336 lines
12 KiB
TypeScript
336 lines
12 KiB
TypeScript
const enum InfraredSensorMode {
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None = 0,
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Proximity = 0,
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Seek = 1,
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RemoteControl = 2,
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}
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const enum InfraredRemoteChannel {
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//% block="channel 0"
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Ch0 = 0, // top
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//% block="channel 1"
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Ch1 = 1,
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//% block="channel 2"
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Ch2 = 2,
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//% block="channel 3"
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Ch3 = 3,
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}
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const enum InfraredRemoteButton {
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//% block="center beacon"
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CenterBeacon = 0x01,
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//% block="top left"
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TopLeft = 0x02,
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//% block="bottom left"
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BottomLeft = 0x04,
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//% block="top right"
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TopRight = 0x08,
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//% block="bottom right"
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BottomRight = 0x10,
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}
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const enum InfraredSensorEvent {
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//% block="object near"
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ObjectNear = 3,
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//% block="object detected"
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ObjectDetected = 2
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}
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namespace sensors {
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function mapButton(v: number) {
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switch (v) {
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case 1: return InfraredRemoteButton.TopLeft;
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case 2: return InfraredRemoteButton.BottomLeft;
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case 3: return InfraredRemoteButton.TopRight;
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case 4: return InfraredRemoteButton.BottomRight;
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case 5: return InfraredRemoteButton.TopLeft | InfraredRemoteButton.TopRight
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case 6: return InfraredRemoteButton.TopLeft | InfraredRemoteButton.BottomRight
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case 7: return InfraredRemoteButton.BottomLeft | InfraredRemoteButton.TopRight
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case 8: return InfraredRemoteButton.BottomLeft | InfraredRemoteButton.BottomRight
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case 9: return InfraredRemoteButton.CenterBeacon
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case 10: return InfraredRemoteButton.BottomLeft | InfraredRemoteButton.TopLeft
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case 11: return InfraredRemoteButton.TopRight | InfraredRemoteButton.BottomRight
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default: return 0;
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}
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}
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const __remoteButtons: RemoteInfraredBeaconButton[] = [];
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function __irButton(id: InfraredRemoteButton): RemoteInfraredBeaconButton {
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for (let i = 0; i < __remoteButtons.length; ++i) {
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if (__remoteButtons[i].position == id)
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return __remoteButtons[i];
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}
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const btn = new RemoteInfraredBeaconButton(id, new brick.Button());
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__remoteButtons.push(btn);
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return btn;
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}
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//% fixedInstances
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export class RemoteInfraredBeaconButton extends control.Component {
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position: InfraredRemoteButton;
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private _button: brick.Button;
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constructor(position: InfraredRemoteButton, button: brick.Button) {
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super();
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this.position = position;
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this._button = button;
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}
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_update(curr: boolean) {
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this._button._update(curr);
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}
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/**
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* Check if a remote button is currently pressed or not.
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* @param button the remote button to query the request
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*/
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//% help=sensors/beacon/is-pressed
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//% block="**remote button** %button|is pressed"
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//% blockId=remoteButtonIsPressed
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//% parts="remote"
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//% blockNamespace=sensors
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//% weight=81 blockGap=8
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//% group="Remote Infrared Beacon"
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isPressed() {
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return this._button.isPressed();
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}
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/**
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* See if the remote button was pressed again since the last time you checked.
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* @param button the remote button to query the request
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*/
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//% help=sensors/beacon/was-pressed
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//% block="**remote button** %button|was pressed"
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//% blockId=remotebuttonWasPressed
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//% blockHidden=true
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//% parts="remote"
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//% blockNamespace=sensors
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//% weight=80
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//% group="Remote Infrared Beacon"
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wasPressed() {
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return this._button.wasPressed();
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}
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/**
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* Do something when a remote button is pressed, bumped, or released
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* @param button the button that needs to be clicked or used
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* @param event the kind of button gesture that needs to be detected
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* @param body code to run when the event is raised
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*/
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//% help=sensors/beacon/on-event
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//% blockId=remotebuttonEvent block="on **remote button** %button|%event"
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//% parts="remote"
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//% blockNamespace=sensors
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//% weight=99 blockGap=8
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//% group="Remote Infrared Beacon"
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onEvent(ev: ButtonEvent, body: () => void) {
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this._button.onEvent(ev, body);
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}
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/**
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* Pause until a remote button event happens
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* @param ev the event to wait for
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*/
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//% help=sensors/beacon/pause-until
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//% blockId=remoteButtonPauseUntil block="pause until **remote button** %button|%event"
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//% parts="remote"
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//% blockNamespace=sensors
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//% weight=99 blockGap=8
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//% group="Remote Infrared Beacon"
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pauseUntil(ev: ButtonEvent) {
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this._button.pauseUntil(ev);
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}
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}
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//% fixedInstances
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export class InfraredSensor extends internal.UartSensor {
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private _channel: InfraredRemoteChannel;
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private _proximityThreshold: sensors.ThresholdDetector;
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constructor(port: number) {
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super(port)
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this._channel = InfraredRemoteChannel.Ch0
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this._proximityThreshold = new sensors.ThresholdDetector(this._id, 0, 100, 10, 90);
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this.setMode(InfraredSensorMode.Proximity);
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}
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_query() {
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if (this.mode == InfraredSensorMode.RemoteControl)
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return mapButton(this.getNumber(NumberFormat.UInt8LE, this._channel));
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else if (this.mode == InfraredSensorMode.Proximity) {
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return this.getNumber(NumberFormat.UInt16LE, 0) & 0x0fff;
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}
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return 0
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}
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_info(): string {
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if (this.mode == InfraredSensorMode.RemoteControl)
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return "remote";
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else if (this.mode == InfraredSensorMode.Proximity)
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return `${this._query()}%`;
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return "";
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}
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_update(prev: number, curr: number) {
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if (this.mode == InfraredSensorMode.RemoteControl) {
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for (let i = 0; i < __remoteButtons.length; ++i) {
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const v = !!(curr & __remoteButtons[i].position);
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__remoteButtons[i]._update(v)
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}
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} else if (this.mode == InfraredSensorMode.Proximity) {
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this._proximityThreshold.setLevel(curr);
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}
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}
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_deviceType() {
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return DAL.DEVICE_TYPE_IR
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}
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setMode(m: InfraredSensorMode) {
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this._setMode(m)
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}
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/**
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* Register code to run when an object is getting near.
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* @param handler the code to run when detected
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*/
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//% help=sensors/infrared/on-event
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//% block="on **infrared** %this|%event"
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//% blockId=infraredOn
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//% parts="infraredsensor"
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//% blockNamespace=sensors
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//% weight=100 blockGap=8
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//% group="Infrared Sensor"
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//% this.fieldEditor="ports"
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onEvent(event: InfraredSensorEvent, handler: () => void) {
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this._setMode(InfraredSensorMode.Proximity)
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control.onEvent(this._id, event, handler);
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}
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/**
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* Wait until the infrared sensor detects something
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*/
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//% help=sensors/infrared/pause-until
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//% block="pause until **infrared** %this| %event"
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//% blockId=infraredwait
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//% parts="infraredsensor"
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//% blockNamespace=sensors
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//% weight=99 blockGap=8
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//% group="Infrared Sensor"
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//% this.fieldEditor="ports"
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pauseUntil(event: InfraredSensorEvent) {
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this._setMode(InfraredSensorMode.Proximity)
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control.waitForEvent(this._id, event);
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}
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/**
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* Get the promixity measured by the infrared sensor, from ``0`` (close) to ``100`` (far)
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* @param sensor the infrared sensor
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*/
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//% help=sensors/infrared/proximity
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//% block="**infrared** %this|proximity"
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//% blockId=infraredGetProximity
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//% parts="infrared"
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//% blockNamespace=sensors
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//% weight=98 blockGap=8
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//% group="Infrared Sensor"
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//% this.fieldEditor="ports"
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proximity(): number {
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this.poke();
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this._setMode(InfraredSensorMode.Proximity)
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return this.getNumber(NumberFormat.UInt8LE, 0)
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}
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/**
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* Set the remote channel to listen to
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* @param channel the channel to listen
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*/
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//% blockNamespace=sensors
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//% blockId=irSetRemoteChannel block="set **infrared** %this|remote channel to %channel"
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//% weight=99
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//% group="Remote Infrared Beacon"
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//% this.fieldEditor="ports"
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//% help=sensors/beacon/set-remote-channel
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setRemoteChannel(channel: InfraredRemoteChannel) {
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this.setMode(InfraredSensorMode.RemoteControl)
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channel = Math.clamp(0, 3, channel | 0)
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this._channel = channel;
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}
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/**
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* Sets a threshold value
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* @param condition the dark or bright light condition
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* @param value the value threshold
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*/
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//% blockId=irSetThreshold block="set **infrared** %this|%condition|to %value"
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//% group="Calibration" blockGap=8 weight=49
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//% value.min=0 value.max=100
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//% this.fieldEditor="ports"
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setPromixityThreshold(condition: InfraredSensorEvent, value: number) {
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if (condition == InfraredSensorEvent.ObjectNear)
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this._proximityThreshold.setLowThreshold(value)
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else
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this._proximityThreshold.setHighThreshold(value);
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}
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/**
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* Get a threshold value
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* @param condition the proximity condition
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*/
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//% blockId=irGetThreshold block="**infrared** %this|%condition"
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//% group="Calibration" weight=49
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//% this.fieldEditor="ports"
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proximityThreshold(condition: InfraredSensorEvent): number {
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return this._proximityThreshold.threshold(<ThresholdState><number>condition);
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}
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// TODO
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private getDirectionAndDistance() {
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this.poke();
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this._setMode(InfraredSensorMode.Seek)
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return this.getNumber(NumberFormat.UInt16LE, this._channel * 2)
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}
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}
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//% fixedInstance whenUsed block="1" jres=icons.port1
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export const infrared1: InfraredSensor = new InfraredSensor(1)
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//% fixedInstance whenUsed block="2" jres=icons.port2
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export const infrared2: InfraredSensor = new InfraredSensor(2)
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//% fixedInstance whenUsed block="3" jres=icons.port3
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export const infrared3: InfraredSensor = new InfraredSensor(3)
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//% fixedInstance whenUsed block="4" jres=icons.port4
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export const infrared4: InfraredSensor = new InfraredSensor(4)
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/**
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* Remote beacon (center) button.
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*/
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//% whenUsed block="center" weight=95 fixedInstance
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export const remoteButtonCenter = __irButton(InfraredRemoteButton.CenterBeacon)
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/**
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* Remote top-left button.
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*/
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//% whenUsed block="top left" weight=95 fixedInstance
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export const remoteButtonTopLeft = __irButton(InfraredRemoteButton.TopLeft)
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/**
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* Remote top-right button.
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*/
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//% whenUsed block="top right" weight=95 fixedInstance
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export const remoteButtonTopRight = __irButton(InfraredRemoteButton.TopRight)
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/**
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* Remote bottom-left button.
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*/
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//% whenUsed block="bottom left" weight=95 fixedInstance
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export const remoteButtonBottomLeft = __irButton(InfraredRemoteButton.BottomLeft)
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/**
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* Remote bottom-right button.
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*/
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//% whenUsed block="bottom right" weight=95 fixedInstance
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export const remoteButtonBottomRight = __irButton(InfraredRemoteButton.BottomRight)
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}
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