From af800956fe3b29d11e1fc1c10f9576f855bcabc9 Mon Sep 17 00:00:00 2001 From: Kevin Andersen Date: Wed, 9 Jan 2019 10:06:48 -0500 Subject: [PATCH 01/30] Initial commit. WIP --- package-lock.json | 94 +- src/extension-support/extension-manager.js | 4 +- src/extensions/scratch3_boost/index.js | 1780 ++++++++++++++++++++ 3 files changed, 1822 insertions(+), 56 deletions(-) create mode 100644 src/extensions/scratch3_boost/index.js diff --git a/package-lock.json b/package-lock.json index 2d230b7b7..f91352f7c 100644 --- a/package-lock.json +++ b/package-lock.json @@ -2193,7 +2193,7 @@ }, "readable-stream": { "version": "2.3.6", - "resolved": "https://registry.npmjs.org/readable-stream/-/readable-stream-2.3.6.tgz", + "resolved": "http://registry.npmjs.org/readable-stream/-/readable-stream-2.3.6.tgz", "integrity": "sha512-tQtKA9WIAhBF3+VLAseyMqZeBjW0AHJoxOtYqSUZNJxauErmLbVm2FW1y+J/YA9dUrAC39ITejlZWhVIwawkKw==", "dev": true, "requires": { @@ -2338,7 +2338,7 @@ }, "brfs": { "version": "1.6.1", - "resolved": "http://registry.npmjs.org/brfs/-/brfs-1.6.1.tgz", + "resolved": "https://registry.npmjs.org/brfs/-/brfs-1.6.1.tgz", "integrity": "sha512-OfZpABRQQf+Xsmju8XE9bDjs+uU4vLREGolP7bDgcpsI17QREyZ4Bl+2KLxxx1kCgA0fAIhKQBaBYh+PEcCqYQ==", "dev": true, "requires": { @@ -2388,7 +2388,7 @@ "browserify-des": { "version": "1.0.2", "resolved": "https://registry.npmjs.org/browserify-des/-/browserify-des-1.0.2.tgz", - "integrity": "sha512-BioO1xf3hFwz4kc6iBhI3ieDFompMhrMlnDFC4/0/vd5MokpuAc3R+LYbwTA9A5Yc9pq9UYPqffKpW2ObuwX5A==", + "integrity": "sha1-OvTx9Zg5QDVy8cZiBDdfen9wPpw=", "dev": true, "requires": { "cipher-base": "^1.0.1", @@ -2400,7 +2400,7 @@ "safe-buffer": { "version": "5.1.2", "resolved": "https://registry.npmjs.org/safe-buffer/-/safe-buffer-5.1.2.tgz", - "integrity": "sha512-Gd2UZBJDkXlY7GbJxfsE8/nvKkUEU1G38c1siN6QP6a9PT9MmHB8GnpscSmMJSoF8LOIrt8ud/wPtojys4G6+g==", + "integrity": "sha1-mR7GnSluAxN0fVm9/St0XDX4go0=", "dev": true } } @@ -2802,7 +2802,7 @@ }, "colors": { "version": "0.6.2", - "resolved": "http://registry.npmjs.org/colors/-/colors-0.6.2.tgz", + "resolved": "https://registry.npmjs.org/colors/-/colors-0.6.2.tgz", "integrity": "sha1-JCP+ZnisDF2uiFLl0OW+CMmXq8w=", "dev": true }, @@ -2863,7 +2863,7 @@ "compression": { "version": "1.7.3", "resolved": "https://registry.npmjs.org/compression/-/compression-1.7.3.tgz", - "integrity": "sha512-HSjyBG5N1Nnz7tF2+O7A9XUhyjru71/fwgNb7oIsEVHR0WShfs2tIS/EySLgiTe98aOK18YDlMXpzjCXY/n9mg==", + "integrity": "sha1-J+DhdqryYPfywoE8PkQK258Zk9s=", "dev": true, "requires": { "accepts": "~1.3.5", @@ -2893,7 +2893,7 @@ "safe-buffer": { "version": "5.1.2", "resolved": "https://registry.npmjs.org/safe-buffer/-/safe-buffer-5.1.2.tgz", - "integrity": "sha512-Gd2UZBJDkXlY7GbJxfsE8/nvKkUEU1G38c1siN6QP6a9PT9MmHB8GnpscSmMJSoF8LOIrt8ud/wPtojys4G6+g==", + "integrity": "sha1-mR7GnSluAxN0fVm9/St0XDX4go0=", "dev": true } } @@ -3649,7 +3649,7 @@ "elliptic": { "version": "6.4.1", "resolved": "https://registry.npmjs.org/elliptic/-/elliptic-6.4.1.tgz", - "integrity": "sha512-BsXLz5sqX8OHcsh7CqBMztyXARmGQ3LWPtGjJi6DiJHq5C/qvi9P3OqgswKSDftbu8+IoI/QDTAm2fFnQ9SZSQ==", + "integrity": "sha1-wtC3d2kRuGcixjLDwGxg8vgZk5o=", "dev": true, "requires": { "bn.js": "^4.4.0", @@ -4278,7 +4278,7 @@ "eslint-utils": { "version": "1.3.1", "resolved": "https://registry.npmjs.org/eslint-utils/-/eslint-utils-1.3.1.tgz", - "integrity": "sha512-Z7YjnIldX+2XMcjr7ZkgEsOj/bREONV60qYeB/bjMAqqqZ4zxKyWX+BOUkdmRmA9riiIPVvo5x86m5elviOk0Q==", + "integrity": "sha1-moUbqJ7nxGA0b5fPiTnHKYgn5RI=", "dev": true }, "eslint-visitor-keys": { @@ -4771,7 +4771,7 @@ "file-loader": { "version": "2.0.0", "resolved": "https://registry.npmjs.org/file-loader/-/file-loader-2.0.0.tgz", - "integrity": "sha1-OXScgvAguehZAdz/mOgATmQBz94=", + "integrity": "sha512-YCsBfd1ZGCyonOKLxPiKPdu+8ld9HAaMEvJewzz+b2eTF7uL5Zm/HdBF6FjCrpCMRq25Mi0U1gl4pwn2TlH7hQ==", "dev": true, "requires": { "loader-utils": "^1.0.2", @@ -4781,7 +4781,7 @@ "ajv": { "version": "6.5.4", "resolved": "https://registry.npmjs.org/ajv/-/ajv-6.5.4.tgz", - "integrity": "sha1-JH1SdBENtlNwa1UPzCt5fKKM/Fk=", + "integrity": "sha512-4Wyjt8+t6YszqaXnLDfMmG/8AlO5Zbcsy3ATHncCzjW/NoPzAId8AK6749Ybjmdt+kUY1gP60fCu46oDxPv/mg==", "dev": true, "requires": { "fast-deep-equal": "^2.0.1", @@ -4805,19 +4805,19 @@ "json-schema-traverse": { "version": "0.4.1", "resolved": "https://registry.npmjs.org/json-schema-traverse/-/json-schema-traverse-0.4.1.tgz", - "integrity": "sha1-afaofZUTq4u4/mO9sJecRI5oRmA=", + "integrity": "sha512-xbbCH5dCYU5T8LcEhhuh7HJ88HXuW3qsI3Y0zOZFKfZEHcpWiHU/Jxzk629Brsab/mMiHQti9wMP+845RPe3Vg==", "dev": true }, "punycode": { "version": "2.1.1", "resolved": "https://registry.npmjs.org/punycode/-/punycode-2.1.1.tgz", - "integrity": "sha1-tYsBCsQMIsVldhbI0sLALHv0eew=", + "integrity": "sha512-XRsRjdf+j5ml+y/6GKHPZbrF/8p2Yga0JPtdqTIY2Xe5ohJPD9saDJJLPvp9+NSBprVvevdXZybnj2cv8OEd0A==", "dev": true }, "schema-utils": { "version": "1.0.0", "resolved": "https://registry.npmjs.org/schema-utils/-/schema-utils-1.0.0.tgz", - "integrity": "sha1-C3mpMgTXtgDUsoUNH2bCo0lRx3A=", + "integrity": "sha512-i27Mic4KovM/lnGsy8whRCHhc7VicJajAjTrYg11K9zfZXnYIt4k5F+kZkwjnrhKzLic/HLU4j11mjsz2G/75g==", "dev": true, "requires": { "ajv": "^6.1.0", @@ -4828,7 +4828,7 @@ "uri-js": { "version": "4.2.2", "resolved": "https://registry.npmjs.org/uri-js/-/uri-js-4.2.2.tgz", - "integrity": "sha1-lMVA4f93KVbiKZUHwBCupsiDjrA=", + "integrity": "sha512-KY9Frmirql91X2Qgjry0Wd4Y+YTdrdZheS8TFwvkbLWf/G5KNJDCh6pKL5OZctEW4+0Baa5idK2ZQuELRwPznQ==", "dev": true, "requires": { "punycode": "^2.1.0" @@ -5064,7 +5064,7 @@ "format-message": { "version": "6.2.1", "resolved": "https://registry.npmjs.org/format-message/-/format-message-6.2.1.tgz", - "integrity": "sha1-kKJ9KJYNQRT5mRL9Uc2heJvdP/A=", + "integrity": "sha512-6gBXI+MOE9pu9QNeZf95V87GKYiLCdUvhisjts75xonaPAshtBu20NTZt2l8kbYcoMtxNyH9E9af+aieIRfVmw==", "requires": { "format-message-formats": "^6.2.0", "format-message-interpret": "^6.2.0", @@ -5471,7 +5471,7 @@ "fsevents": { "version": "1.2.4", "resolved": "https://registry.npmjs.org/fsevents/-/fsevents-1.2.4.tgz", - "integrity": "sha512-z8H8/diyk76B7q5wg+Ud0+CqzcAF3mBBI/bA5ne5zrRUUIvNkJY//D3BqyH571KuAC4Nr7Rw7CjWX4r0y9DvNg==", + "integrity": "sha1-9B3LGvJYKvNpLaNvxVy9jhBBxCY=", "dev": true, "optional": true, "requires": { @@ -5509,14 +5509,12 @@ "balanced-match": { "version": "1.0.0", "bundled": true, - "dev": true, - "optional": true + "dev": true }, "brace-expansion": { "version": "1.1.11", "bundled": true, "dev": true, - "optional": true, "requires": { "balanced-match": "^1.0.0", "concat-map": "0.0.1" @@ -5531,20 +5529,17 @@ "code-point-at": { "version": "1.1.0", "bundled": true, - "dev": true, - "optional": true + "dev": true }, "concat-map": { "version": "0.0.1", "bundled": true, - "dev": true, - "optional": true + "dev": true }, "console-control-strings": { "version": "1.1.0", "bundled": true, - "dev": true, - "optional": true + "dev": true }, "core-util-is": { "version": "1.0.2", @@ -5661,8 +5656,7 @@ "inherits": { "version": "2.0.3", "bundled": true, - "dev": true, - "optional": true + "dev": true }, "ini": { "version": "1.3.5", @@ -5674,7 +5668,6 @@ "version": "1.0.0", "bundled": true, "dev": true, - "optional": true, "requires": { "number-is-nan": "^1.0.0" } @@ -5689,7 +5682,6 @@ "version": "3.0.4", "bundled": true, "dev": true, - "optional": true, "requires": { "brace-expansion": "^1.1.7" } @@ -5697,14 +5689,12 @@ "minimist": { "version": "0.0.8", "bundled": true, - "dev": true, - "optional": true + "dev": true }, "minipass": { "version": "2.2.4", "bundled": true, "dev": true, - "optional": true, "requires": { "safe-buffer": "^5.1.1", "yallist": "^3.0.0" @@ -5723,7 +5713,6 @@ "version": "0.5.1", "bundled": true, "dev": true, - "optional": true, "requires": { "minimist": "0.0.8" } @@ -5804,8 +5793,7 @@ "number-is-nan": { "version": "1.0.1", "bundled": true, - "dev": true, - "optional": true + "dev": true }, "object-assign": { "version": "4.1.1", @@ -5817,7 +5805,6 @@ "version": "1.4.0", "bundled": true, "dev": true, - "optional": true, "requires": { "wrappy": "1" } @@ -5939,7 +5926,6 @@ "version": "1.0.2", "bundled": true, "dev": true, - "optional": true, "requires": { "code-point-at": "^1.0.0", "is-fullwidth-code-point": "^1.0.0", @@ -6387,7 +6373,7 @@ "hash.js": { "version": "1.1.5", "resolved": "https://registry.npmjs.org/hash.js/-/hash.js-1.1.5.tgz", - "integrity": "sha512-eWI5HG9Np+eHV1KQhisXWwM+4EPPYe5dFX1UZZH7k/E3JzDEazVH+VGlZi6R94ZqImq+A3D1mCEtrFIfg/E7sA==", + "integrity": "sha1-44q0uF37HgxA/pJlwOm1SFTCOBI=", "dev": true, "requires": { "inherits": "^2.0.3", @@ -6862,7 +6848,7 @@ }, "is-builtin-module": { "version": "1.0.0", - "resolved": "http://registry.npmjs.org/is-builtin-module/-/is-builtin-module-1.0.0.tgz", + "resolved": "https://registry.npmjs.org/is-builtin-module/-/is-builtin-module-1.0.0.tgz", "integrity": "sha1-VAVy0096wxGfj3bDDLwbHgN6/74=", "dev": true, "requires": { @@ -8169,7 +8155,7 @@ }, "multipipe": { "version": "0.3.1", - "resolved": "http://registry.npmjs.org/multipipe/-/multipipe-0.3.1.tgz", + "resolved": "https://registry.npmjs.org/multipipe/-/multipipe-0.3.1.tgz", "integrity": "sha1-kmJVJXYboE/qoJYFtjgrziyR8R8=", "dev": true, "requires": { @@ -8419,7 +8405,6 @@ "version": "0.1.4", "bundled": true, "dev": true, - "optional": true, "requires": { "kind-of": "^3.0.2", "longest": "^1.0.1", @@ -9602,8 +9587,7 @@ "longest": { "version": "1.0.1", "bundled": true, - "dev": true, - "optional": true + "dev": true }, "loose-envify": { "version": "1.3.1", @@ -11182,7 +11166,7 @@ "original": { "version": "1.0.2", "resolved": "https://registry.npmjs.org/original/-/original-1.0.2.tgz", - "integrity": "sha512-hyBVl6iqqUOJ8FqRe+l/gS8H+kKYjrEndd5Pm1MfBtsEKA038HkkdbAl/72EAXGyonD/PFsvmVG+EvcIpliMBg==", + "integrity": "sha1-5EKmHP/hxf0gpl8yYcJmY7MD8l8=", "dev": true, "requires": { "url-parse": "^1.4.3" @@ -11550,7 +11534,7 @@ "proxy-addr": { "version": "2.0.4", "resolved": "https://registry.npmjs.org/proxy-addr/-/proxy-addr-2.0.4.tgz", - "integrity": "sha512-5erio2h9jp5CHGwcybmxmVqHmnCBZeewlfJ0pex+UW7Qny7OOZXTtH56TGNyBizkgiOwhJtMKrVzDTeKcySZwA==", + "integrity": "sha1-7PxzO/Iv+Mb0B/onUye5q2fki5M=", "dev": true, "requires": { "forwarded": "~0.1.2", @@ -11661,7 +11645,7 @@ "dependencies": { "minimist": { "version": "1.2.0", - "resolved": "https://registry.npmjs.org/minimist/-/minimist-1.2.0.tgz", + "resolved": "http://registry.npmjs.org/minimist/-/minimist-1.2.0.tgz", "integrity": "sha1-o1AIsg9BOD7sH7kU9M1d95omQoQ=", "dev": true } @@ -12173,7 +12157,7 @@ "dependencies": { "ajv": { "version": "6.3.0", - "resolved": "http://registry.npmjs.org/ajv/-/ajv-6.3.0.tgz", + "resolved": "https://registry.npmjs.org/ajv/-/ajv-6.3.0.tgz", "integrity": "sha1-FlCkERTvAFdMrBC4Ay2PTBSBLac=", "requires": { "fast-deep-equal": "^1.0.0", @@ -12184,9 +12168,9 @@ } }, "scratch-render": { - "version": "0.1.0-prerelease.20181220195236", - "resolved": "https://registry.npmjs.org/scratch-render/-/scratch-render-0.1.0-prerelease.20181220195236.tgz", - "integrity": "sha512-FcYezDaztkoQifUG9k4uOsIFbelMt8JaCMpHrQis0QVJmjSuQrCDB3DRUjwpMuyUrmV7B7GdBUvwt65VYPZJ6g==", + "version": "0.1.0-prerelease.20190103190631", + "resolved": "https://registry.npmjs.org/scratch-render/-/scratch-render-0.1.0-prerelease.20190103190631.tgz", + "integrity": "sha512-DFh5dnvLQ0iv2UahMJgUrCqnMOPjM4NAN0fQUBtm4w5gskkFOem6QvTGPWcUf75II4MDwUbj+LGZclqEYWTnSw==", "dev": true, "requires": { "grapheme-breaker": "0.3.2", @@ -13008,7 +12992,7 @@ }, "readable-stream": { "version": "2.3.6", - "resolved": "https://registry.npmjs.org/readable-stream/-/readable-stream-2.3.6.tgz", + "resolved": "http://registry.npmjs.org/readable-stream/-/readable-stream-2.3.6.tgz", "integrity": "sha512-tQtKA9WIAhBF3+VLAseyMqZeBjW0AHJoxOtYqSUZNJxauErmLbVm2FW1y+J/YA9dUrAC39ITejlZWhVIwawkKw==", "dev": true, "requires": { @@ -13863,7 +13847,7 @@ "dependencies": { "pako": { "version": "0.2.9", - "resolved": "http://registry.npmjs.org/pako/-/pako-0.2.9.tgz", + "resolved": "https://registry.npmjs.org/pako/-/pako-0.2.9.tgz", "integrity": "sha1-8/dSL073gjSNqBYbrZ7P1Rv4OnU=", "dev": true } @@ -13977,7 +13961,7 @@ "upath": { "version": "1.1.0", "resolved": "https://registry.npmjs.org/upath/-/upath-1.1.0.tgz", - "integrity": "sha512-bzpH/oBhoS/QI/YtbkqCg6VEiPYjSZtrHQM6/QnJS6OL9pKUFLqb3aFh4Scvwm45+7iAgiMkLhSbaZxUqmrprw==", + "integrity": "sha1-NSVll+RqWB20eT0M5H+prr/J+r0=", "dev": true }, "uri-js": { @@ -14028,7 +14012,7 @@ "url-parse": { "version": "1.4.3", "resolved": "https://registry.npmjs.org/url-parse/-/url-parse-1.4.3.tgz", - "integrity": "sha512-rh+KuAW36YKo0vClhQzLLveoj8FwPJNu65xLb7Mrt+eZht0IPT0IXgSv8gcMegZ6NvjJUALf6Mf25POlMwD1Fw==", + "integrity": "sha1-v67kVciJAjIZ11fgRfpqaE7DbBU=", "dev": true, "requires": { "querystringify": "^2.0.0", diff --git a/src/extension-support/extension-manager.js b/src/extension-support/extension-manager.js index 86a335989..de0093124 100644 --- a/src/extension-support/extension-manager.js +++ b/src/extension-support/extension-manager.js @@ -17,6 +17,7 @@ const Scratch3VideoSensingBlocks = require('../extensions/scratch3_video_sensing const Scratch3Speech2TextBlocks = require('../extensions/scratch3_speech2text'); const Scratch3Ev3Blocks = require('../extensions/scratch3_ev3'); const Scratch3MakeyMakeyBlocks = require('../extensions/scratch3_makeymakey'); +const Scratch3BoostBlocks = require('../extensions/scratch3_boost'); const builtinExtensions = { pen: Scratch3PenBlocks, @@ -28,7 +29,8 @@ const builtinExtensions = { videoSensing: Scratch3VideoSensingBlocks, speech2text: Scratch3Speech2TextBlocks, ev3: Scratch3Ev3Blocks, - makeymakey: Scratch3MakeyMakeyBlocks + makeymakey: Scratch3MakeyMakeyBlocks, + boost: Scratch3BoostBlocks }; /** diff --git a/src/extensions/scratch3_boost/index.js b/src/extensions/scratch3_boost/index.js new file mode 100644 index 000000000..970ba653f --- /dev/null +++ b/src/extensions/scratch3_boost/index.js @@ -0,0 +1,1780 @@ +const ArgumentType = require('../../extension-support/argument-type'); +const BlockType = require('../../extension-support/block-type'); +const Cast = require('../../util/cast'); +const formatMessage = require('format-message'); +const color = require('../../util/color'); +const BLE = require('../../io/ble'); +const Base64Util = require('../../util/base64-util'); +const MathUtil = require('../../util/math-util'); +const RateLimiter = require('../../util/rateLimiter.js'); +const log = require('../../util/log'); + +/** + * Icon svg to be displayed at the left edge of each extension block, encoded as a data URI. + * @type {string} + */ +// eslint-disable-next-line max-len +const iconURI = 'data:image/png;base64,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'; + +/** + * Boost BLE service UUID. + * @enum + */ +const BLEService = '00001623-1212-efde-1623-785feabcd123'; + +/** + * Boost BLE characteristic UUID. + * @enum + */ +const BLECharacteristic = '00001624-1212-efde-1623-785feabcd123'; + +/** + * A time interval to wait (in milliseconds) while a block that sends a BLE message is running. + * @type {number} + */ +const BLESendInterval = 100; + +/** + * A maximum number of BLE message sends per second, to be enforced by the rate limiter. + * @type {number} + */ +const BLESendRateMax = 20; + +/** + * Enum for Boost sensor and output types. + * @readonly + * @enum {number} + */ +const BoostDevice = { + MOTORINT: 0x27, + MOTOREXT: 0x26, + LED: 0x17, + TILT: 0x28, + COLOR: 0x25, + VOLTAGE: 0x14, + CURRENT: 0x15, +}; + +/** + * Enum for connection/port ids assigned to internal Boost output devices. + * @readonly + * @enum {number} + */ +// TODO: Check for these more accurately at startup? +const BoostConnectID = { + LED: 6, + PIEZO: 5 +}; + +/** + * Enum for ids for various output commands on the Boost. + * @readonly + * @enum {number} + */ +const BoostCommand = { + OUTPUT: 0x81, +}; + + +/** + * Enum for physical Boost Ports + * @readonly + * @enum {number} + */ +const BoostPort = { + A: 55, + B: 56, + C: 1, + D: 2 +}; + +const BoostColor = { + NONE: 255, + RED: 9, + BLUE: 3, + GREEN: 5, + YELLOW: 7, + WHITE: 10, + BLACK: 0 +} + +/** + * Enum for Message Types + * @readonly + * @enum {number} + */ + +const BoostMessageTypes = { + HUB_PROPERTIES: 0x01, + HUB_ACTIONS: 0x02, + HUB_ALERTS: 0x03, + HUB_ATTACHED_IO: 0x04, + ERROR: 0x05, + PORT_INFORMATION: 0x43, + PORT_MODEINFORMATION: 0x44, + PORT_VALUE: 0x45, + PORT_VALUE_COMBINED: 0x46, + PORT_INPUT_FORMAT: 0x47, + PORT_INPUT_FORMAT_COMBINED: 0x48, + PORT_OUTPUT_COMMAND_FEEDBACK: 0x82 +} + +/** + * Enum for Attached IO Message Lengths + * @readonly + * @enum {number} + */ + +const BoostIOEvent = { + ATTACHED: 0x01, + DETACHED: 0x00, + ATTACHED_VIRTUAL: 0x02 +} + +/** + * Enum for modes for input sensors on the Boost. + * @enum {number} + */ +const BoostMode = { + TILT: 0, // angle + DISTANCE: 0, // detect + LED: 1, // RGB + COLOR: 0, // Indexed colors + MOTOR: 2, // Position + UNKNOWN: 0 +}; + +/** + * Enum for units for input sensors on the Boost. + * + * 0 = raw + * 1 = percent + * + * @enum {number} + */ +const BoostUnit = { + TILT: 0, + DISTANCE: 1, + LED: 0, + MOTOR: 0, + COLOR: 0, + UNKNOWN:0 +}; + +function buf2hex(buffer) { // buffer is an ArrayBuffer + return Array.prototype.map.call(new Uint8Array(buffer), x => ('00' + x.toString(16)).slice(-2)).join(' '); +} + +/** + * Manage power, direction, and timers for one Boost motor. + */ +class BoostMotor { + /** + * Construct a Boost Motor instance. + * @param {Boost} parent - the Boost peripheral which owns this motor. + * @param {int} index - the zero-based index of this motor on its parent peripheral. + */ + constructor (parent, index) { + /** + * The Boost peripheral which owns this motor. + * @type {Boost} + * @private + */ + this._parent = parent; + + /** + * The zero-based index of this motor on its parent peripheral. + * @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; + + /** + * This motor's current relative position + * @type {number} + * @private + */ + this._position = 0; + + /** + * 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; + + /** + * 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.turnOff = this.turnOff.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) { + const p = Math.max(0, Math.min(value, 100)); + // Lego Boost hub only turns motors at power range [30 - 100], so + // map value from [0 - 100] to [30 - 100]. + if (p === 0) { + this._power = 0; + } else { + const delta = 100 / p; + this._power = 30 + (70 / delta); + } + } + + /** + * @return {int} - + */ + get position () { + return this._position; + } + + /** + * @param {int} value - + */ + set position (value) { + // Todo: wrap around rotation to avoid extremely large numbers + this._position = value; + } + + /** + * @return {boolean} - true if this motor is currently moving, false if this motor is off or braking. + */ + get isOn () { + 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. + */ + turnOn () { + if (this._power === 0) return; + //console.log(this._index) + //console.log(this._power * this._direction) + const cmd = this._parent.generateOutputCommand( + this._index, + 0x51, + [this._power * this._direction] // power in range 0-100 + ); + + this._parent.send(BLECharacteristic, cmd); + + this._isOn = true; + this._clearTimeout(); + } + + /** + * Turn this motor on for a specific duration. + * @param {number} milliseconds - run the motor for this long. + */ + turnOnFor (milliseconds) { + if (this._power === 0) return; + + milliseconds = Math.max(0, milliseconds); + this.turnOn(); + this._setNewTimeout(this.startBraking, milliseconds); + } + + /** + * Start active braking on this motor. After a short time, the motor will turn off. + * // TODO: rename this to coastAfter? + */ + startBraking () { + if (this._power === 0) return; + + const cmd = this._parent.generateOutputCommand( + this._index, + BoostCommand.MOTOR_POWER, + [127] // 127 = break + ); + + this._parent.send(BLECharacteristic, cmd); + + this._isOn = false; + this._setNewTimeout(this.turnOff, BoostMotor.BRAKE_TIME_MS); + } + + /** + * Turn this motor off. + * @param {boolean} [useLimiter=true] - if true, use the rate limiter + */ + turnOff (useLimiter = true) { + if (this._power === 0) return; + + const cmd = this._parent.generateOutputCommand( + this._index, + BoostCommand.MOTOR_POWER, + [0] // 0 = stop + ); + + this._parent.send(BLECharacteristic, cmd, useLimiter); + + 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; + this._pendingTimeoutStartTime = null; + this._pendingTimeoutDelay = 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; + this._pendingTimeoutStartTime = null; + this._pendingTimeoutDelay = null; + } + callback(); + }, delay); + this._pendingTimeoutId = timeoutID; + this._pendingTimeoutStartTime = Date.now(); + this._pendingTimeoutDelay = delay; + } +} + +/** + * Manage communication with a Boost peripheral over a Bluetooth Low Energy client socket. + */ +class Boost { + + constructor (runtime, extensionId) { + + /** + * The Scratch 3.0 runtime used to trigger the green flag button. + * @type {Runtime} + * @private + */ + this._runtime = runtime; + this._runtime.on('PROJECT_STOP_ALL', this.stopAll.bind(this)); + + /** + * The id of the extension this peripheral belongs to. + */ + this._extensionId = extensionId; + + /** + * A list of the ids of the motors or sensors in ports A, B, C or D. + * @type {string[]} + * @private + */ + this._ports = []; + + /** + * The motors which this Boost could possibly have. + * @type {BoostMotor[]} + * @private + */ + this._motors = []; + + /** + * The most recently received value for each sensor. + * @type {Object.} + * @private + */ + this._sensors = { + tiltX: 0, + tiltY: 0, + distance: 0, + color: 0, + }; + + /** + * The Bluetooth connection socket for reading/writing peripheral data. + * @type {BLE} + * @private + */ + this._ble = null; + this._runtime.registerPeripheralExtension(extensionId, this); + + /** + * A rate limiter utility, to help limit the rate at which we send BLE messages + * over the socket to Scratch Link to a maximum number of sends per second. + * @type {RateLimiter} + * @private + */ + this._rateLimiter = new RateLimiter(BLESendRateMax); + + this._onConnect = this._onConnect.bind(this); + this._onMessage = this._onMessage.bind(this); + } + + /** + * @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; + } + + /** + * @return {number} - the latest color value received from the vision sensor. + */ + get color () { + return this._sensors.color; + } + + /** + * Access a particular motor on this peripheral. + * @param {int} index - the index of the desired motor. + * @return {BoostMotor} - the BoostMotor instance, if any, at that index. + */ + motor (index) { + return this._motors[index]; + } + + /** + * Stop all the motors that are currently running. + */ + stopAllMotors () { + this._motors.forEach(motor => { + if (motor) { + // Send the motor off command without using the rate limiter. + // This allows the stop button to stop motors even if we are + // otherwise flooded with commands. + motor.turnOff(false); + } + }); + } + + /** + * Set the Boost peripheral's LED to a specific color. + * @param {int} inputRGB - a 24-bit RGB color in 0xRRGGBB format. + * @return {Promise} - a promise of the completion of the set led send operation. + */ + setLED (inputRGB) { + const rgb = [ + (inputRGB >> 16) & 0x000000FF, + (inputRGB >> 8) & 0x000000FF, + (inputRGB) & 0x000000FF + ]; + + const cmd = this.generateOutputCommand( + 50, + 0x51, + [0x51,0x01].concat(rgb) + ); + + return this.send(BLECharacteristic, cmd); + } + + /** + * Sets the input mode of the LED to RGB. + * @return {Promise} - a promise returned by the send operation. + */ + setLEDMode () { + const cmd = this.generateInputCommand( + this._ports.indexOf(BoostDevice.LED), + BoostMode.LED, + 0, + BoostUnit.LED, + false + ); + + return this.send(BLECharacteristic, cmd); + } + + /** + * Switch off the LED on the Boost. + * @return {Promise} - a promise of the completion of the stop led send operation. + */ + stopLED () { + const cmd = this.generateOutputCommand( + BoostConnectID.LED, + 0x32, + [0, 0, 0] + ); + + return this.send(BLECharacteristic, cmd); + } + + /** + * Stop the motors on the Boost peripheral. + */ + stopAll () { + if (!this.isConnected()) return; + this.stopAllMotors(); + } + + /** + * Called by the runtime when user wants to scan for a Boost peripheral. + */ + scan () { + if (this._ble) { + this._ble.disconnect(); + } + this._ble = new BLE(this._runtime, this._extensionId, { + filters: [{ + services: [BLEService] + }], + optionalServices: [] + }, this._onConnect); + } + + /** + * Called by the runtime when user wants to connect to a certain Boost peripheral. + * @param {number} id - the id of the peripheral to connect to. + */ + connect (id) { + if (this._ble) { + this._ble.connectPeripheral(id); + } + } + + /** + * Disconnects from the current BLE socket. + */ + disconnect () { + this._ports = []; + this._motors = []; + this._sensors = { + tiltX: 0, + tiltY: 0, + distance: 0, + color: 0 + }; + + if (this._ble) { + this._ble.disconnect(); + } + } + + /** + * Called by the runtime to detect whether the Boost peripheral is connected. + * @return {boolean} - the connected state. + */ + isConnected () { + let connected = false; + if (this._ble) { + connected = this._ble.isConnected(); + } + return connected; + } + + /** + * Write a message to the Boost peripheral BLE socket. + * @param {number} uuid - the UUID of the characteristic to write to + * @param {Array} message - the message to write. + * @param {boolean} [useLimiter=true] - if true, use the rate limiter + * @return {Promise} - a promise result of the write operation + */ + send (uuid, message, useLimiter = true) { + if (!this.isConnected()) return Promise.resolve(); + + if (useLimiter) { + if (!this._rateLimiter.okayToSend()) return Promise.resolve(); + } + + return this._ble.write( + BLEService, + uuid, + Base64Util.uint8ArrayToBase64(message), + 'base64' + ); + } + + /** + * Generate a Boost 'Output Command' in the byte array format + * (CONNECT ID, COMMAND ID, NUMBER OF BYTES, VALUES ...). + * + * This sends a command to the Boost to actuate the specified outputs. + * + * @param {number} connectID - the port (Connect ID) to send a command to. + * @param {number} commandID - the id of the byte command. + * @param {array} values - the list of values to write to the command. + * @return {array} - a generated output command. + */ + generateOutputCommand (connectID, subCommandID = 0x51, values = null) { + let command = [0x00, BoostCommand.OUTPUT]; + if (values) { + command = command.concat( + connectID + ).concat( + 0x00 // Execute immediately + ); + + if(subCommandID) { + command = command.concat(subCommandID); + } + command = command.concat(0x00) + + command = command/*.concat( + values.length + )*/.concat( + values + ); + } + command.unshift(command.length +1) + console.log(command) + return command; + } + + /** + * Generate a Boost 'Input Command' in the byte array format + * (COMMAND ID, COMMAND TYPE, CONNECT ID, TYPE ID, MODE, DELTA INTERVAL (4 BYTES), + * UNIT, NOTIFICATIONS ENABLED). + * + * This sends a command to the Boost that sets that input format + * of the specified inputs and sets value change notifications. + * + * @param {number} connectID - the port (Connect ID) to send a command to. + * @param {number} mode - the mode of the input sensor. + * @param {number} delta - the delta change needed to trigger notification. + * @param {array} units - the unit of the input sensor value. + * @param {boolean} enableNotifications - whether to enable notifications. + * @return {array} - a generated input command. + */ + generateInputCommand (connectID, mode, delta, units, enableNotifications) { + var command = [ + 0x00, // Hub ID + 0x41, // Message Type (Port Input Format Setup (Single)) + connectID, + mode, + delta, + enableNotifications + ]; + + command.unshift(command.length+1) // Prepend payload with length byte + + // Add checksum + console.log(buf2hex(command)) + //console.log(command) + + return command; + } + + /** + * Sets LED mode and initial color and starts reading data from peripheral after BLE has connected. + * @private + */ + _onConnect () { + //this.setLEDMode(); + //this.setLED(0x00FF00); + this._ble.startNotifications( + BLEService, + BLECharacteristic, + this._onMessage + ); + } + + /** + * Process the sensor data from the incoming BLE characteristic. + * @param {object} base64 - the incoming BLE data. + * @private + */ + _onMessage (base64) { + const data = Base64Util.base64ToUint8Array(base64); + //console.log(data) + // log.info(data); + + /** + * First three bytes are the common header: + * 0: Length of message + * 1: Hub ID (always 0x00 at the moment) + * 2: Message Type + * + * We base our switch-case on Message Type + */ + + switch (data[2]) { + case BoostMessageTypes.HUB_ATTACHED_IO: // IO Attach/Detach events + + /* + * 3: Port ID + * 4: Event + * 5: IO Type ID + */ + switch (data[4]) { + case BoostIOEvent.ATTACHED: + //case BoostIOEvent.ATTACHED_VIRTUAL: + //console.log("New sensor or motor registered!") + this._registerSensorOrMotor(data[3], data[5]) + //console.log(data[3] + "," + data[5]) + break; + case BoostIOEvent.DETACHED: + this._clearPort(data[3]); + break; + default: + console.log("No I/O Event case found!") + } + break; + case BoostMessageTypes.PORT_VALUE: + var type = this._ports[data[3]]; + var valueFormat = data.length + switch(valueFormat) { + // TODO: we can't know whether a 2- or 4-byte value is multiple values or a uint16/32-value respectively. We need to utilize the value format information provided in https://lego.github.io/lego-ble-wireless-protocol-docs/index.html#value-format + case 5: + var value = data[4]; + break; + case 6: + var value = [data[4], data[5]]; + break; + case 8: + //console.log(Uint32Array(data.slice(4,8))) + //console.log(buf2hex(data)) + var dv = new DataView(data.slice(4,8)) + console.log(dv.getInt32); + //var value = new Uint32Array(data.slice(4,8))[0] + break; + default: + // Do nothing + } + switch(type) { + case BoostDevice.TILT: + this._sensors.tiltX = value[0] + this._sensors.tiltY = value[1] + break; + case BoostDevice.COLOR: + this._sensors.color = value; + break; + case BoostDevice.MOTOREXT: + // ToDo: Handle external motor sensor + break; + case BoostDevice.MOTORINT: + //console.log(data[3] + "," + valueFormat + ": " + value) + this._motors[data[3]]._position = value + break; + case BoostDevice.CURRENT: + case BoostDevice.VOLTAGE: + break; + // Do nothing + default: + console.log("Unknown sensor value! Type: " + type) + } + break; + case BoostMessageTypes.ERROR: + console.log("Error in BLE message! Errorneous command: " + data[3]) + break; + default: + //console.log("No case found for message:") + //console.log(data) + } + } + + /** + * Register a new sensor or motor connected at a port. Store the type of + * sensor or motor internally, and then register for notifications on input + * values if it is a sensor. + * @param {number} connectID - the port to register a sensor or motor on. + * @param {number} type - the type ID of the sensor or motor + * @private + */ + _registerSensorOrMotor (connectID, type) { + // Record which port is connected to what type of device + this._ports[connectID] = type; + + // Record motor port + if (type === BoostDevice.MOTORINT || type === BoostDevice.MOTOREXT) { + this._motors[connectID] = new BoostMotor(this, connectID); + } + + // Set input format for tilt or distance sensor + var typeString = '' + switch(type) { + case BoostDevice.MOTORINT: + case BoostDevice.MOTOREXT: + typeString = 'MOTOR' + break; + case BoostDevice.COLOR: + typeString = 'COLOR' + break; + case BoostDevice.LED: + typeString = 'LED' + console.log("NOW!") + console.log("LED: " + connectID + ", " + type) + this.setLEDMode(); + this.setLED(0x00FF00); + break; + case BoostDevice.TILT: + typeString = 'TILT' + break; + default: + typeString = 'UNKNOWN' + } + //const typeString = type === BoostDevice.DISTANCE ? 'DISTANCE' : 'TILT'; + const cmd = this.generateInputCommand( + connectID, + BoostMode[typeString], + 1, + BoostUnit[typeString], + true + ); + + this.send(BLECharacteristic, cmd); + } + + /** + * Clear the sensor or motor present at port 1 or 2. + * @param {number} connectID - the port to clear. + * @private + */ + _clearPort (connectID) { + const type = this._ports[connectID]; + if (type === BoostDevice.TILT) { + this._sensors.tiltX = this._sensors.tiltY = 0; + } + if (type === BoostDevice.DISTANCE) { + this._sensors.distance = 0; + } + this._ports[connectID] = 'none'; + this._motors[connectID] = null; + } +} + +/** + * Enum for motor specification. + * @readonly + * @enum {string} + */ +const BoostMotorLabel = { + DEFAULT: 'motor', + A: 'motor A', + B: 'motor B', + C: 'motor C', + D: 'motor D', + ALL: 'all motors' +}; + +/** + * Enum for motor direction specification. + * @readonly + * @enum {string} + */ +const BoostMotorDirection = { + FORWARD: 'this way', + BACKWARD: 'that way', + REVERSE: 'reverse' +}; + +/** + * Enum for tilt sensor direction. + * @readonly + * @enum {string} + */ +const BoostTiltDirection = { + UP: 'up', + DOWN: 'down', + LEFT: 'left', + RIGHT: 'right', + ANY: 'any' +}; + +/** + * Scratch 3.0 blocks to interact with a LEGO Boost peripheral. + */ +class Scratch3BoostBlocks { + + /** + * @return {string} - the ID of this extension. + */ + static get EXTENSION_ID () { + return 'boost'; + } + + /** + * @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 Boost blocks. + * @param {Runtime} runtime - the Scratch 3.0 runtime. + */ + constructor (runtime) { + /** + * The Scratch 3.0 runtime. + * @type {Runtime} + */ + this.runtime = runtime; + + // Create a new Boost peripheral instance + this._peripheral = new Boost(this.runtime, Scratch3BoostBlocks.EXTENSION_ID); + } + + /** + * @returns {object} metadata for this extension and its blocks. + */ + getInfo () { + return { + id: Scratch3BoostBlocks.EXTENSION_ID, + name: 'Boost', + blockIconURI: iconURI, + showStatusButton: true, + blocks: [ + { + opcode: 'motorOnFor', + text: formatMessage({ + id: 'boost.motorOnFor', + default: 'turn [MOTOR_ID] on for [DURATION] seconds', + description: 'turn a motor on for some time' + }), + blockType: BlockType.COMMAND, + arguments: { + MOTOR_ID: { + type: ArgumentType.STRING, + menu: 'MOTOR_ID', + defaultValue: BoostMotorLabel.DEFAULT + }, + DURATION: { + type: ArgumentType.NUMBER, + defaultValue: 1 + } + } + }, + { + opcode: 'motorOn', + text: formatMessage({ + id: 'boost.motorOn', + default: 'turn [MOTOR_ID] on', + description: 'turn a motor on indefinitely' + }), + blockType: BlockType.COMMAND, + arguments: { + MOTOR_ID: { + type: ArgumentType.STRING, + menu: 'MOTOR_ID', + defaultValue: BoostMotorLabel.DEFAULT + } + } + }, + { + opcode: 'motorOff', + text: formatMessage({ + id: 'boost.motorOff', + default: 'turn [MOTOR_ID] off', + description: 'turn a motor off' + }), + blockType: BlockType.COMMAND, + arguments: { + MOTOR_ID: { + type: ArgumentType.STRING, + menu: 'MOTOR_ID', + defaultValue: BoostMotorLabel.DEFAULT + } + } + }, + { + opcode: 'startMotorPower', + text: formatMessage({ + id: 'boost.startMotorPower', + default: 'set [MOTOR_ID] power to [POWER]', + description: 'set the motor\'s power and turn it on' + }), + blockType: BlockType.COMMAND, + arguments: { + MOTOR_ID: { + type: ArgumentType.STRING, + menu: 'MOTOR_ID', + defaultValue: BoostMotorLabel.DEFAULT + }, + POWER: { + type: ArgumentType.NUMBER, + defaultValue: 100 + } + } + }, + { + opcode: 'setMotorDirection', + text: formatMessage({ + id: 'boost.setMotorDirection', + default: 'set [MOTOR_ID] direction to [MOTOR_DIRECTION]', + description: 'set the motor\'s turn direction' + }), + blockType: BlockType.COMMAND, + arguments: { + MOTOR_ID: { + type: ArgumentType.STRING, + menu: 'MOTOR_ID', + defaultValue: BoostMotorLabel.DEFAULT + }, + MOTOR_DIRECTION: { + type: ArgumentType.STRING, + menu: 'MOTOR_DIRECTION', + defaultValue: BoostMotorDirection.FORWARD + } + } + }, + { + opcode: 'setLightHue', + text: formatMessage({ + id: 'boost.setLightHue', + default: 'set light color to [HUE]', + description: 'set the LED color' + }), + blockType: BlockType.COMMAND, + arguments: { + HUE: { + type: ArgumentType.NUMBER, + defaultValue: 50 + } + } + }, + { + opcode: 'whenDistance', + text: formatMessage({ + id: 'boost.whenDistance', + default: 'when distance [OP] [REFERENCE]', + description: 'check for when distance is < or > than reference' + }), + blockType: BlockType.HAT, + arguments: { + OP: { + type: ArgumentType.STRING, + menu: 'OP', + defaultValue: '<' + }, + REFERENCE: { + type: ArgumentType.NUMBER, + defaultValue: 50 + } + } + }, + { + opcode: 'whenColor', + text: formatMessage({ + id: 'boost.whenColor', + default: 'when color [COLOR]', + description: 'check for when color' + }), + blockType: BlockType.HAT, + arguments: { + COLOR: { + type: ArgumentType.STRING, + menu: 'COLOR', + defaultValue: BoostColor.RED + } + } + }, + { + opcode: 'whenTilted', + text: formatMessage({ + id: 'boost.whenTilted', + default: 'when tilted [TILT_DIRECTION_ANY]', + description: 'check when tilted in a certain direction' + }), + func: 'isTilted', + blockType: BlockType.HAT, + arguments: { + TILT_DIRECTION_ANY: { + type: ArgumentType.STRING, + menu: 'TILT_DIRECTION_ANY', + defaultValue: BoostTiltDirection.ANY + } + } + }, + { + opcode: 'getDistance', + text: formatMessage({ + id: 'boost.getDistance', + default: 'distance', + description: 'the value returned by the distance sensor' + }), + blockType: BlockType.REPORTER + }, + { + opcode: 'isTilted', + text: formatMessage({ + id: 'boost.isTilted', + default: 'tilted [TILT_DIRECTION_ANY]?', + description: 'whether the tilt sensor is tilted' + }), + blockType: BlockType.BOOLEAN, + arguments: { + TILT_DIRECTION_ANY: { + type: ArgumentType.STRING, + menu: 'TILT_DIRECTION_ANY', + defaultValue: BoostTiltDirection.ANY + } + } + }, + { + opcode: 'getTiltAngle', + text: formatMessage({ + id: 'boost.getTiltAngle', + default: 'tilt angle [TILT_DIRECTION]', + description: 'the angle returned by the tilt sensor' + }), + blockType: BlockType.REPORTER, + arguments: { + TILT_DIRECTION: { + type: ArgumentType.STRING, + menu: 'TILT_DIRECTION', + defaultValue: BoostTiltDirection.UP + } + } + }, + { + opcode: 'getColor', + text: formatMessage({ + id: 'boost.getColor', + default: 'color', + description: 'the color returned by the vision sensor' + }), + blockType: BlockType.REPORTER + }, + { + opcode: 'getMotorPosition', + text: formatMessage({ + id: 'boost.getMotorPosition', + default: 'motor position [MOTOR_ID]', + description: 'the position returned by the motor' + }), + blockType: BlockType.REPORTER, + arguments: { + MOTOR_ID: { + type: ArgumentType.STRING, + menu: 'MOTOR_ID', + defaultValue: BoostMotorLabel.A + } + } + } + ], + menus: { + MOTOR_ID: [ + { + text: formatMessage({ + id: 'boost.motorId.default', + default: 'motor', + description: 'label for motor element in motor menu for LEGO Boost extension' + }), + value: BoostMotorLabel.DEFAULT + }, + { + text: formatMessage({ + id: 'boost.motorId.a', + default: 'motor A', + description: 'label for motor A element in motor menu for LEGO Boost extension' + }), + value: BoostMotorLabel.A + }, + { + text: formatMessage({ + id: 'boost.motorId.b', + default: 'motor B', + description: 'label for motor B element in motor menu for LEGO Boost extension' + }), + value: BoostMotorLabel.B + }, + { + text: formatMessage({ + id: 'boost.motorId.c', + default: 'motor C', + description: 'label for motor C element in motor menu for LEGO Boost extension' + }), + value: BoostMotorLabel.C + }, + { + text: formatMessage({ + id: 'boost.motorId.d', + default: 'motor D', + description: 'label for motor D element in motor menu for LEGO Boost extension' + }), + value: BoostMotorLabel.D + }, + { + text: formatMessage({ + id: 'boost.motorId.all', + default: 'all motors', + description: 'label for all motors element in motor menu for LEGO Boost extension' + }), + value: BoostMotorLabel.ALL + } + ], + MOTOR_DIRECTION: [ + { + text: formatMessage({ + id: 'boost.motorDirection.forward', + default: 'this way', + description: 'label for forward element in motor direction menu for LEGO Boost extension' + }), + value: BoostMotorDirection.FORWARD + }, + { + text: formatMessage({ + id: 'boost.motorDirection.backward', + default: 'that way', + description: 'label for backward element in motor direction menu for LEGO Boost extension' + }), + value: BoostMotorDirection.BACKWARD + }, + { + text: formatMessage({ + id: 'boost.motorDirection.reverse', + default: 'reverse', + description: 'label for reverse element in motor direction menu for LEGO Boost extension' + }), + value: BoostMotorDirection.REVERSE + } + ], + TILT_DIRECTION: [ + { + text: formatMessage({ + id: 'boost.tiltDirection.up', + default: 'up', + description: 'label for up element in tilt direction menu for LEGO Boost extension' + }), + value: BoostTiltDirection.UP + }, + { + text: formatMessage({ + id: 'boost.tiltDirection.down', + default: 'down', + description: 'label for down element in tilt direction menu for LEGO Boost extension' + }), + value: BoostTiltDirection.DOWN + }, + { + text: formatMessage({ + id: 'boost.tiltDirection.left', + default: 'left', + description: 'label for left element in tilt direction menu for LEGO Boost extension' + }), + value: BoostTiltDirection.LEFT + }, + { + text: formatMessage({ + id: 'boost.tiltDirection.right', + default: 'right', + description: 'label for right element in tilt direction menu for LEGO Boost extension' + }), + value: BoostTiltDirection.RIGHT + } + ], + TILT_DIRECTION_ANY: [ + { + text: formatMessage({ + id: 'boost.tiltDirection.up', + default: 'up' + }), + value: BoostTiltDirection.UP + }, + { + text: formatMessage({ + id: 'boost.tiltDirection.down', + default: 'down' + }), + value: BoostTiltDirection.DOWN + }, + { + text: formatMessage({ + id: 'boost.tiltDirection.left', + default: 'left' + }), + value: BoostTiltDirection.LEFT + }, + { + text: formatMessage({ + id: 'boost.tiltDirection.right', + default: 'right' + }), + value: BoostTiltDirection.RIGHT + }, + { + text: formatMessage({ + id: 'boost.tiltDirection.any', + default: 'any', + description: 'label for any element in tilt direction menu for LEGO Boost extension' + }), + value: BoostTiltDirection.ANY + } + ], + COLOR: [ + { + text: formatMessage({ + id: 'boost.color.red', + default: 'red' + }), + value: BoostColor.RED + }, + { + text: formatMessage({ + id: 'boost.color.blue', + default: 'blue' + }), + value: BoostColor.BLUE + }, + { + text: formatMessage({ + id: 'boost.color.green', + default: 'green' + }), + value: BoostColor.GREEN + }, + { + text: formatMessage({ + id: 'boost.color.yellow', + default: 'yellow' + }), + value: BoostColor.YELLOW + }, + { + text: formatMessage({ + id: 'boost.color.white', + default: 'white' + }), + value: BoostColor.WHITE + }, + { + text: formatMessage({ + id: 'boost.color.black', + default: 'black', + description: 'black' + }), + value: BoostColor.BLACK + } + ], + OP: ['<', '>'] + } + }; + } + + /** + * 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) { + // TODO: cast args.MOTOR_ID? + let durationMS = Cast.toNumber(args.DURATION) * 1000; + durationMS = MathUtil.clamp(durationMS, 0, 15000); + return new Promise(resolve => { + this._forEachMotor(args.MOTOR_ID, motorIndex => { + const motor = this._peripheral.motor(motorIndex); + if (motor) { + motor.turnOnFor(durationMS); + } + }); + + // Run for some time even when no motor is connected + setTimeout(resolve, durationMS); + }); + } + + /** + * Turn specified motor(s) on indefinitely. + * @param {object} args - the block's arguments. + * @property {MotorID} MOTOR_ID - the motor(s) to activate. + * @return {Promise} - a Promise that resolves after some delay. + */ + motorOn (args) { + // TODO: cast args.MOTOR_ID? + this._forEachMotor(args.MOTOR_ID, motorIndex => { + const motor = this._peripheral.motor(motorIndex); + if (motor) { + motor.turnOn(); + } + }); + + return new Promise(resolve => { + window.setTimeout(() => { + resolve(); + }, BLESendInterval); + }); + } + + /** + * Turn specified motor(s) off. + * @param {object} args - the block's arguments. + * @property {MotorID} MOTOR_ID - the motor(s) to deactivate. + * @return {Promise} - a Promise that resolves after some delay. + */ + motorOff (args) { + // TODO: cast args.MOTOR_ID? + this._forEachMotor(args.MOTOR_ID, motorIndex => { + const motor = this._peripheral.motor(motorIndex); + if (motor) { + motor.turnOff(); + } + }); + + return new Promise(resolve => { + window.setTimeout(() => { + resolve(); + }, BLESendInterval); + }); + } + + /** + * 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). + * @return {Promise} - a Promise that resolves after some delay. + */ + startMotorPower (args) { + // TODO: cast args.MOTOR_ID? + this._forEachMotor(args.MOTOR_ID, motorIndex => { + const motor = this._peripheral.motor(motorIndex); + if (motor) { + motor.power = MathUtil.clamp(Cast.toNumber(args.POWER), 0, 100); + motor.turnOn(); + } + }); + + return new Promise(resolve => { + window.setTimeout(() => { + resolve(); + }, BLESendInterval); + }); + } + + /** + * 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} MOTOR_DIRECTION - the new direction for the motor(s). + * @return {Promise} - a Promise that resolves after some delay. + */ + setMotorDirection (args) { + // TODO: cast args.MOTOR_ID? + this._forEachMotor(args.MOTOR_ID, motorIndex => { + const motor = this._peripheral.motor(motorIndex); + if (motor) { + switch (args.MOTOR_DIRECTION) { + case BoostMotorDirection.FORWARD: + motor.direction = 1; + break; + case BoostMotorDirection.BACKWARD: + motor.direction = -1; + break; + case BoostMotorDirection.REVERSE: + motor.direction = -motor.direction; + break; + default: + log.warn(`Unknown motor direction in setMotorDirection: ${args.DIRECTION}`); + break; + } + // keep the motor on if it's running, and update the pending timeout if needed + if (motor.isOn) { + if (motor.pendingTimeoutDelay) { + motor.turnOnFor(motor.pendingTimeoutStartTime + motor.pendingTimeoutDelay - Date.now()); + } else { + motor.turnOn(); + } + } + } + }); + + return new Promise(resolve => { + window.setTimeout(() => { + resolve(); + }, BLESendInterval); + }); + } + + /** + * Set the LED's hue. + * @param {object} args - the block's arguments. + * @property {number} HUE - the hue to set, in the range [0,100]. + * @return {Promise} - a Promise that resolves after some delay. + */ + setLightHue (args) { + // Convert from [0,100] to [0,360] + let inputHue = Cast.toNumber(args.HUE); + inputHue = MathUtil.wrapClamp(inputHue, 0, 100); + const hue = inputHue * 360 / 100; + + const rgbObject = color.hsvToRgb({h: hue, s: 1, v: 1}); + + const rgbDecimal = color.rgbToDecimal(rgbObject); + + this._peripheral.setLED(rgbDecimal); + + return new Promise(resolve => { + window.setTimeout(() => { + resolve(); + }, BLESendInterval); + }); + } + + /** + * 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._peripheral.distance < Cast.toNumber(args.REFERENCE); + case '>': + return this._peripheral.distance > Cast.toNumber(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} TILT_DIRECTION_ANY - 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.TILT_DIRECTION_ANY); + } + + /** + * Test whether the tilt sensor is currently tilted. + * @param {object} args - the block's arguments. + * @property {Color} COLOR - the color to test. + * @return {boolean} - true if the tilt sensor is tilted past a threshold in the specified direction. + */ + whenColor (args) { + return this._isColor(args.COLOR); + } + + /** + * @return {number} - the distance sensor's value, scaled to the [0,100] range. + */ + getDistance () { + return this._peripheral.distance; + } + + /** + * @return {number} - the vision sensor's color value. Indexed LEGO brick colors. + */ + getColor () { + return this._peripheral.color; + } + + /** + * @return {number} + */ + getMotorPosition (args) { + switch(args.MOTOR_ID) { + case BoostMotorLabel.A: + return this._peripheral._motors[BoostPort.A].position + case BoostMotorLabel.B: + return this._peripheral._motors[BoostPort.B].position + case BoostMotorLabel.C: + return this._peripheral._motors[BoostPort.C].position + case BoostMotorLabel.D: + return this._peripheral._motors[BoostPort.D].position + default: + log.warn("Asked for a motor position that doesnt exist!") + return false; + } + } + + /** + * Test whether the tilt sensor is currently tilted. + * @param {object} args - the block's arguments. + * @property {TiltDirection} TILT_DIRECTION_ANY - 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.TILT_DIRECTION_ANY); + } + + /** + * @param {object} args - the block's arguments. + * @property {TiltDirection} TILT_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.TILT_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 BoostTiltDirection.ANY: + return (Math.abs(this._peripheral.tiltX) >= Scratch3BoostBlocks.TILT_THRESHOLD) || + (Math.abs(this._peripheral.tiltY) >= Scratch3BoostBlocks.TILT_THRESHOLD); + default: + return this._getTiltAngle(direction) >= Scratch3BoostBlocks.TILT_THRESHOLD; + } + } + + /** + * Test whether the vision sensor is detecting a certain color. + * @param {Color} color - the color to test. + * @return {boolean} - true when the color sensor senses the specified color. + * @private + */ + _isColor (color) { + return this.getColor() === color; + } + + /** + * @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 BoostTiltDirection.UP: + return this._peripheral.tiltY > 45 ? 256 - this._peripheral.tiltY : -this._peripheral.tiltY; + case BoostTiltDirection.DOWN: + return this._peripheral.tiltY > 45 ? this._peripheral.tiltY - 256 : this._peripheral.tiltY; + case BoostTiltDirection.LEFT: + return this._peripheral.tiltX > 45 ? 256 - this._peripheral.tiltX : -this._peripheral.tiltX; + case BoostTiltDirection.RIGHT: + return this._peripheral.tiltX > 45 ? this._peripheral.tiltX - 256 : this._peripheral.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 BoostMotorLabel.A: + motors = [BoostPort.A]; + break; + case BoostMotorLabel.B: + motors = [BoostPort.B]; + break; + case BoostMotorLabel.C: + motors = [BoostPort.C]; + break; + case BoostMotorLabel.D: + motors = [BoostPort.D]; + break; + case BoostMotorLabel.ALL: + case BoostMotorLabel.DEFAULT: + motors = [BoostPort.A, BoostPort.B, BoostPort.C, BoostPort.D]; + break; + default: + log.warn(`Invalid motor ID: ${motorID}`); + motors = []; + break; + } + for (const index of motors) { + callback(index); + } + } +} + +module.exports = Scratch3BoostBlocks; From 0557fc8e09f5c77b248da651a9969108b3c0ccab Mon Sep 17 00:00:00 2001 From: Kevin Andersen Date: Sun, 13 Jan 2019 21:10:20 +0100 Subject: [PATCH 02/30] Motor position reporter kinda working. LED commands working. Added mode information to generateOutputCommand-function. Removed value-format switch-case in favor of hard-coded value-interpretation, but put in a TODO that we perhaps should consider doing it in the future. --- package-lock.json | 47 +++++++++++----- src/extensions/scratch3_boost/index.js | 74 +++++++++++--------------- 2 files changed, 64 insertions(+), 57 deletions(-) diff --git a/package-lock.json b/package-lock.json index f91352f7c..2c477c800 100644 --- a/package-lock.json +++ b/package-lock.json @@ -2177,7 +2177,7 @@ }, "bl": { "version": "1.2.2", - "resolved": "http://registry.npmjs.org/bl/-/bl-1.2.2.tgz", + "resolved": "https://registry.npmjs.org/bl/-/bl-1.2.2.tgz", "integrity": "sha512-e8tQYnZodmebYDWGH7KMRvtzKXaJHx3BbilrgZCfvyLUYdKpK1t5PSPmpkny/SgiTSCnjfLW7v5rlONXVFkQEA==", "dev": true, "requires": { @@ -2193,7 +2193,7 @@ }, "readable-stream": { "version": "2.3.6", - "resolved": "http://registry.npmjs.org/readable-stream/-/readable-stream-2.3.6.tgz", + "resolved": "https://registry.npmjs.org/readable-stream/-/readable-stream-2.3.6.tgz", "integrity": "sha512-tQtKA9WIAhBF3+VLAseyMqZeBjW0AHJoxOtYqSUZNJxauErmLbVm2FW1y+J/YA9dUrAC39ITejlZWhVIwawkKw==", "dev": true, "requires": { @@ -4950,7 +4950,7 @@ "dependencies": { "commander": { "version": "2.1.0", - "resolved": "http://registry.npmjs.org/commander/-/commander-2.1.0.tgz", + "resolved": "https://registry.npmjs.org/commander/-/commander-2.1.0.tgz", "integrity": "sha1-0SG7roYNmZKj1Re6lvVliOR8Z4E=", "dev": true } @@ -7617,7 +7617,7 @@ }, "magic-string": { "version": "0.22.5", - "resolved": "http://registry.npmjs.org/magic-string/-/magic-string-0.22.5.tgz", + "resolved": "https://registry.npmjs.org/magic-string/-/magic-string-0.22.5.tgz", "integrity": "sha512-oreip9rJZkzvA8Qzk9HFs8fZGF/u7H/gtrE8EN6RjKJ9kh2HlC+yQ2QezifqTZfGyiuAV0dRv5a+y/8gBb1m9w==", "dev": true, "requires": { @@ -11645,7 +11645,7 @@ "dependencies": { "minimist": { "version": "1.2.0", - "resolved": "http://registry.npmjs.org/minimist/-/minimist-1.2.0.tgz", + "resolved": "https://registry.npmjs.org/minimist/-/minimist-1.2.0.tgz", "integrity": "sha1-o1AIsg9BOD7sH7kU9M1d95omQoQ=", "dev": true } @@ -12112,9 +12112,9 @@ } }, "scratch-audio": { - "version": "0.1.0-prerelease.20181023202904", - "resolved": "https://registry.npmjs.org/scratch-audio/-/scratch-audio-0.1.0-prerelease.20181023202904.tgz", - "integrity": "sha512-0cf+snpT04RFWFgMsMzbztzNVyh2PkUaT8mjlwNNoIRy5p7yDN3EMC2zGbR71nZMus1tO2EDxqrpan2ix4IWDw==", + "version": "0.1.0-prerelease.20190108181031", + "resolved": "https://registry.npmjs.org/scratch-audio/-/scratch-audio-0.1.0-prerelease.20190108181031.tgz", + "integrity": "sha512-Ygu+pN2u9det8HTIo+2wj8ibqe0QjAA624N9GxC62nrdGH39NxDRJyiwheeuZH/oEjM9RTsCSSOH+C9fXA9ekA==", "dev": true, "requires": { "audio-context": "1.0.1", @@ -12168,9 +12168,9 @@ } }, "scratch-render": { - "version": "0.1.0-prerelease.20190103190631", - "resolved": "https://registry.npmjs.org/scratch-render/-/scratch-render-0.1.0-prerelease.20190103190631.tgz", - "integrity": "sha512-DFh5dnvLQ0iv2UahMJgUrCqnMOPjM4NAN0fQUBtm4w5gskkFOem6QvTGPWcUf75II4MDwUbj+LGZclqEYWTnSw==", + "version": "0.1.0-prerelease.20190109203013", + "resolved": "https://registry.npmjs.org/scratch-render/-/scratch-render-0.1.0-prerelease.20190109203013.tgz", + "integrity": "sha512-yrkBuF1zLHrXEHQmbQhpATDxot/wqoN/oDW2aIjzV9ylxCy+zNdGI2XJ9tRy10bCcM5bdC879ROX9fCr+n6FwQ==", "dev": true, "requires": { "grapheme-breaker": "0.3.2", @@ -12180,8 +12180,29 @@ "minilog": "3.1.0", "raw-loader": "^0.5.1", "scratch-storage": "^1.0.0", - "scratch-svg-renderer": "0.2.0-prerelease.20181220183040", + "scratch-svg-renderer": "0.2.0-prerelease.20190109201344", "twgl.js": "4.4.0" + }, + "dependencies": { + "base64-js": { + "version": "1.2.1", + "resolved": "https://registry.npmjs.org/base64-js/-/base64-js-1.2.1.tgz", + "integrity": "sha512-dwVUVIXsBZXwTuwnXI9RK8sBmgq09NDHzyR9SAph9eqk76gKK2JSQmZARC2zRC81JC2QTtxD0ARU5qTS25gIGw==", + "dev": true + }, + "scratch-svg-renderer": { + "version": "0.2.0-prerelease.20190109201344", + "resolved": "https://registry.npmjs.org/scratch-svg-renderer/-/scratch-svg-renderer-0.2.0-prerelease.20190109201344.tgz", + "integrity": "sha512-pRMvQrM5UA2wcqleaXVpFx0Pi6Q3GsRA5elJ0tJksdr6k8HYm5D6sW62VtEtMHjnkQDa+EFyqfHq9IEPnzFjeQ==", + "dev": true, + "requires": { + "base64-js": "1.2.1", + "base64-loader": "1.0.0", + "minilog": "3.1.0", + "scratch-render-fonts": "1.0.0-prerelease.20180906193204", + "transformation-matrix": "1.14.1" + } + } } }, "scratch-render-fonts": { @@ -12992,7 +13013,7 @@ }, "readable-stream": { "version": "2.3.6", - "resolved": "http://registry.npmjs.org/readable-stream/-/readable-stream-2.3.6.tgz", + "resolved": "https://registry.npmjs.org/readable-stream/-/readable-stream-2.3.6.tgz", "integrity": "sha512-tQtKA9WIAhBF3+VLAseyMqZeBjW0AHJoxOtYqSUZNJxauErmLbVm2FW1y+J/YA9dUrAC39ITejlZWhVIwawkKw==", "dev": true, "requires": { diff --git a/src/extensions/scratch3_boost/index.js b/src/extensions/scratch3_boost/index.js index 970ba653f..8f737ebd9 100644 --- a/src/extensions/scratch3_boost/index.js +++ b/src/extensions/scratch3_boost/index.js @@ -337,6 +337,7 @@ class BoostMotor { const cmd = this._parent.generateOutputCommand( this._index, 0x51, + 0x00, [this._power * this._direction] // power in range 0-100 ); @@ -368,6 +369,7 @@ class BoostMotor { const cmd = this._parent.generateOutputCommand( this._index, BoostCommand.MOTOR_POWER, + 0x00, [127] // 127 = break ); @@ -387,6 +389,7 @@ class BoostMotor { const cmd = this._parent.generateOutputCommand( this._index, BoostCommand.MOTOR_POWER, + 0x00, [0] // 0 = stop ); @@ -451,14 +454,14 @@ class Boost { this._extensionId = extensionId; /** - * A list of the ids of the motors or sensors in ports A, B, C or D. + * A list of the ids of the physical or virtual sensors. * @type {string[]} * @private */ this._ports = []; /** - * The motors which this Boost could possibly have. + * A list of motors registered by the Boost hardware. * @type {BoostMotor[]} * @private */ @@ -562,7 +565,8 @@ class Boost { const cmd = this.generateOutputCommand( 50, 0x51, - [0x51,0x01].concat(rgb) + BoostMode.LED, + rgb ); return this.send(BLECharacteristic, cmd); @@ -592,6 +596,7 @@ class Boost { const cmd = this.generateOutputCommand( BoostConnectID.LED, 0x32, + BoostMode.LED, [0, 0, 0] ); @@ -694,23 +699,21 @@ class Boost { * @param {array} values - the list of values to write to the command. * @return {array} - a generated output command. */ - generateOutputCommand (connectID, subCommandID = 0x51, values = null) { + generateOutputCommand (connectID, subCommandID = 0x51, mode=0x00, values = null) { let command = [0x00, BoostCommand.OUTPUT]; if (values) { command = command.concat( connectID ).concat( - 0x00 // Execute immediately + 0x00 // Execute immediately ); if(subCommandID) { command = command.concat(subCommandID); } - command = command.concat(0x00) + command = command.concat(mode) - command = command/*.concat( - values.length - )*/.concat( + command = command.concat( values ); } @@ -774,8 +777,6 @@ class Boost { */ _onMessage (base64) { const data = Base64Util.base64ToUint8Array(base64); - //console.log(data) - // log.info(data); /** * First three bytes are the common header: @@ -797,9 +798,7 @@ class Boost { switch (data[4]) { case BoostIOEvent.ATTACHED: //case BoostIOEvent.ATTACHED_VIRTUAL: - //console.log("New sensor or motor registered!") this._registerSensorOrMotor(data[3], data[5]) - //console.log(data[3] + "," + data[5]) break; case BoostIOEvent.DETACHED: this._clearPort(data[3]); @@ -811,37 +810,23 @@ class Boost { case BoostMessageTypes.PORT_VALUE: var type = this._ports[data[3]]; var valueFormat = data.length - switch(valueFormat) { - // TODO: we can't know whether a 2- or 4-byte value is multiple values or a uint16/32-value respectively. We need to utilize the value format information provided in https://lego.github.io/lego-ble-wireless-protocol-docs/index.html#value-format - case 5: - var value = data[4]; - break; - case 6: - var value = [data[4], data[5]]; - break; - case 8: - //console.log(Uint32Array(data.slice(4,8))) - //console.log(buf2hex(data)) - var dv = new DataView(data.slice(4,8)) - console.log(dv.getInt32); - //var value = new Uint32Array(data.slice(4,8))[0] - break; - default: - // Do nothing - } + // TODO: Build a proper value-formatting based on the PORT_INPUT_FORMAT-messages instead of hardcoding value-handling switch(type) { case BoostDevice.TILT: - this._sensors.tiltX = value[0] - this._sensors.tiltY = value[1] + this._sensors.tiltX = data[4] + this._sensors.tiltY = data[5] break; case BoostDevice.COLOR: - this._sensors.color = value; + this._sensors.color = data[4]; break; case BoostDevice.MOTOREXT: - // ToDo: Handle external motor sensor - break; case BoostDevice.MOTORINT: - //console.log(data[3] + "," + valueFormat + ": " + value) + // Taken from EV3 extension tacho motor calculation + let value = data[4] + (data[5] * 256) + (data[6] * 256 * 256) + (data[7] * 256 * 256 * 256); + if (value > 0x7fffffff) { + value = value - 0x100000000; + } + //console.log(value); this._motors[data[3]]._position = value break; case BoostDevice.CURRENT: @@ -852,12 +837,12 @@ class Boost { console.log("Unknown sensor value! Type: " + type) } break; + case BoostMessageTypes.PORT_INPUT_FORMAT: case BoostMessageTypes.ERROR: - console.log("Error in BLE message! Errorneous command: " + data[3]) + console.log(buf2hex(data)) break; default: - //console.log("No case found for message:") - //console.log(data) + console.log(buf2hex(data)) } } @@ -1660,14 +1645,15 @@ class Scratch3BoostBlocks { */ getMotorPosition (args) { switch(args.MOTOR_ID) { + // TODO: Handle negative rotation. case BoostMotorLabel.A: - return this._peripheral._motors[BoostPort.A].position + return MathUtil.wrapClamp(this._peripheral._motors[BoostPort.A].position, 0, 360); case BoostMotorLabel.B: - return this._peripheral._motors[BoostPort.B].position + return MathUtil.wrapClamp(this._peripheral._motors[BoostPort.B].position, 0, 360); case BoostMotorLabel.C: - return this._peripheral._motors[BoostPort.C].position + return MathUtil.wrapClamp(this._peripheral._motors[BoostPort.C].position, 0, 360); case BoostMotorLabel.D: - return this._peripheral._motors[BoostPort.D].position + return MathUtil.wrapClamp(this._peripheral._motors[BoostPort.D].position, 0, 360); default: log.warn("Asked for a motor position that doesnt exist!") return false; From 7cee07db83e20792d9b8aad8efd6dfbfd3f3524f Mon Sep 17 00:00:00 2001 From: Kevin Andersen Date: Mon, 21 Jan 2019 08:01:10 +0100 Subject: [PATCH 03/30] Changed default motor to A instead of all. Added TODOs and DEBUG code comments. Changed output-commands to use proper enums --- src/extensions/scratch3_boost/index.js | 87 +++++++++++++++----------- 1 file changed, 51 insertions(+), 36 deletions(-) diff --git a/src/extensions/scratch3_boost/index.js b/src/extensions/scratch3_boost/index.js index 8f737ebd9..2c7c9089d 100644 --- a/src/extensions/scratch3_boost/index.js +++ b/src/extensions/scratch3_boost/index.js @@ -55,23 +55,13 @@ const BoostDevice = { CURRENT: 0x15, }; -/** - * Enum for connection/port ids assigned to internal Boost output devices. - * @readonly - * @enum {number} - */ -// TODO: Check for these more accurately at startup? -const BoostConnectID = { - LED: 6, - PIEZO: 5 -}; - /** * Enum for ids for various output commands on the Boost. * @readonly * @enum {number} */ const BoostCommand = { + // TODO: Figure out if this enum is necessary or if we're always just sending 0x81 OUTPUT: 0x81, }; @@ -563,7 +553,7 @@ class Boost { ]; const cmd = this.generateOutputCommand( - 50, + this._ports.indexOf(BoostDevice.LED), 0x51, BoostMode.LED, rgb @@ -594,9 +584,9 @@ class Boost { */ stopLED () { const cmd = this.generateOutputCommand( - BoostConnectID.LED, - 0x32, - BoostMode.LED, + this._ports.indexOf(BoostDevice.LED), + 0x51, + BoostUnit.LED, [0, 0, 0] ); @@ -749,9 +739,8 @@ class Boost { command.unshift(command.length+1) // Prepend payload with length byte - // Add checksum + //DEBUG console.log(buf2hex(command)) - //console.log(command) return command; } @@ -761,8 +750,6 @@ class Boost { * @private */ _onConnect () { - //this.setLEDMode(); - //this.setLED(0x00FF00); this._ble.startNotifications( BLEService, BLECharacteristic, @@ -839,9 +826,11 @@ class Boost { break; case BoostMessageTypes.PORT_INPUT_FORMAT: case BoostMessageTypes.ERROR: + //DEBUG console.log(buf2hex(data)) break; default: + //DEBUG console.log(buf2hex(data)) } } @@ -1010,7 +999,7 @@ class Scratch3BoostBlocks { MOTOR_ID: { type: ArgumentType.STRING, menu: 'MOTOR_ID', - defaultValue: BoostMotorLabel.DEFAULT + defaultValue: BoostMotorLabel.A }, DURATION: { type: ArgumentType.NUMBER, @@ -1030,7 +1019,7 @@ class Scratch3BoostBlocks { MOTOR_ID: { type: ArgumentType.STRING, menu: 'MOTOR_ID', - defaultValue: BoostMotorLabel.DEFAULT + defaultValue: BoostMotorLabel.A } } }, @@ -1046,7 +1035,7 @@ class Scratch3BoostBlocks { MOTOR_ID: { type: ArgumentType.STRING, menu: 'MOTOR_ID', - defaultValue: BoostMotorLabel.DEFAULT + defaultValue: BoostMotorLabel.A } } }, @@ -1062,7 +1051,7 @@ class Scratch3BoostBlocks { MOTOR_ID: { type: ArgumentType.STRING, menu: 'MOTOR_ID', - defaultValue: BoostMotorLabel.DEFAULT + defaultValue: BoostMotorLabel.A }, POWER: { type: ArgumentType.NUMBER, @@ -1082,7 +1071,7 @@ class Scratch3BoostBlocks { MOTOR_ID: { type: ArgumentType.STRING, menu: 'MOTOR_ID', - defaultValue: BoostMotorLabel.DEFAULT + defaultValue: BoostMotorLabel.A }, MOTOR_DIRECTION: { type: ArgumentType.STRING, @@ -1213,14 +1202,14 @@ class Scratch3BoostBlocks { opcode: 'getMotorPosition', text: formatMessage({ id: 'boost.getMotorPosition', - default: 'motor position [MOTOR_ID]', + default: 'motor position [MOTOR_REPORTER_ID]', description: 'the position returned by the motor' }), blockType: BlockType.REPORTER, arguments: { - MOTOR_ID: { + MOTOR_REPORTER_ID: { type: ArgumentType.STRING, - menu: 'MOTOR_ID', + menu: 'MOTOR_REPORTER_ID', defaultValue: BoostMotorLabel.A } } @@ -1228,14 +1217,6 @@ class Scratch3BoostBlocks { ], menus: { MOTOR_ID: [ - { - text: formatMessage({ - id: 'boost.motorId.default', - default: 'motor', - description: 'label for motor element in motor menu for LEGO Boost extension' - }), - value: BoostMotorLabel.DEFAULT - }, { text: formatMessage({ id: 'boost.motorId.a', @@ -1277,6 +1258,40 @@ class Scratch3BoostBlocks { value: BoostMotorLabel.ALL } ], + MOTOR_REPORTER_ID: [ + { + text: formatMessage({ + id: 'boost.motorReporterId.a', + default: 'A', + description: 'label for motor A element in motor menu for LEGO Boost extension' + }), + value: BoostMotorLabel.A + }, + { + text: formatMessage({ + id: 'boost.motorReporterId.b', + default: 'B', + description: 'label for motor B element in motor menu for LEGO Boost extension' + }), + value: BoostMotorLabel.B + }, + { + text: formatMessage({ + id: 'boost.motorReporterId.c', + default: 'C', + description: 'label for motor C element in motor menu for LEGO Boost extension' + }), + value: BoostMotorLabel.C + }, + { + text: formatMessage({ + id: 'boost.motorReporterId.d', + default: 'D', + description: 'label for motor D element in motor menu for LEGO Boost extension' + }), + value: BoostMotorLabel.D + } + ], MOTOR_DIRECTION: [ { text: formatMessage({ @@ -1644,7 +1659,7 @@ class Scratch3BoostBlocks { * @return {number} */ getMotorPosition (args) { - switch(args.MOTOR_ID) { + switch(args.MOTOR_REPORTER_ID) { // TODO: Handle negative rotation. case BoostMotorLabel.A: return MathUtil.wrapClamp(this._peripheral._motors[BoostPort.A].position, 0, 360); From ffb5cd63afe9b5f26a1491618c6a03aac4f44b0d Mon Sep 17 00:00:00 2001 From: Kevin Andersen Date: Wed, 23 Jan 2019 09:10:03 +0100 Subject: [PATCH 04/30] added zero-block for motor positioning. Added turn-for-rotation-block, but its WIP. Modified generateOutputCommand to allow for advanced motor commands. Changed motor position reporter to follow hardware instead of wrap-clamping. --- package-lock.json | 8 +- src/extensions/scratch3_boost/index.js | 149 +++++++++++++++++++++++-- 2 files changed, 145 insertions(+), 12 deletions(-) diff --git a/package-lock.json b/package-lock.json index 2c477c800..17616be59 100644 --- a/package-lock.json +++ b/package-lock.json @@ -2177,7 +2177,7 @@ }, "bl": { "version": "1.2.2", - "resolved": "https://registry.npmjs.org/bl/-/bl-1.2.2.tgz", + "resolved": "http://registry.npmjs.org/bl/-/bl-1.2.2.tgz", "integrity": "sha512-e8tQYnZodmebYDWGH7KMRvtzKXaJHx3BbilrgZCfvyLUYdKpK1t5PSPmpkny/SgiTSCnjfLW7v5rlONXVFkQEA==", "dev": true, "requires": { @@ -4950,7 +4950,7 @@ "dependencies": { "commander": { "version": "2.1.0", - "resolved": "https://registry.npmjs.org/commander/-/commander-2.1.0.tgz", + "resolved": "http://registry.npmjs.org/commander/-/commander-2.1.0.tgz", "integrity": "sha1-0SG7roYNmZKj1Re6lvVliOR8Z4E=", "dev": true } @@ -7617,7 +7617,7 @@ }, "magic-string": { "version": "0.22.5", - "resolved": "https://registry.npmjs.org/magic-string/-/magic-string-0.22.5.tgz", + "resolved": "http://registry.npmjs.org/magic-string/-/magic-string-0.22.5.tgz", "integrity": "sha512-oreip9rJZkzvA8Qzk9HFs8fZGF/u7H/gtrE8EN6RjKJ9kh2HlC+yQ2QezifqTZfGyiuAV0dRv5a+y/8gBb1m9w==", "dev": true, "requires": { @@ -11645,7 +11645,7 @@ "dependencies": { "minimist": { "version": "1.2.0", - "resolved": "https://registry.npmjs.org/minimist/-/minimist-1.2.0.tgz", + "resolved": "http://registry.npmjs.org/minimist/-/minimist-1.2.0.tgz", "integrity": "sha1-o1AIsg9BOD7sH7kU9M1d95omQoQ=", "dev": true } diff --git a/src/extensions/scratch3_boost/index.js b/src/extensions/scratch3_boost/index.js index 2c7c9089d..292fa5a20 100644 --- a/src/extensions/scratch3_boost/index.js +++ b/src/extensions/scratch3_boost/index.js @@ -200,6 +200,13 @@ class BoostMotor { */ this._position = 0; + /** + * This motor's current relative position + * @type {number} + * @private + */ + this._positionZero = 0; + /** * Is this motor currently moving? * @type {boolean} @@ -296,6 +303,21 @@ class BoostMotor { this._position = value; } + /** + * @return {int} - + */ + get positionZero () { + return this._positionZero; + } + + /** + * @param {int} value - + */ + set positionZero (value) { + // Todo: wrap around rotation to avoid extremely large numbers + this._positionZero = value; + } + /** * @return {boolean} - true if this motor is currently moving, false if this motor is off or braking. */ @@ -349,6 +371,33 @@ class BoostMotor { this._setNewTimeout(this.startBraking, milliseconds); } + /** + * Turn this motor on for a specific rotation in degrees. + * @param {number} degrees - run the motor for this amount of degrees. + */ + turnOnForDegrees (degrees) { + if (this._power === 0) return; + console.log(degrees) + degrees = Math.max(0, degrees); + /* TODO: Position parameter must be given as int32. Convert degrees to int32. + var f = new DataView() + var d = new Int32Array(degrees.data.buffer); + console.table(d) + */ + const cmd = this._parent.generateOutputCommand( + this._index, + 0x0B, + null, + [0,0,0x01,degrees, + this._power * this._direction, // power in range 0-100 + this._power * this._direction, + 0x00, + 0x00] + ); + + this._parent.send(BLECharacteristic, cmd); + } + /** * Start active braking on this motor. After a short time, the motor will turn off. * // TODO: rename this to coastAfter? @@ -689,7 +738,7 @@ class Boost { * @param {array} values - the list of values to write to the command. * @return {array} - a generated output command. */ - generateOutputCommand (connectID, subCommandID = 0x51, mode=0x00, values = null) { + generateOutputCommand (connectID, subCommandID = 0x51, mode=null, values = null) { let command = [0x00, BoostCommand.OUTPUT]; if (values) { command = command.concat( @@ -701,14 +750,15 @@ class Boost { if(subCommandID) { command = command.concat(subCommandID); } - command = command.concat(mode) - + if(mode) { + command = command.concat(mode) + } command = command.concat( values ); } command.unshift(command.length +1) - console.log(command) + console.log(buf2hex(command)) return command; } @@ -1007,6 +1057,26 @@ class Scratch3BoostBlocks { } } }, + { + opcode: 'motorOnForRotation', + text: formatMessage({ + id: 'boost.motorOnForRotation', + default: 'turn [MOTOR_ID] on for [ROTATION] rotations', + description: 'turn a motor on for rotation' + }), + blockType: BlockType.COMMAND, + arguments: { + MOTOR_ID: { + type: ArgumentType.STRING, + menu: 'MOTOR_ID', + defaultValue: BoostMotorLabel.A + }, + ROTATION: { + type: ArgumentType.NUMBER, + defaultValue: 1 + } + } + }, { opcode: 'motorOn', text: formatMessage({ @@ -1080,6 +1150,22 @@ class Scratch3BoostBlocks { } } }, + { + opcode: 'motorZero', + text: formatMessage({ + id: 'boost.motorZero', + default: 'zero [MOTOR_ID]', + description: 'set a motor\'s position to 0' + }), + blockType: BlockType.COMMAND, + arguments: { + MOTOR_ID: { + type: ArgumentType.STRING, + menu: 'MOTOR_ID', + defaultValue: BoostMotorLabel.A + } + } + }, { opcode: 'setLightHue', text: formatMessage({ @@ -1464,6 +1550,30 @@ class Scratch3BoostBlocks { }); } + /** + * Turn specified motor(s) on for a specified rotation in full rotations. + * @param {object} args - the block's arguments. + * @property {MotorID} MOTOR_ID - the motor(s) to activate. + * @property {int} ROTATION - the amount of full rotations to turn the motors. + * @return {Promise} - a promise which will resolve at the end of the duration. + */ + motorOnForRotation (args) { + // TODO: cast args.MOTOR_ID? + let degrees = Cast.toNumber(args.ROTATION) * 360; + degrees = MathUtil.clamp(degrees, 0, 36000); + return new Promise(resolve => { + this._forEachMotor(args.MOTOR_ID, motorIndex => { + const motor = this._peripheral.motor(motorIndex); + if (motor) { + motor.turnOnForDegrees(degrees); + } + }); + + // Run for some time even when no motor is connected + setTimeout(resolve, degrees); + }); + } + /** * Turn specified motor(s) on indefinitely. * @param {object} args - the block's arguments. @@ -1577,6 +1687,29 @@ class Scratch3BoostBlocks { }); } + /** + * Set the motor(s) position to 0. + * @param {object} args - the block's arguments. + * @property {MotorID} MOTOR_ID - the motor(s) to activate. + * @return {Promise} - a Promise that resolves after some delay. + */ + motorZero (args) { + // TODO: cast args.MOTOR_ID? + this._forEachMotor(args.MOTOR_ID, motorIndex => { + const motor = this._peripheral.motor(motorIndex); + if (motor) { + // TODO: Do this on the hardware, i.e. https://lego.github.io/lego-ble-wireless-protocol-docs/index.html#encoding-of-writedirectmodedata-0x81-0x51 + motor.positionZero = motor.position; + } + }); + + return new Promise(resolve => { + window.setTimeout(() => { + resolve(); + }, BLESendInterval); + }); + } + /** * Set the LED's hue. * @param {object} args - the block's arguments. @@ -1662,13 +1795,13 @@ class Scratch3BoostBlocks { switch(args.MOTOR_REPORTER_ID) { // TODO: Handle negative rotation. case BoostMotorLabel.A: - return MathUtil.wrapClamp(this._peripheral._motors[BoostPort.A].position, 0, 360); + return this._peripheral._motors[BoostPort.A].position - this._peripheral._motors[BoostPort.A].positionZero case BoostMotorLabel.B: - return MathUtil.wrapClamp(this._peripheral._motors[BoostPort.B].position, 0, 360); + return this._peripheral._motors[BoostPort.B].position - this._peripheral._motors[BoostPort.B].positionZero case BoostMotorLabel.C: - return MathUtil.wrapClamp(this._peripheral._motors[BoostPort.C].position, 0, 360); + return this._peripheral._motors[BoostPort.C].position - this._peripheral._motors[BoostPort.C].positionZero case BoostMotorLabel.D: - return MathUtil.wrapClamp(this._peripheral._motors[BoostPort.D].position, 0, 360); + return this._peripheral._motors[BoostPort.D].position - this._peripheral._motors[BoostPort.D].positionZero default: log.warn("Asked for a motor position that doesnt exist!") return false; From 2aaf42427907bd391a4ff141ee9fd108ae19bf3a Mon Sep 17 00:00:00 2001 From: Kevin Andersen Date: Thu, 24 Jan 2019 10:08:17 +0100 Subject: [PATCH 05/30] stuff --- src/extensions/scratch3_boost/index.js | 31 +++++++++++++++----------- 1 file changed, 18 insertions(+), 13 deletions(-) diff --git a/src/extensions/scratch3_boost/index.js b/src/extensions/scratch3_boost/index.js index 292fa5a20..9e4707d53 100644 --- a/src/extensions/scratch3_boost/index.js +++ b/src/extensions/scratch3_boost/index.js @@ -377,24 +377,28 @@ class BoostMotor { */ turnOnForDegrees (degrees) { if (this._power === 0) return; - console.log(degrees) degrees = Math.max(0, degrees); - /* TODO: Position parameter must be given as int32. Convert degrees to int32. - var f = new DataView() - var d = new Int32Array(degrees.data.buffer); - console.table(d) - */ + console.log(degrees) + /* TODO: Position parameter must be given as int32. Convert degrees to int32. */ + var buffer = new ArrayBuffer(4) + var dataview = new DataView(buffer) + dataview.setInt32(0, degrees) + const cmd = this._parent.generateOutputCommand( this._index, 0x0B, null, - [0,0,0x01,degrees, + [dataview.getInt8(3), + dataview.getInt8(2), + dataview.getInt8(1), + dataview.getInt8(0), this._power * this._direction, // power in range 0-100 - this._power * this._direction, - 0x00, - 0x00] + 0xff, + 0x00,0x03] ); + this._isOn = true; + this._parent.send(BLECharacteristic, cmd); } @@ -735,6 +739,7 @@ class Boost { * * @param {number} connectID - the port (Connect ID) to send a command to. * @param {number} commandID - the id of the byte command. + * @param {number} mode - the mode * @param {array} values - the list of values to write to the command. * @return {array} - a generated output command. */ @@ -744,13 +749,13 @@ class Boost { command = command.concat( connectID ).concat( - 0x00 // Execute immediately + 0x11 // Execute immediately ); if(subCommandID) { command = command.concat(subCommandID); } - if(mode) { + if(mode !== null) { command = command.concat(mode) } command = command.concat( @@ -1631,7 +1636,7 @@ class Scratch3BoostBlocks { const motor = this._peripheral.motor(motorIndex); if (motor) { motor.power = MathUtil.clamp(Cast.toNumber(args.POWER), 0, 100); - motor.turnOn(); + //motor.turnOn(); } }); From c03dc60febe617db05ff1a824e6ac5ec2ad00784 Mon Sep 17 00:00:00 2001 From: Kevin Andersen Date: Fri, 1 Feb 2019 10:19:59 -0500 Subject: [PATCH 06/30] Deleted BoostUnit, since the new protocol has prescribed units for a particular mode. Implemented helper-function for turning javascript numbers into a bytearray. Changed generateInputCommand()-function delta-parameter to be int32 according to the new protocol. Fixed issue that whenColor hat-block didn't work until dropdown value changed. --- src/extensions/scratch3_boost/index.js | 55 ++++++++++---------------- 1 file changed, 21 insertions(+), 34 deletions(-) diff --git a/src/extensions/scratch3_boost/index.js b/src/extensions/scratch3_boost/index.js index 9e4707d53..f47059bb9 100644 --- a/src/extensions/scratch3_boost/index.js +++ b/src/extensions/scratch3_boost/index.js @@ -134,27 +134,20 @@ const BoostMode = { UNKNOWN: 0 }; -/** - * Enum for units for input sensors on the Boost. - * - * 0 = raw - * 1 = percent - * - * @enum {number} - */ -const BoostUnit = { - TILT: 0, - DISTANCE: 1, - LED: 0, - MOTOR: 0, - COLOR: 0, - UNKNOWN:0 -}; - function buf2hex(buffer) { // buffer is an ArrayBuffer return Array.prototype.map.call(new Uint8Array(buffer), x => ('00' + x.toString(16)).slice(-2)).join(' '); } +function number2int32array(number) { + var buffer = new ArrayBuffer(4) + var dataview = new DataView(buffer) + dataview.setInt32(0, number) + return [dataview.getInt8(3), + dataview.getInt8(2), + dataview.getInt8(1), + dataview.getInt8(0)]; +} + /** * Manage power, direction, and timers for one Boost motor. */ @@ -388,13 +381,11 @@ class BoostMotor { this._index, 0x0B, null, - [dataview.getInt8(3), - dataview.getInt8(2), - dataview.getInt8(1), - dataview.getInt8(0), + number2int32array(degrees).concat( + [ this._power * this._direction, // power in range 0-100 0xff, - 0x00,0x03] + 0x00,0x03]) ); this._isOn = true; @@ -624,7 +615,6 @@ class Boost { this._ports.indexOf(BoostDevice.LED), BoostMode.LED, 0, - BoostUnit.LED, false ); @@ -778,19 +768,18 @@ class Boost { * @param {number} connectID - the port (Connect ID) to send a command to. * @param {number} mode - the mode of the input sensor. * @param {number} delta - the delta change needed to trigger notification. - * @param {array} units - the unit of the input sensor value. * @param {boolean} enableNotifications - whether to enable notifications. * @return {array} - a generated input command. */ - generateInputCommand (connectID, mode, delta, units, enableNotifications) { + generateInputCommand (connectID, mode, delta, enableNotifications) { var command = [ 0x00, // Hub ID 0x41, // Message Type (Port Input Format Setup (Single)) connectID, mode, - delta, + ].concat(number2int32array(delta)).concat([ enableNotifications - ]; + ]); command.unshift(command.length+1) // Prepend payload with length byte @@ -850,8 +839,9 @@ class Boost { } break; case BoostMessageTypes.PORT_VALUE: + //console.log(buf2hex(data)) var type = this._ports[data[3]]; - var valueFormat = data.length + //var valueFormat = data.length // TODO: Build a proper value-formatting based on the PORT_INPUT_FORMAT-messages instead of hardcoding value-handling switch(type) { case BoostDevice.TILT: @@ -919,8 +909,6 @@ class Boost { break; case BoostDevice.LED: typeString = 'LED' - console.log("NOW!") - console.log("LED: " + connectID + ", " + type) this.setLEDMode(); this.setLED(0x00FF00); break; @@ -930,12 +918,11 @@ class Boost { default: typeString = 'UNKNOWN' } - //const typeString = type === BoostDevice.DISTANCE ? 'DISTANCE' : 'TILT'; + const cmd = this.generateInputCommand( connectID, BoostMode[typeString], 1, - BoostUnit[typeString], true ); @@ -1216,7 +1203,7 @@ class Scratch3BoostBlocks { blockType: BlockType.HAT, arguments: { COLOR: { - type: ArgumentType.STRING, + type: ArgumentType.NUMBER, menu: 'COLOR', defaultValue: BoostColor.RED } @@ -1856,7 +1843,7 @@ class Scratch3BoostBlocks { * @private */ _isColor (color) { - return this.getColor() === color; + return this.getColor() == color; } /** From 5822f762cad8f96f8e76fa1a1daea35ac58c905e Mon Sep 17 00:00:00 2001 From: Kevin Andersen Date: Mon, 4 Feb 2019 16:30:04 -0500 Subject: [PATCH 07/30] Multiple motor-changes. Changed _isOn to _status to reflect the more advanced states a motor (or port) can be in. Implemented promise-based completion on motor-on-for-rotation-block, since this block requires a callback from the hub. Changed lower threshold for power-bias function. Deleted some outdated todos. Changed connectID-terminology to portID. Implemented handling port output command feedback. Commented out some distance and tilt-related blocks that I think we can do without and that will lower the number of blocks. --- package-lock.json | 47 +++------ src/extensions/scratch3_boost/index.js | 135 ++++++++++++++++--------- 2 files changed, 98 insertions(+), 84 deletions(-) diff --git a/package-lock.json b/package-lock.json index 17616be59..c10168083 100644 --- a/package-lock.json +++ b/package-lock.json @@ -12112,9 +12112,9 @@ } }, "scratch-audio": { - "version": "0.1.0-prerelease.20190108181031", - "resolved": "https://registry.npmjs.org/scratch-audio/-/scratch-audio-0.1.0-prerelease.20190108181031.tgz", - "integrity": "sha512-Ygu+pN2u9det8HTIo+2wj8ibqe0QjAA624N9GxC62nrdGH39NxDRJyiwheeuZH/oEjM9RTsCSSOH+C9fXA9ekA==", + "version": "0.1.0-prerelease.20190114210212", + "resolved": "https://registry.npmjs.org/scratch-audio/-/scratch-audio-0.1.0-prerelease.20190114210212.tgz", + "integrity": "sha512-drcAV8HPJYDFPDie5JA6z0wAH6789yf6Uacbzde/WcnpmpQCakgj8Hx/OeI2td3aZXKSq09d09S9WV5LOZpfrw==", "dev": true, "requires": { "audio-context": "1.0.1", @@ -12123,9 +12123,9 @@ } }, "scratch-blocks": { - "version": "0.1.0-prerelease.1545364693", - "resolved": "https://registry.npmjs.org/scratch-blocks/-/scratch-blocks-0.1.0-prerelease.1545364693.tgz", - "integrity": "sha512-juD5kE0Zqbl0O0NaKYL70wgHkSr0z87sKhMz/upPu9GY03N4FNKWsRdq4iWvGKmujEWq8WKe6mK7jRYD5xJu9A==", + "version": "0.1.0-prerelease.1548885087", + "resolved": "https://registry.npmjs.org/scratch-blocks/-/scratch-blocks-0.1.0-prerelease.1548885087.tgz", + "integrity": "sha512-NL5HRfk/xux5o6THmfFC/Uit2TskSHIal1V5RpTHknVvNJzvzZk+xFWFrMXFwrPIAJk0jTY8JzIotRcfga/eZg==", "dev": true, "requires": { "exports-loader": "0.6.3", @@ -12168,9 +12168,9 @@ } }, "scratch-render": { - "version": "0.1.0-prerelease.20190109203013", - "resolved": "https://registry.npmjs.org/scratch-render/-/scratch-render-0.1.0-prerelease.20190109203013.tgz", - "integrity": "sha512-yrkBuF1zLHrXEHQmbQhpATDxot/wqoN/oDW2aIjzV9ylxCy+zNdGI2XJ9tRy10bCcM5bdC879ROX9fCr+n6FwQ==", + "version": "0.1.0-prerelease.20190128154859", + "resolved": "https://registry.npmjs.org/scratch-render/-/scratch-render-0.1.0-prerelease.20190128154859.tgz", + "integrity": "sha512-OO4JwmoI5JaN0Neg5dsYbzJ2xbde97aUn0y7sAqpY/Anyyz1e8Fudz12/YpSd5cXp4QnYESdC49X2uw0ChBb4A==", "dev": true, "requires": { "grapheme-breaker": "0.3.2", @@ -12180,29 +12180,8 @@ "minilog": "3.1.0", "raw-loader": "^0.5.1", "scratch-storage": "^1.0.0", - "scratch-svg-renderer": "0.2.0-prerelease.20190109201344", + "scratch-svg-renderer": "0.2.0-prerelease.20190125192231", "twgl.js": "4.4.0" - }, - "dependencies": { - "base64-js": { - "version": "1.2.1", - "resolved": "https://registry.npmjs.org/base64-js/-/base64-js-1.2.1.tgz", - "integrity": "sha512-dwVUVIXsBZXwTuwnXI9RK8sBmgq09NDHzyR9SAph9eqk76gKK2JSQmZARC2zRC81JC2QTtxD0ARU5qTS25gIGw==", - "dev": true - }, - "scratch-svg-renderer": { - "version": "0.2.0-prerelease.20190109201344", - "resolved": "https://registry.npmjs.org/scratch-svg-renderer/-/scratch-svg-renderer-0.2.0-prerelease.20190109201344.tgz", - "integrity": "sha512-pRMvQrM5UA2wcqleaXVpFx0Pi6Q3GsRA5elJ0tJksdr6k8HYm5D6sW62VtEtMHjnkQDa+EFyqfHq9IEPnzFjeQ==", - "dev": true, - "requires": { - "base64-js": "1.2.1", - "base64-loader": "1.0.0", - "minilog": "3.1.0", - "scratch-render-fonts": "1.0.0-prerelease.20180906193204", - "transformation-matrix": "1.14.1" - } - } } }, "scratch-render-fonts": { @@ -12253,9 +12232,9 @@ } }, "scratch-svg-renderer": { - "version": "0.2.0-prerelease.20181220183040", - "resolved": "https://registry.npmjs.org/scratch-svg-renderer/-/scratch-svg-renderer-0.2.0-prerelease.20181220183040.tgz", - "integrity": "sha512-RnkoPj6uweqOy46hswanEqw0t21IUYBB9U2SrkYJIw76/BHGSDJnRQxPfKWpUFVb3LaSRdXX9ES6hnyzmi0qhA==", + "version": "0.2.0-prerelease.20190125192231", + "resolved": "https://registry.npmjs.org/scratch-svg-renderer/-/scratch-svg-renderer-0.2.0-prerelease.20190125192231.tgz", + "integrity": "sha512-8cOLJsN2zDT2FLcB3wLxew3tzO6fkI25uiaW0c6juQl5zJseANIvP4tc31gaeUG4xSQa1zfk/PpXKPQDGa66Tw==", "dev": true, "requires": { "base64-js": "1.2.1", diff --git a/src/extensions/scratch3_boost/index.js b/src/extensions/scratch3_boost/index.js index f47059bb9..02a395f2c 100644 --- a/src/extensions/scratch3_boost/index.js +++ b/src/extensions/scratch3_boost/index.js @@ -65,6 +65,20 @@ const BoostCommand = { OUTPUT: 0x81, }; +/** + * Enum for ids for various output commands on the Boost. + * @readonly + * @enum {number} + */ +const BoostOutputCommandFeedback = { + // TODO: Figure out if this enum is necessary or if we're always just sending 0x81 + BUFFER_EMPTY_COMMAND_IN_PROGRESS: 0x01, + BUFFER_EMPTY_COMMAND_COMPLETED: 0x02, + CURRENT_COMMAND_DISCARDED: 0x04, + IDLE: 0x08, + BUSY_OR_FULL: 0x10, +}; + /** * Enum for physical Boost Ports @@ -205,7 +219,7 @@ class BoostMotor { * @type {boolean} * @private */ - this._isOn = false; + this._status = BoostOutputCommandFeedback.IDLE; /** * If the motor has been turned on or is actively braking for a specific duration, this is the timeout ID for @@ -229,6 +243,14 @@ class BoostMotor { */ this._pendingTimeoutDelay = null; + /** + * 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._pendingPromiseFunction = null; + this.startBraking = this.startBraking.bind(this); this.turnOff = this.turnOff.bind(this); } @@ -271,13 +293,14 @@ class BoostMotor { */ set power (value) { const p = Math.max(0, Math.min(value, 100)); - // Lego Boost hub only turns motors at power range [30 - 100], so - // map value from [0 - 100] to [30 - 100]. + + // Lego Boost hub only turns motors at power range [20 - 100], so + // map value from [0 - 100] to [20 - 100]. if (p === 0) { this._power = 0; } else { const delta = 100 / p; - this._power = 30 + (70 / delta); + this._power = 20 + (80 / delta); } } @@ -292,11 +315,10 @@ class BoostMotor { * @param {int} value - */ set position (value) { - // Todo: wrap around rotation to avoid extremely large numbers this._position = value; } - /** + /** * @return {int} - */ get positionZero () { @@ -307,7 +329,6 @@ class BoostMotor { * @param {int} value - */ set positionZero (value) { - // Todo: wrap around rotation to avoid extremely large numbers this._positionZero = value; } @@ -315,7 +336,7 @@ class BoostMotor { * @return {boolean} - true if this motor is currently moving, false if this motor is off or braking. */ get isOn () { - return this._isOn; + return this._status; } /** @@ -332,6 +353,14 @@ class BoostMotor { return this._pendingTimeoutDelay; } + /** + * @return {boolean} - true if this motor is currently moving, false if this motor is off or braking. + */ + get pendingPromiseFunction () { + return this._pendingPromiseFunction; + } + + /** * Turn this motor on indefinitely. */ @@ -348,7 +377,7 @@ class BoostMotor { this._parent.send(BLECharacteristic, cmd); - this._isOn = true; + this._status = BoostOutputCommandFeedback.BUFFER_EMPTY_COMMAND_IN_PROGRESS; this._clearTimeout(); } @@ -371,11 +400,6 @@ class BoostMotor { turnOnForDegrees (degrees) { if (this._power === 0) return; degrees = Math.max(0, degrees); - console.log(degrees) - /* TODO: Position parameter must be given as int32. Convert degrees to int32. */ - var buffer = new ArrayBuffer(4) - var dataview = new DataView(buffer) - dataview.setInt32(0, degrees) const cmd = this._parent.generateOutputCommand( this._index, @@ -388,7 +412,7 @@ class BoostMotor { 0x00,0x03]) ); - this._isOn = true; + this._status = BoostOutputCommandFeedback.BUFFER_EMPTY_COMMAND_IN_PROGRESS; this._parent.send(BLECharacteristic, cmd); } @@ -409,7 +433,7 @@ class BoostMotor { this._parent.send(BLECharacteristic, cmd); - this._isOn = false; + this._status = BoostOutputCommandFeedback.IDLE; this._setNewTimeout(this.turnOff, BoostMotor.BRAKE_TIME_MS); } @@ -429,7 +453,7 @@ class BoostMotor { this._parent.send(BLECharacteristic, cmd, useLimiter); - this._isOn = false; + this._status = BoostOutputCommandFeedback.IDLE; } /** @@ -727,17 +751,17 @@ class Boost { * * This sends a command to the Boost to actuate the specified outputs. * - * @param {number} connectID - the port (Connect ID) to send a command to. + * @param {number} portID - the port (Connect ID) to send a command to. * @param {number} commandID - the id of the byte command. * @param {number} mode - the mode * @param {array} values - the list of values to write to the command. * @return {array} - a generated output command. */ - generateOutputCommand (connectID, subCommandID = 0x51, mode=null, values = null) { + generateOutputCommand (portID, subCommandID = 0x51, mode=null, values = null) { let command = [0x00, BoostCommand.OUTPUT]; if (values) { command = command.concat( - connectID + portID ).concat( 0x11 // Execute immediately ); @@ -765,17 +789,17 @@ class Boost { * This sends a command to the Boost that sets that input format * of the specified inputs and sets value change notifications. * - * @param {number} connectID - the port (Connect ID) to send a command to. + * @param {number} portID - the port (Connect ID) to send a command to. * @param {number} mode - the mode of the input sensor. * @param {number} delta - the delta change needed to trigger notification. * @param {boolean} enableNotifications - whether to enable notifications. * @return {array} - a generated input command. */ - generateInputCommand (connectID, mode, delta, enableNotifications) { + generateInputCommand (portID, mode, delta, enableNotifications) { var command = [ 0x00, // Hub ID 0x41, // Message Type (Port Input Format Setup (Single)) - connectID, + portID, mode, ].concat(number2int32array(delta)).concat([ enableNotifications @@ -818,7 +842,10 @@ class Boost { * We base our switch-case on Message Type */ - switch (data[2]) { + var messageType = data[2]; + var portID = data[3]; + + switch (messageType) { case BoostMessageTypes.HUB_ATTACHED_IO: // IO Attach/Detach events /* @@ -829,10 +856,10 @@ class Boost { switch (data[4]) { case BoostIOEvent.ATTACHED: //case BoostIOEvent.ATTACHED_VIRTUAL: - this._registerSensorOrMotor(data[3], data[5]) + this._registerSensorOrMotor(portID, data[5]) break; case BoostIOEvent.DETACHED: - this._clearPort(data[3]); + this._clearPort(portID); break; default: console.log("No I/O Event case found!") @@ -840,7 +867,7 @@ class Boost { break; case BoostMessageTypes.PORT_VALUE: //console.log(buf2hex(data)) - var type = this._ports[data[3]]; + var type = this._ports[portID]; //var valueFormat = data.length // TODO: Build a proper value-formatting based on the PORT_INPUT_FORMAT-messages instead of hardcoding value-handling switch(type) { @@ -858,17 +885,26 @@ class Boost { if (value > 0x7fffffff) { value = value - 0x100000000; } - //console.log(value); - this._motors[data[3]]._position = value + this._motors[portID]._position = value break; case BoostDevice.CURRENT: case BoostDevice.VOLTAGE: break; - // Do nothing default: console.log("Unknown sensor value! Type: " + type) } break; + case BoostMessageTypes.PORT_OUTPUT_COMMAND_FEEDBACK: + //TODO: Handle messages that contain feedback from more than one port. + var feedback = data[4]; + switch(feedback) { + case BoostOutputCommandFeedback.BUFFER_EMPTY_COMMAND_COMPLETED ^ BoostOutputCommandFeedback.IDLE: + this._motors[portID].pendingPromiseFunction(); + break; + default: + console.log("Got it but didn't find a motor on: " + portID) + } + break; case BoostMessageTypes.PORT_INPUT_FORMAT: case BoostMessageTypes.ERROR: //DEBUG @@ -884,17 +920,17 @@ class Boost { * Register a new sensor or motor connected at a port. Store the type of * sensor or motor internally, and then register for notifications on input * values if it is a sensor. - * @param {number} connectID - the port to register a sensor or motor on. + * @param {number} portID - the port to register a sensor or motor on. * @param {number} type - the type ID of the sensor or motor * @private */ - _registerSensorOrMotor (connectID, type) { + _registerSensorOrMotor (portID, type) { // Record which port is connected to what type of device - this._ports[connectID] = type; + this._ports[portID] = type; // Record motor port if (type === BoostDevice.MOTORINT || type === BoostDevice.MOTOREXT) { - this._motors[connectID] = new BoostMotor(this, connectID); + this._motors[portID] = new BoostMotor(this, portID); } // Set input format for tilt or distance sensor @@ -920,7 +956,7 @@ class Boost { } const cmd = this.generateInputCommand( - connectID, + portID, BoostMode[typeString], 1, true @@ -931,19 +967,19 @@ class Boost { /** * Clear the sensor or motor present at port 1 or 2. - * @param {number} connectID - the port to clear. + * @param {number} portID - the port to clear. * @private */ - _clearPort (connectID) { - const type = this._ports[connectID]; + _clearPort (portID) { + const type = this._ports[portID]; if (type === BoostDevice.TILT) { this._sensors.tiltX = this._sensors.tiltY = 0; } if (type === BoostDevice.DISTANCE) { this._sensors.distance = 0; } - this._ports[connectID] = 'none'; - this._motors[connectID] = null; + this._ports[portID] = 'none'; + this._motors[portID] = null; } } @@ -1173,7 +1209,7 @@ class Scratch3BoostBlocks { } } }, - { + /*{ opcode: 'whenDistance', text: formatMessage({ id: 'boost.whenDistance', @@ -1192,7 +1228,7 @@ class Scratch3BoostBlocks { defaultValue: 50 } } - }, + },*/ { opcode: 'whenColor', text: formatMessage({ @@ -1226,7 +1262,7 @@ class Scratch3BoostBlocks { } } }, - { + /*{ opcode: 'getDistance', text: formatMessage({ id: 'boost.getDistance', @@ -1250,7 +1286,7 @@ class Scratch3BoostBlocks { defaultValue: BoostTiltDirection.ANY } } - }, + },*/ { opcode: 'getTiltAngle', text: formatMessage({ @@ -1558,11 +1594,9 @@ class Scratch3BoostBlocks { const motor = this._peripheral.motor(motorIndex); if (motor) { motor.turnOnForDegrees(degrees); + motor._pendingPromiseFunction = resolve } }); - - // Run for some time even when no motor is connected - setTimeout(resolve, degrees); }); } @@ -1733,7 +1767,7 @@ class Scratch3BoostBlocks { * @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 '<': @@ -1745,6 +1779,7 @@ class Scratch3BoostBlocks { return false; } } + */ /** * Test whether the tilt sensor is currently tilted. @@ -1768,10 +1803,10 @@ class Scratch3BoostBlocks { /** * @return {number} - the distance sensor's value, scaled to the [0,100] range. - */ + getDistance () { return this._peripheral.distance; - } + }*/ /** * @return {number} - the vision sensor's color value. Indexed LEGO brick colors. From bf02426a4a921cb71b374bce9705529074559ec5 Mon Sep 17 00:00:00 2001 From: Kevin Andersen Date: Mon, 11 Feb 2019 10:57:57 -0500 Subject: [PATCH 08/30] added named variables to onMessage for readability. Changed wording of motor-blocks. Added BLE Advertisement Manufacturer Data as filter for scanning, for https://github.com/LLK/scratch-link/issues/112 --- src/extensions/scratch3_boost/index.js | 56 +++++++++++++------------- 1 file changed, 29 insertions(+), 27 deletions(-) diff --git a/src/extensions/scratch3_boost/index.js b/src/extensions/scratch3_boost/index.js index 02a395f2c..fc5f64000 100644 --- a/src/extensions/scratch3_boost/index.js +++ b/src/extensions/scratch3_boost/index.js @@ -366,8 +366,6 @@ class BoostMotor { */ turnOn () { if (this._power === 0) return; - //console.log(this._index) - //console.log(this._power * this._direction) const cmd = this._parent.generateOutputCommand( this._index, 0x51, @@ -677,7 +675,13 @@ class Boost { } this._ble = new BLE(this._runtime, this._extensionId, { filters: [{ - services: [BLEService] + services: [BLEService], + manufacturerData: { + 0x0397: { + dataPrefix: [0x97, 0x03, 0x00, 0x40], + mask: [0xFF, 0xFF, 0, 0xFF] + } + } }], optionalServices: [] }, this._onConnect); @@ -777,7 +781,6 @@ class Boost { ); } command.unshift(command.length +1) - console.log(buf2hex(command)) return command; } @@ -807,9 +810,6 @@ class Boost { command.unshift(command.length+1) // Prepend payload with length byte - //DEBUG - console.log(buf2hex(command)) - return command; } @@ -842,21 +842,25 @@ class Boost { * We base our switch-case on Message Type */ - var messageType = data[2]; - var portID = data[3]; + const messageType = data[2]; + const portID = data[3]; switch (messageType) { - case BoostMessageTypes.HUB_ATTACHED_IO: // IO Attach/Detach events - + /* - * 3: Port ID * 4: Event * 5: IO Type ID */ - switch (data[4]) { + + case BoostMessageTypes.HUB_ATTACHED_IO: // IO Attach/Detach events + + const event = data[4] + const typeId = data[5] + + switch (event) { case BoostIOEvent.ATTACHED: //case BoostIOEvent.ATTACHED_VIRTUAL: - this._registerSensorOrMotor(portID, data[5]) + this._registerSensorOrMotor(portID, typeId) break; case BoostIOEvent.DETACHED: this._clearPort(portID); @@ -866,9 +870,7 @@ class Boost { } break; case BoostMessageTypes.PORT_VALUE: - //console.log(buf2hex(data)) var type = this._ports[portID]; - //var valueFormat = data.length // TODO: Build a proper value-formatting based on the PORT_INPUT_FORMAT-messages instead of hardcoding value-handling switch(type) { case BoostDevice.TILT: @@ -1069,7 +1071,7 @@ class Scratch3BoostBlocks { opcode: 'motorOnFor', text: formatMessage({ id: 'boost.motorOnFor', - default: 'turn [MOTOR_ID] on for [DURATION] seconds', + default: 'turn motor [MOTOR_ID] on for [DURATION] seconds', description: 'turn a motor on for some time' }), blockType: BlockType.COMMAND, @@ -1089,7 +1091,7 @@ class Scratch3BoostBlocks { opcode: 'motorOnForRotation', text: formatMessage({ id: 'boost.motorOnForRotation', - default: 'turn [MOTOR_ID] on for [ROTATION] rotations', + default: 'turn motor [MOTOR_ID] on for [ROTATION] rotations', description: 'turn a motor on for rotation' }), blockType: BlockType.COMMAND, @@ -1109,7 +1111,7 @@ class Scratch3BoostBlocks { opcode: 'motorOn', text: formatMessage({ id: 'boost.motorOn', - default: 'turn [MOTOR_ID] on', + default: 'turn motor [MOTOR_ID] on', description: 'turn a motor on indefinitely' }), blockType: BlockType.COMMAND, @@ -1125,7 +1127,7 @@ class Scratch3BoostBlocks { opcode: 'motorOff', text: formatMessage({ id: 'boost.motorOff', - default: 'turn [MOTOR_ID] off', + default: 'turn motor [MOTOR_ID] off', description: 'turn a motor off' }), blockType: BlockType.COMMAND, @@ -1141,7 +1143,7 @@ class Scratch3BoostBlocks { opcode: 'startMotorPower', text: formatMessage({ id: 'boost.startMotorPower', - default: 'set [MOTOR_ID] power to [POWER]', + default: 'set motor [MOTOR_ID] power to [POWER] %', description: 'set the motor\'s power and turn it on' }), blockType: BlockType.COMMAND, @@ -1161,7 +1163,7 @@ class Scratch3BoostBlocks { opcode: 'setMotorDirection', text: formatMessage({ id: 'boost.setMotorDirection', - default: 'set [MOTOR_ID] direction to [MOTOR_DIRECTION]', + default: 'set motor [MOTOR_ID] direction to [MOTOR_DIRECTION]', description: 'set the motor\'s turn direction' }), blockType: BlockType.COMMAND, @@ -1182,7 +1184,7 @@ class Scratch3BoostBlocks { opcode: 'motorZero', text: formatMessage({ id: 'boost.motorZero', - default: 'zero [MOTOR_ID]', + default: 'zero motor [MOTOR_ID]', description: 'set a motor\'s position to 0' }), blockType: BlockType.COMMAND, @@ -1334,7 +1336,7 @@ class Scratch3BoostBlocks { { text: formatMessage({ id: 'boost.motorId.a', - default: 'motor A', + default: 'A', description: 'label for motor A element in motor menu for LEGO Boost extension' }), value: BoostMotorLabel.A @@ -1342,7 +1344,7 @@ class Scratch3BoostBlocks { { text: formatMessage({ id: 'boost.motorId.b', - default: 'motor B', + default: 'B', description: 'label for motor B element in motor menu for LEGO Boost extension' }), value: BoostMotorLabel.B @@ -1350,7 +1352,7 @@ class Scratch3BoostBlocks { { text: formatMessage({ id: 'boost.motorId.c', - default: 'motor C', + default: 'C', description: 'label for motor C element in motor menu for LEGO Boost extension' }), value: BoostMotorLabel.C @@ -1358,7 +1360,7 @@ class Scratch3BoostBlocks { { text: formatMessage({ id: 'boost.motorId.d', - default: 'motor D', + default: 'D', description: 'label for motor D element in motor menu for LEGO Boost extension' }), value: BoostMotorLabel.D From c902bbaa0db791fdf52280d0a16de86bbc4a763d Mon Sep 17 00:00:00 2001 From: Kevin Andersen Date: Mon, 11 Feb 2019 11:30:22 -0500 Subject: [PATCH 09/30] Cleaned up some documentation. Consolidated and renamed Boost enums --- src/extensions/scratch3_boost/index.js | 78 ++++++++++++-------------- 1 file changed, 35 insertions(+), 43 deletions(-) diff --git a/src/extensions/scratch3_boost/index.js b/src/extensions/scratch3_boost/index.js index fc5f64000..c5bffa5b7 100644 --- a/src/extensions/scratch3_boost/index.js +++ b/src/extensions/scratch3_boost/index.js @@ -18,13 +18,13 @@ const iconURI = 'data:image/png;base64,iVBORw0KGgoAAAANSUhEUgAAAFAAAABQCAYAAACOE /** * Boost BLE service UUID. - * @enum + * @type {string} */ const BLEService = '00001623-1212-efde-1623-785feabcd123'; /** * Boost BLE characteristic UUID. - * @enum + * @type {string} */ const BLECharacteristic = '00001624-1212-efde-1623-785feabcd123'; @@ -45,7 +45,7 @@ const BLESendRateMax = 20; * @readonly * @enum {number} */ -const BoostDevice = { +const BoostIO = { MOTORINT: 0x27, MOTOREXT: 0x26, LED: 0x17, @@ -55,16 +55,6 @@ const BoostDevice = { CURRENT: 0x15, }; -/** - * Enum for ids for various output commands on the Boost. - * @readonly - * @enum {number} - */ -const BoostCommand = { - // TODO: Figure out if this enum is necessary or if we're always just sending 0x81 - OUTPUT: 0x81, -}; - /** * Enum for ids for various output commands on the Boost. * @readonly @@ -108,7 +98,7 @@ const BoostColor = { * @enum {number} */ -const BoostMessageTypes = { +const BoostMessage = { HUB_PROPERTIES: 0x01, HUB_ACTIONS: 0x02, HUB_ALERTS: 0x03, @@ -120,6 +110,8 @@ const BoostMessageTypes = { PORT_VALUE_COMBINED: 0x46, PORT_INPUT_FORMAT: 0x47, PORT_INPUT_FORMAT_COMBINED: 0x48, + WRITE_DIRECT_MODE_DATA: 0x51, + OUTPUT: 0x81, PORT_OUTPUT_COMMAND_FEEDBACK: 0x82 } @@ -368,7 +360,7 @@ class BoostMotor { if (this._power === 0) return; const cmd = this._parent.generateOutputCommand( this._index, - 0x51, + BoostMessage.WRITE_DIRECT_MODE_DATA, 0x00, [this._power * this._direction] // power in range 0-100 ); @@ -424,7 +416,7 @@ class BoostMotor { const cmd = this._parent.generateOutputCommand( this._index, - BoostCommand.MOTOR_POWER, + BoostMessage.MOTOR_POWER, 0x00, [127] // 127 = break ); @@ -444,7 +436,7 @@ class BoostMotor { const cmd = this._parent.generateOutputCommand( this._index, - BoostCommand.MOTOR_POWER, + BoostMessage.MOTOR_POWER, 0x00, [0] // 0 = stop ); @@ -619,8 +611,8 @@ class Boost { ]; const cmd = this.generateOutputCommand( - this._ports.indexOf(BoostDevice.LED), - 0x51, + this._ports.indexOf(BoostIO.LED), + BoostMessage.WRITE_DIRECT_MODE_DATA, BoostMode.LED, rgb ); @@ -634,7 +626,7 @@ class Boost { */ setLEDMode () { const cmd = this.generateInputCommand( - this._ports.indexOf(BoostDevice.LED), + this._ports.indexOf(BoostIO.LED), BoostMode.LED, 0, false @@ -649,8 +641,8 @@ class Boost { */ stopLED () { const cmd = this.generateOutputCommand( - this._ports.indexOf(BoostDevice.LED), - 0x51, + this._ports.indexOf(BoostIO.LED), + BoostMessage.WRITE_DIRECT_MODE_DATA, BoostUnit.LED, [0, 0, 0] ); @@ -761,8 +753,8 @@ class Boost { * @param {array} values - the list of values to write to the command. * @return {array} - a generated output command. */ - generateOutputCommand (portID, subCommandID = 0x51, mode=null, values = null) { - let command = [0x00, BoostCommand.OUTPUT]; + generateOutputCommand (portID, subCommandID = BoostMessage.WRITE_DIRECT_MODE_DATA, mode=null, values = null) { + let command = [0x00, BoostMessage.OUTPUT]; if (values) { command = command.concat( portID @@ -852,7 +844,7 @@ class Boost { * 5: IO Type ID */ - case BoostMessageTypes.HUB_ATTACHED_IO: // IO Attach/Detach events + case BoostMessage.HUB_ATTACHED_IO: // IO Attach/Detach events const event = data[4] const typeId = data[5] @@ -869,19 +861,19 @@ class Boost { console.log("No I/O Event case found!") } break; - case BoostMessageTypes.PORT_VALUE: + case BoostMessage.PORT_VALUE: var type = this._ports[portID]; // TODO: Build a proper value-formatting based on the PORT_INPUT_FORMAT-messages instead of hardcoding value-handling switch(type) { - case BoostDevice.TILT: + case BoostIO.TILT: this._sensors.tiltX = data[4] this._sensors.tiltY = data[5] break; - case BoostDevice.COLOR: + case BoostIO.COLOR: this._sensors.color = data[4]; break; - case BoostDevice.MOTOREXT: - case BoostDevice.MOTORINT: + case BoostIO.MOTOREXT: + case BoostIO.MOTORINT: // Taken from EV3 extension tacho motor calculation let value = data[4] + (data[5] * 256) + (data[6] * 256 * 256) + (data[7] * 256 * 256 * 256); if (value > 0x7fffffff) { @@ -889,14 +881,14 @@ class Boost { } this._motors[portID]._position = value break; - case BoostDevice.CURRENT: - case BoostDevice.VOLTAGE: + case BoostIO.CURRENT: + case BoostIO.VOLTAGE: break; default: console.log("Unknown sensor value! Type: " + type) } break; - case BoostMessageTypes.PORT_OUTPUT_COMMAND_FEEDBACK: + case BoostMessage.PORT_OUTPUT_COMMAND_FEEDBACK: //TODO: Handle messages that contain feedback from more than one port. var feedback = data[4]; switch(feedback) { @@ -907,8 +899,8 @@ class Boost { console.log("Got it but didn't find a motor on: " + portID) } break; - case BoostMessageTypes.PORT_INPUT_FORMAT: - case BoostMessageTypes.ERROR: + case BoostMessage.PORT_INPUT_FORMAT: + case BoostMessage.ERROR: //DEBUG console.log(buf2hex(data)) break; @@ -931,26 +923,26 @@ class Boost { this._ports[portID] = type; // Record motor port - if (type === BoostDevice.MOTORINT || type === BoostDevice.MOTOREXT) { + if (type === BoostIO.MOTORINT || type === BoostIO.MOTOREXT) { this._motors[portID] = new BoostMotor(this, portID); } // Set input format for tilt or distance sensor var typeString = '' switch(type) { - case BoostDevice.MOTORINT: - case BoostDevice.MOTOREXT: + case BoostIO.MOTORINT: + case BoostIO.MOTOREXT: typeString = 'MOTOR' break; - case BoostDevice.COLOR: + case BoostIO.COLOR: typeString = 'COLOR' break; - case BoostDevice.LED: + case BoostIO.LED: typeString = 'LED' this.setLEDMode(); this.setLED(0x00FF00); break; - case BoostDevice.TILT: + case BoostIO.TILT: typeString = 'TILT' break; default: @@ -974,10 +966,10 @@ class Boost { */ _clearPort (portID) { const type = this._ports[portID]; - if (type === BoostDevice.TILT) { + if (type === BoostIO.TILT) { this._sensors.tiltX = this._sensors.tiltY = 0; } - if (type === BoostDevice.DISTANCE) { + if (type === BoostIO.DISTANCE) { this._sensors.distance = 0; } this._ports[portID] = 'none'; From e2bd28b85e30e250c13981af55dcedca4b4c173b Mon Sep 17 00:00:00 2001 From: Kevin Andersen Date: Tue, 12 Feb 2019 10:10:21 -0500 Subject: [PATCH 10/30] Cleaned up documentation (WIP). Added Output subcommand enum for use throughout extension --- src/extensions/scratch3_boost/index.js | 60 +++++++++++++++++++------- 1 file changed, 44 insertions(+), 16 deletions(-) diff --git a/src/extensions/scratch3_boost/index.js b/src/extensions/scratch3_boost/index.js index c5bffa5b7..5875f6c3c 100644 --- a/src/extensions/scratch3_boost/index.js +++ b/src/extensions/scratch3_boost/index.js @@ -9,6 +9,11 @@ const MathUtil = require('../../util/math-util'); const RateLimiter = require('../../util/rateLimiter.js'); const log = require('../../util/log'); +/** + * The LEGO Wireless Protocol documentation used to create this extension can be found at: + * https://lego.github.io/lego-ble-wireless-protocol-docs/index.html + */ + /** * Icon svg to be displayed at the left edge of each extension block, encoded as a data URI. * @type {string} @@ -41,7 +46,7 @@ const BLESendInterval = 100; const BLESendRateMax = 20; /** - * Enum for Boost sensor and output types. + * Enum for Boost sensor and actuator types. * @readonly * @enum {number} */ @@ -56,7 +61,7 @@ const BoostIO = { }; /** - * Enum for ids for various output commands on the Boost. + * Enum for ids for various output command feedback types on the Boost. * @readonly * @enum {number} */ @@ -110,13 +115,34 @@ const BoostMessage = { PORT_VALUE_COMBINED: 0x46, PORT_INPUT_FORMAT: 0x47, PORT_INPUT_FORMAT_COMBINED: 0x48, - WRITE_DIRECT_MODE_DATA: 0x51, OUTPUT: 0x81, PORT_OUTPUT_COMMAND_FEEDBACK: 0x82 } /** - * Enum for Attached IO Message Lengths + * Enum for Motor Subcommands (for 0x81) + * @readonly + * @enum {number} + */ + +const BoostOutputSubCommand = { + START_POWER_PAIR: 0x02, + SET_ACC_TIME: 0x05, + SET_DEC_TIME: 0x06, + START_SPEED: 0x07, + START_SPEED_PAIR: 0x08, + START_SPEED_FOR_TIME: 0x09, + START_SPEED_FOR_TIME_PAIR: 0x0A, + START_SPEED_FOR_DEGREES: 0x0B, + START_SPEED_FOR_DEGREES_PAIR: 0x0C, + GO_TO_ABS_POSITION: 0x0D, + GO_TO_ABS_POSITION_PAIR: 0x0E, + PRESET_ENCODER: 0x14, + WRITE_DIRECT_MODE_DATA: 0x51, +} + +/** + * Enum for when Boost IO's are attached/detached * @readonly * @enum {number} */ @@ -155,7 +181,7 @@ function number2int32array(number) { } /** - * Manage power, direction, and timers for one Boost motor. + * Manage power, direction, position, and timers for one Boost motor. */ class BoostMotor { /** @@ -360,7 +386,7 @@ class BoostMotor { if (this._power === 0) return; const cmd = this._parent.generateOutputCommand( this._index, - BoostMessage.WRITE_DIRECT_MODE_DATA, + BoostOutputSubCommand.WRITE_DIRECT_MODE_DATA, 0x00, [this._power * this._direction] // power in range 0-100 ); @@ -398,8 +424,9 @@ class BoostMotor { number2int32array(degrees).concat( [ this._power * this._direction, // power in range 0-100 - 0xff, - 0x00,0x03]) + 0xff, // max speed + 0x00, + 0x03]) ); this._status = BoostOutputCommandFeedback.BUFFER_EMPTY_COMMAND_IN_PROGRESS; @@ -612,7 +639,7 @@ class Boost { const cmd = this.generateOutputCommand( this._ports.indexOf(BoostIO.LED), - BoostMessage.WRITE_DIRECT_MODE_DATA, + BoostOutputSubCommand.WRITE_DIRECT_MODE_DATA, BoostMode.LED, rgb ); @@ -642,7 +669,7 @@ class Boost { stopLED () { const cmd = this.generateOutputCommand( this._ports.indexOf(BoostIO.LED), - BoostMessage.WRITE_DIRECT_MODE_DATA, + BoostOutputSubCommand.WRITE_DIRECT_MODE_DATA, BoostUnit.LED, [0, 0, 0] ); @@ -748,18 +775,18 @@ class Boost { * This sends a command to the Boost to actuate the specified outputs. * * @param {number} portID - the port (Connect ID) to send a command to. - * @param {number} commandID - the id of the byte command. + * @param {number} subCommandID - the id of the byte command. * @param {number} mode - the mode * @param {array} values - the list of values to write to the command. * @return {array} - a generated output command. */ - generateOutputCommand (portID, subCommandID = BoostMessage.WRITE_DIRECT_MODE_DATA, mode=null, values = null) { + generateOutputCommand (portID, subCommandID = BoostOutputSubCommand.WRITE_DIRECT_MODE_DATA, mode=null, values = null) { let command = [0x00, BoostMessage.OUTPUT]; if (values) { command = command.concat( portID ).concat( - 0x11 // Execute immediately + 0x11 // Execute immediately TODO: Use enum! ); if(subCommandID) { @@ -793,7 +820,7 @@ class Boost { generateInputCommand (portID, mode, delta, enableNotifications) { var command = [ 0x00, // Hub ID - 0x41, // Message Type (Port Input Format Setup (Single)) + 0x41, // Message Type (Port Input Format Setup (Single)) TODO: Use enum portID, mode, ].concat(number2int32array(delta)).concat([ @@ -851,14 +878,15 @@ class Boost { switch (event) { case BoostIOEvent.ATTACHED: - //case BoostIOEvent.ATTACHED_VIRTUAL: this._registerSensorOrMotor(portID, typeId) break; case BoostIOEvent.DETACHED: this._clearPort(portID); break; + case BoostIOEvent.ATTACHED_VIRTUAL: default: - console.log("No I/O Event case found!") + // Ignore + //console.log("No I/O Event case found!") } break; case BoostMessage.PORT_VALUE: From 32a9674b5d79bea4b1b4489b7ad92cfa130da323 Mon Sep 17 00:00:00 2001 From: Kevin Andersen Date: Thu, 14 Feb 2019 13:30:58 -0500 Subject: [PATCH 11/30] Added disconnect-handling per new extensions-spec. Motor-commands that fail will now also cause their blocks to complete --- src/extensions/scratch3_boost/index.js | 5 ++++- 1 file changed, 4 insertions(+), 1 deletion(-) diff --git a/src/extensions/scratch3_boost/index.js b/src/extensions/scratch3_boost/index.js index 5875f6c3c..fc7902521 100644 --- a/src/extensions/scratch3_boost/index.js +++ b/src/extensions/scratch3_boost/index.js @@ -570,6 +570,7 @@ class Boost { */ this._rateLimiter = new RateLimiter(BLESendRateMax); + this.disconnect = this.disconnect.bind(this); this._onConnect = this._onConnect.bind(this); this._onMessage = this._onMessage.bind(this); } @@ -703,7 +704,7 @@ class Boost { } }], optionalServices: [] - }, this._onConnect); + }, this._onConnect, this.disconnect); } /** @@ -921,9 +922,11 @@ class Boost { var feedback = data[4]; switch(feedback) { case BoostOutputCommandFeedback.BUFFER_EMPTY_COMMAND_COMPLETED ^ BoostOutputCommandFeedback.IDLE: + case BoostOutputCommandFeedback.CURRENT_COMMAND_DISCARDED ^ BoostOutputCommandFeedback.IDLE: // Resolve even if command didn't complete successfully this._motors[portID].pendingPromiseFunction(); break; default: + console.log(buf2hex(data)) console.log("Got it but didn't find a motor on: " + portID) } break; From 1d72b3b971b95fffa9c40b71498149b4c1ea8fcc Mon Sep 17 00:00:00 2001 From: Kevin Andersen Date: Thu, 21 Feb 2019 13:35:21 -0500 Subject: [PATCH 12/30] - Removed unused distance-mode from BoostMode-enum - Added descriptions to BoostMode-enums - Improved motor-position handling - Added helper-functions for converting to/from motor position values - Added default value to BoostMotor._pendingPromiseFunction - Added changeLedColorBy-block - Only motors will now try to resolve motor-promises - Changed motor position wording from 'zero' to 'reset' - Modified tilt-thresholds to improve tilt-handling --- src/extensions/scratch3_boost/index.js | 99 +++++++++++++++++++------- 1 file changed, 75 insertions(+), 24 deletions(-) diff --git a/src/extensions/scratch3_boost/index.js b/src/extensions/scratch3_boost/index.js index fc7902521..7306ab626 100644 --- a/src/extensions/scratch3_boost/index.js +++ b/src/extensions/scratch3_boost/index.js @@ -158,19 +158,23 @@ const BoostIOEvent = { * @enum {number} */ const BoostMode = { - TILT: 0, // angle - DISTANCE: 0, // detect - LED: 1, // RGB - COLOR: 0, // Indexed colors - MOTOR: 2, // Position - UNKNOWN: 0 + TILT: 0, // angle (pitch/yaw) + LED: 1, // Set LED to accept RGB values + COLOR: 0, // Read indexed colors from Vision Sensor + MOTOR: 2, // Set motors to report their position + UNKNOWN: 0 // Anything else will use the default mode (mode 0) }; +// Debug function function buf2hex(buffer) { // buffer is an ArrayBuffer return Array.prototype.map.call(new Uint8Array(buffer), x => ('00' + x.toString(16)).slice(-2)).join(' '); } -function number2int32array(number) { +/** + * Helper function for converting a number to a Int32Array + * @param {number} number + */ +function numberToInt32Array(number) { var buffer = new ArrayBuffer(4) var dataview = new DataView(buffer) dataview.setInt32(0, number) @@ -180,6 +184,16 @@ function number2int32array(number) { dataview.getInt8(0)]; } +/** + * Helper function for converting a regular array to a Little Endian INT32-value + * @param {Array} array + */ +function int32ArrayToNumber(array) { + var i = Uint8Array.from(array) + var d = new DataView(i.buffer); + return d.getInt32(0,true); +} + /** * Manage power, direction, position, and timers for one Boost motor. */ @@ -226,7 +240,7 @@ class BoostMotor { this._position = 0; /** - * This motor's current relative position + * This motor's current zero position, which the relative position can be calculated against. * @type {number} * @private */ @@ -262,12 +276,12 @@ class BoostMotor { this._pendingTimeoutDelay = null; /** - * 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. + * If the motor has been turned on run for a specific duration, + * this is the function that will be called once Scratch VM gets a notification from the Move Hub. * @type {Object} * @private */ - this._pendingPromiseFunction = null; + this._pendingPromiseFunction = true; this.startBraking = this.startBraking.bind(this); this.turnOff = this.turnOff.bind(this); @@ -421,7 +435,7 @@ class BoostMotor { this._index, 0x0B, null, - number2int32array(degrees).concat( + numberToInt32Array(degrees).concat( [ this._power * this._direction, // power in range 0-100 0xff, // max speed @@ -554,6 +568,12 @@ class Boost { color: 0, }; + /* + ** TODO: Clean up + */ + + this._led = 50 + /** * The Bluetooth connection socket for reading/writing peripheral data. * @type {BLE} @@ -697,7 +717,7 @@ class Boost { filters: [{ services: [BLEService], manufacturerData: { - 0x0397: { + 0: { dataPrefix: [0x97, 0x03, 0x00, 0x40], mask: [0xFF, 0xFF, 0, 0xFF] } @@ -824,7 +844,7 @@ class Boost { 0x41, // Message Type (Port Input Format Setup (Single)) TODO: Use enum portID, mode, - ].concat(number2int32array(delta)).concat([ + ].concat(numberToInt32Array(delta)).concat([ enableNotifications ]); @@ -904,11 +924,11 @@ class Boost { case BoostIO.MOTOREXT: case BoostIO.MOTORINT: // Taken from EV3 extension tacho motor calculation - let value = data[4] + (data[5] * 256) + (data[6] * 256 * 256) + (data[7] * 256 * 256 * 256); + /*let value = data[4] + (data[5] * 256) + (data[6] * 256 * 256) + (data[7] * 256 * 256 * 256); if (value > 0x7fffffff) { value = value - 0x100000000; - } - this._motors[portID]._position = value + }*/ + this._motors[portID]._position = int32ArrayToNumber(data.slice(4,8)) break; case BoostIO.CURRENT: case BoostIO.VOLTAGE: @@ -923,8 +943,10 @@ class Boost { switch(feedback) { case BoostOutputCommandFeedback.BUFFER_EMPTY_COMMAND_COMPLETED ^ BoostOutputCommandFeedback.IDLE: case BoostOutputCommandFeedback.CURRENT_COMMAND_DISCARDED ^ BoostOutputCommandFeedback.IDLE: // Resolve even if command didn't complete successfully - this._motors[portID].pendingPromiseFunction(); - break; + if(this._motors[portID]) { + this._motors[portID].pendingPromiseFunction(); + break; + } default: console.log(buf2hex(data)) console.log("Got it but didn't find a motor on: " + portID) @@ -1207,7 +1229,7 @@ class Scratch3BoostBlocks { opcode: 'motorZero', text: formatMessage({ id: 'boost.motorZero', - default: 'zero motor [MOTOR_ID]', + default: 'reset motor position [MOTOR_ID]', description: 'set a motor\'s position to 0' }), blockType: BlockType.COMMAND, @@ -1234,6 +1256,21 @@ class Scratch3BoostBlocks { } } }, + { + opcode: 'changeLightHueBy', + text: formatMessage({ + id: 'boost.changeLightHueBy', + default: 'change light color by [HUE]', + description: 'change the LED color by a given amount' + }), + blockType: BlockType.COMMAND, + arguments: { + HUE: { + type: ArgumentType.NUMBER, + defaultValue: 5 + } + } + }, /*{ opcode: 'whenDistance', text: formatMessage({ @@ -1777,6 +1814,7 @@ class Scratch3BoostBlocks { const rgbDecimal = color.rgbToDecimal(rgbObject); + this._peripheral._led = inputHue; this._peripheral.setLED(rgbDecimal); return new Promise(resolve => { @@ -1786,6 +1824,19 @@ class Scratch3BoostBlocks { }); } + /** + * Change the LED's hue by a give number. + * @param {object} args - the block's arguments. + * @property {number} HUE - the hue to set, in the range [0,100]. + * @return {Promise} - a Promise that resolves after some delay. + */ + changeLightHueBy (args) { + // TODO: Clean up this block and its opcode + let n = {}; + n.HUE = Cast.toNumber(args.HUE) + this._peripheral._led; + this.setLightHue(n); + } + /** * Compare the distance sensor's value to a reference. * @param {object} args - the block's arguments. @@ -1915,13 +1966,13 @@ class Scratch3BoostBlocks { _getTiltAngle (direction) { switch (direction) { case BoostTiltDirection.UP: - return this._peripheral.tiltY > 45 ? 256 - this._peripheral.tiltY : -this._peripheral.tiltY; + return this._peripheral.tiltY > 90 ? 256 - this._peripheral.tiltY : -this._peripheral.tiltY; case BoostTiltDirection.DOWN: - return this._peripheral.tiltY > 45 ? this._peripheral.tiltY - 256 : this._peripheral.tiltY; + return this._peripheral.tiltY > 90 ? this._peripheral.tiltY - 256 : this._peripheral.tiltY; case BoostTiltDirection.LEFT: - return this._peripheral.tiltX > 45 ? 256 - this._peripheral.tiltX : -this._peripheral.tiltX; + return this._peripheral.tiltX > 90 ? 256 - this._peripheral.tiltX : -this._peripheral.tiltX; case BoostTiltDirection.RIGHT: - return this._peripheral.tiltX > 45 ? this._peripheral.tiltX - 256 : this._peripheral.tiltX; + return this._peripheral.tiltX > 90 ? this._peripheral.tiltX - 256 : this._peripheral.tiltX; default: log.warn(`Unknown tilt direction in _getTiltAngle: ${direction}`); } From 9767d721883313ab273a935501578cf9a3214ffa Mon Sep 17 00:00:00 2001 From: Kevin Andersen Date: Thu, 21 Feb 2019 14:47:30 -0500 Subject: [PATCH 13/30] - Cleaned up TODOs! - Added and made use of more enums rather than hardcoded bytes --- src/extensions/scratch3_boost/index.js | 86 +++++++++++++++++++------- 1 file changed, 65 insertions(+), 21 deletions(-) diff --git a/src/extensions/scratch3_boost/index.js b/src/extensions/scratch3_boost/index.js index 7306ab626..3736283a6 100644 --- a/src/extensions/scratch3_boost/index.js +++ b/src/extensions/scratch3_boost/index.js @@ -66,7 +66,6 @@ const BoostIO = { * @enum {number} */ const BoostOutputCommandFeedback = { - // TODO: Figure out if this enum is necessary or if we're always just sending 0x81 BUFFER_EMPTY_COMMAND_IN_PROGRESS: 0x01, BUFFER_EMPTY_COMMAND_COMPLETED: 0x02, CURRENT_COMMAND_DISCARDED: 0x04, @@ -109,6 +108,8 @@ const BoostMessage = { HUB_ALERTS: 0x03, HUB_ATTACHED_IO: 0x04, ERROR: 0x05, + PORT_INPUT_FORMAT_SETUP_SINGLE: 0x41, + PORT_INPUT_FORMAT_SETUP_COMBINED: 0x42, PORT_INFORMATION: 0x43, PORT_MODEINFORMATION: 0x44, PORT_VALUE: 0x45, @@ -141,6 +142,51 @@ const BoostOutputSubCommand = { WRITE_DIRECT_MODE_DATA: 0x51, } +/** + * Enum for Startup/Completion information for an output command. + * Startup and completion bytes must be OR'ed to be combined to a single byte. + * @readonly + * @enum {number} + */ + +const BoostOutputExecution = { + // Startup information + BUFFER_IF_NECESSARY: 0x00, + EXECUTE_IMMEDIATELY: 0x10, + // Completion information + NO_ACTION: 0x00, + COMMAND_FEEDBACK: 0x01, + + +} + + + +/** + * Enum for Boost Motor end states + * @readonly + * @enum {number} + */ + +const BoostMotorEndState = { + FLOAT: 0, + HOLD: 126, + BRAKE: 127 +} + +/** + * Enum for Boost Motor Acceleration/Deceleration profiles + * @readyonly + * @enum {number} + */ + +const BoostMotorProfile = { + DO_NOT_USE: 0x00, + ACCELERATION: 0x01, + DECELERATION: 0x02 +} + + /** * Enum for when Boost IO's are attached/detached * @readonly @@ -161,7 +207,8 @@ const BoostMode = { TILT: 0, // angle (pitch/yaw) LED: 1, // Set LED to accept RGB values COLOR: 0, // Read indexed colors from Vision Sensor - MOTOR: 2, // Set motors to report their position + MOTOR_SENSOR: 2, // Set motors to report their position + MOTOR_OUTPUT: 0, UNKNOWN: 0 // Anything else will use the default mode (mode 0) }; @@ -401,7 +448,7 @@ class BoostMotor { const cmd = this._parent.generateOutputCommand( this._index, BoostOutputSubCommand.WRITE_DIRECT_MODE_DATA, - 0x00, + BoostMode.MOTOR_OUTPUT, [this._power * this._direction] // power in range 0-100 ); @@ -433,14 +480,13 @@ class BoostMotor { const cmd = this._parent.generateOutputCommand( this._index, - 0x0B, + BoostOutputSubCommand.START_SPEED_FOR_DEGREES, null, numberToInt32Array(degrees).concat( - [ - this._power * this._direction, // power in range 0-100 - 0xff, // max speed - 0x00, - 0x03]) + [this._power * this._direction, // power in range 0-100 + 0xFF, // max speed + BoostMotorEndState.FLOAT, + BoostMotorProfile.DO_NOT_USE]) // byte for using acceleration/braking profile ); this._status = BoostOutputCommandFeedback.BUFFER_EMPTY_COMMAND_IN_PROGRESS; @@ -458,8 +504,8 @@ class BoostMotor { const cmd = this._parent.generateOutputCommand( this._index, BoostMessage.MOTOR_POWER, - 0x00, - [127] // 127 = break + BoostMode.MOTOR_OUTPUT, + [BoostMotorEndState.BRAKE] ); this._parent.send(BLECharacteristic, cmd); @@ -478,8 +524,8 @@ class BoostMotor { const cmd = this._parent.generateOutputCommand( this._index, BoostMessage.MOTOR_POWER, - 0x00, - [0] // 0 = stop + BoostMode.MOTOR_OUTPUT, + [BoostMotorEndState.FLOAT] ); this._parent.send(BLECharacteristic, cmd, useLimiter); @@ -802,12 +848,11 @@ class Boost { * @return {array} - a generated output command. */ generateOutputCommand (portID, subCommandID = BoostOutputSubCommand.WRITE_DIRECT_MODE_DATA, mode=null, values = null) { - let command = [0x00, BoostMessage.OUTPUT]; + let command = [0x00 /* Hub ID (always 0 for now) */, BoostMessage.OUTPUT]; if (values) { - command = command.concat( - portID - ).concat( - 0x11 // Execute immediately TODO: Use enum! + command = command.concat(portID).concat( + BoostOutputExecution.EXECUTE_IMMEDIATELY ^ + BoostOutputExecution.COMMAND_FEEDBACK ); if(subCommandID) { @@ -841,7 +886,7 @@ class Boost { generateInputCommand (portID, mode, delta, enableNotifications) { var command = [ 0x00, // Hub ID - 0x41, // Message Type (Port Input Format Setup (Single)) TODO: Use enum + BoostMessage.PORT_INPUT_FORMAT_SETUP_SINGLE, portID, mode, ].concat(numberToInt32Array(delta)).concat([ @@ -985,7 +1030,7 @@ class Boost { switch(type) { case BoostIO.MOTORINT: case BoostIO.MOTOREXT: - typeString = 'MOTOR' + typeString = 'MOTOR_SENSOR' break; case BoostIO.COLOR: typeString = 'COLOR' @@ -1896,7 +1941,6 @@ class Scratch3BoostBlocks { */ getMotorPosition (args) { switch(args.MOTOR_REPORTER_ID) { - // TODO: Handle negative rotation. case BoostMotorLabel.A: return this._peripheral._motors[BoostPort.A].position - this._peripheral._motors[BoostPort.A].positionZero case BoostMotorLabel.B: From 40c022ca8e060fc88be817a0fc0abf00f74b757d Mon Sep 17 00:00:00 2001 From: Kevin Andersen Date: Fri, 22 Feb 2019 12:50:19 -0500 Subject: [PATCH 14/30] - Refactoring of output commands: - Simplified generateOutputCommand() to follow the LEGO Wireless Protocol command-structure. Every output-command must have a portID, execution information, sub-command, and then followed by a custom payload which must be defined according to the protocol documentation mentioned in the extension. - Simple motor commands now use the above subcommand-structure rather than the former primitive command structure. - stopLED()-function removed since it's not used - Implemented check of pendingPromiseFunction() for motors before firing. --- src/extensions/scratch3_boost/index.js | 92 ++++++++++---------------- 1 file changed, 35 insertions(+), 57 deletions(-) diff --git a/src/extensions/scratch3_boost/index.js b/src/extensions/scratch3_boost/index.js index 3736283a6..30fbe8164 100644 --- a/src/extensions/scratch3_boost/index.js +++ b/src/extensions/scratch3_boost/index.js @@ -328,7 +328,7 @@ class BoostMotor { * @type {Object} * @private */ - this._pendingPromiseFunction = true; + this._pendingPromiseFunction = null; this.startBraking = this.startBraking.bind(this); this.turnOff = this.turnOff.bind(this); @@ -447,10 +447,11 @@ class BoostMotor { if (this._power === 0) return; const cmd = this._parent.generateOutputCommand( this._index, - BoostOutputSubCommand.WRITE_DIRECT_MODE_DATA, - BoostMode.MOTOR_OUTPUT, - [this._power * this._direction] // power in range 0-100 - ); + BoostOutputExecution.EXECUTE_IMMEDIATELY ^ BoostOutputExecution.COMMAND_FEEDBACK, + BoostOutputSubCommand.START_SPEED, + [this._power * this._direction, + this._power * this._direction, + BoostMotorProfile.DO_NOT_USE]); this._parent.send(BLECharacteristic, cmd); @@ -480,13 +481,13 @@ class BoostMotor { const cmd = this._parent.generateOutputCommand( this._index, + BoostOutputExecution.EXECUTE_IMMEDIATELY ^ BoostOutputExecution.COMMAND_FEEDBACK, BoostOutputSubCommand.START_SPEED_FOR_DEGREES, - null, - numberToInt32Array(degrees).concat( - [this._power * this._direction, // power in range 0-100 + [...numberToInt32Array(degrees), + this._power * this._direction, // power in range 0-100 0xFF, // max speed BoostMotorEndState.FLOAT, - BoostMotorProfile.DO_NOT_USE]) // byte for using acceleration/braking profile + BoostMotorProfile.DO_NOT_USE] // byte for using acceleration/braking profile ); this._status = BoostOutputCommandFeedback.BUFFER_EMPTY_COMMAND_IN_PROGRESS; @@ -503,9 +504,11 @@ class BoostMotor { const cmd = this._parent.generateOutputCommand( this._index, - BoostMessage.MOTOR_POWER, - BoostMode.MOTOR_OUTPUT, - [BoostMotorEndState.BRAKE] + BoostOutputExecution.EXECUTE_IMMEDIATELY ^ BoostOutputExecution.COMMAND_FEEDBACK, + BoostOutputSubCommand.START_SPEED, + [BoostMotorEndState.FLOAT, + BoostMotorEndState.FLOAT, + BoostMotorProfile.DO_NOT_USE] ); this._parent.send(BLECharacteristic, cmd); @@ -523,9 +526,11 @@ class BoostMotor { const cmd = this._parent.generateOutputCommand( this._index, - BoostMessage.MOTOR_POWER, - BoostMode.MOTOR_OUTPUT, - [BoostMotorEndState.FLOAT] + BoostOutputExecution.EXECUTE_IMMEDIATELY ^ BoostOutputExecution.COMMAND_FEEDBACK, + BoostOutputSubCommand.START_SPEED, + [BoostMotorEndState.FLOAT, + BoostMotorEndState.FLOAT, + BoostMotorProfile.DO_NOT_USE] ); this._parent.send(BLECharacteristic, cmd, useLimiter); @@ -706,9 +711,10 @@ class Boost { const cmd = this.generateOutputCommand( this._ports.indexOf(BoostIO.LED), + BoostOutputExecution.EXECUTE_IMMEDIATELY ^ BoostOutputExecution.COMMAND_FEEDBACK, BoostOutputSubCommand.WRITE_DIRECT_MODE_DATA, - BoostMode.LED, - rgb + [BoostMode.LED, + ...rgb] ); return this.send(BLECharacteristic, cmd); @@ -729,21 +735,6 @@ class Boost { return this.send(BLECharacteristic, cmd); } - /** - * Switch off the LED on the Boost. - * @return {Promise} - a promise of the completion of the stop led send operation. - */ - stopLED () { - const cmd = this.generateOutputCommand( - this._ports.indexOf(BoostIO.LED), - BoostOutputSubCommand.WRITE_DIRECT_MODE_DATA, - BoostUnit.LED, - [0, 0, 0] - ); - - return this.send(BLECharacteristic, cmd); - } - /** * Stop the motors on the Boost peripheral. */ @@ -837,34 +828,19 @@ class Boost { /** * Generate a Boost 'Output Command' in the byte array format - * (CONNECT ID, COMMAND ID, NUMBER OF BYTES, VALUES ...). + * (COMMON HEADER, PORT ID, EXECUTION BYTE, SUBCOMMAND ID, PAYLOAD). * - * This sends a command to the Boost to actuate the specified outputs. + * Payload is accepted as an array since these vary across different subcommands. * * @param {number} portID - the port (Connect ID) to send a command to. - * @param {number} subCommandID - the id of the byte command. - * @param {number} mode - the mode - * @param {array} values - the list of values to write to the command. + * @param {number} execution - Byte containing startup/completion information + * @param {number} subCommandID - the id of the subcommand byte. + * @param {array} payload - the list of bytes to send as subcommand payload * @return {array} - a generated output command. */ - generateOutputCommand (portID, subCommandID = BoostOutputSubCommand.WRITE_DIRECT_MODE_DATA, mode=null, values = null) { - let command = [0x00 /* Hub ID (always 0 for now) */, BoostMessage.OUTPUT]; - if (values) { - command = command.concat(portID).concat( - BoostOutputExecution.EXECUTE_IMMEDIATELY ^ - BoostOutputExecution.COMMAND_FEEDBACK - ); - - if(subCommandID) { - command = command.concat(subCommandID); - } - if(mode !== null) { - command = command.concat(mode) - } - command = command.concat( - values - ); - } + generateOutputCommand (portID, execution, subCommand, payload) { + let hubID = 0x00 + let command = [hubID, BoostMessage.OUTPUT, portID, execution, subCommand, ...payload] command.unshift(command.length +1) return command; } @@ -988,10 +964,12 @@ class Boost { switch(feedback) { case BoostOutputCommandFeedback.BUFFER_EMPTY_COMMAND_COMPLETED ^ BoostOutputCommandFeedback.IDLE: case BoostOutputCommandFeedback.CURRENT_COMMAND_DISCARDED ^ BoostOutputCommandFeedback.IDLE: // Resolve even if command didn't complete successfully - if(this._motors[portID]) { + if(this._motors[portID] && this._motors[portID].pendingPromiseFunction) { this._motors[portID].pendingPromiseFunction(); - break; } + break; + case BoostOutputCommandFeedback.BUFFER_EMPTY_COMMAND_IN_PROGRESS: + break; default: console.log(buf2hex(data)) console.log("Got it but didn't find a motor on: " + portID) From 7fc705b7415bf12b9e876ff0b435acb4bac262f4 Mon Sep 17 00:00:00 2001 From: Kevin Andersen Date: Tue, 26 Feb 2019 14:44:13 -0500 Subject: [PATCH 15/30] - Consolidated BLE enums for brevity - Added IOs from documentation to BoostIO enumotor follows the speed set by Scratch and not the highest possible speed. - Cleaned up line breaks in codebrake rather than float when stopping. - Cleaned up documentationensors - Deleted unused MOTOR_OUTPUT from BoostMode-enumbased on BoostMode-enum - Set default-value for "set motor power to"-block to be all motors after feedback from @ericrosenbaum - Implemented check in getMotorPosition() to see if motor is actually there before reporting position --- src/extensions/scratch3_boost/index.js | 155 ++++++++++++++----------- 1 file changed, 85 insertions(+), 70 deletions(-) diff --git a/src/extensions/scratch3_boost/index.js b/src/extensions/scratch3_boost/index.js index 30fbe8164..b1b758fd7 100644 --- a/src/extensions/scratch3_boost/index.js +++ b/src/extensions/scratch3_boost/index.js @@ -22,16 +22,14 @@ const log = require('../../util/log'); const iconURI = 'data:image/png;base64,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'; /** - * Boost BLE service UUID. - * @type {string} + * Boost BLE UUIDs. + * @enum {string} */ -const BLEService = '00001623-1212-efde-1623-785feabcd123'; -/** - * Boost BLE characteristic UUID. - * @type {string} - */ -const BLECharacteristic = '00001624-1212-efde-1623-785feabcd123'; +const BoostBLE = { + service: '00001623-1212-efde-1623-785feabcd123', + characteristic: '00001624-1212-efde-1623-785feabcd123' +} /** * A time interval to wait (in milliseconds) while a block that sends a BLE message is running. @@ -51,13 +49,23 @@ const BLESendRateMax = 20; * @enum {number} */ const BoostIO = { - MOTORINT: 0x27, - MOTOREXT: 0x26, - LED: 0x17, - TILT: 0x28, - COLOR: 0x25, + MOTOR_WEDO: 0x01, + MOTOR_SYSTEM: 0x02, + BUTTON: 0x05, + LIGHT: 0x08, + LIGHT1:0x09, + LIGHT2:0x0A, VOLTAGE: 0x14, - CURRENT: 0x15, + CURRENT: 0x15, + PIEZO: 0x16, + LED: 0x17, + TILT_EXTERNAL: 0x22, + MOTION_SENSOR: 0x23, + COLOR: 0x25, + MOTOREXT: 0x26, + MOTORINT: 0x27, + TILT: 0x28, + }; /** @@ -86,6 +94,11 @@ const BoostPort = { D: 2 }; +/** + * Enum for indexed colors read by the Boost Vision Sensor + * @readonly + * @enum {number} + */ const BoostColor = { NONE: 255, RED: 9, @@ -101,7 +114,6 @@ const BoostColor = { * @readonly * @enum {number} */ - const BoostMessage = { HUB_PROPERTIES: 0x01, HUB_ACTIONS: 0x02, @@ -125,7 +137,6 @@ const BoostMessage = { * @readonly * @enum {number} */ - const BoostOutputSubCommand = { START_POWER_PAIR: 0x02, SET_ACC_TIME: 0x05, @@ -148,7 +159,6 @@ const BoostOutputSubCommand = { * @readonly * @enum {number} */ - const BoostOutputExecution = { // Startup information BUFFER_IF_NECESSARY: 0x00, @@ -156,8 +166,6 @@ const BoostOutputExecution = { // Completion information NO_ACTION: 0x00, COMMAND_FEEDBACK: 0x01, - - } @@ -167,7 +175,6 @@ const BoostOutputExecution = { * @readonly * @enum {number} */ - const BoostMotorEndState = { FLOAT: 0, HOLD: 126, @@ -175,11 +182,10 @@ const BoostMotorEndState = { } /** - * Enum for Boost Motor Acceleration/Deceleration profiles + * Enum for Boost Motor acceleration/deceleration profiles * @readyonly * @enum {number} */ - const BoostMotorProfile = { DO_NOT_USE: 0x00, ACCELERATION: 0x01, @@ -192,7 +198,6 @@ const BoostMotorProfile = { * @readonly * @enum {number} */ - const BoostIOEvent = { ATTACHED: 0x01, DETACHED: 0x00, @@ -200,7 +205,7 @@ const BoostIOEvent = { } /** - * Enum for modes for input sensors on the Boost. + * Enum for selected sensor modes. * @enum {number} */ const BoostMode = { @@ -208,7 +213,6 @@ const BoostMode = { LED: 1, // Set LED to accept RGB values COLOR: 0, // Read indexed colors from Vision Sensor MOTOR_SENSOR: 2, // Set motors to report their position - MOTOR_OUTPUT: 0, UNKNOWN: 0 // Anything else will use the default mode (mode 0) }; @@ -384,28 +388,28 @@ class BoostMotor { } /** - * @return {int} - + * @return {int} - this motor's current position, in the range of [-MIN_INT32,MAX_INT32] */ get position () { return this._position; } /** - * @param {int} value - + * @param {int} value - set this motor's current position. */ set position (value) { this._position = value; } /** - * @return {int} - + * @return {int} - this motor's current zero position, which the current position is relative to. */ get positionZero () { return this._positionZero; } /** - * @param {int} value - + * @param {int} value - set this motor's zero position. */ set positionZero (value) { this._positionZero = value; @@ -450,10 +454,10 @@ class BoostMotor { BoostOutputExecution.EXECUTE_IMMEDIATELY ^ BoostOutputExecution.COMMAND_FEEDBACK, BoostOutputSubCommand.START_SPEED, [this._power * this._direction, - this._power * this._direction, + this._power* this._direction, BoostMotorProfile.DO_NOT_USE]); - this._parent.send(BLECharacteristic, cmd); + this._parent.send(BoostBLE.characteristic, cmd); this._status = BoostOutputCommandFeedback.BUFFER_EMPTY_COMMAND_IN_PROGRESS; this._clearTimeout(); @@ -485,19 +489,19 @@ class BoostMotor { BoostOutputSubCommand.START_SPEED_FOR_DEGREES, [...numberToInt32Array(degrees), this._power * this._direction, // power in range 0-100 - 0xFF, // max speed - BoostMotorEndState.FLOAT, + this._power * this._direction, // max speed + BoostMotorEndState.BRAKE, BoostMotorProfile.DO_NOT_USE] // byte for using acceleration/braking profile ); this._status = BoostOutputCommandFeedback.BUFFER_EMPTY_COMMAND_IN_PROGRESS; - - this._parent.send(BLECharacteristic, cmd); + this._parent.send(BoostBLE.characteristic, cmd); } /** * Start active braking on this motor. After a short time, the motor will turn off. * // TODO: rename this to coastAfter? + * // TODO: eliminate this function by changing turnOff() to use BoostMotorEndState.BRAKE? */ startBraking () { if (this._power === 0) return; @@ -511,7 +515,7 @@ class BoostMotor { BoostMotorProfile.DO_NOT_USE] ); - this._parent.send(BLECharacteristic, cmd); + this._parent.send(BoostBLE.characteristic, cmd); this._status = BoostOutputCommandFeedback.IDLE; this._setNewTimeout(this.turnOff, BoostMotor.BRAKE_TIME_MS); @@ -533,7 +537,7 @@ class BoostMotor { BoostMotorProfile.DO_NOT_USE] ); - this._parent.send(BLECharacteristic, cmd, useLimiter); + this._parent.send(BoostBLE.characteristic, cmd, useLimiter); this._status = BoostOutputCommandFeedback.IDLE; } @@ -615,7 +619,6 @@ class Boost { this._sensors = { tiltX: 0, tiltY: 0, - distance: 0, color: 0, }; @@ -662,10 +665,11 @@ class Boost { /** * @return {number} - the latest value received from the distance sensor. - */ + *//* get distance () { return this._sensors.distance; } + */ /** * @return {number} - the latest color value received from the vision sensor. @@ -717,7 +721,7 @@ class Boost { ...rgb] ); - return this.send(BLECharacteristic, cmd); + return this.send(BoostBLE.characteristic, cmd); } /** @@ -732,7 +736,7 @@ class Boost { false ); - return this.send(BLECharacteristic, cmd); + return this.send(BoostBLE.characteristic, cmd); } /** @@ -752,7 +756,7 @@ class Boost { } this._ble = new BLE(this._runtime, this._extensionId, { filters: [{ - services: [BLEService], + services: [BoostBLE.service], manufacturerData: { 0: { dataPrefix: [0x97, 0x03, 0x00, 0x40], @@ -783,7 +787,6 @@ class Boost { this._sensors = { tiltX: 0, tiltY: 0, - distance: 0, color: 0 }; @@ -819,7 +822,7 @@ class Boost { } return this._ble.write( - BLEService, + BoostBLE.service, uuid, Base64Util.uint8ArrayToBase64(message), 'base64' @@ -880,8 +883,8 @@ class Boost { */ _onConnect () { this._ble.startNotifications( - BLEService, - BLECharacteristic, + BoostBLE.service, + BoostBLE.characteristic, this._onMessage ); } @@ -918,7 +921,7 @@ class Boost { const event = data[4] const typeId = data[5] - switch (event) { + switch (event) { case BoostIOEvent.ATTACHED: this._registerSensorOrMotor(portID, typeId) break; @@ -949,6 +952,7 @@ class Boost { if (value > 0x7fffffff) { value = value - 0x100000000; }*/ + //console.log(data) this._motors[portID]._position = int32ArrayToNumber(data.slice(4,8)) break; case BoostIO.CURRENT: @@ -971,18 +975,16 @@ class Boost { case BoostOutputCommandFeedback.BUFFER_EMPTY_COMMAND_IN_PROGRESS: break; default: - console.log(buf2hex(data)) console.log("Got it but didn't find a motor on: " + portID) } break; - case BoostMessage.PORT_INPUT_FORMAT: case BoostMessage.ERROR: //DEBUG - console.log(buf2hex(data)) + console.log("Error in BLE message: " + buf2hex(data)) break; default: //DEBUG - console.log(buf2hex(data)) + //console.log(buf2hex(data)) } } @@ -998,45 +1000,48 @@ class Boost { // Record which port is connected to what type of device this._ports[portID] = type; + // Record motor port if (type === BoostIO.MOTORINT || type === BoostIO.MOTOREXT) { this._motors[portID] = new BoostMotor(this, portID); } // Set input format for tilt or distance sensor - var typeString = '' + + var m = null + switch(type) { case BoostIO.MOTORINT: case BoostIO.MOTOREXT: - typeString = 'MOTOR_SENSOR' + m = BoostMode.MOTOR_SENSOR break; case BoostIO.COLOR: - typeString = 'COLOR' + m = BoostMode.COLOR break; case BoostIO.LED: - typeString = 'LED' + m = BoostMode.LED this.setLEDMode(); this.setLED(0x00FF00); break; case BoostIO.TILT: - typeString = 'TILT' + m = BoostMode.TILT break; default: - typeString = 'UNKNOWN' + m = BoostMode.UNKNOWN } const cmd = this.generateInputCommand( portID, - BoostMode[typeString], + m, 1, true ); - this.send(BLECharacteristic, cmd); + this.send(BoostBLE.characteristic, cmd); } /** - * Clear the sensor or motor present at port 1 or 2. + * Clear the sensors or motors present on the ports. * @param {number} portID - the port to clear. * @private */ @@ -1045,8 +1050,8 @@ class Boost { if (type === BoostIO.TILT) { this._sensors.tiltX = this._sensors.tiltY = 0; } - if (type === BoostIO.DISTANCE) { - this._sensors.distance = 0; + if (type === BoostIO.COLOR) { + this._sensors.color = 0; } this._ports[portID] = 'none'; this._motors[portID] = null; @@ -1219,7 +1224,7 @@ class Scratch3BoostBlocks { MOTOR_ID: { type: ArgumentType.STRING, menu: 'MOTOR_ID', - defaultValue: BoostMotorLabel.A + defaultValue: BoostMotorLabel.ALL }, POWER: { type: ArgumentType.NUMBER, @@ -1355,7 +1360,7 @@ class Scratch3BoostBlocks { description: 'the value returned by the distance sensor' }), blockType: BlockType.REPORTER - }, + },*/ { opcode: 'isTilted', text: formatMessage({ @@ -1371,7 +1376,7 @@ class Scratch3BoostBlocks { defaultValue: BoostTiltDirection.ANY } } - },*/ + }, { opcode: 'getTiltAngle', text: formatMessage({ @@ -1918,19 +1923,29 @@ class Scratch3BoostBlocks { * @return {number} */ getMotorPosition (args) { + var portID = null switch(args.MOTOR_REPORTER_ID) { + case BoostMotorLabel.A: - return this._peripheral._motors[BoostPort.A].position - this._peripheral._motors[BoostPort.A].positionZero + portID = BoostPort.A + break; case BoostMotorLabel.B: - return this._peripheral._motors[BoostPort.B].position - this._peripheral._motors[BoostPort.B].positionZero + portID = BoostPort.B + break; case BoostMotorLabel.C: - return this._peripheral._motors[BoostPort.C].position - this._peripheral._motors[BoostPort.C].positionZero + portID = BoostPort.C + break; case BoostMotorLabel.D: - return this._peripheral._motors[BoostPort.D].position - this._peripheral._motors[BoostPort.D].positionZero + portID = BoostPort.D + break; default: log.warn("Asked for a motor position that doesnt exist!") return false; } + if(portID && this._peripheral._motors[portID]) { + return this._peripheral._motors[portID].position - this._peripheral._motors[portID].positionZero + } + return false; } /** @@ -2036,4 +2051,4 @@ class Scratch3BoostBlocks { } } -module.exports = Scratch3BoostBlocks; +module.exports = Scratch3BoostBlocks; \ No newline at end of file From d2d236d282f7cd21a1173bfdf6a73181d47313cb Mon Sep 17 00:00:00 2001 From: Kevin Andersen Date: Wed, 27 Feb 2019 15:19:40 -0500 Subject: [PATCH 16/30] After discussion with @ericrosenbaum, decided to change the following: - Regroup blocks by functionality, i.e. motors, led, color-sensing, etc. - Remove motor position zero-ing as concept and use MathUtil.wrapClamp to instead wrap everything around 360 degrees. - WIP: "Set motor power to"-block should update motors that are currently running to emphasize principle that blocks have actions. --- src/extensions/scratch3_boost/index.js | 66 ++++++++++---------------- 1 file changed, 25 insertions(+), 41 deletions(-) diff --git a/src/extensions/scratch3_boost/index.js b/src/extensions/scratch3_boost/index.js index b1b758fd7..d200494e9 100644 --- a/src/extensions/scratch3_boost/index.js +++ b/src/extensions/scratch3_boost/index.js @@ -1254,17 +1254,17 @@ class Scratch3BoostBlocks { } }, { - opcode: 'motorZero', + opcode: 'getMotorPosition', text: formatMessage({ - id: 'boost.motorZero', - default: 'reset motor position [MOTOR_ID]', - description: 'set a motor\'s position to 0' + id: 'boost.getMotorPosition', + default: 'motor position [MOTOR_REPORTER_ID]', + description: 'the position returned by the motor' }), - blockType: BlockType.COMMAND, + blockType: BlockType.REPORTER, arguments: { - MOTOR_ID: { + MOTOR_REPORTER_ID: { type: ArgumentType.STRING, - menu: 'MOTOR_ID', + menu: 'MOTOR_REPORTER_ID', defaultValue: BoostMotorLabel.A } } @@ -1318,23 +1318,7 @@ class Scratch3BoostBlocks { defaultValue: 50 } } - },*/ - { - opcode: 'whenColor', - text: formatMessage({ - id: 'boost.whenColor', - default: 'when color [COLOR]', - description: 'check for when color' - }), - blockType: BlockType.HAT, - arguments: { - COLOR: { - type: ArgumentType.NUMBER, - menu: 'COLOR', - defaultValue: BoostColor.RED - } - } - }, + },*/ { opcode: 'whenTilted', text: formatMessage({ @@ -1393,6 +1377,22 @@ class Scratch3BoostBlocks { } } }, + { + opcode: 'whenColor', + text: formatMessage({ + id: 'boost.whenColor', + default: 'when color [COLOR]', + description: 'check for when color' + }), + blockType: BlockType.HAT, + arguments: { + COLOR: { + type: ArgumentType.NUMBER, + menu: 'COLOR', + defaultValue: BoostColor.RED + } + } + }, { opcode: 'getColor', text: formatMessage({ @@ -1401,22 +1401,6 @@ class Scratch3BoostBlocks { description: 'the color returned by the vision sensor' }), blockType: BlockType.REPORTER - }, - { - opcode: 'getMotorPosition', - text: formatMessage({ - id: 'boost.getMotorPosition', - default: 'motor position [MOTOR_REPORTER_ID]', - description: 'the position returned by the motor' - }), - blockType: BlockType.REPORTER, - arguments: { - MOTOR_REPORTER_ID: { - type: ArgumentType.STRING, - menu: 'MOTOR_REPORTER_ID', - defaultValue: BoostMotorLabel.A - } - } } ], menus: { @@ -1943,7 +1927,7 @@ class Scratch3BoostBlocks { return false; } if(portID && this._peripheral._motors[portID]) { - return this._peripheral._motors[portID].position - this._peripheral._motors[portID].positionZero + return MathUtil.wrapClamp(this._peripheral._motors[portID].position,0,360); } return false; } From ed051cdd8212ab473d3b34169405be37f7dfc030 Mon Sep 17 00:00:00 2001 From: Kevin Andersen Date: Wed, 27 Feb 2019 15:49:24 -0500 Subject: [PATCH 17/30] Changed color-sensing values to be strings instead of LEGO numbering, which seems more intuitive. --- src/extensions/scratch3_boost/index.js | 34 +++++++++++++++----------- 1 file changed, 20 insertions(+), 14 deletions(-) diff --git a/src/extensions/scratch3_boost/index.js b/src/extensions/scratch3_boost/index.js index d200494e9..e43606902 100644 --- a/src/extensions/scratch3_boost/index.js +++ b/src/extensions/scratch3_boost/index.js @@ -1387,9 +1387,9 @@ class Scratch3BoostBlocks { blockType: BlockType.HAT, arguments: { COLOR: { - type: ArgumentType.NUMBER, + type: ArgumentType.STRING, menu: 'COLOR', - defaultValue: BoostColor.RED + defaultValue: 'red' } } }, @@ -1582,37 +1582,42 @@ class Scratch3BoostBlocks { { text: formatMessage({ id: 'boost.color.red', - default: 'red' + default: 'red', + description: 'red' }), - value: BoostColor.RED + value: 'red' }, { text: formatMessage({ id: 'boost.color.blue', - default: 'blue' + default: 'blue', + description: 'blue' }), - value: BoostColor.BLUE + value: 'blue' }, { text: formatMessage({ id: 'boost.color.green', - default: 'green' + default: 'green', + description: 'green' }), - value: BoostColor.GREEN + value: 'green' }, { text: formatMessage({ id: 'boost.color.yellow', - default: 'yellow' + default: 'yellow', + description: 'yellow' }), - value: BoostColor.YELLOW + value: 'yellow' }, { text: formatMessage({ id: 'boost.color.white', - default: 'white' + default: 'white', + desription: 'white' }), - value: BoostColor.WHITE + value: 'white' }, { text: formatMessage({ @@ -1620,7 +1625,7 @@ class Scratch3BoostBlocks { default: 'black', description: 'black' }), - value: BoostColor.BLACK + value: 'black' } ], OP: ['<', '>'] @@ -1900,7 +1905,8 @@ class Scratch3BoostBlocks { * @return {number} - the vision sensor's color value. Indexed LEGO brick colors. */ getColor () { - return this._peripheral.color; + //return this._peripheral.color; + return Object.keys(BoostColor).find(key => BoostColor[key] === this._peripheral.color).toLowerCase() } /** From 669ff1abf166493534fd637facf38d41d53fff7a Mon Sep 17 00:00:00 2001 From: Kevin Andersen Date: Fri, 1 Mar 2019 11:36:57 -0500 Subject: [PATCH 18/30] - Boost-icon added to blocks - Added BoostColorLabel-enum for color sensing block argument labels - Regrouped blocks to be grouped by functionality, promoting color sensing - Added 'any' to whenColor hat-block which triggers if the color sensor reports a value that is not none. Implemented an oldColor-value that allows the hat-block to trigger between color-changes, even if the sensor doesnt see 'none' in the meantime. --- src/extensions/scratch3_boost/index.js | 211 +++++++++++++++---------- 1 file changed, 125 insertions(+), 86 deletions(-) diff --git a/src/extensions/scratch3_boost/index.js b/src/extensions/scratch3_boost/index.js index e43606902..544295594 100644 --- a/src/extensions/scratch3_boost/index.js +++ b/src/extensions/scratch3_boost/index.js @@ -19,7 +19,7 @@ const log = require('../../util/log'); * @type {string} */ // eslint-disable-next-line max-len -const iconURI = 'data:image/png;base64,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'; +const iconURI = 'data:image/png;base64,iVBORw0KGgoAAAANSUhEUgAAAFAAAABQCAMAAAC5zwKfAAAAGXRFWHRTb2Z0d2FyZQBBZG9iZSBJbWFnZVJlYWR5ccllPAAAACpQTFRF////fIel5ufolZ62/2YavsPS+YZOkJmy9/j53+Hk6+zs6N/b6dfO////tDhMHAAAAA50Uk5T/////////////////wBFwNzIAAAA6ElEQVR42uzX2w6DIBAEUGDVtlr//3dLaLwgiwUd2z7MJPJg5EQWiGhGcAxBggQJEiT436CIfqXJPTn3MKNYYMSDFpoAmp24OaYgvwKnFgL2zvVTCwHrMoMi+nUQLFthaNCCa0iwclLkDgYVsQp0mzxuqXgK1MRzoCLWgkPXNN2wI/q6Kvt7u/cX0HtejN8x2sXpnpb8J8D3b0Keuhh3X975M+i0xNVbg3s1TIasgK21bQyGO+s2PykaGMYbge8KrNrssvkOWDXkErB8UuBHETjoYLkKBA8ZfuDkbwVBggQJEiR4MC8BBgDTtMZLx2nFCQAAAABJRU5ErkJggg=='; /** * Boost BLE UUIDs. @@ -454,7 +454,7 @@ class BoostMotor { BoostOutputExecution.EXECUTE_IMMEDIATELY ^ BoostOutputExecution.COMMAND_FEEDBACK, BoostOutputSubCommand.START_SPEED, [this._power * this._direction, - this._power* this._direction, + this._power * this._direction, BoostMotorProfile.DO_NOT_USE]); this._parent.send(BoostBLE.characteristic, cmd); @@ -787,7 +787,8 @@ class Boost { this._sensors = { tiltX: 0, tiltY: 0, - color: 0 + color: 0, + oldColor: 0, }; if (this._ble) { @@ -1096,6 +1097,21 @@ const BoostTiltDirection = { ANY: 'any' }; +/** + * Enum for vision sensor colors. + * @readonly + * @enum {string} + */ +const BoostColorLabel = { + ANY: 'any', + RED: 'red', + BLUE: 'blue', + GREEN: 'green', + YELLOW: 'yellow', + BLACK: 'black', + WHITE: 'white' +}; + /** * Scratch 3.0 blocks to interact with a LEGO Boost peripheral. */ @@ -1270,55 +1286,30 @@ class Scratch3BoostBlocks { } }, { - opcode: 'setLightHue', + opcode: 'whenColor', text: formatMessage({ - id: 'boost.setLightHue', - default: 'set light color to [HUE]', - description: 'set the LED color' + id: 'boost.whenColor', + default: 'when color [COLOR]', + description: 'check for when color' }), - blockType: BlockType.COMMAND, + blockType: BlockType.HAT, arguments: { - HUE: { - type: ArgumentType.NUMBER, - defaultValue: 50 + COLOR: { + type: ArgumentType.STRING, + menu: 'COLOR', + defaultValue: BoostColorLabel.ANY } } }, { - opcode: 'changeLightHueBy', + opcode: 'getColor', text: formatMessage({ - id: 'boost.changeLightHueBy', - default: 'change light color by [HUE]', - description: 'change the LED color by a given amount' + id: 'boost.getColor', + default: 'color', + description: 'the color returned by the vision sensor' }), - blockType: BlockType.COMMAND, - arguments: { - HUE: { - type: ArgumentType.NUMBER, - defaultValue: 5 - } - } - }, - /*{ - opcode: 'whenDistance', - text: formatMessage({ - id: 'boost.whenDistance', - default: 'when distance [OP] [REFERENCE]', - description: 'check for when distance is < or > than reference' - }), - blockType: BlockType.HAT, - arguments: { - OP: { - type: ArgumentType.STRING, - menu: 'OP', - defaultValue: '<' - }, - REFERENCE: { - type: ArgumentType.NUMBER, - defaultValue: 50 - } - } - },*/ + blockType: BlockType.REPORTER + }, { opcode: 'whenTilted', text: formatMessage({ @@ -1378,30 +1369,55 @@ class Scratch3BoostBlocks { } }, { - opcode: 'whenColor', + opcode: 'setLightHue', text: formatMessage({ - id: 'boost.whenColor', - default: 'when color [COLOR]', - description: 'check for when color' + id: 'boost.setLightHue', + default: 'set light color to [HUE]', + description: 'set the LED color' }), - blockType: BlockType.HAT, + blockType: BlockType.COMMAND, arguments: { - COLOR: { - type: ArgumentType.STRING, - menu: 'COLOR', - defaultValue: 'red' + HUE: { + type: ArgumentType.NUMBER, + defaultValue: 50 } } }, { - opcode: 'getColor', + opcode: 'changeLightHueBy', text: formatMessage({ - id: 'boost.getColor', - default: 'color', - description: 'the color returned by the vision sensor' + id: 'boost.changeLightHueBy', + default: 'change light color by [HUE]', + description: 'change the LED color by a given amount' }), - blockType: BlockType.REPORTER - } + blockType: BlockType.COMMAND, + arguments: { + HUE: { + type: ArgumentType.NUMBER, + defaultValue: 5 + } + } + }, + /*{ + opcode: 'whenDistance', + text: formatMessage({ + id: 'boost.whenDistance', + default: 'when distance [OP] [REFERENCE]', + description: 'check for when distance is < or > than reference' + }), + blockType: BlockType.HAT, + arguments: { + OP: { + type: ArgumentType.STRING, + menu: 'OP', + defaultValue: '<' + }, + REFERENCE: { + type: ArgumentType.NUMBER, + defaultValue: 50 + } + } + },*/ ], menus: { MOTOR_ID: [ @@ -1582,50 +1598,58 @@ class Scratch3BoostBlocks { { text: formatMessage({ id: 'boost.color.red', - default: 'red', - description: 'red' + default: BoostColorLabel.RED, + description: BoostColorLabel.RED }), - value: 'red' + value: BoostColorLabel.RED }, { text: formatMessage({ id: 'boost.color.blue', - default: 'blue', - description: 'blue' + default: BoostColorLabel.BLUE, + description: BoostColorLabel.BLUE }), - value: 'blue' + value: BoostColorLabel.BLUE }, { text: formatMessage({ id: 'boost.color.green', - default: 'green', - description: 'green' + default: BoostColorLabel.GREEN, + description: BoostColorLabel.GREEN }), - value: 'green' + value: BoostColorLabel.GREEN }, { text: formatMessage({ id: 'boost.color.yellow', - default: 'yellow', - description: 'yellow' + default: BoostColorLabel.YELLOW, + description: BoostColorLabel.YELLOW }), - value: 'yellow' + value: BoostColorLabel.YELLOW }, { text: formatMessage({ id: 'boost.color.white', - default: 'white', - desription: 'white' + default: BoostColorLabel.WHITE, + desription: BoostColorLabel.WHITE }), - value: 'white' + value: BoostColorLabel.WHITE }, { text: formatMessage({ id: 'boost.color.black', - default: 'black', - description: 'black' + default: BoostColorLabel.BLACK, + description: BoostColorLabel.BLACK }), - value: 'black' + value: BoostColorLabel.BLACK + }, + { + text: formatMessage({ + id: 'boost.color.any', + default: BoostColorLabel.ANY, + description: BoostColorLabel.ANY + }), + value: BoostColorLabel.ANY } ], OP: ['<', '>'] @@ -1909,6 +1933,31 @@ class Scratch3BoostBlocks { return Object.keys(BoostColor).find(key => BoostColor[key] === this._peripheral.color).toLowerCase() } + /** + * Test whether the vision sensor is detecting a certain color. + * @param {Color} color - the color to test. + * @return {boolean} - true when the color sensor senses the specified color. + * @private + */ + _isColor (color) { + switch(color) { + case BoostColorLabel.ANY: + //console.log(this.getColor() + " versus " + Object.keys(BoostColor).find(key => BoostColor[key]).toLowerCase()) + if(Object.keys(BoostColor).find(key => BoostColor[key]).toLowerCase() != this.getColor()) { + if(this.getColor() == this._peripheral.oldColor) { + return false + } else { + this._peripheral.oldColor = this.getColor() + return true + } + } + //console.log(this.getColor() != 'none') + //return this.getColor() != 'none'; + default: + return this.getColor() == color; + } + } + /** * @return {number} */ @@ -1974,16 +2023,6 @@ class Scratch3BoostBlocks { } } - /** - * Test whether the vision sensor is detecting a certain color. - * @param {Color} color - the color to test. - * @return {boolean} - true when the color sensor senses the specified color. - * @private - */ - _isColor (color) { - return this.getColor() == color; - } - /** * @param {TiltDirection} direction - the direction (up, down, left, right) to check. * @return {number} - the tilt sensor's angle in the specified direction. From 852ae43348093715bb7c31e73ddf096873e93bc7 Mon Sep 17 00:00:00 2001 From: Kevin Andersen Date: Mon, 4 Mar 2019 12:38:02 -0500 Subject: [PATCH 19/30] This commit is a combination of changes after an internal play test with the Scratch Team, as well as code cleanup. Motors: - motor position will now initially report 0 instead of false - removed remaining motor position zeroing functions. - removed startBraking(). - turnOn() and turnOnForDegrees() are now using an absolute max power as per the protocol documentation. - the "turn for rotations"-block now accepts negative values. -- turnOnForDegrees() accepts a direction to reflect the change above. The direction from the block is calculated against the motors current direction. - commented EV3 tacho calculation code for motor positioning removed. - Changed BoostMotorLabel to reflect actual motor block argument. - startMotorPower() renamed to setMotorPower() since it doesn't start the motor. - setMotorPower() will not start the motor. - Max number of rotations for a motor-block is clamped to 100 rotations. - 'Default' removed from BoostMotorLabel-enum as it wasn't used. Sensors: - removed remaining distance-related functions. - color-reporters default value is now none rather than black. - tilt-angles left and right switched to reflect the hubs orientation. --- src/extensions/scratch3_boost/index.js | 233 +++++-------------------- 1 file changed, 43 insertions(+), 190 deletions(-) diff --git a/src/extensions/scratch3_boost/index.js b/src/extensions/scratch3_boost/index.js index 544295594..45910e876 100644 --- a/src/extensions/scratch3_boost/index.js +++ b/src/extensions/scratch3_boost/index.js @@ -168,8 +168,6 @@ const BoostOutputExecution = { COMMAND_FEEDBACK: 0x01, } - - /** * Enum for Boost Motor end states * @readonly @@ -192,7 +190,6 @@ const BoostMotorProfile = { DECELERATION: 0x02 } - /** * Enum for when Boost IO's are attached/detached * @readonly @@ -290,13 +287,6 @@ class BoostMotor { */ this._position = 0; - /** - * This motor's current zero position, which the relative position can be calculated against. - * @type {number} - * @private - */ - this._positionZero = 0; - /** * Is this motor currently moving? * @type {boolean} @@ -334,18 +324,10 @@ class BoostMotor { */ this._pendingPromiseFunction = null; - this.startBraking = this.startBraking.bind(this); + //this.startBraking = this.startBraking.bind(this); this.turnOff = this.turnOff.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" */ @@ -401,20 +383,6 @@ class BoostMotor { this._position = value; } - /** - * @return {int} - this motor's current zero position, which the current position is relative to. - */ - get positionZero () { - return this._positionZero; - } - - /** - * @param {int} value - set this motor's zero position. - */ - set positionZero (value) { - this._positionZero = value; - } - /** * @return {boolean} - true if this motor is currently moving, false if this motor is off or braking. */ @@ -443,7 +411,6 @@ class BoostMotor { return this._pendingPromiseFunction; } - /** * Turn this motor on indefinitely. */ @@ -454,8 +421,10 @@ class BoostMotor { BoostOutputExecution.EXECUTE_IMMEDIATELY ^ BoostOutputExecution.COMMAND_FEEDBACK, BoostOutputSubCommand.START_SPEED, [this._power * this._direction, - this._power * this._direction, + this._power, BoostMotorProfile.DO_NOT_USE]); + + console.log(this._power * this._direction) this._parent.send(BoostBLE.characteristic, cmd); @@ -472,14 +441,15 @@ class BoostMotor { milliseconds = Math.max(0, milliseconds); this.turnOn(); - this._setNewTimeout(this.startBraking, milliseconds); + this._setNewTimeout(this.turnOff, milliseconds); } /** * Turn this motor on for a specific rotation in degrees. * @param {number} degrees - run the motor for this amount of degrees. + * @param {number} direction - rotate in this direction */ - turnOnForDegrees (degrees) { + turnOnForDegrees (degrees, direction) { if (this._power === 0) return; degrees = Math.max(0, degrees); @@ -488,8 +458,8 @@ class BoostMotor { BoostOutputExecution.EXECUTE_IMMEDIATELY ^ BoostOutputExecution.COMMAND_FEEDBACK, BoostOutputSubCommand.START_SPEED_FOR_DEGREES, [...numberToInt32Array(degrees), - this._power * this._direction, // power in range 0-100 - this._power * this._direction, // max speed + this._power * this._direction * direction, // power in range 0-100 + this._power, // max speed BoostMotorEndState.BRAKE, BoostMotorProfile.DO_NOT_USE] // byte for using acceleration/braking profile ); @@ -498,29 +468,6 @@ class BoostMotor { this._parent.send(BoostBLE.characteristic, cmd); } - /** - * Start active braking on this motor. After a short time, the motor will turn off. - * // TODO: rename this to coastAfter? - * // TODO: eliminate this function by changing turnOff() to use BoostMotorEndState.BRAKE? - */ - startBraking () { - if (this._power === 0) return; - - const cmd = this._parent.generateOutputCommand( - this._index, - BoostOutputExecution.EXECUTE_IMMEDIATELY ^ BoostOutputExecution.COMMAND_FEEDBACK, - BoostOutputSubCommand.START_SPEED, - [BoostMotorEndState.FLOAT, - BoostMotorEndState.FLOAT, - BoostMotorProfile.DO_NOT_USE] - ); - - this._parent.send(BoostBLE.characteristic, cmd); - - this._status = BoostOutputCommandFeedback.IDLE; - this._setNewTimeout(this.turnOff, BoostMotor.BRAKE_TIME_MS); - } - /** * Turn this motor off. * @param {boolean} [useLimiter=true] - if true, use the rate limiter @@ -619,7 +566,7 @@ class Boost { this._sensors = { tiltX: 0, tiltY: 0, - color: 0, + color: BoostColor.NONE, }; /* @@ -663,14 +610,6 @@ class Boost { return this._sensors.tiltY; } - /** - * @return {number} - the latest value received from the distance sensor. - *//* - get distance () { - return this._sensors.distance; - } - */ - /** * @return {number} - the latest color value received from the vision sensor. */ @@ -787,8 +726,8 @@ class Boost { this._sensors = { tiltX: 0, tiltY: 0, - color: 0, - oldColor: 0, + color: BoostColor.NONE, + oldColor: BoostColor.NONE, }; if (this._ble) { @@ -948,12 +887,6 @@ class Boost { break; case BoostIO.MOTOREXT: case BoostIO.MOTORINT: - // Taken from EV3 extension tacho motor calculation - /*let value = data[4] + (data[5] * 256) + (data[6] * 256 * 256) + (data[7] * 256 * 256 * 256); - if (value > 0x7fffffff) { - value = value - 0x100000000; - }*/ - //console.log(data) this._motors[portID]._position = int32ArrayToNumber(data.slice(4,8)) break; case BoostIO.CURRENT: @@ -1009,31 +942,31 @@ class Boost { // Set input format for tilt or distance sensor - var m = null + var mode = null switch(type) { case BoostIO.MOTORINT: case BoostIO.MOTOREXT: - m = BoostMode.MOTOR_SENSOR + mode = BoostMode.MOTOR_SENSOR break; case BoostIO.COLOR: - m = BoostMode.COLOR + mode = BoostMode.COLOR break; case BoostIO.LED: - m = BoostMode.LED + mode = BoostMode.LED this.setLEDMode(); this.setLED(0x00FF00); break; case BoostIO.TILT: - m = BoostMode.TILT + mode = BoostMode.TILT break; default: - m = BoostMode.UNKNOWN + mode = BoostMode.UNKNOWN } const cmd = this.generateInputCommand( portID, - m, + mode, 1, true ); @@ -1052,7 +985,7 @@ class Boost { this._sensors.tiltX = this._sensors.tiltY = 0; } if (type === BoostIO.COLOR) { - this._sensors.color = 0; + this._sensors.color = BoostColor.NONE; } this._ports[portID] = 'none'; this._motors[portID] = null; @@ -1065,11 +998,10 @@ class Boost { * @enum {string} */ const BoostMotorLabel = { - DEFAULT: 'motor', - A: 'motor A', - B: 'motor B', - C: 'motor C', - D: 'motor D', + A: 'A', + B: 'B', + C: 'C', + D: 'D', ALL: 'all motors' }; @@ -1229,11 +1161,11 @@ class Scratch3BoostBlocks { } }, { - opcode: 'startMotorPower', + opcode: 'setMotorPower', text: formatMessage({ - id: 'boost.startMotorPower', + id: 'boost.setMotorPower', default: 'set motor [MOTOR_ID] power to [POWER] %', - description: 'set the motor\'s power and turn it on' + description: 'set the motor\'s power without turning it on' }), blockType: BlockType.COMMAND, arguments: { @@ -1253,7 +1185,7 @@ class Scratch3BoostBlocks { text: formatMessage({ id: 'boost.setMotorDirection', default: 'set motor [MOTOR_ID] direction to [MOTOR_DIRECTION]', - description: 'set the motor\'s turn direction' + description: 'set the motor\'s turn direction without turning it on' }), blockType: BlockType.COMMAND, arguments: { @@ -1327,15 +1259,6 @@ class Scratch3BoostBlocks { } } }, - /*{ - opcode: 'getDistance', - text: formatMessage({ - id: 'boost.getDistance', - default: 'distance', - description: 'the value returned by the distance sensor' - }), - blockType: BlockType.REPORTER - },*/ { opcode: 'isTilted', text: formatMessage({ @@ -1397,27 +1320,7 @@ class Scratch3BoostBlocks { defaultValue: 5 } } - }, - /*{ - opcode: 'whenDistance', - text: formatMessage({ - id: 'boost.whenDistance', - default: 'when distance [OP] [REFERENCE]', - description: 'check for when distance is < or > than reference' - }), - blockType: BlockType.HAT, - arguments: { - OP: { - type: ArgumentType.STRING, - menu: 'OP', - defaultValue: '<' - }, - REFERENCE: { - type: ArgumentType.NUMBER, - defaultValue: 50 - } - } - },*/ + }, ], menus: { MOTOR_ID: [ @@ -1691,12 +1594,16 @@ class Scratch3BoostBlocks { motorOnForRotation (args) { // TODO: cast args.MOTOR_ID? let degrees = Cast.toNumber(args.ROTATION) * 360; - degrees = MathUtil.clamp(degrees, 0, 36000); + console.log(degrees) + // TODO: Clamps to 100 rotations. Does that make sense? + let sign = Math.sign(degrees) + degrees = Math.abs(MathUtil.clamp(degrees, -360000, 360000)); + console.log(degrees) return new Promise(resolve => { this._forEachMotor(args.MOTOR_ID, motorIndex => { const motor = this._peripheral.motor(motorIndex); if (motor) { - motor.turnOnForDegrees(degrees); + motor.turnOnForDegrees(degrees, sign); motor._pendingPromiseFunction = resolve } }); @@ -1748,13 +1655,13 @@ class Scratch3BoostBlocks { } /** - * Turn specified motor(s) off. + * Set the power level of the specified motor(s). * @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). * @return {Promise} - a Promise that resolves after some delay. */ - startMotorPower (args) { + setMotorPower (args) { // TODO: cast args.MOTOR_ID? this._forEachMotor(args.MOTOR_ID, motorIndex => { const motor = this._peripheral.motor(motorIndex); @@ -1803,7 +1710,7 @@ class Scratch3BoostBlocks { if (motor.pendingTimeoutDelay) { motor.turnOnFor(motor.pendingTimeoutStartTime + motor.pendingTimeoutDelay - Date.now()); } else { - motor.turnOn(); + //motor.turnOn(); } } } @@ -1814,30 +1721,7 @@ class Scratch3BoostBlocks { resolve(); }, BLESendInterval); }); - } - - /** - * Set the motor(s) position to 0. - * @param {object} args - the block's arguments. - * @property {MotorID} MOTOR_ID - the motor(s) to activate. - * @return {Promise} - a Promise that resolves after some delay. - */ - motorZero (args) { - // TODO: cast args.MOTOR_ID? - this._forEachMotor(args.MOTOR_ID, motorIndex => { - const motor = this._peripheral.motor(motorIndex); - if (motor) { - // TODO: Do this on the hardware, i.e. https://lego.github.io/lego-ble-wireless-protocol-docs/index.html#encoding-of-writedirectmodedata-0x81-0x51 - motor.positionZero = motor.position; - } - }); - - return new Promise(resolve => { - window.setTimeout(() => { - resolve(); - }, BLESendInterval); - }); - } + } /** * Set the LED's hue. @@ -1878,26 +1762,6 @@ class Scratch3BoostBlocks { this.setLightHue(n); } - /** - * 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._peripheral.distance < Cast.toNumber(args.REFERENCE); - case '>': - return this._peripheral.distance > Cast.toNumber(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. @@ -1918,18 +1782,11 @@ class Scratch3BoostBlocks { return this._isColor(args.COLOR); } - /** - * @return {number} - the distance sensor's value, scaled to the [0,100] range. - - getDistance () { - return this._peripheral.distance; - }*/ - /** * @return {number} - the vision sensor's color value. Indexed LEGO brick colors. */ getColor () { - //return this._peripheral.color; + // To get a string representation, lookup the key of the BoostColor-enum value return Object.keys(BoostColor).find(key => BoostColor[key] === this._peripheral.color).toLowerCase() } @@ -1942,7 +1799,6 @@ class Scratch3BoostBlocks { _isColor (color) { switch(color) { case BoostColorLabel.ANY: - //console.log(this.getColor() + " versus " + Object.keys(BoostColor).find(key => BoostColor[key]).toLowerCase()) if(Object.keys(BoostColor).find(key => BoostColor[key]).toLowerCase() != this.getColor()) { if(this.getColor() == this._peripheral.oldColor) { return false @@ -1951,8 +1807,6 @@ class Scratch3BoostBlocks { return true } } - //console.log(this.getColor() != 'none') - //return this.getColor() != 'none'; default: return this.getColor() == color; } @@ -1984,7 +1838,7 @@ class Scratch3BoostBlocks { if(portID && this._peripheral._motors[portID]) { return MathUtil.wrapClamp(this._peripheral._motors[portID].position,0,360); } - return false; + return 0; } /** @@ -2036,9 +1890,9 @@ class Scratch3BoostBlocks { case BoostTiltDirection.DOWN: return this._peripheral.tiltY > 90 ? this._peripheral.tiltY - 256 : this._peripheral.tiltY; case BoostTiltDirection.LEFT: - return this._peripheral.tiltX > 90 ? 256 - this._peripheral.tiltX : -this._peripheral.tiltX; - case BoostTiltDirection.RIGHT: return this._peripheral.tiltX > 90 ? this._peripheral.tiltX - 256 : this._peripheral.tiltX; + case BoostTiltDirection.RIGHT: + return this._peripheral.tiltX > 90 ? 256 - this._peripheral.tiltX : -this._peripheral.tiltX; default: log.warn(`Unknown tilt direction in _getTiltAngle: ${direction}`); } @@ -2066,7 +1920,6 @@ class Scratch3BoostBlocks { motors = [BoostPort.D]; break; case BoostMotorLabel.ALL: - case BoostMotorLabel.DEFAULT: motors = [BoostPort.A, BoostPort.B, BoostPort.C, BoostPort.D]; break; default: From 6cf00a4235658ad7eebf1db242b945ecae290d50 Mon Sep 17 00:00:00 2001 From: Kevin Andersen Date: Mon, 4 Mar 2019 17:39:02 -0500 Subject: [PATCH 20/30] Linted --- src/extensions/scratch3_boost/index.js | 405 +++++++++++++------------ 1 file changed, 206 insertions(+), 199 deletions(-) diff --git a/src/extensions/scratch3_boost/index.js b/src/extensions/scratch3_boost/index.js index 45910e876..e90076683 100644 --- a/src/extensions/scratch3_boost/index.js +++ b/src/extensions/scratch3_boost/index.js @@ -29,7 +29,7 @@ const iconURI = 'data:image/png;base64,iVBORw0KGgoAAAANSUhEUgAAAFAAAABQCAMAAAC5z const BoostBLE = { service: '00001623-1212-efde-1623-785feabcd123', characteristic: '00001624-1212-efde-1623-785feabcd123' -} +}; /** * A time interval to wait (in milliseconds) while a block that sends a BLE message is running. @@ -53,8 +53,8 @@ const BoostIO = { MOTOR_SYSTEM: 0x02, BUTTON: 0x05, LIGHT: 0x08, - LIGHT1:0x09, - LIGHT2:0x0A, + LIGHT1: 0x09, + LIGHT2: 0x0A, VOLTAGE: 0x14, CURRENT: 0x15, PIEZO: 0x16, @@ -64,8 +64,7 @@ const BoostIO = { COLOR: 0x25, MOTOREXT: 0x26, MOTORINT: 0x27, - TILT: 0x28, - + TILT: 0x28 }; /** @@ -78,7 +77,7 @@ const BoostOutputCommandFeedback = { BUFFER_EMPTY_COMMAND_COMPLETED: 0x02, CURRENT_COMMAND_DISCARDED: 0x04, IDLE: 0x08, - BUSY_OR_FULL: 0x10, + BUSY_OR_FULL: 0x10 }; @@ -107,7 +106,7 @@ const BoostColor = { YELLOW: 7, WHITE: 10, BLACK: 0 -} +}; /** * Enum for Message Types @@ -130,7 +129,7 @@ const BoostMessage = { PORT_INPUT_FORMAT_COMBINED: 0x48, OUTPUT: 0x81, PORT_OUTPUT_COMMAND_FEEDBACK: 0x82 -} +}; /** * Enum for Motor Subcommands (for 0x81) @@ -150,8 +149,8 @@ const BoostOutputSubCommand = { GO_TO_ABS_POSITION: 0x0D, GO_TO_ABS_POSITION_PAIR: 0x0E, PRESET_ENCODER: 0x14, - WRITE_DIRECT_MODE_DATA: 0x51, -} + WRITE_DIRECT_MODE_DATA: 0x51 +}; /** * Enum for Startup/Completion information for an output command. @@ -165,8 +164,8 @@ const BoostOutputExecution = { EXECUTE_IMMEDIATELY: 0x10, // Completion information NO_ACTION: 0x00, - COMMAND_FEEDBACK: 0x01, -} + COMMAND_FEEDBACK: 0x01 +}; /** * Enum for Boost Motor end states @@ -176,8 +175,8 @@ const BoostOutputExecution = { const BoostMotorEndState = { FLOAT: 0, HOLD: 126, - BRAKE: 127 -} + BRAKE: 127 +}; /** * Enum for Boost Motor acceleration/deceleration profiles @@ -188,7 +187,7 @@ const BoostMotorProfile = { DO_NOT_USE: 0x00, ACCELERATION: 0x01, DECELERATION: 0x02 -} +}; /** * Enum for when Boost IO's are attached/detached @@ -199,7 +198,7 @@ const BoostIOEvent = { ATTACHED: 0x01, DETACHED: 0x00, ATTACHED_VIRTUAL: 0x02 -} +}; /** * Enum for selected sensor modes. @@ -213,34 +212,42 @@ const BoostMode = { UNKNOWN: 0 // Anything else will use the default mode (mode 0) }; -// Debug function -function buf2hex(buffer) { // buffer is an ArrayBuffer - return Array.prototype.map.call(new Uint8Array(buffer), x => ('00' + x.toString(16)).slice(-2)).join(' '); -} +/** + * Debug function for converting bytes received to hex + * @param {array} buffer - an array of bytes + * @return {string} - a string of hex values. + */ +const buf2hex = function (buffer) { // buffer is an ArrayBuffer + return Array.prototype.map.call(new Uint8Array(buffer), x => (`00${x.toString(16)}`).slice(-2)).join(' '); +}; /** - * Helper function for converting a number to a Int32Array - * @param {number} number + * Helper function for converting a JavaScript number to an INT32-number + * @param {number} number - a number + * @return {array} - a 4-byte array of Int8-values representing an INT32-number */ -function numberToInt32Array(number) { - var buffer = new ArrayBuffer(4) - var dataview = new DataView(buffer) - dataview.setInt32(0, number) - return [dataview.getInt8(3), - dataview.getInt8(2), - dataview.getInt8(1), - dataview.getInt8(0)]; -} +const numberToInt32Array = function (number) { + const buffer = new ArrayBuffer(4); + const dataview = new DataView(buffer); + dataview.setInt32(0, number); + return [ + dataview.getInt8(3), + dataview.getInt8(2), + dataview.getInt8(1), + dataview.getInt8(0) + ]; +}; /** * Helper function for converting a regular array to a Little Endian INT32-value - * @param {Array} array + * @param {Array} array - an array containing UInt8-values + * @return {number} - a number */ -function int32ArrayToNumber(array) { - var i = Uint8Array.from(array) - var d = new DataView(i.buffer); - return d.getInt32(0,true); -} +const int32ArrayToNumber = function (array) { + const i = Uint8Array.from(array); + const d = new DataView(i.buffer); + return d.getInt32(0, true); +}; /** * Manage power, direction, position, and timers for one Boost motor. @@ -317,14 +324,13 @@ class BoostMotor { this._pendingTimeoutDelay = null; /** - * If the motor has been turned on run for a specific duration, + * If the motor has been turned on run for a specific duration, * this is the function that will be called once Scratch VM gets a notification from the Move Hub. * @type {Object} * @private */ this._pendingPromiseFunction = null; - //this.startBraking = this.startBraking.bind(this); this.turnOff = this.turnOff.bind(this); } @@ -420,11 +426,11 @@ class BoostMotor { this._index, BoostOutputExecution.EXECUTE_IMMEDIATELY ^ BoostOutputExecution.COMMAND_FEEDBACK, BoostOutputSubCommand.START_SPEED, - [this._power * this._direction, - this._power, - BoostMotorProfile.DO_NOT_USE]); - - console.log(this._power * this._direction) + [ + this._power * this._direction, + this._power, + BoostMotorProfile.DO_NOT_USE + ]); this._parent.send(BoostBLE.characteristic, cmd); @@ -457,16 +463,18 @@ class BoostMotor { this._index, BoostOutputExecution.EXECUTE_IMMEDIATELY ^ BoostOutputExecution.COMMAND_FEEDBACK, BoostOutputSubCommand.START_SPEED_FOR_DEGREES, - [...numberToInt32Array(degrees), - this._power * this._direction * direction, // power in range 0-100 - this._power, // max speed - BoostMotorEndState.BRAKE, - BoostMotorProfile.DO_NOT_USE] // byte for using acceleration/braking profile + [ + ...numberToInt32Array(degrees), + this._power * this._direction * direction, // power in range 0-100 + this._power, // max speed + BoostMotorEndState.BRAKE, + BoostMotorProfile.DO_NOT_USE + ] // byte for using acceleration/braking profile ); this._status = BoostOutputCommandFeedback.BUFFER_EMPTY_COMMAND_IN_PROGRESS; - this._parent.send(BoostBLE.characteristic, cmd); - } + this._parent.send(BoostBLE.characteristic, cmd); + } /** * Turn this motor off. @@ -479,9 +487,11 @@ class BoostMotor { this._index, BoostOutputExecution.EXECUTE_IMMEDIATELY ^ BoostOutputExecution.COMMAND_FEEDBACK, BoostOutputSubCommand.START_SPEED, - [BoostMotorEndState.FLOAT, - BoostMotorEndState.FLOAT, - BoostMotorProfile.DO_NOT_USE] + [ + BoostMotorEndState.FLOAT, + BoostMotorEndState.FLOAT, + BoostMotorProfile.DO_NOT_USE + ] ); this._parent.send(BoostBLE.characteristic, cmd, useLimiter); @@ -566,14 +576,14 @@ class Boost { this._sensors = { tiltX: 0, tiltY: 0, - color: BoostColor.NONE, + color: BoostColor.NONE }; /* ** TODO: Clean up */ - this._led = 50 + this._led = 50; /** * The Bluetooth connection socket for reading/writing peripheral data. @@ -657,7 +667,7 @@ class Boost { BoostOutputExecution.EXECUTE_IMMEDIATELY ^ BoostOutputExecution.COMMAND_FEEDBACK, BoostOutputSubCommand.WRITE_DIRECT_MODE_DATA, [BoostMode.LED, - ...rgb] + ...rgb] ); return this.send(BoostBLE.characteristic, cmd); @@ -727,7 +737,7 @@ class Boost { tiltX: 0, tiltY: 0, color: BoostColor.NONE, - oldColor: BoostColor.NONE, + oldColor: BoostColor.NONE }; if (this._ble) { @@ -777,14 +787,15 @@ class Boost { * * @param {number} portID - the port (Connect ID) to send a command to. * @param {number} execution - Byte containing startup/completion information - * @param {number} subCommandID - the id of the subcommand byte. + * @param {number} subCommand - the id of the subcommand byte. * @param {array} payload - the list of bytes to send as subcommand payload * @return {array} - a generated output command. */ generateOutputCommand (portID, execution, subCommand, payload) { - let hubID = 0x00 - let command = [hubID, BoostMessage.OUTPUT, portID, execution, subCommand, ...payload] - command.unshift(command.length +1) + const hubID = 0x00; + const command = [hubID, BoostMessage.OUTPUT, portID, execution, subCommand, ...payload]; + command.unshift(command.length + 1); + return command; } @@ -803,18 +814,18 @@ class Boost { * @return {array} - a generated input command. */ generateInputCommand (portID, mode, delta, enableNotifications) { - var command = [ + const command = [ 0x00, // Hub ID BoostMessage.PORT_INPUT_FORMAT_SETUP_SINGLE, portID, - mode, + mode ].concat(numberToInt32Array(delta)).concat([ enableNotifications ]); - command.unshift(command.length+1) // Prepend payload with length byte + command.unshift(command.length + 1); - return command; + return command; // Prepend payload with length byte; } /** @@ -842,7 +853,6 @@ class Boost { * 0: Length of message * 1: Hub ID (always 0x00 at the moment) * 2: Message Type - * * We base our switch-case on Message Type */ @@ -856,69 +866,69 @@ class Boost { * 5: IO Type ID */ - case BoostMessage.HUB_ATTACHED_IO: // IO Attach/Detach events - - const event = data[4] - const typeId = data[5] - - switch (event) { - case BoostIOEvent.ATTACHED: - this._registerSensorOrMotor(portID, typeId) - break; - case BoostIOEvent.DETACHED: - this._clearPort(portID); - break; - case BoostIOEvent.ATTACHED_VIRTUAL: - default: - // Ignore - //console.log("No I/O Event case found!") - } + case BoostMessage.HUB_ATTACHED_IO: { // IO Attach/Detach events + const event = data[4]; + const typeId = data[5]; + + switch (event) { + case BoostIOEvent.ATTACHED: + this._registerSensorOrMotor(portID, typeId); break; - case BoostMessage.PORT_VALUE: - var type = this._ports[portID]; - // TODO: Build a proper value-formatting based on the PORT_INPUT_FORMAT-messages instead of hardcoding value-handling - switch(type) { - case BoostIO.TILT: - this._sensors.tiltX = data[4] - this._sensors.tiltY = data[5] - break; - case BoostIO.COLOR: - this._sensors.color = data[4]; - break; - case BoostIO.MOTOREXT: - case BoostIO.MOTORINT: - this._motors[portID]._position = int32ArrayToNumber(data.slice(4,8)) - break; - case BoostIO.CURRENT: - case BoostIO.VOLTAGE: - break; - default: - console.log("Unknown sensor value! Type: " + type) - } + case BoostIOEvent.DETACHED: + this._clearPort(portID); break; - case BoostMessage.PORT_OUTPUT_COMMAND_FEEDBACK: - //TODO: Handle messages that contain feedback from more than one port. - var feedback = data[4]; - switch(feedback) { - case BoostOutputCommandFeedback.BUFFER_EMPTY_COMMAND_COMPLETED ^ BoostOutputCommandFeedback.IDLE: - case BoostOutputCommandFeedback.CURRENT_COMMAND_DISCARDED ^ BoostOutputCommandFeedback.IDLE: // Resolve even if command didn't complete successfully - if(this._motors[portID] && this._motors[portID].pendingPromiseFunction) { - this._motors[portID].pendingPromiseFunction(); - } - break; - case BoostOutputCommandFeedback.BUFFER_EMPTY_COMMAND_IN_PROGRESS: - break; - default: - console.log("Got it but didn't find a motor on: " + portID) - } + case BoostIOEvent.ATTACHED_VIRTUAL: + default: + } + break; + } + case BoostMessage.PORT_VALUE: { + const type = this._ports[portID]; + /** + * TODO: Build a proper value-formatting based on the PORT_INPUT_FORMAT-messages + * instead of hardcoding value-handling + */ + switch (type) { + case BoostIO.TILT: + this._sensors.tiltX = data[4]; + this._sensors.tiltY = data[5]; break; - case BoostMessage.ERROR: - //DEBUG - console.log("Error in BLE message: " + buf2hex(data)) + case BoostIO.COLOR: + this._sensors.color = data[4]; + break; + case BoostIO.MOTOREXT: + case BoostIO.MOTORINT: + this._motors[portID]._position = int32ArrayToNumber(data.slice(4, 8)); + break; + case BoostIO.CURRENT: + case BoostIO.VOLTAGE: break; default: - //DEBUG - //console.log(buf2hex(data)) + log.warn(`Unknown sensor value! Type: ${type}`); + } + break; + } + case BoostMessage.PORT_OUTPUT_COMMAND_FEEDBACK: { + // TODO: Handle messages that contain feedback from more than one port. + const feedback = data[4]; + switch (feedback) { + case BoostOutputCommandFeedback.BUFFER_EMPTY_COMMAND_COMPLETED ^ BoostOutputCommandFeedback.IDLE: + case BoostOutputCommandFeedback.CURRENT_COMMAND_DISCARDED ^ BoostOutputCommandFeedback.IDLE: + if (this._motors[portID] && this._motors[portID].pendingPromiseFunction) { + this._motors[portID].pendingPromiseFunction(); + } + break; + case BoostOutputCommandFeedback.BUFFER_EMPTY_COMMAND_IN_PROGRESS: + break; + default: + log.warn(`Did not find a motor on portID: ${portID}`); + } + break; + } + case BoostMessage.ERROR: + log.warn(`Error in BLE message: ${buf2hex(data)}`); + break; + default: } } @@ -938,30 +948,30 @@ class Boost { // Record motor port if (type === BoostIO.MOTORINT || type === BoostIO.MOTOREXT) { this._motors[portID] = new BoostMotor(this, portID); - } + } // Set input format for tilt or distance sensor - var mode = null + let mode = null; - switch(type) { - case BoostIO.MOTORINT: - case BoostIO.MOTOREXT: - mode = BoostMode.MOTOR_SENSOR - break; - case BoostIO.COLOR: - mode = BoostMode.COLOR - break; - case BoostIO.LED: - mode = BoostMode.LED - this.setLEDMode(); - this.setLED(0x00FF00); - break; - case BoostIO.TILT: - mode = BoostMode.TILT - break; - default: - mode = BoostMode.UNKNOWN + switch (type) { + case BoostIO.MOTORINT: + case BoostIO.MOTOREXT: + mode = BoostMode.MOTOR_SENSOR; + break; + case BoostIO.COLOR: + mode = BoostMode.COLOR; + break; + case BoostIO.LED: + mode = BoostMode.LED; + this.setLEDMode(); + this.setLED(0x00FF00); + break; + case BoostIO.TILT: + mode = BoostMode.TILT; + break; + default: + mode = BoostMode.UNKNOWN; } const cmd = this.generateInputCommand( @@ -1092,7 +1102,7 @@ class Scratch3BoostBlocks { opcode: 'motorOnFor', text: formatMessage({ id: 'boost.motorOnFor', - default: 'turn motor [MOTOR_ID] on for [DURATION] seconds', + default: 'turn motor [MOTOR_ID] for [DURATION] seconds', description: 'turn a motor on for some time' }), blockType: BlockType.COMMAND, @@ -1112,7 +1122,7 @@ class Scratch3BoostBlocks { opcode: 'motorOnForRotation', text: formatMessage({ id: 'boost.motorOnForRotation', - default: 'turn motor [MOTOR_ID] on for [ROTATION] rotations', + default: 'turn motor [MOTOR_ID] for [ROTATION] rotations', description: 'turn a motor on for rotation' }), blockType: BlockType.COMMAND, @@ -1184,7 +1194,7 @@ class Scratch3BoostBlocks { opcode: 'setMotorDirection', text: formatMessage({ id: 'boost.setMotorDirection', - default: 'set motor [MOTOR_ID] direction to [MOTOR_DIRECTION]', + default: 'set motor [MOTOR_ID] to turn [MOTOR_DIRECTION]', description: 'set the motor\'s turn direction without turning it on' }), blockType: BlockType.COMMAND, @@ -1320,7 +1330,7 @@ class Scratch3BoostBlocks { defaultValue: 5 } } - }, + } ], menus: { MOTOR_ID: [ @@ -1594,21 +1604,19 @@ class Scratch3BoostBlocks { motorOnForRotation (args) { // TODO: cast args.MOTOR_ID? let degrees = Cast.toNumber(args.ROTATION) * 360; - console.log(degrees) - // TODO: Clamps to 100 rotations. Does that make sense? - let sign = Math.sign(degrees) + // TODO: Clamps to 100 rotations. Consider changing. + const sign = Math.sign(degrees); degrees = Math.abs(MathUtil.clamp(degrees, -360000, 360000)); - console.log(degrees) return new Promise(resolve => { this._forEachMotor(args.MOTOR_ID, motorIndex => { const motor = this._peripheral.motor(motorIndex); if (motor) { motor.turnOnForDegrees(degrees, sign); - motor._pendingPromiseFunction = resolve + motor._pendingPromiseFunction = resolve; } }); }); - } + } /** * Turn specified motor(s) on indefinitely. @@ -1667,7 +1675,6 @@ class Scratch3BoostBlocks { const motor = this._peripheral.motor(motorIndex); if (motor) { motor.power = MathUtil.clamp(Cast.toNumber(args.POWER), 0, 100); - //motor.turnOn(); } }); @@ -1709,8 +1716,6 @@ class Scratch3BoostBlocks { if (motor.isOn) { if (motor.pendingTimeoutDelay) { motor.turnOnFor(motor.pendingTimeoutStartTime + motor.pendingTimeoutDelay - Date.now()); - } else { - //motor.turnOn(); } } } @@ -1721,7 +1726,7 @@ class Scratch3BoostBlocks { resolve(); }, BLESendInterval); }); - } + } /** * Set the LED's hue. @@ -1753,11 +1758,10 @@ class Scratch3BoostBlocks { * Change the LED's hue by a give number. * @param {object} args - the block's arguments. * @property {number} HUE - the hue to set, in the range [0,100]. - * @return {Promise} - a Promise that resolves after some delay. */ changeLightHueBy (args) { // TODO: Clean up this block and its opcode - let n = {}; + const n = {}; n.HUE = Cast.toNumber(args.HUE) + this._peripheral._led; this.setLightHue(n); } @@ -1780,66 +1784,69 @@ class Scratch3BoostBlocks { */ whenColor (args) { return this._isColor(args.COLOR); - } + } /** * @return {number} - the vision sensor's color value. Indexed LEGO brick colors. */ getColor () { // To get a string representation, lookup the key of the BoostColor-enum value - return Object.keys(BoostColor).find(key => BoostColor[key] === this._peripheral.color).toLowerCase() - } + return Object.keys(BoostColor).find(key => BoostColor[key] === this._peripheral.color) + .toLowerCase(); + } /** * Test whether the vision sensor is detecting a certain color. - * @param {Color} color - the color to test. + * @param {number} args - the color to test. * @return {boolean} - true when the color sensor senses the specified color. * @private */ - _isColor (color) { - switch(color) { - case BoostColorLabel.ANY: - if(Object.keys(BoostColor).find(key => BoostColor[key]).toLowerCase() != this.getColor()) { - if(this.getColor() == this._peripheral.oldColor) { - return false - } else { - this._peripheral.oldColor = this.getColor() - return true - } + _isColor (args) { + switch (args) { + case BoostColorLabel.ANY: + if (Object.keys(BoostColor).find(key => BoostColor[key]) + .toLowerCase() !== this.getColor()) { + if (this.getColor() === this._peripheral.oldColor) { + return false; } - default: - return this.getColor() == color; + this._peripheral.oldColor = this.getColor(); + return true; + } + break; + default: + return this.getColor() === color; } } /** - * @return {number} + * @param {object} args - the block's arguments. + * @return {number} - returns the motor's position. */ getMotorPosition (args) { - var portID = null - switch(args.MOTOR_REPORTER_ID) { + let portID = null; + switch (args.MOTOR_REPORTER_ID) { - case BoostMotorLabel.A: - portID = BoostPort.A - break; - case BoostMotorLabel.B: - portID = BoostPort.B - break; - case BoostMotorLabel.C: - portID = BoostPort.C - break; - case BoostMotorLabel.D: - portID = BoostPort.D - break; - default: - log.warn("Asked for a motor position that doesnt exist!") - return false; + case BoostMotorLabel.A: + portID = BoostPort.A; + break; + case BoostMotorLabel.B: + portID = BoostPort.B; + break; + case BoostMotorLabel.C: + portID = BoostPort.C; + break; + case BoostMotorLabel.D: + portID = BoostPort.D; + break; + default: + log.warn('Asked for a motor position that doesnt exist!'); + return false; } - if(portID && this._peripheral._motors[portID]) { - return MathUtil.wrapClamp(this._peripheral._motors[portID].position,0,360); + if (portID && this._peripheral._motors[portID]) { + return MathUtil.wrapClamp(this._peripheral._motors[portID].position, 0, 360); } return 0; - } + } /** * Test whether the tilt sensor is currently tilted. @@ -1933,4 +1940,4 @@ class Scratch3BoostBlocks { } } -module.exports = Scratch3BoostBlocks; \ No newline at end of file +module.exports = Scratch3BoostBlocks; From 873b56c9855a91b2d5e8797f9268406bcc8777c0 Mon Sep 17 00:00:00 2001 From: Kevin Andersen Date: Tue, 12 Mar 2019 17:35:43 -0400 Subject: [PATCH 21/30] - Motor-power functionality changed! -- Using a max-power setting of 100 rather than following the speed in the motor-commands will allow motors to run at really slow speeds. -- As a result, motor-commands now use max-power of 100 regardless of speed and setMotorPower no longer scales according to a minimum speed of 20. - BLE-rate enums consolidated into BoostBLE enum --- package-lock.json | 4960 ++++++++++++------------ src/extensions/scratch3_boost/index.js | 43 +- 2 files changed, 2511 insertions(+), 2492 deletions(-) diff --git a/package-lock.json b/package-lock.json index ef137c356..905020e41 100644 --- a/package-lock.json +++ b/package-lock.json @@ -10,16 +10,16 @@ "integrity": "sha512-zbO/DtTnaDappBflIU3zYEgATLToRDmW5uN/EGH1GXaes7ydfjqmAoK++xmJIA+8HfDw7UyPZNdM8fhGhfmMhw==", "dev": true, "requires": { - 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"buffer-indexof": "1.1.1" + "buffer-indexof": "^1.0.0" } }, "docdash": { @@ -3562,8 +3562,8 @@ "integrity": "sha1-xz2NKQnSIpHhoAejlYBNqLZl/mM=", "dev": true, "requires": { - "esutils": "2.0.2", - "isarray": "1.0.0" + "esutils": "^2.0.2", + "isarray": "^1.0.0" } }, "dom-serializer": { @@ -3571,8 +3571,8 @@ "resolved": "https://registry.npmjs.org/dom-serializer/-/dom-serializer-0.1.0.tgz", "integrity": "sha1-BzxpdUbOB4DOI75KKOKT5AvDDII=", "requires": { - "domelementtype": "1.1.3", - "entities": "1.1.1" + "domelementtype": "~1.1.1", + "entities": "~1.1.1" }, "dependencies": { "domelementtype": { @@ -3603,7 +3603,7 @@ "resolved": "https://registry.npmjs.org/domhandler/-/domhandler-2.4.2.tgz", "integrity": "sha512-JiK04h0Ht5u/80fdLMCEmV4zkNh2BcoMFBmZ/91WtYZ8qVXSKjiw7fXMgFPnHcSZgOo3XdinHvmnDUeMf5R4wA==", "requires": { - "domelementtype": "1.3.0" + "domelementtype": "1" } }, "domutils": { @@ -3611,8 +3611,8 @@ "resolved": "https://registry.npmjs.org/domutils/-/domutils-1.7.0.tgz", "integrity": "sha512-Lgd2XcJ/NjEw+7tFvfKxOzCYKZsdct5lczQ2ZaQY8Djz7pfAD3Gbp8ySJWtreII/vDlMVmxwa6pHmdxIYgttDg==", "requires": { - "dom-serializer": "0.1.0", - "domelementtype": "1.3.0" + "dom-serializer": "0", + "domelementtype": "1" } }, "duplexer2": { @@ -3630,10 +3630,10 @@ "integrity": "sha512-fO3Di4tBKJpYTFHAxTU00BcfWMY9w24r/x21a6rZRbsD/ToUgGxsMbiGRmB7uVAXeGKXD9MwiLZa5E97EVgIRQ==", "dev": true, "requires": { - "end-of-stream": "1.4.1", - "inherits": "2.0.3", - "readable-stream": "2.2.9", - "stream-shift": "1.0.0" + "end-of-stream": "^1.0.0", + "inherits": "^2.0.1", + "readable-stream": "^2.0.0", + "stream-shift": "^1.0.0" } }, "ecc-jsbn": { @@ -3642,7 +3642,7 @@ "integrity": "sha1-D8c6ntXw1Tw4GTOYUj735UN3dQU=", "optional": true, "requires": { - "jsbn": "0.1.1" + "jsbn": "~0.1.0" } }, "ee-first": { @@ -3657,13 +3657,13 @@ "integrity": "sha1-wtC3d2kRuGcixjLDwGxg8vgZk5o=", "dev": true, "requires": { - "bn.js": "4.11.8", - "brorand": "1.1.0", - "hash.js": "1.1.5", - "hmac-drbg": "1.0.1", - "inherits": "2.0.3", - "minimalistic-assert": "1.0.1", - "minimalistic-crypto-utils": "1.0.1" + "bn.js": "^4.4.0", + "brorand": "^1.0.1", + "hash.js": "^1.0.0", + "hmac-drbg": "^1.0.0", + "inherits": "^2.0.1", + "minimalistic-assert": "^1.0.0", + "minimalistic-crypto-utils": "^1.0.0" } }, "emojis-list": { @@ -3684,7 +3684,7 @@ "dev": true, "optional": true, "requires": { - "iconv-lite": "0.4.19" + "iconv-lite": "~0.4.13" } }, "end-of-stream": { @@ -3693,7 +3693,7 @@ "integrity": "sha512-1MkrZNvWTKCaigbn+W15elq2BB/L22nqrSY5DKlo3X6+vclJm8Bb5djXJBmEX6fS3+zCh/F4VBK5Z2KxJt4s2Q==", "dev": true, "requires": { - "once": "1.4.0" + "once": "^1.4.0" } }, "engine.io-client": { @@ -3703,14 +3703,14 @@ "requires": { "component-emitter": "1.2.1", "component-inherit": "0.0.3", - "debug": "2.6.9", - "engine.io-parser": "2.1.1", + "debug": "~2.6.9", + "engine.io-parser": "~2.1.1", "has-cors": "1.1.0", "indexof": "0.0.1", "parseqs": "0.0.5", "parseuri": "0.0.5", - "ws": "3.3.2", - "xmlhttprequest-ssl": "1.5.4", + "ws": "~3.3.1", + "xmlhttprequest-ssl": "~1.5.4", "yeast": "0.1.2" }, "dependencies": { @@ -3738,7 +3738,7 @@ "arraybuffer.slice": "0.0.6", "base64-arraybuffer": "0.1.5", "blob": "0.0.4", - "has-binary2": "1.0.2" + "has-binary2": "~1.0.2" } }, "enhanced-resolve": { @@ -3747,9 +3747,9 @@ "integrity": "sha512-F/7vkyTtyc/llOIn8oWclcB25KdRaiPBpZYDgJHgh/UHtpgT2p2eldQgtQnLtUvfMKPKxbRaQM/hHkvLHt1Vng==", "dev": true, "requires": { - 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"is-callable": "1.1.3", - "is-date-object": "1.0.1", - "is-symbol": "1.0.1" + "is-callable": "^1.1.1", + "is-date-object": "^1.0.1", + "is-symbol": "^1.0.1" } }, "es5-ext": { @@ -3805,8 +3805,8 @@ "integrity": "sha1-HvGwTz0J22pdYwIm1iIC8uQl5Fo=", "dev": true, "requires": { - "es6-iterator": "2.0.1", - "es6-symbol": "3.1.1" + "es6-iterator": "2", + "es6-symbol": "~3.1" } }, "es6-iterator": { @@ -3815,9 +3815,9 @@ "integrity": "sha1-jjGcnwRTv1ddN0lAplWSDlnKVRI=", "dev": true, "requires": { - "d": "1.0.0", - "es5-ext": "0.10.16", - "es6-symbol": "3.1.1" + "d": "1", + "es5-ext": "^0.10.14", + "es6-symbol": "^3.1" } }, "es6-map": { @@ -3826,12 +3826,12 @@ "integrity": "sha1-kTbgUD3MBqMBaQ8LsU/042TpSfA=", "dev": true, "requires": { - "d": "1.0.0", - "es5-ext": "0.10.16", - "es6-iterator": "2.0.1", - "es6-set": "0.1.5", - "es6-symbol": "3.1.1", - "event-emitter": "0.3.5" + "d": "1", + "es5-ext": "~0.10.14", + "es6-iterator": "~2.0.1", + "es6-set": "~0.1.5", + "es6-symbol": "~3.1.1", + "event-emitter": "~0.3.5" } }, "es6-promise": { @@ -3845,11 +3845,11 @@ "integrity": "sha1-0rPsXU2ADO2BjbU40ol02wpzzLE=", "dev": true, "requires": { - "d": "1.0.0", - "es5-ext": "0.10.16", - "es6-iterator": "2.0.1", + "d": "1", + "es5-ext": "~0.10.14", + "es6-iterator": "~2.0.1", "es6-symbol": "3.1.1", - "event-emitter": "0.3.5" + "event-emitter": "~0.3.5" } }, "es6-symbol": { @@ -3858,8 +3858,8 @@ "integrity": "sha1-vwDvT9q2uhtG7Le2KbTH7VcVzHc=", "dev": true, "requires": { - "d": "1.0.0", - "es5-ext": "0.10.16" + "d": "1", + "es5-ext": "~0.10.14" } }, "es6-weak-map": { @@ -3868,10 +3868,10 @@ "integrity": "sha1-XjqzIlH/0VOKH45f+hNXdy+S2W8=", "dev": true, "requires": { - "d": "1.0.0", - "es5-ext": "0.10.16", - "es6-iterator": "2.0.1", - "es6-symbol": "3.1.1" + "d": "1", + "es5-ext": "^0.10.14", + "es6-iterator": "^2.0.1", + "es6-symbol": "^3.1.1" } }, "escape-html": { @@ -3918,10 +3918,10 @@ "integrity": "sha1-4Bl16BJ4GhY6ba392AOY3GTIicM=", "dev": true, "requires": { - "es6-map": "0.1.5", - "es6-weak-map": "2.0.2", - "esrecurse": "4.2.0", - "estraverse": "4.2.0" + "es6-map": "^0.1.3", + "es6-weak-map": "^2.0.1", + "esrecurse": "^4.1.0", + "estraverse": "^4.1.1" } }, "eslint": { @@ -3930,45 +3930,45 @@ "integrity": "sha1-U2laylITloqs35cMyyMeQqKyhfg=", "dev": true, "requires": { - 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"ansi-regex": "2.1.1" + "ansi-regex": "^2.0.0" } } } @@ -4039,9 +4039,9 @@ "integrity": "sha512-ObN6h1v2fTJSmUXoS3nMQ92LbDK9be4TV+6G+omQlGJFdcUX5heKi1LZ1YnRMIgwTLEj3E24bT6tYni50rlCfQ==", "dev": true, "requires": { - "ansi-styles": "3.2.1", - "escape-string-regexp": "1.0.5", - "supports-color": "5.4.0" + "ansi-styles": "^3.2.1", + "escape-string-regexp": "^1.0.5", + "supports-color": "^5.3.0" }, "dependencies": { "ansi-styles": { @@ -4050,7 +4050,7 @@ "integrity": "sha512-VT0ZI6kZRdTh8YyJw3SMbYm/u+NqfsAxEpWO0Pf9sq8/e94WxxOpPKx9FR1FlyCtOVDNOQ+8ntlqFxiRc+r5qA==", "dev": true, "requires": { - "color-convert": "1.9.2" + "color-convert": "^1.9.0" } }, "supports-color": { @@ -4059,7 +4059,7 @@ "integrity": "sha512-zjaXglF5nnWpsq470jSv6P9DwPvgLkuapYmfDm3JWOm0vkNTVF2tI4UrN2r6jH1qM/uc/WtxYY1hYoA2dOKj5w==", "dev": true, "requires": { - "has-flag": "3.0.0" + "has-flag": "^3.0.0" } } } @@ -4079,7 +4079,7 @@ "integrity": "sha512-35mSku4ZXK0vfCuHEDAwt55dg2jNajHZ1odvF+8SSr82EsZY4QmXfuWso8oEd8zRhVObSN18aM0CjSdoBX7zIw==", "dev": true, "requires": { - "esutils": "2.0.2" + "esutils": "^2.0.2" } }, "eslint-scope": { @@ -4088,8 +4088,8 @@ "integrity": "sha1-UL8wcekzi83EMzF5Sgy1M/ATYXI=", "dev": true, "requires": { - "esrecurse": "4.2.0", - "estraverse": "4.2.0" + "esrecurse": "^4.1.0", + "estraverse": "^4.1.1" } }, "espree": { @@ -4098,8 +4098,8 @@ "integrity": "sha1-JTmY8goPgttdhmOFeZ2RKoOjZjQ=", "dev": true, "requires": { - "acorn": "5.7.1", - "acorn-jsx": "4.1.1" + "acorn": "^5.6.0", + "acorn-jsx": "^4.1.1" } }, "esquery": { @@ -4108,7 +4108,7 @@ "integrity": "sha1-QGxRZYsfWZGl+bYrHcJbAOPlxwg=", "dev": true, "requires": { - "estraverse": "4.2.0" + "estraverse": "^4.0.0" } }, "fast-deep-equal": { @@ -4171,7 +4171,7 @@ "integrity": "sha1-qEeQIusaw2iocTibY1JixQXuNo8=", "dev": true, "requires": { - "ansi-regex": "3.0.0" + "ansi-regex": "^3.0.0" }, "dependencies": { "ansi-regex": { @@ -4188,7 +4188,7 @@ "integrity": "sha512-KY9Frmirql91X2Qgjry0Wd4Y+YTdrdZheS8TFwvkbLWf/G5KNJDCh6pKL5OZctEW4+0Baa5idK2ZQuELRwPznQ==", "dev": true, "requires": { - "punycode": "2.1.1" + "punycode": "^2.1.0" } } } @@ -4199,7 +4199,7 @@ "integrity": "sha1-s3OvhEFNO+0nkq3kGOmgxvrnmf0=", "dev": true, "requires": { - "eslint-plugin-react": "7.5.1" + "eslint-plugin-react": "^7.0" } }, "eslint-plugin-format-message": { @@ -4208,11 +4208,11 @@ "integrity": "sha512-9Q1F0ndotgcDqbFDl99gSoubjHLfaOYnpp7X8+tEhfFrRIb+AAVYI5aUZdg+sEd7+UGGQbTMv8u+vwaCDda2sQ==", "dev": true, "requires": { - "format-message": "6.2.0", - "format-message-estree-util": "6.1.0", - "format-message-generate-id": "6.2.0", - "format-message-parse": "6.2.0", - "lookup-closest-locale": "6.2.0" + "format-message": "^6.2.0", + "format-message-estree-util": "^6.1.0", + "format-message-generate-id": "^6.2.0", + "format-message-parse": "^6.2.0", + "lookup-closest-locale": "^6.2.0" }, "dependencies": { "format-message": { @@ -4221,10 +4221,10 @@ "integrity": "sha512-QzjDk0owKnAj/+HviUIaR6I3y6zOa8hKdbQbkl7ejkjbaVJ0j4YWllZmZDAyNrG2iEWdqKCmIU1mum8mHGLEFw==", "dev": true, "requires": { - "format-message-formats": "6.2.0", - "format-message-interpret": "6.2.0", - "format-message-parse": "6.2.0", - "lookup-closest-locale": "6.2.0" + "format-message-formats": "^6.2.0", + "format-message-interpret": "^6.2.0", + "format-message-parse": "^6.2.0", + "lookup-closest-locale": "^6.2.0" } }, "format-message-formats": { @@ -4239,8 +4239,8 @@ "integrity": "sha512-G2WxW9c/vk97rPgbP67p/6BdpoZI8g4LdKDIqxAlXQq1ZI3uQTV2a5f9q3Big04hjSsI8uTgzWWmF4ht50foyw==", "dev": true, "requires": { - "format-message-formats": "6.2.0", - "lookup-closest-locale": "6.2.0" + "format-message-formats": "^6.2.0", + "lookup-closest-locale": "^6.2.0" } }, "format-message-parse": { @@ -4264,10 +4264,10 @@ "dev": true, "optional": true, "requires": { - "doctrine": "2.0.0", - "has": "1.0.1", - "jsx-ast-utils": "2.0.1", - "prop-types": "15.6.0" + "doctrine": "^2.0.0", + "has": "^1.0.1", + "jsx-ast-utils": "^2.0.0", + "prop-types": "^15.6.0" } }, "eslint-scope": { @@ -4276,8 +4276,8 @@ "integrity": "sha1-PWPD7f2gLgbgGkUq2IyqzHzctug=", "dev": true, "requires": { - "esrecurse": "4.2.0", - "estraverse": "4.2.0" + "esrecurse": "^4.1.0", + "estraverse": "^4.1.1" } }, "eslint-utils": { @@ -4298,8 +4298,8 @@ "integrity": "sha512-yAcIQxtmMiB/jL32dzEp2enBeidsB7xWPLNiw3IIkpVds1P+h7qF9YwJq1yUNzp2OKXgAprs4F61ih66UsoD1A==", "dev": true, "requires": { - "acorn": "5.5.3", - "acorn-jsx": "3.0.1" + "acorn": "^5.5.0", + "acorn-jsx": "^3.0.0" } }, "esprima": { @@ -4314,7 +4314,7 @@ "integrity": "sha512-SmiyZ5zIWH9VM+SRUReLS5Q8a7GxtRdxEBVZpm98rJM7Sb+A9DVCndXfkeFUd3byderg+EbDkfnevfCwynWaNA==", "dev": true, "requires": { - "estraverse": "4.2.0" + "estraverse": "^4.0.0" } }, "esrecurse": { @@ -4323,8 +4323,8 @@ "integrity": "sha1-+pVo2Y04I/mkHZHpAtyrnqblsWM=", "dev": true, "requires": { - "estraverse": "4.2.0", - "object-assign": "4.1.1" + "estraverse": "^4.1.0", + "object-assign": "^4.0.1" } }, "estraverse": { @@ -4351,8 +4351,8 @@ "integrity": "sha1-34xp7vFkeSPHFXuc6DhAYQsCzDk=", "dev": true, "requires": { - "d": "1.0.0", - "es5-ext": "0.10.16" + "d": "1", + "es5-ext": "~0.10.14" } }, "eventemitter3": { @@ -4379,7 +4379,7 @@ "integrity": "sha1-Cs7ehJ7X3RzMMsgRuxG5RNTykjI=", "dev": true, "requires": { - "original": "1.0.2" + "original": ">=0.0.5" } }, "evp_bytestokey": { @@ -4388,8 +4388,8 @@ "integrity": "sha512-/f2Go4TognH/KvCISP7OUsHn85hT9nUkxxA9BEWxFn+Oj9o8ZNLm/40hdlgSLyuOimsrTKLUMEorQexp/aPQeA==", "dev": true, "requires": { - "md5.js": "1.3.4", - "safe-buffer": "5.1.1" + "md5.js": "^1.3.4", + "safe-buffer": "^5.1.1" } }, "execa": { @@ -4398,13 +4398,13 @@ "integrity": "sha1-lEvs00zEHuMqY6n68nrVpl/Fl3c=", "dev": true, "requires": { - "cross-spawn": "5.1.0", - "get-stream": "3.0.0", - "is-stream": "1.1.0", - "npm-run-path": "2.0.2", - "p-finally": "1.0.0", - "signal-exit": "3.0.2", - "strip-eof": "1.0.0" + "cross-spawn": "^5.0.1", + "get-stream": "^3.0.0", + "is-stream": "^1.1.0", + "npm-run-path": "^2.0.0", + "p-finally": "^1.0.0", + "signal-exit": "^3.0.0", + "strip-eof": "^1.0.0" }, "dependencies": { "cross-spawn": { @@ -4413,9 +4413,9 @@ "integrity": "sha1-6L0O/uWPz/b4+UUQoKVUu/ojVEk=", "dev": true, "requires": { - "lru-cache": "4.1.3", - "shebang-command": "1.2.0", - "which": "1.3.1" + "lru-cache": "^4.0.1", + "shebang-command": "^1.2.0", + "which": "^1.2.9" } } } @@ -4432,13 +4432,13 @@ "integrity": "sha1-t3c14xXOMPa27/D4OwQVGiJEliI=", "dev": true, "requires": { - 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"text-table": "0.2.0", - "user-home": "2.0.0" + "babel-code-frame": "^6.16.0", + "chalk": "^1.1.3", + "concat-stream": "^1.5.2", + "debug": "^2.1.1", + "doctrine": "^2.0.0", + "escope": "^3.6.0", + "espree": "^3.4.0", + "esquery": "^1.0.0", + "estraverse": "^4.2.0", + "esutils": "^2.0.2", + "file-entry-cache": "^2.0.0", + "glob": "^7.0.3", + "globals": "^9.14.0", + "ignore": "^3.2.0", + "imurmurhash": "^0.1.4", + "inquirer": "^0.12.0", + "is-my-json-valid": "^2.10.0", + "is-resolvable": "^1.0.0", + "js-yaml": "^3.5.1", + "json-stable-stringify": "^1.0.0", + "levn": "^0.3.0", + "lodash": "^4.0.0", + "mkdirp": "^0.5.0", + "natural-compare": "^1.4.0", + "optionator": "^0.8.2", + "path-is-inside": "^1.0.1", + "pluralize": "^1.2.1", + "progress": "^1.1.8", + "require-uncached": "^1.0.2", + "shelljs": "^0.7.5", + "strip-bom": "^3.0.0", + "strip-json-comments": "~2.0.1", + "table": "^3.7.8", + "text-table": "~0.2.0", + "user-home": "^2.0.0" }, "dependencies": { "glob": { @@ -5183,12 +5183,12 @@ "integrity": "sha512-vcfuiIxogLV4DlGBHIUOwI0IbrJ8HWPc4MU7HzviGeNho/UJDfi6B5p3sHeWIQ0KGIU0Jpxi5ZHxemQfLkkAwQ==", "dev": true, "requires": { - "fs.realpath": "1.0.0", - "inflight": "1.0.6", - "inherits": "2.0.3", - "minimatch": "3.0.4", - "once": "1.4.0", - "path-is-absolute": "1.0.1" + "fs.realpath": "^1.0.0", + "inflight": "^1.0.4", + "inherits": "2", + "minimatch": "^3.0.4", + "once": "^1.3.0", + "path-is-absolute": "^1.0.0" } } } @@ -5199,8 +5199,8 @@ "integrity": "sha1-y+Hjr/zxzUS4DK3+0o3Hk6lwHS4=", "dev": true, "requires": { - "escape-string-regexp": "1.0.5", - "object-assign": "4.1.1" + "escape-string-regexp": "^1.0.5", + "object-assign": "^4.1.0" } }, "glob": { @@ -5209,11 +5209,11 @@ "integrity": "sha1-G8k2ueAvSmA/zCIuz3Yz0wuLk7E=", "dev": true, "requires": { - "inflight": "1.0.6", - "inherits": "2.0.3", - "minimatch": "3.0.4", - "once": "1.4.0", - "path-is-absolute": "1.0.1" + "inflight": "^1.0.4", + "inherits": "2", + "minimatch": "2 || 3", + "once": "^1.3.0", + "path-is-absolute": "^1.0.0" } }, "inquirer": { @@ -5222,19 +5222,19 @@ "integrity": "sha1-HvK/1jUE3wvHV4X/+MLEHfEvB34=", "dev": true, "requires": { - "ansi-escapes": "1.4.0", - "ansi-regex": "2.1.1", - "chalk": "1.1.3", - "cli-cursor": "1.0.2", - "cli-width": "2.2.0", - "figures": "1.7.0", - "lodash": "4.17.4", - "readline2": "1.0.1", - "run-async": "0.1.0", - "rx-lite": "3.1.2", - "string-width": "1.0.2", - "strip-ansi": "3.0.1", - "through": "2.3.8" + "ansi-escapes": "^1.1.0", + "ansi-regex": "^2.0.0", + "chalk": "^1.0.0", + "cli-cursor": "^1.0.1", + "cli-width": "^2.0.0", + "figures": "^1.3.5", + "lodash": "^4.3.0", + "readline2": "^1.0.1", + "run-async": "^0.1.0", + "rx-lite": "^3.1.2", + "string-width": "^1.0.1", + "strip-ansi": "^3.0.0", + "through": "^2.3.6" } }, "onetime": { @@ -5261,8 +5261,8 @@ "integrity": "sha1-NGYfRohjJ/7SmRR5FSJS35LapUE=", "dev": true, "requires": { - "exit-hook": "1.1.1", - "onetime": "1.1.0" + "exit-hook": "^1.0.0", + "onetime": "^1.0.0" } }, "run-async": { @@ -5271,7 +5271,7 @@ "integrity": "sha1-yK1KXhEGYeQCp9IbUw4AnyX444k=", "dev": true, "requires": { - "once": "1.4.0" + "once": "^1.3.0" } }, "source-map": { @@ -5286,9 +5286,9 @@ "integrity": "sha1-EYvfW4zcUaKn5w0hHgfisLmxB9M=", "dev": true, "requires": { - "code-point-at": "1.1.0", - "is-fullwidth-code-point": "1.0.0", - "strip-ansi": "3.0.1" + "code-point-at": "^1.0.0", + "is-fullwidth-code-point": "^1.0.0", + "strip-ansi": "^3.0.0" } }, "table": { @@ -5297,12 +5297,12 @@ "integrity": "sha1-K7xULw/amGGnVdOUf+/Ys/UThV8=", "dev": true, "requires": { - "ajv": "4.11.8", - "ajv-keywords": "1.5.1", - "chalk": "1.1.3", - "lodash": "4.17.4", + "ajv": "^4.7.0", + "ajv-keywords": "^1.0.0", + "chalk": "^1.1.1", + "lodash": "^4.0.0", "slice-ansi": "0.0.4", - "string-width": "2.1.1" + "string-width": "^2.0.0" }, "dependencies": { "ansi-regex": { @@ -5323,8 +5323,8 @@ "integrity": "sha512-nOqH59deCq9SRHlxq1Aw85Jnt4w6KvLKqWVik6oA9ZklXLNIOlqg4F2yrT1MVaTjAqvVwdfeZ7w7aCvJD7ugkw==", "dev": true, "requires": { - "is-fullwidth-code-point": "2.0.0", - "strip-ansi": "4.0.0" + "is-fullwidth-code-point": "^2.0.0", + "strip-ansi": "^4.0.0" } }, "strip-ansi": { @@ -5333,7 +5333,7 @@ "integrity": "sha1-qEeQIusaw2iocTibY1JixQXuNo8=", "dev": true, "requires": { - "ansi-regex": "3.0.0" + "ansi-regex": "^3.0.0" } } } @@ -5352,9 +5352,9 @@ "integrity": "sha512-q3nN7b/ONvzaUtLrCt13TDKbl7Rvc/Gk9bR2HfQqUWPKkhP+lciq3MKQDIeGb79dvciKdbWT/FB47YrHogQCCA==", "dev": true, "requires": { - "crc32": "0.2.2", - "format-message-parse": "6.2.0", - "format-message-print": "6.2.0" + "crc32": "^0.2.2", + "format-message-parse": "^6.2.0", + "format-message-print": "^6.2.0" }, "dependencies": { "format-message-parse": { @@ -5370,8 +5370,8 @@ "resolved": "https://registry.npmjs.org/format-message-interpret/-/format-message-interpret-6.2.0.tgz", "integrity": "sha512-G2WxW9c/vk97rPgbP67p/6BdpoZI8g4LdKDIqxAlXQq1ZI3uQTV2a5f9q3Big04hjSsI8uTgzWWmF4ht50foyw==", "requires": { - "format-message-formats": "6.2.0", - "lookup-closest-locale": "6.2.0" + "format-message-formats": "^6.2.0", + "lookup-closest-locale": "^6.2.0" }, "dependencies": { "format-message-formats": { @@ -5404,7 +5404,7 @@ "integrity": "sha1-QpD60n8T6Jvn8zeZxrxaCr//DRk=", "dev": true, "requires": { - "map-cache": "0.2.2" + "map-cache": "^0.2.2" } }, "fresh": { @@ -5419,8 +5419,8 @@ "integrity": "sha1-i/tVAr3kpNNs/e6gB/zKIdfjgq8=", "dev": true, "requires": { - "inherits": "2.0.3", - "readable-stream": "2.2.9" + "inherits": "^2.0.1", + "readable-stream": "^2.0.0" } }, "from2-array": { @@ -5444,9 +5444,9 @@ "integrity": "sha512-66Pm4RYbjzdyeuqudYqhFiNBbCIuI9kgRqLPSHIlXHidW8NIQtVdkM1yeZ4lXwuhbTETv3EUGMNHAAw6hiundQ==", "dev": true, "requires": { - "graceful-fs": "4.1.11", - "jsonfile": "4.0.0", - "universalify": "0.1.2" + "graceful-fs": "^4.1.2", + "jsonfile": "^4.0.0", + "universalify": "^0.1.0" } }, "fs-readdir-recursive": { @@ -5461,10 +5461,10 @@ "integrity": "sha1-tH31NJPvkR33VzHnCp3tAYnbQMk=", "dev": true, "requires": { - "graceful-fs": "4.1.11", - "iferr": "0.1.5", - "imurmurhash": "0.1.4", - "readable-stream": "2.2.9" + "graceful-fs": "^4.1.2", + "iferr": "^0.1.5", + "imurmurhash": "^0.1.4", + "readable-stream": "1 || 2" } }, "fs.realpath": { @@ -5480,8 +5480,8 @@ "dev": true, "optional": true, "requires": { - "nan": "2.10.0", - "node-pre-gyp": "0.10.0" + "nan": "^2.9.2", + "node-pre-gyp": "^0.10.0" }, "dependencies": { "abbrev": { @@ -5493,7 +5493,8 @@ "ansi-regex": { "version": "2.1.1", "bundled": true, - "dev": true + "dev": true, + "optional": true }, "aproba": { "version": "1.2.0", @@ -5507,8 +5508,8 @@ "dev": true, "optional": true, "requires": { - "delegates": "1.0.0", - "readable-stream": "2.3.6" + "delegates": "^1.0.0", + "readable-stream": "^2.0.6" } }, "balanced-match": { @@ -5523,7 +5524,7 @@ "dev": true, "optional": true, "requires": { - "balanced-match": "1.0.0", + "balanced-match": "^1.0.0", "concat-map": "0.0.1" } }, @@ -5590,7 +5591,7 @@ "dev": true, "optional": true, "requires": { - "minipass": "2.2.4" + "minipass": "^2.2.1" } }, "fs.realpath": { @@ -5605,14 +5606,14 @@ "dev": true, "optional": true, "requires": { - "aproba": "1.2.0", - "console-control-strings": "1.1.0", - "has-unicode": "2.0.1", - "object-assign": "4.1.1", - "signal-exit": "3.0.2", - "string-width": "1.0.2", - "strip-ansi": "3.0.1", - "wide-align": "1.1.2" + "aproba": "^1.0.3", + "console-control-strings": "^1.0.0", + "has-unicode": "^2.0.0", + "object-assign": "^4.1.0", + "signal-exit": "^3.0.0", + "string-width": "^1.0.1", + "strip-ansi": "^3.0.1", + "wide-align": "^1.1.0" } }, "glob": { @@ -5621,12 +5622,12 @@ "dev": true, "optional": true, "requires": { - "fs.realpath": "1.0.0", - "inflight": "1.0.6", - "inherits": "2.0.3", - "minimatch": "3.0.4", - "once": "1.4.0", - "path-is-absolute": "1.0.1" + "fs.realpath": "^1.0.0", + "inflight": "^1.0.4", + "inherits": "2", + "minimatch": "^3.0.4", + "once": "^1.3.0", + "path-is-absolute": "^1.0.0" } }, "has-unicode": { @@ -5641,7 +5642,7 @@ "dev": true, "optional": true, "requires": { - "safer-buffer": "2.1.2" + "safer-buffer": "^2.1.0" } }, "ignore-walk": { @@ -5650,7 +5651,7 @@ "dev": true, "optional": true, "requires": { - "minimatch": "3.0.4" + "minimatch": "^3.0.4" } }, "inflight": { @@ -5659,8 +5660,8 @@ "dev": true, "optional": true, "requires": { - "once": "1.4.0", - "wrappy": "1.0.2" + "once": "^1.3.0", + "wrappy": "1" } }, "inherits": { @@ -5681,7 +5682,7 @@ "dev": true, "optional": true, "requires": { - "number-is-nan": "1.0.1" + "number-is-nan": "^1.0.0" } }, "isarray": { @@ -5696,7 +5697,7 @@ "dev": true, "optional": true, "requires": { - "brace-expansion": "1.1.11" + "brace-expansion": "^1.1.7" } }, "minimist": { @@ -5711,8 +5712,8 @@ "dev": true, "optional": true, "requires": { - "safe-buffer": "5.1.1", - "yallist": "3.0.2" + "safe-buffer": "^5.1.1", + "yallist": "^3.0.0" } }, "minizlib": { @@ -5721,7 +5722,7 @@ "dev": true, "optional": true, "requires": { - "minipass": "2.2.4" + "minipass": "^2.2.1" } }, "mkdirp": { @@ -5745,9 +5746,9 @@ "dev": true, "optional": true, "requires": { - "debug": "2.6.9", - "iconv-lite": "0.4.21", - "sax": "1.2.4" + "debug": "^2.1.2", + "iconv-lite": "^0.4.4", + "sax": "^1.2.4" } }, "node-pre-gyp": { @@ -5756,16 +5757,16 @@ "dev": true, "optional": true, "requires": { - "detect-libc": "1.0.3", - "mkdirp": "0.5.1", - "needle": "2.2.0", - "nopt": "4.0.1", - "npm-packlist": "1.1.10", - "npmlog": "4.1.2", - "rc": "1.2.7", - "rimraf": "2.6.2", - "semver": "5.5.0", - "tar": "4.4.1" + "detect-libc": "^1.0.2", + "mkdirp": "^0.5.1", + "needle": "^2.2.0", + "nopt": "^4.0.1", + "npm-packlist": "^1.1.6", + "npmlog": "^4.0.2", + "rc": "^1.1.7", + "rimraf": "^2.6.1", + "semver": "^5.3.0", + "tar": "^4" } }, "nopt": { @@ -5774,8 +5775,8 @@ "dev": true, "optional": true, "requires": { - "abbrev": "1.1.1", - "osenv": "0.1.5" + "abbrev": "1", + "osenv": "^0.1.4" } }, "npm-bundled": { @@ -5790,8 +5791,8 @@ "dev": true, "optional": true, "requires": { - "ignore-walk": "3.0.1", - "npm-bundled": "1.0.3" + "ignore-walk": "^3.0.1", + "npm-bundled": "^1.0.1" } }, "npmlog": { @@ -5800,10 +5801,10 @@ "dev": true, "optional": true, "requires": { - "are-we-there-yet": "1.1.4", - "console-control-strings": "1.1.0", - "gauge": "2.7.4", - "set-blocking": "2.0.0" + "are-we-there-yet": "~1.1.2", + "console-control-strings": "~1.1.0", + "gauge": "~2.7.3", + "set-blocking": "~2.0.0" } }, "number-is-nan": { @@ -5824,7 +5825,7 @@ "dev": true, "optional": true, "requires": { - "wrappy": "1.0.2" + "wrappy": "1" } }, "os-homedir": { @@ -5845,8 +5846,8 @@ "dev": true, "optional": true, "requires": { - "os-homedir": "1.0.2", - "os-tmpdir": "1.0.2" + "os-homedir": "^1.0.0", + "os-tmpdir": "^1.0.0" } }, "path-is-absolute": { @@ -5867,10 +5868,10 @@ "dev": true, "optional": true, "requires": { - "deep-extend": "0.5.1", - "ini": "1.3.5", - "minimist": "1.2.0", - "strip-json-comments": "2.0.1" + "deep-extend": "^0.5.1", + "ini": "~1.3.0", + "minimist": "^1.2.0", + "strip-json-comments": "~2.0.1" }, "dependencies": { "minimist": { @@ -5887,13 +5888,13 @@ "dev": true, "optional": true, "requires": { - "core-util-is": "1.0.2", - "inherits": "2.0.3", - "isarray": "1.0.0", - "process-nextick-args": "2.0.0", - "safe-buffer": "5.1.1", - "string_decoder": "1.1.1", - "util-deprecate": "1.0.2" + "core-util-is": "~1.0.0", + "inherits": "~2.0.3", + "isarray": "~1.0.0", + "process-nextick-args": "~2.0.0", + "safe-buffer": "~5.1.1", + "string_decoder": "~1.1.1", + "util-deprecate": "~1.0.1" } }, "rimraf": { @@ -5902,13 +5903,14 @@ "dev": true, "optional": true, "requires": { - "glob": "7.1.2" + "glob": "^7.0.5" } }, "safe-buffer": { "version": "5.1.1", "bundled": true, - "dev": true + "dev": true, + "optional": true }, "safer-buffer": { "version": "2.1.2", @@ -5946,9 +5948,9 @@ "dev": true, "optional": true, "requires": { - "code-point-at": "1.1.0", - "is-fullwidth-code-point": "1.0.0", - "strip-ansi": "3.0.1" + "code-point-at": "^1.0.0", + "is-fullwidth-code-point": "^1.0.0", + "strip-ansi": "^3.0.0" } }, "string_decoder": { @@ -5957,15 +5959,16 @@ "dev": true, "optional": true, "requires": { - "safe-buffer": "5.1.1" + "safe-buffer": "~5.1.0" } }, "strip-ansi": { "version": "3.0.1", "bundled": true, "dev": true, + "optional": true, "requires": { - "ansi-regex": "2.1.1" + "ansi-regex": "^2.0.0" } }, "strip-json-comments": { @@ -5980,13 +5983,13 @@ "dev": true, "optional": true, "requires": { - "chownr": "1.0.1", - "fs-minipass": "1.2.5", - "minipass": "2.2.4", - "minizlib": "1.1.0", - "mkdirp": "0.5.1", - "safe-buffer": "5.1.1", - "yallist": "3.0.2" + "chownr": "^1.0.1", + "fs-minipass": "^1.2.5", + "minipass": "^2.2.4", + "minizlib": "^1.1.0", + "mkdirp": "^0.5.0", + "safe-buffer": "^5.1.1", + "yallist": "^3.0.2" } }, "util-deprecate": { @@ -6001,18 +6004,20 @@ "dev": true, "optional": true, "requires": { - "string-width": "1.0.2" + "string-width": "^1.0.2" } }, "wrappy": { "version": "1.0.2", "bundled": true, - "dev": true + "dev": true, + "optional": true }, "yallist": { "version": "3.0.2", "bundled": true, - "dev": true + "dev": true, + "optional": true } } }, @@ -6044,7 +6049,7 @@ "resolved": "https://registry.npmjs.org/generate-object-property/-/generate-object-property-1.2.0.tgz", "integrity": "sha1-nA4cQDCM6AT0eDYYuTf6iPmdUNA=", "requires": { - "is-property": "1.0.2" + "is-property": "^1.0.0" } }, "get-caller-file": { @@ -6076,7 +6081,7 @@ "resolved": "https://registry.npmjs.org/getpass/-/getpass-0.1.7.tgz", "integrity": "sha1-Xv+OPmhNVprkyysSgmBOi6YhSfo=", "requires": { - "assert-plus": "1.0.0" + "assert-plus": "^1.0.0" }, "dependencies": { "assert-plus": { @@ -6094,11 +6099,11 @@ "requires": { "async": "2.6.1", "commander": "2.15.1", - "filenamify-url": "1.0.0", - "fs-extra": "5.0.0", - "globby": "6.1.0", + "filenamify-url": "^1.0.0", + "fs-extra": "^5.0.0", + "globby": "^6.1.0", "graceful-fs": "4.1.11", - "rimraf": "2.6.2" + "rimraf": "^2.6.2" }, "dependencies": { "async": { @@ -6107,7 +6112,7 @@ "integrity": "sha512-fNEiL2+AZt6AlAw/29Cr0UDe4sRAHCpEHh54WMz+Bb7QfNcFw4h3loofyJpLeQs4Yx7yuqu/2dLgM5hKOs6HlQ==", "dev": true, "requires": { - "lodash": "4.17.10" + "lodash": "^4.17.10" } }, "commander": { @@ -6122,11 +6127,11 @@ "integrity": "sha1-9abXDoOV4hyFj7BInWTfAkJNUGw=", "dev": true, "requires": { - "array-union": "1.0.2", - "glob": "7.1.2", - "object-assign": "4.1.1", - "pify": "2.3.0", - "pinkie-promise": "2.0.1" + "array-union": "^1.0.1", + "glob": "^7.0.3", + "object-assign": "^4.0.1", + "pify": "^2.0.0", + "pinkie-promise": "^2.0.0" } }, "lodash": { @@ -6141,7 +6146,7 @@ "integrity": "sha512-lreewLK/BlghmxtfH36YYVg1i8IAce4TI7oao75I1g245+6BctqTVQiBP3YUJ9C6DQOXJmkYR9X9fCLtCOJc5w==", "dev": true, "requires": { - "glob": "7.1.2" + "glob": "^7.0.5" } } } @@ -6152,12 +6157,12 @@ "integrity": "sha1-wZyd+aAocC1nhhI4SmVSQExjbRU=", "dev": true, "requires": { - "fs.realpath": "1.0.0", - "inflight": "1.0.6", - "inherits": "2.0.3", - "minimatch": "3.0.4", - "once": "1.4.0", - "path-is-absolute": "1.0.1" + "fs.realpath": "^1.0.0", + "inflight": "^1.0.4", + "inherits": "2", + "minimatch": "^3.0.4", + "once": "^1.3.0", + "path-is-absolute": "^1.0.0" } }, "glob-parent": { @@ -6166,8 +6171,8 @@ "integrity": "sha1-nmr2KZ2NO9K9QEMIMr0RPfkGxa4=", "dev": true, "requires": { - "is-glob": "3.1.0", - "path-dirname": "1.0.2" + "is-glob": "^3.1.0", + "path-dirname": "^1.0.0" }, "dependencies": { "is-glob": { @@ -6176,7 +6181,7 @@ "integrity": "sha1-e6WuJCF4BKxwcHuWkiVnSGzD6Eo=", "dev": true, "requires": { - 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"http-proxy": "1.17.0", - "is-glob": "4.0.0", - "lodash": "4.17.10", - "micromatch": "3.1.10" + "http-proxy": "^1.16.2", + "is-glob": "^4.0.0", + "lodash": "^4.17.5", + "micromatch": "^3.1.9" }, "dependencies": { "lodash": { @@ -6549,9 +6554,9 @@ "resolved": "https://registry.npmjs.org/http-signature/-/http-signature-1.1.1.tgz", "integrity": "sha1-33LiZwZs0Kxn+3at+OE0qPvPkb8=", "requires": { - "assert-plus": "0.2.0", - "jsprim": "1.4.1", - "sshpk": "1.13.1" + "assert-plus": "^0.2.0", + "jsprim": "^1.2.2", + "sshpk": "^1.7.0" } }, "https-browserify": { @@ -6572,8 +6577,8 @@ "integrity": "sha1-9KuZ4NKIF0yk4eUEB8VfuuRk7/8=", "dev": true, "requires": { - "normalize-url": "1.9.1", - "strip-url-auth": "1.0.1" + "normalize-url": "^1.0.0", + "strip-url-auth": "^1.0.0" } }, "iconv-lite": { @@ -6631,8 +6636,8 @@ "integrity": "sha512-vAaZHieK9qjGo58agRBg+bhHX3hoTZU/Oa3GESWLz7t1U62fk63aHuDJJEteXoDeTCcPmUT+z38gkHPZkkmpmQ==", "dev": true, "requires": { - "pkg-dir": "2.0.0", - "resolve-cwd": "2.0.0" + "pkg-dir": "^2.0.0", + "resolve-cwd": "^2.0.0" } }, "imports-loader": { @@ -6686,7 +6691,7 @@ "integrity": "sha1-ji1INIdCEhtKghi3oTfppSBJ3IA=", "dev": true, "requires": { - 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"color-convert": "1.9.2" + "color-convert": "^1.9.0" } }, "chalk": { @@ -6751,9 +6756,9 @@ "integrity": "sha512-ObN6h1v2fTJSmUXoS3nMQ92LbDK9be4TV+6G+omQlGJFdcUX5heKi1LZ1YnRMIgwTLEj3E24bT6tYni50rlCfQ==", "dev": true, "requires": { - "ansi-styles": "3.2.1", - "escape-string-regexp": "1.0.5", - "supports-color": "5.4.0" + "ansi-styles": "^3.2.1", + "escape-string-regexp": "^1.0.5", + "supports-color": "^5.3.0" } }, "strip-ansi": { @@ -6762,7 +6767,7 @@ "integrity": "sha1-qEeQIusaw2iocTibY1JixQXuNo8=", "dev": true, "requires": { - "ansi-regex": "3.0.0" + "ansi-regex": "^3.0.0" } }, "supports-color": { @@ -6771,7 +6776,7 @@ "integrity": "sha512-zjaXglF5nnWpsq470jSv6P9DwPvgLkuapYmfDm3JWOm0vkNTVF2tI4UrN2r6jH1qM/uc/WtxYY1hYoA2dOKj5w==", "dev": true, "requires": { - "has-flag": "3.0.0" + "has-flag": "^3.0.0" } } } @@ -6782,7 +6787,7 @@ "integrity": "sha1-rp+/k7mEh4eF1QqN4bNWlWBYz1w=", "dev": true, "requires": { - "meow": "3.7.0" + "meow": "^3.3.0" } }, "interpret": { @@ -6803,7 +6808,7 @@ "integrity": "sha1-nh9WrArNtr8wMwbzOL47IErmA2A=", "dev": true, "requires": { - "loose-envify": "1.3.1" + "loose-envify": "^1.0.0" } }, "invert-kv": { @@ -6830,7 +6835,7 @@ "integrity": "sha1-qeEss66Nh2cn7u84Q/igiXtcmNY=", "dev": true, "requires": { - "kind-of": "3.2.2" + "kind-of": "^3.0.2" }, "dependencies": { "kind-of": { @@ -6839,7 +6844,7 @@ "integrity": "sha1-MeohpzS6ubuw8yRm2JOupR5KPGQ=", "dev": true, "requires": { - "is-buffer": "1.1.6" + "is-buffer": "^1.1.5" } } } @@ -6856,7 +6861,7 @@ "integrity": "sha1-dfFmQrSA8YenEcgUFh/TpKdlWJg=", "dev": true, "requires": { - "binary-extensions": "1.11.0" + "binary-extensions": "^1.0.0" } }, "is-buffer": { @@ -6871,7 +6876,7 @@ "integrity": "sha1-VAVy0096wxGfj3bDDLwbHgN6/74=", "dev": true, "requires": { - "builtin-modules": "1.1.1" + "builtin-modules": "^1.0.0" } }, "is-callable": { @@ -6886,7 +6891,7 @@ "integrity": "sha1-C17mSDiOLIYCgueT8YVv7D8wG1Y=", "dev": true, "requires": { - "kind-of": "3.2.2" + "kind-of": "^3.0.2" }, "dependencies": { "kind-of": { @@ -6895,7 +6900,7 @@ "integrity": "sha1-MeohpzS6ubuw8yRm2JOupR5KPGQ=", "dev": true, "requires": { - "is-buffer": "1.1.6" + "is-buffer": "^1.1.5" } } } @@ -6912,9 +6917,9 @@ "integrity": "sha512-avDYr0SB3DwO9zsMov0gKCESFYqCnE4hq/4z3TdUlukEy5t9C0YRq7HLrsN52NAcqXKaepeCD0n+B0arnVG3Hg==", "dev": true, "requires": { - "is-accessor-descriptor": "0.1.6", - "is-data-descriptor": "0.1.4", - "kind-of": "5.1.0" + "is-accessor-descriptor": "^0.1.6", + "is-data-descriptor": "^0.1.4", + "kind-of": "^5.0.0" }, "dependencies": { "kind-of": { @@ -6943,7 +6948,7 @@ "integrity": "sha1-zGZ3aVYCvlUO8R6LSqYwU0K20Ko=", "dev": true, "requires": { - "number-is-nan": "1.0.1" + "number-is-nan": "^1.0.0" } }, "is-fullwidth-code-point": { @@ -6952,7 +6957,7 @@ "integrity": "sha1-754xOG8DGn8NZDr4L95QxFfvAMs=", "dev": true, "requires": { - "number-is-nan": "1.0.1" + "number-is-nan": "^1.0.0" } }, "is-function": { @@ -6966,7 +6971,7 @@ "integrity": "sha1-lSHHaEXMJhCoUgPd8ICpWML/q8A=", "dev": true, "requires": { - "is-extglob": "2.1.1" + "is-extglob": "^2.1.1" } }, "is-my-json-valid": { @@ -6974,10 +6979,10 @@ "resolved": "http://registry.npmjs.org/is-my-json-valid/-/is-my-json-valid-2.16.0.tgz", "integrity": "sha1-8Hndm/2uZe4gOKrorLyGqxCeNpM=", "requires": { - 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"isobject": "3.0.1" + "isobject": "^3.0.1" } }, "is-promise": { @@ -7056,7 +7061,7 @@ "integrity": "sha1-VRdIm1RwkbCTDglWVM7SXul+lJE=", "dev": true, "requires": { - "has": "1.0.1" + "has": "^1.0.1" } }, "is-resolvable": { @@ -7124,8 +7129,8 @@ "dev": true, "optional": true, "requires": { - "node-fetch": "1.7.3", - "whatwg-fetch": "2.0.3" + "node-fetch": "^1.0.1", + "whatwg-fetch": ">=0.10.0" } }, "isstream": { @@ -7156,8 +7161,8 @@ "integrity": "sha512-PIt2cnwmPfL4hKNwqeiuz4bKfnzHTBv6HyVgjahA6mPLwPDzjDWrplJBMjHUFxku/N3FlmrbyPclad+I+4mJ3A==", "dev": true, "requires": { - "argparse": "1.0.9", - "esprima": "4.0.1" + "argparse": "^1.0.7", + "esprima": "^4.0.0" } }, "js2xmlparser": { @@ -7166,7 +7171,7 @@ "integrity": "sha1-P7YOqgicVED5MZ9RdgzNB+JJlzM=", "dev": true, "requires": { - "xmlcreate": "1.0.2" + "xmlcreate": "^1.0.1" } }, "jsbn": { @@ -7182,17 +7187,17 @@ "dev": true, "requires": { "babylon": "7.0.0-beta.19", - "bluebird": "3.5.1", - "catharsis": "0.8.9", - "escape-string-regexp": "1.0.5", - 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"js-tokens": "3.0.1" + "js-tokens": "^3.0.0" } }, "loud-rejection": { @@ -7620,8 +7625,8 @@ "integrity": "sha1-W0b4AUft7leIcPCG0Eghz5mOVR8=", "dev": true, "requires": { - "currently-unhandled": "0.4.1", - "signal-exit": "3.0.2" + "currently-unhandled": "^0.4.1", + "signal-exit": "^3.0.0" } }, "lru-cache": { @@ -7630,13 +7635,13 @@ "integrity": "sha512-fFEhvcgzuIoJVUF8fYr5KR0YqxD238zgObTps31YdADwPPAp82a4M8TrckkWyx7ekNlf9aBcVn81cFwwXngrJA==", "dev": true, "requires": { - "pseudomap": "1.0.2", - "yallist": "2.1.2" + "pseudomap": "^1.0.2", + "yallist": "^2.1.2" } }, "magic-string": { "version": "0.22.5", - "resolved": "https://registry.npmjs.org/magic-string/-/magic-string-0.22.5.tgz", + "resolved": "http://registry.npmjs.org/magic-string/-/magic-string-0.22.5.tgz", "integrity": "sha512-oreip9rJZkzvA8Qzk9HFs8fZGF/u7H/gtrE8EN6RjKJ9kh2HlC+yQ2QezifqTZfGyiuAV0dRv5a+y/8gBb1m9w==", "dev": true, "requires": { @@ -7649,7 +7654,7 @@ "integrity": "sha512-2w31R7SJtieJJnQtGc7RVL2StM2vGYVfqUOvUDxH6bC6aJTxPxTF0GnIgCyu7tjockiUWAYQRbxa7vKn34s5sQ==", "dev": true, "requires": { - "pify": "3.0.0" + "pify": "^3.0.0" }, "dependencies": { "pify": { @@ -7704,7 +7709,7 @@ "integrity": "sha1-7Nyo8TFE5mDxtb1B8S80edmN+48=", "dev": true, "requires": { - "object-visit": "1.0.1" + "object-visit": "^1.0.0" } }, "marked": { @@ -7719,8 +7724,8 @@ "integrity": "sha1-6b296UogpawYsENA/Fdk1bCdkB0=", "dev": true, "requires": { - "hash-base": "3.0.4", - "inherits": "2.0.3" + "hash-base": "^3.0.0", + "inherits": "^2.0.1" } }, "media-typer": { @@ -7735,7 +7740,7 @@ "integrity": "sha1-Xt1StIXKHZAP5kiVUFOZoN+kX3Y=", "dev": true, "requires": { - "mimic-fn": "1.2.0" + "mimic-fn": "^1.0.0" } }, "memory-fs": { @@ -7744,8 +7749,8 @@ "integrity": "sha1-OpoguEYlI+RHz7x+i7gO1me/xVI=", "dev": true, "requires": { - "errno": "0.1.7", - "readable-stream": "2.2.9" + "errno": "^0.1.3", + "readable-stream": "^2.0.1" } }, "meow": { @@ -7754,16 +7759,16 @@ "integrity": "sha1-cstmi0JSKCkKu/qFaJJYcwioAfs=", "dev": true, "requires": { - "camelcase-keys": "2.1.0", - "decamelize": "1.2.0", - "loud-rejection": "1.6.0", - 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"is-utf8": "0.2.1" + "is-utf8": "^0.2.0" } } } @@ -7888,19 +7893,19 @@ "integrity": "sha512-MWikgl9n9M3w+bpsY3He8L+w9eF9338xRl8IAO5viDizwSzziFEyUzo2xrrloB64ADbTf8uA8vRqqttDTOmccg==", "dev": true, "requires": { - "arr-diff": "4.0.0", - "array-unique": "0.3.2", - "braces": "2.3.2", - "define-property": "2.0.2", - "extend-shallow": "3.0.2", - "extglob": "2.0.4", - "fragment-cache": "0.2.1", - "kind-of": "6.0.2", - "nanomatch": "1.2.13", - "object.pick": "1.3.0", - "regex-not": "1.0.2", - "snapdragon": "0.8.2", - "to-regex": "3.0.2" + "arr-diff": "^4.0.0", + "array-unique": "^0.3.2", + "braces": "^2.3.1", + "define-property": "^2.0.2", + "extend-shallow": "^3.0.2", + "extglob": "^2.0.4", + "fragment-cache": "^0.2.1", + "kind-of": "^6.0.2", + "nanomatch": "^1.2.9", + "object.pick": "^1.3.0", + "regex-not": "^1.0.0", + "snapdragon": "^0.8.1", + "to-regex": "^3.0.2" } }, "miller-rabin": { @@ -7909,8 +7914,8 @@ "integrity": "sha512-115fLhvZVqWwHPbClyntxEVfVDfl9DLLTuJvq3g2O/Oxi8AiNouAHvDSzHS0viUJc+V5vm3eq91Xwqn9dp4jRA==", "dev": true, "requires": { - 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"yargs-parser": "8.1.0" + "yargs-parser": "^8.0.0" }, "dependencies": { "align-text": { @@ -8426,9 +8431,9 @@ "dev": true, "optional": true, "requires": { - "kind-of": "3.2.2", - "longest": "1.0.1", - "repeat-string": "1.6.1" + "kind-of": "^3.0.2", + "longest": "^1.0.1", + "repeat-string": "^1.5.2" } }, "amdefine": { @@ -8451,7 +8456,7 @@ "bundled": true, "dev": true, "requires": { - "default-require-extensions": "1.0.0" + "default-require-extensions": "^1.0.0" } }, "archy": { @@ -8504,9 +8509,9 @@ "bundled": true, "dev": true, "requires": { - "chalk": "1.1.3", - "esutils": "2.0.2", - "js-tokens": "3.0.2" + "chalk": "^1.1.3", + "esutils": "^2.0.2", + "js-tokens": "^3.0.2" } }, "babel-generator": { @@ -8514,14 +8519,14 @@ "bundled": true, "dev": true, "requires": { - "babel-messages": "6.23.0", - "babel-runtime": "6.26.0", - "babel-types": "6.26.0", - "detect-indent": "4.0.0", - "jsesc": "1.3.0", - "lodash": "4.17.10", - "source-map": "0.5.7", - "trim-right": "1.0.1" + "babel-messages": "^6.23.0", + "babel-runtime": "^6.26.0", + "babel-types": "^6.26.0", + "detect-indent": "^4.0.0", + "jsesc": "^1.3.0", + "lodash": "^4.17.4", + "source-map": "^0.5.7", + "trim-right": "^1.0.1" } }, "babel-messages": { @@ -8529,7 +8534,7 @@ "bundled": true, "dev": true, "requires": { - "babel-runtime": "6.26.0" + "babel-runtime": "^6.22.0" } }, "babel-runtime": { @@ -8537,8 +8542,8 @@ "bundled": true, "dev": true, "requires": { - "core-js": "2.5.6", - "regenerator-runtime": "0.11.1" + "core-js": "^2.4.0", + "regenerator-runtime": "^0.11.0" } }, "babel-template": { @@ -8546,11 +8551,11 @@ "bundled": true, "dev": true, "requires": { - "babel-runtime": "6.26.0", - "babel-traverse": "6.26.0", - "babel-types": "6.26.0", - "babylon": "6.18.0", - "lodash": "4.17.10" + "babel-runtime": "^6.26.0", + "babel-traverse": "^6.26.0", + "babel-types": "^6.26.0", + "babylon": "^6.18.0", + "lodash": "^4.17.4" } }, "babel-traverse": { @@ -8558,15 +8563,15 @@ "bundled": true, "dev": true, "requires": { - "babel-code-frame": "6.26.0", - "babel-messages": "6.23.0", - "babel-runtime": "6.26.0", - "babel-types": "6.26.0", - "babylon": "6.18.0", - "debug": "2.6.9", - "globals": "9.18.0", - "invariant": "2.2.4", - "lodash": "4.17.10" + "babel-code-frame": "^6.26.0", + "babel-messages": "^6.23.0", + "babel-runtime": "^6.26.0", + "babel-types": "^6.26.0", + "babylon": "^6.18.0", + "debug": "^2.6.8", + "globals": "^9.18.0", + "invariant": "^2.2.2", + "lodash": "^4.17.4" } }, "babel-types": { @@ -8574,10 +8579,10 @@ "bundled": true, "dev": true, "requires": { - "babel-runtime": "6.26.0", - "esutils": "2.0.2", - "lodash": "4.17.10", - "to-fast-properties": "1.0.3" + "babel-runtime": "^6.26.0", + "esutils": "^2.0.2", + "lodash": "^4.17.4", + "to-fast-properties": "^1.0.3" } }, "babylon": { @@ -8595,13 +8600,13 @@ "bundled": true, "dev": true, "requires": { - "cache-base": "1.0.1", - "class-utils": "0.3.6", - "component-emitter": "1.2.1", - "define-property": "1.0.0", - "isobject": "3.0.1", - "mixin-deep": "1.3.1", - "pascalcase": "0.1.1" + "cache-base": "^1.0.1", + "class-utils": "^0.3.5", + "component-emitter": "^1.2.1", + "define-property": "^1.0.0", + "isobject": "^3.0.1", + "mixin-deep": "^1.2.0", + "pascalcase": "^0.1.1" }, "dependencies": { "define-property": { @@ -8609,7 +8614,7 @@ "bundled": true, "dev": true, "requires": { - "is-descriptor": "1.0.2" + "is-descriptor": "^1.0.0" } }, "is-accessor-descriptor": { @@ -8617,7 +8622,7 @@ "bundled": true, "dev": true, "requires": { - "kind-of": "6.0.2" + "kind-of": "^6.0.0" } }, "is-data-descriptor": { @@ -8625,7 +8630,7 @@ "bundled": true, "dev": true, "requires": { - "kind-of": "6.0.2" + "kind-of": "^6.0.0" } }, "is-descriptor": { @@ -8633,9 +8638,9 @@ "bundled": true, "dev": true, "requires": { - "is-accessor-descriptor": "1.0.0", - "is-data-descriptor": "1.0.0", - "kind-of": "6.0.2" + "is-accessor-descriptor": "^1.0.0", + "is-data-descriptor": "^1.0.0", + "kind-of": "^6.0.2" } }, "isobject": { @@ -8655,7 +8660,7 @@ "bundled": true, "dev": true, "requires": { - "balanced-match": "1.0.0", + "balanced-match": "^1.0.0", "concat-map": "0.0.1" } }, @@ -8664,16 +8669,16 @@ "bundled": true, "dev": true, "requires": { - "arr-flatten": "1.1.0", - "array-unique": "0.3.2", - "extend-shallow": "2.0.1", - "fill-range": "4.0.0", - "isobject": "3.0.1", - "repeat-element": "1.1.2", - "snapdragon": "0.8.2", - "snapdragon-node": "2.1.1", - "split-string": "3.1.0", - "to-regex": "3.0.2" + "arr-flatten": "^1.1.0", + "array-unique": "^0.3.2", + "extend-shallow": "^2.0.1", + "fill-range": "^4.0.0", + "isobject": "^3.0.1", + "repeat-element": "^1.1.2", + "snapdragon": "^0.8.1", + "snapdragon-node": "^2.0.1", + "split-string": "^3.0.2", + "to-regex": "^3.0.1" }, "dependencies": { "extend-shallow": { @@ -8681,7 +8686,7 @@ "bundled": true, "dev": true, "requires": { - "is-extendable": "0.1.1" + "is-extendable": "^0.1.0" } } } @@ -8696,15 +8701,15 @@ "bundled": true, "dev": true, "requires": { - "collection-visit": "1.0.0", - "component-emitter": "1.2.1", - "get-value": "2.0.6", - "has-value": "1.0.0", - "isobject": "3.0.1", - "set-value": "2.0.0", - "to-object-path": "0.3.0", - "union-value": "1.0.0", - "unset-value": "1.0.0" + "collection-visit": "^1.0.0", + "component-emitter": "^1.2.1", + "get-value": "^2.0.6", + "has-value": "^1.0.0", + "isobject": "^3.0.1", + "set-value": "^2.0.0", + "to-object-path": "^0.3.0", + "union-value": "^1.0.0", + "unset-value": "^1.0.0" }, "dependencies": { "isobject": { @@ -8719,9 +8724,9 @@ "bundled": true, "dev": true, "requires": { - "md5-hex": "1.3.0", - "mkdirp": "0.5.1", - "write-file-atomic": "1.3.4" + "md5-hex": "^1.2.0", + "mkdirp": "^0.5.1", + "write-file-atomic": "^1.1.4" } }, "camelcase": { @@ -8736,8 +8741,8 @@ "dev": true, "optional": true, "requires": { - "align-text": "0.1.4", - "lazy-cache": "1.0.4" + "align-text": "^0.1.3", + "lazy-cache": "^1.0.3" } }, "chalk": { @@ -8745,11 +8750,11 @@ "bundled": true, "dev": true, "requires": { - "ansi-styles": "2.2.1", - "escape-string-regexp": "1.0.5", - "has-ansi": "2.0.0", - "strip-ansi": "3.0.1", - "supports-color": "2.0.0" + "ansi-styles": "^2.2.1", + "escape-string-regexp": "^1.0.2", + "has-ansi": "^2.0.0", + "strip-ansi": "^3.0.0", + "supports-color": "^2.0.0" } }, "class-utils": { @@ -8757,10 +8762,10 @@ "bundled": true, "dev": true, "requires": { - "arr-union": "3.1.0", - "define-property": "0.2.5", - "isobject": "3.0.1", - "static-extend": "0.1.2" + "arr-union": "^3.1.0", + "define-property": "^0.2.5", + "isobject": "^3.0.0", + "static-extend": "^0.1.1" }, "dependencies": { "define-property": { @@ -8768,7 +8773,7 @@ "bundled": true, "dev": true, "requires": { - "is-descriptor": "0.1.6" + "is-descriptor": "^0.1.0" } }, "isobject": { @@ -8784,8 +8789,8 @@ "dev": true, "optional": true, "requires": { - "center-align": "0.1.3", - "right-align": "0.1.3", + "center-align": "^0.1.1", + "right-align": "^0.1.1", "wordwrap": "0.0.2" }, "dependencies": { @@ -8807,8 +8812,8 @@ "bundled": true, "dev": true, "requires": { - "map-visit": "1.0.0", - "object-visit": "1.0.1" + "map-visit": "^1.0.0", + "object-visit": "^1.0.0" } }, "commondir": { @@ -8846,8 +8851,8 @@ "bundled": true, "dev": true, "requires": { - "lru-cache": "4.1.3", - "which": "1.3.0" + "lru-cache": "^4.0.1", + "which": "^1.2.9" } }, "debug": { @@ -8878,7 +8883,7 @@ "bundled": true, "dev": true, "requires": { - "strip-bom": "2.0.0" + "strip-bom": "^2.0.0" } }, "define-property": { @@ -8886,8 +8891,8 @@ "bundled": true, "dev": true, "requires": { - "is-descriptor": "1.0.2", - "isobject": "3.0.1" + "is-descriptor": "^1.0.2", + "isobject": "^3.0.1" }, "dependencies": { "is-accessor-descriptor": { @@ -8895,7 +8900,7 @@ "bundled": true, "dev": true, "requires": { - "kind-of": "6.0.2" + "kind-of": "^6.0.0" } }, "is-data-descriptor": { @@ -8903,7 +8908,7 @@ "bundled": true, "dev": true, "requires": { - "kind-of": "6.0.2" + "kind-of": "^6.0.0" } }, "is-descriptor": { @@ -8911,9 +8916,9 @@ "bundled": true, "dev": true, "requires": { - "is-accessor-descriptor": "1.0.0", - "is-data-descriptor": "1.0.0", - "kind-of": "6.0.2" + "is-accessor-descriptor": "^1.0.0", + "is-data-descriptor": "^1.0.0", + "kind-of": "^6.0.2" } }, "isobject": { @@ -8933,7 +8938,7 @@ "bundled": true, "dev": true, "requires": { - "repeating": "2.0.1" + "repeating": "^2.0.0" } }, "error-ex": { @@ -8941,7 +8946,7 @@ "bundled": true, "dev": true, "requires": { - "is-arrayish": "0.2.1" + "is-arrayish": "^0.2.1" } }, "escape-string-regexp": { @@ -8959,13 +8964,13 @@ "bundled": true, "dev": true, "requires": { - "cross-spawn": "5.1.0", - "get-stream": "3.0.0", - "is-stream": "1.1.0", - "npm-run-path": "2.0.2", - "p-finally": "1.0.0", - "signal-exit": "3.0.2", - "strip-eof": "1.0.0" + "cross-spawn": "^5.0.1", + "get-stream": "^3.0.0", + "is-stream": "^1.1.0", + "npm-run-path": "^2.0.0", + "p-finally": "^1.0.0", + "signal-exit": "^3.0.0", + "strip-eof": "^1.0.0" }, "dependencies": { "cross-spawn": { @@ -8973,9 +8978,9 @@ "bundled": true, "dev": true, "requires": { - "lru-cache": "4.1.3", - "shebang-command": "1.2.0", - "which": "1.3.0" + "lru-cache": "^4.0.1", + "shebang-command": "^1.2.0", + "which": "^1.2.9" } } } @@ -8985,13 +8990,13 @@ "bundled": true, "dev": true, "requires": { - "debug": "2.6.9", - "define-property": "0.2.5", - "extend-shallow": "2.0.1", - "posix-character-classes": "0.1.1", - "regex-not": "1.0.2", - "snapdragon": "0.8.2", - "to-regex": "3.0.2" + "debug": "^2.3.3", + "define-property": "^0.2.5", + "extend-shallow": "^2.0.1", + "posix-character-classes": "^0.1.0", + "regex-not": "^1.0.0", + "snapdragon": "^0.8.1", + "to-regex": "^3.0.1" }, "dependencies": { "define-property": { @@ -8999,7 +9004,7 @@ "bundled": true, "dev": true, "requires": { - "is-descriptor": "0.1.6" + "is-descriptor": "^0.1.0" } }, "extend-shallow": { @@ -9007,7 +9012,7 @@ "bundled": true, "dev": true, "requires": { - "is-extendable": "0.1.1" + "is-extendable": "^0.1.0" } } } @@ -9017,8 +9022,8 @@ "bundled": true, "dev": true, "requires": { - "assign-symbols": "1.0.0", - "is-extendable": "1.0.1" + "assign-symbols": "^1.0.0", + "is-extendable": "^1.0.1" }, "dependencies": { "is-extendable": { @@ -9026,7 +9031,7 @@ "bundled": true, "dev": true, "requires": { - "is-plain-object": "2.0.4" + "is-plain-object": "^2.0.4" } } } @@ -9036,14 +9041,14 @@ "bundled": true, "dev": true, "requires": { - "array-unique": "0.3.2", - "define-property": "1.0.0", - "expand-brackets": "2.1.4", - "extend-shallow": "2.0.1", - "fragment-cache": "0.2.1", - "regex-not": "1.0.2", - "snapdragon": "0.8.2", - "to-regex": "3.0.2" + "array-unique": "^0.3.2", + "define-property": "^1.0.0", + "expand-brackets": "^2.1.4", + "extend-shallow": "^2.0.1", + "fragment-cache": "^0.2.1", + "regex-not": "^1.0.0", + "snapdragon": "^0.8.1", + "to-regex": "^3.0.1" }, "dependencies": { "define-property": { @@ -9051,7 +9056,7 @@ "bundled": true, "dev": true, "requires": { - "is-descriptor": "1.0.2" + "is-descriptor": "^1.0.0" } }, "extend-shallow": { @@ -9059,7 +9064,7 @@ "bundled": true, "dev": true, "requires": { - "is-extendable": "0.1.1" + "is-extendable": "^0.1.0" } }, "is-accessor-descriptor": { @@ -9067,7 +9072,7 @@ "bundled": true, "dev": true, "requires": { - "kind-of": "6.0.2" + "kind-of": "^6.0.0" } }, "is-data-descriptor": { @@ -9075,7 +9080,7 @@ "bundled": true, "dev": true, "requires": { - "kind-of": "6.0.2" + "kind-of": "^6.0.0" } }, "is-descriptor": { @@ -9083,9 +9088,9 @@ "bundled": true, "dev": true, "requires": { - "is-accessor-descriptor": "1.0.0", - "is-data-descriptor": "1.0.0", - "kind-of": "6.0.2" + "is-accessor-descriptor": "^1.0.0", + "is-data-descriptor": "^1.0.0", + "kind-of": "^6.0.2" } }, "kind-of": { @@ -9100,10 +9105,10 @@ "bundled": true, "dev": true, "requires": { - "extend-shallow": "2.0.1", - "is-number": "3.0.0", - "repeat-string": "1.6.1", - "to-regex-range": "2.1.1" + "extend-shallow": "^2.0.1", + "is-number": "^3.0.0", + "repeat-string": "^1.6.1", + "to-regex-range": "^2.1.0" }, "dependencies": { "extend-shallow": { @@ -9111,7 +9116,7 @@ "bundled": true, "dev": true, "requires": { - "is-extendable": "0.1.1" + "is-extendable": "^0.1.0" } } } @@ -9121,9 +9126,9 @@ "bundled": true, "dev": true, "requires": { - "commondir": "1.0.1", - "mkdirp": "0.5.1", - "pkg-dir": "1.0.0" + "commondir": "^1.0.1", + "mkdirp": "^0.5.1", + "pkg-dir": "^1.0.0" } }, "find-up": { @@ -9131,7 +9136,7 @@ "bundled": true, "dev": true, "requires": { - "locate-path": "2.0.0" + "locate-path": "^2.0.0" } }, "for-in": { @@ -9144,8 +9149,8 @@ "bundled": true, "dev": true, "requires": { - "cross-spawn": "4.0.2", - "signal-exit": "3.0.2" + "cross-spawn": "^4", + "signal-exit": "^3.0.0" } }, "fragment-cache": { @@ -9153,7 +9158,7 @@ "bundled": true, "dev": true, "requires": { - "map-cache": "0.2.2" + "map-cache": "^0.2.2" } }, "fs.realpath": { @@ -9181,12 +9186,12 @@ "bundled": true, "dev": true, "requires": { - "fs.realpath": "1.0.0", - "inflight": "1.0.6", - "inherits": "2.0.3", - "minimatch": "3.0.4", - "once": "1.4.0", - "path-is-absolute": "1.0.1" + "fs.realpath": "^1.0.0", + "inflight": "^1.0.4", + "inherits": "2", + "minimatch": "^3.0.4", + "once": "^1.3.0", + "path-is-absolute": "^1.0.0" } }, "globals": { @@ -9204,10 +9209,10 @@ "bundled": true, "dev": true, "requires": { - "async": "1.5.2", - "optimist": "0.6.1", - "source-map": "0.4.4", - "uglify-js": "2.8.29" + "async": "^1.4.0", + "optimist": "^0.6.1", + "source-map": "^0.4.4", + "uglify-js": "^2.6" }, "dependencies": { "source-map": { @@ -9215,7 +9220,7 @@ "bundled": true, "dev": true, "requires": { - "amdefine": "1.0.1" + "amdefine": ">=0.0.4" } } } @@ -9225,7 +9230,7 @@ "bundled": true, "dev": true, "requires": { - "ansi-regex": "2.1.1" + "ansi-regex": "^2.0.0" } }, "has-flag": { @@ -9238,9 +9243,9 @@ "bundled": true, "dev": true, "requires": { - "get-value": "2.0.6", - "has-values": "1.0.0", - "isobject": "3.0.1" + "get-value": "^2.0.6", + "has-values": "^1.0.0", + "isobject": "^3.0.0" }, "dependencies": { "isobject": { @@ -9255,8 +9260,8 @@ "bundled": true, "dev": true, "requires": { - "is-number": "3.0.0", - "kind-of": "4.0.0" + "is-number": "^3.0.0", + "kind-of": "^4.0.0" }, "dependencies": { "is-number": { @@ -9264,7 +9269,7 @@ "bundled": true, "dev": true, "requires": { - "kind-of": "3.2.2" + "kind-of": "^3.0.2" }, "dependencies": { "kind-of": { @@ -9272,7 +9277,7 @@ "bundled": true, "dev": true, "requires": { - "is-buffer": "1.1.6" + "is-buffer": "^1.1.5" } } } @@ -9282,7 +9287,7 @@ "bundled": true, "dev": true, "requires": { - "is-buffer": "1.1.6" + "is-buffer": "^1.1.5" } } } @@ -9302,8 +9307,8 @@ "bundled": true, "dev": true, "requires": { - "once": "1.4.0", - "wrappy": "1.0.2" + "once": "^1.3.0", + "wrappy": "1" } }, "inherits": { @@ -9316,7 +9321,7 @@ "bundled": true, "dev": true, "requires": { - "loose-envify": "1.3.1" + "loose-envify": "^1.0.0" } }, "invert-kv": { @@ -9329,7 +9334,7 @@ "bundled": true, "dev": true, "requires": { - "kind-of": "3.2.2" + "kind-of": "^3.0.2" } }, "is-arrayish": { @@ -9347,7 +9352,7 @@ "bundled": true, "dev": true, "requires": { - "builtin-modules": "1.1.1" + "builtin-modules": "^1.0.0" } }, "is-data-descriptor": { @@ -9355,7 +9360,7 @@ "bundled": true, "dev": true, "requires": { - "kind-of": "3.2.2" + "kind-of": "^3.0.2" } }, "is-descriptor": { @@ -9363,9 +9368,9 @@ "bundled": true, "dev": true, "requires": { - "is-accessor-descriptor": "0.1.6", - "is-data-descriptor": "0.1.4", - "kind-of": "5.1.0" + "is-accessor-descriptor": "^0.1.6", + "is-data-descriptor": "^0.1.4", + "kind-of": "^5.0.0" }, "dependencies": { "kind-of": { @@ -9385,7 +9390,7 @@ "bundled": true, "dev": true, "requires": { - "number-is-nan": "1.0.1" + "number-is-nan": "^1.0.0" } }, "is-fullwidth-code-point": { @@ -9398,7 +9403,7 @@ "bundled": true, "dev": true, "requires": { - "kind-of": "3.2.2" + "kind-of": "^3.0.2" } }, "is-odd": { @@ -9406,7 +9411,7 @@ "bundled": true, "dev": true, "requires": { - "is-number": "4.0.0" + "is-number": "^4.0.0" }, "dependencies": { "is-number": { @@ -9421,7 +9426,7 @@ "bundled": true, "dev": true, "requires": { - "isobject": "3.0.1" + "isobject": "^3.0.1" }, "dependencies": { "isobject": { @@ -9471,7 +9476,7 @@ "bundled": true, "dev": true, "requires": { - "append-transform": "0.4.0" + "append-transform": "^0.4.0" } }, "istanbul-lib-instrument": { @@ -9479,13 +9484,13 @@ "bundled": true, "dev": true, "requires": { - "babel-generator": "6.26.1", - "babel-template": "6.26.0", - "babel-traverse": "6.26.0", - "babel-types": "6.26.0", - "babylon": "6.18.0", - "istanbul-lib-coverage": "1.2.0", - "semver": "5.5.0" + "babel-generator": "^6.18.0", + "babel-template": "^6.16.0", + "babel-traverse": "^6.18.0", + "babel-types": "^6.18.0", + "babylon": "^6.18.0", + "istanbul-lib-coverage": "^1.2.0", + "semver": "^5.3.0" } }, "istanbul-lib-report": { @@ -9493,10 +9498,10 @@ "bundled": true, "dev": true, "requires": { - "istanbul-lib-coverage": "1.2.0", - "mkdirp": "0.5.1", - "path-parse": "1.0.5", - "supports-color": "3.2.3" + "istanbul-lib-coverage": "^1.1.2", + "mkdirp": "^0.5.1", + "path-parse": "^1.0.5", + "supports-color": "^3.1.2" }, "dependencies": { "supports-color": { @@ -9504,7 +9509,7 @@ "bundled": true, "dev": true, "requires": { - "has-flag": "1.0.0" + "has-flag": "^1.0.0" } } } @@ -9514,11 +9519,11 @@ "bundled": true, "dev": true, "requires": { - "debug": "3.1.0", - "istanbul-lib-coverage": "1.2.0", - "mkdirp": "0.5.1", - "rimraf": "2.6.2", - "source-map": "0.5.7" + "debug": "^3.1.0", + "istanbul-lib-coverage": "^1.1.2", + "mkdirp": "^0.5.1", + "rimraf": "^2.6.1", + "source-map": "^0.5.3" }, "dependencies": { "debug": { @@ -9536,7 +9541,7 @@ "bundled": true, "dev": true, "requires": { - "handlebars": "4.0.11" + "handlebars": "^4.0.3" } }, "js-tokens": { @@ -9554,7 +9559,7 @@ "bundled": true, "dev": true, "requires": { - "is-buffer": "1.1.6" + "is-buffer": "^1.1.5" } }, "lazy-cache": { @@ -9568,7 +9573,7 @@ "bundled": true, "dev": true, "requires": { - "invert-kv": "1.0.0" + "invert-kv": "^1.0.0" } }, "load-json-file": { @@ -9576,11 +9581,11 @@ "bundled": true, "dev": true, "requires": { - "graceful-fs": "4.1.11", - "parse-json": "2.2.0", - "pify": "2.3.0", - "pinkie-promise": "2.0.1", - "strip-bom": "2.0.0" + "graceful-fs": "^4.1.2", + "parse-json": "^2.2.0", + "pify": "^2.0.0", + "pinkie-promise": "^2.0.0", + "strip-bom": "^2.0.0" } }, "locate-path": { @@ -9588,8 +9593,8 @@ "bundled": true, "dev": true, "requires": { - "p-locate": "2.0.0", - "path-exists": "3.0.0" + "p-locate": "^2.0.0", + "path-exists": "^3.0.0" }, "dependencies": { "path-exists": { @@ -9615,7 +9620,7 @@ "bundled": true, "dev": true, "requires": { - "js-tokens": "3.0.2" + "js-tokens": "^3.0.0" } }, "lru-cache": { @@ -9623,8 +9628,8 @@ "bundled": true, "dev": true, "requires": { - "pseudomap": "1.0.2", - "yallist": "2.1.2" + "pseudomap": "^1.0.2", + "yallist": "^2.1.2" } }, "map-cache": { @@ -9637,7 +9642,7 @@ "bundled": true, "dev": true, "requires": { - "object-visit": "1.0.1" + "object-visit": "^1.0.0" } }, "md5-hex": { @@ -9645,7 +9650,7 @@ "bundled": true, "dev": true, "requires": { - "md5-o-matic": "0.1.1" + "md5-o-matic": "^0.1.1" } }, "md5-o-matic": { @@ -9658,7 +9663,7 @@ "bundled": true, "dev": true, "requires": { - "mimic-fn": "1.2.0" + "mimic-fn": "^1.0.0" } }, "merge-source-map": { @@ -9666,7 +9671,7 @@ "bundled": true, "dev": true, "requires": { - "source-map": "0.6.1" + "source-map": "^0.6.1" }, "dependencies": { "source-map": { @@ -9681,19 +9686,19 @@ "bundled": true, "dev": true, "requires": { - "arr-diff": "4.0.0", - "array-unique": "0.3.2", - "braces": "2.3.2", - "define-property": "2.0.2", - "extend-shallow": "3.0.2", - "extglob": "2.0.4", - "fragment-cache": "0.2.1", - "kind-of": "6.0.2", - "nanomatch": "1.2.9", - "object.pick": "1.3.0", - "regex-not": "1.0.2", - "snapdragon": "0.8.2", - "to-regex": "3.0.2" + "arr-diff": "^4.0.0", + "array-unique": "^0.3.2", + "braces": "^2.3.1", + "define-property": "^2.0.2", + "extend-shallow": "^3.0.2", + "extglob": "^2.0.4", + "fragment-cache": "^0.2.1", + "kind-of": "^6.0.2", + "nanomatch": "^1.2.9", + "object.pick": "^1.3.0", + "regex-not": "^1.0.0", + "snapdragon": "^0.8.1", + "to-regex": "^3.0.2" }, "dependencies": { "kind-of": { @@ -9713,7 +9718,7 @@ "bundled": true, "dev": true, "requires": { - "brace-expansion": "1.1.11" + "brace-expansion": "^1.1.7" } }, "minimist": { @@ -9726,8 +9731,8 @@ "bundled": true, "dev": true, "requires": { - "for-in": "1.0.2", - "is-extendable": "1.0.1" + "for-in": "^1.0.2", + "is-extendable": "^1.0.1" }, "dependencies": { "is-extendable": { @@ -9735,7 +9740,7 @@ "bundled": true, "dev": true, "requires": { - "is-plain-object": "2.0.4" + "is-plain-object": "^2.0.4" } } } @@ -9758,18 +9763,18 @@ "bundled": true, "dev": true, "requires": { - "arr-diff": "4.0.0", - "array-unique": "0.3.2", - "define-property": "2.0.2", - "extend-shallow": "3.0.2", - "fragment-cache": "0.2.1", - "is-odd": "2.0.0", - "is-windows": "1.0.2", - "kind-of": "6.0.2", - "object.pick": "1.3.0", - "regex-not": "1.0.2", - "snapdragon": "0.8.2", - "to-regex": "3.0.2" + "arr-diff": "^4.0.0", + "array-unique": "^0.3.2", + "define-property": "^2.0.2", + "extend-shallow": "^3.0.2", + "fragment-cache": "^0.2.1", + "is-odd": "^2.0.0", + "is-windows": "^1.0.2", + "kind-of": "^6.0.2", + "object.pick": "^1.3.0", + "regex-not": "^1.0.0", + "snapdragon": "^0.8.1", + "to-regex": "^3.0.1" }, "dependencies": { "arr-diff": { @@ -9794,10 +9799,10 @@ "bundled": true, "dev": true, "requires": { - "hosted-git-info": "2.6.0", - "is-builtin-module": "1.0.0", - "semver": "5.5.0", - "validate-npm-package-license": "3.0.3" + "hosted-git-info": "^2.1.4", + "is-builtin-module": "^1.0.0", + "semver": "2 || 3 || 4 || 5", + "validate-npm-package-license": "^3.0.1" } }, "npm-run-path": { @@ -9805,7 +9810,7 @@ "bundled": true, "dev": true, "requires": { - "path-key": "2.0.1" + "path-key": "^2.0.0" } }, "number-is-nan": { @@ -9823,9 +9828,9 @@ "bundled": true, "dev": true, "requires": { - "copy-descriptor": "0.1.1", - "define-property": "0.2.5", - "kind-of": "3.2.2" + "copy-descriptor": "^0.1.0", + "define-property": "^0.2.5", + "kind-of": "^3.0.3" }, "dependencies": { "define-property": { @@ -9833,7 +9838,7 @@ "bundled": true, "dev": true, "requires": { - "is-descriptor": "0.1.6" + "is-descriptor": "^0.1.0" } } } @@ -9843,7 +9848,7 @@ "bundled": true, "dev": true, "requires": { - "isobject": "3.0.1" + "isobject": "^3.0.0" }, "dependencies": { "isobject": { @@ -9858,7 +9863,7 @@ "bundled": true, "dev": true, "requires": { - "isobject": "3.0.1" + "isobject": "^3.0.1" }, "dependencies": { "isobject": { @@ -9873,7 +9878,7 @@ "bundled": true, "dev": true, "requires": { - "wrappy": "1.0.2" + "wrappy": "1" } }, "optimist": { @@ -9881,8 +9886,8 @@ "bundled": true, "dev": true, "requires": { - "minimist": "0.0.8", - "wordwrap": "0.0.3" + "minimist": "~0.0.1", + "wordwrap": "~0.0.2" } }, "os-homedir": { @@ -9895,9 +9900,9 @@ "bundled": true, "dev": true, "requires": { - "execa": "0.7.0", - "lcid": "1.0.0", - "mem": "1.1.0" + "execa": "^0.7.0", + "lcid": "^1.0.0", + "mem": "^1.1.0" } }, "p-finally": { @@ -9910,7 +9915,7 @@ "bundled": true, "dev": true, "requires": { - "p-try": "1.0.0" + "p-try": "^1.0.0" } }, "p-locate": { @@ -9918,7 +9923,7 @@ "bundled": true, "dev": true, "requires": { - "p-limit": "1.2.0" + "p-limit": "^1.1.0" } }, "p-try": { @@ -9931,7 +9936,7 @@ "bundled": true, "dev": true, "requires": { - "error-ex": "1.3.1" + "error-ex": "^1.2.0" } }, "pascalcase": { @@ -9944,7 +9949,7 @@ "bundled": true, "dev": true, "requires": { - "pinkie-promise": "2.0.1" + "pinkie-promise": "^2.0.0" } }, "path-is-absolute": { @@ -9967,9 +9972,9 @@ "bundled": true, "dev": true, "requires": { - "graceful-fs": "4.1.11", - "pify": "2.3.0", - "pinkie-promise": "2.0.1" + "graceful-fs": "^4.1.2", + "pify": "^2.0.0", + "pinkie-promise": "^2.0.0" } }, "pify": { @@ -9987,7 +9992,7 @@ "bundled": true, "dev": true, "requires": { - "pinkie": "2.0.4" + "pinkie": "^2.0.0" } }, "pkg-dir": { @@ -9995,7 +10000,7 @@ "bundled": true, "dev": true, "requires": { - "find-up": "1.1.2" + "find-up": "^1.0.0" }, "dependencies": { "find-up": { @@ -10003,8 +10008,8 @@ "bundled": true, "dev": true, "requires": { - "path-exists": "2.1.0", - "pinkie-promise": "2.0.1" + "path-exists": "^2.0.0", + "pinkie-promise": "^2.0.0" } } } @@ -10024,9 +10029,9 @@ "bundled": true, "dev": true, "requires": { - "load-json-file": "1.1.0", - "normalize-package-data": "2.4.0", - "path-type": "1.1.0" + "load-json-file": "^1.0.0", + "normalize-package-data": "^2.3.2", + "path-type": "^1.0.0" } }, "read-pkg-up": { @@ -10034,8 +10039,8 @@ "bundled": true, "dev": true, "requires": { - "find-up": "1.1.2", - "read-pkg": "1.1.0" + "find-up": "^1.0.0", + "read-pkg": "^1.0.0" }, "dependencies": { "find-up": { @@ -10043,8 +10048,8 @@ "bundled": true, "dev": true, "requires": { - "path-exists": "2.1.0", - "pinkie-promise": "2.0.1" + "path-exists": "^2.0.0", + "pinkie-promise": "^2.0.0" } } } @@ -10059,8 +10064,8 @@ "bundled": true, "dev": true, "requires": { - "extend-shallow": "3.0.2", - "safe-regex": "1.1.0" + "extend-shallow": "^3.0.2", + "safe-regex": "^1.1.0" } }, "repeat-element": { @@ -10078,7 +10083,7 @@ "bundled": true, "dev": true, "requires": { - "is-finite": "1.0.2" + "is-finite": "^1.0.0" } }, "require-directory": { @@ -10112,7 +10117,7 @@ "dev": true, "optional": true, "requires": { - "align-text": "0.1.4" + "align-text": "^0.1.1" } }, "rimraf": { @@ -10120,7 +10125,7 @@ "bundled": true, "dev": true, "requires": { - "glob": "7.1.2" + "glob": "^7.0.5" } }, "safe-regex": { @@ -10128,7 +10133,7 @@ "bundled": true, "dev": true, "requires": { - "ret": "0.1.15" + "ret": "~0.1.10" } }, "semver": { @@ -10146,10 +10151,10 @@ "bundled": true, "dev": true, "requires": { - "extend-shallow": "2.0.1", - "is-extendable": "0.1.1", - "is-plain-object": "2.0.4", - "split-string": "3.1.0" + "extend-shallow": "^2.0.1", + "is-extendable": "^0.1.1", + "is-plain-object": "^2.0.3", + "split-string": "^3.0.1" }, "dependencies": { "extend-shallow": { @@ -10157,7 +10162,7 @@ "bundled": true, "dev": true, "requires": { - "is-extendable": "0.1.1" + "is-extendable": "^0.1.0" } } } @@ -10167,7 +10172,7 @@ "bundled": true, "dev": true, "requires": { - "shebang-regex": "1.0.0" + "shebang-regex": "^1.0.0" } }, "shebang-regex": { @@ -10190,14 +10195,14 @@ "bundled": true, "dev": true, "requires": { - "base": "0.11.2", - "debug": "2.6.9", - "define-property": "0.2.5", - "extend-shallow": "2.0.1", - "map-cache": "0.2.2", - "source-map": "0.5.7", - "source-map-resolve": "0.5.1", - "use": "3.1.0" + "base": "^0.11.1", + "debug": "^2.2.0", + "define-property": "^0.2.5", + "extend-shallow": "^2.0.1", + "map-cache": "^0.2.2", + "source-map": "^0.5.6", + "source-map-resolve": "^0.5.0", + "use": "^3.1.0" }, "dependencies": { "define-property": { @@ -10205,7 +10210,7 @@ "bundled": true, "dev": true, "requires": { - "is-descriptor": "0.1.6" + "is-descriptor": "^0.1.0" } }, "extend-shallow": { @@ -10213,7 +10218,7 @@ "bundled": true, "dev": true, "requires": { - "is-extendable": "0.1.1" + "is-extendable": "^0.1.0" } } } @@ -10223,9 +10228,9 @@ "bundled": true, "dev": true, "requires": { - "define-property": "1.0.0", - "isobject": "3.0.1", - "snapdragon-util": "3.0.1" + "define-property": "^1.0.0", + "isobject": "^3.0.0", + "snapdragon-util": "^3.0.1" }, "dependencies": { "define-property": { @@ -10233,7 +10238,7 @@ "bundled": true, "dev": true, "requires": { - "is-descriptor": "1.0.2" + "is-descriptor": "^1.0.0" } }, "is-accessor-descriptor": { @@ -10241,7 +10246,7 @@ "bundled": true, "dev": true, "requires": { - "kind-of": "6.0.2" + "kind-of": "^6.0.0" } }, "is-data-descriptor": { @@ -10249,7 +10254,7 @@ "bundled": true, "dev": true, "requires": { - "kind-of": "6.0.2" + "kind-of": "^6.0.0" } }, "is-descriptor": { @@ -10257,9 +10262,9 @@ "bundled": true, "dev": true, "requires": { - "is-accessor-descriptor": "1.0.0", - "is-data-descriptor": "1.0.0", - "kind-of": "6.0.2" + "is-accessor-descriptor": "^1.0.0", + "is-data-descriptor": "^1.0.0", + "kind-of": "^6.0.2" } }, "isobject": { @@ -10279,7 +10284,7 @@ "bundled": true, "dev": true, "requires": { - "kind-of": "3.2.2" + "kind-of": "^3.2.0" } }, "source-map": { @@ -10292,11 +10297,11 @@ "bundled": true, "dev": true, "requires": { - "atob": "2.1.1", - "decode-uri-component": "0.2.0", - "resolve-url": "0.2.1", - "source-map-url": "0.4.0", - "urix": "0.1.0" + "atob": "^2.0.0", + "decode-uri-component": "^0.2.0", + "resolve-url": "^0.2.1", + "source-map-url": "^0.4.0", + "urix": "^0.1.0" } }, "source-map-url": { @@ -10309,12 +10314,12 @@ "bundled": true, "dev": true, "requires": { - "foreground-child": "1.5.6", - "mkdirp": "0.5.1", - "os-homedir": "1.0.2", - "rimraf": "2.6.2", - "signal-exit": "3.0.2", - "which": "1.3.0" + "foreground-child": "^1.5.6", + "mkdirp": "^0.5.0", + "os-homedir": "^1.0.1", + "rimraf": "^2.6.2", + "signal-exit": "^3.0.2", + "which": "^1.3.0" } }, "spdx-correct": { @@ -10322,8 +10327,8 @@ "bundled": true, "dev": true, "requires": { - "spdx-expression-parse": "3.0.0", - "spdx-license-ids": "3.0.0" + "spdx-expression-parse": "^3.0.0", + "spdx-license-ids": "^3.0.0" } }, "spdx-exceptions": { @@ -10336,8 +10341,8 @@ "bundled": true, "dev": true, "requires": { - "spdx-exceptions": "2.1.0", - "spdx-license-ids": "3.0.0" + "spdx-exceptions": "^2.1.0", + "spdx-license-ids": "^3.0.0" } }, "spdx-license-ids": { @@ -10350,7 +10355,7 @@ "bundled": true, "dev": true, "requires": { - "extend-shallow": "3.0.2" + "extend-shallow": "^3.0.0" } }, "static-extend": { @@ -10358,8 +10363,8 @@ "bundled": true, "dev": true, "requires": { - "define-property": "0.2.5", - "object-copy": "0.1.0" + "define-property": "^0.2.5", + "object-copy": "^0.1.0" }, "dependencies": { "define-property": { @@ -10367,7 +10372,7 @@ "bundled": true, "dev": true, "requires": { - "is-descriptor": "0.1.6" + "is-descriptor": "^0.1.0" } } } @@ -10377,8 +10382,8 @@ "bundled": true, "dev": true, "requires": { - "is-fullwidth-code-point": "2.0.0", - "strip-ansi": "4.0.0" + "is-fullwidth-code-point": "^2.0.0", + "strip-ansi": "^4.0.0" }, "dependencies": { "ansi-regex": { @@ -10391,7 +10396,7 @@ "bundled": true, "dev": true, "requires": { - "ansi-regex": "3.0.0" + "ansi-regex": "^3.0.0" } } } @@ -10401,7 +10406,7 @@ "bundled": true, "dev": true, "requires": { - "ansi-regex": "2.1.1" + "ansi-regex": "^2.0.0" } }, "strip-bom": { @@ -10409,7 +10414,7 @@ "bundled": true, "dev": true, "requires": { - "is-utf8": "0.2.1" + "is-utf8": "^0.2.0" } }, "strip-eof": { @@ -10427,11 +10432,11 @@ "bundled": true, "dev": true, "requires": { - "arrify": "1.0.1", - "micromatch": "3.1.10", - "object-assign": "4.1.1", - "read-pkg-up": "1.0.1", - "require-main-filename": "1.0.1" + "arrify": "^1.0.1", + "micromatch": "^3.1.8", + "object-assign": "^4.1.0", + "read-pkg-up": "^1.0.1", + "require-main-filename": "^1.0.1" }, "dependencies": { "arr-diff": { @@ -10449,16 +10454,16 @@ "bundled": true, "dev": true, "requires": { - "arr-flatten": "1.1.0", - "array-unique": "0.3.2", - "extend-shallow": "2.0.1", - "fill-range": "4.0.0", - "isobject": "3.0.1", - "repeat-element": "1.1.2", - "snapdragon": "0.8.2", - "snapdragon-node": "2.1.1", - "split-string": "3.1.0", - "to-regex": "3.0.2" + "arr-flatten": "^1.1.0", + "array-unique": "^0.3.2", + "extend-shallow": "^2.0.1", + "fill-range": "^4.0.0", + "isobject": "^3.0.1", + "repeat-element": "^1.1.2", + "snapdragon": "^0.8.1", + "snapdragon-node": "^2.0.1", + "split-string": "^3.0.2", + "to-regex": "^3.0.1" }, "dependencies": { "extend-shallow": { @@ -10466,7 +10471,7 @@ "bundled": true, "dev": true, "requires": { - "is-extendable": "0.1.1" + "is-extendable": "^0.1.0" } } } @@ -10476,13 +10481,13 @@ "bundled": true, "dev": true, "requires": { - "debug": "2.6.9", - "define-property": "0.2.5", - "extend-shallow": "2.0.1", - "posix-character-classes": "0.1.1", - "regex-not": "1.0.2", - "snapdragon": "0.8.2", - "to-regex": "3.0.2" + "debug": "^2.3.3", + "define-property": "^0.2.5", + "extend-shallow": "^2.0.1", + "posix-character-classes": "^0.1.0", + "regex-not": "^1.0.0", + "snapdragon": "^0.8.1", + "to-regex": "^3.0.1" }, "dependencies": { "define-property": { @@ -10490,7 +10495,7 @@ "bundled": true, "dev": true, "requires": { - "is-descriptor": "0.1.6" + "is-descriptor": "^0.1.0" } }, "extend-shallow": { @@ -10498,7 +10503,7 @@ "bundled": true, "dev": true, "requires": { - "is-extendable": "0.1.1" + "is-extendable": "^0.1.0" } }, "is-accessor-descriptor": { @@ -10506,7 +10511,7 @@ "bundled": true, "dev": true, "requires": { - "kind-of": "3.2.2" + "kind-of": "^3.0.2" }, "dependencies": { "kind-of": { @@ -10514,7 +10519,7 @@ "bundled": true, "dev": true, "requires": { - "is-buffer": "1.1.6" + "is-buffer": "^1.1.5" } } } @@ -10524,7 +10529,7 @@ "bundled": true, "dev": true, "requires": { - "kind-of": "3.2.2" + "kind-of": "^3.0.2" }, "dependencies": { "kind-of": { @@ -10532,7 +10537,7 @@ "bundled": true, "dev": true, "requires": { - "is-buffer": "1.1.6" + "is-buffer": "^1.1.5" } } } @@ -10542,9 +10547,9 @@ "bundled": true, "dev": true, "requires": { - "is-accessor-descriptor": "0.1.6", - "is-data-descriptor": "0.1.4", - "kind-of": "5.1.0" + "is-accessor-descriptor": "^0.1.6", + "is-data-descriptor": "^0.1.4", + "kind-of": "^5.0.0" } }, "kind-of": { @@ -10559,14 +10564,14 @@ "bundled": true, "dev": true, "requires": { - "array-unique": "0.3.2", - "define-property": "1.0.0", - "expand-brackets": "2.1.4", - "extend-shallow": "2.0.1", - "fragment-cache": "0.2.1", - "regex-not": "1.0.2", - "snapdragon": "0.8.2", - "to-regex": "3.0.2" + "array-unique": "^0.3.2", + "define-property": "^1.0.0", + "expand-brackets": "^2.1.4", + "extend-shallow": "^2.0.1", + "fragment-cache": "^0.2.1", + "regex-not": "^1.0.0", + "snapdragon": "^0.8.1", + "to-regex": "^3.0.1" }, "dependencies": { "define-property": { @@ -10574,7 +10579,7 @@ "bundled": true, "dev": true, "requires": { - "is-descriptor": "1.0.2" + "is-descriptor": "^1.0.0" } }, "extend-shallow": { @@ -10582,7 +10587,7 @@ "bundled": true, "dev": true, "requires": { - "is-extendable": "0.1.1" + "is-extendable": "^0.1.0" } } } @@ -10592,10 +10597,10 @@ "bundled": true, "dev": true, "requires": { - "extend-shallow": "2.0.1", - "is-number": "3.0.0", - "repeat-string": "1.6.1", - "to-regex-range": "2.1.1" + "extend-shallow": "^2.0.1", + "is-number": "^3.0.0", + "repeat-string": "^1.6.1", + "to-regex-range": "^2.1.0" }, "dependencies": { "extend-shallow": { @@ -10603,7 +10608,7 @@ "bundled": true, "dev": true, "requires": { - "is-extendable": "0.1.1" + "is-extendable": "^0.1.0" } } } @@ -10613,7 +10618,7 @@ "bundled": true, "dev": true, "requires": { - "kind-of": "6.0.2" + "kind-of": "^6.0.0" } }, "is-data-descriptor": { @@ -10621,7 +10626,7 @@ "bundled": true, "dev": true, "requires": { - "kind-of": "6.0.2" + "kind-of": "^6.0.0" } }, "is-descriptor": { @@ -10629,9 +10634,9 @@ "bundled": true, "dev": true, "requires": { - "is-accessor-descriptor": "1.0.0", - "is-data-descriptor": "1.0.0", - "kind-of": "6.0.2" + "is-accessor-descriptor": "^1.0.0", + "is-data-descriptor": "^1.0.0", + "kind-of": "^6.0.2" } }, "is-number": { @@ -10639,7 +10644,7 @@ "bundled": true, "dev": true, "requires": { - "kind-of": "3.2.2" + "kind-of": "^3.0.2" }, "dependencies": { "kind-of": { @@ -10647,7 +10652,7 @@ "bundled": true, "dev": true, "requires": { - "is-buffer": "1.1.6" + "is-buffer": "^1.1.5" } } } @@ -10667,19 +10672,19 @@ "bundled": true, "dev": true, "requires": { - "arr-diff": "4.0.0", - "array-unique": "0.3.2", - "braces": "2.3.2", - "define-property": "2.0.2", - "extend-shallow": "3.0.2", - "extglob": "2.0.4", - "fragment-cache": "0.2.1", - "kind-of": "6.0.2", - "nanomatch": "1.2.9", - "object.pick": "1.3.0", - "regex-not": "1.0.2", - "snapdragon": "0.8.2", - "to-regex": "3.0.2" + "arr-diff": "^4.0.0", + "array-unique": "^0.3.2", + "braces": "^2.3.1", + "define-property": "^2.0.2", + "extend-shallow": "^3.0.2", + "extglob": "^2.0.4", + "fragment-cache": "^0.2.1", + "kind-of": "^6.0.2", + "nanomatch": "^1.2.9", + "object.pick": "^1.3.0", + "regex-not": "^1.0.0", + "snapdragon": "^0.8.1", + "to-regex": "^3.0.2" } } } @@ -10694,7 +10699,7 @@ "bundled": true, "dev": true, "requires": { - "kind-of": "3.2.2" + "kind-of": "^3.0.2" } }, "to-regex": { @@ -10702,10 +10707,10 @@ "bundled": true, "dev": true, "requires": { - "define-property": "2.0.2", - "extend-shallow": "3.0.2", - "regex-not": "1.0.2", - "safe-regex": "1.1.0" + "define-property": "^2.0.2", + "extend-shallow": "^3.0.2", + "regex-not": "^1.0.2", + "safe-regex": "^1.1.0" } }, "to-regex-range": { @@ -10713,8 +10718,8 @@ "bundled": true, "dev": true, "requires": { - "is-number": "3.0.0", - "repeat-string": "1.6.1" + "is-number": "^3.0.0", + "repeat-string": "^1.6.1" }, "dependencies": { "is-number": { @@ -10722,7 +10727,7 @@ "bundled": true, "dev": true, "requires": { - "kind-of": "3.2.2" + "kind-of": "^3.0.2" } } } @@ -10738,9 +10743,9 @@ "dev": true, "optional": true, "requires": { - "source-map": "0.5.7", - "uglify-to-browserify": "1.0.2", - "yargs": "3.10.0" + "source-map": "~0.5.1", + "uglify-to-browserify": "~1.0.0", + "yargs": "~3.10.0" }, "dependencies": { "yargs": { @@ -10749,9 +10754,9 @@ "dev": true, "optional": true, "requires": { - "camelcase": "1.2.1", - "cliui": "2.1.0", - "decamelize": "1.2.0", + "camelcase": "^1.0.2", + "cliui": "^2.1.0", + "decamelize": "^1.0.0", "window-size": "0.1.0" } } @@ -10768,10 +10773,10 @@ "bundled": true, "dev": true, "requires": { - "arr-union": "3.1.0", - "get-value": "2.0.6", - "is-extendable": "0.1.1", - "set-value": "0.4.3" + "arr-union": "^3.1.0", + "get-value": "^2.0.6", + "is-extendable": "^0.1.1", + "set-value": "^0.4.3" }, "dependencies": { "extend-shallow": { @@ -10779,7 +10784,7 @@ "bundled": true, "dev": true, "requires": { - "is-extendable": "0.1.1" + "is-extendable": "^0.1.0" } }, "set-value": { @@ -10787,10 +10792,10 @@ "bundled": true, "dev": true, "requires": { - "extend-shallow": "2.0.1", - "is-extendable": "0.1.1", - "is-plain-object": "2.0.4", - "to-object-path": "0.3.0" + "extend-shallow": "^2.0.1", + "is-extendable": "^0.1.1", + "is-plain-object": "^2.0.1", + "to-object-path": "^0.3.0" } } } @@ -10800,8 +10805,8 @@ "bundled": true, "dev": true, "requires": { - "has-value": "0.3.1", - "isobject": "3.0.1" + "has-value": "^0.3.1", + "isobject": "^3.0.0" }, "dependencies": { "has-value": { @@ -10809,9 +10814,9 @@ "bundled": true, "dev": true, "requires": { - "get-value": "2.0.6", - "has-values": "0.1.4", - "isobject": "2.1.0" + "get-value": "^2.0.3", + "has-values": "^0.1.4", + "isobject": "^2.0.0" }, "dependencies": { "isobject": { @@ -10846,7 +10851,7 @@ "bundled": true, "dev": true, "requires": { - "kind-of": "6.0.2" + "kind-of": "^6.0.2" }, "dependencies": { "kind-of": { @@ -10861,8 +10866,8 @@ "bundled": true, "dev": true, "requires": { - 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"isobject": "3.0.1" + "isobject": "^3.0.0" } }, "object.assign": { @@ -11091,10 +11096,10 @@ "integrity": "sha512-exHJeq6kBKj58mqGyTQ9DFvrZC/eR6OwxzoM9YRoGBqrXYonaFyGiFMuc9VZrXf7DarreEwMpurG3dd+CNyW5w==", "dev": true, "requires": { - "define-properties": "1.1.2", - "function-bind": "1.1.1", - "has-symbols": "1.0.0", - "object-keys": "1.0.11" + "define-properties": "^1.1.2", + "function-bind": "^1.1.1", + "has-symbols": "^1.0.0", + "object-keys": "^1.0.11" } }, "object.getownpropertydescriptors": { @@ -11103,8 +11108,8 @@ "integrity": "sha1-h1jIRvW0B62rDyNuCYbxSwUcqhY=", "dev": true, "requires": { - "define-properties": "1.1.2", - "es-abstract": "1.9.0" + "define-properties": "^1.1.2", + "es-abstract": "^1.5.1" } }, "object.pick": { @@ -11113,7 +11118,7 @@ "integrity": "sha1-h6EKxMFpS9Lhy/U1kaZhQftd10c=", "dev": true, "requires": { - "isobject": "3.0.1" + "isobject": "^3.0.1" } }, "obuf": { @@ -11143,7 +11148,7 @@ "integrity": "sha1-WDsap3WWHUsROsF9nFC6753Xa9E=", "dev": true, "requires": { - "wrappy": "1.0.2" + "wrappy": "1" } }, "onetime": { @@ -11152,7 +11157,7 @@ "integrity": "sha1-BnQoIw/WdEOyeUsiu6UotoZ5YtQ=", "dev": true, "requires": { - "mimic-fn": "1.2.0" + "mimic-fn": "^1.0.0" } }, "opener": { @@ -11167,7 +11172,7 @@ "integrity": "sha512-bYJHo/LOmoTd+pfiYhfZDnf9zekVJrY+cnS2a5F2x+w5ppvTqObojTP7WiFG+kVZs9Inw+qQ/lw7TroWwhdd2g==", "dev": true, "requires": { - "is-wsl": "1.1.0" + "is-wsl": "^1.1.0" } }, "optionator": { @@ -11176,12 +11181,12 @@ "integrity": "sha1-NkxeQJ0/TWMB1sC0wFu6UBgK62Q=", "dev": true, "requires": { - "deep-is": "0.1.3", - "fast-levenshtein": "2.0.6", - "levn": "0.3.0", - "prelude-ls": "1.1.2", - "type-check": "0.3.2", - "wordwrap": "1.0.0" + "deep-is": "~0.1.3", + "fast-levenshtein": "~2.0.4", + "levn": "~0.3.0", + "prelude-ls": "~1.1.2", + "type-check": "~0.3.2", + "wordwrap": "~1.0.0" } }, "original": { @@ -11190,7 +11195,7 @@ "integrity": "sha1-5EKmHP/hxf0gpl8yYcJmY7MD8l8=", "dev": true, "requires": { - "url-parse": "1.4.3" + "url-parse": "^1.4.3" } }, "os-browserify": { @@ -11211,9 +11216,9 @@ "integrity": "sha512-3sslG3zJbEYcaC4YVAvDorjGxc7tv6KVATnLPZONiljsUncvihe9BQoVCEs0RZ1kmf4Hk9OBqlZfJZWI4GanKA==", "dev": true, "requires": { - "execa": "0.7.0", - "lcid": "1.0.0", - "mem": "1.1.0" + "execa": "^0.7.0", + "lcid": "^1.0.0", + "mem": "^1.1.0" } }, "os-tmpdir": { @@ -11228,9 +11233,9 @@ "integrity": "sha512-mDho4qm7WgIXIGf4eYU1RHN2UU5tPfVYVSRwDJw0uTmj35DQUt/eNp19N7v6T3SrR0ESTEf2up2CGO73qI35zQ==", "dev": true, "requires": { - "graceful-fs": "4.1.11", - "is-plain-obj": "1.1.0", - "mkdirp": "0.5.1" + "graceful-fs": "^4.1.11", + "is-plain-obj": "^1.1.0", + "mkdirp": "^0.5.1" } }, "own-or": { @@ -11245,7 +11250,7 @@ "integrity": "sha512-y8qULRbRAlL6x2+M0vIe7jJbJx/kmUTzYonRAa2ayesR2qWLswninkVyeJe4x3IEXhdgoNodzjQRKAoEs6Fmrw==", "dev": true, "requires": { - "own-or": "1.0.0" + "own-or": "^1.0.0" } }, "p-finally": { @@ -11260,7 +11265,7 @@ "integrity": "sha512-vvcXsLAJ9Dr5rQOPk7toZQZJApBl2K4J6dANSsEuh6QI41JYcsS/qhTGa9ErIUUgK3WNQoJYvylxvjqmiqEA9Q==", "dev": true, "requires": { - "p-try": "1.0.0" + "p-try": "^1.0.0" } }, "p-locate": { @@ -11269,7 +11274,7 @@ "integrity": "sha1-IKAQOyIqcMj9OcwuWAaA893l7EM=", "dev": true, "requires": { - "p-limit": "1.3.0" + "p-limit": "^1.1.0" } }, "p-map": { @@ -11295,9 +11300,9 @@ "integrity": "sha1-1BDwZbBdojCB/NEPKIVMKb2jOwY=", "dev": true, "requires": { - "cyclist": "0.2.2", - "inherits": "2.0.3", - "readable-stream": "2.2.9" + "cyclist": "~0.2.2", + "inherits": "^2.0.3", + "readable-stream": "^2.1.5" } }, "parse-asn1": { @@ -11306,11 +11311,11 @@ "integrity": "sha512-KPx7flKXg775zZpnp9SxJlz00gTd4BmJ2yJufSc44gMCRrRQ7NSzAcSJQfifuOLgW6bEi+ftrALtsgALeB2Adw==", "dev": true, "requires": { - "asn1.js": "4.10.1", - "browserify-aes": "1.2.0", - "create-hash": "1.2.0", - "evp_bytestokey": "1.0.3", - "pbkdf2": "3.0.16" + "asn1.js": "^4.0.0", + "browserify-aes": "^1.0.0", + "create-hash": "^1.1.0", + "evp_bytestokey": "^1.0.0", + "pbkdf2": "^3.0.3" } }, "parse-headers": { @@ -11318,7 +11323,7 @@ "resolved": "https://registry.npmjs.org/parse-headers/-/parse-headers-2.0.1.tgz", "integrity": "sha1-aug6eqJanZtwCswoaYzR8e1+lTY=", "requires": { - "for-each": "0.3.2", + "for-each": "^0.3.2", "trim": "0.0.1" } }, @@ -11327,7 +11332,7 @@ "resolved": "https://registry.npmjs.org/parseqs/-/parseqs-0.0.5.tgz", "integrity": "sha1-1SCKNzjkZ2bikbouoXNoSSGouJ0=", "requires": { - "better-assert": "1.0.2" + "better-assert": "~1.0.0" } }, "parseuri": { @@ -11335,7 +11340,7 @@ "resolved": "https://registry.npmjs.org/parseuri/-/parseuri-0.0.5.tgz", "integrity": "sha1-gCBKUNTbt3m/3G6+J3jZDkvOMgo=", "requires": { - "better-assert": "1.0.2" + "better-assert": "~1.0.0" } }, "parseurl": { @@ -11404,7 +11409,7 @@ "integrity": "sha512-T2ZUsdZFHgA3u4e5PfPbjd7HDDpxPnQb5jN0SrDsjNSuVXHJqtwTnWqG0B1jZrgmJ/7lj1EmVIByWt1gxGkWvg==", "dev": true, "requires": { - "pify": "3.0.0" + "pify": "^3.0.0" }, "dependencies": { "pify": { @@ -11421,11 +11426,11 @@ "integrity": "sha512-y4CXP3thSxqf7c0qmOF+9UeOTrifiVTIM+u7NWlq+PRsHbr7r7dpCmvzrZxa96JJUNi0Y5w9VqG5ZNeCVMoDcA==", "dev": true, "requires": { - "create-hash": "1.2.0", - "create-hmac": "1.1.7", - "ripemd160": "2.0.2", - "safe-buffer": "5.1.1", - "sha.js": "2.4.11" + "create-hash": "^1.1.2", + "create-hmac": "^1.1.4", + "ripemd160": "^2.0.1", + "safe-buffer": "^5.0.1", + "sha.js": "^2.4.8" } }, "performance-now": { @@ -11450,7 +11455,7 @@ "resolved": "https://registry.npmjs.org/pinkie-promise/-/pinkie-promise-2.0.1.tgz", "integrity": "sha1-ITXW36ejWMBprJsXh3YogihFD/o=", "requires": { - 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"punycode": "1.4.1" + "punycode": "^1.4.1" } }, "transformation-matrix": { @@ -13633,12 +13659,12 @@ "integrity": "sha1-/xxFMPR3/Y3iNPyWit0yKVPUXPQ=", "dev": true, "requires": { - "commander": "2.9.0", - "lodash": "4.17.4", - "mkpath": "1.0.0", - "mocha": "3.5.3", - "request": "2.79.0", - "should": "11.2.1" + "commander": "^2.9.0", + "lodash": "^4.17.1", + "mkpath": "^1.0.0", + "mocha": "^3.2.0", + "request": "^2.34.0", + "should": "^11.1.2" } }, "trim": { @@ -13658,7 +13684,7 @@ "integrity": "sha1-42RqLqTokTEr9+rObPsFOAvAHCE=", "dev": true, "requires": { - "escape-string-regexp": "1.0.5" + "escape-string-regexp": "^1.0.2" } }, "trim-right": { @@ -13714,7 +13740,7 @@ "integrity": "sha1-WITKtRLPHTVeP7eE8wgEsrUg23I=", "dev": true, "requires": { - "prelude-ls": "1.1.2" + "prelude-ls": "~1.1.2" } }, "type-is": { @@ -13724,7 +13750,7 @@ "dev": true, "requires": { "media-typer": "0.3.0", - "mime-types": "2.1.19" + "mime-types": "~2.1.18" }, "dependencies": { "mime-db": { @@ -13739,7 +13765,7 @@ "integrity": "sha1-ceRkU3p++BwV8tudl+kT/A/2BvA=", "dev": true, "requires": { - 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"loader-utils": "1.1.0", - "schema-utils": "0.4.5" + "loader-utils": "^1.0.0", + "schema-utils": "^0.4.0" } }, "wrap-ansi": { @@ -14675,8 +14701,8 @@ "integrity": "sha1-2Pw9KE3QV5T+hJc8rs3Rz4JP3YU=", "dev": true, "requires": { - "string-width": "1.0.2", - "strip-ansi": "3.0.1" + "string-width": "^1.0.1", + "strip-ansi": "^3.0.1" }, "dependencies": { "string-width": { @@ -14685,9 +14711,9 @@ "integrity": "sha1-EYvfW4zcUaKn5w0hHgfisLmxB9M=", "dev": true, "requires": { - "code-point-at": "1.1.0", - "is-fullwidth-code-point": "1.0.0", - "strip-ansi": "3.0.1" + "code-point-at": "^1.0.0", + "is-fullwidth-code-point": "^1.0.0", + "strip-ansi": "^3.0.0" } } } @@ -14704,7 +14730,7 @@ "integrity": "sha1-X8A4KOJkzqP+kUVUdvejxWbLB1c=", "dev": true, "requires": { - "mkdirp": "0.5.1" + "mkdirp": "^0.5.1" } }, "write-file-atomic": { @@ -14713,9 +14739,9 @@ "integrity": "sha512-xuPeK4OdjWqtfi59ylvVL0Yn35SF3zgcAcv7rBPFHVaEapaDr4GdGgm3j7ckTwH9wHL7fGmgfAnb0+THrHb8tA==", "dev": true, "requires": { - "graceful-fs": "4.1.11", - "imurmurhash": "0.1.4", - "signal-exit": "3.0.2" + "graceful-fs": "^4.1.11", + "imurmurhash": "^0.1.4", + "signal-exit": "^3.0.2" } }, "ws": { @@ -14723,9 +14749,9 @@ "resolved": "https://registry.npmjs.org/ws/-/ws-3.3.2.tgz", "integrity": "sha1-lsHQiz/v2h1cHjNwDTv6qb4tVgg=", "requires": { - "async-limiter": "1.0.0", - "safe-buffer": "5.1.1", - "ultron": "1.1.1" + "async-limiter": "~1.0.0", + "safe-buffer": "~5.1.0", + "ultron": "~1.1.0" } }, "xhr": { @@ -14733,10 +14759,10 @@ "resolved": "http://registry.npmjs.org/xhr/-/xhr-2.4.0.tgz", "integrity": "sha1-4W5mpF+GmGHu76tBbV7/ci3ECZM=", "requires": { - "global": "4.3.2", - "is-function": "1.0.1", - "parse-headers": "2.0.1", - "xtend": "4.0.1" + "global": "~4.3.0", + "is-function": "^1.0.1", + "parse-headers": "^2.0.0", + "xtend": "^4.0.0" } }, "xmlcreate": { @@ -14785,18 +14811,18 @@ "integrity": "sha512-B0vRAp1hRX4jgIOWFtjfNjd9OA9RWYZ6tqGA9/I/IrTMsxmKvtWy+ersM+jzpQqbC3YfLzeABPdeTgcJ9eu1qQ==", "dev": true, "requires": { - "cliui": "4.1.0", - "decamelize": "2.0.0", - "find-up": "3.0.0", - "get-caller-file": "1.0.3", - "os-locale": "2.1.0", - "require-directory": "2.1.1", - "require-main-filename": "1.0.1", - "set-blocking": "2.0.0", - "string-width": "2.1.1", - "which-module": "2.0.0", - "y18n": "4.0.0", - "yargs-parser": "10.1.0" + "cliui": "^4.0.0", + "decamelize": "^2.0.0", + "find-up": "^3.0.0", + "get-caller-file": "^1.0.1", + "os-locale": "^2.0.0", + "require-directory": "^2.1.1", + "require-main-filename": "^1.0.1", + "set-blocking": "^2.0.0", + "string-width": "^2.0.0", + "which-module": "^2.0.0", + "y18n": "^3.2.1 || ^4.0.0", + "yargs-parser": "^10.1.0" }, "dependencies": { "decamelize": { @@ -14814,7 +14840,7 @@ "integrity": "sha512-1yD6RmLI1XBfxugvORwlck6f75tYL+iR0jqwsOrOxMZyGYqUuDhJ0l4AXdO1iX/FTs9cBAMEk1gWSEx1kSbylg==", "dev": true, "requires": { - "locate-path": "3.0.0" + "locate-path": "^3.0.0" } }, "locate-path": { @@ -14823,8 +14849,8 @@ "integrity": "sha512-7AO748wWnIhNqAuaty2ZWHkQHRSNfPVIsPIfwEOWO22AmaoVrWavlOcMR5nzTLNYvp36X220/maaRsrec1G65A==", "dev": true, "requires": { - "p-locate": "3.0.0", - "path-exists": "3.0.0" + "p-locate": "^3.0.0", + "path-exists": "^3.0.0" } }, "p-limit": { @@ -14833,7 +14859,7 @@ "integrity": "sha512-fl5s52lI5ahKCernzzIyAP0QAZbGIovtVHGwpcu1Jr/EpzLVDI2myISHwGqK7m8uQFugVWSrbxH7XnhGtvEc+A==", "dev": true, "requires": { - "p-try": "2.0.0" + "p-try": "^2.0.0" } }, "p-locate": { @@ -14842,7 +14868,7 @@ "integrity": "sha512-x+12w/To+4GFfgJhBEpiDcLozRJGegY+Ei7/z0tSLkMmxGZNybVMSfWj9aJn8Z5Fc7dBUNJOOVgPv2H7IwulSQ==", "dev": true, "requires": { - "p-limit": "2.0.0" + "p-limit": "^2.0.0" } }, "p-try": { @@ -14857,7 +14883,7 @@ "integrity": "sha512-VCIyR1wJoEBZUqk5PA+oOBF6ypbwh5aNB3I50guxAL/quggdfs4TtNHQrSazFA3fYZ+tEqfs0zIGlv0c/rgjbQ==", "dev": true, "requires": { - "camelcase": "4.1.0" + "camelcase": "^4.1.0" } } } @@ -14868,7 +14894,7 @@ "integrity": "sha1-nM9qQ0YP5O1Aqbto9I1DuKaMwHc=", "dev": true, "requires": { - "camelcase": "4.1.0" + "camelcase": "^4.1.0" } }, "yeast": { diff --git a/src/extensions/scratch3_boost/index.js b/src/extensions/scratch3_boost/index.js index e90076683..51df8e6d7 100644 --- a/src/extensions/scratch3_boost/index.js +++ b/src/extensions/scratch3_boost/index.js @@ -28,20 +28,17 @@ const iconURI = 'data:image/png;base64,iVBORw0KGgoAAAANSUhEUgAAAFAAAABQCAMAAAC5z const BoostBLE = { service: '00001623-1212-efde-1623-785feabcd123', - characteristic: '00001624-1212-efde-1623-785feabcd123' + characteristic: '00001624-1212-efde-1623-785feabcd123', + sendInterval: 100, + sendRateMax: 20 }; /** - * A time interval to wait (in milliseconds) while a block that sends a BLE message is running. - * @type {number} + * Boost Motor Max Power. + * @constant {number} */ -const BLESendInterval = 100; -/** - * A maximum number of BLE message sends per second, to be enforced by the rate limiter. - * @type {number} - */ -const BLESendRateMax = 20; +const BoostMotorMaxPower = 100; /** * Enum for Boost sensor and actuator types. @@ -80,7 +77,6 @@ const BoostOutputCommandFeedback = { BUSY_OR_FULL: 0x10 }; - /** * Enum for physical Boost Ports * @readonly @@ -364,14 +360,11 @@ class BoostMotor { */ set power (value) { const p = Math.max(0, Math.min(value, 100)); - - // Lego Boost hub only turns motors at power range [20 - 100], so - // map value from [0 - 100] to [20 - 100]. - if (p === 0) { - this._power = 0; + // The Boost motors barely move at speed 1 - solution is to step up to 2. + if (p === 1) { + this._power = 2; } else { - const delta = 100 / p; - this._power = 20 + (80 / delta); + this._power = p; } } @@ -428,7 +421,7 @@ class BoostMotor { BoostOutputSubCommand.START_SPEED, [ this._power * this._direction, - this._power, + BoostMotorMaxPower, BoostMotorProfile.DO_NOT_USE ]); @@ -466,7 +459,7 @@ class BoostMotor { [ ...numberToInt32Array(degrees), this._power * this._direction * direction, // power in range 0-100 - this._power, // max speed + BoostMotorMaxPower, // max speed BoostMotorEndState.BRAKE, BoostMotorProfile.DO_NOT_USE ] // byte for using acceleration/braking profile @@ -599,7 +592,7 @@ class Boost { * @type {RateLimiter} * @private */ - this._rateLimiter = new RateLimiter(BLESendRateMax); + this._rateLimiter = new RateLimiter(BoostBLE.sendRateMax); this.disconnect = this.disconnect.bind(this); this._onConnect = this._onConnect.bind(this); @@ -1636,7 +1629,7 @@ class Scratch3BoostBlocks { return new Promise(resolve => { window.setTimeout(() => { resolve(); - }, BLESendInterval); + }, BoostBLE.sendInterval); }); } @@ -1658,7 +1651,7 @@ class Scratch3BoostBlocks { return new Promise(resolve => { window.setTimeout(() => { resolve(); - }, BLESendInterval); + }, BoostBLE.sendInterval); }); } @@ -1681,7 +1674,7 @@ class Scratch3BoostBlocks { return new Promise(resolve => { window.setTimeout(() => { resolve(); - }, BLESendInterval); + }, BoostBLE.sendInterval); }); } @@ -1724,7 +1717,7 @@ class Scratch3BoostBlocks { return new Promise(resolve => { window.setTimeout(() => { resolve(); - }, BLESendInterval); + }, BoostBLE.sendInterval); }); } @@ -1750,7 +1743,7 @@ class Scratch3BoostBlocks { return new Promise(resolve => { window.setTimeout(() => { resolve(); - }, BLESendInterval); + }, BoostBLE.sendInterval); }); } From 55ccc4e77a45985678d493074af5ee7c69efacbb Mon Sep 17 00:00:00 2001 From: Kevin Andersen Date: Wed, 13 Mar 2019 14:35:53 -0400 Subject: [PATCH 22/30] Implemented pingDevice() which, like the WeDo 2.0 extension, tries to read from the Boost Hub at a given interval. If it doesn't hear back from the hub, it assumes the device has been disconnected. --- src/extensions/scratch3_boost/index.js | 40 ++++++++++++++++++++++++-- 1 file changed, 37 insertions(+), 3 deletions(-) diff --git a/src/extensions/scratch3_boost/index.js b/src/extensions/scratch3_boost/index.js index 51df8e6d7..87b22679e 100644 --- a/src/extensions/scratch3_boost/index.js +++ b/src/extensions/scratch3_boost/index.js @@ -40,6 +40,12 @@ const BoostBLE = { const BoostMotorMaxPower = 100; +/** + * A time interval to wait (in milliseconds) in between battery check calls. + * @type {number} + */ +const BoostPingInterval = 5000; + /** * Enum for Boost sensor and actuator types. * @readonly @@ -594,9 +600,17 @@ class Boost { */ this._rateLimiter = new RateLimiter(BoostBLE.sendRateMax); + /** + * An interval id for the battery check interval. + * @type {number} + * @private + */ + this._pingDeviceId = null; + this.disconnect = this.disconnect.bind(this); this._onConnect = this._onConnect.bind(this); this._onMessage = this._onMessage.bind(this); + this._pingDevice = this._pingDevice.bind(this); } /** @@ -698,13 +712,13 @@ class Boost { } this._ble = new BLE(this._runtime, this._extensionId, { filters: [{ - services: [BoostBLE.service], + services: [BoostBLE.service]/* , manufacturerData: { 0: { dataPrefix: [0x97, 0x03, 0x00, 0x40], mask: [0xFF, 0xFF, 0, 0xFF] } - } + } */ }], optionalServices: [] }, this._onConnect, this.disconnect); @@ -736,6 +750,11 @@ class Boost { if (this._ble) { this._ble.disconnect(); } + + if (this._pingDevice) { + window.clearInterval(this._pingDeviceId); + this._pingDeviceId = null; + } } /** @@ -831,6 +850,7 @@ class Boost { BoostBLE.characteristic, this._onMessage ); + this._pingDeviceId = window.setInterval(this._pingDevice, BoostPingInterval); } /** @@ -925,6 +945,20 @@ class Boost { } } + /** + * Ping the Boost hub. If the Boost hub has disconnected + * for some reason, the BLE socket will get an error back and automatically + * close the socket. + */ + + _pingDevice () { + this._ble.read( + BoostBLE.service, + BoostBLE.characteristic, + false + ); + } + /** * Register a new sensor or motor connected at a port. Store the type of * sensor or motor internally, and then register for notifications on input @@ -958,7 +992,7 @@ class Boost { case BoostIO.LED: mode = BoostMode.LED; this.setLEDMode(); - this.setLED(0x00FF00); + this.setLED(0x0000FF); break; case BoostIO.TILT: mode = BoostMode.TILT; From 5f6c8b1efde17163f040d9f20e826696ef0d7623 Mon Sep 17 00:00:00 2001 From: Kevin Andersen Date: Tue, 19 Mar 2019 18:34:12 -0400 Subject: [PATCH 23/30] Reworked motor-system to allow the setMotorPower- and setMotorDirection-blocks to modify the motor behavior if the motor is already running. - BoostMotor-class now has pendingPositionDestination, the rotation-equivalent of pendingTimeout, that stores a destination the motor should reach. When using setMotorPower() or setMotorDirection() while a motorOnForRotation()-block is running, a new motorOnForRotation()-command will be run for the remaining amount of degrees but with new power/direction, cancelling the old command. - BoostMotor._status is only affected by feedback from the hub. - setMotorPower() and setMotorDirection() no longer yields, since they just set state. From design meeting regarding block design: - Renamed all motors-label to ABCD. - Added 'AB' motor label to address built-in motor pair. - use the word direction in the setMotorDirection-block - moved argument label in motor position reporter - changed wording of color-sensing block. - removed isTilted-boolean reporter - removed changeLightHueBy-block - fixed pingDevice-function bug. --- src/extensions/scratch3_boost/index.js | 177 +++++++++++++------------ 1 file changed, 94 insertions(+), 83 deletions(-) diff --git a/src/extensions/scratch3_boost/index.js b/src/extensions/scratch3_boost/index.js index 87b22679e..c941961ae 100644 --- a/src/extensions/scratch3_boost/index.js +++ b/src/extensions/scratch3_boost/index.js @@ -313,18 +313,32 @@ class BoostMotor { /** * The starting time for the pending timeout. - * @type {Object} + * @type {number} * @private */ this._pendingTimeoutStartTime = null; /** * The delay/duration of the pending timeout. - * @type {Object} + * @type {number} * @private */ this._pendingTimeoutDelay = null; + /** + * The origin position of a turn-based command. + * @type {number} + * @private + */ + this._pendingPositionOrigin = null; + + /** + * The target position of a turn-based command. + * @type {number} + * @private + */ + this._pendingPositionDestination = null; + /** * If the motor has been turned on run for a specific duration, * this is the function that will be called once Scratch VM gets a notification from the Move Hub. @@ -392,23 +406,34 @@ class BoostMotor { * @return {boolean} - true if this motor is currently moving, false if this motor is off or braking. */ get isOn () { - return this._status; + if (this._status & (BoostOutputCommandFeedback.BUSY_OR_FULL ^ + BoostOutputCommandFeedback.BUFFER_EMPTY_COMMAND_IN_PROGRESS)) { + return true; + } + return false; } /** - * @return {boolean} - time, in milliseconds, of when the pending timeout began. + * @return {number} - time, in milliseconds, of when the pending timeout began. */ get pendingTimeoutStartTime () { return this._pendingTimeoutStartTime; } /** - * @return {boolean} - delay, in milliseconds, of the pending timeout. + * @return {number} - delay, in milliseconds, of the pending timeout. */ get pendingTimeoutDelay () { return this._pendingTimeoutDelay; } + /** + * @return {number} - delay, in milliseconds, of the pending timeout. + */ + get pendingPositionDestination () { + return this._pendingPositionDestination; + } + /** * @return {boolean} - true if this motor is currently moving, false if this motor is off or braking. */ @@ -416,6 +441,13 @@ class BoostMotor { return this._pendingPromiseFunction; } + /** + * @param {function} func - function to resolve promise + */ + set pendingPromiseFunction (func) { + this._pendingPromiseFunction = func; + } + /** * Turn this motor on indefinitely. */ @@ -433,7 +465,6 @@ class BoostMotor { this._parent.send(BoostBLE.characteristic, cmd); - this._status = BoostOutputCommandFeedback.BUFFER_EMPTY_COMMAND_IN_PROGRESS; this._clearTimeout(); } @@ -464,14 +495,15 @@ class BoostMotor { BoostOutputSubCommand.START_SPEED_FOR_DEGREES, [ ...numberToInt32Array(degrees), - this._power * this._direction * direction, // power in range 0-100 - BoostMotorMaxPower, // max speed + this._power * this._direction * direction, + BoostMotorMaxPower, BoostMotorEndState.BRAKE, BoostMotorProfile.DO_NOT_USE - ] // byte for using acceleration/braking profile + ] ); - this._status = BoostOutputCommandFeedback.BUFFER_EMPTY_COMMAND_IN_PROGRESS; + this._pendingPositionOrigin = this._position; + this._pendingPositionDestination = this._position + (degrees * this._direction * direction); this._parent.send(BoostBLE.characteristic, cmd); } @@ -494,8 +526,6 @@ class BoostMotor { ); this._parent.send(BoostBLE.characteristic, cmd, useLimiter); - - this._status = BoostOutputCommandFeedback.IDLE; } /** @@ -751,7 +781,7 @@ class Boost { this._ble.disconnect(); } - if (this._pingDevice) { + if (this._pingDeviceId) { window.clearInterval(this._pingDeviceId); this._pingDeviceId = null; } @@ -911,7 +941,7 @@ class Boost { break; case BoostIO.MOTOREXT: case BoostIO.MOTORINT: - this._motors[portID]._position = int32ArrayToNumber(data.slice(4, 8)); + this.motor(portID).position = int32ArrayToNumber(data.slice(4, 8)); break; case BoostIO.CURRENT: case BoostIO.VOLTAGE: @@ -924,17 +954,20 @@ class Boost { case BoostMessage.PORT_OUTPUT_COMMAND_FEEDBACK: { // TODO: Handle messages that contain feedback from more than one port. const feedback = data[4]; + if (this.motor(portID)) { + this.motor(portID)._status = feedback; + } switch (feedback) { - case BoostOutputCommandFeedback.BUFFER_EMPTY_COMMAND_COMPLETED ^ BoostOutputCommandFeedback.IDLE: - case BoostOutputCommandFeedback.CURRENT_COMMAND_DISCARDED ^ BoostOutputCommandFeedback.IDLE: - if (this._motors[portID] && this._motors[portID].pendingPromiseFunction) { - this._motors[portID].pendingPromiseFunction(); + case BoostOutputCommandFeedback.BUFFER_EMPTY_COMMAND_COMPLETED ^ BoostOutputCommandFeedback.IDLE: { + const motor = this.motor(portID); + if (motor && motor.pendingPromiseFunction) { + motor.pendingPromiseFunction(); } break; + } case BoostOutputCommandFeedback.BUFFER_EMPTY_COMMAND_IN_PROGRESS: - break; default: - log.warn(`Did not find a motor on portID: ${portID}`); + log.warn(`Feedback from ${portID}: ${feedback}`); } break; } @@ -1039,7 +1072,8 @@ const BoostMotorLabel = { B: 'B', C: 'C', D: 'D', - ALL: 'all motors' + AB: 'AB', + ALL: 'ABCD' }; /** @@ -1221,7 +1255,7 @@ class Scratch3BoostBlocks { opcode: 'setMotorDirection', text: formatMessage({ id: 'boost.setMotorDirection', - default: 'set motor [MOTOR_ID] to turn [MOTOR_DIRECTION]', + default: 'set motor [MOTOR_ID] direction [MOTOR_DIRECTION]', description: 'set the motor\'s turn direction without turning it on' }), blockType: BlockType.COMMAND, @@ -1242,7 +1276,7 @@ class Scratch3BoostBlocks { opcode: 'getMotorPosition', text: formatMessage({ id: 'boost.getMotorPosition', - default: 'motor position [MOTOR_REPORTER_ID]', + default: 'motor [MOTOR_REPORTER_ID] position', description: 'the position returned by the motor' }), blockType: BlockType.REPORTER, @@ -1258,7 +1292,7 @@ class Scratch3BoostBlocks { opcode: 'whenColor', text: formatMessage({ id: 'boost.whenColor', - default: 'when color [COLOR]', + default: 'when [COLOR] color seen', description: 'check for when color' }), blockType: BlockType.HAT, @@ -1296,22 +1330,6 @@ class Scratch3BoostBlocks { } } }, - { - opcode: 'isTilted', - text: formatMessage({ - id: 'boost.isTilted', - default: 'tilted [TILT_DIRECTION_ANY]?', - description: 'whether the tilt sensor is tilted' - }), - blockType: BlockType.BOOLEAN, - arguments: { - TILT_DIRECTION_ANY: { - type: ArgumentType.STRING, - menu: 'TILT_DIRECTION_ANY', - defaultValue: BoostTiltDirection.ANY - } - } - }, { opcode: 'getTiltAngle', text: formatMessage({ @@ -1342,21 +1360,6 @@ class Scratch3BoostBlocks { defaultValue: 50 } } - }, - { - opcode: 'changeLightHueBy', - text: formatMessage({ - id: 'boost.changeLightHueBy', - default: 'change light color by [HUE]', - description: 'change the LED color by a given amount' - }), - blockType: BlockType.COMMAND, - arguments: { - HUE: { - type: ArgumentType.NUMBER, - defaultValue: 5 - } - } } ], menus: { @@ -1364,39 +1367,47 @@ class Scratch3BoostBlocks { { text: formatMessage({ id: 'boost.motorId.a', - default: 'A', - description: 'label for motor A element in motor menu for LEGO Boost extension' + default: BoostMotorLabel.A, + description: `label for motor A element in motor menu for LEGO Boost extension` }), value: BoostMotorLabel.A }, { text: formatMessage({ id: 'boost.motorId.b', - default: 'B', - description: 'label for motor B element in motor menu for LEGO Boost extension' + default: BoostMotorLabel.B, + description: `label for motor B element in motor menu for LEGO Boost extension` }), value: BoostMotorLabel.B }, { text: formatMessage({ id: 'boost.motorId.c', - default: 'C', - description: 'label for motor C element in motor menu for LEGO Boost extension' + default: BoostMotorLabel.C, + description: `label for motor C element in motor menu for LEGO Boost extension` }), value: BoostMotorLabel.C }, { text: formatMessage({ id: 'boost.motorId.d', - default: 'D', - description: 'label for motor D element in motor menu for LEGO Boost extension' + default: BoostMotorLabel.D, + description: `label for motor D element in motor menu for LEGO Boost extension` }), value: BoostMotorLabel.D }, + { + text: formatMessage({ + id: 'boost.motorId.ab', + default: BoostMotorLabel.AB, + description: `label for motor A and B element in motor menu for LEGO Boost extension` + }), + value: BoostMotorLabel.AB + }, { text: formatMessage({ id: 'boost.motorId.all', - default: 'all motors', + default: BoostMotorLabel.ALL, description: 'label for all motors element in motor menu for LEGO Boost extension' }), value: BoostMotorLabel.ALL @@ -1406,7 +1417,7 @@ class Scratch3BoostBlocks { { text: formatMessage({ id: 'boost.motorReporterId.a', - default: 'A', + default: BoostMotorLabel.A, description: 'label for motor A element in motor menu for LEGO Boost extension' }), value: BoostMotorLabel.A @@ -1414,7 +1425,7 @@ class Scratch3BoostBlocks { { text: formatMessage({ id: 'boost.motorReporterId.b', - default: 'B', + default: BoostMotorLabel.B, description: 'label for motor B element in motor menu for LEGO Boost extension' }), value: BoostMotorLabel.B @@ -1422,7 +1433,7 @@ class Scratch3BoostBlocks { { text: formatMessage({ id: 'boost.motorReporterId.c', - default: 'C', + default: BoostMotorLabel.C, description: 'label for motor C element in motor menu for LEGO Boost extension' }), value: BoostMotorLabel.C @@ -1430,7 +1441,7 @@ class Scratch3BoostBlocks { { text: formatMessage({ id: 'boost.motorReporterId.d', - default: 'D', + default: BoostMotorLabel.D, description: 'label for motor D element in motor menu for LEGO Boost extension' }), value: BoostMotorLabel.D @@ -1639,7 +1650,7 @@ class Scratch3BoostBlocks { const motor = this._peripheral.motor(motorIndex); if (motor) { motor.turnOnForDegrees(degrees, sign); - motor._pendingPromiseFunction = resolve; + motor.pendingPromiseFunction = resolve; } }); }); @@ -1694,7 +1705,6 @@ class Scratch3BoostBlocks { * @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). - * @return {Promise} - a Promise that resolves after some delay. */ setMotorPower (args) { // TODO: cast args.MOTOR_ID? @@ -1702,14 +1712,16 @@ class Scratch3BoostBlocks { const motor = this._peripheral.motor(motorIndex); if (motor) { motor.power = MathUtil.clamp(Cast.toNumber(args.POWER), 0, 100); + if (motor.isOn) { + if (motor.pendingTimeoutDelay) { + motor.turnOnFor(motor.pendingTimeoutStartTime + motor.pendingTimeoutDelay - Date.now()); + } else if (motor.pendingPositionDestination) { + const p = motor.pendingPositionDestination - motor.position; + motor.turnOnForDegrees(p, Math.sign(p) * motor.direction); + } + } } }); - - return new Promise(resolve => { - window.setTimeout(() => { - resolve(); - }, BoostBLE.sendInterval); - }); } /** @@ -1718,7 +1730,6 @@ class Scratch3BoostBlocks { * @param {object} args - the block's arguments. * @property {MotorID} MOTOR_ID - the motor(s) to be affected. * @property {MotorDirection} MOTOR_DIRECTION - the new direction for the motor(s). - * @return {Promise} - a Promise that resolves after some delay. */ setMotorDirection (args) { // TODO: cast args.MOTOR_ID? @@ -1743,16 +1754,13 @@ class Scratch3BoostBlocks { if (motor.isOn) { if (motor.pendingTimeoutDelay) { motor.turnOnFor(motor.pendingTimeoutStartTime + motor.pendingTimeoutDelay - Date.now()); + } else if (motor.pendingPositionDestination) { + const p = motor.pendingPositionDestination - motor.position; + motor.turnOnForDegrees(p, Math.sign(p) * motor.direction); } } } }); - - return new Promise(resolve => { - window.setTimeout(() => { - resolve(); - }, BoostBLE.sendInterval); - }); } /** @@ -1953,6 +1961,9 @@ class Scratch3BoostBlocks { case BoostMotorLabel.D: motors = [BoostPort.D]; break; + case BoostMotorLabel.AB: + motors = [BoostPort.A, BoostPort.B]; + break; case BoostMotorLabel.ALL: motors = [BoostPort.A, BoostPort.B, BoostPort.C, BoostPort.D]; break; From bfb61c0df4d47fbf2cbb03bbff0b45fdc9d1c429 Mon Sep 17 00:00:00 2001 From: Kevin Andersen Date: Wed, 20 Mar 2019 13:50:24 -0400 Subject: [PATCH 24/30] - Removed unused IOs - Renamed BoostOutputCommandFeedback to BoostPortFeedback and its values for brevity - Removed buf2hex-function - Removed BoostMotor._pendingPositionOrigin (unused) - Removed Boost._led (unused) - Simplified _onMessage-handling of BoostPortFeedback-messages - motorOnForRotation() now returns a Promise.all rather than a single promise. This solves two bugs: -- when running turn ABCD for 3 rotations without motors connected to CD, the block would finish yielding immediately. -- when running turn C for X rotations without a motor connected to C, the motor would never finish yielding. --- src/extensions/scratch3_boost/index.js | 81 +++++++++----------------- 1 file changed, 29 insertions(+), 52 deletions(-) diff --git a/src/extensions/scratch3_boost/index.js b/src/extensions/scratch3_boost/index.js index c941961ae..0e49f3c65 100644 --- a/src/extensions/scratch3_boost/index.js +++ b/src/extensions/scratch3_boost/index.js @@ -56,8 +56,6 @@ const BoostIO = { MOTOR_SYSTEM: 0x02, BUTTON: 0x05, LIGHT: 0x08, - LIGHT1: 0x09, - LIGHT2: 0x0A, VOLTAGE: 0x14, CURRENT: 0x15, PIEZO: 0x16, @@ -75,10 +73,10 @@ const BoostIO = { * @readonly * @enum {number} */ -const BoostOutputCommandFeedback = { - BUFFER_EMPTY_COMMAND_IN_PROGRESS: 0x01, - BUFFER_EMPTY_COMMAND_COMPLETED: 0x02, - CURRENT_COMMAND_DISCARDED: 0x04, +const BoostPortFeedback = { + IN_PROGRESS: 0x01, + COMPLETED: 0x02, + DISCARDED: 0x04, IDLE: 0x08, BUSY_OR_FULL: 0x10 }; @@ -130,7 +128,7 @@ const BoostMessage = { PORT_INPUT_FORMAT: 0x47, PORT_INPUT_FORMAT_COMBINED: 0x48, OUTPUT: 0x81, - PORT_OUTPUT_COMMAND_FEEDBACK: 0x82 + PORT_FEEDBACK: 0x82 }; /** @@ -214,15 +212,6 @@ const BoostMode = { UNKNOWN: 0 // Anything else will use the default mode (mode 0) }; -/** - * Debug function for converting bytes received to hex - * @param {array} buffer - an array of bytes - * @return {string} - a string of hex values. - */ -const buf2hex = function (buffer) { // buffer is an ArrayBuffer - return Array.prototype.map.call(new Uint8Array(buffer), x => (`00${x.toString(16)}`).slice(-2)).join(' '); -}; - /** * Helper function for converting a JavaScript number to an INT32-number * @param {number} number - a number @@ -301,7 +290,7 @@ class BoostMotor { * @type {boolean} * @private */ - this._status = BoostOutputCommandFeedback.IDLE; + this._status = BoostPortFeedback.IDLE; /** * If the motor has been turned on or is actively braking for a specific duration, this is the timeout ID for @@ -325,13 +314,6 @@ class BoostMotor { */ this._pendingTimeoutDelay = null; - /** - * The origin position of a turn-based command. - * @type {number} - * @private - */ - this._pendingPositionOrigin = null; - /** * The target position of a turn-based command. * @type {number} @@ -406,8 +388,7 @@ class BoostMotor { * @return {boolean} - true if this motor is currently moving, false if this motor is off or braking. */ get isOn () { - if (this._status & (BoostOutputCommandFeedback.BUSY_OR_FULL ^ - BoostOutputCommandFeedback.BUFFER_EMPTY_COMMAND_IN_PROGRESS)) { + if (this._status & (BoostPortFeedback.BUSY_OR_FULL ^ BoostPortFeedback.IN_PROGRESS)) { return true; } return false; @@ -608,12 +589,6 @@ class Boost { color: BoostColor.NONE }; - /* - ** TODO: Clean up - */ - - this._led = 50; - /** * The Bluetooth connection socket for reading/writing peripheral data. * @type {BLE} @@ -951,28 +926,21 @@ class Boost { } break; } - case BoostMessage.PORT_OUTPUT_COMMAND_FEEDBACK: { + case BoostMessage.PORT_FEEDBACK: { // TODO: Handle messages that contain feedback from more than one port. const feedback = data[4]; - if (this.motor(portID)) { - this.motor(portID)._status = feedback; - } - switch (feedback) { - case BoostOutputCommandFeedback.BUFFER_EMPTY_COMMAND_COMPLETED ^ BoostOutputCommandFeedback.IDLE: { - const motor = this.motor(portID); - if (motor && motor.pendingPromiseFunction) { + const motor = this.motor(portID); + if (motor) { + motor._status = feedback; + if (feedback === (BoostPortFeedback.COMPLETED ^ BoostPortFeedback.IDLE) && + motor.pendingPromiseFunction) { motor.pendingPromiseFunction(); } - break; - } - case BoostOutputCommandFeedback.BUFFER_EMPTY_COMMAND_IN_PROGRESS: - default: - log.warn(`Feedback from ${portID}: ${feedback}`); } break; } case BoostMessage.ERROR: - log.warn(`Error in BLE message: ${buf2hex(data)}`); + log.warn(`Error reported by hub: ${data}`); break; default: } @@ -1645,15 +1613,24 @@ class Scratch3BoostBlocks { // TODO: Clamps to 100 rotations. Consider changing. const sign = Math.sign(degrees); degrees = Math.abs(MathUtil.clamp(degrees, -360000, 360000)); - return new Promise(resolve => { - this._forEachMotor(args.MOTOR_ID, motorIndex => { - const motor = this._peripheral.motor(motorIndex); - if (motor) { + + const motors = []; + this._forEachMotor(args.MOTOR_ID, motorIndex => { + motors.push(motorIndex); + }); + + const promises = motors.map(portID => { + const motor = this._peripheral.motor(portID); + if (motor) { + return new Promise(resolve => { motor.turnOnForDegrees(degrees, sign); motor.pendingPromiseFunction = resolve; - } - }); + }); + } + return null; }); + // To prevent the block from returning a value, an empty function is added to the .then + return Promise.all(promises).then(() => {}); } /** From 02d047cfbdabfe4362a406a2280d77751e3aeb7b Mon Sep 17 00:00:00 2001 From: Kevin Andersen Date: Thu, 21 Mar 2019 13:46:51 -0400 Subject: [PATCH 25/30] Stabilized color-sensing by: - Creating Boost._colorBucket will contains BoostColorSampleSize-amount of samples - Boost._onMessage administers the _colorBucket and assigns Boost._sensors.color a value if all items in the bucket match. E.g. if BoostColorSampleSize is set to 3, three continuous readings of the same color are required for the color to be detected by scratch-vm. --- src/extensions/scratch3_boost/index.js | 32 ++++++++++++++++++++------ 1 file changed, 25 insertions(+), 7 deletions(-) diff --git a/src/extensions/scratch3_boost/index.js b/src/extensions/scratch3_boost/index.js index 0e49f3c65..5d6970bb3 100644 --- a/src/extensions/scratch3_boost/index.js +++ b/src/extensions/scratch3_boost/index.js @@ -46,6 +46,13 @@ const BoostMotorMaxPower = 100; */ const BoostPingInterval = 5000; +/** + * The number of continuous samples the color-sensor will evaluate color from. + * @type {number} + */ + +const BoostColorSampleSize = 3; + /** * Enum for Boost sensor and actuator types. * @readonly @@ -589,6 +596,8 @@ class Boost { color: BoostColor.NONE }; + this._colorBucket = []; + /** * The Bluetooth connection socket for reading/writing peripheral data. * @type {BLE} @@ -902,17 +911,24 @@ class Boost { } case BoostMessage.PORT_VALUE: { const type = this._ports[portID]; - /** - * TODO: Build a proper value-formatting based on the PORT_INPUT_FORMAT-messages - * instead of hardcoding value-handling - */ + switch (type) { case BoostIO.TILT: this._sensors.tiltX = data[4]; this._sensors.tiltY = data[5]; break; case BoostIO.COLOR: - this._sensors.color = data[4]; + this._colorBucket.unshift(data[4]); + if (this._colorBucket.length > BoostColorSampleSize) { + this._colorBucket.pop(); + if (this._colorBucket.every((v, i, arr) => v === arr[0])) { + this._sensors.color = this._colorBucket[0]; + } else { + this._sensors.color = BoostColor.NONE; + } + } else { + this._sensors.color = BoostColor.NONE; + } break; case BoostIO.MOTOREXT: case BoostIO.MOTORINT: @@ -927,7 +943,7 @@ class Boost { break; } case BoostMessage.PORT_FEEDBACK: { - // TODO: Handle messages that contain feedback from more than one port. + // TODO: If extension will receive feedback from multiple ports simultaneously, this case will need to handle it. const feedback = data[4]; const motor = this.motor(portID); if (motor) { @@ -981,6 +997,7 @@ class Boost { // Set input format for tilt or distance sensor let mode = null; + let delta = 1; switch (type) { case BoostIO.MOTORINT: @@ -989,6 +1006,7 @@ class Boost { break; case BoostIO.COLOR: mode = BoostMode.COLOR; + delta = 0; break; case BoostIO.LED: mode = BoostMode.LED; @@ -1005,7 +1023,7 @@ class Boost { const cmd = this.generateInputCommand( portID, mode, - 1, + delta, true ); From 20967fe768ded689b287b1daa067b77c77438714 Mon Sep 17 00:00:00 2001 From: Kevin Andersen Date: Thu, 21 Mar 2019 13:56:47 -0400 Subject: [PATCH 26/30] changed wording of setMotorPower-block to use speed instead of power --- src/extensions/scratch3_boost/index.js | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/src/extensions/scratch3_boost/index.js b/src/extensions/scratch3_boost/index.js index 5d6970bb3..d228427ff 100644 --- a/src/extensions/scratch3_boost/index.js +++ b/src/extensions/scratch3_boost/index.js @@ -1221,8 +1221,8 @@ class Scratch3BoostBlocks { opcode: 'setMotorPower', text: formatMessage({ id: 'boost.setMotorPower', - default: 'set motor [MOTOR_ID] power to [POWER] %', - description: 'set the motor\'s power without turning it on' + default: 'set motor [MOTOR_ID] speed to [POWER] %', + description: 'set the motor\'s speed without turning it on' }), blockType: BlockType.COMMAND, arguments: { From 64355e85845904af907b99791977bda1206ad67a Mon Sep 17 00:00:00 2001 From: Kevin Andersen Date: Thu, 21 Mar 2019 14:01:49 -0400 Subject: [PATCH 27/30] changed BoostColorSampleSize to 5 to avoid false readings of black --- src/extensions/scratch3_boost/index.js | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/extensions/scratch3_boost/index.js b/src/extensions/scratch3_boost/index.js index d228427ff..a98b893cf 100644 --- a/src/extensions/scratch3_boost/index.js +++ b/src/extensions/scratch3_boost/index.js @@ -51,7 +51,7 @@ const BoostPingInterval = 5000; * @type {number} */ -const BoostColorSampleSize = 3; +const BoostColorSampleSize = 5; /** * Enum for Boost sensor and actuator types. From 601c9d230f1c4b2604da46844faac91da1272e41 Mon Sep 17 00:00:00 2001 From: Kevin Andersen Date: Thu, 21 Mar 2019 14:50:39 -0400 Subject: [PATCH 28/30] Moved Scratch3BoostBlocks-functions around so that they are properly grouped, i.e. motors, tilt, color, etc --- src/extensions/scratch3_boost/index.js | 227 ++++++++++++------------- 1 file changed, 107 insertions(+), 120 deletions(-) diff --git a/src/extensions/scratch3_boost/index.js b/src/extensions/scratch3_boost/index.js index a98b893cf..8e6f77704 100644 --- a/src/extensions/scratch3_boost/index.js +++ b/src/extensions/scratch3_boost/index.js @@ -943,7 +943,6 @@ class Boost { break; } case BoostMessage.PORT_FEEDBACK: { - // TODO: If extension will receive feedback from multiple ports simultaneously, this case will need to handle it. const feedback = data[4]; const motor = this.motor(portID); if (motor) { @@ -1758,96 +1757,6 @@ class Scratch3BoostBlocks { }); } - /** - * Set the LED's hue. - * @param {object} args - the block's arguments. - * @property {number} HUE - the hue to set, in the range [0,100]. - * @return {Promise} - a Promise that resolves after some delay. - */ - setLightHue (args) { - // Convert from [0,100] to [0,360] - let inputHue = Cast.toNumber(args.HUE); - inputHue = MathUtil.wrapClamp(inputHue, 0, 100); - const hue = inputHue * 360 / 100; - - const rgbObject = color.hsvToRgb({h: hue, s: 1, v: 1}); - - const rgbDecimal = color.rgbToDecimal(rgbObject); - - this._peripheral._led = inputHue; - this._peripheral.setLED(rgbDecimal); - - return new Promise(resolve => { - window.setTimeout(() => { - resolve(); - }, BoostBLE.sendInterval); - }); - } - - /** - * Change the LED's hue by a give number. - * @param {object} args - the block's arguments. - * @property {number} HUE - the hue to set, in the range [0,100]. - */ - changeLightHueBy (args) { - // TODO: Clean up this block and its opcode - const n = {}; - n.HUE = Cast.toNumber(args.HUE) + this._peripheral._led; - this.setLightHue(n); - } - - /** - * Test whether the tilt sensor is currently tilted. - * @param {object} args - the block's arguments. - * @property {TiltDirection} TILT_DIRECTION_ANY - 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.TILT_DIRECTION_ANY); - } - - /** - * Test whether the tilt sensor is currently tilted. - * @param {object} args - the block's arguments. - * @property {Color} COLOR - the color to test. - * @return {boolean} - true if the tilt sensor is tilted past a threshold in the specified direction. - */ - whenColor (args) { - return this._isColor(args.COLOR); - } - - /** - * @return {number} - the vision sensor's color value. Indexed LEGO brick colors. - */ - getColor () { - // To get a string representation, lookup the key of the BoostColor-enum value - return Object.keys(BoostColor).find(key => BoostColor[key] === this._peripheral.color) - .toLowerCase(); - } - - /** - * Test whether the vision sensor is detecting a certain color. - * @param {number} args - the color to test. - * @return {boolean} - true when the color sensor senses the specified color. - * @private - */ - _isColor (args) { - switch (args) { - case BoostColorLabel.ANY: - if (Object.keys(BoostColor).find(key => BoostColor[key]) - .toLowerCase() !== this.getColor()) { - if (this.getColor() === this._peripheral.oldColor) { - return false; - } - this._peripheral.oldColor = this.getColor(); - return true; - } - break; - default: - return this.getColor() === color; - } - } - /** * @param {object} args - the block's arguments. * @return {number} - returns the motor's position. @@ -1878,6 +1787,53 @@ class Scratch3BoostBlocks { return 0; } + /** + * 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 BoostMotorLabel.A: + motors = [BoostPort.A]; + break; + case BoostMotorLabel.B: + motors = [BoostPort.B]; + break; + case BoostMotorLabel.C: + motors = [BoostPort.C]; + break; + case BoostMotorLabel.D: + motors = [BoostPort.D]; + break; + case BoostMotorLabel.AB: + motors = [BoostPort.A, BoostPort.B]; + break; + case BoostMotorLabel.ALL: + motors = [BoostPort.A, BoostPort.B, BoostPort.C, BoostPort.D]; + break; + default: + log.warn(`Invalid motor ID: ${motorID}`); + motors = []; + break; + } + for (const index of motors) { + callback(index); + } + } + + /** + * Test whether the tilt sensor is currently tilted. + * @param {object} args - the block's arguments. + * @property {TiltDirection} TILT_DIRECTION_ANY - 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.TILT_DIRECTION_ANY); + } + /** * Test whether the tilt sensor is currently tilted. * @param {object} args - the block's arguments. @@ -1936,41 +1892,72 @@ class Scratch3BoostBlocks { } /** - * 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. + * Test whether the tilt sensor is currently tilted. + * @param {object} args - the block's arguments. + * @property {Color} COLOR - the color to test. + * @return {boolean} - true if the tilt sensor is tilted past a threshold in the specified direction. + */ + whenColor (args) { + return this._isColor(args.COLOR); + } + + /** + * @return {number} - the vision sensor's color value. Indexed LEGO brick colors. + */ + getColor () { + // To get a string representation, lookup the key of the BoostColor-enum value + return Object.keys(BoostColor).find(key => BoostColor[key] === this._peripheral.color) + .toLowerCase(); + } + + /** + * Test whether the vision sensor is detecting a certain color. + * @param {number} args - the color to test. + * @return {boolean} - true when the color sensor senses the specified color. * @private */ - _forEachMotor (motorID, callback) { - let motors; - switch (motorID) { - case BoostMotorLabel.A: - motors = [BoostPort.A]; - break; - case BoostMotorLabel.B: - motors = [BoostPort.B]; - break; - case BoostMotorLabel.C: - motors = [BoostPort.C]; - break; - case BoostMotorLabel.D: - motors = [BoostPort.D]; - break; - case BoostMotorLabel.AB: - motors = [BoostPort.A, BoostPort.B]; - break; - case BoostMotorLabel.ALL: - motors = [BoostPort.A, BoostPort.B, BoostPort.C, BoostPort.D]; + _isColor (args) { + switch (args) { + case BoostColorLabel.ANY: + if (Object.keys(BoostColor).find(key => BoostColor[key]) + .toLowerCase() !== this.getColor()) { + if (this.getColor() === this._peripheral.oldColor) { + return false; + } + this._peripheral.oldColor = this.getColor(); + return true; + } break; default: - log.warn(`Invalid motor ID: ${motorID}`); - motors = []; - break; - } - for (const index of motors) { - callback(index); + return this.getColor() === color; } } + + /** + * Set the LED's hue. + * @param {object} args - the block's arguments. + * @property {number} HUE - the hue to set, in the range [0,100]. + * @return {Promise} - a Promise that resolves after some delay. + */ + setLightHue (args) { + // Convert from [0,100] to [0,360] + let inputHue = Cast.toNumber(args.HUE); + inputHue = MathUtil.wrapClamp(inputHue, 0, 100); + const hue = inputHue * 360 / 100; + + const rgbObject = color.hsvToRgb({h: hue, s: 1, v: 1}); + + const rgbDecimal = color.rgbToDecimal(rgbObject); + + this._peripheral._led = inputHue; + this._peripheral.setLED(rgbDecimal); + + return new Promise(resolve => { + window.setTimeout(() => { + resolve(); + }, BoostBLE.sendInterval); + }); + } } module.exports = Scratch3BoostBlocks; From 7f0355169eaa1e3b7d9416b202129fb0504b747a Mon Sep 17 00:00:00 2001 From: Kevin Andersen Date: Mon, 1 Apr 2019 06:38:29 -0400 Subject: [PATCH 29/30] Cleaned up documentation and removed extra line breaks in response to @evhan55 PR comments --- package-lock.json | 45 +++++++------------------- src/extensions/scratch3_boost/index.js | 43 +++++++++++++----------- 2 files changed, 36 insertions(+), 52 deletions(-) diff --git a/package-lock.json b/package-lock.json index bcb85600a..c560ca10a 100644 --- a/package-lock.json +++ b/package-lock.json @@ -5481,8 +5481,7 @@ "ansi-regex": { "version": "2.1.1", "bundled": true, - "dev": true, - "optional": true + "dev": true }, "aproba": { "version": "1.2.0", @@ -5503,14 +5502,12 @@ "balanced-match": { "version": "1.0.0", "bundled": true, - "dev": true, - "optional": true + "dev": true }, "brace-expansion": { "version": "1.1.11", "bundled": true, "dev": true, - "optional": true, "requires": { "balanced-match": "^1.0.0", "concat-map": "0.0.1" @@ -5525,20 +5522,17 @@ "code-point-at": { "version": "1.1.0", "bundled": true, - "dev": true, - "optional": true + "dev": true }, "concat-map": { "version": "0.0.1", "bundled": true, - "dev": true, - "optional": true + "dev": true }, "console-control-strings": { "version": "1.1.0", "bundled": true, - "dev": true, - "optional": true + "dev": true }, "core-util-is": { "version": "1.0.2", @@ -5655,8 +5649,7 @@ "inherits": { "version": "2.0.3", "bundled": true, - "dev": true, - "optional": true + "dev": true }, "ini": { "version": "1.3.5", @@ -5668,7 +5661,6 @@ "version": "1.0.0", "bundled": true, "dev": true, - "optional": true, "requires": { "number-is-nan": "^1.0.0" } @@ -5683,7 +5675,6 @@ "version": "3.0.4", "bundled": true, "dev": true, - "optional": true, "requires": { "brace-expansion": "^1.1.7" } @@ -5691,14 +5682,12 @@ "minimist": { "version": "0.0.8", "bundled": true, - "dev": true, - "optional": true + "dev": true }, "minipass": { "version": "2.2.4", "bundled": true, "dev": true, - "optional": true, "requires": { "safe-buffer": "^5.1.1", "yallist": "^3.0.0" @@ -5717,7 +5706,6 @@ "version": "0.5.1", "bundled": true, "dev": true, - "optional": true, "requires": { "minimist": "0.0.8" } @@ -5798,8 +5786,7 @@ "number-is-nan": { "version": "1.0.1", "bundled": true, - "dev": true, - "optional": true + "dev": true }, "object-assign": { "version": "4.1.1", @@ -5811,7 +5798,6 @@ "version": "1.4.0", "bundled": true, "dev": true, - "optional": true, "requires": { "wrappy": "1" } @@ -5897,8 +5883,7 @@ "safe-buffer": { "version": "5.1.1", "bundled": true, - "dev": true, - "optional": true + "dev": true }, "safer-buffer": { "version": "2.1.2", @@ -5934,7 +5919,6 @@ "version": "1.0.2", "bundled": true, "dev": true, - "optional": true, "requires": { "code-point-at": "^1.0.0", "is-fullwidth-code-point": "^1.0.0", @@ -5954,7 +5938,6 @@ "version": "3.0.1", "bundled": true, "dev": true, - "optional": true, "requires": { "ansi-regex": "^2.0.0" } @@ -5998,14 +5981,12 @@ "wrappy": { "version": "1.0.2", "bundled": true, - "dev": true, - "optional": true + "dev": true }, "yallist": { "version": "3.0.2", "bundled": true, - "dev": true, - "optional": true + "dev": true } } }, @@ -8409,7 +8390,6 @@ "version": "0.1.4", "bundled": true, "dev": true, - "optional": true, "requires": { "kind-of": "^3.0.2", "longest": "^1.0.1", @@ -9592,8 +9572,7 @@ "longest": { "version": "1.0.1", "bundled": true, - "dev": true, - "optional": true + "dev": true }, "loose-envify": { "version": "1.3.1", diff --git a/src/extensions/scratch3_boost/index.js b/src/extensions/scratch3_boost/index.js index 8e6f77704..ccd7f6d5f 100644 --- a/src/extensions/scratch3_boost/index.js +++ b/src/extensions/scratch3_boost/index.js @@ -25,7 +25,6 @@ const iconURI = 'data:image/png;base64,iVBORw0KGgoAAAANSUhEUgAAAFAAAABQCAMAAAC5z * Boost BLE UUIDs. * @enum {string} */ - const BoostBLE = { service: '00001623-1212-efde-1623-785feabcd123', characteristic: '00001624-1212-efde-1623-785feabcd123', @@ -37,7 +36,6 @@ const BoostBLE = { * Boost Motor Max Power. * @constant {number} */ - const BoostMotorMaxPower = 100; /** @@ -50,7 +48,6 @@ const BoostPingInterval = 5000; * The number of continuous samples the color-sensor will evaluate color from. * @type {number} */ - const BoostColorSampleSize = 5; /** @@ -596,6 +593,11 @@ class Boost { color: BoostColor.NONE }; + /** + * An array of values from the Boost Vision Sensor. + * @type {Array} + * @private + */ this._colorBucket = []; /** @@ -820,7 +822,7 @@ class Boost { generateOutputCommand (portID, execution, subCommand, payload) { const hubID = 0x00; const command = [hubID, BoostMessage.OUTPUT, portID, execution, subCommand, ...payload]; - command.unshift(command.length + 1); + command.unshift(command.length + 1); // Prepend payload with length byte; return command; } @@ -848,14 +850,13 @@ class Boost { ].concat(numberToInt32Array(delta)).concat([ enableNotifications ]); + command.unshift(command.length + 1); // Prepend payload with length byte; - command.unshift(command.length + 1); - - return command; // Prepend payload with length byte; + return command; } /** - * Sets LED mode and initial color and starts reading data from peripheral after BLE has connected. + * Starts reading data from peripheral after BLE has connected. * @private */ _onConnect () { @@ -880,6 +881,7 @@ class Boost { * 0: Length of message * 1: Hub ID (always 0x00 at the moment) * 2: Message Type + * 3: Port ID * We base our switch-case on Message Type */ @@ -887,12 +889,6 @@ class Boost { const portID = data[3]; switch (messageType) { - - /* - * 4: Event - * 5: IO Type ID - */ - case BoostMessage.HUB_ATTACHED_IO: { // IO Attach/Detach events const event = data[4]; const typeId = data[5]; @@ -965,8 +961,8 @@ class Boost { * Ping the Boost hub. If the Boost hub has disconnected * for some reason, the BLE socket will get an error back and automatically * close the socket. + * @private */ - _pingDevice () { this._ble.read( BoostBLE.service, @@ -987,14 +983,12 @@ class Boost { // Record which port is connected to what type of device this._ports[portID] = type; - // Record motor port if (type === BoostIO.MOTORINT || type === BoostIO.MOTOREXT) { this._motors[portID] = new BoostMotor(this, portID); } // Set input format for tilt or distance sensor - let mode = null; let delta = 1; @@ -1009,6 +1003,10 @@ class Boost { break; case BoostIO.LED: mode = BoostMode.LED; + /** + * Sets the LED to blue to give an indication on the hub + * that it has connected successfully. + */ this.setLEDMode(); this.setLED(0x0000FF); break; @@ -1023,7 +1021,7 @@ class Boost { portID, mode, delta, - true + true // Receive feedback ); this.send(BoostBLE.characteristic, cmd); @@ -1636,6 +1634,10 @@ class Scratch3BoostBlocks { motors.push(motorIndex); }); + /** + * Checks that the motors given in args.MOTOR_ID exist, + * and maps a promise for each of the motor-commands to an array. + */ const promises = motors.map(portID => { const motor = this._peripheral.motor(portID); if (motor) { @@ -1646,7 +1648,10 @@ class Scratch3BoostBlocks { } return null; }); - // To prevent the block from returning a value, an empty function is added to the .then + /** + * Make sure all promises are resolved, i.e. all motor-commands have completed. + * To prevent the block from returning a value, an empty function is added to the .then + */ return Promise.all(promises).then(() => {}); } From d8f7b2c74f83ba401a4f527a0e2369ed5a6eb374 Mon Sep 17 00:00:00 2001 From: Kevin Andersen Date: Tue, 2 Apr 2019 19:32:07 -0400 Subject: [PATCH 30/30] updated package-lock.json --- package-lock.json | 5056 ++++++++++++++++++++++----------------------- 1 file changed, 2528 insertions(+), 2528 deletions(-) diff --git a/package-lock.json b/package-lock.json index c560ca10a..c209645b9 100644 --- a/package-lock.json +++ b/package-lock.json @@ -10,16 +10,16 @@ "integrity": "sha512-zbO/DtTnaDappBflIU3zYEgATLToRDmW5uN/EGH1GXaes7ydfjqmAoK++xmJIA+8HfDw7UyPZNdM8fhGhfmMhw==", "dev": true, "requires": { - "chokidar": "^2.0.3", - "commander": "^2.8.1", - "convert-source-map": "^1.1.0", - 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"buffer-indexof": "^1.0.0" + "buffer-indexof": "1.1.1" } }, "docdash": { @@ -3550,8 +3550,8 @@ "integrity": "sha1-xz2NKQnSIpHhoAejlYBNqLZl/mM=", "dev": true, "requires": { - "esutils": "^2.0.2", - "isarray": "^1.0.0" + "esutils": "2.0.2", + "isarray": "1.0.0" } }, "dom-serializer": { @@ -3559,8 +3559,8 @@ "resolved": "https://registry.npmjs.org/dom-serializer/-/dom-serializer-0.1.0.tgz", "integrity": "sha1-BzxpdUbOB4DOI75KKOKT5AvDDII=", "requires": { - "domelementtype": "~1.1.1", - "entities": "~1.1.1" + "domelementtype": "1.1.3", + "entities": "1.1.1" }, "dependencies": { "domelementtype": { @@ -3591,7 +3591,7 @@ "resolved": "https://registry.npmjs.org/domhandler/-/domhandler-2.4.2.tgz", "integrity": "sha512-JiK04h0Ht5u/80fdLMCEmV4zkNh2BcoMFBmZ/91WtYZ8qVXSKjiw7fXMgFPnHcSZgOo3XdinHvmnDUeMf5R4wA==", "requires": { - "domelementtype": "1" + "domelementtype": "1.3.0" } }, "domutils": { @@ -3599,8 +3599,8 @@ "resolved": "https://registry.npmjs.org/domutils/-/domutils-1.7.0.tgz", "integrity": "sha512-Lgd2XcJ/NjEw+7tFvfKxOzCYKZsdct5lczQ2ZaQY8Djz7pfAD3Gbp8ySJWtreII/vDlMVmxwa6pHmdxIYgttDg==", "requires": { - "dom-serializer": "0", - "domelementtype": "1" + "dom-serializer": "0.1.0", + "domelementtype": "1.3.0" } }, "duplexer2": { @@ -3618,10 +3618,10 @@ "integrity": "sha512-fO3Di4tBKJpYTFHAxTU00BcfWMY9w24r/x21a6rZRbsD/ToUgGxsMbiGRmB7uVAXeGKXD9MwiLZa5E97EVgIRQ==", "dev": true, "requires": { - "end-of-stream": "^1.0.0", - "inherits": "^2.0.1", - "readable-stream": "^2.0.0", - "stream-shift": "^1.0.0" + "end-of-stream": "1.4.1", + "inherits": "2.0.3", + "readable-stream": "2.2.9", + "stream-shift": "1.0.0" } }, "ecc-jsbn": { @@ -3630,7 +3630,7 @@ "integrity": "sha1-D8c6ntXw1Tw4GTOYUj735UN3dQU=", "optional": true, "requires": { - "jsbn": "~0.1.0" + "jsbn": "0.1.1" } }, "ee-first": { @@ -3642,16 +3642,16 @@ "elliptic": { "version": "6.4.1", "resolved": "https://registry.npmjs.org/elliptic/-/elliptic-6.4.1.tgz", - "integrity": "sha1-wtC3d2kRuGcixjLDwGxg8vgZk5o=", + "integrity": "sha512-BsXLz5sqX8OHcsh7CqBMztyXARmGQ3LWPtGjJi6DiJHq5C/qvi9P3OqgswKSDftbu8+IoI/QDTAm2fFnQ9SZSQ==", "dev": true, "requires": { - 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"cross-spawn": "^4", - "signal-exit": "^3.0.0" + "cross-spawn": "4.0.2", + "signal-exit": "3.0.2" }, "dependencies": { "cross-spawn": { @@ -5033,8 +5033,8 @@ "integrity": "sha1-e5JHYhwjrf3ThWAEqCPL45dCTUE=", "dev": true, "requires": { - "lru-cache": "^4.0.1", - "which": "^1.2.9" + "lru-cache": "4.1.3", + "which": "1.3.1" } } } @@ -5049,20 +5049,20 @@ "resolved": "https://registry.npmjs.org/form-data/-/form-data-2.1.4.tgz", "integrity": "sha1-M8GDrPGTJ27KqYFDpp6Uv+4XUNE=", "requires": { - "asynckit": "^0.4.0", - "combined-stream": "^1.0.5", - "mime-types": "^2.1.12" + "asynckit": "0.4.0", + "combined-stream": "1.0.5", + "mime-types": "2.1.16" } }, "format-message": { "version": "6.2.1", "resolved": "https://registry.npmjs.org/format-message/-/format-message-6.2.1.tgz", - "integrity": "sha512-6gBXI+MOE9pu9QNeZf95V87GKYiLCdUvhisjts75xonaPAshtBu20NTZt2l8kbYcoMtxNyH9E9af+aieIRfVmw==", + "integrity": "sha1-kKJ9KJYNQRT5mRL9Uc2heJvdP/A=", "requires": { - "format-message-formats": "^6.2.0", - "format-message-interpret": "^6.2.0", - 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"restore-cursor": "^1.0.1" + "restore-cursor": "1.0.1" } }, "commander": { @@ -5128,41 +5128,41 @@ "integrity": "sha1-yPxiAcf0DdCJQbh8CFdnOGpnmsw=", "dev": true, "requires": { - "babel-code-frame": "^6.16.0", - "chalk": "^1.1.3", - "concat-stream": "^1.5.2", - "debug": "^2.1.1", - "doctrine": "^2.0.0", - "escope": "^3.6.0", - "espree": "^3.4.0", - "esquery": "^1.0.0", - "estraverse": "^4.2.0", - "esutils": "^2.0.2", - "file-entry-cache": "^2.0.0", - "glob": "^7.0.3", - "globals": "^9.14.0", - "ignore": "^3.2.0", - "imurmurhash": "^0.1.4", - "inquirer": "^0.12.0", - "is-my-json-valid": "^2.10.0", - "is-resolvable": "^1.0.0", - "js-yaml": "^3.5.1", - "json-stable-stringify": "^1.0.0", - "levn": "^0.3.0", - "lodash": "^4.0.0", - "mkdirp": "^0.5.0", - "natural-compare": "^1.4.0", - "optionator": "^0.8.2", - "path-is-inside": "^1.0.1", - "pluralize": "^1.2.1", - "progress": "^1.1.8", - "require-uncached": "^1.0.2", - "shelljs": "^0.7.5", - "strip-bom": "^3.0.0", - "strip-json-comments": "~2.0.1", - "table": "^3.7.8", - "text-table": "~0.2.0", - "user-home": "^2.0.0" + "babel-code-frame": "6.22.0", + "chalk": "1.1.3", + "concat-stream": "1.6.0", + "debug": "2.6.6", + "doctrine": "2.0.0", + "escope": "3.6.0", + "espree": "3.5.4", + "esquery": "1.0.1", + "estraverse": "4.2.0", + "esutils": "2.0.2", + "file-entry-cache": "2.0.0", + "glob": "7.1.3", + "globals": "9.17.0", + "ignore": "3.3.10", + "imurmurhash": "0.1.4", + "inquirer": "0.12.0", + "is-my-json-valid": "2.16.0", + "is-resolvable": "1.1.0", + "js-yaml": "3.12.0", + "json-stable-stringify": "1.0.1", + "levn": "0.3.0", + "lodash": "4.17.4", + "mkdirp": "0.5.1", + "natural-compare": "1.4.0", + "optionator": "0.8.2", + "path-is-inside": "1.0.2", + "pluralize": "1.2.1", + "progress": "1.1.8", + "require-uncached": "1.0.3", + "shelljs": "0.7.8", + "strip-bom": "3.0.0", + "strip-json-comments": "2.0.1", + "table": "3.8.3", + "text-table": "0.2.0", + "user-home": "2.0.0" }, "dependencies": { "glob": { @@ -5171,12 +5171,12 @@ "integrity": "sha512-vcfuiIxogLV4DlGBHIUOwI0IbrJ8HWPc4MU7HzviGeNho/UJDfi6B5p3sHeWIQ0KGIU0Jpxi5ZHxemQfLkkAwQ==", "dev": true, "requires": { - "fs.realpath": "^1.0.0", - "inflight": "^1.0.4", - "inherits": "2", - "minimatch": "^3.0.4", - "once": "^1.3.0", - "path-is-absolute": "^1.0.0" + "fs.realpath": "1.0.0", + "inflight": "1.0.6", + "inherits": "2.0.3", + "minimatch": "3.0.4", + "once": "1.4.0", + "path-is-absolute": "1.0.1" } } } @@ -5187,8 +5187,8 @@ "integrity": "sha1-y+Hjr/zxzUS4DK3+0o3Hk6lwHS4=", "dev": true, "requires": { - "escape-string-regexp": "^1.0.5", - "object-assign": "^4.1.0" + "escape-string-regexp": "1.0.5", + "object-assign": "4.1.1" } }, "glob": { @@ -5197,11 +5197,11 @@ "integrity": "sha1-G8k2ueAvSmA/zCIuz3Yz0wuLk7E=", "dev": true, "requires": { - "inflight": "^1.0.4", - "inherits": "2", - "minimatch": "2 || 3", - "once": "^1.3.0", - "path-is-absolute": "^1.0.0" + "inflight": "1.0.6", + "inherits": "2.0.3", + "minimatch": "3.0.4", + "once": "1.4.0", + "path-is-absolute": "1.0.1" } }, "inquirer": { @@ -5210,19 +5210,19 @@ "integrity": "sha1-HvK/1jUE3wvHV4X/+MLEHfEvB34=", "dev": true, "requires": { - "ansi-escapes": "^1.1.0", - "ansi-regex": "^2.0.0", - "chalk": "^1.0.0", - "cli-cursor": "^1.0.1", - "cli-width": "^2.0.0", - "figures": "^1.3.5", - "lodash": "^4.3.0", - "readline2": "^1.0.1", - "run-async": "^0.1.0", - "rx-lite": "^3.1.2", - "string-width": "^1.0.1", - "strip-ansi": "^3.0.0", - "through": "^2.3.6" + "ansi-escapes": "1.4.0", + "ansi-regex": "2.1.1", + "chalk": "1.1.3", + "cli-cursor": "1.0.2", + "cli-width": "2.2.0", + "figures": "1.7.0", + "lodash": "4.17.4", + "readline2": "1.0.1", + "run-async": "0.1.0", + "rx-lite": "3.1.2", + "string-width": "1.0.2", + "strip-ansi": "3.0.1", + "through": "2.3.8" } }, "onetime": { @@ -5249,8 +5249,8 @@ "integrity": "sha1-NGYfRohjJ/7SmRR5FSJS35LapUE=", "dev": true, "requires": { - "exit-hook": "^1.0.0", - "onetime": "^1.0.0" + "exit-hook": "1.1.1", + "onetime": "1.1.0" } }, "run-async": { @@ -5259,7 +5259,7 @@ "integrity": "sha1-yK1KXhEGYeQCp9IbUw4AnyX444k=", "dev": true, "requires": { - "once": "^1.3.0" + "once": "1.4.0" } }, "source-map": { @@ -5274,9 +5274,9 @@ "integrity": "sha1-EYvfW4zcUaKn5w0hHgfisLmxB9M=", "dev": true, "requires": { - "code-point-at": "^1.0.0", - "is-fullwidth-code-point": "^1.0.0", - "strip-ansi": "^3.0.0" + "code-point-at": "1.1.0", + "is-fullwidth-code-point": "1.0.0", + "strip-ansi": "3.0.1" } }, "table": { @@ -5285,12 +5285,12 @@ "integrity": "sha1-K7xULw/amGGnVdOUf+/Ys/UThV8=", "dev": true, "requires": { - "ajv": "^4.7.0", - "ajv-keywords": "^1.0.0", - "chalk": "^1.1.1", - "lodash": "^4.0.0", + "ajv": "4.11.8", + "ajv-keywords": "1.5.1", + "chalk": "1.1.3", + "lodash": "4.17.4", "slice-ansi": "0.0.4", - "string-width": "^2.0.0" + "string-width": "2.1.1" }, "dependencies": { "ansi-regex": { @@ -5308,11 +5308,11 @@ "string-width": { "version": "2.1.1", "resolved": "https://registry.npmjs.org/string-width/-/string-width-2.1.1.tgz", - "integrity": "sha512-nOqH59deCq9SRHlxq1Aw85Jnt4w6KvLKqWVik6oA9ZklXLNIOlqg4F2yrT1MVaTjAqvVwdfeZ7w7aCvJD7ugkw==", + "integrity": "sha1-q5Pyeo3BPSjKyBXEYhQ6bZASrp4=", "dev": true, "requires": { - "is-fullwidth-code-point": "^2.0.0", - "strip-ansi": "^4.0.0" + "is-fullwidth-code-point": "2.0.0", + "strip-ansi": "4.0.0" } }, "strip-ansi": { @@ -5321,7 +5321,7 @@ "integrity": "sha1-qEeQIusaw2iocTibY1JixQXuNo8=", "dev": true, "requires": { - "ansi-regex": "^3.0.0" + "ansi-regex": "3.0.0" } } } @@ -5340,9 +5340,9 @@ "integrity": "sha512-q3nN7b/ONvzaUtLrCt13TDKbl7Rvc/Gk9bR2HfQqUWPKkhP+lciq3MKQDIeGb79dvciKdbWT/FB47YrHogQCCA==", "dev": true, "requires": { - "crc32": "^0.2.2", - "format-message-parse": "^6.2.0", - "format-message-print": "^6.2.0" + "crc32": "0.2.2", + "format-message-parse": "6.2.0", + "format-message-print": "6.2.0" }, "dependencies": { "format-message-parse": { @@ -5358,8 +5358,8 @@ "resolved": "https://registry.npmjs.org/format-message-interpret/-/format-message-interpret-6.2.0.tgz", "integrity": "sha512-G2WxW9c/vk97rPgbP67p/6BdpoZI8g4LdKDIqxAlXQq1ZI3uQTV2a5f9q3Big04hjSsI8uTgzWWmF4ht50foyw==", "requires": { - "format-message-formats": "^6.2.0", - "lookup-closest-locale": "^6.2.0" + "format-message-formats": "6.2.0", + "lookup-closest-locale": "6.2.0" }, "dependencies": { "format-message-formats": { @@ -5392,7 +5392,7 @@ "integrity": "sha1-QpD60n8T6Jvn8zeZxrxaCr//DRk=", "dev": true, "requires": { - "map-cache": "^0.2.2" + "map-cache": "0.2.2" } }, "fresh": { @@ -5407,8 +5407,8 @@ "integrity": "sha1-i/tVAr3kpNNs/e6gB/zKIdfjgq8=", "dev": true, "requires": { - "inherits": "^2.0.1", - "readable-stream": "^2.0.0" + "inherits": "2.0.3", + "readable-stream": "2.2.9" } }, "from2-array": { @@ -5432,9 +5432,9 @@ "integrity": "sha512-66Pm4RYbjzdyeuqudYqhFiNBbCIuI9kgRqLPSHIlXHidW8NIQtVdkM1yeZ4lXwuhbTETv3EUGMNHAAw6hiundQ==", "dev": true, "requires": { - "graceful-fs": "^4.1.2", - "jsonfile": "^4.0.0", - "universalify": "^0.1.0" + "graceful-fs": "4.1.11", + "jsonfile": "4.0.0", + "universalify": "0.1.2" } }, "fs-readdir-recursive": { @@ -5449,10 +5449,10 @@ "integrity": "sha1-tH31NJPvkR33VzHnCp3tAYnbQMk=", "dev": true, "requires": { - "graceful-fs": "^4.1.2", - "iferr": "^0.1.5", - "imurmurhash": "^0.1.4", - "readable-stream": "1 || 2" + "graceful-fs": "4.1.11", + "iferr": "0.1.5", + "imurmurhash": "0.1.4", + "readable-stream": "2.2.9" } }, "fs.realpath": { @@ -5464,12 +5464,12 @@ "fsevents": { "version": "1.2.4", "resolved": "https://registry.npmjs.org/fsevents/-/fsevents-1.2.4.tgz", - "integrity": "sha1-9B3LGvJYKvNpLaNvxVy9jhBBxCY=", + "integrity": "sha512-z8H8/diyk76B7q5wg+Ud0+CqzcAF3mBBI/bA5ne5zrRUUIvNkJY//D3BqyH571KuAC4Nr7Rw7CjWX4r0y9DvNg==", "dev": true, "optional": true, "requires": { - "nan": "^2.9.2", - "node-pre-gyp": "^0.10.0" + "nan": "2.10.0", + "node-pre-gyp": "0.10.0" }, "dependencies": { "abbrev": { @@ -5481,7 +5481,8 @@ "ansi-regex": { "version": "2.1.1", "bundled": true, - "dev": true + "dev": true, + "optional": true }, "aproba": { "version": "1.2.0", @@ -5495,21 +5496,23 @@ "dev": true, "optional": true, "requires": { - "delegates": "^1.0.0", - "readable-stream": "^2.0.6" + "delegates": "1.0.0", + "readable-stream": "2.3.6" } }, "balanced-match": { "version": "1.0.0", "bundled": true, - "dev": true + "dev": true, + "optional": true }, "brace-expansion": { "version": "1.1.11", "bundled": true, "dev": true, + "optional": true, "requires": { - "balanced-match": "^1.0.0", + "balanced-match": "1.0.0", "concat-map": "0.0.1" } }, @@ -5522,17 +5525,20 @@ "code-point-at": { "version": "1.1.0", "bundled": true, - "dev": true + "dev": true, + "optional": true }, "concat-map": { "version": "0.0.1", "bundled": true, - "dev": true + "dev": true, + "optional": true }, "console-control-strings": { "version": "1.1.0", "bundled": true, - "dev": true + "dev": true, + "optional": true }, "core-util-is": { "version": "1.0.2", @@ -5573,7 +5579,7 @@ "dev": true, "optional": true, "requires": { - "minipass": "^2.2.1" + "minipass": "2.2.4" } }, "fs.realpath": { @@ -5588,14 +5594,14 @@ "dev": true, "optional": true, "requires": { - "aproba": "^1.0.3", - "console-control-strings": "^1.0.0", - "has-unicode": "^2.0.0", - "object-assign": "^4.1.0", - "signal-exit": "^3.0.0", - "string-width": "^1.0.1", - "strip-ansi": "^3.0.1", - "wide-align": "^1.1.0" + "aproba": "1.2.0", + "console-control-strings": "1.1.0", + "has-unicode": "2.0.1", + "object-assign": "4.1.1", + "signal-exit": "3.0.2", + "string-width": "1.0.2", + "strip-ansi": "3.0.1", + "wide-align": "1.1.2" } }, "glob": { @@ -5604,12 +5610,12 @@ "dev": true, "optional": true, "requires": { - "fs.realpath": "^1.0.0", - "inflight": "^1.0.4", - "inherits": "2", - "minimatch": "^3.0.4", - "once": "^1.3.0", - "path-is-absolute": "^1.0.0" + "fs.realpath": "1.0.0", + "inflight": "1.0.6", + "inherits": "2.0.3", + "minimatch": "3.0.4", + "once": "1.4.0", + "path-is-absolute": "1.0.1" } }, "has-unicode": { @@ -5624,7 +5630,7 @@ "dev": true, "optional": true, "requires": { - "safer-buffer": "^2.1.0" + "safer-buffer": "2.1.2" } }, "ignore-walk": { @@ -5633,7 +5639,7 @@ "dev": true, "optional": true, "requires": { - "minimatch": "^3.0.4" + "minimatch": "3.0.4" } }, "inflight": { @@ -5642,14 +5648,15 @@ "dev": true, "optional": true, "requires": { - "once": "^1.3.0", - "wrappy": "1" + "once": "1.4.0", + "wrappy": "1.0.2" } }, "inherits": { "version": "2.0.3", "bundled": true, - "dev": true + "dev": true, + "optional": true }, "ini": { "version": "1.3.5", @@ -5661,8 +5668,9 @@ "version": "1.0.0", "bundled": true, "dev": true, + "optional": true, "requires": { - "number-is-nan": "^1.0.0" + "number-is-nan": "1.0.1" } }, "isarray": { @@ -5675,22 +5683,25 @@ "version": "3.0.4", "bundled": true, "dev": true, + "optional": true, "requires": { - "brace-expansion": "^1.1.7" + "brace-expansion": "1.1.11" } }, "minimist": { "version": "0.0.8", "bundled": true, - "dev": true + "dev": true, + "optional": true }, "minipass": { "version": "2.2.4", "bundled": true, "dev": true, + "optional": true, "requires": { - "safe-buffer": "^5.1.1", - "yallist": "^3.0.0" + "safe-buffer": "5.1.1", + "yallist": "3.0.2" } }, "minizlib": { @@ -5699,13 +5710,14 @@ "dev": true, "optional": true, "requires": { - "minipass": "^2.2.1" + "minipass": "2.2.4" } }, "mkdirp": { "version": "0.5.1", "bundled": true, "dev": true, + "optional": true, "requires": { "minimist": "0.0.8" } @@ -5722,9 +5734,9 @@ "dev": true, "optional": true, "requires": { - "debug": "^2.1.2", - "iconv-lite": "^0.4.4", - "sax": "^1.2.4" + "debug": "2.6.9", + "iconv-lite": "0.4.21", + "sax": "1.2.4" } }, "node-pre-gyp": { @@ -5733,16 +5745,16 @@ "dev": true, "optional": true, "requires": { - "detect-libc": "^1.0.2", - "mkdirp": "^0.5.1", - "needle": "^2.2.0", - "nopt": "^4.0.1", - "npm-packlist": "^1.1.6", - "npmlog": "^4.0.2", - "rc": "^1.1.7", - "rimraf": "^2.6.1", - "semver": "^5.3.0", - "tar": "^4" + "detect-libc": "1.0.3", + "mkdirp": "0.5.1", + "needle": "2.2.0", + "nopt": "4.0.1", + "npm-packlist": "1.1.10", + "npmlog": "4.1.2", + "rc": "1.2.7", + "rimraf": "2.6.2", + "semver": "5.5.0", + "tar": "4.4.1" } }, "nopt": { @@ -5751,8 +5763,8 @@ "dev": true, "optional": true, "requires": { - "abbrev": "1", - "osenv": "^0.1.4" + "abbrev": "1.1.1", + "osenv": "0.1.5" } }, "npm-bundled": { @@ -5767,8 +5779,8 @@ "dev": true, "optional": true, "requires": { - "ignore-walk": "^3.0.1", - "npm-bundled": "^1.0.1" + "ignore-walk": "3.0.1", + "npm-bundled": "1.0.3" } }, "npmlog": { @@ -5777,16 +5789,17 @@ "dev": true, "optional": true, "requires": { - "are-we-there-yet": "~1.1.2", - "console-control-strings": "~1.1.0", - "gauge": "~2.7.3", - "set-blocking": "~2.0.0" + "are-we-there-yet": "1.1.4", + "console-control-strings": "1.1.0", + "gauge": "2.7.4", + "set-blocking": "2.0.0" } }, "number-is-nan": { "version": "1.0.1", "bundled": true, - "dev": true + "dev": true, + "optional": true }, "object-assign": { "version": "4.1.1", @@ -5798,8 +5811,9 @@ "version": "1.4.0", "bundled": true, "dev": true, + "optional": true, "requires": { - "wrappy": "1" + "wrappy": "1.0.2" } }, "os-homedir": { @@ -5820,8 +5834,8 @@ "dev": true, "optional": true, "requires": { - "os-homedir": "^1.0.0", - "os-tmpdir": "^1.0.0" + "os-homedir": "1.0.2", + "os-tmpdir": "1.0.2" } }, "path-is-absolute": { @@ -5842,10 +5856,10 @@ "dev": true, "optional": true, "requires": { - "deep-extend": "^0.5.1", - "ini": "~1.3.0", - "minimist": "^1.2.0", - "strip-json-comments": "~2.0.1" + "deep-extend": "0.5.1", + "ini": "1.3.5", + "minimist": "1.2.0", + "strip-json-comments": "2.0.1" }, "dependencies": { "minimist": { @@ -5862,13 +5876,13 @@ "dev": true, "optional": true, "requires": { - "core-util-is": "~1.0.0", - "inherits": "~2.0.3", - "isarray": "~1.0.0", - "process-nextick-args": "~2.0.0", - "safe-buffer": "~5.1.1", - "string_decoder": "~1.1.1", - "util-deprecate": "~1.0.1" + "core-util-is": "1.0.2", + "inherits": "2.0.3", + "isarray": "1.0.0", + "process-nextick-args": "2.0.0", + "safe-buffer": "5.1.1", + "string_decoder": "1.1.1", + "util-deprecate": "1.0.2" } }, "rimraf": { @@ -5877,13 +5891,14 @@ "dev": true, "optional": true, "requires": { - "glob": "^7.0.5" + "glob": "7.1.2" } }, "safe-buffer": { "version": "5.1.1", "bundled": true, - "dev": true + "dev": true, + "optional": true }, "safer-buffer": { "version": "2.1.2", @@ -5919,10 +5934,11 @@ "version": "1.0.2", "bundled": true, "dev": true, + "optional": true, "requires": { - 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"color-convert": "^1.9.0" + "color-convert": "1.9.2" } }, "chalk": { @@ -6716,9 +6735,9 @@ "integrity": "sha512-ObN6h1v2fTJSmUXoS3nMQ92LbDK9be4TV+6G+omQlGJFdcUX5heKi1LZ1YnRMIgwTLEj3E24bT6tYni50rlCfQ==", "dev": true, "requires": { - "ansi-styles": "^3.2.1", - "escape-string-regexp": "^1.0.5", - "supports-color": "^5.3.0" + "ansi-styles": "3.2.1", + "escape-string-regexp": "1.0.5", + "supports-color": "5.4.0" } }, "strip-ansi": { @@ -6727,7 +6746,7 @@ "integrity": "sha1-qEeQIusaw2iocTibY1JixQXuNo8=", "dev": true, "requires": { - "ansi-regex": "^3.0.0" + "ansi-regex": "3.0.0" } }, "supports-color": { @@ -6736,7 +6755,7 @@ "integrity": "sha512-zjaXglF5nnWpsq470jSv6P9DwPvgLkuapYmfDm3JWOm0vkNTVF2tI4UrN2r6jH1qM/uc/WtxYY1hYoA2dOKj5w==", "dev": true, "requires": { - "has-flag": "^3.0.0" + "has-flag": "3.0.0" } } } @@ -6747,7 +6766,7 @@ "integrity": "sha1-rp+/k7mEh4eF1QqN4bNWlWBYz1w=", "dev": true, "requires": { - "meow": "^3.3.0" + "meow": "3.7.0" } }, "interpret": { @@ -6768,7 +6787,7 @@ "integrity": "sha1-nh9WrArNtr8wMwbzOL47IErmA2A=", "dev": true, "requires": { - 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"path-is-inside": "^1.0.1" + "path-is-inside": "1.0.2" } }, "is-plain-obj": { @@ -7001,7 +7020,7 @@ "integrity": "sha512-h5PpgXkWitc38BBMYawTYMWJHFZJVnBquFE57xFpjB8pJFiF6gZ+bU+WyI/yqXiFR5mdLsgYNaPe8uao6Uv9Og==", "dev": true, "requires": { - "isobject": "^3.0.1" + "isobject": "3.0.1" } }, "is-promise": { @@ -7021,7 +7040,7 @@ "integrity": "sha1-VRdIm1RwkbCTDglWVM7SXul+lJE=", "dev": true, "requires": { - "has": "^1.0.1" + "has": "1.0.1" } }, "is-resolvable": { @@ -7089,8 +7108,8 @@ "dev": true, "optional": true, "requires": { - "node-fetch": "^1.0.1", - "whatwg-fetch": ">=0.10.0" + "node-fetch": "1.7.3", + "whatwg-fetch": "2.0.3" } }, "isstream": { @@ -7121,8 +7140,8 @@ "integrity": "sha512-PIt2cnwmPfL4hKNwqeiuz4bKfnzHTBv6HyVgjahA6mPLwPDzjDWrplJBMjHUFxku/N3FlmrbyPclad+I+4mJ3A==", "dev": true, "requires": { - "argparse": "^1.0.7", - "esprima": "^4.0.0" + "argparse": "1.0.9", + "esprima": "4.0.1" } }, "js2xmlparser": { @@ -7131,7 +7150,7 @@ "integrity": "sha1-P7YOqgicVED5MZ9RdgzNB+JJlzM=", "dev": true, "requires": { - 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"chalk": "^2.0.1" + "chalk": "2.4.1" }, "dependencies": { "ansi-styles": { @@ -7524,7 +7543,7 @@ "integrity": "sha512-VT0ZI6kZRdTh8YyJw3SMbYm/u+NqfsAxEpWO0Pf9sq8/e94WxxOpPKx9FR1FlyCtOVDNOQ+8ntlqFxiRc+r5qA==", "dev": true, "requires": { - "color-convert": "^1.9.0" + "color-convert": "1.9.2" } }, "chalk": { @@ -7533,9 +7552,9 @@ "integrity": "sha512-ObN6h1v2fTJSmUXoS3nMQ92LbDK9be4TV+6G+omQlGJFdcUX5heKi1LZ1YnRMIgwTLEj3E24bT6tYni50rlCfQ==", "dev": true, "requires": { - "ansi-styles": "^3.2.1", - "escape-string-regexp": "^1.0.5", - "supports-color": "^5.3.0" + "ansi-styles": "3.2.1", + "escape-string-regexp": "1.0.5", + "supports-color": "5.4.0" } }, "supports-color": { @@ -7544,7 +7563,7 @@ "integrity": "sha512-zjaXglF5nnWpsq470jSv6P9DwPvgLkuapYmfDm3JWOm0vkNTVF2tI4UrN2r6jH1qM/uc/WtxYY1hYoA2dOKj5w==", "dev": true, "requires": { - "has-flag": "^3.0.0" + "has-flag": "3.0.0" } } } @@ -7561,8 +7580,8 @@ "integrity": "sha512-V/73qkPuJmx4BcBF19xPBr+0ZRVBhc4POxvZTZdMeXpJ4NItXSJ/MSwuFT0kQJlCbXvdlZoQQ/418bS1y9Jh6A==", "dev": true, "requires": { - "es6-symbol": "^3.1.1", - "object.assign": "^4.1.0" + "es6-symbol": "3.1.1", + "object.assign": "4.1.0" } }, "long": { @@ -7577,7 +7596,7 @@ "integrity": "sha1-0aitM/qc4OcT1l/dCsi3SNR4yEg=", "dev": true, "requires": { - "js-tokens": "^3.0.0" + "js-tokens": "3.0.1" } }, "loud-rejection": { @@ -7586,8 +7605,8 @@ "integrity": "sha1-W0b4AUft7leIcPCG0Eghz5mOVR8=", "dev": true, "requires": { - "currently-unhandled": "^0.4.1", - "signal-exit": "^3.0.0" + "currently-unhandled": "0.4.1", + "signal-exit": "3.0.2" } }, "lru-cache": { @@ -7596,13 +7615,13 @@ "integrity": "sha512-fFEhvcgzuIoJVUF8fYr5KR0YqxD238zgObTps31YdADwPPAp82a4M8TrckkWyx7ekNlf9aBcVn81cFwwXngrJA==", "dev": true, "requires": { - "pseudomap": "^1.0.2", - "yallist": "^2.1.2" + "pseudomap": "1.0.2", + "yallist": "2.1.2" } }, "magic-string": { "version": "0.22.5", - "resolved": "http://registry.npmjs.org/magic-string/-/magic-string-0.22.5.tgz", + "resolved": "https://registry.npmjs.org/magic-string/-/magic-string-0.22.5.tgz", "integrity": "sha512-oreip9rJZkzvA8Qzk9HFs8fZGF/u7H/gtrE8EN6RjKJ9kh2HlC+yQ2QezifqTZfGyiuAV0dRv5a+y/8gBb1m9w==", "dev": true, "requires": { @@ -7615,7 +7634,7 @@ "integrity": "sha512-2w31R7SJtieJJnQtGc7RVL2StM2vGYVfqUOvUDxH6bC6aJTxPxTF0GnIgCyu7tjockiUWAYQRbxa7vKn34s5sQ==", "dev": true, "requires": { - 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"prepend-http": "^1.0.0", - "query-string": "^4.1.0", - "sort-keys": "^1.0.0" + "object-assign": "4.1.1", + "prepend-http": "1.0.4", + "query-string": "4.3.4", + "sort-keys": "1.1.2" } }, "npm-run-path": { @@ -8342,7 +8361,7 @@ "integrity": "sha1-NakjLfo11wZ7TLLd8jV7GHFTbF8=", "dev": true, "requires": { - "path-key": "^2.0.0" + "path-key": "2.0.1" } }, "number-is-nan": { @@ -8357,43 +8376,44 @@ "integrity": "sha512-w8OdJAhXL5izerzZMdqzYKMj/pgHJyY3qEPYBjLLxrhcVoHEY9pU5ENIiZyCgG9OR7x3VcUMoD40o6PtVpfR4g==", "dev": true, "requires": { - "archy": "^1.0.0", - "arrify": "^1.0.1", - "caching-transform": "^1.0.0", - "convert-source-map": "^1.5.1", - "debug-log": "^1.0.1", - "default-require-extensions": "^1.0.0", - "find-cache-dir": "^0.1.1", - "find-up": "^2.1.0", - "foreground-child": "^1.5.3", - "glob": "^7.0.6", - "istanbul-lib-coverage": "^1.1.2", - "istanbul-lib-hook": "^1.1.0", - "istanbul-lib-instrument": "^1.10.0", - "istanbul-lib-report": "^1.1.3", - "istanbul-lib-source-maps": "^1.2.3", - "istanbul-reports": "^1.4.0", - "md5-hex": "^1.2.0", - "merge-source-map": "^1.1.0", - "micromatch": "^3.1.10", - "mkdirp": "^0.5.0", - "resolve-from": "^2.0.0", - "rimraf": "^2.6.2", - "signal-exit": "^3.0.1", - "spawn-wrap": "^1.4.2", - "test-exclude": "^4.2.0", + "archy": "1.0.0", + "arrify": "1.0.1", + "caching-transform": "1.0.1", + "convert-source-map": "1.5.1", + "debug-log": "1.0.1", + "default-require-extensions": "1.0.0", + "find-cache-dir": "0.1.1", + "find-up": "2.1.0", + "foreground-child": "1.5.6", + "glob": "7.1.2", + "istanbul-lib-coverage": "1.2.0", + "istanbul-lib-hook": "1.1.0", + "istanbul-lib-instrument": "1.10.1", + "istanbul-lib-report": "1.1.3", + "istanbul-lib-source-maps": "1.2.3", + "istanbul-reports": "1.4.0", + "md5-hex": "1.3.0", + "merge-source-map": "1.1.0", + "micromatch": "3.1.10", + "mkdirp": "0.5.1", + "resolve-from": "2.0.0", + "rimraf": "2.6.2", + "signal-exit": "3.0.2", + "spawn-wrap": "1.4.2", + "test-exclude": "4.2.1", "yargs": "11.1.0", - "yargs-parser": "^8.0.0" + "yargs-parser": "8.1.0" }, "dependencies": { "align-text": { "version": "0.1.4", "bundled": true, "dev": true, + "optional": true, "requires": { - "kind-of": "^3.0.2", - "longest": "^1.0.1", - "repeat-string": "^1.5.2" + "kind-of": "3.2.2", + "longest": "1.0.1", + "repeat-string": "1.6.1" } }, "amdefine": { @@ -8416,7 +8436,7 @@ "bundled": true, "dev": true, "requires": { - "default-require-extensions": "^1.0.0" + "default-require-extensions": "1.0.0" } }, "archy": { @@ -8469,9 +8489,9 @@ "bundled": true, "dev": true, "requires": { - "chalk": "^1.1.3", - "esutils": "^2.0.2", - "js-tokens": "^3.0.2" + "chalk": "1.1.3", + "esutils": "2.0.2", + "js-tokens": "3.0.2" } }, "babel-generator": { @@ -8479,14 +8499,14 @@ "bundled": true, "dev": true, "requires": { - "babel-messages": "^6.23.0", - "babel-runtime": "^6.26.0", - "babel-types": "^6.26.0", - "detect-indent": "^4.0.0", - "jsesc": "^1.3.0", - "lodash": "^4.17.4", - "source-map": "^0.5.7", - "trim-right": "^1.0.1" + "babel-messages": "6.23.0", + "babel-runtime": "6.26.0", + "babel-types": "6.26.0", + "detect-indent": "4.0.0", + "jsesc": "1.3.0", + "lodash": "4.17.10", + "source-map": "0.5.7", + "trim-right": "1.0.1" } }, "babel-messages": { @@ -8494,7 +8514,7 @@ "bundled": true, "dev": true, "requires": { - "babel-runtime": "^6.22.0" + "babel-runtime": "6.26.0" } }, "babel-runtime": { @@ -8502,8 +8522,8 @@ "bundled": true, "dev": true, "requires": { - "core-js": "^2.4.0", - "regenerator-runtime": "^0.11.0" + "core-js": "2.5.6", + "regenerator-runtime": "0.11.1" } }, "babel-template": { @@ -8511,11 +8531,11 @@ "bundled": true, "dev": true, "requires": { - "babel-runtime": "^6.26.0", - "babel-traverse": "^6.26.0", - "babel-types": "^6.26.0", - "babylon": "^6.18.0", - "lodash": "^4.17.4" + "babel-runtime": "6.26.0", + "babel-traverse": "6.26.0", + "babel-types": "6.26.0", + "babylon": "6.18.0", + "lodash": "4.17.10" } }, "babel-traverse": { @@ -8523,15 +8543,15 @@ "bundled": true, "dev": true, "requires": { - "babel-code-frame": "^6.26.0", - "babel-messages": "^6.23.0", - "babel-runtime": "^6.26.0", - "babel-types": "^6.26.0", - "babylon": "^6.18.0", - "debug": "^2.6.8", - "globals": "^9.18.0", - "invariant": "^2.2.2", - "lodash": "^4.17.4" + "babel-code-frame": "6.26.0", + "babel-messages": "6.23.0", + "babel-runtime": "6.26.0", + "babel-types": "6.26.0", + "babylon": "6.18.0", + "debug": "2.6.9", + "globals": "9.18.0", + "invariant": "2.2.4", + "lodash": "4.17.10" } }, "babel-types": { @@ -8539,10 +8559,10 @@ "bundled": true, "dev": true, "requires": { - "babel-runtime": "^6.26.0", - "esutils": "^2.0.2", - "lodash": "^4.17.4", - "to-fast-properties": "^1.0.3" + "babel-runtime": "6.26.0", + "esutils": "2.0.2", + "lodash": "4.17.10", + "to-fast-properties": "1.0.3" } }, "babylon": { @@ -8560,13 +8580,13 @@ "bundled": true, "dev": true, "requires": { - "cache-base": "^1.0.1", - "class-utils": "^0.3.5", - "component-emitter": "^1.2.1", - "define-property": "^1.0.0", - "isobject": "^3.0.1", - "mixin-deep": "^1.2.0", - "pascalcase": "^0.1.1" + "cache-base": "1.0.1", + "class-utils": "0.3.6", + "component-emitter": "1.2.1", + "define-property": "1.0.0", + "isobject": "3.0.1", + "mixin-deep": "1.3.1", + "pascalcase": "0.1.1" }, "dependencies": { "define-property": { @@ -8574,7 +8594,7 @@ "bundled": true, "dev": true, "requires": { - "is-descriptor": "^1.0.0" + "is-descriptor": "1.0.2" } }, "is-accessor-descriptor": { @@ -8582,7 +8602,7 @@ "bundled": true, "dev": true, "requires": { - "kind-of": "^6.0.0" + "kind-of": "6.0.2" } }, "is-data-descriptor": { @@ -8590,7 +8610,7 @@ "bundled": true, "dev": true, "requires": { - "kind-of": "^6.0.0" + "kind-of": "6.0.2" } }, "is-descriptor": { @@ -8598,9 +8618,9 @@ "bundled": true, "dev": true, "requires": { - "is-accessor-descriptor": "^1.0.0", - "is-data-descriptor": "^1.0.0", - "kind-of": "^6.0.2" + "is-accessor-descriptor": "1.0.0", + "is-data-descriptor": "1.0.0", + "kind-of": "6.0.2" } }, "isobject": { @@ -8620,7 +8640,7 @@ "bundled": true, "dev": true, "requires": { - "balanced-match": "^1.0.0", + "balanced-match": "1.0.0", "concat-map": "0.0.1" } }, @@ -8629,16 +8649,16 @@ "bundled": true, "dev": true, "requires": { - "arr-flatten": "^1.1.0", - "array-unique": "^0.3.2", - "extend-shallow": "^2.0.1", - "fill-range": "^4.0.0", - "isobject": "^3.0.1", - "repeat-element": "^1.1.2", - "snapdragon": "^0.8.1", - "snapdragon-node": "^2.0.1", - "split-string": "^3.0.2", - "to-regex": "^3.0.1" + "arr-flatten": "1.1.0", + "array-unique": "0.3.2", + "extend-shallow": "2.0.1", + "fill-range": "4.0.0", + "isobject": "3.0.1", + "repeat-element": "1.1.2", + "snapdragon": "0.8.2", + "snapdragon-node": "2.1.1", + "split-string": "3.1.0", + "to-regex": "3.0.2" }, "dependencies": { "extend-shallow": { @@ -8646,7 +8666,7 @@ "bundled": true, "dev": true, "requires": { - "is-extendable": "^0.1.0" + "is-extendable": "0.1.1" } } } @@ -8661,15 +8681,15 @@ "bundled": true, "dev": true, "requires": { - "collection-visit": "^1.0.0", - "component-emitter": "^1.2.1", - "get-value": "^2.0.6", - "has-value": "^1.0.0", - "isobject": "^3.0.1", - "set-value": "^2.0.0", - "to-object-path": "^0.3.0", - "union-value": "^1.0.0", - "unset-value": "^1.0.0" + "collection-visit": "1.0.0", + "component-emitter": "1.2.1", + "get-value": "2.0.6", + "has-value": "1.0.0", + "isobject": "3.0.1", + "set-value": "2.0.0", + "to-object-path": "0.3.0", + "union-value": "1.0.0", + "unset-value": "1.0.0" }, "dependencies": { "isobject": { @@ -8684,9 +8704,9 @@ "bundled": true, "dev": true, "requires": { - "md5-hex": "^1.2.0", - "mkdirp": "^0.5.1", - "write-file-atomic": "^1.1.4" + "md5-hex": "1.3.0", + "mkdirp": "0.5.1", + "write-file-atomic": "1.3.4" } }, "camelcase": { @@ -8701,8 +8721,8 @@ "dev": true, "optional": true, "requires": { - "align-text": "^0.1.3", - "lazy-cache": "^1.0.3" + "align-text": "0.1.4", + "lazy-cache": "1.0.4" } }, "chalk": { @@ -8710,11 +8730,11 @@ "bundled": true, "dev": true, "requires": { - "ansi-styles": "^2.2.1", - "escape-string-regexp": "^1.0.2", - "has-ansi": "^2.0.0", - "strip-ansi": "^3.0.0", - "supports-color": "^2.0.0" + "ansi-styles": "2.2.1", + "escape-string-regexp": "1.0.5", + "has-ansi": "2.0.0", + "strip-ansi": "3.0.1", + "supports-color": "2.0.0" } }, "class-utils": { @@ -8722,10 +8742,10 @@ "bundled": true, "dev": true, "requires": { - "arr-union": "^3.1.0", - "define-property": "^0.2.5", - "isobject": "^3.0.0", - "static-extend": "^0.1.1" + "arr-union": "3.1.0", + "define-property": "0.2.5", + "isobject": "3.0.1", + "static-extend": "0.1.2" }, "dependencies": { "define-property": { @@ -8733,7 +8753,7 @@ "bundled": true, "dev": true, "requires": { - "is-descriptor": "^0.1.0" + "is-descriptor": "0.1.6" } }, "isobject": { @@ -8749,8 +8769,8 @@ "dev": true, "optional": true, "requires": { - "center-align": "^0.1.1", - "right-align": "^0.1.1", + "center-align": "0.1.3", + "right-align": "0.1.3", "wordwrap": "0.0.2" }, "dependencies": { @@ -8772,8 +8792,8 @@ "bundled": true, "dev": true, "requires": { - "map-visit": "^1.0.0", - "object-visit": "^1.0.0" + "map-visit": "1.0.0", + "object-visit": "1.0.1" } }, "commondir": { @@ -8811,8 +8831,8 @@ "bundled": true, "dev": true, "requires": { - "lru-cache": "^4.0.1", - "which": "^1.2.9" + "lru-cache": "4.1.3", + "which": "1.3.0" } }, "debug": { @@ -8843,7 +8863,7 @@ "bundled": true, "dev": true, "requires": { - "strip-bom": "^2.0.0" + "strip-bom": "2.0.0" } }, "define-property": { @@ -8851,8 +8871,8 @@ "bundled": true, "dev": true, "requires": { - "is-descriptor": "^1.0.2", - "isobject": "^3.0.1" + "is-descriptor": "1.0.2", + "isobject": "3.0.1" }, "dependencies": { "is-accessor-descriptor": { @@ -8860,7 +8880,7 @@ "bundled": true, "dev": true, "requires": { - "kind-of": "^6.0.0" + "kind-of": "6.0.2" } }, "is-data-descriptor": { @@ -8868,7 +8888,7 @@ "bundled": true, "dev": true, "requires": { - "kind-of": "^6.0.0" + "kind-of": "6.0.2" } }, "is-descriptor": { @@ -8876,9 +8896,9 @@ "bundled": true, "dev": true, "requires": { - "is-accessor-descriptor": "^1.0.0", - "is-data-descriptor": "^1.0.0", - "kind-of": "^6.0.2" + "is-accessor-descriptor": "1.0.0", + "is-data-descriptor": "1.0.0", + "kind-of": "6.0.2" } }, "isobject": { @@ -8898,7 +8918,7 @@ "bundled": true, "dev": true, "requires": { - "repeating": "^2.0.0" + "repeating": "2.0.1" } }, "error-ex": { @@ -8906,7 +8926,7 @@ "bundled": true, "dev": true, "requires": { - "is-arrayish": "^0.2.1" + "is-arrayish": "0.2.1" } }, "escape-string-regexp": { @@ -8924,13 +8944,13 @@ "bundled": true, "dev": true, "requires": { - "cross-spawn": "^5.0.1", - "get-stream": "^3.0.0", - "is-stream": "^1.1.0", - "npm-run-path": "^2.0.0", - "p-finally": "^1.0.0", - "signal-exit": "^3.0.0", - "strip-eof": "^1.0.0" + "cross-spawn": "5.1.0", + "get-stream": "3.0.0", + "is-stream": "1.1.0", + "npm-run-path": "2.0.2", + "p-finally": "1.0.0", + "signal-exit": "3.0.2", + "strip-eof": "1.0.0" }, "dependencies": { "cross-spawn": { @@ -8938,9 +8958,9 @@ "bundled": true, "dev": true, "requires": { - "lru-cache": "^4.0.1", - "shebang-command": "^1.2.0", - "which": "^1.2.9" + "lru-cache": "4.1.3", + "shebang-command": "1.2.0", + "which": "1.3.0" } } } @@ -8950,13 +8970,13 @@ "bundled": true, "dev": true, "requires": { - "debug": "^2.3.3", - "define-property": "^0.2.5", - "extend-shallow": "^2.0.1", - "posix-character-classes": "^0.1.0", - "regex-not": "^1.0.0", - "snapdragon": "^0.8.1", - "to-regex": "^3.0.1" + "debug": "2.6.9", + "define-property": "0.2.5", + "extend-shallow": "2.0.1", + "posix-character-classes": "0.1.1", + "regex-not": "1.0.2", + "snapdragon": "0.8.2", + "to-regex": "3.0.2" }, "dependencies": { "define-property": { @@ -8964,7 +8984,7 @@ "bundled": true, "dev": true, "requires": { - "is-descriptor": "^0.1.0" + "is-descriptor": "0.1.6" } }, "extend-shallow": { @@ -8972,7 +8992,7 @@ "bundled": true, "dev": true, "requires": { - "is-extendable": "^0.1.0" + "is-extendable": "0.1.1" } } } @@ -8982,8 +9002,8 @@ "bundled": true, "dev": true, "requires": { - "assign-symbols": "^1.0.0", - "is-extendable": "^1.0.1" + "assign-symbols": "1.0.0", + "is-extendable": "1.0.1" }, "dependencies": { "is-extendable": { @@ -8991,7 +9011,7 @@ "bundled": true, "dev": true, "requires": { - "is-plain-object": "^2.0.4" + "is-plain-object": "2.0.4" } } } @@ -9001,14 +9021,14 @@ "bundled": true, "dev": true, "requires": { - "array-unique": "^0.3.2", - "define-property": "^1.0.0", - "expand-brackets": "^2.1.4", - "extend-shallow": "^2.0.1", - "fragment-cache": "^0.2.1", - "regex-not": "^1.0.0", - "snapdragon": "^0.8.1", - "to-regex": "^3.0.1" + "array-unique": "0.3.2", + "define-property": "1.0.0", + "expand-brackets": "2.1.4", + "extend-shallow": "2.0.1", + "fragment-cache": "0.2.1", + "regex-not": "1.0.2", + "snapdragon": "0.8.2", + "to-regex": "3.0.2" }, "dependencies": { "define-property": { @@ -9016,7 +9036,7 @@ "bundled": true, "dev": true, "requires": { - "is-descriptor": "^1.0.0" + "is-descriptor": "1.0.2" } }, "extend-shallow": { @@ -9024,7 +9044,7 @@ "bundled": true, "dev": true, "requires": { - "is-extendable": "^0.1.0" + "is-extendable": "0.1.1" } }, "is-accessor-descriptor": { @@ -9032,7 +9052,7 @@ "bundled": true, "dev": true, "requires": { - "kind-of": "^6.0.0" + "kind-of": "6.0.2" } }, "is-data-descriptor": { @@ -9040,7 +9060,7 @@ "bundled": true, "dev": true, "requires": { - "kind-of": "^6.0.0" + "kind-of": "6.0.2" } }, "is-descriptor": { @@ -9048,9 +9068,9 @@ "bundled": true, "dev": true, "requires": { - "is-accessor-descriptor": "^1.0.0", - "is-data-descriptor": "^1.0.0", - "kind-of": "^6.0.2" + "is-accessor-descriptor": "1.0.0", + "is-data-descriptor": "1.0.0", + "kind-of": "6.0.2" } }, "kind-of": { @@ -9065,10 +9085,10 @@ "bundled": true, "dev": true, "requires": { - "extend-shallow": "^2.0.1", - "is-number": "^3.0.0", - "repeat-string": "^1.6.1", - "to-regex-range": "^2.1.0" + "extend-shallow": "2.0.1", + "is-number": "3.0.0", + "repeat-string": "1.6.1", + "to-regex-range": "2.1.1" }, "dependencies": { "extend-shallow": { @@ -9076,7 +9096,7 @@ "bundled": true, "dev": true, "requires": { - "is-extendable": "^0.1.0" + "is-extendable": "0.1.1" } } } @@ -9086,9 +9106,9 @@ "bundled": true, "dev": true, "requires": { - "commondir": "^1.0.1", - "mkdirp": "^0.5.1", - "pkg-dir": "^1.0.0" + "commondir": "1.0.1", + "mkdirp": "0.5.1", + "pkg-dir": "1.0.0" } }, "find-up": { @@ -9096,7 +9116,7 @@ "bundled": true, "dev": true, "requires": { - "locate-path": "^2.0.0" + "locate-path": "2.0.0" } }, "for-in": { @@ -9109,8 +9129,8 @@ "bundled": true, "dev": true, "requires": { - "cross-spawn": "^4", - "signal-exit": "^3.0.0" + "cross-spawn": "4.0.2", + "signal-exit": "3.0.2" } }, "fragment-cache": { @@ -9118,7 +9138,7 @@ "bundled": true, "dev": true, "requires": { - "map-cache": "^0.2.2" + "map-cache": "0.2.2" } }, "fs.realpath": { @@ -9146,12 +9166,12 @@ "bundled": true, "dev": true, "requires": { - "fs.realpath": "^1.0.0", - "inflight": "^1.0.4", - "inherits": "2", - "minimatch": "^3.0.4", - "once": "^1.3.0", - "path-is-absolute": "^1.0.0" + "fs.realpath": "1.0.0", + "inflight": "1.0.6", + "inherits": "2.0.3", + "minimatch": "3.0.4", + "once": "1.4.0", + "path-is-absolute": "1.0.1" } }, "globals": { @@ -9169,10 +9189,10 @@ "bundled": true, "dev": true, "requires": { - "async": "^1.4.0", - "optimist": "^0.6.1", - "source-map": "^0.4.4", - "uglify-js": "^2.6" + "async": "1.5.2", + "optimist": "0.6.1", + "source-map": "0.4.4", + "uglify-js": "2.8.29" }, "dependencies": { "source-map": { @@ -9180,7 +9200,7 @@ "bundled": true, "dev": true, "requires": { - "amdefine": ">=0.0.4" + "amdefine": "1.0.1" } } } @@ -9190,7 +9210,7 @@ "bundled": true, "dev": true, "requires": { - "ansi-regex": "^2.0.0" + "ansi-regex": "2.1.1" } }, "has-flag": { @@ -9203,9 +9223,9 @@ "bundled": true, "dev": true, "requires": { - "get-value": "^2.0.6", - "has-values": "^1.0.0", - "isobject": "^3.0.0" + "get-value": "2.0.6", + "has-values": "1.0.0", + "isobject": "3.0.1" }, "dependencies": { "isobject": { @@ -9220,8 +9240,8 @@ "bundled": true, "dev": true, "requires": { - "is-number": "^3.0.0", - "kind-of": "^4.0.0" + "is-number": "3.0.0", + "kind-of": "4.0.0" }, "dependencies": { "is-number": { @@ -9229,7 +9249,7 @@ "bundled": true, "dev": true, "requires": { - "kind-of": "^3.0.2" + "kind-of": "3.2.2" }, "dependencies": { "kind-of": { @@ -9237,7 +9257,7 @@ "bundled": true, "dev": true, "requires": { - "is-buffer": "^1.1.5" + "is-buffer": "1.1.6" } } } @@ -9247,7 +9267,7 @@ "bundled": true, "dev": true, "requires": { - "is-buffer": "^1.1.5" + "is-buffer": "1.1.6" } } } @@ -9267,8 +9287,8 @@ "bundled": true, "dev": true, "requires": { - "once": "^1.3.0", - "wrappy": "1" + "once": "1.4.0", + "wrappy": "1.0.2" } }, "inherits": { @@ -9281,7 +9301,7 @@ "bundled": true, "dev": true, "requires": { - "loose-envify": "^1.0.0" + "loose-envify": "1.3.1" } }, "invert-kv": { @@ -9294,7 +9314,7 @@ "bundled": true, "dev": true, "requires": { - "kind-of": "^3.0.2" + "kind-of": "3.2.2" } }, "is-arrayish": { @@ -9312,7 +9332,7 @@ "bundled": true, "dev": true, "requires": { - "builtin-modules": "^1.0.0" + "builtin-modules": "1.1.1" } }, "is-data-descriptor": { @@ -9320,7 +9340,7 @@ "bundled": true, "dev": true, "requires": { - "kind-of": "^3.0.2" + "kind-of": "3.2.2" } }, "is-descriptor": { @@ -9328,9 +9348,9 @@ "bundled": true, "dev": true, "requires": { - "is-accessor-descriptor": "^0.1.6", - "is-data-descriptor": "^0.1.4", - "kind-of": "^5.0.0" + "is-accessor-descriptor": "0.1.6", + "is-data-descriptor": "0.1.4", + "kind-of": "5.1.0" }, "dependencies": { "kind-of": { @@ -9350,7 +9370,7 @@ "bundled": true, "dev": true, "requires": { - "number-is-nan": "^1.0.0" + "number-is-nan": "1.0.1" } }, "is-fullwidth-code-point": { @@ -9363,7 +9383,7 @@ "bundled": true, "dev": true, "requires": { - "kind-of": "^3.0.2" + "kind-of": "3.2.2" } }, "is-odd": { @@ -9371,7 +9391,7 @@ "bundled": true, "dev": true, "requires": { - "is-number": "^4.0.0" + "is-number": "4.0.0" }, "dependencies": { "is-number": { @@ -9386,7 +9406,7 @@ "bundled": true, "dev": true, "requires": { - "isobject": "^3.0.1" + "isobject": "3.0.1" }, "dependencies": { "isobject": { @@ -9436,7 +9456,7 @@ "bundled": true, "dev": true, "requires": { - "append-transform": "^0.4.0" + "append-transform": "0.4.0" } }, "istanbul-lib-instrument": { @@ -9444,13 +9464,13 @@ "bundled": true, "dev": true, "requires": { - "babel-generator": "^6.18.0", - "babel-template": "^6.16.0", - "babel-traverse": "^6.18.0", - "babel-types": "^6.18.0", - "babylon": "^6.18.0", - "istanbul-lib-coverage": "^1.2.0", - "semver": "^5.3.0" + "babel-generator": "6.26.1", + "babel-template": "6.26.0", + "babel-traverse": "6.26.0", + "babel-types": "6.26.0", + "babylon": "6.18.0", + "istanbul-lib-coverage": "1.2.0", + "semver": "5.5.0" } }, "istanbul-lib-report": { @@ -9458,10 +9478,10 @@ "bundled": true, "dev": true, "requires": { - "istanbul-lib-coverage": "^1.1.2", - "mkdirp": "^0.5.1", - "path-parse": "^1.0.5", - "supports-color": "^3.1.2" + "istanbul-lib-coverage": "1.2.0", + "mkdirp": "0.5.1", + "path-parse": "1.0.5", + "supports-color": "3.2.3" }, "dependencies": { "supports-color": { @@ -9469,7 +9489,7 @@ "bundled": true, "dev": true, "requires": { - "has-flag": "^1.0.0" + "has-flag": "1.0.0" } } } @@ -9479,11 +9499,11 @@ "bundled": true, "dev": true, "requires": { - "debug": "^3.1.0", - "istanbul-lib-coverage": "^1.1.2", - "mkdirp": "^0.5.1", - "rimraf": "^2.6.1", - "source-map": "^0.5.3" + "debug": "3.1.0", + "istanbul-lib-coverage": "1.2.0", + "mkdirp": "0.5.1", + "rimraf": "2.6.2", + "source-map": "0.5.7" }, "dependencies": { "debug": { @@ -9501,7 +9521,7 @@ "bundled": true, "dev": true, "requires": { - "handlebars": "^4.0.3" + "handlebars": "4.0.11" } }, "js-tokens": { @@ -9519,7 +9539,7 @@ "bundled": true, "dev": true, "requires": { - "is-buffer": "^1.1.5" + "is-buffer": "1.1.6" } }, "lazy-cache": { @@ -9533,7 +9553,7 @@ "bundled": true, "dev": true, "requires": { - "invert-kv": "^1.0.0" + "invert-kv": "1.0.0" } }, "load-json-file": { @@ -9541,11 +9561,11 @@ "bundled": true, "dev": true, "requires": { - "graceful-fs": "^4.1.2", - "parse-json": "^2.2.0", - "pify": "^2.0.0", - "pinkie-promise": "^2.0.0", - "strip-bom": "^2.0.0" + "graceful-fs": "4.1.11", + "parse-json": "2.2.0", + "pify": "2.3.0", + "pinkie-promise": "2.0.1", + "strip-bom": "2.0.0" } }, "locate-path": { @@ -9553,8 +9573,8 @@ "bundled": true, "dev": true, "requires": { - "p-locate": "^2.0.0", - "path-exists": "^3.0.0" + "p-locate": "2.0.0", + "path-exists": "3.0.0" }, "dependencies": { "path-exists": { @@ -9572,14 +9592,15 @@ "longest": { "version": "1.0.1", "bundled": true, - "dev": true + "dev": true, + "optional": true }, "loose-envify": { "version": "1.3.1", "bundled": true, "dev": true, "requires": { - "js-tokens": "^3.0.0" + "js-tokens": "3.0.2" } }, "lru-cache": { @@ -9587,8 +9608,8 @@ "bundled": true, "dev": true, "requires": { - "pseudomap": "^1.0.2", - "yallist": "^2.1.2" + "pseudomap": "1.0.2", + "yallist": "2.1.2" } }, "map-cache": { @@ -9601,7 +9622,7 @@ "bundled": true, "dev": true, "requires": { - "object-visit": "^1.0.0" + "object-visit": "1.0.1" } }, "md5-hex": { @@ -9609,7 +9630,7 @@ "bundled": true, "dev": true, "requires": { - "md5-o-matic": "^0.1.1" + "md5-o-matic": "0.1.1" } }, "md5-o-matic": { @@ -9622,7 +9643,7 @@ "bundled": true, "dev": true, "requires": { - "mimic-fn": "^1.0.0" + "mimic-fn": "1.2.0" } }, "merge-source-map": { @@ -9630,7 +9651,7 @@ "bundled": true, "dev": true, "requires": { - "source-map": "^0.6.1" + "source-map": "0.6.1" }, "dependencies": { "source-map": { @@ -9645,19 +9666,19 @@ "bundled": true, "dev": true, "requires": { - "arr-diff": "^4.0.0", - "array-unique": "^0.3.2", - "braces": "^2.3.1", - "define-property": "^2.0.2", - "extend-shallow": "^3.0.2", - "extglob": "^2.0.4", - "fragment-cache": "^0.2.1", - "kind-of": "^6.0.2", - "nanomatch": "^1.2.9", - "object.pick": "^1.3.0", - "regex-not": "^1.0.0", - "snapdragon": "^0.8.1", - "to-regex": "^3.0.2" + "arr-diff": "4.0.0", + "array-unique": "0.3.2", + "braces": "2.3.2", + "define-property": "2.0.2", + "extend-shallow": "3.0.2", + "extglob": "2.0.4", + "fragment-cache": "0.2.1", + "kind-of": "6.0.2", + "nanomatch": "1.2.9", + "object.pick": "1.3.0", + "regex-not": "1.0.2", + "snapdragon": "0.8.2", + "to-regex": "3.0.2" }, "dependencies": { "kind-of": { @@ -9677,7 +9698,7 @@ "bundled": true, "dev": true, "requires": { - "brace-expansion": "^1.1.7" + "brace-expansion": "1.1.11" } }, "minimist": { @@ -9690,8 +9711,8 @@ "bundled": true, "dev": true, "requires": { - "for-in": "^1.0.2", - "is-extendable": "^1.0.1" + "for-in": "1.0.2", + "is-extendable": "1.0.1" }, "dependencies": { "is-extendable": { @@ -9699,7 +9720,7 @@ "bundled": true, "dev": true, "requires": { - "is-plain-object": "^2.0.4" + "is-plain-object": "2.0.4" } } } @@ -9722,18 +9743,18 @@ "bundled": true, "dev": true, "requires": { - "arr-diff": "^4.0.0", - "array-unique": "^0.3.2", - "define-property": "^2.0.2", - "extend-shallow": "^3.0.2", - "fragment-cache": "^0.2.1", - "is-odd": "^2.0.0", - "is-windows": "^1.0.2", - "kind-of": "^6.0.2", - "object.pick": "^1.3.0", - "regex-not": "^1.0.0", - "snapdragon": "^0.8.1", - "to-regex": "^3.0.1" + "arr-diff": "4.0.0", + "array-unique": "0.3.2", + "define-property": "2.0.2", + "extend-shallow": "3.0.2", + "fragment-cache": "0.2.1", + "is-odd": "2.0.0", + "is-windows": "1.0.2", + "kind-of": "6.0.2", + "object.pick": "1.3.0", + "regex-not": "1.0.2", + "snapdragon": "0.8.2", + "to-regex": "3.0.2" }, "dependencies": { "arr-diff": { @@ -9758,10 +9779,10 @@ "bundled": true, "dev": true, "requires": { - "hosted-git-info": "^2.1.4", - "is-builtin-module": "^1.0.0", - "semver": "2 || 3 || 4 || 5", - "validate-npm-package-license": "^3.0.1" + "hosted-git-info": "2.6.0", + "is-builtin-module": "1.0.0", + "semver": "5.5.0", + "validate-npm-package-license": "3.0.3" } }, "npm-run-path": { @@ -9769,7 +9790,7 @@ "bundled": true, "dev": true, "requires": { - "path-key": "^2.0.0" + "path-key": "2.0.1" } }, "number-is-nan": { @@ -9787,9 +9808,9 @@ "bundled": true, "dev": true, "requires": { - "copy-descriptor": "^0.1.0", - "define-property": "^0.2.5", - "kind-of": "^3.0.3" + "copy-descriptor": "0.1.1", + "define-property": "0.2.5", + "kind-of": "3.2.2" }, "dependencies": { "define-property": { @@ -9797,7 +9818,7 @@ "bundled": true, "dev": true, "requires": { - "is-descriptor": "^0.1.0" + "is-descriptor": "0.1.6" } } } @@ -9807,7 +9828,7 @@ "bundled": true, "dev": true, "requires": { - "isobject": "^3.0.0" + "isobject": "3.0.1" }, "dependencies": { "isobject": { @@ -9822,7 +9843,7 @@ "bundled": true, "dev": true, "requires": { - "isobject": "^3.0.1" + "isobject": "3.0.1" }, "dependencies": { "isobject": { @@ -9837,7 +9858,7 @@ "bundled": true, "dev": true, "requires": { - "wrappy": "1" + "wrappy": "1.0.2" } }, "optimist": { @@ -9845,8 +9866,8 @@ "bundled": true, "dev": true, "requires": { - "minimist": "~0.0.1", - "wordwrap": "~0.0.2" + "minimist": "0.0.8", + "wordwrap": "0.0.3" } }, "os-homedir": { @@ -9859,9 +9880,9 @@ "bundled": true, "dev": true, "requires": { - "execa": "^0.7.0", - "lcid": "^1.0.0", - "mem": "^1.1.0" + "execa": "0.7.0", + "lcid": "1.0.0", + "mem": "1.1.0" } }, "p-finally": { @@ -9874,7 +9895,7 @@ "bundled": true, "dev": true, "requires": { - "p-try": "^1.0.0" + "p-try": "1.0.0" } }, "p-locate": { @@ -9882,7 +9903,7 @@ "bundled": true, "dev": true, "requires": { - "p-limit": "^1.1.0" + "p-limit": "1.2.0" } }, "p-try": { @@ -9895,7 +9916,7 @@ "bundled": true, "dev": true, "requires": { - "error-ex": "^1.2.0" + "error-ex": "1.3.1" } }, "pascalcase": { @@ -9908,7 +9929,7 @@ "bundled": true, "dev": true, "requires": { - "pinkie-promise": "^2.0.0" + "pinkie-promise": "2.0.1" } }, "path-is-absolute": { @@ -9931,9 +9952,9 @@ "bundled": true, "dev": true, "requires": { - "graceful-fs": "^4.1.2", - "pify": "^2.0.0", - "pinkie-promise": "^2.0.0" + "graceful-fs": "4.1.11", + "pify": "2.3.0", + "pinkie-promise": "2.0.1" } }, "pify": { @@ -9951,7 +9972,7 @@ "bundled": true, "dev": true, "requires": { - "pinkie": "^2.0.0" + "pinkie": "2.0.4" } }, "pkg-dir": { @@ -9959,7 +9980,7 @@ "bundled": true, "dev": true, "requires": { - "find-up": "^1.0.0" + "find-up": "1.1.2" }, "dependencies": { "find-up": { @@ -9967,8 +9988,8 @@ "bundled": true, "dev": true, "requires": { - "path-exists": "^2.0.0", - "pinkie-promise": "^2.0.0" + "path-exists": "2.1.0", + "pinkie-promise": "2.0.1" } } } @@ -9988,9 +10009,9 @@ "bundled": true, "dev": true, "requires": { - "load-json-file": "^1.0.0", - "normalize-package-data": "^2.3.2", - "path-type": "^1.0.0" + "load-json-file": "1.1.0", + "normalize-package-data": "2.4.0", + "path-type": "1.1.0" } }, "read-pkg-up": { @@ -9998,8 +10019,8 @@ "bundled": true, "dev": true, "requires": { - "find-up": "^1.0.0", - "read-pkg": "^1.0.0" + "find-up": "1.1.2", + "read-pkg": "1.1.0" }, "dependencies": { "find-up": { @@ -10007,8 +10028,8 @@ "bundled": true, "dev": true, "requires": { - "path-exists": "^2.0.0", - "pinkie-promise": "^2.0.0" + "path-exists": "2.1.0", + "pinkie-promise": "2.0.1" } } } @@ -10023,8 +10044,8 @@ "bundled": true, "dev": true, "requires": { - "extend-shallow": "^3.0.2", - "safe-regex": "^1.1.0" + "extend-shallow": "3.0.2", + "safe-regex": "1.1.0" } }, "repeat-element": { @@ -10042,7 +10063,7 @@ "bundled": true, "dev": true, "requires": { - "is-finite": "^1.0.0" + "is-finite": "1.0.2" } }, "require-directory": { @@ -10076,7 +10097,7 @@ "dev": true, "optional": true, "requires": { - "align-text": "^0.1.1" + "align-text": "0.1.4" } }, "rimraf": { @@ -10084,7 +10105,7 @@ "bundled": true, "dev": true, "requires": { - "glob": "^7.0.5" + "glob": "7.1.2" } }, "safe-regex": { @@ -10092,7 +10113,7 @@ "bundled": true, "dev": true, "requires": { - "ret": "~0.1.10" + "ret": "0.1.15" } }, "semver": { @@ -10110,10 +10131,10 @@ "bundled": true, "dev": true, "requires": { - "extend-shallow": "^2.0.1", - "is-extendable": "^0.1.1", - "is-plain-object": "^2.0.3", - "split-string": "^3.0.1" + "extend-shallow": "2.0.1", + "is-extendable": "0.1.1", + "is-plain-object": "2.0.4", + "split-string": "3.1.0" }, "dependencies": { "extend-shallow": { @@ -10121,7 +10142,7 @@ "bundled": true, "dev": true, "requires": { - "is-extendable": "^0.1.0" + "is-extendable": "0.1.1" } } } @@ -10131,7 +10152,7 @@ "bundled": true, "dev": true, "requires": { - "shebang-regex": "^1.0.0" + "shebang-regex": "1.0.0" } }, "shebang-regex": { @@ -10154,14 +10175,14 @@ "bundled": true, "dev": true, "requires": { - "base": "^0.11.1", - "debug": "^2.2.0", - "define-property": "^0.2.5", - "extend-shallow": "^2.0.1", - "map-cache": "^0.2.2", - "source-map": "^0.5.6", - "source-map-resolve": "^0.5.0", - "use": "^3.1.0" + "base": "0.11.2", + "debug": "2.6.9", + "define-property": "0.2.5", + "extend-shallow": "2.0.1", + "map-cache": "0.2.2", + "source-map": "0.5.7", + "source-map-resolve": "0.5.1", + "use": "3.1.0" }, "dependencies": { "define-property": { @@ -10169,7 +10190,7 @@ "bundled": true, "dev": true, "requires": { - "is-descriptor": "^0.1.0" + "is-descriptor": "0.1.6" } }, "extend-shallow": { @@ -10177,7 +10198,7 @@ "bundled": true, "dev": true, "requires": { - "is-extendable": "^0.1.0" + "is-extendable": "0.1.1" } } } @@ -10187,9 +10208,9 @@ "bundled": true, "dev": true, "requires": { - "define-property": "^1.0.0", - "isobject": "^3.0.0", - "snapdragon-util": "^3.0.1" + "define-property": "1.0.0", + "isobject": "3.0.1", + "snapdragon-util": "3.0.1" }, "dependencies": { "define-property": { @@ -10197,7 +10218,7 @@ "bundled": true, "dev": true, "requires": { - "is-descriptor": "^1.0.0" + "is-descriptor": "1.0.2" } }, "is-accessor-descriptor": { @@ -10205,7 +10226,7 @@ "bundled": true, "dev": true, "requires": { - "kind-of": "^6.0.0" + "kind-of": "6.0.2" } }, "is-data-descriptor": { @@ -10213,7 +10234,7 @@ "bundled": true, "dev": true, "requires": { - "kind-of": "^6.0.0" + "kind-of": "6.0.2" } }, "is-descriptor": { @@ -10221,9 +10242,9 @@ "bundled": true, "dev": true, "requires": { - "is-accessor-descriptor": "^1.0.0", - "is-data-descriptor": "^1.0.0", - "kind-of": "^6.0.2" + "is-accessor-descriptor": "1.0.0", + "is-data-descriptor": "1.0.0", + "kind-of": "6.0.2" } }, "isobject": { @@ -10243,7 +10264,7 @@ "bundled": true, "dev": true, "requires": { - "kind-of": "^3.2.0" + "kind-of": "3.2.2" } }, "source-map": { @@ -10256,11 +10277,11 @@ "bundled": true, "dev": true, "requires": { - "atob": "^2.0.0", - "decode-uri-component": "^0.2.0", - "resolve-url": "^0.2.1", - "source-map-url": "^0.4.0", - "urix": "^0.1.0" + "atob": "2.1.1", + "decode-uri-component": "0.2.0", + "resolve-url": "0.2.1", + "source-map-url": "0.4.0", + "urix": "0.1.0" } }, "source-map-url": { @@ -10273,12 +10294,12 @@ "bundled": true, "dev": true, "requires": { - "foreground-child": "^1.5.6", - "mkdirp": "^0.5.0", - "os-homedir": "^1.0.1", - "rimraf": "^2.6.2", - "signal-exit": "^3.0.2", - "which": "^1.3.0" + "foreground-child": "1.5.6", + "mkdirp": "0.5.1", + "os-homedir": "1.0.2", + "rimraf": "2.6.2", + "signal-exit": "3.0.2", + "which": "1.3.0" } }, "spdx-correct": { @@ -10286,8 +10307,8 @@ "bundled": true, "dev": true, "requires": { - "spdx-expression-parse": "^3.0.0", - "spdx-license-ids": "^3.0.0" + "spdx-expression-parse": "3.0.0", + "spdx-license-ids": "3.0.0" } }, "spdx-exceptions": { @@ -10300,8 +10321,8 @@ "bundled": true, "dev": true, "requires": { - "spdx-exceptions": "^2.1.0", - "spdx-license-ids": "^3.0.0" + "spdx-exceptions": "2.1.0", + "spdx-license-ids": "3.0.0" } }, "spdx-license-ids": { @@ -10314,7 +10335,7 @@ "bundled": true, "dev": true, "requires": { - "extend-shallow": "^3.0.0" + "extend-shallow": "3.0.2" } }, "static-extend": { @@ -10322,8 +10343,8 @@ "bundled": true, "dev": true, "requires": { - "define-property": "^0.2.5", - "object-copy": "^0.1.0" + "define-property": "0.2.5", + "object-copy": "0.1.0" }, "dependencies": { "define-property": { @@ -10331,7 +10352,7 @@ "bundled": true, "dev": true, "requires": { - "is-descriptor": "^0.1.0" + "is-descriptor": "0.1.6" } } } @@ -10341,8 +10362,8 @@ "bundled": true, "dev": true, "requires": { - "is-fullwidth-code-point": "^2.0.0", - "strip-ansi": "^4.0.0" + "is-fullwidth-code-point": "2.0.0", + "strip-ansi": "4.0.0" }, "dependencies": { "ansi-regex": { @@ -10355,7 +10376,7 @@ "bundled": true, "dev": true, "requires": { - "ansi-regex": "^3.0.0" + "ansi-regex": "3.0.0" } } } @@ -10365,7 +10386,7 @@ "bundled": true, "dev": true, "requires": { - "ansi-regex": "^2.0.0" + "ansi-regex": "2.1.1" } }, "strip-bom": { @@ -10373,7 +10394,7 @@ "bundled": true, "dev": true, "requires": { - "is-utf8": "^0.2.0" + "is-utf8": "0.2.1" } }, "strip-eof": { @@ -10391,11 +10412,11 @@ "bundled": true, "dev": true, "requires": { - "arrify": "^1.0.1", - "micromatch": "^3.1.8", - "object-assign": "^4.1.0", - "read-pkg-up": "^1.0.1", - "require-main-filename": "^1.0.1" + "arrify": "1.0.1", + "micromatch": "3.1.10", + "object-assign": "4.1.1", + "read-pkg-up": "1.0.1", + "require-main-filename": "1.0.1" }, "dependencies": { "arr-diff": { @@ -10413,16 +10434,16 @@ "bundled": true, "dev": true, "requires": { - "arr-flatten": "^1.1.0", - "array-unique": "^0.3.2", - "extend-shallow": "^2.0.1", - "fill-range": "^4.0.0", - "isobject": "^3.0.1", - "repeat-element": "^1.1.2", - "snapdragon": "^0.8.1", - "snapdragon-node": "^2.0.1", - "split-string": "^3.0.2", - "to-regex": "^3.0.1" + "arr-flatten": "1.1.0", + "array-unique": "0.3.2", + "extend-shallow": "2.0.1", + "fill-range": "4.0.0", + "isobject": "3.0.1", + "repeat-element": "1.1.2", + "snapdragon": "0.8.2", + "snapdragon-node": "2.1.1", + "split-string": "3.1.0", + "to-regex": "3.0.2" }, "dependencies": { "extend-shallow": { @@ -10430,7 +10451,7 @@ "bundled": true, "dev": true, "requires": { - "is-extendable": "^0.1.0" + "is-extendable": "0.1.1" } } } @@ -10440,13 +10461,13 @@ "bundled": true, "dev": true, "requires": { - "debug": "^2.3.3", - "define-property": "^0.2.5", - "extend-shallow": "^2.0.1", - "posix-character-classes": "^0.1.0", - "regex-not": "^1.0.0", - "snapdragon": "^0.8.1", - "to-regex": "^3.0.1" + "debug": "2.6.9", + "define-property": "0.2.5", + "extend-shallow": "2.0.1", + "posix-character-classes": "0.1.1", + "regex-not": "1.0.2", + "snapdragon": "0.8.2", + "to-regex": "3.0.2" }, "dependencies": { "define-property": { @@ -10454,7 +10475,7 @@ "bundled": true, "dev": true, "requires": { - "is-descriptor": "^0.1.0" + "is-descriptor": "0.1.6" } }, "extend-shallow": { @@ -10462,7 +10483,7 @@ "bundled": true, "dev": true, "requires": { - "is-extendable": "^0.1.0" + "is-extendable": "0.1.1" } }, "is-accessor-descriptor": { @@ -10470,7 +10491,7 @@ "bundled": true, "dev": true, "requires": { - "kind-of": "^3.0.2" + "kind-of": "3.2.2" }, "dependencies": { "kind-of": { @@ -10478,7 +10499,7 @@ "bundled": true, "dev": true, "requires": { - "is-buffer": "^1.1.5" + "is-buffer": "1.1.6" } } } @@ -10488,7 +10509,7 @@ "bundled": true, "dev": true, "requires": { - "kind-of": "^3.0.2" + "kind-of": "3.2.2" }, "dependencies": { "kind-of": { @@ -10496,7 +10517,7 @@ "bundled": true, "dev": true, "requires": { - "is-buffer": "^1.1.5" + "is-buffer": "1.1.6" } } } @@ -10506,9 +10527,9 @@ "bundled": true, "dev": true, "requires": { - "is-accessor-descriptor": "^0.1.6", - "is-data-descriptor": "^0.1.4", - "kind-of": "^5.0.0" + "is-accessor-descriptor": "0.1.6", + "is-data-descriptor": "0.1.4", + "kind-of": "5.1.0" } }, "kind-of": { @@ -10523,14 +10544,14 @@ "bundled": true, "dev": true, "requires": { - "array-unique": "^0.3.2", - "define-property": "^1.0.0", - "expand-brackets": "^2.1.4", - "extend-shallow": "^2.0.1", - "fragment-cache": "^0.2.1", - "regex-not": "^1.0.0", - "snapdragon": "^0.8.1", - "to-regex": "^3.0.1" + "array-unique": "0.3.2", + "define-property": "1.0.0", + "expand-brackets": "2.1.4", + "extend-shallow": "2.0.1", + "fragment-cache": "0.2.1", + "regex-not": "1.0.2", + "snapdragon": "0.8.2", + "to-regex": "3.0.2" }, "dependencies": { "define-property": { @@ -10538,7 +10559,7 @@ "bundled": true, "dev": true, "requires": { - "is-descriptor": "^1.0.0" + "is-descriptor": "1.0.2" } }, "extend-shallow": { @@ -10546,7 +10567,7 @@ "bundled": true, "dev": true, "requires": { - "is-extendable": "^0.1.0" + "is-extendable": "0.1.1" } } } @@ -10556,10 +10577,10 @@ "bundled": true, "dev": true, "requires": { - "extend-shallow": "^2.0.1", - "is-number": "^3.0.0", - "repeat-string": "^1.6.1", - "to-regex-range": "^2.1.0" + "extend-shallow": "2.0.1", + "is-number": "3.0.0", + "repeat-string": "1.6.1", + "to-regex-range": "2.1.1" }, "dependencies": { "extend-shallow": { @@ -10567,7 +10588,7 @@ "bundled": true, "dev": true, "requires": { - "is-extendable": "^0.1.0" + "is-extendable": "0.1.1" } } } @@ -10577,7 +10598,7 @@ "bundled": true, "dev": true, "requires": { - "kind-of": "^6.0.0" + "kind-of": "6.0.2" } }, "is-data-descriptor": { @@ -10585,7 +10606,7 @@ "bundled": true, "dev": true, "requires": { - "kind-of": "^6.0.0" + "kind-of": "6.0.2" } }, "is-descriptor": { @@ -10593,9 +10614,9 @@ "bundled": true, "dev": true, "requires": { - "is-accessor-descriptor": "^1.0.0", - "is-data-descriptor": "^1.0.0", - "kind-of": "^6.0.2" + "is-accessor-descriptor": "1.0.0", + "is-data-descriptor": "1.0.0", + "kind-of": "6.0.2" } }, "is-number": { @@ -10603,7 +10624,7 @@ "bundled": true, "dev": true, "requires": { - "kind-of": "^3.0.2" + "kind-of": "3.2.2" }, "dependencies": { "kind-of": { @@ -10611,7 +10632,7 @@ "bundled": true, "dev": true, "requires": { - "is-buffer": "^1.1.5" + "is-buffer": "1.1.6" } } } @@ -10631,19 +10652,19 @@ "bundled": true, "dev": true, "requires": { - "arr-diff": "^4.0.0", - "array-unique": "^0.3.2", - "braces": "^2.3.1", - "define-property": "^2.0.2", - "extend-shallow": "^3.0.2", - "extglob": "^2.0.4", - "fragment-cache": "^0.2.1", - "kind-of": "^6.0.2", - "nanomatch": "^1.2.9", - "object.pick": "^1.3.0", - "regex-not": "^1.0.0", - "snapdragon": "^0.8.1", - "to-regex": "^3.0.2" + "arr-diff": "4.0.0", + "array-unique": "0.3.2", + "braces": "2.3.2", + "define-property": "2.0.2", + "extend-shallow": "3.0.2", + "extglob": "2.0.4", + "fragment-cache": "0.2.1", + "kind-of": "6.0.2", + "nanomatch": "1.2.9", + "object.pick": "1.3.0", + "regex-not": "1.0.2", + "snapdragon": "0.8.2", + "to-regex": "3.0.2" } } } @@ -10658,7 +10679,7 @@ "bundled": true, "dev": true, "requires": { - "kind-of": "^3.0.2" + "kind-of": "3.2.2" } }, "to-regex": { @@ -10666,10 +10687,10 @@ "bundled": true, "dev": true, "requires": { - "define-property": "^2.0.2", - "extend-shallow": "^3.0.2", - "regex-not": "^1.0.2", - "safe-regex": "^1.1.0" + "define-property": "2.0.2", + "extend-shallow": "3.0.2", + "regex-not": "1.0.2", + "safe-regex": "1.1.0" } }, "to-regex-range": { @@ -10677,8 +10698,8 @@ "bundled": true, "dev": true, "requires": { - "is-number": "^3.0.0", - "repeat-string": "^1.6.1" + "is-number": "3.0.0", + "repeat-string": "1.6.1" }, "dependencies": { "is-number": { @@ -10686,7 +10707,7 @@ "bundled": true, "dev": true, "requires": { - "kind-of": "^3.0.2" + "kind-of": "3.2.2" } } } @@ -10702,9 +10723,9 @@ "dev": true, "optional": true, "requires": { - "source-map": "~0.5.1", - "uglify-to-browserify": "~1.0.0", - "yargs": "~3.10.0" + "source-map": "0.5.7", + "uglify-to-browserify": "1.0.2", + "yargs": "3.10.0" }, "dependencies": { "yargs": { @@ -10713,9 +10734,9 @@ "dev": true, "optional": true, "requires": { - "camelcase": "^1.0.2", - "cliui": "^2.1.0", - "decamelize": "^1.0.0", + "camelcase": "1.2.1", + "cliui": "2.1.0", + "decamelize": "1.2.0", "window-size": "0.1.0" } } @@ -10732,10 +10753,10 @@ "bundled": true, "dev": true, "requires": { - "arr-union": "^3.1.0", - "get-value": "^2.0.6", - "is-extendable": "^0.1.1", - "set-value": "^0.4.3" + "arr-union": "3.1.0", + "get-value": "2.0.6", + "is-extendable": "0.1.1", + "set-value": "0.4.3" }, "dependencies": { "extend-shallow": { @@ -10743,7 +10764,7 @@ "bundled": true, "dev": true, "requires": { - "is-extendable": "^0.1.0" + "is-extendable": "0.1.1" } }, "set-value": { @@ -10751,10 +10772,10 @@ "bundled": true, "dev": true, "requires": { - "extend-shallow": "^2.0.1", - "is-extendable": "^0.1.1", - "is-plain-object": "^2.0.1", - "to-object-path": "^0.3.0" + "extend-shallow": "2.0.1", + "is-extendable": "0.1.1", + "is-plain-object": "2.0.4", + "to-object-path": "0.3.0" } } } @@ -10764,8 +10785,8 @@ "bundled": true, "dev": true, "requires": { - "has-value": "^0.3.1", - "isobject": "^3.0.0" + "has-value": "0.3.1", + "isobject": "3.0.1" }, "dependencies": { "has-value": { @@ -10773,9 +10794,9 @@ "bundled": true, "dev": true, "requires": { - "get-value": "^2.0.3", - "has-values": "^0.1.4", - "isobject": "^2.0.0" + "get-value": "2.0.6", + "has-values": "0.1.4", + "isobject": "2.1.0" }, "dependencies": { "isobject": { @@ -10810,7 +10831,7 @@ "bundled": true, "dev": true, "requires": { - "kind-of": "^6.0.2" + "kind-of": "6.0.2" }, "dependencies": { "kind-of": { @@ -10825,8 +10846,8 @@ "bundled": true, "dev": true, "requires": { - "spdx-correct": "^3.0.0", - "spdx-expression-parse": "^3.0.0" + "spdx-correct": "3.0.0", + "spdx-expression-parse": "3.0.0" } }, "which": { @@ -10834,7 +10855,7 @@ "bundled": true, "dev": true, "requires": { - "isexe": "^2.0.0" + "isexe": "2.0.0" } }, "which-module": { @@ -10858,8 +10879,8 @@ "bundled": true, "dev": true, "requires": { - "string-width": "^1.0.1", - "strip-ansi": "^3.0.1" + "string-width": "1.0.2", + "strip-ansi": "3.0.1" }, "dependencies": { "is-fullwidth-code-point": { @@ -10867,7 +10888,7 @@ "bundled": true, "dev": true, "requires": { - "number-is-nan": "^1.0.0" + "number-is-nan": "1.0.1" } }, "string-width": { @@ -10875,9 +10896,9 @@ "bundled": true, "dev": true, "requires": { - "code-point-at": "^1.0.0", - "is-fullwidth-code-point": "^1.0.0", - "strip-ansi": "^3.0.0" + "code-point-at": "1.1.0", + "is-fullwidth-code-point": "1.0.0", + "strip-ansi": "3.0.1" } } } @@ -10892,9 +10913,9 @@ "bundled": true, "dev": true, "requires": { - "graceful-fs": "^4.1.11", - "imurmurhash": "^0.1.4", - "slide": "^1.1.5" + "graceful-fs": "4.1.11", + "imurmurhash": "0.1.4", + "slide": "1.1.6" } }, "y18n": { @@ -10912,18 +10933,18 @@ "bundled": true, "dev": true, "requires": { - "cliui": "^4.0.0", - "decamelize": "^1.1.1", - "find-up": "^2.1.0", - "get-caller-file": "^1.0.1", - "os-locale": "^2.0.0", - "require-directory": "^2.1.1", - "require-main-filename": "^1.0.1", - "set-blocking": "^2.0.0", - "string-width": "^2.0.0", - "which-module": "^2.0.0", - "y18n": "^3.2.1", - "yargs-parser": "^9.0.2" + "cliui": "4.1.0", + "decamelize": "1.2.0", + "find-up": "2.1.0", + "get-caller-file": "1.0.2", + "os-locale": "2.1.0", + "require-directory": "2.1.1", + "require-main-filename": "1.0.1", + "set-blocking": "2.0.0", + "string-width": "2.1.1", + "which-module": "2.0.0", + "y18n": "3.2.1", + "yargs-parser": "9.0.2" }, "dependencies": { "ansi-regex": { @@ -10941,9 +10962,9 @@ "bundled": true, "dev": true, "requires": { - "string-width": "^2.1.1", - "strip-ansi": "^4.0.0", - "wrap-ansi": "^2.0.0" + "string-width": "2.1.1", + "strip-ansi": "4.0.0", + "wrap-ansi": "2.1.0" } }, "strip-ansi": { @@ -10951,7 +10972,7 @@ "bundled": true, "dev": true, "requires": { - "ansi-regex": "^3.0.0" + "ansi-regex": "3.0.0" } }, "yargs-parser": { @@ -10959,7 +10980,7 @@ "bundled": true, "dev": true, "requires": { - "camelcase": "^4.1.0" + "camelcase": "4.1.0" } } } @@ -10969,7 +10990,7 @@ "bundled": true, "dev": true, "requires": { - "camelcase": "^4.1.0" + "camelcase": "4.1.0" }, "dependencies": { "camelcase": { @@ -11003,9 +11024,9 @@ "integrity": "sha1-fn2Fi3gb18mRpBupde04EnVOmYw=", "dev": true, "requires": { - "copy-descriptor": "^0.1.0", - "define-property": "^0.2.5", - "kind-of": "^3.0.3" + "copy-descriptor": "0.1.1", + "define-property": "0.2.5", + "kind-of": "3.2.2" }, "dependencies": { "define-property": { @@ -11014,7 +11035,7 @@ "integrity": "sha1-w1se+RjsPJkPmlvFe+BKrOxcgRY=", "dev": true, "requires": { - "is-descriptor": "^0.1.0" + "is-descriptor": "0.1.6" } }, "kind-of": { @@ -11023,7 +11044,7 @@ "integrity": "sha1-MeohpzS6ubuw8yRm2JOupR5KPGQ=", "dev": true, "requires": { - "is-buffer": "^1.1.5" + "is-buffer": "1.1.6" } } } @@ -11046,7 +11067,7 @@ "integrity": "sha1-95xEk68MU3e1n+OdOV5BBC3QRbs=", "dev": true, "requires": { - 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"wrappy": "1" + "wrappy": "1.0.2" } }, "onetime": { @@ -11116,7 +11137,7 @@ "integrity": "sha1-BnQoIw/WdEOyeUsiu6UotoZ5YtQ=", "dev": true, "requires": { - "mimic-fn": "^1.0.0" + "mimic-fn": "1.2.0" } }, "opener": { @@ -11131,7 +11152,7 @@ "integrity": "sha512-bYJHo/LOmoTd+pfiYhfZDnf9zekVJrY+cnS2a5F2x+w5ppvTqObojTP7WiFG+kVZs9Inw+qQ/lw7TroWwhdd2g==", "dev": true, "requires": { - "is-wsl": "^1.1.0" + "is-wsl": "1.1.0" } }, "optionator": { @@ -11140,21 +11161,21 @@ "integrity": "sha1-NkxeQJ0/TWMB1sC0wFu6UBgK62Q=", "dev": true, "requires": { - "deep-is": "~0.1.3", - "fast-levenshtein": "~2.0.4", - "levn": "~0.3.0", - "prelude-ls": "~1.1.2", - "type-check": "~0.3.2", - "wordwrap": "~1.0.0" + "deep-is": "0.1.3", + "fast-levenshtein": "2.0.6", + "levn": "0.3.0", + "prelude-ls": "1.1.2", + "type-check": "0.3.2", + "wordwrap": "1.0.0" } }, "original": { "version": "1.0.2", "resolved": "https://registry.npmjs.org/original/-/original-1.0.2.tgz", - "integrity": "sha1-5EKmHP/hxf0gpl8yYcJmY7MD8l8=", + "integrity": "sha512-hyBVl6iqqUOJ8FqRe+l/gS8H+kKYjrEndd5Pm1MfBtsEKA038HkkdbAl/72EAXGyonD/PFsvmVG+EvcIpliMBg==", "dev": true, "requires": { - 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"querystringify": "^2.0.0", - "requires-port": "^1.0.0" + "querystringify": "2.0.0", + "requires-port": "1.0.0" } }, "use": { @@ -14035,7 +14035,7 @@ "integrity": "sha1-nHC/2Babwdy/SGBODwS4tJzenp8=", "dev": true, "requires": { - "os-homedir": "^1.0.0" + "os-homedir": "1.0.2" } }, "util": { @@ -14058,8 +14058,8 @@ "integrity": "sha512-i+6qA2MPhvoKLuxnJNpXAGhg7HphQOSUq2LKMZD0m15EiskXUkMvKdF4Uui0WYeCUGea+o2cw/ZuwehtfsrNkA==", "dev": true, "requires": { - "define-properties": "^1.1.2", - "object.getownpropertydescriptors": "^2.0.3" + "define-properties": "1.1.2", + "object.getownpropertydescriptors": "2.0.3" } }, "utils-merge": { @@ -14085,8 +14085,8 @@ "integrity": "sha512-63ZOUnL4SIXj4L0NixR3L1lcjO38crAbgrTpl28t8jjrfuiOBL5Iygm+60qPs/KsZGzPNg6Smnc/oY16QTjF0g==", "dev": true, "requires": { - "spdx-correct": "^3.0.0", - "spdx-expression-parse": "^3.0.0" + "spdx-correct": "3.0.0", + "spdx-expression-parse": "3.0.0" } }, "vary": { @@ -14100,9 +14100,9 @@ "resolved": "https://registry.npmjs.org/verror/-/verror-1.10.0.tgz", "integrity": "sha1-OhBcoXBTr1XW4nDB+CiGguGNpAA=", "requires": { - 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