Make settings compile

docs/reference/brick/exit-program.md

@@ -1,18 +0,0 @@
-# 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();
-```

libs/core/battery.ts

@@ -26,7 +26,6 @@ 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

@@ -85,7 +85,7 @@ namespace brick {
         //% blockId=buttonIsPressed
         //% parts="brick"
         //% blockNamespace=brick
-        //% weight=81
+        //% weight=81 blockGap=8
         //% group="Buttons"
         //% button.fieldEditor="brickbuttons"
         isPressed() {

libs/core/output.cpp

@@ -1,6 +1,9 @@
 #include "pxt.h"
 #include "ev3const.h"
 
+#include <sys/stat.h>
+#include <sys/types.h>
+
 namespace output {
 
 /**
@@ -17,6 +20,7 @@ Buffer createBuffer(int size) {
 namespace pxt {
 
 void target_init() {
+    mkdir(SETTINGSDIR, 0777);
 }
 
 }

libs/core/output.ts

@@ -159,7 +159,6 @@ namespace motors {
         private _accelerationTime: number;
         private _decelerationSteps: number;
         private _decelerationTime: number;
-        private _inverted: boolean;
 
         protected static output_types: number[] = [0x7, 0x7, 0x7, 0x7];
 
@@ -177,7 +176,6 @@ namespace motors {
             this._accelerationTime = 0;
             this._decelerationSteps = 0;
             this._decelerationTime = 0;
-            this._inverted = false;
         }
 
         /**
@@ -227,11 +225,9 @@ namespace motors {
         //% help=motors/motor/set-inverted
         setInverted(inverted: boolean) {
             this.init();
-            this._inverted = inverted;
+            const b = mkCmd(this._port, DAL.opOutputPolarity, 1)
-        }
+            b.setNumber(NumberFormat.Int8LE, 2, inverted ? 0 : 1);
-
+            writePWM(b)
-        protected invertedFactor(): number {
-            return this._inverted ? -1 : 1;
         }
 
         /** 
@@ -298,9 +294,8 @@ 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) * this.invertedFactor(),
+                speed: Math.clamp(-100, 100, speed >> 0),
                 useSteps: true,
                 steps: [step1 || 0, step2 || 0, step3 || 0]
             }
@@ -567,7 +562,6 @@ namespace motors {
 
         private __init() {
             this.setOutputType(this._large);
-            this.setInverted(false);
         }
 
         /**
@@ -747,7 +741,7 @@ 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) * this.invertedFactor();
+            speed = Math.clamp(-100, 100, speed >> 0);
             if (!speed) {
                 this.stop();
                 return;

libs/core/platform.cpp

@@ -120,7 +120,7 @@ void stopLMS() {
         if (!pid)
             continue;
         char namebuf[100];
-        snprintf(namebuf, 100, "/proc/%d/cmdline", pid);
+        snprintf(namebuf, 1000, "/proc/%d/cmdline", pid);
         FILE *f = fopen(namebuf, "r");
         if (f) {
             fread(namebuf, 1, 99, f);
@@ -195,42 +195,5 @@ void target_startup() {
 
 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

@@ -1,3 +1,5 @@
 #define PXT_GC_THREAD_LIST 1
 
 #define PXT_IN_ISR() false
+
+#define SETTINGSDIR "/mnt/ramdisk/settings"

libs/ev3/brick.ts

@@ -1,13 +0,0 @@
-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/ns.ts

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

libs/ev3/pxt.json

@@ -2,9 +2,8 @@
     "name": "ev3",
     "description": "The EV3 library",
     "files": [
-        "README.md",        
+        "README.md",
         "ns.ts",
-        "brick.ts",
         "startup.ts",
         "images.jres",
         "images.ts",
@@ -24,7 +23,8 @@
         "touch-sensor": "file:../touch-sensor",
         "ultrasonic-sensor": "file:../ultrasonic-sensor",
         "gyro-sensor": "file:../gyro-sensor",
-        "infrared-sensor": "file:../infrared-sensor"
+        "infrared-sensor": "file:../infrared-sensor",
+        "settings": "file:../settings"
     },
     "palette": [
        "#ffffff",

libs/settings/pxt.json

@@ -0,0 +1,4 @@
+{
+    "name": "settings",
+    "additionalFilePath": "../../node_modules/pxt-common-packages/libs/settings---files"
+}

package.json

@@ -1,6 +1,6 @@
 {
   "name": "pxt-ev3",
-  "version": "1.4.5",
+  "version": "1.4.2",
   "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-common-packages": "6.16.7",
-    "pxt-core": "5.25.9"
+    "pxt-core": "5.25.6"
   },
   "scripts": {
     "test": "node node_modules/pxt-core/built/pxt.js travis"

pxtarget.json

@@ -18,7 +18,8 @@
         "libs/screen",
         "libs/ev3",
         "libs/storage",
-        "libs/broadcast"
+        "libs/broadcast",
+        "libs/settings"
     ],
     "simulator": {
         "autoRun": true,

scripts/file_manager.ts

@@ -1,97 +0,0 @@
-//% shim=pxt::listPrjFiles
-function getPrjs() {
-    let programs = [
-        "pxt",
-        "my amazing robot",
-    ]
-    for (let i = 1; i < 6; ++i)
-        programs.push("Untitled-" + i)
-    return programs
-}
-
-//% shim=pxt::deletePrjFile
-function delPrj(fn: string) {
-    return
-}
-
-const programs = getPrjs()
-    .filter(s => s.substr(s.length - 4, 4) == ".rbf")
-    .map(s => s.substr(0, s.length - 4))
-    .filter(s => s != "File_manager")
-
-programs.push("")
-programs.push("Cancel")
-programs.push("Delete 0 files")
-
-let todel: boolean[] = []
-let scrollTop = 0
-let cursor = 0
-let confirm = false
-function showMenu() {
-    if (cursor < scrollTop + 2)
-        scrollTop = cursor - 2
-    else if (cursor > scrollTop + 11)
-        scrollTop = cursor - 11
-    if (scrollTop < 0)
-        scrollTop = 0
-    let num = 0
-    for (let i = 0; i < todel.length; ++i)
-        if (todel[i]) num++
-    programs[programs.length - 1] =
-        confirm ? "Enter to confirm" : "Delete " + num + " file(s)"
-
-    brick.clearScreen()
-
-    const h = brick.lineHeight()
-    for (let i = 0; i < 13; ++i) {
-        const y = i * h
-        const idx = scrollTop + i
-        const fg = idx == cursor ? 0 : 1
-        const bg = idx == cursor ? 1 : 0
-        // screen.fillRect(0, y, screen.width, h, bg);
-        let text = (idx == cursor ? ">" : " ")
-            + (todel[idx] ? "*" : " ")
-            + " "
-            + (programs[scrollTop + i] || "")
-        screen.print(text, 0, y, fg, brick.font);
-    }
-}
-function move(d: number) {
-    confirm = false
-    const nc = cursor + d
-    if (0 <= nc && nc < programs.length)
-        cursor = nc
-    showMenu()
-}
-brick.buttonDown.onEvent(ButtonEvent.Pressed, () => move(1))
-brick.buttonUp.onEvent(ButtonEvent.Pressed, () => move(-1))
-brick.buttonEnter.onEvent(ButtonEvent.Pressed, function () {
-    if (cursor < programs.length - 3) {
-        todel[cursor] = !todel[cursor]
-        move(1)
-    } else if (cursor == programs.length - 3) {
-        // nothing
-    } else if (cursor == programs.length - 2) {
-        control.reset()
-    } else if (cursor == programs.length - 1) {
-        if (todel.every(x => !x))
-            return
-        if (confirm) {
-            brick.clearScreen()
-            brick.showString("deleting...", 6)
-            for (let i = 0; i < todel.length; ++i) {
-                if (todel[i]) {
-                    delPrj(programs[i] + ".elf")
-                    delPrj(programs[i] + ".rbf")
-                }
-            }
-            pause(1000)
-            control.reset()
-        } else {
-            confirm = true
-            showMenu()
-        }
-    }
-})
-showMenu()
-

sim/state/motornode.ts

@@ -9,6 +9,7 @@ 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;
@@ -30,7 +31,7 @@ namespace pxsim {
         }
 
         getSpeed() {
-            return Math.round(this.speed);
+            return Math.round(this.speed * (!this._synchedMotor && this.polarity == 0 ? -1 : 1));
         }
 
         getAngle() {
@@ -81,6 +82,16 @@ 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

@@ -119,7 +119,11 @@ namespace pxsim {
                             return 2;
                         }
                         case DAL.opOutputPolarity: {
-                            console.error("opOutputPolarity not supported");
+                            // 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));
                             return 2;
                         }
                         case DAL.opOutputSetType: {