driving base sim

docs/index-ref.json

@@ -1,3 +1,3 @@
 {
-    "appref": "v1.2.21"
+    "appref": "v1.2.18"
 }

docs/tutorials/city-shaper.md

@@ -36,10 +36,6 @@
     "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"
 }]
 ```
 

libs/core/linux.cpp

@@ -524,7 +524,6 @@ void stopProgram() {
 }
 
 extern "C" void target_reset() {
-    pthread_mutex_trylock(&execMutex);
     stopMotors();
     stopProgram();
     if (lmsPid)

package.json

@@ -1,6 +1,6 @@
 {
   "name": "pxt-ev3",
-  "version": "1.2.22",
+  "version": "1.2.21",
   "description": "LEGO MINDSTORMS EV3 for Microsoft MakeCode",
   "private": false,
   "keywords": [

sim/visuals/robotgametable.ts

@@ -0,0 +1,55 @@
+namespace pxsim {
+    export class RobotGameTable {
+        readonly ctx: CanvasRenderingContext2D;
+        readonly data: ImageData;
+
+        cx: number; // cm
+        cy: number; // cm
+        angle: number; // radians
+        cwidth: number; // cm
+
+        constructor(public canvas: HTMLCanvasElement, public scale: number) {
+            this.ctx = this.canvas.getContext("2d");
+            this.data = this.ctx.getImageData(0, 0, this.canvas.width, this.canvas.height);
+            this.cx = this.width / 2;
+            this.cy = 0;
+        }
+
+        /**
+         * Gets the width in cm
+         */
+        get width() { 
+            return this.canvas.width * this.scale;
+        }
+
+        /**
+         * gets the height in cm
+         */
+        get height() {
+            return this.canvas.height * this.scale;
+        }
+
+        color(): number {
+            // compute color sensor position from center;
+            // todo
+            const px = Math.max(0, Math.min(this.data.width, (this.cx ) / this.scale));
+            const py = Math.max(0, Math.min(this.data.height, (this.cy ) / this.scale));
+            // get color
+            const i = px * this.data.width + py;
+            let c = 
+                (this.data.data[i] << 16) | (this.data.data[i + 1] << 8) | (this.data.data[i + 2]);
+            // map color to known color
+            return c;
+        }
+
+        intensity(): number {
+            const c = this.color();
+            return ((c >> 16 & 0xff) + (c >> 8 & 0xff) + (c & 0xff)) / 3;
+        }
+
+        ultrasonicDistance() {
+            // obstacles?
+            
+        }
+    }
+}