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Create WeDo 2.0 device communication classes
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2 changed files with 389 additions and 1 deletions
387
src/blocks/scratch3_wedo2.js
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387
src/blocks/scratch3_wedo2.js
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const log = require('../util/log');
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/**
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* Manage power, direction, and timers for one WeDo 2.0 motor.
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*/
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class WeDo2Motor {
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/**
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* Construct a WeDo2Motor instance.
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* @param {WeDo2} parent - the WeDo 2.0 device which owns this motor.
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* @param {int} index - the zero-based index of this motor on its parent device.
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*/
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constructor (parent, index) {
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/**
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* The WeDo 2.0 device which owns this motor.
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* @type {WeDo2}
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* @private
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*/
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this._parent = parent;
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/**
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* The zero-based index of this motor on its parent device.
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* @type {int}
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* @private
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*/
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this._index = index;
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/**
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* This motor's current direction: 1 for "this way" or -1 for "that way"
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* @type {number}
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* @private
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*/
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this._direction = 1;
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/**
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* This motor's current power level, in the range [0,100].
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* @type {number}
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* @private
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*/
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this._power = 100;
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/**
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* Is this motor currently moving?
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* @type {boolean}
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* @private
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*/
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this._isOn = false;
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/**
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* If the motor has been turned on or is actively braking for a specific duration, this is the timeout ID for
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* the end-of-action handler. Cancel this when changing plans.
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* @type {Object}
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* @private
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*/
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this._pendingTimeoutId = null;
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this.startBraking = this.startBraking.bind(this);
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this.setMotorOff = this.setMotorOff.bind(this);
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}
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/**
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* @return {number} - the duration of active braking after a call to startBraking(). Afterward, turn the motor off.
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* @constructor
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*/
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static get BRAKE_TIME_MS () {
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return 1000;
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}
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/**
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* @return {int} - this motor's current direction: 1 for "this way" or -1 for "that way"
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*/
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get direction () {
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return this._direction;
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}
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/**
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* @param {int} value - this motor's new direction: 1 for "this way" or -1 for "that way"
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*/
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set direction (value) {
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if (value < 0) {
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this._direction = -1;
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} else {
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this._direction = 1;
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}
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}
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/**
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* @return {int} - this motor's current power level, in the range [0,100].
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*/
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get power () {
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return this._power;
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}
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/**
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* @param {int} value - this motor's new power level, in the range [0,100].
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*/
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set power (value) {
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this._power = Math.max(0, Math.min(value, 100));
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}
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/**
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* @return {boolean} - true if this motor is currently moving, false if this motor is off or braking.
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*/
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get isOn () {
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return this._isOn;
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}
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/**
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* Turn this motor on indefinitely.
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*/
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setMotorOn () {
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this._parent._send('motorOn', {motorIndex: this._index, power: this._direction * this._power});
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this._isOn = true;
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this._clearTimeout();
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}
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/**
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* Turn this motor on for a specific duration.
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* @param {number} milliseconds - run the motor for this long.
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*/
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setMotorOnFor (milliseconds) {
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milliseconds = Math.max(0, milliseconds);
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this.setMotorOn();
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this._setNewTimeout(this.startBraking, milliseconds);
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}
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/**
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* Start active braking on this motor. After a short time, the motor will turn off.
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*/
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startBraking () {
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this._parent._send('motorBrake', {motorIndex: this._index});
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this._isOn = false;
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this._setNewTimeout(this.setMotorOff, WeDo2Motor.BRAKE_TIME_MS);
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}
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/**
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* Turn this motor off.
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*/
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setMotorOff () {
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this._parent._send('motorOff', {motorIndex: this._index});
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this._isOn = false;
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}
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/**
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* Clear the motor action timeout, if any. Safe to call even when there is no pending timeout.
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* @private
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*/
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_clearTimeout () {
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if (this._pendingTimeoutId !== null) {
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clearTimeout(this._pendingTimeoutId);
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this._pendingTimeoutId = null;
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}
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}
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/**
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* Set a new motor action timeout, after clearing an existing one if necessary.
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* @param {Function} callback - to be called at the end of the timeout.
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* @param {int} delay - wait this many milliseconds before calling the callback.
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* @private
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*/
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_setNewTimeout (callback, delay) {
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this._clearTimeout();
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const timeoutID = setTimeout(() => {
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if (this._pendingTimeoutId === timeoutID) {
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this._pendingTimeoutId = null;
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}
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callback();
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}, delay);
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this._pendingTimeoutId = timeoutID;
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}
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}
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/**
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* Manage communication with a WeDo 2.0 device over a Device Manager client socket.
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*/
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class WeDo2 {
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/**
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* @return {string} - the type of Device Manager device socket that this class will handle.
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*/
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static get DEVICE_TYPE () {
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return 'wedo2';
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}
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/**
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* Construct a WeDo2 communication object.
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* @param {Socket} socket - the socket for a WeDo 2.0 device, as provided by a Device Manager client.
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*/
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constructor (socket) {
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/**
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* The socket-IO socket used to communicate with the Device Manager about this device.
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* @type {Socket}
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* @private
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*/
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this._socket = socket;
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/**
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* The motors which this WeDo 2.0 could possibly have.
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* @type {[WeDo2Motor]}
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* @private
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*/
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this._motors = [new WeDo2Motor(this, 0), new WeDo2Motor(this, 1)];
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/**
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* The most recently received value for each sensor.
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* @type {Object.<string, number>}
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* @private
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*/
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this._sensors = {
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tiltX: 0,
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tiltY: 0,
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distance: 0
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};
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this._onSensorChanged = this._onSensorChanged.bind(this);
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this._onDisconnect = this._onDisconnect.bind(this);
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this._connectEvents();
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}
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/**
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* Manually dispose of this object.
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*/
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dispose () {
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this._disconnectEvents();
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}
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/**
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* @return {number} - the latest value received for the tilt sensor's tilt about the X axis.
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*/
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get tiltX () {
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return this._sensors.tiltX;
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}
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/**
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* @return {number} - the latest value received for the tilt sensor's tilt about the Y axis.
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*/
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get tiltY () {
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return this._sensors.tiltY;
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}
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/**
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* @return {number} - the latest value received from the distance sensor.
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*/
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get distance () {
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return this._sensors.distance;
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}
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/**
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* Access a particular motor on this device.
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* @param {int} index - the zero-based index of the desired motor.
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* @return {WeDo2Motor} - the WeDo2Motor instance, if any, at that index.
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*/
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motor (index) {
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return this._motors[index];
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}
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/**
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* Set the WeDo 2.0 hub's LED to a specific color.
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* @param {int} rgb - a 24-bit RGB color in 0xRRGGBB format.
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*/
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setLED (rgb) {
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this._send('setLED', {rgb});
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}
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/**
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* Play a tone from the WeDo 2.0 hub for a specific amount of time.
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* @param {int} tone - the pitch of the tone, in Hz.
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* @param {int} milliseconds - the duration of the note, in milliseconds.
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*/
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playTone (tone, milliseconds) {
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this._send('playTone', {tone, ms: milliseconds});
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}
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/**
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* Stop the tone playing from the WeDo 2.0 hub, if any.
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*/
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stopTone () {
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this._send('stopTone');
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}
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/**
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* Attach event handlers to the device socket.
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* @private
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*/
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_connectEvents () {
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this._socket.on('sensorChanged', this._onSensorChanged);
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this._socket.on('deviceWasClosed', this._onDisconnect);
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this._socket.on('disconnect', this._onDisconnect);
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}
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/**
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* Detach event handlers from the device socket.
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* @private
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*/
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_disconnectEvents () {
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this._socket.off('sensorChanged', this._onSensorChanged);
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this._socket.off('deviceWasClosed', this._onDisconnect);
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this._socket.off('disconnect', this._onDisconnect);
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}
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/**
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* Store the sensor value from an incoming 'sensorChanged' event.
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* @param {object} event - the 'sensorChanged' event.
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* @property {string} sensorName - the name of the sensor which changed.
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* @property {number} sensorValue - the new value of the sensor.
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* @private
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*/
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_onSensorChanged (event) {
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this._sensors[event.sensorName] = event.sensorValue;
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}
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/**
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* React to device disconnection. May be called more than once.
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* @private
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*/
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_onDisconnect () {
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this._disconnectEvents();
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}
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/**
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* Send a message to the device socket.
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* @param {string} message - the name of the message, such as 'playTone'.
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* @param {object} [details] - optional additional details for the message, such as tone duration and pitch.
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* @private
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*/
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_send (message, details) {
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this._socket.emit(message, details);
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}
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}
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/**
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* Scratch 3.0 blocks to interact with a LEGO WeDo 2.0 device.
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*/
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class Scratch3WeDo2Blocks {
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/**
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* @return {string} - the name of this extension.
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*/
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static get EXTENSION_NAME () {
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return 'wedo2';
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}
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/**
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* Construct a set of WeDo 2.0 blocks.
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* @param {Runtime} runtime - the Scratch 3.0 runtime.
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*/
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constructor (runtime) {
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/**
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* The Scratch 3.0 runtime.
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* @type {Runtime}
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*/
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this.runtime = runtime;
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this.runtime.HACK_WeDo2Blocks = this;
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}
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/**
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* Use the Device Manager client to attempt to connect to a WeDo 2.0 device.
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*/
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connect () {
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if (this._device || this._finder) {
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return;
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}
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const deviceManager = this.runtime.ioDevices.deviceManager;
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const finder = this._finder =
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deviceManager.searchAndConnect(Scratch3WeDo2Blocks.EXTENSION_NAME, WeDo2.DEVICE_TYPE);
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this._finder.promise.then(
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socket => {
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if (this._finder === finder) {
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this._finder = null;
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this._device = new WeDo2(socket);
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} else {
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log.warn('Ignoring success from stale WeDo 2.0 connection attempt');
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}
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},
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reason => {
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if (this._finder === finder) {
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this._finder = null;
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log.warn(`WeDo 2.0 connection failed: ${reason}`);
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} else {
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log.warn('Ignoring failure from stale WeDo 2.0 connection attempt');
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}
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});
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}
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}
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module.exports = Scratch3WeDo2Blocks;
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@ -19,7 +19,8 @@ const defaultBlockPackages = {
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scratch3_sound: require('../blocks/scratch3_sound'),
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scratch3_sensing: require('../blocks/scratch3_sensing'),
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scratch3_data: require('../blocks/scratch3_data'),
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scratch3_procedures: require('../blocks/scratch3_procedures')
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scratch3_procedures: require('../blocks/scratch3_procedures'),
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scratch3_wedo2: require('../blocks/scratch3_wedo2')
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};
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/**
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