+    CFG_PIN_B17 = 317,
+    CFG_PIN_B18 = 318,
+    CFG_PIN_B19 = 319,
+    CFG_PIN_B20 = 320,
+    CFG_PIN_B21 = 321,
+    CFG_PIN_B22 = 322,
+    CFG_PIN_B23 = 323,
+    CFG_PIN_B24 = 324,
+    CFG_PIN_B25 = 325,
+    CFG_PIN_B26 = 326,
+    CFG_PIN_B27 = 327,
+    CFG_PIN_B28 = 328,
+    CFG_PIN_B29 = 329,
+    CFG_PIN_B30 = 330,
+    CFG_PIN_B31 = 331,
+    CFG_PIN_C0 = 350,
+    CFG_PIN_C1 = 351,
+    CFG_PIN_C2 = 352,
+    CFG_PIN_C3 = 353,
+    CFG_PIN_C4 = 354,
+    CFG_PIN_C5 = 355,
+    CFG_PIN_C6 = 356,
+    CFG_PIN_C7 = 357,
+    CFG_PIN_C8 = 358,
+    CFG_PIN_C9 = 359,
+    CFG_PIN_C10 = 360,
+    CFG_PIN_C11 = 361,
+    CFG_PIN_C12 = 362,
+    CFG_PIN_C13 = 363,
+    CFG_PIN_C14 = 364,
+    CFG_PIN_C15 = 365,
+    CFG_PIN_C16 = 366,
+    CFG_PIN_C17 = 367,
+    CFG_PIN_C18 = 368,
+    CFG_PIN_C19 = 369,
+    CFG_PIN_C20 = 370,
+    CFG_PIN_C21 = 371,
+    CFG_PIN_C22 = 372,
+    CFG_PIN_C23 = 373,
+    CFG_PIN_C24 = 374,
+    CFG_PIN_C25 = 375,
+    CFG_PIN_C26 = 376,
+    CFG_PIN_C27 = 377,
+    CFG_PIN_C28 = 378,
+    CFG_PIN_C29 = 379,
+    CFG_PIN_C30 = 380,
+    CFG_PIN_C31 = 381,
+    CFG_PIN_P0 = 400,
+    CFG_PIN_P1 = 401,
+    CFG_PIN_P2 = 402,
+    CFG_PIN_P3 = 403,
+    CFG_PIN_P4 = 404,
+    CFG_PIN_P5 = 405,
+    CFG_PIN_P6 = 406,
+    CFG_PIN_P7 = 407,
+    CFG_PIN_P8 = 408,
+    CFG_PIN_P9 = 409,
+    CFG_PIN_P10 = 410,
+    CFG_PIN_P11 = 411,
+    CFG_PIN_P12 = 412,
+    CFG_PIN_P13 = 413,
+    CFG_PIN_P14 = 414,
+    CFG_PIN_P15 = 415,
+    CFG_PIN_P16 = 416,
+    CFG_PIN_P17 = 417,
+    CFG_PIN_P18 = 418,
+    CFG_PIN_P19 = 419,
+    CFG_PIN_P20 = 420,
+    CFG_PIN_P21 = 421,
+    CFG_PIN_P22 = 422,
+    CFG_PIN_P23 = 423,
+    CFG_PIN_P24 = 424,
+    CFG_PIN_P25 = 425,
+    CFG_PIN_P26 = 426,
+    CFG_PIN_P27 = 427,
+    CFG_PIN_P28 = 428,
+    CFG_PIN_P29 = 429,
+    CFG_PIN_P30 = 430,
+    CFG_PIN_P31 = 431,
+    CFG_PIN_LORA_MISO = 1001,
+    CFG_PIN_LORA_MOSI = 1002,
+    CFG_PIN_LORA_SCK = 1003,
+    CFG_PIN_LORA_CS = 1004,
+    CFG_PIN_LORA_BOOT = 1005,
+    CFG_PIN_LORA_RESET = 1006,
+    CFG_PIN_IRRXLED = 1007,
+    CFG_PIN_IRTXLED = 1008,
+    CFG_PIN_LCD_RESET = 1009,
+    CFG_PIN_LCD_ENABLE = 1010,
+    CFG_PIN_LCD_DATALINE4 = 1011,
+    CFG_PIN_LCD_DATALINE5 = 1012,
+    CFG_PIN_LCD_DATALINE6 = 1013,
+    CFG_PIN_LCD_DATALINE7 = 1014,
+    CFG_NUM_LCD_COLUMNS = 1015,
+    CFG_NUM_LCD_ROWS = 1016,
+    // /pxtapp/ev3const.h
     NUM_INPUTS = 4,
     NUM_OUTPUTS = 4,
     LCD_WIDTH = 178,
@@ -10,6 +309,8 @@ declare const enum DAL {
     DEVICE_TYPE_NXT_LIGHT = 2,
     DEVICE_TYPE_NXT_SOUND = 3,
     DEVICE_TYPE_NXT_COLOR = 4,
+    DEVICE_TYPE_NXT_ULTRASONIC = 5,
+    DEVICE_TYPE_NXT_TEMPERATURE = 6,
     DEVICE_TYPE_TACHO = 7,
     DEVICE_TYPE_MINITACHO = 8,
     DEVICE_TYPE_NEWTACHO = 9,
@@ -46,44 +347,66 @@ declare const enum DAL {
     CONN_OUTPUT_TACHO = 125,
     CONN_NONE = 126,
     CONN_ERROR = 127,
-    opProgramStart = 0x03,
-    opOutputGetType = 0xA0,
-    opOutputSetType = 0xA1,
-    opOutputReset = 0xA2,
-    opOutputStop = 0xA3,
-    opOutputPower = 0xA4,
-    opOutputSpeed = 0xA5,
-    opOutputStart = 0xA6,
-    opOutputPolarity = 0xA7,
-    opOutputRead = 0xA8,
-    opOutputTest = 0xA9,
-    opOutputReady = 0xAA,
-    opOutputPosition = 0xAB,
-    opOutputStepPower = 0xAC,
-    opOutputTimePower = 0xAD,
-    opOutputStepSpeed = 0xAE,
-    opOutputTimeSpeed = 0xAF,
-    opOutputStepSync = 0xB0,
-    opOutputTimeSync = 0xB1,
-    opOutputClearCount = 0xB2,
-    opOutputGetCount = 0xB3,
-    opOutputProgramStop = 0xB4,
-    BUTTON_ID_UP = 0x01,
-    BUTTON_ID_ENTER = 0x02,
-    BUTTON_ID_DOWN = 0x04,
-    BUTTON_ID_RIGHT = 0x08,
-    BUTTON_ID_LEFT = 0x10,
-    BUTTON_ID_ESCAPE = 0x20,
-    // built/dockermake/pxtapp/pxt.h
+    opProgramStart = 3,
+    opOutputGetType = 160,
+    opOutputSetType = 161,
+    opOutputReset = 162,
+    opOutputStop = 163,
+    opOutputPower = 164,
+    opOutputSpeed = 165,
+    opOutputStart = 166,
+    opOutputPolarity = 167,
+    opOutputRead = 168,
+    opOutputTest = 169,
+    opOutputReady = 170,
+    opOutputPosition = 171,
+    opOutputStepPower = 172,
+    opOutputTimePower = 173,
+    opOutputStepSpeed = 174,
+    opOutputTimeSpeed = 175,
+    opOutputStepSync = 176,
+    opOutputTimeSync = 177,
+    opOutputClearCount = 178,
+    opOutputGetCount = 179,
+    opOutputProgramStop = 180,
+    BUTTON_ID_UP = 1,
+    BUTTON_ID_ENTER = 2,
+    BUTTON_ID_DOWN = 4,
+    BUTTON_ID_RIGHT = 8,
+    BUTTON_ID_LEFT = 16,
+    BUTTON_ID_ESCAPE = 32,
+    // /pxtapp/platform.h
+    PXT_GC_THREAD_LIST = 1,
+    // /pxtapp/pxt.h
     DEVICE_EVT_ANY = 0,
     DEVICE_ID_NOTIFY = 10000,
     DEVICE_ID_NOTIFY_ONE = 10001,
-    // built/dockermake/pxtapp/pxtbase.h
-    PXT_REF_TAG_STRING = 1,
-    PXT_REF_TAG_BUFFER = 2,
-    PXT_REF_TAG_IMAGE = 3,
-    PXT_REF_TAG_NUMBER = 32,
-    PXT_REF_TAG_ACTION = 33,
+    IMAGE_BITS = 1,
+    // /pxtapp/pxtbase.h
+    PXT32 = 1,
+    PXT64 = 1,
+    PXT_VTABLE_SHIFT = 2,
+    PXT_REFCNT_FLASH = 65534,
+    VTABLE_MAGIC = 249,
+    Undefined = 0,
+    Boolean = 1,
+    Number = 2,
+    String = 3,
+    Object = 4,
+    Function = 5,
+    BoxedString = 1,
+    BoxedNumber = 2,
+    BoxedBuffer = 3,
+    RefAction = 4,
+    RefImage = 5,
+    RefCollection = 6,
+    RefRefLocal = 7,
+    RefMap = 8,
+    RefMImage = 9,
+    MMap = 10,
+    User0 = 16,
+    PXT_IOS_HEAP_ALLOC_BITS = 20,
+    IMAGE_HEADER_MAGIC = 135,
     Int8LE = 1,
     UInt8LE = 2,
     Int16LE = 3,
@@ -100,12 +423,10 @@ declare const enum DAL {
     Float64LE = 14,
     Float32BE = 15,
     Float64BE = 16,
-    Undefined = 0,
-    Boolean = 1,
-    Number = 2,
-    String = 3,
-    Object = 4,
-    Function = 5,
-    // built/dockermake/pxtapp/pxtconfig.h
-    // built/dockermake/pxtapp/pxtcore.h
+    NUM_TRY_FRAME_REGS = 3,
+    GC = 0,
+    // /pxtapp/pxtconfig.h
+    PXT_GC = 1,
+    // /pxtapp/pxtcore.h
+    PXT_HARD_FLOAT = 1,
 }

libs/core/ev3const.h

@@ -11,6 +11,8 @@
 #define DEVICE_TYPE_NXT_LIGHT 2
 #define DEVICE_TYPE_NXT_SOUND 3
 #define DEVICE_TYPE_NXT_COLOR 4
+#define DEVICE_TYPE_NXT_ULTRASONIC 5
+#define DEVICE_TYPE_NXT_TEMPERATURE 6
 #define DEVICE_TYPE_TACHO 7
 #define DEVICE_TYPE_MINITACHO 8
 #define DEVICE_TYPE_NEWTACHO 9

libs/core/input.ts

@@ -1,28 +1,51 @@
 namespace sensors.internal {
-    //% shim=pxt::unsafePollForChanges
-    export function unsafePollForChanges(
-        periodMs: number,
-        query: () => number,
-        changeHandler: (prev: number, curr: number) => void
-    ) {
-        // This is implemented in C++ without blocking the regular JS when query() is runnning
-        // which is generally unsafe. Query should not update globally visible state, and cannot
-        // call any yielding functions, like sleep().
+    export class Poller {
+        private query: () => number;
+        private update: (previous: number, current: number) => void;
+        public interval: number;
 
-        // This is implementation for the simulator.
+        private previousValue: number;
+        private currentValue: number;
+        private lastQuery: number; // track down the last time we did a query/update cycle
+        private lastPause: number;  // track down the last time we pause in the sensor polling loop
 
-        control.runInParallel(() => {
-            let prev = query()
-            changeHandler(prev, prev)
-            while (true) {
-                pause(periodMs)
-                let curr = query()
-                if (prev !== curr) {
-                    changeHandler(prev, curr)
-                    prev = curr
-                }
+        constructor(interval: number, query: () => number, update: (previous: number, current: number) => void) {
+            this.interval = interval | 0;
+            this.query = query;
+            this.update = update;
+
+            this.poll();
+        }
+
+        poke(): void {
+            const now = control.millis();
+            if (now - this.lastQuery >= this.interval * 2)
+                this.queryAndUpdate(); // sensor poller is not allowed to run
+            if (now - this.lastPause >= this.interval * 5)
+                pause(1); // allow events to trigger
+        }
+
+        private queryAndUpdate() {
+            this.lastQuery = control.millis();
+            this.currentValue = this.query();
+            if (this.previousValue != this.currentValue) {
+                this.update(this.previousValue, this.currentValue);
+                this.previousValue = this.currentValue;
             }
-        })
+        }
+
+        private poll() {
+            control.runInBackground(() => {
+                this.lastQuery = this.lastPause = control.millis();
+                this.previousValue = this.currentValue = this.query();
+                this.update(this.previousValue, this.currentValue);
+                while (true) {
+                    this.lastPause = control.millis();
+                    pause(this.interval);
+                    this.queryAndUpdate();
+                }
+            })
+        }
     }
 
     export function bufferToString(buf: Buffer): string {
@@ -38,6 +61,7 @@ namespace sensors.internal {
     let IICMM: MMap
     let powerMM: MMap
     let devcon: Buffer
+    let devPoller: Poller
     let sensorInfos: SensorInfo[];
 
     let batteryInfo: {
@@ -55,13 +79,28 @@ namespace sensors.internal {
         connType: number
         devType: number
         iicid: string
+        poller: Poller;
 
         constructor(p: number) {
-            this.port = p
+            this.port = p; // 0-based
             this.connType = DAL.CONN_NONE
             this.devType = DAL.DEVICE_TYPE_NONE
             this.iicid = ''
             this.sensors = []
+            this.poller = new Poller(25, () => this.query(), (prev, curr) => this.update(prev, curr));
+        }
+
+        poke() {
+            this.poller.poke();
+        }
+
+        private query() {
+            if (this.sensor) return this.sensor._query();
+            return 0;
+        }
+
+        private update(prev: number, curr: number) {
+            if (this.sensor) this.sensor._update(prev, curr)
         }
     }
 
@@ -82,20 +121,11 @@ namespace sensors.internal {
 
         powerMM = control.mmap("/dev/lms_power", 2, 0)
 
-        unsafePollForChanges(500,
-            () => { return hashDevices(); },
+        devPoller = new Poller(500, () => { return hashDevices(); },
             (prev, curr) => {
                 detectDevices();
             });
-        sensorInfos.forEach(info => {
-            unsafePollForChanges(50, () => {
-                if (info.sensor) return info.sensor._query()
-                return 0
-            }, (prev, curr) => {
-                if (info.sensor) info.sensor._update(prev, curr)
-            })
-        })        
-   }
+    }
 
     export function getActiveSensors(): Sensor[] {
         init();
@@ -164,13 +194,13 @@ namespace sensors.internal {
                     batteryVMax = ACCU_INDICATOR_HIGH;
                 }
             }
-            batteryInfo = { 
-                CinCnt: CinCnt, 
+            batteryInfo = {
+                CinCnt: CinCnt,
                 CoutCnt: CoutCnt,
                 VinCnt: VinCnt
             };
             // update in background
-            control.runInParallel(() => forever(updateBatteryInfo)); 
+            control.runInParallel(() => forever(updateBatteryInfo));
         } else {
             CinCnt = batteryInfo.CinCnt = ((batteryInfo.CinCnt * (AVR_CIN - 1)) + CinCnt) / AVR_CIN;
             CoutCnt = batteryInfo.CoutCnt = ((batteryInfo.CoutCnt * (AVR_COUT - 1)) + CoutCnt) / AVR_COUT;
@@ -178,12 +208,14 @@ namespace sensors.internal {
         }
     }
 
-    export function getBatteryInfo(): { 
-        level: number; 
-        Ibatt: number, 
-        Vbatt: number, 
-        Imotor: number 
-    } {
+    export interface BatteryInfo {
+        level: number;
+        Ibatt: number,
+        Vbatt: number,
+        Imotor: number
+    }
+
+    export function getBatteryInfo(): BatteryInfo {
         init();
         if (!batteryInfo) updateBatteryInfo();
         const CinCnt = batteryInfo.CinCnt;
@@ -225,13 +257,13 @@ void      cUiUpdatePower(void)
 #endif
 }        
         */
-       const CinV = CNT_V(CinCnt) / AMP_CIN;
-       const Vbatt = CNT_V(VinCnt) / AMP_VIN + CinV + VCE;
-       const Ibatt = CinV / SHUNT_IN;
-       const CoutV = CNT_V(CoutCnt) / AMP_COUT;
-       const Imotor = CoutV / SHUNT_OUT;
-       const level   = Math.max(0, Math.min(100, Math.floor((Vbatt * 1000.0 - batteryVMin)
-        / (batteryVMax - batteryVMin) * 100)));
+        const CinV = CNT_V(CinCnt) / AMP_CIN;
+        const Vbatt = CNT_V(VinCnt) / AMP_VIN + CinV + VCE;
+        const Ibatt = CinV / SHUNT_IN;
+        const CoutV = CNT_V(CoutCnt) / AMP_COUT;
+        const Imotor = CoutV / SHUNT_OUT;
+        const level = Math.max(0, Math.min(100, Math.floor((Vbatt * 1000.0 - batteryVMin)
+            / (batteryVMax - batteryVMin) * 100)));
 
         return {
             level: level,
@@ -247,42 +279,61 @@ void      cUiUpdatePower(void)
         for (let i = 0; i < conns.length; ++i) {
             r = (r << 8 | conns[i]);
         }
+        //control.dmesg(`devices hash: ${r}`);
         return r;
     }
 
     let nonActivated = 0;
     function detectDevices() {
-        //control.dmesg(`detect devices (${nonActivated} na)`)
-        const conns = analogMM.slice(AnalogOff.InConn, DAL.NUM_INPUTS)
+        control.dmesg(`detect devices (${nonActivated} na)`)
+        const inDcm = analogMM.slice(AnalogOff.InDcm, DAL.NUM_INPUTS)
+        const inConn = analogMM.slice(AnalogOff.InConn, DAL.NUM_INPUTS)
         let numChanged = 0;
         const uartSensors: SensorInfo[] = [];
 
         for (const sensorInfo of sensorInfos) {
-            const newConn = conns[sensorInfo.port]
+            const newConn = inConn[sensorInfo.port]
             if (newConn == sensorInfo.connType) {
                 // control.dmesg(`connection unchanged ${newConn} at ${sensorInfo.port}`)
                 continue;
             }
             numChanged++
             sensorInfo.connType = newConn
-            sensorInfo.devType = DAL.DEVICE_TYPE_NONE
-            if (newConn == DAL.CONN_INPUT_UART) {
-                control.dmesg(`new UART connection at ${sensorInfo.port}`)
-                updateUartMode(sensorInfo.port, 0);
-                uartSensors.push(sensorInfo);
-            } else if (newConn == DAL.CONN_NXT_IIC) {
-                control.dmesg(`new IIC connection at ${sensorInfo.port}`)
-                sensorInfo.devType = DAL.DEVICE_TYPE_IIC_UNKNOWN
-                sensorInfo.iicid = readIICID(sensorInfo.port)
-                control.dmesg(`IIC ID ${sensorInfo.iicid.length}`)
-            } else if (newConn == DAL.CONN_INPUT_DUMB) {
-                control.dmesg(`new DUMB connection at ${sensorInfo.port}`)
-                // TODO? for now assume touch
-                sensorInfo.devType = DAL.DEVICE_TYPE_TOUCH
-            } else if (newConn == DAL.CONN_NONE || newConn == 0) {
-                control.dmesg(`disconnect at port ${sensorInfo.port}`)
-            } else {
-                control.dmesg(`unknown connection type: ${newConn} at ${sensorInfo.port}`)
+            sensorInfo.devType = DAL.DEVICE_TYPE_NONE;
+            switch (newConn) {
+                case DAL.CONN_INPUT_UART: {
+                    control.dmesg(`new UART connection at ${sensorInfo.port}`)
+                    updateUartMode(sensorInfo.port, 0);
+                    uartSensors.push(sensorInfo);
+                    break;
+                }
+                case DAL.CONN_NXT_IIC: {
+                    control.dmesg(`new NXT IIC connection at ${sensorInfo.port}`)
+                    sensorInfo.devType = DAL.DEVICE_TYPE_IIC_UNKNOWN
+                    sensorInfo.iicid = readIICID(sensorInfo.port)
+                    control.dmesg(`IIC ID ${sensorInfo.iicid.length}`)
+                    break;
+                } case DAL.CONN_NXT_DUMB: { // analog NXT sensor
+                    control.dmesg(`new NXT analog connection at ${sensorInfo.port}`);
+                    sensorInfo.devType = inDcm[sensorInfo.port];
+                    control.dmesg(`NXT analog dev type ${sensorInfo.devType}`);
+                    break;
+                }
+                case DAL.CONN_INPUT_DUMB: {
+                    control.dmesg(`new DUMB connection at ${sensorInfo.port}`)
+                    // TODO? for now assume touch
+                    sensorInfo.devType = DAL.DEVICE_TYPE_TOUCH
+                    break;
+                }
+                case DAL.CONN_NONE:
+                case 0: {
+                    //control.dmesg(`disconnect at port ${sensorInfo.port}`)
+                    break;
+                }
+                default: {
+                    control.dmesg(`unknown connection type: ${newConn} at ${sensorInfo.port}`)
+                    break;
+                }
             }
         }
 
@@ -298,7 +349,7 @@ void      cUiUpdatePower(void)
         if (numChanged == 0 && nonActivated == 0)
             return
 
-        control.dmesg(`updating sensor status`)
+        //control.dmesg(`updating sensor status`)
         nonActivated = 0;
         for (const sensorInfo of sensorInfos) {
             if (sensorInfo.devType == DAL.DEVICE_TYPE_IIC_UNKNOWN) {
@@ -337,6 +388,11 @@ void      cUiUpdatePower(void)
             this.markUsed();
         }
 
+        poke() {
+            if (this.isActive())
+                sensorInfos[this._port].poke();
+        }
+
         markUsed() {
             sensors.__sensorUsed(this._port, this._deviceType());
         }
@@ -390,20 +446,20 @@ void      cUiUpdatePower(void)
         constructor(port: number) {
             super(port)
             this.mode = 0
-            this.realmode = 0
+            this.realmode = 0;
         }
 
         _activated() {
-            this.realmode = 0
+            this.realmode = 0;
             this._setMode(this.mode)
         }
 
         protected _setMode(m: number) {
-            //control.dmesg(`_setMode p=${this.port} m: ${this.realmode} -> ${m}`)
             let v = m | 0
             this.mode = v
             if (!this.isActive()) return
             if (this.realmode != this.mode) {
+                control.dmesg(`_setMode p=${this._port} m: ${this.realmode} -> ${v}`)
                 this.realmode = v
                 setUartMode(this._port, v)
             }
@@ -533,18 +589,19 @@ void      cUiUpdatePower(void)
         while (ports.length) {
             const port = ports.pop();
             const status = waitNonZeroUartStatus(port)
-            control.dmesg(`UART set mode ${status} at ${port}`);
+            control.dmesg(`UART status ${status} at ${port}`);
         }
     }
 
     function updateUartMode(port: number, mode: number) {
-        control.dmesg(`UART set mode to ${mode} at ${port}`)
+        control.dmesg(`UART update mode to ${mode} at ${port}`)
         devcon.setNumber(NumberFormat.Int8LE, DevConOff.Connection + port, DAL.CONN_INPUT_UART)
         devcon.setNumber(NumberFormat.Int8LE, DevConOff.Type + port, 33)
         devcon.setNumber(NumberFormat.Int8LE, DevConOff.Mode + port, mode)
     }
 
     function setUartMode(port: number, mode: number) {
+        control.dmesg(`UART set mode ${mode} at ${port}`);
         const UART_PORT_CHANGED = 1
         while (true) {
             if (port < 0) return
@@ -555,7 +612,7 @@ void      cUiUpdatePower(void)
                 control.dmesg(`UART clear changed at ${port}`)
                 uartClearChange(port)
             } else {
-                control.dmesg(`UART status ${status}`);
+                control.dmesg(`UART status ${status} at ${port}`);
                 break;
             }
             pause(10)
@@ -570,15 +627,16 @@ void      cUiUpdatePower(void)
             DAL.MAX_DEVICE_DATALENGTH)
     }
 
-    function getUartNumber(fmt: NumberFormat, off: number, port: number) {
+    function getUartNumber(fmt: NumberFormat, off: number, port: number): number {
         if (port < 0) return 0
-        let index = uartMM.getNumber(NumberFormat.UInt16LE, UartOff.Actual + port * 2)
+        const index = uartMM.getNumber(NumberFormat.UInt16LE, UartOff.Actual + port * 2)
         return uartMM.getNumber(fmt,
             UartOff.Raw + DAL.MAX_DEVICE_DATALENGTH * 300 * port + DAL.MAX_DEVICE_DATALENGTH * index + off)
     }
 
     export function setIICMode(port: number, type: number, mode: number) {
         if (port < 0) return;
+        control.dmesg(`iic set type ${type} mode ${mode} at ${port}`)
         devcon.setNumber(NumberFormat.Int8LE, DevConOff.Connection + port, DAL.CONN_NXT_IIC)
         devcon.setNumber(NumberFormat.Int8LE, DevConOff.Type + port, type)
         devcon.setNumber(NumberFormat.Int8LE, DevConOff.Mode + port, mode)
@@ -779,10 +837,10 @@ namespace sensors {
 
     export class ThresholdDetector {
         public id: number;
-        public min: number;
-        public max: number;
-        public lowThreshold: number;
-        public highThreshold: number;
+        private min: number;
+        private max: number;
+        private lowThreshold: number;
+        private highThreshold: number;
         public level: number;
         public state: ThresholdState;
 
@@ -856,4 +914,4 @@ namespace sensors {
             }
         }
     }
-}
+}

libs/core/integrator.ts

@@ -0,0 +1,26 @@
+namespace control {
+    export class EulerIntegrator {
+        public value: number;
+        private t: number;
+        private v: number;
+
+        constructor() {
+            this.reset();
+        }
+
+        public integrate(derivative: number): void {
+            let now = control.millis();
+            let dt = (now -this.t) / 1000.0;
+            this.value += dt * (this.v + derivative) / 2;
+
+            this.t = now;
+            this.v = derivative;
+        }
+
+        public reset() {
+            this.value = 0;
+            this.v = 0;
+            this.t = control.millis();
+        }
+    }
+}

libs/core/linux.cpp

@@ -1,593 +0,0 @@
-#include "pxt.h"
-
-#include <stdlib.h>
-#include <stdio.h>
-#include <sys/time.h>
-#include <time.h>
-#include <cstdarg>
-#include <pthread.h>
-#include <unistd.h>
-#include <dirent.h>
-#include <signal.h>
-#include <sys/types.h>
-#include <sys/stat.h>
-#include <errno.h>
-#include <fcntl.h>
-#include <malloc.h>
-#include <sys/mman.h>
-#include <sys/ioctl.h>
-#include "ev3const.h"
-
-#define THREAD_DBG(...)
-
-#define MALLOC_LIMIT (8 * 1024 * 1024)
-#define MALLOC_CHECK_PERIOD (1024 * 1024)
-
-void *xmalloc(size_t sz) {
-    static size_t allocBytes = 0;
-    allocBytes += sz;
-    if (allocBytes >= MALLOC_CHECK_PERIOD) {
-        allocBytes = 0;
-        auto info = mallinfo();
-        DMESG("malloc used: %d kb", info.uordblks / 1024);
-        if (info.uordblks > MALLOC_LIMIT) {
-            target_panic(904);
-        }
-    }
-    auto r = malloc(sz);
-    if (r == NULL)
-        target_panic(905); // shouldn't happen
-    return r;
-}
-
-void *operator new(size_t size) {
-    return xmalloc(size);
-}
-void *operator new[](size_t size) {
-    return xmalloc(size);
-}
-
-void operator delete(void *p) {
-    free(p);
-}
-void operator delete[](void *p) {
-    free(p);
-}
-
-namespace pxt {
-
-static int startTime;
-static pthread_mutex_t execMutex;
-static pthread_mutex_t eventMutex;
-static pthread_cond_t newEventBroadcast;
-
-struct Thread {
-    struct Thread *next;
-    Action act;
-    TValue arg0;
-    pthread_t pid;
-    pthread_cond_t waitCond;
-    int waitSource;
-    int waitValue;
-    TValue data0;
-    TValue data1;
-};
-
-static struct Thread *allThreads;
-static struct Event *eventHead, *eventTail;
-static int usbFD;
-static int dmesgPtr;
-static int dmesgSerialPtr;
-static char dmesgBuf[4096];
-
-struct Event {
-    struct Event *next;
-    int source;
-    int value;
-};
-
-Event lastEvent;
-
-Event *mkEvent(int source, int value) {
-    auto res = new Event();
-    memset(res, 0, sizeof(Event));
-    res->source = source;
-    res->value = value;
-    return res;
-}
-
-#define USB_MAGIC 0x3d3f
-#define USB_SERIAL 1
-#define USB_RESTART 2
-#define USB_DMESG 3
-
-struct UsbPacket {
-    uint16_t size;
-    uint16_t msgcount;
-    uint16_t magic;
-    uint16_t code;
-    char buf[1024 - 8];
-};
-
-void *usbThread(void *) {
-    UsbPacket pkt;
-    UsbPacket resp;
-    while (true) {
-        int len = read(usbFD, &pkt, sizeof(pkt));
-        if (len <= 4) {
-            sleep_core_us(20000);
-            continue;
-        }
-        resp.msgcount = pkt.msgcount;
-        if (pkt.magic == USB_MAGIC) {
-            if (pkt.code == USB_RESTART) {
-                target_reset();
-            } else if (pkt.code == USB_DMESG) {
-                dumpDmesg();
-            }
-            /*
-            resp.magic = pkt.magic;
-            resp.code = pkt.code;
-            resp.size = 8;
-            write(usbFD, &resp, sizeof(resp));
-            */
-        } else {
-            resp.magic = 0xffff;
-            resp.size = 4;
-            write(usbFD, &resp, sizeof(resp));
-        }
-        sleep_core_us(1000);
-    }
-}
-
-static void startUsb() {
-    usbFD = open("/dev/lms_usbdev", O_RDWR, 0666);
-    pthread_t pid;
-    pthread_create(&pid, NULL, usbThread, NULL);
-    pthread_detach(pid);
-}
-
-static void *exitThread(void *) {
-    int fd = open("/dev/lms_ui", O_RDWR, 0666);
-    if (fd < 0)
-        return 0;
-    uint8_t *data =
-        (uint8_t *)mmap(NULL, NUM_BUTTONS, PROT_READ | PROT_WRITE, MAP_SHARED, fd, 0);
-    if (data == MAP_FAILED) {
-        close(fd);
-        return 0;
-    }
-    for (;;) {
-        if (data[5])
-            target_reset();
-        sleep_core_us(50000);
-    }
-}
-
-static void startExitThread() {
-    pthread_t pid;
-    pthread_create(&pid, NULL, exitThread, NULL);
-    pthread_detach(pid);
-}
-
-void sendUsb(uint16_t code, const char *data, int len) {
-    while (len > 0) {
-        int sz = len;
-        if (sz > 1000)
-            sz = 1000;
-        UsbPacket pkt = {(uint16_t)(6 + sz), 0, USB_MAGIC, code, {}};
-        memcpy(pkt.buf, data, sz);
-        write(usbFD, &pkt, sizeof(pkt));
-        len -= sz;
-        data += sz;
-    }
-}
-
-void sendSerial(const char *data, int len) {
-    sendUsb(USB_SERIAL, data, len);
-}
-
-volatile bool paniced;
-extern "C" void drawPanic(int code);
-
-extern "C" void target_panic(int error_code) {
-    char buf[50];
-    paniced = true;
-    pthread_mutex_trylock(&execMutex);
-
-    snprintf(buf, sizeof(buf), "\nPANIC %d\n", error_code);
-
-    drawPanic(error_code);
-    DMESG("PANIC %d", error_code);
-
-    for (int i = 0; i < 10; ++i) {
-        sendSerial(buf, strlen(buf));
-        sleep_core_us(500 * 1000);
-    }
-
-    target_reset();
-}
-
-void startUser() {
-    pthread_mutex_lock(&execMutex);
-}
-
-void stopUser() {
-    pthread_mutex_unlock(&execMutex);
-}
-
-void sleep_core_us(uint64_t us) {
-    struct timespec ts;
-    ts.tv_sec = us / 1000000;
-    ts.tv_nsec = (us % 1000000) * 1000;
-    while (nanosleep(&ts, &ts))
-        ;
-}
-
-void sleep_ms(uint32_t ms) {
-    stopUser();
-    sleep_core_us(ms * 1000);
-    startUser();
-}
-
-void sleep_us(uint64_t us) {
-    if (us > 50000) {
-        sleep_ms(us / 1000);
-    }
-    sleep_core_us(us);
-}
-
-uint64_t currTime() {
-    struct timeval tv;
-    gettimeofday(&tv, NULL);
-    return tv.tv_sec * 1000 + tv.tv_usec / 1000;
-}
-
-int current_time_ms() {
-    return currTime() - startTime;
-}
-
-void disposeThread(Thread *t) {
-    if (allThreads == t) {
-        allThreads = t->next;
-    } else {
-        for (auto tt = allThreads; tt; tt = tt->next) {
-            if (tt->next == t) {
-                tt->next = t->next;
-                break;
-            }
-        }
-    }
-    decr(t->act);
-    decr(t->arg0);
-    decr(t->data0);
-    decr(t->data1);
-    pthread_cond_destroy(&t->waitCond);
-    delete t;
-}
-
-static void runAct(Thread *thr) {
-    startUser();
-    pxt::runAction1(thr->act, thr->arg0);
-    stopUser();
-    disposeThread(thr);
-}
-
-static void mainThread(Thread *) {}
-
-void setupThread(Action a, TValue arg = 0, void (*runner)(Thread *) = NULL, TValue d0 = 0,
-                 TValue d1 = 0) {
-    if (runner == NULL)
-        runner = runAct;
-    auto thr = new Thread();
-    memset(thr, 0, sizeof(Thread));
-    thr->next = allThreads;
-    allThreads = thr;
-    thr->act = incr(a);
-    thr->arg0 = incr(arg);
-    thr->data0 = incr(d0);
-    thr->data1 = incr(d1);
-    pthread_cond_init(&thr->waitCond, NULL);
-    if (runner == mainThread) {
-        thr->pid = pthread_self();
-    } else {
-        pthread_create(&thr->pid, NULL, (void *(*)(void *))runner, thr);
-        THREAD_DBG("setup thread: %p (pid %p)", thr, thr->pid);
-        pthread_detach(thr->pid);
-    }
-}
-
-void releaseFiber() {
-    stopUser();
-    pthread_exit(NULL);
-}
-
-void runInParallel(Action a) {
-    setupThread(a);
-}
-
-static void runFor(Thread *t) {
-    startUser();
-    while (true) {
-        pxt::runAction0(t->act);
-        sleep_ms(20);
-    }
-}
-
-void runForever(Action a) {
-    setupThread(a, 0, runFor);
-}
-
-void waitForEvent(int source, int value) {
-    THREAD_DBG("waitForEv: %d %d", source, value);
-    auto self = pthread_self();
-    for (auto t = allThreads; t; t = t->next) {
-        THREAD_DBG("t: %p", t);
-        if (t->pid == self) {
-            pthread_mutex_lock(&eventMutex);
-            t->waitSource = source;
-            t->waitValue = value;
-            stopUser();
-            // spourious wake ups may occur they say
-            while (t->waitSource) {
-                pthread_cond_wait(&t->waitCond, &eventMutex);
-            }
-            pthread_mutex_unlock(&eventMutex);
-            startUser();
-            return;
-        }
-    }
-    DMESG("current thread not registered!");
-    target_panic(901);
-}
-
-static void dispatchEvent(Event &e) {
-    lastEvent = e;
-
-    auto curr = findBinding(e.source, e.value);
-    if (curr)
-        setupThread(curr->action, fromInt(e.value));
-
-    curr = findBinding(e.source, DEVICE_EVT_ANY);
-    if (curr)
-        setupThread(curr->action, fromInt(e.value));
-}
-
-static void *evtDispatcher(void *dummy) {
-    pthread_mutex_lock(&eventMutex);
-    while (true) {
-        pthread_cond_wait(&newEventBroadcast, &eventMutex);
-        while (eventHead != NULL) {
-            if (paniced)
-                return 0;
-            Event *ev = eventHead;
-            eventHead = ev->next;
-            if (eventHead == NULL)
-                eventTail = NULL;
-
-            for (auto thr = allThreads; thr; thr = thr->next) {
-                if (paniced)
-                    return 0;
-                if (thr->waitSource == 0)
-                    continue;
-                if (thr->waitValue != ev->value && thr->waitValue != DEVICE_EVT_ANY)
-                    continue;
-                if (thr->waitSource == ev->source) {
-                    thr->waitSource = 0; // once!
-                    pthread_cond_broadcast(&thr->waitCond);
-                } else if (thr->waitSource == DEVICE_ID_NOTIFY &&
-                           ev->source == DEVICE_ID_NOTIFY_ONE) {
-                    thr->waitSource = 0; // once!
-                    pthread_cond_broadcast(&thr->waitCond);
-                    break; // do not wake up any other threads
-                }
-            }
-
-            dispatchEvent(*ev);
-            delete ev;
-        }
-    }
-}
-
-int allocateNotifyEvent() {
-    static volatile int notifyId;
-    pthread_mutex_lock(&eventMutex);
-    int res = ++notifyId;
-    pthread_mutex_unlock(&eventMutex);
-    return res;
-}
-
-void raiseEvent(int id, int event) {
-    auto e = mkEvent(id, event);
-    pthread_mutex_lock(&eventMutex);
-    if (eventTail == NULL) {
-        if (eventHead != NULL)
-            target_panic(902);
-        eventHead = eventTail = e;
-    } else {
-        eventTail->next = e;
-        eventTail = e;
-    }
-    pthread_cond_broadcast(&newEventBroadcast);
-    pthread_mutex_unlock(&eventMutex);
-}
-
-void registerWithDal(int id, int event, Action a, int flags) {
-    // TODO support flags
-    setBinding(id, event, a);
-}
-
-static void runPoller(Thread *thr) {
-    Action query = thr->data0;
-    auto us = (uint64_t)toInt(thr->data1) * 1000;
-
-    // note that this is run without the user mutex held - it should not modify any state!
-    TValue prev = pxt::runAction0(query);
-
-    startUser();
-    pxt::runAction2(thr->act, prev, prev);
-    stopUser();
-
-    while (true) {
-        sleep_core_us(us);
-        if (paniced)
-            break;
-        TValue curr = pxt::runAction0(query);
-        if (curr != prev) {
-            startUser();
-            pxt::runAction2(thr->act, prev, curr);
-            stopUser();
-            if (paniced)
-                break;
-            decr(prev);
-            prev = curr;
-        }
-    }
-    //    disposeThread(thr);
-}
-
-//%
-void unsafePollForChanges(int ms, Action query, Action handler) {
-    setupThread(handler, 0, runPoller, query, fromInt(ms));
-}
-
-uint32_t afterProgramPage() {
-    return 0;
-}
-void dumpDmesg() {
-    auto len = dmesgPtr - dmesgSerialPtr;
-    if (len == 0)
-        return;
-    sendSerial(dmesgBuf + dmesgSerialPtr, len);
-    dmesgSerialPtr = dmesgPtr;
-}
-
-int lmsPid;
-void stopLMS() {
-    struct dirent *ent;
-    DIR *dir;
-
-    dir = opendir("/proc");
-    if (dir == NULL)
-        return;
-
-    while ((ent = readdir(dir)) != NULL) {
-        int pid = atoi(ent->d_name);
-        if (!pid)
-            continue;
-        char namebuf[100];
-        snprintf(namebuf, 1000, "/proc/%d/cmdline", pid);
-        FILE *f = fopen(namebuf, "r");
-        if (f) {
-            fread(namebuf, 1, 99, f);
-            if (strcmp(namebuf, "./lms2012") == 0) {
-                lmsPid = pid;
-            }
-            fclose(f);
-            if (lmsPid)
-                break;
-        }
-    }
-
-    closedir(dir);
-
-    lmsPid = 0; // disable SIGSTOP for now - rethink if problems with I2C (runs on a thread)
-
-    if (lmsPid) {
-        DMESG("SIGSTOP to lmsPID=%d", lmsPid);
-        if (kill(lmsPid, SIGSTOP))
-            DMESG("SIGSTOP failed");
-    }
-}
-
-void runLMS() {
-    DMESG("re-starting LMS2012");
-    kill(lmsPid, SIGCONT);
-    sleep_core_us(200000);
-    exit(0);
-    /*
-    chdir("/home/root/lms2012/sys");
-    for (int fd = 3; fd < 9999; ++fd)
-        close(fd);
-    execl("lms2012", "./lms2012");
-    exit(100); // should not be reached
-    */
-}
-
-void stopMotors() {
-    uint8_t cmd[3] = {opOutputStop, 0x0F, 0};
-    int fd = open("/dev/lms_pwm", O_RDWR);
-    write(fd, cmd, 3);
-    close(fd);
-}
-
-void stopProgram() {
-    uint8_t cmd[1] = {opOutputProgramStop};
-    int fd = open("/dev/lms_pwm", O_RDWR);
-    write(fd, cmd, 1);
-    close(fd);
-}
-
-extern "C" void target_reset() {
-    stopMotors();
-    stopProgram();
-    if (lmsPid)
-        runLMS();
-    else
-        exit(0);
-}
-
-void screen_init();
-void initRuntime() {
-    // daemon(1, 1);
-    startTime = currTime();
-    DMESG("runtime starting...");
-    stopLMS();
-    startUsb();
-    startExitThread();
-    pthread_t disp;
-    pthread_create(&disp, NULL, evtDispatcher, NULL);
-    pthread_detach(disp);
-    setupThread(0, 0, mainThread);
-    target_init();
-    screen_init();
-    startUser();
-}
-
-static FILE *dmesgFile;
-
-void dmesgRaw(const char *buf, uint32_t len) {
-    if (!dmesgFile) {
-        dmesgFile = fopen("/tmp/dmesg.txt", "w");
-        if (!dmesgFile)
-            dmesgFile = stderr;
-    }
-
-    if (len > sizeof(dmesgBuf) / 2)
-        return;
-    if (dmesgPtr + len > sizeof(dmesgBuf)) {
-        dmesgPtr = 0;
-        dmesgSerialPtr = 0;
-    }
-    memcpy(dmesgBuf + dmesgPtr, buf, len);
-    dmesgPtr += len;
-    fwrite(buf, 1, len, dmesgFile);
-}
-
-void dmesg(const char *format, ...) {
-    char buf[500];
-
-    snprintf(buf, sizeof(buf), "[%8d] ", current_time_ms());
-    dmesgRaw(buf, strlen(buf));
-
-    va_list arg;
-    va_start(arg, format);
-    vsnprintf(buf, sizeof(buf), format, arg);
-    va_end(arg);
-    dmesgRaw(buf, strlen(buf));
-    dmesgRaw("\n", 1);
-
-    fflush(dmesgFile);
-    fdatasync(fileno(dmesgFile));
-}
-} // namespace pxt

libs/core/mmap.cpp

@@ -25,13 +25,20 @@ PXT_VTABLE_CTOR(MMap) {
 }
 
 void MMap::print() {
-    DMESG("MMap %p r=%d len=%d fd=%d data=%p", this, refcnt, length, fd, data);
+    DMESG("MMap %p len=%d fd=%d data=%p", this, length, fd, data);
 }
 
 void MMap::destroy() {
     munmap(data, length);
     close(fd);
 }
+
+void MMap::scan(MMap *) {}
+
+unsigned MMap::gcsize(MMap *) {
+    return TOWORDS(sizeof(MMap));
+}
+
 }
 
 namespace control {
@@ -39,8 +46,8 @@ namespace control {
 /** Create new file mapping in memory */
 //%
 MMap *mmap(String filename, int size, int offset) {
-    DMESG("mmap %s len=%d off=%d", filename->data, size, offset);
-    int fd = open(filename->data, O_RDWR, 0);
+    DMESG("mmap %s len=%d off=%d", filename->getUTF8Data(), size, offset);
+    int fd = open(filename->getUTF8Data(), O_RDWR, 0);
     if (fd < 0)
         return 0;
     

libs/core/output.ts

@@ -62,7 +62,7 @@ namespace motors {
         motorMM = control.mmap("/dev/lms_motor", MotorDataOff.Size * DAL.NUM_OUTPUTS, 0)
         if (!motorMM) control.fail("no motor file")
 
-        resetAllMotors()
+        resetAll()
 
         const buf = output.createBuffer(1)
         buf[0] = DAL.opProgramStart
@@ -118,20 +118,25 @@ namespace motors {
      * Stops all motors
      */
     //% blockId=motorStopAll block="stop all motors"
-    //% weight=1
+    //% weight=2
     //% group="Move"
     //% help=motors/stop-all
     export function stopAll() {
         const b = mkCmd(Output.ALL, DAL.opOutputStop, 0)
-        writePWM(b)
+        writePWM(b);
+        pause(1);
     }
 
     /**
      * Resets all motors
      */
+    //% blockId=motorResetAll block="reset all motors"
+    //% weight=1
     //% group="Move"
-    export function resetAllMotors() {
+    //% help=motors/reset-all
+    export function resetAll() {
         reset(Output.ALL)
+        pause(1);
     }
 
     interface MoveSchedule {
@@ -154,6 +159,7 @@ namespace motors {
         private _accelerationTime: number;
         private _decelerationSteps: number;
         private _decelerationTime: number;
+        private _inverted: boolean;
 
         protected static output_types: number[] = [0x7, 0x7, 0x7, 0x7];
 
@@ -171,6 +177,7 @@ namespace motors {
             this._accelerationTime = 0;
             this._decelerationSteps = 0;
             this._decelerationTime = 0;
+            this._inverted = false;
         }
 
         /**
@@ -220,9 +227,11 @@ namespace motors {
         //% help=motors/motor/set-inverted
         setInverted(inverted: boolean) {
             this.init();
-            const b = mkCmd(this._port, DAL.opOutputPolarity, 1)
-            b.setNumber(NumberFormat.Int8LE, 2, inverted ? 0 : 1);
-            writePWM(b)
+            this._inverted = inverted;
+        }
+
+        protected invertedFactor(): number {
+            return this._inverted ? -1 : 1;
         }
 
         /** 
@@ -259,6 +268,9 @@ namespace motors {
             // allow 500ms for robot to settle
             if (this._brake && this._brakeSettleTime > 0)
                 pause(this._brakeSettleTime);
+            else {
+                pause(1);
+            }
         }
 
         protected pauseOnRun(stepsOrTime: number) {
@@ -267,6 +279,8 @@ namespace motors {
                 this.pauseUntilReady();
                 // allow robot to settle
                 this.settle();
+            } else {
+                pause(1);
             }
         }
 
@@ -284,8 +298,9 @@ namespace motors {
         }
 
         private normalizeSchedule(speed: number, step1: number, step2: number, step3: number, unit: MoveUnit): MoveSchedule {
+            // motor polarity is not supported at the firmware level for sync motor operations
             const r: MoveSchedule = {
-                speed: Math.clamp(-100, 100, speed >> 0),
+                speed: Math.clamp(-100, 100, speed | 0) * this.invertedFactor(),
                 useSteps: true,
                 steps: [step1 || 0, step2 || 0, step3 || 0]
             }
@@ -294,9 +309,17 @@ namespace motors {
                 case MoveUnit.Rotations:
                     scale = 360;
                     r.useSteps = true;
+                    if (r.steps[1] < 0) {
+                        r.speed = -r.speed;
+                        r.steps[1] = -r.steps[1];
+                    }
                     break;
                 case MoveUnit.Degrees:
                     r.useSteps = true;
+                    if (r.steps[1] < 0) {
+                        r.speed = -r.speed;
+                        r.steps[1] = -r.steps[1];
+                    }
                     break;
                 case MoveUnit.Seconds:
                     scale = 1000;
@@ -334,6 +357,7 @@ namespace motors {
             // special: 0 is infinity
             if (schedule.steps[0] + schedule.steps[1] + schedule.steps[2] == 0) {
                 this._run(schedule.speed);
+                pause(1);
                 return;
             }
 
@@ -408,28 +432,28 @@ namespace motors {
                     temp = Math.max(0, (value * 360) | 0);
                     if (phase == MovePhase.Acceleration)
                         this._accelerationSteps = temp;
-                    else 
+                    else
                         this._decelerationSteps = temp;
                     break;
                 case MoveUnit.Degrees:
                     temp = Math.max(0, value | 0);
                     if (phase == MovePhase.Acceleration)
                         this._accelerationSteps = temp;
-                    else 
+                    else
                         this._decelerationSteps = temp;
                     break;
                 case MoveUnit.Seconds:
                     temp = Math.max(0, (value * 1000) | 0);
                     if (phase == MovePhase.Acceleration)
                         this._accelerationTime = temp;
-                    else 
+                    else
                         this._decelerationTime = temp;
                     break;
                 case MoveUnit.MilliSeconds:
                     temp = Math.max(0, value | 0);
                     if (phase == MovePhase.Acceleration)
                         this._accelerationTime = temp;
-                    else 
+                    else
                         this._decelerationTime = temp;
                     break;
             }
@@ -494,7 +518,7 @@ namespace motors {
          */
         //% blockId=motorPauseUntilRead block="pause until %motor|ready"
         //% motor.fieldEditor="motors"
-        //% weight=90
+        //% weight=90 blockGap=8
         //% group="Move"
         pauseUntilReady(timeOut?: number) {
             pauseUntil(() => this.isReady(), timeOut);
@@ -543,6 +567,7 @@ namespace motors {
 
         private __init() {
             this.setOutputType(this._large);
+            this.setInverted(false);
         }
 
         /**
@@ -602,6 +627,33 @@ namespace motors {
         toString(): string {
             return `${this._large ? "" : "M"}${this._portName} ${this.speed()}% ${this.angle()}>`;
         }
+
+        /**
+         * Pauses the program until the motor is stalled.
+         */
+        //% blockId=motorPauseUntilStall block="pause until %motor|stalled"
+        //% motor.fieldEditor="motors"
+        //% weight=89
+        //% group="Move"
+        //% help=motors/motor/pause-until-stalled
+        pauseUntilStalled(timeOut?: number): void {
+            // let it start
+            pause(50);
+            let previous = this.angle();
+            let stall = 0;
+            pauseUntil(() => {
+                let current = this.angle();
+                if (Math.abs(current - previous) < 1) {
+                    if (stall++ > 2) {
+                        return true; // not moving
+                    }
+                } else {
+                    stall = 0;
+                    previous = current;
+                }
+                return false;
+            }, timeOut)
+        }
     }
 
     //% whenUsed fixedInstance block="large motor A" jres=icons.portA
@@ -695,9 +747,9 @@ namespace motors {
         //% help=motors/synced/steer
         steer(turnRatio: number, speed: number, value: number = 0, unit: MoveUnit = MoveUnit.MilliSeconds) {
             this.init();
-            speed = Math.clamp(-100, 100, speed >> 0);
+            speed = Math.clamp(-100, 100, speed >> 0) * this.invertedFactor();
             if (!speed) {
-                stop(this._port, this._brake);
+                this.stop();
                 return;
             }
 
@@ -706,10 +758,18 @@ namespace motors {
             let stepsOrTime: number;
             switch (unit) {
                 case MoveUnit.Rotations:
+                    if (value < 0) {
+                        value = -value;
+                        speed = -speed;
+                    }
                     stepsOrTime = (value * 360) >> 0;
                     useSteps = true;
                     break;
                 case MoveUnit.Degrees:
+                    if (value < 0) {
+                        value = -value;
+                        speed = -speed;
+                    }
                     stepsOrTime = value >> 0;
                     useSteps = true;
                     break;
@@ -864,9 +924,3 @@ namespace motors {
         writePWM(b)
     }
 }
-
-
-interface Buffer {
-    [index: number]: number;
-    // rest defined in buffer.cpp
-}

libs/core/platform.cpp

@@ -0,0 +1,236 @@
+#include "pxt.h"
+
+#include <unistd.h>
+#include <sys/mman.h>
+#include <sys/types.h>
+#include <sys/stat.h>
+#include <fcntl.h>
+#include <sys/ioctl.h>
+#include <pthread.h>
+#include <signal.h>
+#include <dirent.h>
+#include "ev3const.h"
+
+namespace pxt {
+
+    static int usbFD;
+
+#define USB_MAGIC 0x3d3f
+#define USB_SERIAL 1
+#define USB_RESTART 2
+#define USB_DMESG 3
+
+struct UsbPacket {
+    uint16_t size;
+    uint16_t msgcount;
+    uint16_t magic;
+    uint16_t code;
+    char buf[1024 - 8];
+};
+
+void *usbThread(void *) {
+    UsbPacket pkt;
+    UsbPacket resp;
+    while (true) {
+        int len = read(usbFD, &pkt, sizeof(pkt));
+        if (len <= 4) {
+            sleep_core_us(20000);
+            continue;
+        }
+        resp.msgcount = pkt.msgcount;
+        if (pkt.magic == USB_MAGIC) {
+            if (pkt.code == USB_RESTART) {
+                target_reset();
+            } else if (pkt.code == USB_DMESG) {
+                dumpDmesg();
+            }
+            /*
+            resp.magic = pkt.magic;
+            resp.code = pkt.code;
+            resp.size = 8;
+            write(usbFD, &resp, sizeof(resp));
+            */
+        } else {
+            resp.magic = 0xffff;
+            resp.size = 4;
+            write(usbFD, &resp, sizeof(resp));
+        }
+        sleep_core_us(1000);
+    }
+}
+
+static void startUsb() {
+    usbFD = open("/dev/lms_usbdev", O_RDWR, 0666);
+    pthread_t pid;
+    pthread_create(&pid, NULL, usbThread, NULL);
+    pthread_detach(pid);
+}
+
+static void *exitThread(void *) {
+    int fd = open("/dev/lms_ui", O_RDWR, 0666);
+    if (fd < 0)
+        return 0;
+    uint8_t *data =
+        (uint8_t *)mmap(NULL, NUM_BUTTONS, PROT_READ | PROT_WRITE, MAP_SHARED, fd, 0);
+    if (data == MAP_FAILED) {
+        close(fd);
+        return 0;
+    }
+    for (;;) {
+        if (data[5])
+            target_reset();
+        sleep_core_us(50000);
+    }
+}
+
+static void startExitThread() {
+    pthread_t pid;
+    pthread_create(&pid, NULL, exitThread, NULL);
+    pthread_detach(pid);
+}
+
+void sendUsb(uint16_t code, const char *data, int len) {
+    while (len > 0) {
+        int sz = len;
+        if (sz > 1000)
+            sz = 1000;
+        UsbPacket pkt = {(uint16_t)(6 + sz), 0, USB_MAGIC, code, {}};
+        memcpy(pkt.buf, data, sz);
+        write(usbFD, &pkt, sizeof(pkt));
+        len -= sz;
+        data += sz;
+    }
+}
+
+void sendSerial(const char *data, int len) {
+    sendUsb(USB_SERIAL, data, len);
+}
+
+int lmsPid;
+void stopLMS() {
+    struct dirent *ent;
+    DIR *dir;
+
+    dir = opendir("/proc");
+    if (dir == NULL)
+        return;
+
+    while ((ent = readdir(dir)) != NULL) {
+        int pid = atoi(ent->d_name);
+        if (!pid)
+            continue;
+        char namebuf[100];
+        snprintf(namebuf, 100, "/proc/%d/cmdline", pid);
+        FILE *f = fopen(namebuf, "r");
+        if (f) {
+            fread(namebuf, 1, 99, f);
+            if (strcmp(namebuf, "./lms2012") == 0) {
+                lmsPid = pid;
+            }
+            fclose(f);
+            if (lmsPid)
+                break;
+        }
+    }
+
+    closedir(dir);
+
+    lmsPid = 0; // disable SIGSTOP for now - rethink if problems with I2C (runs on a thread)
+
+    if (lmsPid) {
+        DMESG("SIGSTOP to lmsPID=%d", lmsPid);
+        if (kill(lmsPid, SIGSTOP))
+            DMESG("SIGSTOP failed");
+    }
+}
+
+void runLMS() {
+    DMESG("re-starting LMS2012");
+    kill(lmsPid, SIGCONT);
+    sleep_core_us(200000);
+    exit(0);
+    /*
+    chdir("/home/root/lms2012/sys");
+    for (int fd = 3; fd < 9999; ++fd)
+        close(fd);
+    execl("lms2012", "./lms2012");
+    exit(100); // should not be reached
+    */
+}
+
+void stopMotors() {
+    uint8_t cmd[3] = {opOutputStop, 0x0F, 0};
+    int fd = open("/dev/lms_pwm", O_RDWR);
+    write(fd, cmd, 3);
+    close(fd);
+}
+
+void stopProgram() {
+    uint8_t cmd[1] = {opOutputProgramStop};
+    int fd = open("/dev/lms_pwm", O_RDWR);
+    write(fd, cmd, 1);
+    close(fd);
+}
+
+extern "C" void target_reset() {
+    tryLockUser();
+    stopMotors();
+    stopProgram();
+    if (lmsPid)
+        runLMS();
+    else
+        exit(0);
+}
+
+void target_exit() {
+    target_reset();
+}
+
+
+void target_startup() {
+    stopLMS();
+    startUsb();
+    startExitThread();
+}
+
+void initKeys() {}
+
+static const char *progPath = "/mnt/ramdisk/prjs/BrkProg_SAVE";
+
+// These are disabled except when building File_manager.pdf
+// %
+void deletePrjFile(String filename) {
+    const char *d = filename->getUTF8Data();
+    if (strlen(d) > 500 || strchr(d, '/'))
+        return;
+    char buf[1024];
+    snprintf(buf, sizeof(buf), "%s/%s", progPath, d);
+    unlink(buf);
+}
+
+// %
+RefCollection *listPrjFiles() {
+    auto res = Array_::mk();
+    registerGCObj(res);
+
+    auto dp = opendir(progPath);
+
+    for (;;) {
+        dirent *ep = dp ? readdir(dp) : NULL;
+        if (!ep)
+            break;
+        if (ep->d_name[0] == '.')
+            continue;
+        auto str = mkString(ep->d_name, -1);
+        registerGCObj(str);
+        res->head.push((TValue)str);
+        unregisterGCObj(str);
+    }
+    if (dp)
+        closedir(dp);
+    unregisterGCObj(res);
+
+    return res;
+}
+
+}

libs/core/platform.h

@@ -1 +1,3 @@
-// leave empty
+#define PXT_GC_THREAD_LIST 1
+
+#define PXT_IN_ISR() false

libs/core/pxt.h

@@ -11,6 +11,7 @@ int allocateNotifyEvent();
 void sleep_core_us(uint64_t us);
 void startUser();
 void stopUser();
+int tryLockUser();
 
 class Button;
 typedef Button *Button_;
@@ -27,9 +28,13 @@ class MMap : public RefObject {
     MMap();
     void destroy();
     void print();
+
+    static void scan(MMap *);
+    static unsigned gcsize(MMap *);
 };
 
 extern volatile bool paniced;
+void target_exit();
 
 // Buffer, Sound, and Image share representation.
 typedef Buffer Sound;

libs/core/pxt.json

@@ -25,11 +25,20 @@
         "dal.d.ts",
         "icons.jres",
         "ns.ts",
-        "platform.h"
+        "platform.h",
+        "platform.cpp",
+        "dmesg.cpp",
+        "integrator.ts"
     ],
     "testFiles": [
         "test.ts"
     ],
+    "dalDTS": {
+        "includeDirs": [
+            "pxtapp"
+        ]
+    },
+    "additionalFilePath": "../../node_modules/pxt-common-packages/libs/core---linux",
     "npmDependencies": {},
     "public": true,
     "dependencies": {

libs/core/pxtcore.h

@@ -1,16 +0,0 @@
-#ifndef __PXTCORE_H
-#define __PXTCORE_H
-
-#include <stdio.h>
-
-namespace pxt {
-void dmesg(const char *fmt, ...);
-#define DMESG pxt::dmesg
-}
-
-static inline void itoa(int v, char *dst) {
-
-    snprintf(dst, 30, "%d", v);
-
-}
-#endif

libs/core/screen.cpp

@@ -85,10 +85,9 @@ void updateScreen(Image_ img) {
         lastImg = img;
     }
 
-    if (lastImg && lastImg->isDirty() && mappedFrameBuffer != MAP_FAILED) {
+    if (lastImg && mappedFrameBuffer != MAP_FAILED) {
         if (lastImg->bpp() != 1 || lastImg->width() != LCD_WIDTH || lastImg->height() != LCD_HEIGHT)
             target_panic(906);
-        lastImg->clearDirty();
         bitBufferToFrameBufferSwap(lastImg->pix(), mappedFrameBuffer);
     }
 }

libs/core/serialnumber.cpp

@@ -25,8 +25,8 @@ struct hci_dev_list_req {
     hci_dev_req dev_req[2];
 };
 
-static uint32_t bt_addr() {
-    uint32_t res = -1;
+static uint64_t bt_addr() {
+    uint64_t res = -1;
 
     int fd = socket(AF_BLUETOOTH, SOCK_RAW, BTPROTO_HCI);
     if (fd < 0) {
@@ -50,11 +50,8 @@ static uint32_t bt_addr() {
         goto done;
     }
 
-    memcpy(&res, di.bdaddr, 4);
-    res *= 0x1000193;
-    res += di.bdaddr[4];
-    res *= 0x1000193;
-    res += di.bdaddr[5];
+    res = 0;
+    memcpy(&res, di.bdaddr, 6);
 
 done:
     close(fd);
@@ -63,14 +60,10 @@ done:
 
 namespace pxt {
 
-int getSerialNumber() {
-    static int serial;
-
-    if (serial != 0)
-        return serial;
-
-    serial = bt_addr() & 0x7fffffff;
-
+uint64_t getLongSerialNumber() {
+    static uint64_t serial;
+    if (serial == 0)
+        serial = bt_addr();
     return serial;
 }
 

libs/core/shims.d.ts

@@ -68,6 +68,12 @@ declare namespace control {
     /** Write data to DMESG debugging buffer. */
     //% shim=control::dmesg
     function dmesg(s: string): void;
+
+    /**
+     * Determines if the USB has been enumerated.
+     */
+    //% shim=control::isUSBInitialized
+    function isUSBInitialized(): boolean;
 }
 declare namespace serial {
 

libs/ev3/brick.ts

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

libs/ev3/console.ts

@@ -20,7 +20,8 @@ namespace console._screen {
             lines = [];
             console.addListener(log);
             brick.buttonUp.onEvent(ButtonEvent.Bumped, () => scroll(-3))
-            brick.buttonDown.onEvent(ButtonEvent.Bumped, () => scroll(3))                
+            brick.buttonDown.onEvent(ButtonEvent.Bumped, () => scroll(3))
+            brick.showConsole();
         }
     }
 
@@ -44,7 +45,7 @@ namespace console._screen {
         printLog();
     }
 
-    function log(msg: string): void {    
+    function log(priority: ConsolePriority, msg: string): void {
         lines.push(msg);
         if (lines.length + 5 > maxLines) {
             lines.splice(0, maxLines - lines.length);

libs/ev3/ns.ts

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

libs/ev3/pxt.json

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

libs/ev3/startup.ts

@@ -1,8 +1,6 @@
 // This is the last thing executed before user code
-
-// pulse green, play startup sound, turn off light
-brick.setStatusLight(StatusLight.GreenPulse);
-// We pause for 100ms to give time to read sensor values, so they work in on_start block
-pause(400)
-// and we're ready
-brick.setStatusLight(StatusLight.Off);
+console.addListener(function(priority: ConsolePriority, msg: string) {
+    control.dmesg(msg.substr(0, msg.length - 1))
+})
+// boot sequence
+brick.showBoot();

libs/gyro-sensor/docs/reference/sensors/gyro/calibrate.md

@@ -1,6 +1,6 @@
 # calibrate
 
-Reset the zero reference for the gyro to current position of the brick.
+Detects if the gyro is drifting and performs a full reset if needed.
 
 ```sig
 sensors.gyro2.calibrate()

libs/gyro-sensor/docs/reference/sensors/gyro/compute-drift.md

@@ -0,0 +1,37 @@
+# compute Drift
+
+Called when the sensor is completely still, computes the current rate drift
+```sig
+sensors.gyro2.computeDrift()
+```
+
+The gyroscope sensor is subject to rate drifting. This means that the measurement reported by the sensor is off by a few degrees per second over time: it is drifting.
+
+To counter the effect of drifting, call the ``||sensors:compute drift||`` block when the sensor is still to compute the current drift. The rate meansurements will automatically be corrected based on that drift.
+
+## Example
+
+This example uses a gyro sensor to 
+
+```blocks
+let error = 0
+sensors.gyro2.computeDrift()
+while (sensors.color3.color() != ColorSensorColor.White) {
+    error = sensors.gyro2.rate() * -1
+    motors.largeBC.steer(error, 50)
+}
+motors.stopAll()
+pause(1000)
+sensors.gyro2.computeDrift()
+while (sensors.color3.color() != ColorSensorColor.Blue) {
+    error = sensors.gyro2.rate() * -1
+    motors.largeBC.steer(error, 50)
+}
+motors.stopAll()
+```
+
+## See Also
+
+[rate](/reference/sensors/gyro/rate),
+[compute drift](/reference/sensors/gyro/compute-drift)
+

libs/gyro-sensor/docs/reference/sensors/gyro/drift.md

@@ -0,0 +1,39 @@
+# drift
+
+Get the computed rate drift
+
+```sig
+sensors.gyro2.drift()
+```
+
+The gyroscope sensor is subject to rate drifting. This means that the measurement reported by the sensor is off by a few degrees per second over time: it is drifting.
+
+To counter the effect of drifting, call the ``||sensors:compute drift||`` block when the sensor is still to compute the current drift. The rate meansurements will automatically be corrected based on that drift.
+
+## Example
+
+This example uses a gyro sensor to drive straight until while color is detected.
+The robot is stopped, the drift is computed and another movement is done.
+
+```blocks
+let error = 0
+sensors.gyro2.computeDrift()
+while (sensors.color3.color() != ColorSensorColor.White) {
+    error = sensors.gyro2.rate() * -1
+    motors.largeBC.steer(error, 50)
+}
+motors.stopAll()
+pause(1000)
+sensors.gyro2.computeDrift()
+while (sensors.color3.color() != ColorSensorColor.Blue) {
+    error = sensors.gyro2.rate() * -1
+    motors.largeBC.steer(error, 50)
+}
+motors.stopAll()
+```
+
+## See Also
+
+[rate](/reference/sensors/gyro/rate),
+[compute drift](/reference/sensors/gyro/compute-drift)
+

libs/gyro-sensor/docs/reference/sensors/gyro/pause-until-rotated.md

@@ -0,0 +1,21 @@
+# Pause Until Rotated
+
+Pauses the program until the gyro sensors detect that the desired amount of rotation
+has been acheived.
+
+```
+sensors.gyro2.pauseUntilRotated(90)
+```
+
+## Example
+
+This program performs a square turn left, then right.
+
+```blocks
+sensors.gyro2.calibrate()
+motors.largeBC.steer(200, 10)
+sensors.gyro2.pauseUntilRotated(90)
+motors.largeBC.steer(-200, 10)
+sensors.gyro2.pauseUntilRotated(-90)
+motors.largeBC.stop()
+```

libs/gyro-sensor/gyro.ts

@@ -7,14 +7,15 @@ const enum GyroSensorMode {
 namespace sensors {
     //% fixedInstances
     export class GyroSensor extends internal.UartSensor {
-        private calibrating: boolean;
+        private _calibrating: boolean;
         private _drift: number;
-        private _driftCorrection: boolean;
+        private _angle: control.EulerIntegrator;
         constructor(port: number) {
             super(port)
-            this.calibrating = false;
+            this._calibrating = false;
             this._drift = 0;
-            this._driftCorrection = false;
+            this._angle = new control.EulerIntegrator();
+            this._setMode(GyroSensorMode.Rate);
             this.setMode(GyroSensorMode.Rate);
         }
 
@@ -23,13 +24,17 @@ namespace sensors {
         }
 
         _query(): number {
-            return this.getNumber(NumberFormat.Int16LE, 0);
+            const v = this.getNumber(NumberFormat.Int16LE, 0);
+            this._angle.integrate(v - this._drift);
+            return v;
         }
 
         setMode(m: GyroSensorMode) {
-            if (m == GyroSensorMode.Rate && this.mode != m)
-                this._drift = 0;
-            this._setMode(m)
+            // decrecated
+        }
+
+        isCalibrating(): boolean {
+            return this._calibrating;
         }
 
         /**
@@ -45,11 +50,11 @@ namespace sensors {
         //% weight=64 blockGap=8
         //% group="Gyro Sensor"
         angle(): number {
-            if (this.calibrating)
-                pauseUntil(() => !this.calibrating, 2000);
+            this.poke();
+            if (this._calibrating)
+                pauseUntil(() => !this._calibrating, 2000);
 
-            this.setMode(GyroSensorMode.Angle);
-            return this._query();
+            return Math.round(this._angle.value);
         }
 
         /**
@@ -65,21 +70,14 @@ namespace sensors {
         //% weight=65 blockGap=8
         //% group="Gyro Sensor"
         rate(): number {
-            if (this.calibrating)
-                pauseUntil(() => !this.calibrating, 2000);
-
-            this.setMode(GyroSensorMode.Rate);
-            let curr = this._query();
-            if (Math.abs(curr) < 4 && this._driftCorrection) {
-                const p = 0.01;
-                this._drift = (1 - p) * this._drift + p * curr;
-                curr = Math.round(curr - this._drift);
-            }
-            return curr;
+            this.poke();
+            if (this._calibrating)
+                pauseUntil(() => !this._calibrating, 2000);
+            return this._query() - this._drift;
         }
 
         /**
-         * Forces a calibration of the with light progress indicators. 
+         * Detects if calibration is necessary and performs a full reset, drift computation.
          * Must be called when the sensor is completely still.
          */
         //% help=sensors/gyro/calibrate
@@ -91,16 +89,30 @@ namespace sensors {
         //% weight=51 blockGap=8
         //% group="Gyro Sensor"
         calibrate(): void {
-            if (this.calibrating) return; // already in calibration mode
+            if (this._calibrating) return; // already in calibration mode
 
             const statusLight = brick.statusLight(); // save current status light
             brick.setStatusLight(StatusLight.Orange);
 
-            this.calibrating = true;
+            this._calibrating = true;
             // may be triggered by a button click,
             // give time for robot to settle
             pause(700);
 
+            // compute drift
+            this.computeDriftNoCalibration();
+            if (Math.abs(this.drift()) < 0.1) {
+                // no drift, skipping calibration
+                brick.setStatusLight(StatusLight.Green); // success
+                pause(1000);
+                brick.setStatusLight(statusLight); // resture previous light
+
+                // and we're done
+                this._angle.reset();
+                this._calibrating = false;
+                return;
+            }
+
             // calibrating
             brick.setStatusLight(StatusLight.OrangePulse);
 
@@ -109,37 +121,31 @@ namespace sensors {
             // wait till sensor is live
             pauseUntil(() => this.isActive(), 7000);
             // mode toggling
-            this.setMode(GyroSensorMode.Rate);
-            this.setMode(GyroSensorMode.Angle);
-            // switch back to the desired mode
-            this.setMode(this.mode);
+            this._setMode(GyroSensorMode.Rate);
+            this._setMode(GyroSensorMode.Angle);
+            this._setMode(GyroSensorMode.Rate);
 
             // check sensor is ready
             if (!this.isActive()) {
                 brick.setStatusLight(StatusLight.RedFlash); // didn't work
                 pause(2000);
                 brick.setStatusLight(statusLight); // restore previous light
-                this.calibrating = false;
+                this._angle.reset();
+                this._calibrating = false;
                 return;
             }
 
-            // compute drift
-            this._drift = 0;
-            if (this._driftCorrection && this.mode == GyroSensorMode.Rate) {
-                const n = 100;
-                for (let i = 0; i < n; ++i) {
-                    this._drift += this._query();
-                    pause(4);
-                }
-                this._drift /= n;
-            }
+            // switch to rate mode
+            this.computeDriftNoCalibration();
 
+            // and done
             brick.setStatusLight(StatusLight.Green); // success
             pause(1000);
             brick.setStatusLight(statusLight); // resture previous light
 
             // and we're done
-            this.calibrating = false;
+            this._angle.reset();
+            this._calibrating = false;
         }
 
         /**
@@ -151,34 +157,117 @@ namespace sensors {
         //% parts="gyroscope"
         //% blockNamespace=sensors
         //% this.fieldEditor="ports"
-        //% weight=50
+        //% weight=50 blockGap=8
         //% group="Gyro Sensor"
         reset(): void {
-            if (this.calibrating) return; // already in calibration mode
+            if (this._calibrating) return; // already in calibration mode
+
+            this._calibrating = true;
+            const statusLight = brick.statusLight(); // save current status light
+            brick.setStatusLight(StatusLight.Orange);
 
-            this.calibrating = true;
             // send a reset command
             super.reset();
+            this._drift = 0;
+            this._angle.reset();
+            pauseUntil(() => this.isActive(), 7000);
+
+            // check sensor is ready
+            if (!this.isActive()) {
+                brick.setStatusLight(StatusLight.RedFlash); // didn't work
+                pause(2000);
+                brick.setStatusLight(statusLight); // restore previous light
+                this._angle.reset();
+                this._calibrating = false;
+                return;
+            }
+
+            this._setMode(GyroSensorMode.Rate);
+
             // and done
-            this.calibrating = false;
+            brick.setStatusLight(StatusLight.Green); // success
+            pause(1000);
+            brick.setStatusLight(statusLight); // resture previous light
+            // and done
+            this._angle.reset();
+            this._calibrating = false;
         }
 
         /**
          * Gets the computed rate drift
          */
-        //%
+        //% help=sensors/gyro/drift
+        //% block="**gyro** %this|drift"
+        //% blockId=gyroDrift
+        //% parts="gyroscope"
+        //% blockNamespace=sensors
+        //% this.fieldEditor="ports"
+        //% weight=9 blockGap=8
+        //% group="Gyro Sensor"
         drift(): number {
             return this._drift;
         }
 
         /**
-         * Enables or disable drift correction
-         * @param enabled
+         * Computes the current sensor drift when using rate measurements.
          */
-        //%
-        setDriftCorrection(enabled: boolean) {
-            this._driftCorrection = enabled;
+        //% help=sensors/gyro/compute-drift
+        //% block="compute **gyro** %this|drift"
+        //% blockId=gyroComputeDrift
+        //% parts="gyroscope"
+        //% blockNamespace=sensors
+        //% this.fieldEditor="ports"
+        //% weight=10 blockGap=8
+        //% group="Gyro Sensor"
+        computeDrift() {
+            if (this._calibrating)
+                pauseUntil(() => !this._calibrating, 2000);
+            pause(1000); // let the robot settle
+            this.computeDriftNoCalibration();
+        }
+
+        /**
+         * Pauses the program until the gyro detected
+         * that the angle changed by the desired amount of degrees.
+         * @param degrees the degrees to turn
+         */
+        //% help=sensors/gyro/pause-until-rotated
+        //% block="pause until **gyro** %this|rotated %degrees=rotationPicker|degrees"
+        //% blockId=gyroPauseUntilRotated
+        //% parts="gyroscope"
+        //% blockNamespace=sensors
+        //% this.fieldEditor="ports"
+        //% degrees.defl=90
+        //% weight=63
+        //% group="Gyro Sensor"
+        pauseUntilRotated(degrees: number, timeOut?: number): void {
+            let a = this.angle();
+            const end = a + degrees;
+            const direction = (end - a) > 0 ? 1 : -1;
+            pauseUntil(() => (end - this.angle()) * direction <= 0, timeOut);
+        }
+
+        private computeDriftNoCalibration() {
+            // clear drift
             this._drift = 0;
+            const n = 10;
+            let d = 0;
+            for (let i = 0; i < n; ++i) {
+                d += this._query();
+                pause(20);
+            }
+            this._drift = d / n;
+            this._angle.reset();
+        }
+
+        _info(): string {
+            if (this._calibrating)
+                return "cal...";
+
+            let r = `${this._query()}r`;
+            if (this._drift != 0)
+                r += `-${this._drift | 0}`;
+            return r;
         }
     }
 
@@ -193,4 +282,17 @@ namespace sensors {
 
     //% fixedInstance whenUsed block="4" jres=icons.port4
     export const gyro4: GyroSensor = new GyroSensor(4)
+
+    /**
+      * Get the rotation angle field editor
+      * @param degrees angle in degrees, eg: 90
+      */
+    //% blockId=rotationPicker block="%degrees"
+    //% blockHidden=true shim=TD_ID
+    //% colorSecondary="#FFFFFF"
+    //% degrees.fieldEditor="numberdropdown" degrees.fieldOptions.decompileLiterals=true
+    //% degrees.fieldOptions.data='[["30", 30], ["45", 45], ["60", 60], ["90", 90], ["180", 180], ["-30", -30], ["-45", -45], ["-60", -60], ["-90", -90], ["-180", -180]]'
+    export function __rotationPicker(degrees: number): number {
+        return degrees;
+    }
 }

libs/infrared-sensor/ir.ts

@@ -235,6 +235,7 @@ namespace sensors {
         //% group="Infrared Sensor"
         //% this.fieldEditor="ports"
         proximity(): number {
+            this.poke();
             this._setMode(InfraredSensorMode.Proximity)
             return this.getNumber(NumberFormat.UInt8LE, 0)
         }
@@ -284,6 +285,7 @@ namespace sensors {
 
         // TODO
         private getDirectionAndDistance() {
+            this.poke();
             this._setMode(InfraredSensorMode.Seek)
             return this.getNumber(NumberFormat.UInt16LE, this._channel * 2)
         }

libs/screen/screenimage.ts

@@ -0,0 +1,10 @@
+
+namespace image {
+    /**
+    * Get the screen image
+    */
+    //%
+    export function screenImage(): Image {
+        return screen;
+    }
+}

libs/screen/shims.d.ts

@@ -15,7 +15,7 @@ declare interface Image {
     height: int32;
 
     /**
-     * True iff the image is monochromatic (black and white)
+     * True if the image is monochromatic (black and white)
      */
     //% property shim=ImageMethods::isMono
     isMono: boolean;
@@ -45,6 +45,18 @@ declare interface Image {
     //% shim=ImageMethods::fill
     fill(c: int32): void;
 
+    /**
+     * Copy row(s) of pixel from image to buffer (8 bit per pixel).
+     */
+    //% shim=ImageMethods::getRows
+    getRows(x: int32, dst: Buffer): void;
+
+    /**
+     * Copy row(s) of pixel from buffer to image.
+     */
+    //% shim=ImageMethods::setRows
+    setRows(x: int32, src: Buffer): void;
+
     /**
      * Return a copy of the current image
      */

libs/screen/targetoverrides.ts

@@ -26,6 +26,8 @@ namespace brick {
         None,
         ShowLines,
         Image,
+        Ports,
+        Console,
         Custom
     }
     let screenMode = ScreenMode.None;
@@ -124,42 +126,84 @@ namespace brick {
     //% help=brick/show-ports blockGap=8
     //% weight=10 group="Screen"
     export function showPorts() {
-        screenMode = ScreenMode.Custom;
+        if (screenMode == ScreenMode.Ports) return;
 
+        screenMode = ScreenMode.Ports;
+        renderPorts();
+        control.runInParallel(function () {
+            while (screenMode == ScreenMode.Ports) {
+                renderPorts();
+                pause(50);
+            }
+        })
+    }
+
+    function renderPorts() {
         const col = 44;
         const lineHeight8 = image.font8.charHeight + 2;
+        const h = screen.height;
+
         clearScreen();
 
+        for (let i = 0; i < 4; ++i) {
+            const x = i * col + 2;
+            screen.print("ABCD"[i], x, 1 * lineHeight8, 1, image.font8)
+            screen.print((i + 1).toString(), x, h - lineHeight8, 1, image.font8)
+        }
+        screen.drawLine(0, 5 * lineHeight8, screen.width, 5 * lineHeight8, 1);
+        screen.drawLine(0, h - 5 * lineHeight8, screen.width, h - 5 * lineHeight8, 1)
+
         function scale(x: number) {
-            if (Math.abs(x) > 1000) return Math.round(x / 100) / 10 + "k";
-            return ("" + (x >> 0));
+            if (Math.abs(x) >= 5000) {
+                const k = Math.floor(x / 1000);
+                const r = Math.round((x - 1000 * k) / 100);
+                return `${k}.${r}k`
+            }
+            return ("" + (x || 0));
         }
 
         // motors
         const datas = motors.getAllMotorData();
         for (let i = 0; i < datas.length; ++i) {
             const data = datas[i];
+            const x = i * col + 2;
             if (!data.actualSpeed && !data.count) continue;
-            const x = i * col;
-            screen.print("ABCD"[i], x + 2, 1 * lineHeight8, 1, image.font8)
-            screen.print(`${scale(data.actualSpeed)}%`, x + 2, 3 * lineHeight8, 1, image.font8)
-            screen.print(`${scale(data.count)}>`, x + 2, 4 * lineHeight8, 1, image.font5)
+            screen.print(`${scale(data.actualSpeed)}%`, x, 3 * lineHeight8, 1, image.font8)
+            screen.print(`${scale(data.count)}>`, x, 4 * lineHeight8, 1, image.font8)
         }
-        screen.drawLine(0, 5 * lineHeight8, screen.width, 5 * lineHeight8, 1);
 
         // sensors
         const sis = sensors.internal.getActiveSensors();
-        const h = screen.height;
-        screen.drawLine(0, h - 5 * lineHeight8, screen.width, h - 5 * lineHeight8, 1)
         for (let i = 0; i < sis.length; ++i) {
             const si = sis[i];
-            const x = (si.port() - 1) * col;
+            const x = (si.port() - 1) * col + 2;
             const inf = si._info();
-            screen.print(si.port() + "", x, h - 4 * lineHeight8, 1, image.font8)
-            screen.print(inf, x, h - 2 * lineHeight8, 1, inf.length > 4 ? image.font5 : image.font8);
+            if (inf)
+                screen.print(inf, x, h - 2 * lineHeight8, 1, inf.length > 4 ? image.font5 : image.font8);
         }
     }
 
+    export function showBoot() {
+        // pulse green, play startup sound, turn off light
+        brick.setStatusLight(StatusLight.GreenPulse);
+        // We pause for 100ms to give time to read sensor values, so they work in on_start block
+        pause(400)
+        // and we're ready
+        brick.setStatusLight(StatusLight.Off);
+        // always show port by default if no UI is set
+        control.runInParallel(function () {
+            // show ports if nothing is has been shown
+            if (screenMode != ScreenMode.None) return;
+            showPorts();
+        })
+    }
+
+    export function showConsole() {
+        console.sendToScreen();
+        screenMode = ScreenMode.Console;
+        clearScreen();
+    }
+
     /**
      * An image
      * @param image the image

libs/storage/storage-core.ts

@@ -199,4 +199,10 @@ namespace storage {
             return '/' + filename;
         }
     }
+
+    /**
+     * Permanent storage on the brick, must be deleted with code.
+     */
+    //% whenUsed fixedInstance block="permanent"
+    export const permanent: Storage = new PermanentStorage();
 }