287 lines
9.3 KiB
TypeScript
287 lines
9.3 KiB
TypeScript
const enum IrSensorMode {
|
|
None = -1,
|
|
Proximity = 0,
|
|
Seek = 1,
|
|
RemoteControl = 2,
|
|
}
|
|
|
|
const enum IrRemoteChannel {
|
|
Ch0 = 0, // top
|
|
Ch1 = 1,
|
|
Ch2 = 2,
|
|
Ch3 = 3,
|
|
}
|
|
|
|
const enum IrRemoteButton {
|
|
None = 0x00,
|
|
CenterBeacon = 0x01,
|
|
TopLeft = 0x02,
|
|
BottomLeft = 0x04,
|
|
TopRight = 0x08,
|
|
BottomRight = 0x10,
|
|
}
|
|
|
|
namespace input {
|
|
function mapButton(v: number) {
|
|
switch (v) {
|
|
case 0: return IrRemoteButton.None
|
|
case 1: return IrRemoteButton.TopLeft
|
|
case 2: return IrRemoteButton.BottomLeft
|
|
case 3: return IrRemoteButton.TopRight
|
|
case 4: return IrRemoteButton.TopRight | IrRemoteButton.BottomRight
|
|
case 5: return IrRemoteButton.TopLeft | IrRemoteButton.TopRight
|
|
case 6: return IrRemoteButton.TopLeft | IrRemoteButton.BottomRight
|
|
case 7: return IrRemoteButton.BottomLeft | IrRemoteButton.TopRight
|
|
case 8: return IrRemoteButton.BottomLeft | IrRemoteButton.BottomRight
|
|
case 9: return IrRemoteButton.CenterBeacon
|
|
case 10: return IrRemoteButton.BottomLeft | IrRemoteButton.TopLeft
|
|
case 11: return IrRemoteButton.TopRight | IrRemoteButton.BottomRight
|
|
default: return IrRemoteButton.None
|
|
}
|
|
}
|
|
|
|
let buttons: RemoteInfraredBeaconButton[]
|
|
|
|
function create(ir: InfraredSensor) {
|
|
// it's created by referencing it
|
|
}
|
|
|
|
export function irButton(id: IrRemoteButton): RemoteInfraredBeaconButton {
|
|
if (buttons == null) {
|
|
buttons = []
|
|
for (let i = 0; i < 5; ++i) {
|
|
buttons.push(new RemoteInfraredBeaconButton(new Button()))
|
|
}
|
|
|
|
// make sure sensors are up
|
|
create(infraredSensor1)
|
|
create(infraredSensor2)
|
|
create(infraredSensor3)
|
|
create(infraredSensor4)
|
|
}
|
|
|
|
let num = -1
|
|
while (id) {
|
|
id >>= 1;
|
|
num++;
|
|
}
|
|
num = Math.clamp(0, buttons.length - 1, num)
|
|
return buttons[num]
|
|
}
|
|
|
|
//% fixedInstances
|
|
export class RemoteInfraredBeaconButton extends control.Component {
|
|
private button: Button;
|
|
constructor(button: Button) {
|
|
super();
|
|
this.button = button;
|
|
}
|
|
|
|
_update(curr: boolean) {
|
|
this.button._update(curr);
|
|
}
|
|
|
|
/**
|
|
* Check if a remote button is currently pressed or not.
|
|
* @param button the remote button to query the request
|
|
*/
|
|
//% help=input/remote-infrared-beacon/is-pressed
|
|
//% block="%button|is pressed"
|
|
//% blockId=remoteButtonIsPressed
|
|
//% parts="remote"
|
|
//% blockNamespace=input
|
|
//% weight=81 blockGap=8
|
|
//% group="Remote Infrared Beacon"
|
|
isPressed() {
|
|
return this.button.isPressed();
|
|
}
|
|
|
|
/**
|
|
* See if the remote button was pressed again since the last time you checked.
|
|
* @param button the remote button to query the request
|
|
*/
|
|
//% help=input/remote-infrared-beacon/was-pressed
|
|
//% block="%button|was pressed"
|
|
//% blockId=remotebuttonWasPressed
|
|
//% parts="remote"
|
|
//% blockNamespace=input
|
|
//% weight=80 blockGap=8
|
|
//% group="Remote Infrared Beacon"
|
|
wasPressed() {
|
|
return this.button.wasPressed();
|
|
}
|
|
|
|
/**
|
|
* Do something when a button or sensor is clicked, up or down
|
|
* @param button the button that needs to be clicked or used
|
|
* @param event the kind of button gesture that needs to be detected
|
|
* @param body code to run when the event is raised
|
|
*/
|
|
//% help=input/remote-infrared-beacon/on-event
|
|
//% blockId=remotebuttonEvent block="on %button|%event"
|
|
//% parts="remote"
|
|
//% blockNamespace=input
|
|
//% weight=99 blockGap=8
|
|
//% group="Remote Infrared Beacon"
|
|
onEvent(ev: ButtonEvent, body: () => void) {
|
|
this.button.onEvent(ev, body);
|
|
}
|
|
}
|
|
|
|
//% fixedInstances
|
|
export class InfraredSensor extends internal.UartSensor {
|
|
private channel: IrRemoteChannel;
|
|
private proximityThreshold: number;
|
|
|
|
constructor(port: number) {
|
|
super(port)
|
|
this.channel = IrRemoteChannel.Ch0
|
|
this.proximityThreshold = 10;
|
|
irButton(0) // make sure buttons array is initalized
|
|
|
|
// and set the mode, as otherwise button events won't work
|
|
this.mode = IrSensorMode.RemoteControl;
|
|
}
|
|
|
|
_query() {
|
|
if (this.mode == IrSensorMode.RemoteControl)
|
|
return mapButton(this.getNumber(NumberFormat.UInt8LE, this.channel));
|
|
else if (this.mode == IrSensorMode.Proximity) {
|
|
const d = this.getNumber(NumberFormat.UInt16LE, 0) & 0x0fff;
|
|
return d < this.proximityThreshold ? PromixityEvent.ObjectNear
|
|
: d > this.proximityThreshold + 5 ? PromixityEvent.ObjectDetected
|
|
: 0;
|
|
}
|
|
return 0
|
|
}
|
|
|
|
_update(prev: number, curr: number) {
|
|
if (this.mode == IrSensorMode.RemoteControl) {
|
|
for (let i = 0; i < buttons.length; ++i) {
|
|
let v = !!(curr & (1 << i))
|
|
buttons[i]._update(v)
|
|
}
|
|
} else {
|
|
if (curr)
|
|
control.raiseEvent(this._id, curr);
|
|
}
|
|
}
|
|
|
|
_deviceType() {
|
|
return DAL.DEVICE_TYPE_IR
|
|
}
|
|
|
|
setRemoteChannel(c: IrRemoteChannel) {
|
|
c = Math.clamp(0, 3, c | 0)
|
|
this.channel = c
|
|
this._setMode(IrSensorMode.RemoteControl)
|
|
}
|
|
|
|
_setMode(m: IrSensorMode) {
|
|
this._setMode(m)
|
|
}
|
|
|
|
/**
|
|
* Registers code to run when an object is getting near.
|
|
* @param handler the code to run when detected
|
|
*/
|
|
//% help=input/infrared/on-object-near
|
|
//% block="on %sensor|object near"
|
|
//% blockId=infraredOnObjectNear
|
|
//% parts="infraredsensor"
|
|
//% blockNamespace=input
|
|
//% weight=100 blockGap=8
|
|
//% group="Infrared Sensor"
|
|
onObjectNear(handler: () => void) {
|
|
control.onEvent(this._id, PromixityEvent.ObjectNear, handler);
|
|
if (this.proximity() == PromixityEvent.ObjectNear)
|
|
control.runInBackground(handler);
|
|
}
|
|
|
|
setObjectNearThreshold(distance: number) {
|
|
this.proximityThreshold = Math.max(1, Math.min(95, distance));
|
|
}
|
|
|
|
/**
|
|
* Get the promixity measured by the infrared sensor, from ``0`` (close) to ``100`` (far)
|
|
* @param ir the infrared sensor
|
|
*/
|
|
//% help=input/infrared/proximity
|
|
//% block="%infrared|proximity"
|
|
//% blockId=infraredGetProximity
|
|
//% parts="infrared"
|
|
//% blockNamespace=input
|
|
//% weight=65 blockGap=8
|
|
//% group="Infrared Sensor"
|
|
proximity() {
|
|
this._setMode(IrSensorMode.Proximity)
|
|
return this.getNumber(NumberFormat.UInt8LE, 0)
|
|
}
|
|
|
|
/**
|
|
* Get the remote commandreceived the infrared sensor.
|
|
* @param ir the infrared sensor
|
|
*/
|
|
//% help=input/infrared/remote-command
|
|
//% block="%infrared|remote command"
|
|
//% blockId=infraredGetRemoteCommand
|
|
//% parts="infrared"
|
|
//% blockNamespace=input
|
|
//% weight=65 blockGap=8
|
|
//% group="Infrared Sensor"
|
|
remoteCommand() {
|
|
this._setMode(IrSensorMode.RemoteControl)
|
|
return this.getNumber(NumberFormat.UInt8LE, this.channel)
|
|
}
|
|
|
|
// TODO
|
|
getDirectionAndDistance() {
|
|
this._setMode(IrSensorMode.Seek)
|
|
return this.getNumber(NumberFormat.UInt16LE, this.channel * 2)
|
|
}
|
|
}
|
|
|
|
//% fixedInstance whenUsed block="infrared sensor 1"
|
|
export const infraredSensor1: InfraredSensor = new InfraredSensor(1)
|
|
|
|
//% fixedInstance whenUsed block="infrared sensor 2"
|
|
export const infraredSensor2: InfraredSensor = new InfraredSensor(2)
|
|
|
|
//% fixedInstance whenUsed block="infrared sensor 3"
|
|
export const infraredSensor3: InfraredSensor = new InfraredSensor(3)
|
|
|
|
//% fixedInstance whenUsed block="infrared sensor 4"
|
|
export const infraredSensor4: InfraredSensor = new InfraredSensor(4)
|
|
|
|
|
|
/**
|
|
* Remote beacon (center) button.
|
|
*/
|
|
//% whenUsed block="remote button center" weight=95 fixedInstance
|
|
export const remoteButtonCenter = irButton(IrRemoteButton.CenterBeacon)
|
|
|
|
/**
|
|
* Remote top-left button.
|
|
*/
|
|
//% whenUsed block="remote button top-left" weight=95 fixedInstance
|
|
export const remoteButtonTopLeft = irButton(IrRemoteButton.TopLeft)
|
|
|
|
/**
|
|
* Remote top-right button.
|
|
*/
|
|
//% whenUsed block="remote button top-right" weight=95 fixedInstance
|
|
export const remoteButtonTopRight = irButton(IrRemoteButton.TopRight)
|
|
|
|
/**
|
|
* Remote bottom-left button.
|
|
*/
|
|
//% whenUsed block="remote button bottom-left" weight=95 fixedInstance
|
|
export const remoteButtonBottomLeft = irButton(IrRemoteButton.BottomLeft)
|
|
|
|
/**
|
|
* Remote bottom-right button.
|
|
*/
|
|
//% whenUsed block="remote button bottom-right" weight=95 fixedInstance
|
|
export const remoteButtonBottomRight = irButton(IrRemoteButton.BottomRight)
|
|
}
|