Fixing #1460: 'set motor direction' block should work while a motor is running.

src/extensions/scratch3_wedo2/index.js

@@ -112,6 +112,20 @@ class WeDo2Motor {
          */
         this._pendingTimeoutId = null;
 
+        /**
+         * The starting time for the pending timeout.
+         * @type {Object}
+         * @private
+         */
+        this._pendingTimeoutStartTime = null;
+
+        /**
+         * The delay/duration of the pending timeout.
+         * @type {Object}
+         * @private
+         */
+        this._pendingTimeoutDelay = null;
+
         this.startBraking = this.startBraking.bind(this);
         this.setMotorOff = this.setMotorOff.bind(this);
     }
@@ -163,6 +177,20 @@ class WeDo2Motor {
         return this._isOn;
     }
 
+    /**
+     * @return {boolean} - time, in milliseconds, of when the pending timeout began.
+     */
+    get pendingTimeoutStartTime () {
+        return this._pendingTimeoutStartTime;
+    }
+
+    /**
+     * @return {boolean} - delay, in milliseconds, of the pending timeout.
+     */
+    get pendingTimeoutDelay () {
+        return this._pendingTimeoutDelay;
+    }
+
     /**
      * Turn this motor on indefinitely.
      */
@@ -228,6 +256,8 @@ class WeDo2Motor {
         if (this._pendingTimeoutId !== null) {
             clearTimeout(this._pendingTimeoutId);
             this._pendingTimeoutId = null;
+            this._pendingTimeoutStartTime = null;
+            this._pendingTimeoutDelay = null;
         }
     }
 
@@ -246,6 +276,8 @@ class WeDo2Motor {
             callback();
         }, delay);
         this._pendingTimeoutId = timeoutID;
+        this._pendingTimeoutStartTime = Date.now();
+        this._pendingTimeoutDelay = delay;
     }
 }
 
@@ -957,6 +989,10 @@ class Scratch3WeDo2Blocks {
                     log.warn(`Unknown motor direction in setMotorDirection: ${args.DIRECTION}`);
                     break;
                 }
+                // keep the motor on if it's running, and update the pending timeout
+                if (motor.isOn && motor.pendingTimeoutDelay) {
+                    motor.setMotorOnFor(motor.pendingTimeoutStartTime + motor.pendingTimeoutDelay - Date.now());
+                }
             }
         });
     }

src/io/bleSession.js

@@ -146,9 +146,9 @@ class BLESession extends JSONRPCWebSocket {
             });
     }
 
-    _sendError (e) {
+    _sendError (/* e */) {
         this._connected = false;
-        log.error(`BLESession error: ${JSON.stringify(e)}`);
+        // log.error(`BLESession error: ${JSON.stringify(e)}`);
         this._runtime.emit(this._runtime.constructor.PERIPHERAL_ERROR);
     }