mirror of
https://github.com/scratchfoundation/scratch-vm.git
synced 2025-08-21 10:49:50 -04:00
EV3 blocks progress: distance, brightness, button, motor position. Only single button for now, distance needs threshold at 0.
This commit is contained in:
Evelyn Eastmond
Ray Schamp
parent
d79efbece8
commit
cf98e35564
1 changed files with 238 additions and 33 deletions
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@ -5,6 +5,8 @@ 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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// TODO: Refactor/rename all these high level primitives to be clearer/match
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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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@ -75,6 +77,31 @@ const SENSOR_PORTS = [
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}
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];
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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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30: 'ultrasonic',
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32: 'gyro',
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16: 'touch',
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8: 'mediumMotor',
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7: 'largeMotor',
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126: 'none'
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};
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// firmware pdf page 100?
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const EV_DEVICE_MODES = {
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touch: 0,
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color: 1,
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ultrasonic: 1
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};
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const EV_DEVICE_LABELS = {
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touch: 'button',
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color: 'brightness',
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ultrasonic: 'distance'
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};
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class EV3 {
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constructor (runtime, extensionId) {
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@ -87,13 +114,19 @@ class EV3 {
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this._runtime = runtime;
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/**
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* State
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* EV3 State
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*/
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this.connected = false;
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this.speed = 50;
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this._sensors = {
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distance: 0
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distance: 0,
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brightness: 0
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};
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this._sensorPorts = [];
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this._motorPorts = [];
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this._sensorPortsWaiting = [false, false, false, false];
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this._motorPortsWaiting = [false, false, false, false];
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this._pollingIntervalID = null;
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/**
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* The Bluetooth connection session for reading/writing device data.
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@ -109,7 +142,6 @@ class EV3 {
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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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@ -125,10 +157,19 @@ class EV3 {
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this._bt.connectDevice(id);
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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 disconnect from the device.
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*/
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disconnectSession () {
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this._bt.disconnectSession();
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window.clearInterval(this._pollingIntervalID); // TODO: window?
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}
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/**
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* Called by the runtime to detect whether the device is connected.
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* @return {boolean} - the connected state.
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*/
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getPeripheralIsConnected () {
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let connected = false;
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if (this._bt) {
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@ -140,14 +181,19 @@ class EV3 {
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get distance () {
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if (!this.connected) return;
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return this._sensors.distance;
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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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// Accurate to +/- 1 cm (+/- .394 in.)
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let value = this._sensors.distance > 100 ? 100 : this._sensors.distance;
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value = value < 0 ? 0 : value;
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return Math.round(value);
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}
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get brightness () {
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if (!this.connected) return;
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// TODO: read brightness sensor data
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log.info(`return brightness`);
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return this._sensors.brightness;
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}
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getMotorPosition (args) {
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@ -160,19 +206,12 @@ class EV3 {
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isButtonPressed (args) {
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if (!this.connected) return;
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// TODO: read button pressed data
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log.info(`return button ${args} pressed`);
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}
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isBrightnessLessThan (args) {
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if (!this.connected) return;
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// TODO: read brightness sensor data
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log.info(`return brightness less than ${args}`);
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return this._sensors.button;
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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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@ -316,7 +355,7 @@ class EV3 {
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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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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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@ -341,15 +380,43 @@ class EV3 {
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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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const intervalID = window.setInterval(this._getSessionData.bind(this), 300);
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// TODO: clear intervalID later on disconnect, etc.
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// GET EV3 SENSOR LIST
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/*
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0B [ 11]
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00 [ 0]
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01 [ 1]
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00 [ 0]
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00 [ 0]
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21 [ 33]
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00 [ 0]
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98 [152] opInput_Device_List
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81 [129] LENGTH
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21 [ 33] ARRAY
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60 [ 96] CHANGED
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E1 [225] size of global var?
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20 [ 32] global var index
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*/
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this._bt.sendMessage({
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message: 'CwABAAAhAJiBIWDhIA==', // [11, 0, 1, 0, 0, 33, 0, 152, 129, 33, 96, 225, 32]
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encoding: 'base64'
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}).then(
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x => {
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log.info(`get device list resolved: ${x}`);
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},
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e => {
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log.info(`get device list rejected: ${e}`);
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}
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);
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}
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_getSessionData () {
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if (!this.connected) {
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window.clearInterval(this._pollingIntervalID);
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return;
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}
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// GET EV3 DISTANCE PORT 0
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/*
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99 [153] input device
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@ -361,21 +428,23 @@ class EV3 {
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01 [ 1] one data set
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60 [ 96] global var index
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*/
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/*
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this._bt.sendMessage({
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message: 'DQAAAAAEAJkdAAAAAQFg', // [13, 0, 0, 0, 0, 4, 0, 153, 29, 0, 0, 0, 1, 1, 96]
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encoding: 'base64'
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});
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*/
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// GET EV3 BRIGHTNESS PORT 1
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/*
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99 [153] input device
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1D [ 29] ready si
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00 [ 0] layer (this brick)
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01 [ 1] sensor port 1
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00 [ 0] do not change type
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01 [ 1] mode 1 = EV3-Color-Ambient
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01 [ 1] one data set
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60 [ 96] global var index
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0x99 [153] input device
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0x1D [ 29] ready si
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0x00 [ 0] layer (this brick)
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0x01 [ 1] sensor port 1
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0x00 [ 0] do not change type
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0x01 [ 1] mode 1 = EV3-Color-Ambient
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0x01 [ 1] one data set
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0x60 [ 96] global var index
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*/
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/*
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this._bt.sendMessage({
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@ -383,19 +452,155 @@ class EV3 {
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encoding: 'base64'
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});
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*/
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// COMPOUND COMMAND FOR READING sensors0x27 command size
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// 0x?? [ ] command size
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// 0x00 [ 0] command size
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// 0x01 [ 1] message counter
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// 0x00 [ 0] message counter
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// 0x00 [ 0] command type
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// 0x?? [ ] result payload size of global/local vars
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// 0x00 [ 0] result payload size of global/local vars
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const compoundCommand = [];
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compoundCommand[0] = 0; // calculate length later
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compoundCommand[1] = 0; // command size
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compoundCommand[2] = 1; // message counter // TODO: ?????
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compoundCommand[3] = 0; // message counter
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compoundCommand[4] = 0; // command type: direct command
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compoundCommand[5] = 0; // global/local vars
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compoundCommand[6] = 0; // global/local vars
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let compoundCommandIndex = 7;
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let sensorCount = -1;
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// Read from available sensors
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for (let i = 0; i < this._sensorPorts.length; i++) {
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if (this._sensorPorts[i] !== 'none') {
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sensorCount++;
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// make up sensor command array
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// 0x9D [ 157] op: get sensor value
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// 0x00 [ 0] layer
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// 0x02 [ ] port
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// 0x00 [ 0] do not change type
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// 0x00 [ ] mode
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// 0xE1 [ 225]
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// 0x0C [ ] global index
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compoundCommand[compoundCommandIndex + 0] = 157;
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compoundCommand[compoundCommandIndex + 1] = 0;
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compoundCommand[compoundCommandIndex + 2] = i;
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compoundCommand[compoundCommandIndex + 3] = 0;
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compoundCommand[compoundCommandIndex + 4] = EV_DEVICE_MODES[this._sensorPorts[i]];
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compoundCommand[compoundCommandIndex + 5] = 225;
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compoundCommand[compoundCommandIndex + 6] = sensorCount * 4;
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compoundCommandIndex += 7;
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}
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}
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// Read from available motors
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// let motorCount = 0;
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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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sensorCount++;
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// make up sensor command array
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// 0xB3 [ 179] op: get motor position value
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// 0x00 [ 0] layer
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// 0x02 [ ] output bit fields ??
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// 0xE1 [ 225]
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// 0x?? [ 0] global index
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compoundCommand[compoundCommandIndex + 0] = 179;
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compoundCommand[compoundCommandIndex + 1] = 0;
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compoundCommand[compoundCommandIndex + 2] = i;
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compoundCommand[compoundCommandIndex + 3] = 225;
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compoundCommand[compoundCommandIndex + 4] = sensorCount * 4;
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compoundCommandIndex += 5;
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// motorCount++;
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}
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}
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// Calculate compound command length
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compoundCommand[0] = compoundCommand.length - 2;
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// Calculate global var payload length needed
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compoundCommand[5] = (sensorCount + 1) * 4;
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console.log('compound command to send: ' + compoundCommand);
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this._bt.sendMessage({
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message: Base64Util.uint8ArrayToBase64(compoundCommand),
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encoding: 'base64'
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});
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// TODO: Read from available motor ports
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}
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_onSessionMessage (params) {
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const message = params.message;
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const array = Base64Util.base64ToUint8Array(message);
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// TODO: this only gets distance so far
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const distance = this._array2float([array[5], array[6], array[7], array[8]]);
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this._sensors.distance = distance;
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if (this._sensorPorts.length === 0) {
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// SENSOR LIST
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// JAABAAIefn5+fn5+fn5+fn5+fn5+Bwd+fn5+fn5+fn5+fn5+fgA=
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// [36, 0, 1, 0, 2, 30, 126, 126, 126, 126, 126, 126, 126, 126, 126, 126, 126, 126, 126, 126, 126, 7, 7, 126, 126, 126, 126, 126, 126, 126, 126, 126, 126, 126, 126, 126, 126, 0]
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this._sensorPorts[0] = EV_DEVICE_TYPES[array[5]];
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this._sensorPorts[1] = EV_DEVICE_TYPES[array[6]];
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this._sensorPorts[2] = EV_DEVICE_TYPES[array[7]];
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this._sensorPorts[3] = EV_DEVICE_TYPES[array[8]];
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this._motorPorts[0] = EV_DEVICE_TYPES[array[21]];
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this._motorPorts[1] = EV_DEVICE_TYPES[array[22]];
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this._motorPorts[2] = EV_DEVICE_TYPES[array[23]];
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this._motorPorts[3] = EV_DEVICE_TYPES[array[24]];
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log.info(`sensor ports: ${this._sensorPorts}`);
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log.info(`motor ports: ${this._motorPorts}`);
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// Now ready to read from assigned _sensors
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// Start reading sensor data
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// TODO: window?
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this._pollingIntervalID = window.setInterval(this._getSessionData.bind(this), 100);
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} else {
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log.info(`received compound command result: ${array}`);
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let offset = 5;
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for (let i = 0; i < this._sensorPorts.length; i++) {
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if (this._sensorPorts[i] !== 'none') {
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const value = this._array2float([
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array[offset],
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array[offset + 1],
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array[offset + 2],
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array[offset + 3]
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]);
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log.info(`sensor at port ${i} ${this._sensorPorts[i]} value: ${value}`);
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this._sensors[EV_DEVICE_LABELS[this._sensorPorts[i]]] = value;
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offset += 4;
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}
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}
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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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let value = this._tachoValue([
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array[offset],
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array[offset + 1],
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array[offset + 2],
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array[offset + 3]
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]);
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if (value > 0x7fffffff) {
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value = value - 0x100000000;
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}
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log.info(`motor at port ${i} ${this._motorPorts[i]} value: ${value}`);
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// this._motors[EV_DEVICE_LABELS[this._motorPorts[i]]] = value;
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offset += 4;
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}
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}
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// const sensorValue = this._array2float([array[5], array[6], array[7], array[8]]);
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// log.info('receiving port array?: ' + array);
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// log.info('receiving port sensorValue?: ' + sensorValue);
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// this._sensors.distance = distance;
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}
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}
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// TODO: put elsewhere, in a util
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_tachoValue (list) {
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const value = list[0] + (list[1] * 256) + (list[2] * 256 * 256) + (list[3] * 256 * 256 * 256);
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return value;
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}
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// TODO: put elsewhere
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_array2float (list) {
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log.info(`list ${list}`);
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const buffer = new Uint8Array(list).buffer;
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const view = new DataView(buffer);
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return view.getFloat32(0, true);
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@ -678,7 +883,7 @@ class Scratch3Ev3Blocks {
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whenBrightnessLessThan (args) {
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const brightness = Cast.toNumber(args.DISTANCE);
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return this._device.isBrightnessLessThan(brightness);
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return this._device.brightness < brightness;
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}
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buttonPressed (args) {
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