Clean up and all sensors working

src/extensions/scratch3_gdx_for/index.js

@@ -1,11 +1,10 @@
 const ArgumentType = require('../../extension-support/argument-type');
 const BlockType = require('../../extension-support/block-type');
-// const log = require('../../util/log');
+const log = require('../../util/log');
 // const cast = require('../../util/cast');
 const formatMessage = require('format-message');
 const BLE = require('../../io/ble');
 const Base64Util = require('../../util/base64-util');
-const GdxCommands = require('./gdx-commands');
 //const ScratchLinkProxy = require('./scratch-link-proxy');
 const createDevice = require('@vernier/godirect/src/godirect').default.createDevice;
 
@@ -16,19 +15,6 @@ const createDevice = require('@vernier/godirect/src/godirect').default.createDev
 // eslint-disable-next-line max-len
 const blockIconURI = 'data:image/png;base64,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';
 
-/**
- * Enum for GDX-FOR protocol.
- * @readonly
- * @enum {string}
- */
-const BLEUUID = {
-    service: 'd91714ef-28b9-4f91-ba16-f0d9a604f112',
-    txChar: 'f4bf14a6-c7d5-4b6d-8aa8-df1a7c83adcb',
-    rxChar: 'b41e6675-a329-40e0-aa01-44d2f444babe'
-};
-
-const BLETimeout = 4500;
-
 /**
  * Manage communication with a GDX-FOR peripheral over a Scratch Link client socket.
  */
@@ -76,29 +62,8 @@ class GdxFor {
 			angularVelocityX: 0,
         };
 
-        /**
-         * Interval ID for data reading timeout.
-         * @type {number}
-         * @private
-         */
-        this._timeoutID = null;
-
-        /**
-         * A flag that is true while we are busy sending data to the BLE socket.
-         * @type {boolean}
-         * @private
-         */
-        this._busy = false;
-
-        /**
-         * ID for a timeout which is used to clear the busy flag if it has been
-         * true for a long time.
-         */
-        this._busyTimeoutID = null;
-
         this.disconnect = this.disconnect.bind(this);
         this._onConnect = this._onConnect.bind(this);
-        this._onMessage = this._onMessage.bind(this);
 
         this._connected = false;
     }
@@ -110,36 +75,19 @@ class GdxFor {
     scan () {
         if (this._ble) {
             this._ble.close();
-            // this._ble.disconnect(); //scratch-link
         }
 
-        console.log("Requesting Device");
         navigator.bluetooth.requestDevice({
             filters: [{ namePrefix: 'GDX' }],
             optionalServices: ['d91714ef-28b9-4f91-ba16-f0d9a604f112']
         }).then((bleWbtDevice) => {
-            console.log("Got device: ", bleWbtDevice);
             return createDevice(bleWbtDevice, {open: false});
         }).then((device) => {
-            console.log("Created BLE object: ", device);
             this._ble = device;
-            this._ble.open(false); // should emit a "device-opened" event when opened
+            this._ble.open(false); // false prevents starting of measurements
             this._ble.on('device-opened', this._onConnect);
             this._ble.on('device-closed', this._onClose);
-        }).catch((error) => {
-            console.log(error);
         });
-
-
-        // scratch-link
-        // this._ble = new BLE(this._runtime, this._extensionId, {
-        //     filters: [
-        //         { namePrefix: 'GDX' }
-        //     ],
-        //     optionalServices: [
-        //         BLEUUID.service
-        //     ]
-        // }, this._onConnect);
     }
 
     /**
@@ -157,13 +105,8 @@ class GdxFor {
      * Disconnect from the micro:bit.
      */
     disconnect () {
-        // TODO: This funciton is called when you exist the connection popup.
-        // When using Web Bluetooth, we don't use the connection popup.
-        // When switching over from web bluetooth, make sure to figure out to handle
-        // this disconnection.
-        window.clearInterval(this._timeoutID);
         if (this._ble) {
-            //this._ble.disconnect();
+            this._ble.close();
         }
     }
 
@@ -174,55 +117,22 @@ class GdxFor {
     isConnected () {
         let connected = false;
         if (this._ble) {
-            connected = this._connected; //this._ble.isConnected();
+            connected = this._connected;
         }
-        console.log("Is connected: ", connected);
         return connected;
     }
 
-    /**
-     * Send a message to the peripheral BLE socket.
-     * @param {number} command - the BLE command hex.
-     * @param {Uint8Array} message - the message to write
-     */
-    send (command, message) {
-        if (!this.isConnected()) return;
-
-        debugger;
-
-        const output = new Uint8Array(message.length + 1);
-        output[0] = command; // attach command to beginning of message
-        for (let i = 0; i < message.length; i++) {
-            output[i + 1] = message[i];
-        }
-        //const output = [0x58, 0x19, 0xfe, 0x3f, 0x1a, 0xa5, 0x4a, 0x06, 0x49, 0x07, 0x48, 0x08, 0x47, 0x09, 0x46, 0x0a, 0x45, 0x0b, 0x44, 0x0c, 0x43, 0x0d, 0x42, 0x0e, 0x41];
-
-        //const output = new Uint8Array([0x58, 0x19, 0xfe, 0x3f, 0x1a, 0xa5, 0x4a, 0x06, 0x49, 0x07, 0x48, 0x08, 0x47, 0x09, 0x46, 0x0a, 0x45, 0x0b, 0x44, 0x0c, 0x43, 0x0d, 0x42, 0x0e, 0x41]);
-        console.log(output);
-
-        const data = Base64Util.uint8ArrayToBase64(output);
-        console.log(data);
-        // WBn+PxqlSgZJB0gIRwlGCkULRAxDDUIOQQ==
-
-        this._ble.write(BLEUUID.service, BLEUUID.txChar, data, 'base64', true).then(
-            () => {
-                this._busy = false;
-            }
-        );
-    }
-
     /**
      * Starts reading data from peripheral after BLE has connected to it.
      * @private
      */
     _onConnect () {
-		console.log("CONNNECTED");
         this._connected = true;
 
         this._ble.sensors.forEach(sensor => {
             sensor.setEnabled(true);
 
-            // do some calculations?
+            // do some calculations here?
             sensor.on('value-changed', (sensor) => {
 
                 // We don't need this list, essentially.
@@ -232,58 +142,52 @@ class GdxFor {
             });
 
         });
-        this._ble.start();  // Can set period here.
+        this._ble.start();  // Can set period here if needed.
-        //this.send(GdxCommands.INIT, '');
-
-        //this._ble.read(BLEUUID.service, BLEUUID.rxChar, true, this._onMessage);
-
-        //this._timeoutID = window.setInterval(this.disconnect, BLETimeout);
     }
 
     getForce () {
         return this._ble.getSensor(1).value;
     }
 
+    getAccelerationX () {
+        return this._ble.getSensor(2).value;
+    }
+
+    getAccelerationY () {
+        return this._ble.getSensor(3).value;
+    }
+
+    getAccelerationZ () {
+        return this._ble.getSensor(4).value;
+    }
+
+    getAngularSpeedX () {
+        return this._ble.getSensor(5).value;
+    }
+
+    getAngularSpeedY () {
+        return this._ble.getSensor(6).value;
+    }
+
+    getAngularSpeedZ () {
+        return this._ble.getSensor(7).value;
+    }
+
+
     _onClose () {
         this._connected = false;
     }
-
-    /**
-     * Process the sensor data from the incoming BLE characteristic.
-     * @param {object} base64 - the incoming BLE data.
-     * @private
-     */
-    _onMessage (base64) {
-        console.log("In _onMessage");
-        // parse data
-        const data = Base64Util.base64ToUint8Array(base64);
-		console.log("data: ", data);
-
-        // this._sensors.tiltX = data[1] | (data[0] << 8);
-        // if (this._sensors.tiltX > (1 << 15)) this._sensors.tiltX -= (1 << 16);
-        // this._sensors.tiltY = data[3] | (data[2] << 8);
-        // if (this._sensors.tiltY > (1 << 15)) this._sensors.tiltY -= (1 << 16);
-
-        // this._sensors.buttonA = data[4];
-        // this._sensors.buttonB = data[5];
-
-        // this._sensors.touchPins[0] = data[6];
-        // this._sensors.touchPins[1] = data[7];
-        // this._sensors.touchPins[2] = data[8];
-
-        // this._sensors.gestureState = data[9];
-
-        // // cancel disconnect timeout and start a new one
-        // window.clearInterval(this._timeoutID);
-        // this._timeoutID = window.setInterval(this.disconnect, BLETimeout);
-    }
-
 }
 
-
+/**
-const CompareOptionsMenu = ['>', '<', '='];
+ * Enum for comparison operations.
-
+ * @readonly
-const DirectionOptionsMenu = ['x', 'y', 'z'];
+ * @enum {string}
+ */
+const ComparisonOptions = {
+    LESS_THAN: 'less_than',
+    GREATER_THAN: 'greater_than'
+};
 
 
 /**
@@ -305,6 +209,37 @@ class Scratch3GdxForBlocks {
         return 'gdxfor';
     }
 
+    get DIRECTIONS_MENU () {
+        return [
+            {
+                text: 'x',
+                value: 'x'
+            },
+            {
+                text: 'y',
+                value: 'y'
+            },
+            {
+                text: 'z',
+                value: 'z'
+            }
+        ];
+    }
+
+    get COMPARE_MENU () {
+        return [
+            {
+                text: '<',
+                value: ComparisonOptions.LESS_THAN
+            },
+            {
+                text: '>',
+                value: ComparisonOptions.GREATER_THAN
+            }
+        ];
+    }
+
+
     /**
      * Construct a set of GDX-FOR blocks.
      * @param {Runtime} runtime - the Scratch 3.0 runtime.
@@ -342,12 +277,12 @@ class Scratch3GdxForBlocks {
                         DIRECTION: {
                             type: ArgumentType.STRING,
                             menu: 'directionOptions',
-                            defaultValue: 0
+                            defaultValue: 'x'
                         },
                         COMPARE: {
                             type: ArgumentType.STRING,
                             menu: 'compareOptions',
-                            defaultValue: 0
+                            defaultValue: ComparisonOptions.GREATER_THAN
                         },
                         VALUE: {
                             type: ArgumentType.NUMBER,
@@ -367,12 +302,12 @@ class Scratch3GdxForBlocks {
                         DIRECTION: {
                             type: ArgumentType.STRING,
                             menu: 'directionOptions',
-                            defaultValue: 0
+                            defaultValue: 'x'
                         },
                         COMPARE: {
                             type: ArgumentType.STRING,
                             menu: 'compareOptions',
-                            defaultValue: 0
+                            defaultValue: ComparisonOptions.GREATER_THAN
                         },
                         VALUE: {
                             type: ArgumentType.NUMBER,
@@ -392,7 +327,7 @@ class Scratch3GdxForBlocks {
                         COMPARE: {
                             type: ArgumentType.STRING,
                             menu: 'compareOptions',
-                            defaultValue: 0
+                            defaultValue: 'x'
                         },
                         VALUE: {
                             type: ArgumentType.NUMBER,
@@ -412,7 +347,7 @@ class Scratch3GdxForBlocks {
                         DIRECTION: {
                             type: ArgumentType.STRING,
                             menu: 'directionOptions',
-                            defaultValue: 0
+                            defaultValue: 'x'
                         }
                     }
                 },
@@ -421,14 +356,14 @@ class Scratch3GdxForBlocks {
                     text: formatMessage({
                         id: 'gdxfor.getAngularSpeed',
                         default: 'angular speed [DIRECTION]',
-                        description: 'gets tilt'
+                        description: 'gets angular speed'
                     }),
                     blockType: BlockType.REPORTER,
                     arguments: {
                         DIRECTION: {
                             type: ArgumentType.STRING,
                             menu: 'directionOptions',
-                            defaultValue: 0
+                            defaultValue: 'x'
                         }
                     }
                 },
@@ -443,8 +378,8 @@ class Scratch3GdxForBlocks {
                 }
             ],
             menus: {
-                directionOptions: this._formatMenu(DirectionOptionsMenu),
+                directionOptions: this.DIRECTIONS_MENU,
-                compareOptions: this._formatMenu(CompareOptionsMenu)
+                compareOptions: this.COMPARE_MENU,
             }
         };
     }
@@ -458,45 +393,34 @@ class Scratch3GdxForBlocks {
     whenForceCompare () {
         return Promise.resolve();
     }
-    getAcceleration () {
+    getAcceleration (args) {
-        return Promise.resolve();
+        console.log(args);
+        switch (args.DIRECTION) {
+        case 'x':
+            return this._peripheral.getAccelerationX();
+        case 'y':
+            return this._peripheral.getAccelerationY();
+        case 'z':
+            return this._peripheral.getAccelerationZ();
+        default:
+            log.warn(`Unknown direction in getAcceleration: ${args.DIRECTION}`);
+        }
     }
-    getAngularSpeed () {
+    getAngularSpeed (args) {
-        return Promise.resolve();
+        switch (args.DIRECTION) {
+        case 'x':
+            return this._peripheral.getAngularSpeedX();
+        case 'y':
+            return this._peripheral.getAngularSpeedY();
+        case 'z':
+            return this._peripheral.getAngularSpeedZ();
+        default:
+            log.warn(`Unknown direction in getAngularSpeed: ${args.DIRECTION}`);
+        }
     }
     getForce () {
         return this._peripheral.getForce();
     }
-
-    /**
-     * Formats menus into a format suitable for block menus, and loading previously
-     * saved projects:
-     * [
-     *   {
-     *    text: label,
-     *    value: index
-     *   },
-     *   {
-     *    text: label,
-     *    value: index
-     *   },
-     *   etc...
-     * ]
-     *
-     * @param {array} menu - a menu to format.
-     * @return {object} - a formatted menu as an object.
-     * @private
-     */
-    _formatMenu (menu) {
-        const m = [];
-        for (let i = 0; i < menu.length; i++) {
-            const obj = {};
-            obj.text = menu[i];
-            obj.value = i.toString();
-            m.push(obj);
-        }
-        return m;
-    }
 }
 
 module.exports = Scratch3GdxForBlocks;