327 lines
11 KiB
TypeScript
327 lines
11 KiB
TypeScript
const enum IrSensorMode {
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None = -1,
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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 IrRemoteChannel {
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Ch0 = 0, // top
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Ch1 = 1,
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Ch2 = 2,
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Ch3 = 3,
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}
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const enum IrRemoteButton {
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None = 0x00,
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CenterBeacon = 0x01,
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TopLeft = 0x02,
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BottomLeft = 0x04,
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TopRight = 0x08,
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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 0: return IrRemoteButton.None
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case 1: return IrRemoteButton.TopLeft
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case 2: return IrRemoteButton.BottomLeft
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case 3: return IrRemoteButton.TopRight
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case 4: return IrRemoteButton.TopRight | IrRemoteButton.BottomRight
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case 5: return IrRemoteButton.TopLeft | IrRemoteButton.TopRight
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case 6: return IrRemoteButton.TopLeft | IrRemoteButton.BottomRight
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case 7: return IrRemoteButton.BottomLeft | IrRemoteButton.TopRight
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case 8: return IrRemoteButton.BottomLeft | IrRemoteButton.BottomRight
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case 9: return IrRemoteButton.CenterBeacon
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case 10: return IrRemoteButton.BottomLeft | IrRemoteButton.TopLeft
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case 11: return IrRemoteButton.TopRight | IrRemoteButton.BottomRight
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default: return IrRemoteButton.None
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}
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}
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let buttons: RemoteInfraredBeaconButton[]
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function create(ir: InfraredSensor) {
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// it's created by referencing it
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}
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export function irButton(id: IrRemoteButton): RemoteInfraredBeaconButton {
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if (buttons == null) {
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buttons = []
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for (let i = 0; i < 5; ++i) {
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buttons.push(new RemoteInfraredBeaconButton(new brick.Button()))
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}
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// this defeats our static allocation system
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// make sure sensors are up
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//create(infraredSensor1)
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//create(infraredSensor2)
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//create(infraredSensor3)
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//create(infraredSensor4)
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}
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let num = -1
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while (id) {
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id >>= 1;
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num++;
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}
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num = Math.clamp(0, buttons.length - 1, num)
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return buttons[num]
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}
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//% fixedInstances
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export class RemoteInfraredBeaconButton extends control.Component {
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private button: brick.Button;
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constructor(button: brick.Button) {
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super();
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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=input/remote-infrared-beacon/is-pressed
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//% block="%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=input/remote-infrared-beacon/was-pressed
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//% block="%button|was pressed"
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//% blockId=remotebuttonWasPressed
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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 button or sensor is clicked, up or down
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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=input/remote-infrared-beacon/on-event
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//% blockId=remotebuttonEvent block="on %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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//% fixedInstances
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export class InfraredSensor extends internal.UartSensor {
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private channel: IrRemoteChannel;
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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 = IrRemoteChannel.Ch0
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this.proximityThreshold = new sensors.ThresholdDetector(this._id, 0, 100, 10, 90);
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irButton(0) // make sure buttons array is initalized
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// and set the mode, as otherwise button events won't work
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this.mode = IrSensorMode.RemoteControl;
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}
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_query() {
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if (this.mode == IrSensorMode.RemoteControl)
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return mapButton(this.getNumber(NumberFormat.UInt8LE, this.channel));
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else if (this.mode == IrSensorMode.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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_update(prev: number, curr: number) {
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if (this.mode == IrSensorMode.RemoteControl) {
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for (let i = 0; i < buttons.length; ++i) {
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let v = !!(curr & (1 << i))
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buttons[i]._update(v)
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}
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} else if (this.mode == IrSensorMode.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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setRemoteChannel(c: IrRemoteChannel) {
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c = Math.clamp(0, 3, c | 0)
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this.channel = c
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this.setMode(IrSensorMode.RemoteControl)
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}
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setMode(m: IrSensorMode) {
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this._setMode(m)
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}
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/**
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* Registers 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=input/infrared/on
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//% block="on %sensor|%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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onEvent(event: InfraredSensorEvent, handler: () => void) {
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this._setMode(IrSensorMode.Proximity)
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control.onEvent(this._id, event, handler);
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}
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/**
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* Waits for the event to occur
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*/
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//% help=input/ultrasonic/wait
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//% block="pause until %sensor| %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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pauseUntil(event: InfraredSensorEvent) {
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this._setMode(IrSensorMode.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=input/infrared/proximity
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//% block="%sensor|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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proximity(): number {
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this._setMode(IrSensorMode.Proximity)
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return this.getNumber(NumberFormat.UInt8LE, 0)
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}
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/**
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* Get the remote commandreceived the infrared sensor.
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* @param sensor the infrared sensor
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*/
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//% help=input/infrared/remote-command
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//% block="%sensor|remote command"
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//% blockId=infraredGetRemoteCommand
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//% parts="infrared"
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//% blockNamespace=sensors
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//% weight=65
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//% group="Infrared Sensor"
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remoteCommand(): number {
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this._setMode(IrSensorMode.RemoteControl)
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return this.getNumber(NumberFormat.UInt8LE, this.channel)
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}
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// TODO
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getDirectionAndDistance() {
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this._setMode(IrSensorMode.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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* 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 %sensor|%condition|to %value"
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//% group="Threshold" blockGap=8 weight=49
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//% value.min=0 value.max=100
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setThreshold(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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* Gets the threshold value
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* @param condition the proximity condition
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*/
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//% blockId=irGetThreshold block="%sensor|%condition"
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//% group="Threshold" blockGap=8 weight=49
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//% sensor.fieldEditor="ports"
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threshold(condition: InfraredSensorEvent): number {
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return this.proximityThreshold.threshold(<ThresholdState><number>LightCondition.Dark);
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}
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}
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//% fixedInstance whenUsed block="infrared 1" jres=icons.port1
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export const infraredSensor1: InfraredSensor = new InfraredSensor(1)
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//% fixedInstance whenUsed block="infrared 2" jres=icons.port2
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export const infraredSensor2: InfraredSensor = new InfraredSensor(2)
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//% fixedInstance whenUsed block="infrared 3" jres=icons.port3
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export const infraredSensor3: InfraredSensor = new InfraredSensor(3)
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//% fixedInstance whenUsed block="infrared 4" jres=icons.port4
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export const infraredSensor4: 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="remote button center" weight=95 fixedInstance
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export const remoteButtonCenter = irButton(IrRemoteButton.CenterBeacon)
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/**
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* Remote top-left button.
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*/
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//% whenUsed block="remote button top-left" weight=95 fixedInstance
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export const remoteButtonTopLeft = irButton(IrRemoteButton.TopLeft)
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/**
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* Remote top-right button.
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*/
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//% whenUsed block="remote button top-right" weight=95 fixedInstance
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export const remoteButtonTopRight = irButton(IrRemoteButton.TopRight)
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/**
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* Remote bottom-left button.
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*/
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//% whenUsed block="remote button bottom-left" weight=95 fixedInstance
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export const remoteButtonBottomLeft = irButton(IrRemoteButton.BottomLeft)
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/**
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* Remote bottom-right button.
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*/
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//% whenUsed block="remote button bottom-right" weight=95 fixedInstance
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export const remoteButtonBottomRight = irButton(IrRemoteButton.BottomRight)
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}
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