1.2.7

* broadcast project

* revert chaanges

docs/fll.md

@@ -19,6 +19,7 @@ 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?
 
@@ -28,12 +29,16 @@ We have compiled a guide for EV3 LabView users at https://makecode.mindstorms.co
 
 Go to https://makecode.mindstorms.com. The home screen is filled with videos, tutorials and examples that might be relevant for your missions.
 
-On the home page, scroll down to the **FLL / City Shaper / Crane Mission** section for specific lessons related to Mission 2.
+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.
 
+### 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.

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/v1.1.20/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/v1.1.20/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/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/city-shaper.md

@@ -0,0 +1,25 @@
+# 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"
+}, {
+    "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/motors.md

@@ -42,7 +42,7 @@
 }, {
   "name": "Turtle",
   "description": "Encode moves and run them on a driving base",
-  "url":"/examples/turtle",
+  "url":"/tutorials/turtle",
   "cardType": "example"
 }]
 ```

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)
+```

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

@@ -179,6 +179,7 @@ namespace sensors {
         //% group="Color Sensor"
         //% blockGap=8
         color(): ColorSensorColor {
+            this.poke();
             this.setMode(ColorSensorMode.Color)
             return this.getNumber(NumberFormat.UInt8LE, 0)
         }
@@ -196,6 +197,7 @@ namespace sensors {
         //% group="Color Sensor"
         //% blockGap=8
         rgbRaw(): number[] {
+            this.poke();
             this.setMode(ColorSensorMode.RgbRaw);
             return [this.getNumber(NumberFormat.UInt16LE, 0), this.getNumber(NumberFormat.UInt16LE, 2), this.getNumber(NumberFormat.UInt16LE, 4)];
         }
@@ -249,6 +251,7 @@ namespace sensors {
         //% weight=87 blockGap=8
         //% group="Color Sensor"
         light(mode: LightIntensityMode) {
+            this.poke();
             this.setMode(<ColorSensorMode><number>mode)
             switch(mode) {
                 case LightIntensityMode.ReflectedRaw:
@@ -279,6 +282,7 @@ namespace sensors {
          */
         //%
         reflectedLightRaw(): number {
+            this.poke();
             this.setMode(ColorSensorMode.RefRaw);
             return this.getNumber(NumberFormat.UInt16LE, 0);
         }

libs/core/buttons.ts

@@ -55,6 +55,10 @@ namespace brick {
             this._wasPressed = false
         }
 
+        protected poke() {
+
+        }
+
         //% hidden
         _update(curr: boolean) {
             if (this == null) return
@@ -85,6 +89,7 @@ namespace brick {
         //% 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/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: {
@@ -55,6 +79,7 @@ namespace sensors.internal {
         connType: number
         devType: number
         iicid: string
+        poller: Poller;
 
         constructor(p: number) {
             this.port = p
@@ -62,6 +87,20 @@ namespace sensors.internal {
             this.devType = DAL.DEVICE_TYPE_NONE
             this.iicid = ''
             this.sensors = []
+            this.poller = new Poller(50, () => 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;
@@ -178,11 +208,11 @@ namespace sensors.internal {
         }
     }
 
-    export function getBatteryInfo(): { 
-        level: number; 
-        Ibatt: number, 
-        Vbatt: number, 
-        Imotor: number 
+    export function getBatteryInfo(): {
+        level: number;
+        Ibatt: number,
+        Vbatt: number,
+        Imotor: number
     } {
         init();
         if (!batteryInfo) updateBatteryInfo();
@@ -225,13 +255,13 @@ 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,
@@ -337,6 +367,11 @@ void      cUiUpdatePower(void)
             this.markUsed();
         }
 
+        poke() {
+            if (this.isActive())
+                sensorInfos[this._port].poke();
+        }
+
         markUsed() {
             sensors.__sensorUsed(this._port, this._deviceType());
         }

libs/core/linux.cpp

@@ -446,11 +446,6 @@ static void runPoller(Thread *thr) {
     //    disposeThread(thr);
 }
 
-//%
-void unsafePollForChanges(int ms, Action query, Action handler) {
-    setupThread(handler, 0, runPoller, query, fromInt(ms));
-}
-
 uint32_t afterProgramPage() {
     return 0;
 }

libs/core/output.ts

@@ -123,7 +123,8 @@ namespace motors {
     //% help=motors/stop-all
     export function stopAll() {
         const b = mkCmd(Output.ALL, DAL.opOutputStop, 0)
-        writePWM(b)
+        writePWM(b);
+        pause(1);
     }
 
     /**
@@ -132,6 +133,7 @@ namespace motors {
     //% group="Move"
     export function resetAllMotors() {
         reset(Output.ALL)
+        pause(1);
     }
 
     interface MoveSchedule {
@@ -259,6 +261,8 @@ namespace motors {
             // allow 500ms for robot to settle
             if (this._brake && this._brakeSettleTime > 0)
                 pause(this._brakeSettleTime);
+            else
+                pause(1); // give a tiny breather
         }
 
         protected pauseOnRun(stepsOrTime: number) {
@@ -267,6 +271,9 @@ namespace motors {
                 this.pauseUntilReady();
                 // allow robot to settle
                 this.settle();
+            } else {
+                // give a breather to the event system in tight loops
+                pause(1);
             }
         }
 
@@ -334,6 +341,7 @@ namespace motors {
             // special: 0 is infinity
             if (schedule.steps[0] + schedule.steps[1] + schedule.steps[2] == 0) {
                 this._run(schedule.speed);
+                pause(1);
                 return;
             }
 
@@ -494,7 +502,7 @@ 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);
@@ -602,6 +610,33 @@ 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
@@ -697,7 +732,7 @@ namespace motors {
             this.init();
             speed = Math.clamp(-100, 100, speed >> 0);
             if (!speed) {
-                stop(this._port, this._brake);
+                this.stop();
                 return;
             }
 

libs/gyro-sensor/gyro.ts

@@ -45,6 +45,7 @@ namespace sensors {
         //% weight=64 blockGap=8
         //% group="Gyro Sensor"
         angle(): number {
+            this.poke();
             if (this.calibrating)
                 pauseUntil(() => !this.calibrating, 2000);
 
@@ -65,6 +66,7 @@ namespace sensors {
         //% weight=65 blockGap=8
         //% group="Gyro Sensor"
         rate(): number {
+            this.poke();
             if (this.calibrating)
                 pauseUntil(() => !this.calibrating, 2000);
 

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/touch-sensor/touch.ts

@@ -73,6 +73,7 @@ namespace sensors {
         //% weight=81 blockGap=8
         //% group="Touch Sensor"
         isPressed() {
+            this.poke();
             return this.button.isPressed();
         }
 
@@ -90,6 +91,7 @@ namespace sensors {
         //% weight=81
         //% group="Touch Sensor"
         wasPressed() {
+            this.poke();
             return this.button.wasPressed();
         }
     }

libs/ultrasonic-sensor/ultrasonic.ts

@@ -84,6 +84,7 @@ namespace sensors {
         //% weight=65
         //% group="Ultrasonic Sensor"
         distance(): number {
+            this.poke();
             // it supposedly also has an inch mode, but we stick to cm
             this._setMode(0)
             return this._query();

package.json

@@ -1,6 +1,6 @@
 {
   "name": "pxt-ev3",
-  "version": "1.2.1",
+  "version": "1.2.7",
   "description": "LEGO MINDSTORMS EV3 for Microsoft MakeCode",
   "private": false,
   "keywords": [
@@ -40,7 +40,7 @@
   },
   "dependencies": {
     "pxt-common-packages": "0.23.61",
-    "pxt-core": "4.0.9"
+    "pxt-core": "4.0.10"
   },
   "scripts": {
     "test": "node node_modules/pxt-core/built/pxt.js travis"

pxtarget.json

@@ -17,7 +17,8 @@
         "libs/gyro-sensor",
         "libs/screen",
         "libs/ev3",
-        "libs/storage"
+        "libs/storage",
+        "libs/broadcast"
     ],
     "simulator": {
         "autoRun": true,

targetconfig.json

@@ -15,13 +15,13 @@
         "Color Sensor Tutorials": "tutorials/color-sensor",
         "Ultrasonic Sensor Tutorials": "tutorials/ultrasonic-sensor",
         "Infrared Sensor Tutorials": "tutorials/infrared-sensor",
-        "FLL / City Shaper / Crane Mission": "tutorials/city-shaper/crane-mission",
+        "FLL / City Shaper": "tutorials/city-shaper",
         "Design Engineering": "design-engineering",
         "Coding": "coding",
         "Maker": "maker",
         "Videos": "videos"
     },
     "electronManifest": {
-        "latest": "v1.0.11"
+        "latest": "v1.1.20"
     }
 }