mirror of
https://github.com/scratchfoundation/scratch-vm.git
synced 2024-12-24 06:52:40 -05:00
EV3/Microbit critical fixes for code freeze (#1354)
* Resolves - BLESession and BTSession should emit PERIPHERAL_SCAN_TIMEOUT #1348. * Resolves - BLESession should handle 'could not find service' error #1350. * Resolves - BTSession should handle 'no peripheral connected' error #1351. * Fixing a typo that caused device scan timeout bugs. * Resolves - Add casting and clamping throughout the EV3 extension #1352. * Fixing a linting error. * Further fixes for issue #1351.
This commit is contained in:
Evelyn Eastmond
Eric Rosenbaum
parent
1dcdfc9548
commit
c4ee7065a2
6 changed files with 117 additions and 46 deletions
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@ -428,6 +428,14 @@ class Runtime extends EventEmitter {
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return 'PERIPHERAL_ERROR';
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}
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/**
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* Event name for reporting that a peripheral has not been discovered.
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* @const {string}
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*/
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static get PERIPHERAL_SCAN_TIMEOUT () {
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return 'PERIPHERAL_SCAN_TIMEOUT';
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}
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/**
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* Event name for reporting that blocksInfo was updated.
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* @const {string}
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@ -1,9 +1,10 @@
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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 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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const MathUtil = require('../../util/math-util');
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// TODO: Refactor/rename all these high level primitives to be clearer/match
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@ -53,6 +54,8 @@ const MOTOR_PORTS = [
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}
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];
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const VALID_MOTOR_PORTS = [0, 1, 2, 3];
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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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@ -78,6 +81,8 @@ const SENSOR_PORTS = [
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}
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];
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const VALID_SENSOR_PORTS = [0, 1, 2, 3];
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// firmware pdf page 100
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const EV_DEVICE_TYPES = {
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29: 'color',
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@ -120,7 +125,6 @@ class EV3 {
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/**
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* State
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*/
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this.connected = false;
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this._sensorPorts = [];
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this._motorPorts = [];
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this._sensors = {
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@ -201,7 +205,7 @@ class EV3 {
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}
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get distance () {
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if (!this.connected) return 0;
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if (!this.getPeripheralIsConnected()) return 0;
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// https://shop.lego.com/en-US/EV3-Ultrasonic-Sensor-45504
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// Measures distances between one and 250 cm (one to 100 in.)
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@ -214,13 +218,13 @@ class EV3 {
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}
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get brightness () {
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if (!this.connected) return 0;
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if (!this.getPeripheralIsConnected()) return 0;
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return this._sensors.brightness;
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}
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getMotorPosition (port) {
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if (!this.connected) return;
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if (!this.getPeripheralIsConnected()) return;
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let value = this._motors.positions[port];
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value = value % 360;
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@ -230,15 +234,13 @@ class EV3 {
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}
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isButtonPressed (port) {
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if (!this.connected) return;
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if (!this.getPeripheralIsConnected()) return;
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return this._sensors.buttons[port];
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}
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beep (freq, time) {
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if (!this.connected) return;
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log.info('should be beeping');
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if (!this.getPeripheralIsConnected()) return;
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const cmd = [];
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cmd[0] = 15; // length
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@ -274,7 +276,7 @@ class EV3 {
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}
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motorTurnClockwise (port, time) {
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if (!this.connected) return;
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if (!this.getPeripheralIsConnected()) return;
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// Build up motor command
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const cmd = this._applyPrefix(0, this._motorCommand(
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@ -309,7 +311,7 @@ class EV3 {
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}
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motorTurnCounterClockwise (port, time) {
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if (!this.connected) return;
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if (!this.getPeripheralIsConnected()) return;
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// Build up motor command
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const cmd = this._applyPrefix(0, this._motorCommand(
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@ -365,7 +367,7 @@ class EV3 {
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}
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motorRotate (port, degrees) {
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if (!this.connected) return;
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if (!this.getPeripheralIsConnected()) return;
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// Build up motor command
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const cmd = this._applyPrefix(0, this._motorCommand(
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@ -397,7 +399,7 @@ class EV3 {
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}
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motorSetPosition (port, degrees) {
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if (!this.connected) return;
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if (!this.getPeripheralIsConnected()) return;
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// Calculate degrees to turn
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let previousPos = this._motors.positions[port];
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@ -443,7 +445,7 @@ class EV3 {
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}
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motorSetPower (port, power) {
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if (!this.connected) return;
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if (!this.getPeripheralIsConnected()) return;
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this._motors.speeds[port] = power;
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}
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@ -453,7 +455,6 @@ class EV3 {
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// *******
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_stopAllMotors () {
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log.info('stop all motors');
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for (let i = 0; i < this._motorPorts.length; i++) {
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if (this._motorPorts[i] !== 'none') {
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this.motorCoast(i);
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@ -555,8 +556,6 @@ class EV3 {
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// TODO: keep here? / refactor
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_onSessionConnect () {
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this.connected = true;
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// start polling
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// TODO: window?
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this._pollingIntervalID = window.setInterval(this._getSessionData.bind(this), 150);
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@ -564,7 +563,7 @@ class EV3 {
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// TODO: keep here? / refactor
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_getSessionData () {
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if (!this.connected) {
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if (!this.getPeripheralIsConnected()) {
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window.clearInterval(this._pollingIntervalID);
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return;
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}
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@ -595,7 +594,6 @@ class EV3 {
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cmd[0] = cmd.length - 2;
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cmd[5] = 33;
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// log.info(`REQUEST DEVICE LIST: ${compoundCommand}`);
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// Clear sensor data
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this._updateDevices = true;
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this._sensorPorts = [];
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@ -682,8 +680,8 @@ class EV3 {
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this._motorPorts[1] = EV_DEVICE_TYPES[array[22]] ? EV_DEVICE_TYPES[array[22]] : 'none';
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this._motorPorts[2] = EV_DEVICE_TYPES[array[23]] ? EV_DEVICE_TYPES[array[23]] : 'none';
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this._motorPorts[3] = EV_DEVICE_TYPES[array[24]] ? EV_DEVICE_TYPES[array[24]] : 'none';
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log.info(`sensor ports: ${this._sensorPorts}`);
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log.info(`motor ports: ${this._motorPorts}`);
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// log.info(`sensor ports: ${this._sensorPorts}`);
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// log.info(`motor ports: ${this._motorPorts}`);
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this._updateDevices = false;
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// eslint-disable-next-line no-undefined
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} else if (!this._sensorPorts.includes(undefined) && !this._motorPorts.includes(undefined)) {
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@ -703,7 +701,7 @@ class EV3 {
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// Read brightness / distance values and set to 0 if null
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this._sensors[EV_DEVICE_LABELS[this._sensorPorts[i]]] = value ? value : 0;
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}
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log.info(`${JSON.stringify(this._sensors)}`);
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// log.info(`${JSON.stringify(this._sensors)}`);
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offset += 4;
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}
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// READ MOTOR POSITION VALUES
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@ -720,7 +718,7 @@ class EV3 {
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if (value) {
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this._motors.positions[i] = value;
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}
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log.info(`motor positions: ${this._motors.positions}`);
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// log.info(`motor positions: ${this._motors.positions}`);
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offset += 4;
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}
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}
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@ -1002,22 +1000,37 @@ class Scratch3Ev3Blocks {
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motorTurnClockwise (args) {
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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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let time = Cast.toNumber(args.TIME) * 1000;
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time = MathUtil.clamp(time, 0, 15000);
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if (!VALID_MOTOR_PORTS.includes(port)) {
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return;
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}
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return this._device.motorTurnClockwise(port, time);
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}
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motorTurnCounterClockwise (args) {
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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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let time = Cast.toNumber(args.TIME) * 1000;
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time = MathUtil.clamp(time, 0, 15000);
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if (!VALID_MOTOR_PORTS.includes(port)) {
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return;
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}
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return this._device.motorTurnCounterClockwise(port, time);
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}
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/*
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motorRotate (args) {
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const port = Cast.toNumber(args.PORT);
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const degrees = Cast.toNumber(args.DEGREES);
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if (!VALID_MOTOR_PORTS.includes(port)) {
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return;
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}
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this._device.motorRotate(port, degrees);
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return;
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}
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@ -1026,40 +1039,55 @@ class Scratch3Ev3Blocks {
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const port = Cast.toNumber(args.PORT);
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const degrees = Cast.toNumber(args.DEGREES);
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if (!VALID_MOTOR_PORTS.includes(port)) {
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return;
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}
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this._device.motorSetPosition(port, degrees);
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return;
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}
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*/
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motorSetPower (args) {
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const port = Cast.toNumber(args.PORT);
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const power = Cast.toNumber(args.POWER);
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const power = MathUtil.clamp(Cast.toNumber(args.POWER), 0, 100);
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const value = Math.max(-100, Math.min(power, 100));
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if (!VALID_MOTOR_PORTS.includes(port)) {
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return;
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}
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this._device.motorSetPower(port, value);
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this._device.motorSetPower(port, power);
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return;
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}
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getMotorPosition (args) {
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const port = Cast.toNumber(args.PORT);
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if (!VALID_MOTOR_PORTS.includes(port)) {
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return;
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}
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return this._device.getMotorPosition(port);
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}
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whenButtonPressed (args) {
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const port = Cast.toNumber(args.PORT);
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if (!VALID_SENSOR_PORTS.includes(port)) {
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return;
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}
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return this._device.isButtonPressed(port);
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}
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whenDistanceLessThan (args) {
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const distance = Cast.toNumber(args.DISTANCE);
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const distance = MathUtil.clamp(Cast.toNumber(args.DISTANCE), 0, 100);
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return this._device.distance < distance;
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}
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whenBrightnessLessThan (args) {
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const brightness = Cast.toNumber(args.DISTANCE);
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const brightness = MathUtil.clamp(Cast.toNumber(args.DISTANCE), 0, 100);
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return this._device.brightness < brightness;
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}
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@ -1067,6 +1095,10 @@ class Scratch3Ev3Blocks {
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buttonPressed (args) {
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const port = Cast.toNumber(args.PORT);
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if (!VALID_SENSOR_PORTS.includes(port)) {
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return;
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}
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return this._device.isButtonPressed(port);
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}
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@ -1079,8 +1111,13 @@ class Scratch3Ev3Blocks {
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}
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beep (args) {
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const note = Cast.toNumber(args.NOTE);
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const time = Cast.toNumber(args.TIME * 1000);
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const note = MathUtil.clamp(Cast.toNumber(args.NOTE), 47, 99); // valid EV3 sounds
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let time = Cast.toNumber(args.TIME) * 1000;
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time = MathUtil.clamp(time, 0, 3000);
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if (time === 0) {
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return; // don't send a beep time of 0
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}
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// https://en.wikipedia.org/wiki/MIDI_tuning_standard#Frequency_values
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const freq = Math.pow(2, ((note - 69 + 12) / 12)) * 440;
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@ -105,7 +105,6 @@ 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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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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@ -22,11 +22,11 @@ class BLESession extends JSONRPCWebSocket {
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this._availablePeripherals = {};
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this._connectCallback = connectCallback;
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this._connected = false;
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this._characteristicDidChangeCallback = null;
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this._deviceOptions = deviceOptions;
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this._discoverTimeoutID = null;
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this._runtime = runtime;
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this._connected = false;
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}
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/**
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@ -35,7 +35,8 @@ class BLESession extends JSONRPCWebSocket {
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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._availablePeripherals = {};
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this._discoverTimeoutID = window.setTimeout(this._sendDiscoverTimeout.bind(this), 15000);
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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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@ -88,7 +89,10 @@ class BLESession extends JSONRPCWebSocket {
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this._runtime.constructor.PERIPHERAL_LIST_UPDATE,
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this._availablePeripherals
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);
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// TODO: cancel a discover timeout if one is active
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if (this._discoverTimeoutID) {
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// TODO: window?
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window.clearTimeout(this._discoverTimeoutID);
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}
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break;
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case 'characteristicDidChange':
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this._characteristicDidChangeCallback(params.message);
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@ -115,8 +119,10 @@ class BLESession extends JSONRPCWebSocket {
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params.startNotifications = true;
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}
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this._characteristicDidChangeCallback = onCharacteristicChanged;
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return this.sendRemoteRequest('read', params);
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// TODO: handle error here
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return this.sendRemoteRequest('read', params)
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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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/**
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@ -132,7 +138,10 @@ class BLESession extends JSONRPCWebSocket {
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if (encoding) {
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params.encoding = encoding;
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}
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return this.sendRemoteRequest('write', params);
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return this.sendRemoteRequest('write', params)
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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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_sendError (e) {
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@ -140,6 +149,10 @@ class BLESession extends JSONRPCWebSocket {
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log.error(`BLESession error: ${JSON.stringify(e)}`);
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this._runtime.emit(this._runtime.constructor.PERIPHERAL_ERROR);
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}
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_sendDiscoverTimeout () {
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this._runtime.emit(this._runtime.constructor.PERIPHERAL_SCAN_TIMEOUT);
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}
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}
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module.exports = BLESession;
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@ -23,12 +23,12 @@ class BTSession extends JSONRPCWebSocket {
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this._availablePeripherals = {};
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this._connectCallback = connectCallback;
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this._connected = false;
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this._characteristicDidChangeCallback = null;
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this._deviceOptions = deviceOptions;
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this._discoverTimeoutID = null;
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this._messageCallback = messageCallback;
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this._runtime = runtime;
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this._connected = false;
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}
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/**
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@ -37,7 +37,8 @@ class BTSession extends JSONRPCWebSocket {
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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._availablePeripherals = {};
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this._discoverTimeoutID = window.setTimeout(this._sendDiscoverTimeout.bind(this), 15000);
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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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@ -76,9 +77,11 @@ class BTSession extends JSONRPCWebSocket {
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return this._connected;
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}
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sendMessage (options) {
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return this.sendRemoteRequest('send', options);
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return this.sendRemoteRequest('send', options)
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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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/**
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@ -96,7 +99,10 @@ class BTSession extends JSONRPCWebSocket {
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this._runtime.constructor.PERIPHERAL_LIST_UPDATE,
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this._availablePeripherals
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);
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// TODO: cancel a discover timeout if one is active
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if (this._discoverTimeoutID) {
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// TODO: window?
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window.clearTimeout(this._discoverTimeoutID);
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}
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break;
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case 'didReceiveMessage':
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this._messageCallback(params); // TODO: refine?
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|
|
@ -107,9 +113,14 @@ class BTSession extends JSONRPCWebSocket {
|
|||
}
|
||||
|
||||
_sendError (e) {
|
||||
this._connected = false;
|
||||
log.error(`BTSession error: ${JSON.stringify(e)}`);
|
||||
this._runtime.emit(this._runtime.constructor.PERIPHERAL_ERROR);
|
||||
}
|
||||
|
||||
_sendDiscoverTimeout () {
|
||||
this._runtime.emit(this._runtime.constructor.PERIPHERAL_SCAN_TIMEOUT);
|
||||
}
|
||||
}
|
||||
|
||||
module.exports = BTSession;
|
||||
|
|
|
|||
|
|
@ -115,6 +115,9 @@ class VirtualMachine extends EventEmitter {
|
|||
this.runtime.on(Runtime.PERIPHERAL_ERROR, () =>
|
||||
this.emit(Runtime.PERIPHERAL_ERROR)
|
||||
);
|
||||
this.runtime.on(Runtime.PERIPHERAL_SCAN_TIMEOUT, () =>
|
||||
this.emit(Runtime.PERIPHERAL_SCAN_TIMEOUT)
|
||||
);
|
||||
|
||||
this.extensionManager = new ExtensionManager(this.runtime);
|
||||
|
||||
|
|
|
|||
Loading…
Reference in a new issue