mirror of
https://github.com/scratchfoundation/scratch-vm.git
synced 2024-12-23 14:32:59 -05:00
Adding Ev3 extension with three test blocks to latest device-connection work, auto-connecting to device for now.
This commit is contained in:
Evelyn Eastmond
Ray Schamp
parent
4332725d33
commit
2d8ad05a78
6 changed files with 476 additions and 15 deletions
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@ -15,6 +15,7 @@ const Scratch3SpeakBlocks = require('../extensions/scratch3_speak');
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const Scratch3TranslateBlocks = require('../extensions/scratch3_translate');
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const Scratch3VideoSensingBlocks = require('../extensions/scratch3_video_sensing');
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const Scratch3SpeechBlocks = require('../extensions/scratch3_speech');
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const Scratch3Ev3Blocks = require('../extensions/scratch3_ev3');
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const builtinExtensions = {
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pen: Scratch3PenBlocks,
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@ -24,7 +25,8 @@ const builtinExtensions = {
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speak: Scratch3SpeakBlocks,
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translate: Scratch3TranslateBlocks,
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videoSensing: Scratch3VideoSensingBlocks,
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speech: Scratch3SpeechBlocks
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speech: Scratch3SpeechBlocks,
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ev3: Scratch3Ev3Blocks
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};
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/**
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381
src/extensions/scratch3_ev3/index.js
Normal file
381
src/extensions/scratch3_ev3/index.js
Normal file
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@ -0,0 +1,381 @@
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const ArgumentType = require('../../extension-support/argument-type');
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const BlockType = require('../../extension-support/block-type');
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const Cast = require('../../util/cast');
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const log = require('../../util/log');
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const Base64Util = require('../../util/base64-util');
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const BTSession = require('../../io/BTSession');
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/**
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* High-level primitives / constants used by the extension.
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* @type {object}
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*/
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const BTCommand = {
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LAYER: 0x00,
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NUM8: 0x81,
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NUM16: 0x82,
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NUM32: 0x83,
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COAST: 0x0,
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BRAKE: 0x1,
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LONGRAMP: 50,
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STEPSPEED: 0xAE,
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TIMESPEED: 0xAF,
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OUTPUTSTOP: 0xA3,
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OUTPUTRESET: 0xA2,
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STEPSPEEDSYNC: 0xB0,
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TIMESPEEDSYNC: 0xB1
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};
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/**
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* Array of accepted motor ports.
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* @note These should not be translated as they correspond to labels on
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* the EV3 hub.
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* @type {array}
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*/
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const MOTOR_PORTS = [
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{
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name: 'A',
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value: 1
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},
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{
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name: 'B',
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value: 2
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},
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{
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name: 'C',
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value: 4
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},
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{
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name: 'D',
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value: 8
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}
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];
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/**
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* Array of accepted sensor ports.
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* @note These should not be translated as they correspond to labels on
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* the EV3 hub.
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* @type {array}
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*/
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// const SENSOR_PORTS = ['1', '2', '3', '4'];
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class EV3 {
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constructor (runtime, extensionId) {
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/**
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* The Scratch 3.0 runtime used to trigger the green flag button.
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* @type {Runtime}
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* @private
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*/
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this._runtime = runtime;
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this.connected = false;
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this.speed = 50;
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/**
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* The Bluetooth connection session for reading/writing device data.
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* @type {BTSession}
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* @private
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*/
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this._bt = null;
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this._runtime.registerExtensionDevice(extensionId, this);
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// TODO: auto-connect temporary - until button is added
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this.startDeviceScan();
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}
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// TODO: keep here?
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/**
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* Called by the runtime when user wants to scan for a device.
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*/
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startDeviceScan () {
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log.info('making a new BT session');
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this._bt = new BTSession(this._runtime, {
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majorDeviceClass: 8,
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minorDeviceClass: 1
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}, this._onSessionConnect.bind(this));
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}
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// TODO: keep here?
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/**
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* Called by the runtime when user wants to connect to a certain device.
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* @param {number} id - the id of the device to connect to.
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*/
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connectDevice (id) {
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this._bt.connectDevice(id);
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}
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beep () {
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if (!this.connected) return;
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this._bt.sendMessage({
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message: 'DwAAAIAAAJQBgQKC6AOC6AM=',
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encoding: 'base64'
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});
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}
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motorTurnClockwise (port, time) {
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if (!this.connected) return;
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// Build up motor command
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const cmd = this._applyPrefix(0, this._motorCommand(
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BTCommand.TIMESPEED,
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port,
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time,
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this.speed,
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BTCommand.LONGRAMP
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));
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// Send message
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this._bt.sendMessage({
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message: Base64Util.arrayBufferToBase64(cmd),
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encoding: 'base64'
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});
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// Yield for time
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return new Promise(resolve => {
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setTimeout(() => {
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resolve();
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}, time);
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});
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}
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motorTurnCounterClockwise (port, time) {
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if (!this.connected) return;
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// Build up motor command
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const cmd = this._applyPrefix(0, this._motorCommand(
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BTCommand.TIMESPEED,
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port,
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time,
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this.speed * -1,
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BTCommand.LONGRAMP
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));
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// Send message
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this._bt.sendMessage({
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message: Base64Util.arrayBufferToBase64(cmd),
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encoding: 'base64'
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});
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// Yield for time
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return new Promise(resolve => {
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setTimeout(() => {
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resolve();
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}, time);
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});
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}
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_applyPrefix (n, cmd) {
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const len = cmd.length + 5;
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return [].concat(
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len & 0xFF,
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(len >> 8) & 0xFF,
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0x1,
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0x0,
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0x0,
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n,
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0x0,
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cmd
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);
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}
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/**
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* Generate a motor command in EV3 byte array format (CMD, LAYER, PORT,
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* SPEED, RAMP UP, RUN, RAMP DOWN, BREAKING TYPE)
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* @param {string} command Motor command primitive (i.e. "prefix")
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* @param {string} port Port to address
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* @param {number} n Value to be passed to motor command
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* @param {number} speed Speed value
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* @param {number} ramp Ramp value
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* @return {array} Byte array
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*/
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_motorCommand (command, port, n, speed, ramp) {
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/**
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* Generate run values for a given input.
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* @param {number} run Run input
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* @return {array} Run values (byte array)
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*/
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const getRunValues = function (run) {
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// If run duration is less than max 16-bit integer
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if (run < 0x7fff) {
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return [
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BTCommand.NUM16,
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run & 0xff,
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(run >> 8) & 0xff
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];
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}
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// Run forever
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return [
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BTCommand.NUM32,
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run & 0xff,
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(run >> 8) & 0xff,
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(run >> 16) & 0xff,
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(run >> 24) & 0xff
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];
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};
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// If speed is less than zero, make it positive and multiply the input
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// value by -1
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if (speed < 0) {
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speed = -1 * speed;
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n = -1 * n;
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}
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// If the input value is less than 0
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const dir = (n < 0) ? 0x100 - speed : speed; // step negative or possitive
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n = Math.abs(n);
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// Setup motor run duration and ramping behavior
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let rampup = ramp;
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let rampdown = ramp;
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let run = n - ramp * 2;
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if (run < 0) {
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rampup = Math.floor(n / 2);
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run = 0;
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rampdown = n - rampup;
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}
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// Generate motor command
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const runcmd = getRunValues(run);
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return [
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command,
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BTCommand.LAYER,
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port,
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BTCommand.NUM8,
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dir & 0xff,
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BTCommand.NUM8,
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rampup
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].concat(runcmd.concat([
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BTCommand.NUM8,
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rampdown,
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BTCommand.BRAKE
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]));
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}
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_onSessionConnect () {
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log.info('bt device connected!');
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this.connected = true;
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// start reading data?
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}
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}
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class Scratch3Ev3Blocks {
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/**
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* The ID of the extension.
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* @return {string} the id
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*/
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static get EXTENSION_ID () {
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return 'ev3';
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}
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/**
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* Creates a new instance of the EV3 extension.
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* @param {object} runtime VM runtime
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* @constructor
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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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// Create a new MicroBit device instance
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this._device = new EV3(this.runtime, Scratch3Ev3Blocks.EXTENSION_ID);
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}
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/**
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* Define the EV3 extension.
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* @return {object} Extension description.
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*/
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getInfo () {
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return {
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id: Scratch3Ev3Blocks.EXTENSION_ID,
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name: 'LEGO MINDSTORMS EV3',
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iconURI: null,
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blocks: [
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{
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opcode: 'motorTurnClockwise',
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text: '[PORT] turn clockwise [TIME] seconds',
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blockType: BlockType.COMMAND,
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arguments: {
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PORT: {
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type: ArgumentType.STRING,
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menu: 'motorPorts',
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defaultValue: MOTOR_PORTS[0].value
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},
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TIME: {
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type: ArgumentType.NUMBER,
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defaultValue: 1
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}
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}
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},
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{
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opcode: 'motorTurnCounterClockwise',
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text: '[PORT] turn counter [TIME] seconds',
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blockType: BlockType.COMMAND,
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arguments: {
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PORT: {
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type: ArgumentType.STRING,
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menu: 'motorPorts',
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defaultValue: MOTOR_PORTS[0].value
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},
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TIME: {
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type: ArgumentType.NUMBER,
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defaultValue: 1
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}
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}
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},
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{
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opcode: 'beep',
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text: 'beep',
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blockType: BlockType.COMMAND
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}
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],
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menus: {
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motorPorts: this._buildMenu(MOTOR_PORTS)
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}
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};
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}
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/**
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* Create data for a menu in scratch-blocks format, consisting of an array of objects with text and
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* value properties. The text is a translated string, and the value is one-indexed.
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* @param {object[]} info - An array of info objects each having a name property.
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* @return {array} - An array of objects with text and value properties.
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* @private
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*/
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_buildMenu (info) {
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return info.map((entry, index) => {
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const obj = {};
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obj.text = entry.name;
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obj.value = String(index + 1);
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return obj;
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});
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}
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motorTurnClockwise (args) {
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// Validate arguments
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const port = Cast.toNumber(args.PORT);
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const time = Cast.toNumber(args.TIME) * 1000;
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this._device.motorTurnClockwise(port, time);
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}
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motorTurnCounterClockwise (args) {
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// Validate arguments
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const port = Cast.toNumber(args.PORT);
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const time = Cast.toNumber(args.TIME) * 1000;
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this._device.motorTurnCounterClockwise(port, time);
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}
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beep () {
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return this._device.beep();
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}
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}
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module.exports = Scratch3Ev3Blocks;
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@ -111,7 +111,7 @@ class MicroBit {
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* Called by the runtime when user wants to scan for a device.
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*/
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startDeviceScan () {
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console.log('making a new BLE session');
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log.info('making a new BLE session');
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this._ble = new BLESession(this._runtime, {
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filters: [
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{services: [BLEUUID.service]}
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@ -1,4 +1,5 @@
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const JSONRPCWebSocket = require('../util/jsonrpc-web-socket');
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const log = require('../util/log');
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const ScratchLinkWebSocket = 'ws://localhost:20110/scratch/ble';
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class BLESession extends JSONRPCWebSocket {
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@ -34,7 +35,7 @@ class BLESession extends JSONRPCWebSocket {
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if (this._ws.readyState === 1) { // is this needed since it's only called on ws.onopen?
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// TODO: start a 'discover' timeout
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this.sendRemoteRequest('discover', this._deviceOptions)
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.catch(e => this._sendError('error on discover')); // never reached?
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.catch(e => this._sendError(e)); // never reached?
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}
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// TODO: else?
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}
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@ -47,7 +48,7 @@ class BLESession extends JSONRPCWebSocket {
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connectDevice (id) {
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this.sendRemoteRequest('connect', {peripheralId: id})
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.then(() => {
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console.log('should have connected');
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log.info('should have connected');
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this._runtime.emit(this._runtime.constructor.PERIPHERAL_CONNECTED);
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this._connectCallback();
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})
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@ -118,8 +119,8 @@ class BLESession extends JSONRPCWebSocket {
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}
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_sendError (e) {
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console.log(`BLESession error:`);
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console.log(e);
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log.error(`BLESession error:`);
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log.error(e);
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this._runtime.emit(this._runtime.constructor.PERIPHERAL_ERROR);
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}
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}
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@ -1,28 +1,84 @@
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const JSONRPCWebSocket = require('../util/jsonrpc');
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const JSONRPCWebSocket = require('../util/jsonrpc-web-socket');
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const log = require('../util/log');
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const ScratchLinkWebSocket = 'ws://localhost:20110/scratch/bt';
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class BTSession extends JSONRPCWebSocket {
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constructor () {
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super(new WebSocket(ScratchLinkWebSocket));
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/**
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* A BT device session object. It handles connecting, over web sockets, to
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* BT devices, and reading and writing data to them.
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* @param {Runtime} runtime - the Runtime for sending/receiving GUI update events.
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* @param {object} deviceOptions - the list of options for device discovery.
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* @param {object} connectCallback - a callback for connection.
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*/
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constructor (runtime, deviceOptions, connectCallback) {
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const ws = new WebSocket(ScratchLinkWebSocket);
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super(ws);
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this._ws = ws;
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this._ws.onopen = this.requestDevice.bind(this); // only call request device after socket opens
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this._ws.onerror = this._sendError.bind(this, 'ws onerror');
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this._ws.onclose = this._sendError.bind(this, 'ws onclose');
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this._availablePeripherals = {};
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this._connectCallback = connectCallback;
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this._characteristicDidChangeCallback = null;
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this._deviceOptions = deviceOptions;
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this._runtime = runtime;
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}
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requestDevice (options) {
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return this.sendRemoteRequest('discover', options);
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/**
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* Request connection to the device.
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* If the web socket is not yet open, request when the socket promise resolves.
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*/
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requestDevice () {
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if (this._ws.readyState === 1) { // is this needed since it's only called on ws.onopen?
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// TODO: start a 'discover' timeout
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this.sendRemoteRequest('discover', this._deviceOptions)
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.catch(e => this._sendError(e)); // never reached?
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}
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// TODO: else?
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}
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connectDevice (options) {
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return this.sendRemoteRequest('connect', options);
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/**
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* Try connecting to the input peripheral id, and then call the connect
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* callback if connection is successful.
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* @param {number} id - the id of the peripheral to connect to
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*/
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connectDevice (id) {
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this.sendRemoteRequest('connect', {peripheralId: id})
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.then(() => {
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log.info('should have connected');
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this._runtime.emit(this._runtime.constructor.PERIPHERAL_CONNECTED);
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this._connectCallback();
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})
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.catch(e => {
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this._sendError(e);
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});
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}
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sendMessage (options) {
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return this.sendRemoteRequest('send', options);
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}
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didReceiveCall (method /* , params */) {
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/**
|
||||
* Handle a received call from the socket.
|
||||
* @param {string} method - a received method label.
|
||||
* @param {object} params - a received list of parameters.
|
||||
* @return {object} - optional return value.
|
||||
*/
|
||||
didReceiveCall (method, params) {
|
||||
// TODO: Add peripheral 'undiscover' handling
|
||||
switch (method) {
|
||||
case 'didDiscoverPeripheral':
|
||||
// TODO: do something on peripheral discovered
|
||||
/* this._availablePeripherals[params.peripheralId] = params;
|
||||
this._runtime.emit(
|
||||
this._runtime.constructor.PERIPHERAL_LIST_UPDATE,
|
||||
this._availablePeripherals
|
||||
); */
|
||||
// TODO: auto-connect temporary until button is added
|
||||
this.connectDevice(params.peripheralId);
|
||||
// TODO: cancel a discover timeout if one is active
|
||||
break;
|
||||
case 'didReceiveMessage':
|
||||
// TODO: do something on received message
|
||||
|
|
@ -31,6 +87,12 @@ class BTSession extends JSONRPCWebSocket {
|
|||
return 'nah';
|
||||
}
|
||||
}
|
||||
|
||||
_sendError (e) {
|
||||
log.error(`BLESession error:`);
|
||||
log.error(e);
|
||||
this._runtime.emit(this._runtime.constructor.PERIPHERAL_ERROR);
|
||||
}
|
||||
}
|
||||
|
||||
module.exports = BTSession;
|
||||
|
|
|
|||
|
|
@ -28,6 +28,21 @@ class Base64Util {
|
|||
return base64;
|
||||
}
|
||||
|
||||
/**
|
||||
* Convert an array buffer to a base64 encoded string.
|
||||
* @param {array} buffer - an array buffer to convert.
|
||||
* @return {string} - the base64 encoded string.
|
||||
*/
|
||||
static arrayBufferToBase64 (buffer) {
|
||||
let binary = '';
|
||||
const bytes = new Uint8Array(buffer);
|
||||
const len = bytes.byteLength;
|
||||
for (let i = 0; i < len; i++) {
|
||||
binary += String.fromCharCode(bytes[ i ]);
|
||||
}
|
||||
return btoa(binary);
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
module.exports = Base64Util;
|
||||
|
|
|
|||
Loading…
Reference in a new issue