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Merge pull request #2119 from ericrosenbaum/bugfix/boost-color-sensing-fixes

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BOOST color sensing fixes
This commit is contained in:
Eric Rosenbaum authored and GitHub committed 2019-04-16 15:44:13 -04:00
2 parents eedc0b16e0 8dc4832100
commit ddd5bb2d7b
1 file changed
+111 -95
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src/extensions/scratch3_boost/index.js
+111 -95
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@@ -101,18 +101,34 @@ const BoostPort = {
};
/**
* Enum for indexed colors read by the Boost Vision Sensor
* Ids for each color sensor value used by the extension.
* @readonly
* @enum {string}
*/
const BoostColor = {
ANY: 'any',
NONE: 'none',
RED: 'red',
BLUE: 'blue',
GREEN: 'green',
YELLOW: 'yellow',
WHITE: 'white',
BLACK: 'black'
};
/**
* Enum for indices for each color sensed by the Boost vision sensor.
* @readonly
* @enum {number}
*/
const BoostColor = {
NONE: 255,
RED: 9,
BLUE: 3,
GREEN: 5,
YELLOW: 7,
WHITE: 10,
BLACK: 0
const BoostColorIndex = {
[BoostColor.NONE]: 255,
[BoostColor.RED]: 9,
[BoostColor.BLUE]: 3,
[BoostColor.GREEN]: 5,
[BoostColor.YELLOW]: 7,
[BoostColor.WHITE]: 10,
[BoostColor.BLACK]: 0
};
/**
@@ -510,7 +526,7 @@ class BoostMotor {
this._clearRotationState();
return;
}
degrees = Math.max(0, degrees);
const cmd = this._parent.generateOutputCommand(
@@ -704,6 +720,23 @@ class Boost {
return this._sensors.color;
}
/**
* @return {number} - the previous color value received from the vision sensor.
*/
get previousColor () {
return this._sensors.previousColor;
}
/**
* Look up the color id for an index received from the vision sensor.
* @param {number} index - the color index to look up.
* @return {BoostColor} the color id for this index.
*/
boostColorForIndex (index) {
const colorForIndex = Object.keys(BoostColorIndex).find(key => BoostColorIndex[key] === index);
return colorForIndex || BoostColor.NONE;
}
/**
* Access a particular motor on this peripheral.
* @param {int} index - the index of the desired motor.
@@ -946,7 +979,7 @@ class Boost {
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);
@@ -961,7 +994,7 @@ class Boost {
}
case BoostMessage.PORT_VALUE: {
const type = this._ports[portID];
switch (type) {
case BoostIO.TILT:
this._sensors.tiltX = data[4];
@@ -972,7 +1005,8 @@ class Boost {
if (this._colorSamples.length > BoostColorSampleSize) {
this._colorSamples.pop();
if (this._colorSamples.every((v, i, arr) => v === arr[0])) {
this._sensors.color = this._colorSamples[0];
this._sensors.previousColor = this._sensors.color;
this._sensors.color = this.boostColorForIndex(this._colorSamples[0]);
} else {
this._sensors.color = BoostColor.NONE;
}
@@ -1072,7 +1106,7 @@ class Boost {
default:
mode = BoostMode.UNKNOWN;
}
const cmd = this.generateInputCommand(
portID,
mode,
@@ -1139,21 +1173,6 @@ 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.
*/
@@ -1331,7 +1350,7 @@ class Scratch3BoostBlocks {
opcode: 'whenColor',
text: formatMessage({
id: 'boost.whenColor',
default: 'when [COLOR] color seen',
default: 'when [COLOR] brick seen',
description: 'check for when color'
}),
blockType: BlockType.HAT,
@@ -1339,18 +1358,25 @@ class Scratch3BoostBlocks {
COLOR: {
type: ArgumentType.STRING,
menu: 'COLOR',
defaultValue: BoostColorLabel.ANY
defaultValue: BoostColor.ANY
}
}
},
{
opcode: 'getColor',
opcode: 'seeingColor',
text: formatMessage({
id: 'boost.getColor',
default: 'color',
description: 'the color returned by the vision sensor'
id: 'boost.seeingColor',
default: 'seeing [COLOR] brick?',
description: 'is the color sensor seeing a certain color?'
}),
blockType: BlockType.REPORTER
blockType: BlockType.BOOLEAN,
arguments: {
COLOR: {
type: ArgumentType.STRING,
menu: 'COLOR',
defaultValue: BoostColor.ANY
}
}
},
{
opcode: 'whenTilted',
@@ -1588,61 +1614,60 @@ class Scratch3BoostBlocks {
{
text: formatMessage({
id: 'boost.color.red',
default: BoostColorLabel.RED,
description: BoostColorLabel.RED
default: 'red',
description: 'the color red'
}),
value: BoostColorLabel.RED
value: BoostColor.RED
},
{
text: formatMessage({
id: 'boost.color.blue',
default: BoostColorLabel.BLUE,
description: BoostColorLabel.BLUE
default: 'blue',
description: 'the color blue'
}),
value: BoostColorLabel.BLUE
value: BoostColor.BLUE
},
{
text: formatMessage({
id: 'boost.color.green',
default: BoostColorLabel.GREEN,
description: BoostColorLabel.GREEN
default: 'green',
description: 'the color green'
}),
value: BoostColorLabel.GREEN
value: BoostColor.GREEN
},
{
text: formatMessage({
id: 'boost.color.yellow',
default: BoostColorLabel.YELLOW,
description: BoostColorLabel.YELLOW
default: 'yellow',
description: 'the color yellow'
}),
value: BoostColorLabel.YELLOW
value: BoostColor.YELLOW
},
{
text: formatMessage({
id: 'boost.color.white',
default: BoostColorLabel.WHITE,
desription: BoostColorLabel.WHITE
default: 'white',
desription: 'the color white'
}),
value: BoostColorLabel.WHITE
value: BoostColor.WHITE
},
{
text: formatMessage({
id: 'boost.color.black',
default: BoostColorLabel.BLACK,
description: BoostColorLabel.BLACK
default: 'black',
description: 'the color black'
}),
value: BoostColorLabel.BLACK
value: BoostColor.BLACK
},
{
text: formatMessage({
id: 'boost.color.any',
default: BoostColorLabel.ANY,
description: BoostColorLabel.ANY
default: 'any color',
description: 'any color'
}),
value: BoostColorLabel.ANY
value: BoostColor.ANY
}
],
OP: ['<', '>']
]
}
};
}
@@ -1837,7 +1862,7 @@ class Scratch3BoostBlocks {
getMotorPosition (args) {
let portID = null;
switch (args.MOTOR_REPORTER_ID) {
case BoostMotorLabel.A:
portID = BoostPort.A;
break;
@@ -1965,45 +1990,36 @@ class Scratch3BoostBlocks {
}
/**
* Test whether the tilt sensor is currently tilted.
* Edge-triggering hat function, for when the vision sensor is detecting
* a certain color.
* @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.
* @return {boolean} - true when the color sensor senses the specified color.
*/
whenColor (args) {
return this._isColor(args);
}
/**
* @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.COLOR) {
case BoostColorLabel.ANY:
if (Object.keys(BoostColor).find(key => BoostColor[key])
.toLowerCase() !== this.getColor()) {
if (this.getColor() === this._peripheral._sensors.previousColor) {
return false;
}
this._peripheral._sensors.previousColor = this.getColor();
return true;
}
break;
default:
return this.getColor() === args.COLOR;
if (args.COLOR === BoostColor.ANY) {
// For "any" color, return true if the color is not "none", and
// the color is different from the previous color detected. This
// allows the hat to trigger when the color changes from one color
// to another.
return this._peripheral.color !== BoostColor.NONE &&
this._peripheral.color !== this._peripheral.previousColor;
}
return args.COLOR === this._peripheral.color;
}
/**
* A boolean reporter function, for whether the vision sensor is detecting
* a certain color.
* @param {object} args - the block's arguments.
* @return {boolean} - true when the color sensor senses the specified color.
*/
seeingColor (args) {
if (args.COLOR === BoostColor.ANY) {
return this._peripheral.color !== BoostColor.NONE;
}
return args.COLOR === this._peripheral.color;
}
/**