From eb931fd99bf0a32e694e2ac67d495ddd7799ebfd Mon Sep 17 00:00:00 2001
From: Christopher Willis-Ford <cwillisf@media.mit.edu>
Date: Wed, 24 May 2017 15:30:29 -0700
Subject: [PATCH 01/11] Specify dataFormat when loading asset for import
When importing a project we know the file extension for each asset to be
loaded. This change provides that information to the storage system so
that we can load assets which don't use the default. For example, this
allows loading JPG-format backdrops.
In support of this change, there's a new function on `StringUtil` called
`splitFirst`, which splits a string on the first instance of a separator
character. This change includes unit tests for this new function.
---
src/import/load-costume.js | 9 +++++----
src/import/load-sound.js | 6 ++++--
src/playground/playground.js | 2 +-
src/serialization/sb3.js | 2 +-
src/util/string-util.js | 24 ++++++++++++++++++++++++
test/fixtures/attach-test-storage.js | 2 +-
test/unit/util_string.js | 8 ++++++++
7 files changed, 44 insertions(+), 9 deletions(-)
diff --git a/src/import/load-costume.js b/src/import/load-costume.js
index a9323398d..54962ea1f 100644
--- a/src/import/load-costume.js
+++ b/src/import/load-costume.js
@@ -1,3 +1,4 @@
+const StringUtil = require('../util/string-util');
const log = require('../util/log');
/**
@@ -19,17 +20,17 @@ const loadCostume = function (md5ext, costume, runtime) {
}
const AssetType = runtime.storage.AssetType;
- const idParts = md5ext.split('.');
+ const idParts = StringUtil.splitFirst(md5ext, '.');
const md5 = idParts[0];
- const ext = idParts[1].toUpperCase();
- const assetType = (ext === 'SVG') ? AssetType.ImageVector : AssetType.ImageBitmap;
+ const ext = idParts[1].toLowerCase();
+ const assetType = (ext === 'svg') ? AssetType.ImageVector : AssetType.ImageBitmap;
const rotationCenter = [
costume.rotationCenterX / costume.bitmapResolution,
costume.rotationCenterY / costume.bitmapResolution
];
- let promise = runtime.storage.load(assetType, md5).then(costumeAsset => {
+ let promise = runtime.storage.load(assetType, md5, ext).then(costumeAsset => {
costume.assetId = costumeAsset.assetId;
costume.assetType = assetType;
return costumeAsset;
diff --git a/src/import/load-sound.js b/src/import/load-sound.js
index a308e1516..80b595987 100644
--- a/src/import/load-sound.js
+++ b/src/import/load-sound.js
@@ -1,3 +1,4 @@
+const StringUtil = require('../util/string-util');
const log = require('../util/log');
/**
@@ -17,9 +18,10 @@ const loadSound = function (sound, runtime) {
log.error('No audio engine present; cannot load sound asset: ', sound.md5);
return Promise.resolve(sound);
}
- const idParts = sound.md5.split('.');
+ const idParts = StringUtil.splitFirst(sound.md5, '.');
const md5 = idParts[0];
- return runtime.storage.load(runtime.storage.AssetType.Sound, md5)
+ const ext = idParts[1].toLowerCase();
+ return runtime.storage.load(runtime.storage.AssetType.Sound, md5, ext)
.then(soundAsset => {
sound.assetId = soundAsset.assetId;
sound.assetType = runtime.storage.AssetType.Sound;
diff --git a/src/playground/playground.js b/src/playground/playground.js
index c1b655a58..814bfb628 100644
--- a/src/playground/playground.js
+++ b/src/playground/playground.js
@@ -34,7 +34,7 @@ const getAssetUrl = function (asset) {
'internalapi/asset/',
asset.assetId,
'.',
- asset.assetType.runtimeFormat,
+ asset.dataFormat,
'/get/'
];
return assetUrlParts.join('');
diff --git a/src/serialization/sb3.js b/src/serialization/sb3.js
index 4477a7b51..9708b9195 100644
--- a/src/serialization/sb3.js
+++ b/src/serialization/sb3.js
@@ -75,7 +75,7 @@ const parseScratchObject = function (object, runtime) {
rotationCenterX: costumeSource.rotationCenterX,
rotationCenterY: costumeSource.rotationCenterY
};
- const costumeMd5 = `${costumeSource.assetId}.${costumeSource.assetType.runtimeFormat}`;
+ const costumeMd5 = `${costumeSource.assetId}.${costumeSource.dataFormat}`;
return loadCostume(costumeMd5, costume, runtime);
});
// Sounds from JSON
diff --git a/src/util/string-util.js b/src/util/string-util.js
index 0ee712548..48dde0277 100644
--- a/src/util/string-util.js
+++ b/src/util/string-util.js
@@ -12,6 +12,30 @@ class StringUtil {
while (existingNames.indexOf(name + i) >= 0) i++;
return name + i;
}
+
+ /**
+ * Split a string on the first occurrence of a split character.
+ * @param {string} text - the string to split.
+ * @param {string} separator - split the text on this character.
+ * @returns {[string, string]} - the two parts of the split string, or [text, null] if no split character found.
+ * @example
+ * // returns ['foo', 'tar.gz']
+ * splitFirst('foo.tar.gz', '.');
+ * @example
+ * // returns ['foo', null]
+ * splitFirst('foo', '.');
+ * @example
+ * // returns ['foo', '']
+ * splitFirst('foo.', '.');
+ */
+ static splitFirst (text, separator) {
+ const index = text.indexOf(separator);
+ if (index >= 0) {
+ return [text.substring(0, index), text.substring(index + 1)];
+ } else {
+ return [text, null];
+ }
+ }
}
module.exports = StringUtil;
diff --git a/test/fixtures/attach-test-storage.js b/test/fixtures/attach-test-storage.js
index 3e75f5967..bb0cc3a08 100644
--- a/test/fixtures/attach-test-storage.js
+++ b/test/fixtures/attach-test-storage.js
@@ -26,7 +26,7 @@ const getAssetUrl = function (asset) {
'internalapi/asset/',
asset.assetId,
'.',
- asset.assetType.runtimeFormat,
+ asset.dataFormat,
'/get/'
];
return assetUrlParts.join('');
diff --git a/test/unit/util_string.js b/test/unit/util_string.js
index 741336258..aca20f9a4 100644
--- a/test/unit/util_string.js
+++ b/test/unit/util_string.js
@@ -1,6 +1,14 @@
const test = require('tap').test;
const StringUtil = require('../../src/util/string-util');
+test('splitFirst', t => {
+ t.deepEqual(StringUtil.splitFirst('asdf.1234', '.'), ['asdf', '1234']);
+ t.deepEqual(StringUtil.splitFirst('asdf.', '.'), ['asdf', '']);
+ t.deepEqual(StringUtil.splitFirst('.1234', '.'), ['', '1234']);
+ t.deepEqual(StringUtil.splitFirst('foo', '.'), ['foo', null]);
+ t.end();
+});
+
test('withoutTrailingDigits', t => {
t.strictEqual(StringUtil.withoutTrailingDigits('boeing747'), 'boeing');
t.strictEqual(StringUtil.withoutTrailingDigits('boeing747 '), 'boeing747 ');
From 2625529ebe2a921eb3f912b69f96948a616a83ea Mon Sep 17 00:00:00 2001
From: Christopher Willis-Ford <cwillisf@media.mit.edu>
Date: Wed, 3 May 2017 16:39:31 -0700
Subject: [PATCH 02/11] Create WeDo 2.0 device communication classes
---
src/blocks/scratch3_wedo2.js | 387 +++++++++++++++++++++++++++++++++++
src/engine/runtime.js | 3 +-
2 files changed, 389 insertions(+), 1 deletion(-)
create mode 100644 src/blocks/scratch3_wedo2.js
diff --git a/src/blocks/scratch3_wedo2.js b/src/blocks/scratch3_wedo2.js
new file mode 100644
index 000000000..ac945ef84
--- /dev/null
+++ b/src/blocks/scratch3_wedo2.js
@@ -0,0 +1,387 @@
+const log = require('../util/log');
+
+/**
+ * Manage power, direction, and timers for one WeDo 2.0 motor.
+ */
+class WeDo2Motor {
+ /**
+ * Construct a WeDo2Motor instance.
+ * @param {WeDo2} parent - the WeDo 2.0 device which owns this motor.
+ * @param {int} index - the zero-based index of this motor on its parent device.
+ */
+ constructor (parent, index) {
+ /**
+ * The WeDo 2.0 device which owns this motor.
+ * @type {WeDo2}
+ * @private
+ */
+ this._parent = parent;
+
+ /**
+ * The zero-based index of this motor on its parent device.
+ * @type {int}
+ * @private
+ */
+ this._index = index;
+
+ /**
+ * This motor's current direction: 1 for "this way" or -1 for "that way"
+ * @type {number}
+ * @private
+ */
+ this._direction = 1;
+
+ /**
+ * This motor's current power level, in the range [0,100].
+ * @type {number}
+ * @private
+ */
+ this._power = 100;
+
+ /**
+ * Is this motor currently moving?
+ * @type {boolean}
+ * @private
+ */
+ this._isOn = false;
+
+ /**
+ * If the motor has been turned on or is actively braking for a specific duration, this is the timeout ID for
+ * the end-of-action handler. Cancel this when changing plans.
+ * @type {Object}
+ * @private
+ */
+ this._pendingTimeoutId = null;
+
+ this.startBraking = this.startBraking.bind(this);
+ this.setMotorOff = this.setMotorOff.bind(this);
+ }
+
+ /**
+ * @return {number} - the duration of active braking after a call to startBraking(). Afterward, turn the motor off.
+ * @constructor
+ */
+ static get BRAKE_TIME_MS () {
+ return 1000;
+ }
+
+ /**
+ * @return {int} - this motor's current direction: 1 for "this way" or -1 for "that way"
+ */
+ get direction () {
+ return this._direction;
+ }
+
+ /**
+ * @param {int} value - this motor's new direction: 1 for "this way" or -1 for "that way"
+ */
+ set direction (value) {
+ if (value < 0) {
+ this._direction = -1;
+ } else {
+ this._direction = 1;
+ }
+ }
+
+ /**
+ * @return {int} - this motor's current power level, in the range [0,100].
+ */
+ get power () {
+ return this._power;
+ }
+
+ /**
+ * @param {int} value - this motor's new power level, in the range [0,100].
+ */
+ set power (value) {
+ this._power = Math.max(0, Math.min(value, 100));
+ }
+
+ /**
+ * @return {boolean} - true if this motor is currently moving, false if this motor is off or braking.
+ */
+ get isOn () {
+ return this._isOn;
+ }
+
+ /**
+ * Turn this motor on indefinitely.
+ */
+ setMotorOn () {
+ this._parent._send('motorOn', {motorIndex: this._index, power: this._direction * this._power});
+ this._isOn = true;
+ this._clearTimeout();
+ }
+
+ /**
+ * Turn this motor on for a specific duration.
+ * @param {number} milliseconds - run the motor for this long.
+ */
+ setMotorOnFor (milliseconds) {
+ milliseconds = Math.max(0, milliseconds);
+ this.setMotorOn();
+ this._setNewTimeout(this.startBraking, milliseconds);
+ }
+
+ /**
+ * Start active braking on this motor. After a short time, the motor will turn off.
+ */
+ startBraking () {
+ this._parent._send('motorBrake', {motorIndex: this._index});
+ this._isOn = false;
+ this._setNewTimeout(this.setMotorOff, WeDo2Motor.BRAKE_TIME_MS);
+ }
+
+ /**
+ * Turn this motor off.
+ */
+ setMotorOff () {
+ this._parent._send('motorOff', {motorIndex: this._index});
+ this._isOn = false;
+ }
+
+ /**
+ * Clear the motor action timeout, if any. Safe to call even when there is no pending timeout.
+ * @private
+ */
+ _clearTimeout () {
+ if (this._pendingTimeoutId !== null) {
+ clearTimeout(this._pendingTimeoutId);
+ this._pendingTimeoutId = null;
+ }
+ }
+
+ /**
+ * Set a new motor action timeout, after clearing an existing one if necessary.
+ * @param {Function} callback - to be called at the end of the timeout.
+ * @param {int} delay - wait this many milliseconds before calling the callback.
+ * @private
+ */
+ _setNewTimeout (callback, delay) {
+ this._clearTimeout();
+ const timeoutID = setTimeout(() => {
+ if (this._pendingTimeoutId === timeoutID) {
+ this._pendingTimeoutId = null;
+ }
+ callback();
+ }, delay);
+ this._pendingTimeoutId = timeoutID;
+ }
+}
+
+/**
+ * Manage communication with a WeDo 2.0 device over a Device Manager client socket.
+ */
+class WeDo2 {
+
+ /**
+ * @return {string} - the type of Device Manager device socket that this class will handle.
+ */
+ static get DEVICE_TYPE () {
+ return 'wedo2';
+ }
+
+ /**
+ * Construct a WeDo2 communication object.
+ * @param {Socket} socket - the socket for a WeDo 2.0 device, as provided by a Device Manager client.
+ */
+ constructor (socket) {
+ /**
+ * The socket-IO socket used to communicate with the Device Manager about this device.
+ * @type {Socket}
+ * @private
+ */
+ this._socket = socket;
+
+ /**
+ * The motors which this WeDo 2.0 could possibly have.
+ * @type {[WeDo2Motor]}
+ * @private
+ */
+ this._motors = [new WeDo2Motor(this, 0), new WeDo2Motor(this, 1)];
+
+ /**
+ * The most recently received value for each sensor.
+ * @type {Object.<string, number>}
+ * @private
+ */
+ this._sensors = {
+ tiltX: 0,
+ tiltY: 0,
+ distance: 0
+ };
+
+ this._onSensorChanged = this._onSensorChanged.bind(this);
+ this._onDisconnect = this._onDisconnect.bind(this);
+
+ this._connectEvents();
+ }
+
+ /**
+ * Manually dispose of this object.
+ */
+ dispose () {
+ this._disconnectEvents();
+ }
+
+ /**
+ * @return {number} - the latest value received for the tilt sensor's tilt about the X axis.
+ */
+ get tiltX () {
+ return this._sensors.tiltX;
+ }
+
+ /**
+ * @return {number} - the latest value received for the tilt sensor's tilt about the Y axis.
+ */
+ get tiltY () {
+ return this._sensors.tiltY;
+ }
+
+ /**
+ * @return {number} - the latest value received from the distance sensor.
+ */
+ get distance () {
+ return this._sensors.distance;
+ }
+
+ /**
+ * Access a particular motor on this device.
+ * @param {int} index - the zero-based index of the desired motor.
+ * @return {WeDo2Motor} - the WeDo2Motor instance, if any, at that index.
+ */
+ motor (index) {
+ return this._motors[index];
+ }
+
+ /**
+ * Set the WeDo 2.0 hub's LED to a specific color.
+ * @param {int} rgb - a 24-bit RGB color in 0xRRGGBB format.
+ */
+ setLED (rgb) {
+ this._send('setLED', {rgb});
+ }
+
+ /**
+ * Play a tone from the WeDo 2.0 hub for a specific amount of time.
+ * @param {int} tone - the pitch of the tone, in Hz.
+ * @param {int} milliseconds - the duration of the note, in milliseconds.
+ */
+ playTone (tone, milliseconds) {
+ this._send('playTone', {tone, ms: milliseconds});
+ }
+
+ /**
+ * Stop the tone playing from the WeDo 2.0 hub, if any.
+ */
+ stopTone () {
+ this._send('stopTone');
+ }
+
+ /**
+ * Attach event handlers to the device socket.
+ * @private
+ */
+ _connectEvents () {
+ this._socket.on('sensorChanged', this._onSensorChanged);
+ this._socket.on('deviceWasClosed', this._onDisconnect);
+ this._socket.on('disconnect', this._onDisconnect);
+ }
+
+ /**
+ * Detach event handlers from the device socket.
+ * @private
+ */
+ _disconnectEvents () {
+ this._socket.off('sensorChanged', this._onSensorChanged);
+ this._socket.off('deviceWasClosed', this._onDisconnect);
+ this._socket.off('disconnect', this._onDisconnect);
+ }
+
+ /**
+ * Store the sensor value from an incoming 'sensorChanged' event.
+ * @param {object} event - the 'sensorChanged' event.
+ * @property {string} sensorName - the name of the sensor which changed.
+ * @property {number} sensorValue - the new value of the sensor.
+ * @private
+ */
+ _onSensorChanged (event) {
+ this._sensors[event.sensorName] = event.sensorValue;
+ }
+
+ /**
+ * React to device disconnection. May be called more than once.
+ * @private
+ */
+ _onDisconnect () {
+ this._disconnectEvents();
+ }
+
+ /**
+ * Send a message to the device socket.
+ * @param {string} message - the name of the message, such as 'playTone'.
+ * @param {object} [details] - optional additional details for the message, such as tone duration and pitch.
+ * @private
+ */
+ _send (message, details) {
+ this._socket.emit(message, details);
+ }
+}
+
+/**
+ * Scratch 3.0 blocks to interact with a LEGO WeDo 2.0 device.
+ */
+class Scratch3WeDo2Blocks {
+
+ /**
+ * @return {string} - the name of this extension.
+ */
+ static get EXTENSION_NAME () {
+ return 'wedo2';
+ }
+
+ /**
+ * Construct a set of WeDo 2.0 blocks.
+ * @param {Runtime} runtime - the Scratch 3.0 runtime.
+ */
+ constructor (runtime) {
+ /**
+ * The Scratch 3.0 runtime.
+ * @type {Runtime}
+ */
+ this.runtime = runtime;
+
+ this.runtime.HACK_WeDo2Blocks = this;
+ }
+
+ /**
+ * Use the Device Manager client to attempt to connect to a WeDo 2.0 device.
+ */
+ connect () {
+ if (this._device || this._finder) {
+ return;
+ }
+ const deviceManager = this.runtime.ioDevices.deviceManager;
+ const finder = this._finder =
+ deviceManager.searchAndConnect(Scratch3WeDo2Blocks.EXTENSION_NAME, WeDo2.DEVICE_TYPE);
+ this._finder.promise.then(
+ socket => {
+ if (this._finder === finder) {
+ this._finder = null;
+ this._device = new WeDo2(socket);
+ } else {
+ log.warn('Ignoring success from stale WeDo 2.0 connection attempt');
+ }
+ },
+ reason => {
+ if (this._finder === finder) {
+ this._finder = null;
+ log.warn(`WeDo 2.0 connection failed: ${reason}`);
+ } else {
+ log.warn('Ignoring failure from stale WeDo 2.0 connection attempt');
+ }
+ });
+ }
+}
+
+module.exports = Scratch3WeDo2Blocks;
diff --git a/src/engine/runtime.js b/src/engine/runtime.js
index c938c37ed..dd037c57d 100644
--- a/src/engine/runtime.js
+++ b/src/engine/runtime.js
@@ -19,7 +19,8 @@ const defaultBlockPackages = {
scratch3_sound: require('../blocks/scratch3_sound'),
scratch3_sensing: require('../blocks/scratch3_sensing'),
scratch3_data: require('../blocks/scratch3_data'),
- scratch3_procedures: require('../blocks/scratch3_procedures')
+ scratch3_procedures: require('../blocks/scratch3_procedures'),
+ scratch3_wedo2: require('../blocks/scratch3_wedo2')
};
/**
From 06fe701624d3954bf67aefddbd6d5fd2fa0268ac Mon Sep 17 00:00:00 2001
From: Christopher Willis-Ford <cwillisf@media.mit.edu>
Date: Fri, 5 May 2017 15:05:21 -0700
Subject: [PATCH 03/11] Implement WeDo 2.0 blocks
---
src/blocks/scratch3_wedo2.js | 312 +++++++++++++++++++++++++++++++++++
1 file changed, 312 insertions(+)
diff --git a/src/blocks/scratch3_wedo2.js b/src/blocks/scratch3_wedo2.js
index ac945ef84..bd9e6c119 100644
--- a/src/blocks/scratch3_wedo2.js
+++ b/src/blocks/scratch3_wedo2.js
@@ -1,3 +1,4 @@
+const color = require('../util/color');
const log = require('../util/log');
/**
@@ -328,6 +329,42 @@ class WeDo2 {
}
}
+/**
+ * Enum for motor specification.
+ * @readonly
+ * @enum {string}
+ */
+const MotorID = {
+ DEFAULT: 'motor',
+ A: 'motor A',
+ B: 'motor B',
+ ALL: 'all motors'
+};
+
+/**
+ * Enum for motor direction specification.
+ * @readonly
+ * @enum {string}
+ */
+const MotorDirection = {
+ FORWARD: 'this way',
+ BACKWARD: 'that way',
+ REVERSE: 'reverse'
+};
+
+/**
+ * Enum for tilt sensor direction.
+ * @readonly
+ * @enum {string}
+ */
+const TiltDirection = {
+ UP: 'up',
+ DOWN: 'down',
+ LEFT: 'left',
+ RIGHT: 'right',
+ ANY: 'any'
+};
+
/**
* Scratch 3.0 blocks to interact with a LEGO WeDo 2.0 device.
*/
@@ -340,6 +377,13 @@ class Scratch3WeDo2Blocks {
return 'wedo2';
}
+ /**
+ * @return {number} - the tilt sensor counts as "tilted" if its tilt angle meets or exceeds this threshold.
+ */
+ static get TILT_THRESHOLD () {
+ return 15;
+ }
+
/**
* Construct a set of WeDo 2.0 blocks.
* @param {Runtime} runtime - the Scratch 3.0 runtime.
@@ -382,6 +426,274 @@ class Scratch3WeDo2Blocks {
}
});
}
+
+ /**
+ * Retrieve the block primitives implemented by this package.
+ * @return {object.<string, Function>} Mapping of opcode to Function.
+ */
+ getPrimitives () {
+ return {
+ wedo2_motorOnFor: this.motorOnFor,
+ wedo2_motorOn: this.motorOn,
+ wedo2_motorOff: this.motorOff,
+ wedo2_startMotorPower: this.startMotorPower,
+ wedo2_setMotorDirection: this.setMotorDirection,
+ wedo2_setLightHue: this.setLightHue,
+ wedo2_playNoteFor: this.playNoteFor,
+ wedo2_whenDistance: this.whenDistance,
+ wedo2_whenTilted: this.whenTilted,
+ wedo2_getDistance: this.getDistance,
+ wedo2_isTilted: this.isTilted,
+ wedo2_getTiltAngle: this.getTiltAngle
+ };
+ }
+
+ /**
+ * Turn specified motor(s) on for a specified duration.
+ * @param {object} args - the block's arguments.
+ * @property {MotorID} MOTOR_ID - the motor(s) to activate.
+ * @property {int} DURATION - the amount of time to run the motors.
+ * @return {Promise} - a promise which will resolve at the end of the duration.
+ */
+ motorOnFor (args) {
+ return new Promise(resolve => {
+ this._forEachMotor(args.MOTOR_ID, motorIndex => {
+ this._device.motor(motorIndex).setMotorOnFor(args.DURATION);
+ });
+
+ // Ensure this block runs for a fixed amount of time even when no device is connected.
+ setTimeout(resolve, args.DURATION);
+ });
+ }
+
+ /**
+ * Turn specified motor(s) on indefinitely.
+ * @param {object} args - the block's arguments.
+ * @property {MotorID} MOTOR_ID - the motor(s) to activate.
+ */
+ motorOn (args) {
+ this._forEachMotor(args.MOTOR_ID, motorIndex => {
+ this._device.motor(motorIndex).setMotorOn();
+ });
+ }
+
+ /**
+ * Turn specified motor(s) off.
+ * @param {object} args - the block's arguments.
+ * @property {MotorID} MOTOR_ID - the motor(s) to deactivate.
+ */
+ motorOff (args) {
+ this._forEachMotor(args.MOTOR_ID, motorIndex => {
+ this._device.motor(motorIndex).setMotorOff();
+ });
+ }
+
+ /**
+ * Turn specified motor(s) off.
+ * @param {object} args - the block's arguments.
+ * @property {MotorID} MOTOR_ID - the motor(s) to be affected.
+ * @property {int} POWER - the new power level for the motor(s).
+ */
+ startMotorPower (args) {
+ this._forEachMotor(args.MOTOR_ID, motorIndex => {
+ const motor = this._device.motor(motorIndex);
+ motor.power = args.POWER;
+ motor.setMotorOn();
+ });
+ }
+
+ /**
+ * Set the direction of rotation for specified motor(s).
+ * If the direction is 'reverse' the motor(s) will be reversed individually.
+ * @param {object} args - the block's arguments.
+ * @property {MotorID} MOTOR_ID - the motor(s) to be affected.
+ * @property {MotorDirection} DIRECTION - the new direction for the motor(s).
+ */
+ setMotorDirection (args) {
+ this._forEachMotor(args.MOTOR_ID, motorIndex => {
+ const motor = this._device.motor(motorIndex);
+ switch (args.DIRECTION) {
+ case MotorDirection.FORWARD:
+ motor.direction = 1;
+ break;
+ case MotorDirection.BACKWARD:
+ motor.direction = -1;
+ break;
+ case MotorDirection.REVERSE:
+ motor.direction = -motor.direction;
+ break;
+ default:
+ log.warn(`Unknown motor direction in setMotorDirection: ${args.DIRECTION}`);
+ break;
+ }
+ });
+ }
+
+ /**
+ * Set the LED's hue.
+ * @param {object} args - the block's arguments.
+ * @property {number} HUE - the hue to set, in the range [0,100].
+ */
+ setLightHue (args) {
+ // Convert from [0,100] to [0,360]
+ const hue = args.HUE * 360 / 100;
+
+ const rgbObject = color.hsvToRgb({h: hue, s: 1, v: 1});
+
+ const rgbDecimal = color.rgbToDecimal(rgbObject);
+
+ this._device.setLED(rgbDecimal);
+ }
+
+ /**
+ * Make the WeDo 2.0 hub play a MIDI note for the specified duration.
+ * @param {object} args - the block's arguments.
+ * @property {number} NOTE - the MIDI note to play.
+ * @property {number} DURATION - the duration of the note, in seconds.
+ * @return {Promise} - a promise which will resolve at the end of the duration.
+ */
+ playNoteFor (args) {
+ return new Promise(resolve => {
+ const durationMS = args.DURATION * 1000;
+ const tone = this._noteToTone(args.NOTE);
+ this._device.playTone(tone, durationMS);
+
+ // Ensure this block runs for a fixed amount of time even when no device is connected.
+ setTimeout(resolve, durationMS);
+ });
+ }
+
+ /**
+ * Compare the distance sensor's value to a reference.
+ * @param {object} args - the block's arguments.
+ * @property {string} OP - the comparison operation: '<' or '>'.
+ * @property {number} REFERENCE - the value to compare against.
+ * @return {boolean} - the result of the comparison, or false on error.
+ */
+ whenDistance (args) {
+ switch (args.OP) {
+ case '<':
+ return this._device.distance < args.REFERENCE;
+ case '>':
+ return this._device.distance > args.REFERENCE;
+ default:
+ log.warn(`Unknown comparison operator in whenDistance: ${args.OP}`);
+ return false;
+ }
+ }
+
+ /**
+ * Test whether the tilt sensor is currently tilted.
+ * @param {object} args - the block's arguments.
+ * @property {TiltDirection} DIRECTION - the tilt direction to test (up, down, left, right, or any).
+ * @return {boolean} - true if the tilt sensor is tilted past a threshold in the specified direction.
+ */
+ whenTilted (args) {
+ return this._isTilted(args.DIRECTION);
+ }
+
+ /**
+ * @return {number} - the distance sensor's value, scaled to the [0,100] range.
+ */
+ getDistance () {
+ return this._device.distance * 10;
+ }
+
+ /**
+ * Test whether the tilt sensor is currently tilted.
+ * @param {object} args - the block's arguments.
+ * @property {TiltDirection} DIRECTION - the tilt direction to test (up, down, left, right, or any).
+ * @return {boolean} - true if the tilt sensor is tilted past a threshold in the specified direction.
+ */
+ isTilted (args) {
+ return this._isTilted(args.DIRECTION);
+ }
+
+ /**
+ * @param {object} args - the block's arguments.
+ * @property {TiltDirection} DIRECTION - the direction (up, down, left, right) to check.
+ * @return {number} - the tilt sensor's angle in the specified direction.
+ * Note that getTiltAngle(up) = -getTiltAngle(down) and getTiltAngle(left) = -getTiltAngle(right).
+ */
+ getTiltAngle (args) {
+ return this._getTiltAngle(args.DIRECTION);
+ }
+
+ /**
+ * Test whether the tilt sensor is currently tilted.
+ * @param {TiltDirection} direction - the tilt direction to test (up, down, left, right, or any).
+ * @return {boolean} - true if the tilt sensor is tilted past a threshold in the specified direction.
+ * @private
+ */
+ _isTilted (direction) {
+ switch (direction) {
+ case TiltDirection.ANY:
+ return (Math.abs(this._device.tiltX) >= Scratch3WeDo2Blocks.TILT_THRESHOLD) ||
+ (Math.abs(this._device.tiltY) >= Scratch3WeDo2Blocks.TILT_THRESHOLD);
+ default:
+ return this._getTiltAngle(direction) >= Scratch3WeDo2Blocks.TILT_THRESHOLD;
+ }
+ }
+
+ /**
+ * @param {TiltDirection} direction - the direction (up, down, left, right) to check.
+ * @return {number} - the tilt sensor's angle in the specified direction.
+ * Note that getTiltAngle(up) = -getTiltAngle(down) and getTiltAngle(left) = -getTiltAngle(right).
+ * @private
+ */
+ _getTiltAngle (direction) {
+ switch (direction) {
+ case TiltDirection.UP:
+ return -this._device.tiltY;
+ case TiltDirection.DOWN:
+ return this._device.tiltY;
+ case TiltDirection.LEFT:
+ return -this._device.tiltX;
+ case TiltDirection.RIGHT:
+ return this._device.tiltX;
+ default:
+ log.warn(`Unknown tilt direction in _getTiltAngle: ${direction}`);
+ }
+ }
+
+ /**
+ * Call a callback for each motor indexed by the provided motor ID.
+ * @param {MotorID} motorID - the ID specifier.
+ * @param {Function} callback - the function to call with the numeric motor index for each motor.
+ * @private
+ */
+ _forEachMotor (motorID, callback) {
+ let motors;
+ switch (motorID) {
+ case MotorID.A:
+ motors = [0];
+ break;
+ case MotorID.B:
+ motors = [1];
+ break;
+ case MotorID.ALL:
+ case MotorID.DEFAULT:
+ motors = [0, 1];
+ break;
+ default:
+ log.warn(`Invalid motor ID: ${motorID}`);
+ motors = [];
+ break;
+ }
+ for (const index of motors) {
+ callback(index);
+ }
+ }
+
+ /**
+ * @param {number} midiNote - the MIDI note value to convert.
+ * @return {number} - the frequency, in Hz, corresponding to that MIDI note value.
+ * @private
+ */
+ _noteToTone (midiNote) {
+ // Note that MIDI note 69 is A4, 440 Hz
+ return 440 * Math.pow(2, (midiNote - 69) / 12);
+ }
}
module.exports = Scratch3WeDo2Blocks;
From cbfbc5d600bfa2e1f57a925bfde831be8a21c1cf Mon Sep 17 00:00:00 2001
From: Christopher Willis-Ford <cwillisf@media.mit.edu>
Date: Thu, 11 May 2017 22:39:24 -0700
Subject: [PATCH 04/11] Convert motor duration: seconds -> milliseconds
The block takes seconds, whereas the device takes milliseconds. Turning
on a motor for 1 millisecond isn't very dramatic.
---
src/blocks/scratch3_wedo2.js | 5 +++--
1 file changed, 3 insertions(+), 2 deletions(-)
diff --git a/src/blocks/scratch3_wedo2.js b/src/blocks/scratch3_wedo2.js
index bd9e6c119..d79ef9096 100644
--- a/src/blocks/scratch3_wedo2.js
+++ b/src/blocks/scratch3_wedo2.js
@@ -456,13 +456,14 @@ class Scratch3WeDo2Blocks {
* @return {Promise} - a promise which will resolve at the end of the duration.
*/
motorOnFor (args) {
+ const durationMS = args.DURATION * 1000;
return new Promise(resolve => {
this._forEachMotor(args.MOTOR_ID, motorIndex => {
- this._device.motor(motorIndex).setMotorOnFor(args.DURATION);
+ this._device.motor(motorIndex).setMotorOnFor(durationMS);
});
// Ensure this block runs for a fixed amount of time even when no device is connected.
- setTimeout(resolve, args.DURATION);
+ setTimeout(resolve, durationMS);
});
}
From 467b747283afdd610cc1ac8b8bf8e31f074fa2ad Mon Sep 17 00:00:00 2001
From: Ray Schamp <ray@scratch.mit.edu>
Date: Fri, 2 Jun 2017 08:57:21 -0400
Subject: [PATCH 05/11] Bump scratch-storage version
Now 0.2.0 is the lowest compatible version.
---
package.json | 2 +-
1 file changed, 1 insertion(+), 1 deletion(-)
diff --git a/package.json b/package.json
index 0308aa6f7..11fb66efe 100644
--- a/package.json
+++ b/package.json
@@ -43,7 +43,7 @@
"scratch-audio": "^0.1.0-prerelease.0",
"scratch-blocks": "^0.1.0-prerelease.0",
"scratch-render": "^0.1.0-prerelease.0",
- "scratch-storage": "^0.1.0",
+ "scratch-storage": "^0.2.0",
"script-loader": "0.7.0",
"stats.js": "^0.17.0",
"tap": "^10.2.0",
From ab0cef52eb759bad7e7aad3d637fa31a19b1c18c Mon Sep 17 00:00:00 2001
From: DD Liu <liudi@media.mit.edu>
Date: Mon, 5 Jun 2017 16:55:15 -0400
Subject: [PATCH 06/11] Change wait to use a promise instead of being called
every frame
---
src/blocks/scratch3_control.js | 19 +++++++------------
1 file changed, 7 insertions(+), 12 deletions(-)
diff --git a/src/blocks/scratch3_control.js b/src/blocks/scratch3_control.js
index f3b53baa2..f460399e1 100644
--- a/src/blocks/scratch3_control.js
+++ b/src/blocks/scratch3_control.js
@@ -73,18 +73,13 @@ class Scratch3ControlBlocks {
util.startBranch(1, true);
}
- wait (args, util) {
- if (!util.stackFrame.timer) {
- util.stackFrame.timer = new Timer();
- util.stackFrame.timer.start();
- util.yield();
- this.runtime.requestRedraw();
- } else {
- const duration = Math.max(0, 1000 * Cast.toNumber(args.DURATION));
- if (util.stackFrame.timer.timeElapsed() < duration) {
- util.yield();
- }
- }
+ wait (args) {
+ const duration = Math.max(0, 1000 * Cast.toNumber(args.DURATION));
+ return new Promise(resolve => {
+ setTimeout(() => {
+ resolve();
+ }, duration);
+ });
}
if (args, util) {
From e237d2484611298d2c8faf494f20b1ec431ea270 Mon Sep 17 00:00:00 2001
From: DD Liu <liudi@media.mit.edu>
Date: Tue, 6 Jun 2017 10:21:27 -0400
Subject: [PATCH 07/11] fix lint
---
src/blocks/scratch3_control.js | 1 -
1 file changed, 1 deletion(-)
diff --git a/src/blocks/scratch3_control.js b/src/blocks/scratch3_control.js
index f460399e1..975dfeb81 100644
--- a/src/blocks/scratch3_control.js
+++ b/src/blocks/scratch3_control.js
@@ -1,5 +1,4 @@
const Cast = require('../util/cast');
-const Timer = require('../util/timer');
class Scratch3ControlBlocks {
constructor (runtime) {
From 40345384aa47e267115b9a201ab1e93bd6e1535f Mon Sep 17 00:00:00 2001
From: Paul Kaplan <pkaplan@media.mit.edu>
Date: Wed, 7 Jun 2017 09:06:46 -0400
Subject: [PATCH 08/11] Select the last target instead of the first
---
src/virtual-machine.js | 3 ++-
1 file changed, 2 insertions(+), 1 deletion(-)
diff --git a/src/virtual-machine.js b/src/virtual-machine.js
index 19a4a8dd4..436ff60e8 100644
--- a/src/virtual-machine.js
+++ b/src/virtual-machine.js
@@ -379,7 +379,8 @@ class VirtualMachine extends EventEmitter {
this.runtime.disposeTarget(sprite.clones[i]);
// Ensure editing target is switched if we are deleting it.
if (clone === currentEditingTarget) {
- this.setEditingTarget(this.runtime.targets[0].id);
+ const lastTargetIndex = this.runtime.targets.length - 1;
+ this.setEditingTarget(this.runtime.targets[lastTargetIndex].id);
}
}
// Sprite object should be deleted by GC.
From 454082b569e6cb1969ede222ba5fb771a4288e9c Mon Sep 17 00:00:00 2001
From: Christopher Willis-Ford <cwillisf@media.mit.edu>
Date: Wed, 7 Jun 2017 17:05:24 -0700
Subject: [PATCH 09/11] Improve cleanup on clone disposal
The `dispose()` method on `RenderedTarget` now:
- informs the runtime that it should end any threads corresponding the
target being disposed, and
- removes the clone from its sprite.
---
src/sprites/rendered-target.js | 2 ++
src/sprites/sprite.js | 12 ++++++++++++
2 files changed, 14 insertions(+)
diff --git a/src/sprites/rendered-target.js b/src/sprites/rendered-target.js
index 0bc5cff6e..2fb0ddf9e 100644
--- a/src/sprites/rendered-target.js
+++ b/src/sprites/rendered-target.js
@@ -832,6 +832,8 @@ class RenderedTarget extends Target {
*/
dispose () {
this.runtime.changeCloneCounter(-1);
+ this.runtime.stopForTarget(this);
+ this.sprite.removeClone(this);
if (this.renderer && this.drawableID !== null) {
this.renderer.destroyDrawable(this.drawableID);
if (this.visible) {
diff --git a/src/sprites/sprite.js b/src/sprites/sprite.js
index 3a0402a16..293a1f265 100644
--- a/src/sprites/sprite.js
+++ b/src/sprites/sprite.js
@@ -58,6 +58,18 @@ class Sprite {
}
return newClone;
}
+
+ /**
+ * Disconnect a clone from this sprite. The clone is unmodified.
+ * In particular, the clone's dispose() method is not called.
+ * @param {!RenderedTarget} clone - the clone to be removed.
+ */
+ removeClone (clone) {
+ const cloneIndex = this.clones.indexOf(clone);
+ if (cloneIndex >= 0) {
+ this.clones.splice(cloneIndex, 1);
+ }
+ }
}
module.exports = Sprite;
From 6320fd72c311a65547adeb89e37c80c585f1c2b8 Mon Sep 17 00:00:00 2001
From: Christopher Willis-Ford <cwillisf@media.mit.edu>
Date: Thu, 8 Jun 2017 11:16:29 -0700
Subject: [PATCH 10/11] Add test for clone cleanup
This new test verifies that clones and their associated threads are
cleaned up properly by the `delete this clone` block. The clones run two
stacks each: one which waits and then deletes the clone, and another
which includes a `forever` loop: this is to verify that the thread
running the `forever` loop is ended when the clone itself is deleted.
The project does this with two batches of clones to ensure there are no
problems with reusing array indices previously occupied by now-removed
threads or clones.
---
test/fixtures/clone-cleanup.sb2 | Bin 0 -> 54947 bytes
test/integration/clone-cleanup.js | 96 ++++++++++++++++++++++++++++++
2 files changed, 96 insertions(+)
create mode 100644 test/fixtures/clone-cleanup.sb2
create mode 100644 test/integration/clone-cleanup.js
diff --git a/test/fixtures/clone-cleanup.sb2 b/test/fixtures/clone-cleanup.sb2
new file mode 100644
index 0000000000000000000000000000000000000000..61baeb7f2def6182f3372a4d89edcee7bf23db88
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HcmV?d00001
diff --git a/test/integration/clone-cleanup.js b/test/integration/clone-cleanup.js
new file mode 100644
index 000000000..bfecd6d77
--- /dev/null
+++ b/test/integration/clone-cleanup.js
@@ -0,0 +1,96 @@
+const path = require('path');
+const test = require('tap').test;
+const attachTestStorage = require('../fixtures/attach-test-storage');
+const extract = require('../fixtures/extract');
+const VirtualMachine = require('../../src/index');
+
+const projectUri = path.resolve(__dirname, '../fixtures/clone-cleanup.sb2');
+const project = extract(projectUri);
+
+test('clone-cleanup', t => {
+ const vm = new VirtualMachine();
+ attachTestStorage(vm);
+
+ /**
+ * Track which step of the project is currently under test.
+ * @type {number}
+ */
+ let testStep = -1;
+
+ /**
+ * We test using setInterval; track the interval ID here so we can cancel it.
+ * @type {object}
+ */
+ let testInterval = null;
+
+ const verifyCounts = (expectedClones, extraThreads) => {
+ // stage plus one sprite, plus clones
+ t.strictEqual(vm.runtime.targets.length, 2 + expectedClones,
+ `target count at step ${testStep}`);
+
+ // the stage should never have any clones
+ t.strictEqual(vm.runtime.targets[0].sprite.clones.length, 1,
+ `stage clone count at step ${testStep}`);
+
+ // check sprite clone count (+1 for original)
+ t.strictEqual(vm.runtime.targets[1].sprite.clones.length, 1 + expectedClones,
+ `sprite clone count at step ${testStep}`);
+
+ // thread count isn't directly tied to clone count since threads can end
+ t.strictEqual(vm.runtime.threads.length, extraThreads + (2 * expectedClones),
+ `thread count at step ${testStep}`);
+ };
+
+ const testNextStep = () => {
+ ++testStep;
+ switch (testStep) {
+ case 0:
+ // Project has started, main thread running, no clones yet
+ verifyCounts(0, 1);
+ break;
+
+ case 1:
+ // 10 clones have been created, main thread still running
+ verifyCounts(10, 1);
+ break;
+
+ case 2:
+ // The first batch of clones has deleted themselves; main thread still running
+ verifyCounts(0, 1);
+ break;
+
+ case 3:
+ // The second batch of clones has been created and the main thread has ended
+ verifyCounts(10, 0);
+ break;
+
+ case 4:
+ // The second batch of clones has deleted themselves; everything is finished
+ verifyCounts(0, 0);
+
+ clearInterval(testInterval);
+ t.end();
+ process.nextTick(process.exit);
+ break;
+ }
+ };
+
+ // Start VM, load project, and run
+ t.doesNotThrow(() => {
+ vm.start();
+ vm.clear();
+ vm.setCompatibilityMode(false);
+ vm.setTurboMode(false);
+ vm.loadProject(project).then(() => {
+
+ // Verify initial state: no clones, nothing running ("step -1")
+ verifyCounts(0, 0);
+
+ vm.greenFlag();
+
+ // Every second, advance the testing step
+ testInterval = setInterval(testNextStep, 1000);
+ });
+ });
+
+});
From 9c5d43e9d3f6da2c75cccc851756b7b355244cb4 Mon Sep 17 00:00:00 2001
From: Paul Kaplan <pkaplan@media.mit.edu>
Date: Mon, 12 Jun 2017 08:35:27 -0400
Subject: [PATCH 11/11] Enhance sprite delete behavior
---
src/virtual-machine.js | 6 ++++--
1 file changed, 4 insertions(+), 2 deletions(-)
diff --git a/src/virtual-machine.js b/src/virtual-machine.js
index 436ff60e8..12e6e7a77 100644
--- a/src/virtual-machine.js
+++ b/src/virtual-machine.js
@@ -364,6 +364,8 @@ class VirtualMachine extends EventEmitter {
*/
deleteSprite (targetId) {
const target = this.runtime.getTargetById(targetId);
+ const targetIndexBeforeDelete = this.runtime.targets.map(t => t.id).indexOf(target.id);
+
if (target) {
if (!target.isSprite()) {
throw new Error('Cannot delete non-sprite targets.');
@@ -379,8 +381,8 @@ class VirtualMachine extends EventEmitter {
this.runtime.disposeTarget(sprite.clones[i]);
// Ensure editing target is switched if we are deleting it.
if (clone === currentEditingTarget) {
- const lastTargetIndex = this.runtime.targets.length - 1;
- this.setEditingTarget(this.runtime.targets[lastTargetIndex].id);
+ const nextTargetIndex = Math.min(this.runtime.targets.length - 1, targetIndexBeforeDelete);
+ this.setEditingTarget(this.runtime.targets[nextTargetIndex].id);
}
}
// Sprite object should be deleted by GC.