Added live Sphero SPRK+ simulation for position and color.

MarkusBordihn · MarkusBordihn · commit 4e45e8350fa4 · 2018-09-19T18:36:13.000+02:00
diff --git a/package.json b/package.json
@@ -81,7 +81,7 @@
     "documentation": "jsdoc src -r -c documentation.json -d docs",
     "launch": "echo Lauching app. Please wait ... && npm run launch:linux --silent || npm run launch:mac --silent || npm run launch:win-experimental --silent",
     "launch:linux": "google-chrome --load-and-launch:app=$PWD/dist/chrome_os --enable-logging --v=1 --no-first-run",
-    "launch:mac": "\"/Applications/Google Chrome.app/Contents/MacOS/Google Chrome\" --load-and-launch:app=$PWD/dist/chrome_os --enable-logging --v=1 --no-first-run",
+    "launch:mac": "\"/Applications/Google Chrome.app/Contents/MacOS/Google Chrome\" --load-and-launch-app=$PWD/dist/chrome_os --enable-logging --v=1 --no-first-run",
     "launch:nw": "nw dist/nw_app",
     "launch:web": "http-server dist/web_app",
     "launch:win": "echo && \"C:\\Program Files (x86)\\Google\\Chrome\\Application\\chrome.exe\" --profile-directory=Default --app-id=becloognjehhioodmnimnehjcibkloed --enable-logging --v=1 --no-first-run",
diff --git a/src/blocks/sphero/sprk_plus/javascript.js b/src/blocks/sphero/sprk_plus/javascript.js
@@ -68,8 +68,8 @@ Blockly.JavaScript['sphero_sprk_plus_roll_time'] = function(block) {
     block, 'time', Blockly.JavaScript.ORDER_ATOMIC);
   let speed = Blockly.JavaScript.valueToCode(
     block, 'speed', Blockly.JavaScript.ORDER_ATOMIC);
-  let heading = parseInt(Blockly.JavaScript.valueToCode(
-    block, 'heading', Blockly.JavaScript.ORDER_ATOMIC));
+  let heading = Blockly.JavaScript.valueToCode(
+    block, 'heading', Blockly.JavaScript.ORDER_ATOMIC);
   return 'sprkPlus.rollTime(' + time + ', ' + speed + ', ' + heading +
     ', true);\n';
 };
diff --git a/src/frameworks/turtle/turtle.js b/src/frameworks/turtle/turtle.js
@@ -96,6 +96,9 @@ cwc.framework.Turtle.prototype.addListener = function() {
   this.listener_['turnto'] = this.handleTurnto_.bind(this);
   this.listener_['play'] = this.handlePlay_.bind(this);
 
+  // Custom commands
+  this.listener_['moveToXY'] = this.handleMoveToXY_.bind(this);
+
   // Methods below happen in an instant, but line up in the animation queue.
   this.listener_['home'] = this.handleHome_.bind(this);
   this.listener_['pen'] = this.handlePen_.bind(this);
@@ -213,12 +216,24 @@ cwc.framework.Turtle.prototype.handleJump_ = function(x, y) {
 
 /**
  * Absolute motion on page.
- * @param {number} x
- * @param {number} y
+ * @param {Object} data
+ * @private
+ */
+cwc.framework.Turtle.prototype.handleMoveto_ = function(data) {
+  this.turtleTarget['moveto']({
+    'pageX': data['x'],
+    'pageY': data['y'],
+  });
+};
+
+
+/**
+ * X/Y motion on page.
+ * @param {Object} data
  * @private
  */
-cwc.framework.Turtle.prototype.handleMoveto_ = function(x, y) {
-  this.turtleTarget['moveto']({pageX: x, pageY: y});
+cwc.framework.Turtle.prototype.handleMoveToXY_ = function(data) {
+  this.turtleTarget['moveto'](data['x'], data['y']);
 };
 
 
diff --git a/src/mode/sphero/sphero2/simulation/command.js b/src/mode/sphero/sphero2/simulation/command.js
diff --git a/src/mode/sphero/sphero2/simulation/simulation.js b/src/mode/sphero/sphero2/simulation/simulation.js
diff --git a/src/mode/sphero/sprk_plus/mod.js b/src/mode/sphero/sprk_plus/mod.js
@@ -60,7 +60,8 @@ cwc.mode.sphero.sprkPlus.Mod = function(helper, enableBlockly = false) {
   this.monitor = new cwc.mode.sphero.sprkPlus.Monitor(helper, this.connection);
 
   /** @type {!cwc.mode.sphero.sprkPlus.Simulation} */
-  this.simulation = new cwc.mode.sphero.sprkPlus.Simulation(helper);
+  this.simulation = new cwc.mode.sphero.sprkPlus.Simulation(helper,
+    this.connection);
 
   /** @type {!cwc.renderer.external.sphero.SprkPlus} */
   this.renderer = new cwc.renderer.external.sphero.SprkPlus(helper);
diff --git a/src/mode/sphero/sprk_plus/simulation/command.js b/src/mode/sphero/sprk_plus/simulation/command.js
@@ -1,7 +1,7 @@
 /**
  * @fileoverview Simulation Commands for the Sphero SPRK+ unit.
  *
- * @license Copyright 2015 The Coding with Chrome Authors.
+ * @license Copyright 2018 The Coding with Chrome Authors.
  *
  * Licensed under the Apache License, Version 2.0 (the "License");
  * you may not use this file except in compliance with the License.
@@ -36,7 +36,10 @@ cwc.mode.sphero.sprkPlus.SimulationCommand = function(turtle) {
   this.heading_ = 0;
 
   /** @private {number} */
-  this.speed_ = 40;
+  this.scale_ = 1;
+
+  /** @private {number} */
+  this.speed_ = 10;
 };
 
 
@@ -45,9 +48,8 @@ cwc.mode.sphero.sprkPlus.SimulationCommand = function(turtle) {
  */
 cwc.mode.sphero.sprkPlus.SimulationCommand.prototype['__handshake__'] =
     function() {
-  this.speed_ = 40;
-  this.turtle.action('speed', 2);
-  this.turtle.action('scale', 1);
+  this.turtle.action('scale', this.scale_);
+  this.turtle.action('speed', this.speed_);
   this.turtle.reset();
 };
 
@@ -72,3 +74,29 @@ cwc.mode.sphero.sprkPlus.SimulationCommand.prototype['roll'] = function(data) {
   this.turtle.action('rt', angle);
   this.turtle.action('fd', speed);
 };
+
+
+/**
+ * @param {!Object} data
+ */
+cwc.mode.sphero.sprkPlus.SimulationCommand.prototype['setRGB'] = function(
+    data) {
+  let hexColor = '#' +
+    Number(data['red']).toString(16).padStart(2, 0) +
+    Number(data['green']).toString(16).padStart(2, 0) +
+    Number(data['blue']).toString(16).padStart(2, 0);
+  if (hexColor === '#000000') {
+    this.turtle.action('pen', null);
+  } else {
+    this.turtle.action('pen', hexColor);
+  }
+};
+
+
+/**
+ * @param {!Object} data
+ */
+cwc.mode.sphero.sprkPlus.SimulationCommand.prototype['position'] = function(
+    data) {
+  this.turtle.action('moveToXY', {'x': data['x'], 'y': data['y']});
+};
diff --git a/src/mode/sphero/sprk_plus/simulation/simulation.js b/src/mode/sphero/sprk_plus/simulation/simulation.js
@@ -25,17 +25,24 @@ goog.require('cwc.ui.Turtle');
 goog.require('cwc.utils.Events');
 
 
+goog.scope(function() {
+const Events = goog.module.get('cwc.lib.protocol.sphero.sprkPlus.Events');
+
 /**
  * @param {!cwc.utils.Helper} helper
+ * @param {!cwc.mode.sphero.sprkPlus.Connection} connection
  * @constructor
  */
-cwc.mode.sphero.sprkPlus.Simulation = function(helper) {
+cwc.mode.sphero.sprkPlus.Simulation = function(helper, connection) {
   /** @type {string} */
   this.name = 'Sphero SPRK+ Simulation';
 
   /** @type {string} */
   this.prefix = helper.getPrefix('sphero-sprk-plus-simulation');
 
+  /** @type {!cwc.mode.sphero.sprkPlus.Connection} */
+  this.connection = connection;
+
   /** @type {Element} */
   this.node = null;
 
@@ -63,6 +70,12 @@ cwc.mode.sphero.sprkPlus.Simulation = function(helper) {
   /** @type {!cwc.ui.Turtle} */
   this.turtle = new cwc.ui.Turtle(helper, this.sprite);
 
+  /** @private {Object} */
+  this.cache_ = {};
+
+  /** @type {boolean} */
+  this.connected_ = false;
+
   /** @type {!cwc.mode.sphero.SimulationCommand} */
   this.commands_ = new cwc.mode.sphero.sprkPlus.SimulationCommand(this.turtle);
 
@@ -95,6 +108,11 @@ cwc.mode.sphero.sprkPlus.Simulation.prototype.decorate = function(node) {
     this.events_.listen(previewInstance.getEventTarget(),
         cwc.MessengerEvents.Type.COMMAND, this.handleCommand_);
   }
+
+  // Roboter event
+  let connectionEvent = this.connection.getEventTarget();
+  this.events_.listen(
+    connectionEvent, Events.Type.POSITION, this.handlePosition_);
 };
 
 
@@ -115,5 +133,34 @@ cwc.mode.sphero.sprkPlus.Simulation.prototype.handleCommand_ = function(e) {
   if (typeof this.commands_[e.data['name']] === 'undefined') {
     return;
   }
-  this.commands_[e.data['name']](e.data['value']);
+  let commandName = e.data['name'];
+  if (commandName === '__handshake__') {
+    this.cache_ = {};
+    this.connected_ = false;
+  }
+  // Exclude specific commands if device is connected.
+  if (this.connected_) {
+    switch (commandName) {
+      case 'roll':
+        return;
+    }
+  }
+  this.commands_[commandName](e.data['value']);
+};
+
+
+/**
+ * @param {!Event} e
+ * @private
+ */
+cwc.mode.sphero.sprkPlus.Simulation.prototype.handlePosition_ = function(e) {
+  if (this.cache_['position'] &&
+      this.cache_['position']['x'] === e.data['x'] &&
+      this.cache_['position']['y'] === e.data['y']) {
+    return;
+  }
+  this.connected_ = true;
+  this.commands_['position'](e.data);
+  this.cache_['position'] = e.data;
 };
+});
diff --git a/src/ui/blockly/blockly_config.js b/src/ui/blockly/blockly_config.js
@@ -21,7 +21,7 @@ goog.provide('cwc.ui.BlocklyConfig');
 
 
 /**
- * @emum {string|objct<string>|array<string>}
+ * @enum {string|objct<string>|array<string>}
  */
 cwc.ui.BlocklyConfig = {
   'path': '../external/blockly/',
diff --git a/src/ui/editor/editor_config.js b/src/ui/editor/editor_config.js
@@ -21,7 +21,7 @@ goog.provide('cwc.ui.EditorConfig');
 
 
 /**
- * @emum {string|objct<string>|array<string>}
+ * @enum {string|objct<string>|array<string>}
  */
 cwc.ui.EditorConfig = {
   'autoCloseBrackets': true,
diff --git a/test/deps.js b/test/deps.js
diff --git a/third_party/coding-with-chrome-libraries b/third_party/coding-with-chrome-libraries
@@ -1 +1 @@
-Subproject commit 6627f5d3801d51aac66c054b9e4884ba5622548e
+Subproject commit a57e0166ad3bddafbba3b5a542bbfcec8dd56298
