merge master

* bump

* bump pxt

docs/getting-started/try-tutorial.md

@@ -73,6 +73,12 @@ 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 @unplugged
 
 Now you will learn to control the Large Motor.

docs/index-ref.json

@@ -1,3 +1,3 @@
 {
-    "appref": "v1.2.22"
+    "appref": "v1.2.26"
 }

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/v1.2.22/win64");
+            window.open("https://makecode.com/api/release/ev3/v1.2.26/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/v1.2.22/mac64");
+            window.open("https://makecode.com/api/release/ev3/v1.2.26/mac64");
             tickEvent("offlineapp.download", { "target": "ev3", "platform": "mac64" });
         }
     </script>

docs/stable-ref.json

@@ -0,0 +1,3 @@
+{
+    "appref": "v1.2"
+}

libs/color-sensor/color.ts

@@ -1,5 +1,4 @@
 const enum ColorSensorMode {
-    None = 0,
     //% block="reflected light intensity"
     ReflectedLightIntensity = 0,
     //% block="ambient light intensity"
@@ -59,7 +58,6 @@ namespace sensors {
 
         constructor(port: number) {
             super(port)
-            this._setMode(ColorSensorMode.None);
             this.thresholdDetector = new sensors.ThresholdDetector(this.id());
             this.calibrating = false;
         }
@@ -181,6 +179,22 @@ namespace sensors {
             return this.getNumber(NumberFormat.UInt8LE, 0)
         }
 
+        /**
+         * Checks the color is being detected
+         * @param color the color to detect
+         */
+        //% help=sensors/color-sensor/is-color-detected
+        //% block="is **color sensor** %this|detected|%color=colorEnumPicker"
+        //% blockId=colorisColorDetectedDetected
+        //% parts="colorsensor"
+        //% blockNamespace=sensors
+        //% this.fieldEditor="ports"
+        //% weight=99 blockGap=8
+        //% group="Color Sensor"
+        isColorDetected(color: number) {
+            return this.color() == color;
+        }
+
         /**
          * Get the current raw rgb values as an array from the color sensor.
          * @param sensor the color sensor to query the request

libs/color-sensor/docs/reference/sensors/color-sensor/is-color-detected.md

@@ -0,0 +1,30 @@
+# Is Color Detected
+
+Checks the color is detected
+
+```sig
+let b = sensors.color1.isColorDetected(ColorSensorColor.Blue)
+```
+
+The [color](/reference/sensors/color) you choose to look for is one of the colors that the sensor can detect. If you want to use colors for tracking, it's best to use a color that is the same or very close to the ones the sensor detects.
+
+## Parameters
+
+* **color**: the [color](/reference/sensors/color) to watch for.
+
+## Example
+
+Wait for the sensor to see ``blue``. Then, show an expression on the screen.
+
+```blocks
+brick.showString("Waiting for blue", 1)
+while(!sensors.color1.isColorDetected(ColorSensorColor.Blue)) {
+    pause(20)
+}
+brick.clearScreen()
+brick.showImage(images.expressionsSick)
+```
+
+## See also
+
+[on color detected](/reference/sensors/color-sensor/on-color-detected), [color](/reference/sensors/color)

libs/core/input.ts

@@ -121,10 +121,9 @@ namespace sensors.internal {
 
         powerMM = control.mmap("/dev/lms_power", 2, 0)
 
-        devPoller = new Poller(250, () => { return hashDevices(); },
-            (prev, curr) => {
-                detectDevices();
-            });
+        devPoller = new Poller(500,
+            () => { return hashDevices(); },
+            (prev, curr) => { detectDevices(); });
     }
 
     export function getActiveSensors(): Sensor[] {
@@ -277,22 +276,25 @@ void      cUiUpdatePower(void)
         const conns = analogMM.slice(AnalogOff.InConn, DAL.NUM_INPUTS)
         let r = 0;
         for (let i = 0; i < conns.length; ++i) {
-            r = (r << 8 | conns[i]);
+            r = conns[i] + (r << 6) + (r << 16) - r;
         }
         return r;
     }
 
     let nonActivated = 0;
     function detectDevices() {
-        //control.dmesg(`detect devices (${nonActivated} na)`)
+        control.dmesg(`detect devices (hash ${hashDevices()})`)
         const conns = analogMM.slice(AnalogOff.InConn, DAL.NUM_INPUTS)
         let numChanged = 0;
         const uartSensors: SensorInfo[] = [];
 
         for (const sensorInfo of sensorInfos) {
             const newConn = conns[sensorInfo.port]
-            if (newConn == sensorInfo.connType) {
-                // control.dmesg(`connection unchanged ${newConn} at ${sensorInfo.port}`)
+            if (newConn == sensorInfo.connType
+                && sensorInfo.sensor
+                && sensorInfo.sensor.isActive()) {
+                if (newConn == DAL.CONN_INPUT_UART)
+                    uartSensors.push(sensorInfo);
                 continue;
             }
             numChanged++
@@ -323,7 +325,8 @@ void      cUiUpdatePower(void)
             for (const sensorInfo of uartSensors) {
                 let uinfo = readUartInfo(sensorInfo.port, 0)
                 sensorInfo.devType = uinfo[TypesOff.Type]
-                control.dmesg(`UART type ${sensorInfo.devType}`)
+                const mode = uinfo[TypesOff.Mode];
+                control.dmesg(`UART type ${sensorInfo.devType} mode ${mode}`)
             }
         }
 
@@ -427,11 +430,11 @@ void      cUiUpdatePower(void)
         constructor(port: number) {
             super(port)
             this.mode = 0
-            this.realmode = 0
+            this.realmode = -1
         }
 
         _activated() {
-            this.realmode = 0
+            this.realmode = -1
             this._setMode(this.mode)
         }
 
@@ -458,7 +461,7 @@ void      cUiUpdatePower(void)
 
         reset() {
             if (this.isActive()) uartReset(this._port);
-            this.realmode = 0;
+            this.realmode = -1;
         }
     }
 
@@ -536,8 +539,6 @@ void      cUiUpdatePower(void)
 
     function uartClearChange(port: number) {
         control.dmesg(`UART clear change`);
-        const UART_DATA_READY = 8
-        const UART_PORT_CHANGED = 1
         while (true) {
             let status = getUartStatus(port)
             if (port < 0) break
@@ -558,7 +559,7 @@ void      cUiUpdatePower(void)
     }
 
     function setUartModes() {
-        control.dmesg(`UART set modes`)
+        control.dmesg(`UART set modes 0x${devcon.toHex()}`)
         uartMM.ioctl(IO.UART_SET_CONN, devcon)
         const ports: number[] = [];
         for (let port = 0; port < DAL.NUM_INPUTS; ++port) {
@@ -570,22 +571,26 @@ 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}`);
+            if (!(status & UART_DATA_READY))
+                setUartMode(port, devcon[DevConOff.Mode + 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)
     }
 
+    const UART_PORT_CHANGED = 1
+    const UART_DATA_READY = 8
     function setUartMode(port: number, mode: number) {
-        const UART_PORT_CHANGED = 1
         while (true) {
             if (port < 0) return
             updateUartMode(port, mode);
+            control.dmesg(`UART set mode 0x${devcon.toHex()}`)
             uartMM.ioctl(IO.UART_SET_CONN, devcon)
             let status = waitNonZeroUartStatus(port)
             if (status & UART_PORT_CHANGED) {
@@ -593,7 +598,8 @@ void      cUiUpdatePower(void)
                 uartClearChange(port)
             } else {
                 control.dmesg(`UART status ${status}`);
-                break;
+                if (status & UART_DATA_READY)
+                    break;
             }
             pause(10)
         }

libs/core/output.ts

@@ -159,6 +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];
 
@@ -176,6 +177,7 @@ namespace motors {
             this._accelerationTime = 0;
             this._decelerationSteps = 0;
             this._decelerationTime = 0;
+            this._inverted = false;
         }
 
         /**
@@ -225,9 +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;
         }
 
         /** 
@@ -294,8 +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]
             }
@@ -562,6 +567,7 @@ namespace motors {
 
         private __init() {
             this.setOutputType(this._large);
+            this.setInverted(false);
         }
 
         /**
@@ -741,7 +747,7 @@ 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) {
                 this.stop();
                 return;

libs/ev3/startup.ts

@@ -2,9 +2,5 @@
 console.addListener(function(priority: ConsolePriority, msg: string) {
     control.dmesg(msg.substr(0, msg.length - 1))
 })
-// 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);
+// boot sequence
+brick.showBoot();

libs/screen/targetoverrides.ts

@@ -129,8 +129,8 @@ namespace brick {
 
         screenMode = ScreenMode.Ports;
         renderPorts();
-        control.runInParallel(function() {
-            while(screenMode == ScreenMode.Ports) {
+        control.runInParallel(function () {
+            while (screenMode == ScreenMode.Ports) {
                 renderPorts();
                 pause(50);
             }
@@ -140,8 +140,18 @@ namespace brick {
     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) >= 5000) {
                 const k = Math.floor(x / 1000);
@@ -155,27 +165,38 @@ namespace brick {
         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.font8)
+            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();
+        })
+    }
+
     /**
      * An image
      * @param image the image

package.json

@@ -1,6 +1,6 @@
 {
   "name": "pxt-ev3",
-  "version": "1.4.4",
+  "version": "1.4.8",
   "description": "LEGO MINDSTORMS EV3 for Microsoft MakeCode",
   "private": false,
   "keywords": [
@@ -45,8 +45,8 @@
     "@types/web-bluetooth": "0.0.4"
   },
   "dependencies": {
-    "pxt-common-packages": "6.16.10",
-    "pxt-core": "5.25.9"
+    "pxt-common-packages": "6.16.18",
+    "pxt-core": "5.28.8"
   },
   "scripts": {
     "test": "node node_modules/pxt-core/built/pxt.js travis"

pxtarget.json

@@ -75,7 +75,6 @@
             "category": "loops"
         },
         "bannedCategories": [
-            "image"
         ]
     },
     "compileService": {

sim/state/color.ts

@@ -3,7 +3,6 @@
 namespace pxsim {
 
     export enum ColorSensorMode {
-        None = -1,
         Reflected = 0,
         Ambient = 1,
         Colors = 2,

sim/state/gyro.ts

@@ -1,6 +1,5 @@
 namespace pxsim {
     export const enum GyroSensorMode {
-        None = -1,
         Angle = 0,
         Rate = 1,
     }

sim/state/infrared.ts

@@ -44,7 +44,6 @@ namespace pxsim {
     }
 
     export enum InfraredSensorMode {
-        None = -1,
         Proximity = 0,
         Seek = 1,
         RemoteControl = 2

sim/state/motornode.ts

@@ -9,7 +9,6 @@ namespace pxsim {
         private angle: number = 0;
         private tacho: number = 0;
         private speed: number = 0;
-        private polarity: number = 1; // -1, 1 or -1
 
         private started: boolean;
         private speedCmd: DAL;
@@ -31,7 +30,7 @@ namespace pxsim {
         }
 
         getSpeed() {
-            return Math.round(this.speed * (!this._synchedMotor && this.polarity == 0 ? -1 : 1));
+            return Math.round(this.speed);
         }
 
         getAngle() {
@@ -82,16 +81,6 @@ namespace pxsim {
             return this.id == NodeType.LargeMotor;
         }
 
-        setPolarity(polarity: number) {
-            // Either 1 or 255 (reverse)
-            /*
-                -1 : Motor will run backward  
-                0 : Motor will run opposite direction  
-                1 : Motor will run forward             
-            */
-            this.polarity = polarity;
-        }
-
         reset() {
             // not sure what reset does...
         }

sim/state/output.ts

@@ -119,11 +119,7 @@ namespace pxsim {
                             return 2;
                         }
                         case DAL.opOutputPolarity: {
-                            // reverse
-                            const port = buf.data[1];
-                            const polarity = pxsim.BufferMethods.getNumber(buf, BufferMethods.NumberFormat.Int8LE, 2);
-                            const motors = ev3board().getMotor(port);
-                            motors.forEach(motor => motor.setPolarity(polarity));
+                            console.error("opOutputPolarity not supported");
                             return 2;
                         }
                         case DAL.opOutputSetType: {

targetconfig.json

@@ -27,6 +27,6 @@
         "Tutorial Videos": "videos"
     },
     "electronManifest": {
-        "latest": "v1.2.22"
+        "latest": "v1.2.26"
     }
 }