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Merge pull request #2111 from knandersen/bugfix/2103

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Fix #2103 and #2110 by clearly defining motor state and how it's modified
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Kevin Nørby Andersen 2019-04-15 18:41:03 -04:00 committed by GitHub
commit 8504d077c5
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1 changed files with 95 additions and 53 deletions
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148
src/extensions/scratch3_boost/index.js
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@ -219,6 +219,17 @@ const BoostMode = {
UNKNOWN: 0 // Anything else will use the default mode (mode 0)
};
/**
* Enum for Boost motor states.
* @param {number}
*/
const BoostMotorState = {
OFF: 0,
ON_FOREVER: 1,
ON_FOR_TIME: 2,
ON_FOR_ROTATION: 3
};
/**
* Helper function for converting a JavaScript number to an INT32-number
* @param {number} number - a number
@ -297,7 +308,7 @@ class BoostMotor {
* @type {boolean}
* @private
*/
this._status = BoostPortFeedback.IDLE;
this._status = BoostMotorState.OFF;
/**
* If the motor has been turned on or is actively braking for a specific duration, this is the timeout ID for
@ -394,13 +405,20 @@ class BoostMotor {
}
/**
* @return {boolean} - true if this motor is currently moving, false if this motor is off or braking.
* @return {BoostMotorState} - the motor's current state.
*/
get isOn () {
if (this._status & (BoostPortFeedback.BUSY_OR_FULL ^ BoostPortFeedback.IN_PROGRESS)) {
return true;
}
return false;
get status () {
return this._status;
}
/**
* @param {BoostMotorState} value - set this motor's state.
*/
set status (value) {
// Clear any time- or rotation-related state from motor and set new status.
this._clearRotationState();
this._clearTimeout();
this._status = value;
}
/**
@ -439,10 +457,11 @@ class BoostMotor {
}
/**
* Turn this motor on indefinitely.
* Turn this motor on indefinitely
* @private
*/
turnOn () {
if (this._power === 0) return;
_turnOn () {
if (this.power === 0) return;
const cmd = this._parent.generateOutputCommand(
this._index,
BoostOutputExecution.EXECUTE_IMMEDIATELY,
@ -452,22 +471,31 @@ class BoostMotor {
MathUtil.clamp(this.power + BoostMotorMaxPowerAdd, 0, 100),
BoostMotorProfile.DO_NOT_USE
]);
this._status = BoostPortFeedback.BUSY_OR_FULL;
this._parent.send(BoostBLE.characteristic, cmd);
}
this._clearTimeout();
/**
* Turn this motor on indefinitely
* @param {boolean} [resetState=true] - whether to reset the state of the motor when running this command.
*/
turnOnForever (resetState = true){
if (this.power === 0) return;
if (resetState) this.status = BoostMotorState.ON_FOREVER;
this._turnOn();
}
/**
* Turn this motor on for a specific duration.
* @param {number} milliseconds - run the motor for this long.
* @param {boolean} [resetState=true] - whether to reset the state of the motor when running this command.
*/
turnOnFor (milliseconds) {
turnOnFor (milliseconds, resetState = true) {
if (this.power === 0) return;
milliseconds = Math.max(0, milliseconds);
this.turnOn();
if (resetState) this.status = BoostMotorState.ON_FOR_TIME;
this._turnOn();
this._setNewTimeout(this.turnOff, milliseconds);
}
@ -475,10 +503,11 @@ class BoostMotor {
* Turn this motor on for a specific rotation in degrees.
* @param {number} degrees - run the motor for this amount of degrees.
* @param {number} direction - rotate in this direction
* @param {boolean} [resetState=true] - whether to reset the state of the motor when running this command.
*/
turnOnForDegrees (degrees, direction) {
turnOnForDegrees (degrees, direction, resetState = true) {
if (this.power === 0) {
this.pendingPromiseFunction();
this._clearRotationState();
return;
}
@ -496,8 +525,8 @@ class BoostMotor {
BoostMotorProfile.DO_NOT_USE
]
);
this._pendingPositionOrigin = this.position;
if (resetState) this.status = BoostMotorState.ON_FOR_ROTATION;
this._pendingPositionDestination = this.position + (degrees * this.direction * direction);
this._parent.send(BoostBLE.characteristic, cmd);
}
@ -520,6 +549,7 @@ class BoostMotor {
]
);
this.status = BoostMotorState.OFF;
this._parent.send(BoostBLE.characteristic, cmd, useLimiter);
}
@ -556,6 +586,19 @@ class BoostMotor {
this._pendingTimeoutStartTime = Date.now();
this._pendingTimeoutDelay = delay;
}
/**
* Clear the motor states related to rotation-based commands, if any.
* Safe to call even when there is no pending promise function.
* @private
*/
_clearRotationState () {
if (this._pendingPromiseFunction !== null) {
this._pendingPromiseFunction();
this._pendingPromiseFunction = null;
}
this._pendingPositionDestination = null;
}
}
/**
@ -953,13 +996,13 @@ class Boost {
const feedback = data[4];
const motor = this.motor(portID);
if (motor) {
motor._status = feedback;
// Makes sure that commands resolve both when they actually complete and when they fail
const isBusy = feedback & BoostPortFeedback.IN_PROGRESS;
const commandCompleted = feedback & (BoostPortFeedback.COMPLETED ^ BoostPortFeedback.DISCARDED);
if (!isBusy && commandCompleted && motor.pendingPromiseFunction) {
motor.pendingPromiseFunction();
motor.pendingPromiseFunction = null;
if (!isBusy && commandCompleted) {
if (motor.status === BoostMotorState.ON_FOR_ROTATION) {
motor.status = BoostMotorState.OFF;
}
}
}
break;
@ -1618,9 +1661,7 @@ class Scratch3BoostBlocks {
return new Promise(resolve => {
this._forEachMotor(args.MOTOR_ID, motorIndex => {
const motor = this._peripheral.motor(motorIndex);
if (motor) {
motor.turnOnFor(durationMS);
}
if (motor) motor.turnOnFor(durationMS);
});
// Run for some time even when no motor is connected
@ -1654,14 +1695,11 @@ class Scratch3BoostBlocks {
const promises = motors.map(portID => {
const motor = this._peripheral.motor(portID);
if (motor) {
if (motor.pendingPromiseFunction) {
// If there's already a promise for this motor it must be resolved to avoid hanging blocks.
motor.pendingPromiseFunction();
motor.pendingPromiseFunction = null;
}
// to avoid a hanging block if power is 0, return an immediately resolving promise.
if (motor.power === 0) return Promise.resolve();
return new Promise(resolve => {
motor.pendingPromiseFunction = resolve;
motor.turnOnForDegrees(degrees, sign);
motor.pendingPromiseFunction = resolve;
});
}
return null;
@ -1683,9 +1721,7 @@ class Scratch3BoostBlocks {
// TODO: cast args.MOTOR_ID?
this._forEachMotor(args.MOTOR_ID, motorIndex => {
const motor = this._peripheral.motor(motorIndex);
if (motor) {
motor.turnOn();
}
if (motor) motor.turnOnForever();
});
return new Promise(resolve => {
@ -1705,9 +1741,7 @@ class Scratch3BoostBlocks {
// TODO: cast args.MOTOR_ID?
this._forEachMotor(args.MOTOR_ID, motorIndex => {
const motor = this._peripheral.motor(motorIndex);
if (motor) {
motor.turnOff();
}
if (motor) motor.turnOff();
});
return new Promise(resolve => {
@ -1729,15 +1763,18 @@ class Scratch3BoostBlocks {
const motor = this._peripheral.motor(motorIndex);
if (motor) {
motor.power = MathUtil.clamp(Cast.toNumber(args.POWER), 0, 100);
if (motor.isOn) {
if (motor.pendingTimeoutDelay) {
motor.turnOnFor(motor.pendingTimeoutStartTime + motor.pendingTimeoutDelay - Date.now());
} else if (motor.pendingPromiseFunction) {
const p = Math.abs(motor.pendingPositionDestination - motor.position);
motor.turnOnForDegrees(p, Math.sign(p));
} else {
motor.turnOn();
}
switch (motor.status) {
case BoostMotorState.ON_FOREVER:
motor.turnOnForever(false);
break;
case BoostMotorState.ON_FOR_TIME:
motor.turnOnFor(motor.pendingTimeoutStartTime + motor.pendingTimeoutDelay - Date.now(), false);
break;
case BoostMotorState.ON_FOR_ROTATION: {
const p = Math.abs(motor.pendingPositionDestination - motor.position, false);
motor.turnOnForDegrees(p, Math.sign(p));
break;
}
}
}
});
@ -1770,14 +1807,19 @@ class Scratch3BoostBlocks {
break;
}
// keep the motor on if it's running, and update the pending timeout if needed
if (motor.isOn) {
if (motor.pendingTimeoutDelay) {
motor.turnOnFor(motor.pendingTimeoutStartTime + motor.pendingTimeoutDelay - Date.now());
} else if (motor.pendingPromiseFunction) {
if (motor) {
switch (motor.status) {
case BoostMotorState.ON_FOREVER:
motor.turnOnForever(false);
break;
case BoostMotorState.ON_FOR_TIME:
motor.turnOnFor(motor.pendingTimeoutStartTime + motor.pendingTimeoutDelay - Date.now(), false);
break;
case BoostMotorState.ON_FOR_ROTATION: {
const p = Math.abs(motor.pendingPositionDestination - motor.position);
motor.turnOnForDegrees(p, Math.sign(p));
} else {
motor.turnOn();
motor.turnOnForDegrees(p, Math.sign(p), false);
break;
}
}
}
}