Merge pull request #963 from pybricks/dlech

dlech · web-flow · commit 07b0ac0ad96d · 2022-07-06T14:49:05.000-05:00
v2.0.0-beta.3
diff --git a/CHANGELOG.md b/CHANGELOG.md
@@ -2,7 +2,35 @@
 
 # Changelog
 
-## [2.0.0-beta.2]
+## [Unreleased]
+
+## [2.0.0-beta.3] - 2022-07-06
+
+### Changed
+- Updated dependencies.
+- Updated firmware to Pybricks v3.2.0b2:
+
+  ### Added
+  - Added `Motor.stalled()` method.
+
+  ### Fixed
+  - Fixed motor not stopping at the end of `run_until_stalled` ([support#662]).
+  - Fixed incorrect battery current reading on Technic hub ([support#665]).
+  - Fixed non-zero speed reported when motor stalled.
+  - Fixed I/O devices not syncing at high baud rate.
+  - Fixed `ENODEV` error while device connection manager is busy ([support#674]).
+
+  ### Changed
+  - Reworked internal motor model that is used to estimate speed.
+  - Speed methods now use estimated speed instead of reported speed.
+  - Changed drive base default speed to go a little slower.
+  - Updated MicroPython to v1.19.
+
+  [support#662]: https://github.com/pybricks/support/issues/662
+  [support#665]: https://github.com/pybricks/support/issues/665
+  [support#674]: https://github.com/pybricks/support/issues/674
+
+## [2.0.0-beta.2] - 2022-06-24
 
 ### Added
 - Added basic intellisense to the code editor.
@@ -281,16 +309,18 @@
 - Updated hub firmware to [v3.0.0].
 - Updated documentation.
 
+[v3.0.0]: https://github.com/pybricks/pybricks-micropython/blob/master/CHANGELOG.md#300---2021-06-08
+
 ## Prerelease
 
 Prerelease changes are documented at [support#48].
 
 [support#48]: https://github.com/pybricks/support/issues/48
-[v3.0.0]: https://github.com/pybricks/pybricks-micropython/blob/master/CHANGELOG.md#300---2021-06-08
 
 <!-- links for version headings -->
 
-[Unreleased]: https://github.com/pybricks/pybricks-code/compare/v2.0.0-beta.2...HEAD
+[Unreleased]: https://github.com/pybricks/pybricks-code/compare/v2.0.0-beta.3...HEAD
+[2.0.0-beta.3]: https://github.com/pybricks/pybricks-code/compare/v2.0.0-beta.2...v2.0.0-beta.3
 [2.0.0-beta.2]: https://github.com/pybricks/pybricks-code/compare/v2.0.0-beta.1...v2.0.0-beta.2
 [2.0.0-beta.1]: https://github.com/pybricks/pybricks-code/compare/v1.2.0-beta.1...v2.0.0-beta.1
 [1.2.0-beta.1]: https://github.com/pybricks/pybricks-code/compare/v1.1.0...v1.2.0-beta.1
diff --git a/config/webpack.config.js b/config/webpack.config.js
@@ -601,8 +601,8 @@ module.exports = function (webpackEnv) {
       new CopyPlugin({
         patterns: [
           {
-            from: 'node_modules/@pybricks/ide-docs/html',
-            to: 'static/docs',
+            from: `${path.dirname(require.resolve('@pybricks/ide-docs/package.json'))}/html`,
+            to: `static/docs/v${require('@pybricks/ide-docs/package.json').version}/`,
           },
         ],
       }),
diff --git a/package.json b/package.json
@@ -1,6 +1,6 @@
 {
     "name": "@pybricks/pybricks-code",
-    "version": "2.0.0-beta.2",
+    "version": "2.0.0-beta.3",
     "license": "MIT",
     "author": "The Pybricks Authors",
     "repository": {
@@ -12,9 +12,10 @@
         "@blueprintjs/core": "^4.5.0",
         "@blueprintjs/popover2": "^1.4.1",
         "@pmmmwh/react-refresh-webpack-plugin": "^0.5.7",
-        "@pybricks/firmware": "4.15.0",
+        "@pybricks/firmware": "4.16.1",
         "@pybricks/ide-docs": "2.2.0",
         "@pybricks/mpy-cross-v5": "^2.0.0",
+        "@pybricks/mpy-cross-v6": "^2.0.0",
         "@reduxjs/toolkit": "^1.8.3",
         "@shopify/react-i18n": "^7.1.3",
         "@svgr/webpack": "^6.2.1",
diff --git a/src/app/App.tsx b/src/app/App.tsx
@@ -1,7 +1,10 @@
 // SPDX-License-Identifier: MIT
 // Copyright (c) 2020-2022 The Pybricks Authors
 
+import 'react-splitter-layout/lib/index.css';
+import './app.scss';
 import { Classes } from '@blueprintjs/core';
+import docsPackage from '@pybricks/ide-docs/package.json';
 import { getFocusableTreeWalker } from '@react-aria/focus';
 import React, {
     FocusEventHandler,
@@ -20,8 +23,6 @@ import StatusBar from '../status-bar/StatusBar';
 import Terminal from '../terminal/Terminal';
 import Toolbar from '../toolbar/Toolbar';
 import { isMacOS } from '../utils/os';
-import 'react-splitter-layout/lib/index.css';
-import './app.scss';
 
 const Docs: React.VFC = () => {
     const { setIsSettingShowDocsEnabled } = useSettingIsShowDocsEnabled();
@@ -119,7 +120,7 @@ const Docs: React.VFC = () => {
                     contentWindow.document.documentElement.classList.add(Classes.DARK);
                 }
             }}
-            src="static/docs/index.html"
+            src={`static/docs/v${docsPackage.version}/index.html`}
             allowFullScreen={true}
             role="documentation"
             width="100%"
diff --git a/src/editor/Editor.tsx b/src/editor/Editor.tsx
@@ -392,10 +392,9 @@ const Editor: React.VFC = () => {
         () => ({
             id: 'pybricks.action.check',
             label: i18n.translate(I18nId.Check),
-            // REVISIT: the compile options here might need to be changed - hopefully there is
-            // one setting that works for all hub types for cases where we aren't connected.
             run: (e) => {
-                dispatch(compile(e.getValue(), []));
+                // for checking, use the most recent compiler
+                dispatch(compile(e.getValue(), 6, []));
             },
             keybindings: [monaco.KeyCode.F2],
         }),
diff --git a/src/firmware/sagas.test.ts b/src/firmware/sagas.test.ts
@@ -107,6 +107,7 @@ describe('flashFirmware', () => {
             action = await saga.take();
             expect(action).toMatchInlineSnapshot(`
                 Object {
+                  "abiVersion": 5,
                   "options": Array [
                     "-mno-unicode",
                   ],
@@ -622,6 +623,7 @@ describe('flashFirmware', () => {
             action = await saga.take();
             expect(action).toMatchInlineSnapshot(`
                 Object {
+                  "abiVersion": 5,
                   "options": Array [
                     "-mno-unicode",
                   ],
@@ -767,6 +769,7 @@ describe('flashFirmware', () => {
             action = await saga.take();
             expect(action).toMatchInlineSnapshot(`
                 Object {
+                  "abiVersion": 5,
                   "options": Array [
                     "-mno-unicode",
                   ],
@@ -861,6 +864,7 @@ describe('flashFirmware', () => {
             action = await saga.take();
             expect(action).toMatchInlineSnapshot(`
                 Object {
+                  "abiVersion": 5,
                   "options": Array [
                     "-mno-unicode",
                   ],
@@ -964,6 +968,7 @@ describe('flashFirmware', () => {
             action = await saga.take();
             expect(action).toMatchInlineSnapshot(`
                 Object {
+                  "abiVersion": 5,
                   "options": Array [
                     "-mno-unicode",
                   ],
@@ -1107,6 +1112,7 @@ describe('flashFirmware', () => {
             action = await saga.take();
             expect(action).toMatchInlineSnapshot(`
                 Object {
+                  "abiVersion": 5,
                   "options": Array [
                     "-mno-unicode",
                   ],
@@ -1236,6 +1242,7 @@ describe('flashFirmware', () => {
             let action = await saga.take();
             expect(action).toMatchInlineSnapshot(`
                 Object {
+                  "abiVersion": 5,
                   "options": Array [
                     "-mno-unicode",
                   ],
@@ -1477,6 +1484,7 @@ describe('flashFirmware', () => {
             let action = await saga.take();
             expect(action).toMatchInlineSnapshot(`
                 Object {
+                  "abiVersion": 5,
                   "options": Array [
                     "-mno-unicode",
                   ],
@@ -1536,6 +1544,7 @@ describe('flashFirmware', () => {
             let action = await saga.take();
             expect(action).toMatchInlineSnapshot(`
                 Object {
+                  "abiVersion": 5,
                   "options": Array [
                     "-mno-unicode",
                   ],
@@ -1596,6 +1605,7 @@ describe('flashFirmware', () => {
             let action = await saga.take();
             expect(action).toMatchInlineSnapshot(`
                 Object {
+                  "abiVersion": 5,
                   "options": Array [
                     "-mno-unicode",
                   ],
@@ -1659,6 +1669,7 @@ describe('flashFirmware', () => {
             let action = await saga.take();
             expect(action).toMatchInlineSnapshot(`
                 Object {
+                  "abiVersion": 5,
                   "options": Array [
                     "-mno-unicode",
                   ],
@@ -1759,6 +1770,7 @@ describe('flashFirmware', () => {
         action = await saga.take();
         expect(action).toMatchInlineSnapshot(`
             Object {
+              "abiVersion": 5,
               "options": Array [
                 "-mno-unicode",
               ],
diff --git a/src/firmware/sagas.ts b/src/firmware/sagas.ts
@@ -207,7 +207,9 @@ function* loadFirmware(
         yield* disconnectAndCancel();
     }
 
-    yield* put(compile(program, metadata['mpy-cross-options']));
+    yield* put(
+        compile(program, metadata['mpy-abi-version'], metadata['mpy-cross-options']),
+    );
     const { mpy, mpyFail } = yield* race({
         mpy: take(didCompile),
         mpyFail: take(didFailToCompile),
diff --git a/src/hub/actions.ts b/src/hub/actions.ts
@@ -13,8 +13,9 @@ export const checksum = createAction((checksum: number) => ({
 
 // High-level hub actions.
 
-export const downloadAndRun = createAction(() => ({
+export const downloadAndRun = createAction((abiVersion: number) => ({
     type: 'hub.action.downloadAndRun',
+    abiVersion,
 }));
 
 export const didStartDownload = createAction(() => ({
diff --git a/src/hub/reducers.test.ts b/src/hub/reducers.test.ts
@@ -1,5 +1,5 @@
 // SPDX-License-Identifier: MIT
-// Copyright (c) 2021 The Pybricks Authors
+// Copyright (c) 2021-2022 The Pybricks Authors
 
 import { AnyAction } from 'redux';
 import { didReceiveStatusReport } from '../ble-pybricks-service/actions';
@@ -19,6 +19,7 @@ test('initial state', () => {
     expect(reducers(undefined, {} as AnyAction)).toMatchInlineSnapshot(`
         Object {
           "downloadProgress": null,
+          "mpyAbiVersion": 6,
           "runtime": "hub.runtime.disconnected",
         }
     `);
diff --git a/src/hub/reducers.ts b/src/hub/reducers.ts
@@ -2,9 +2,12 @@
 // Copyright (c) 2020-2022 The Pybricks Authors
 
 import { Reducer, combineReducers } from 'redux';
+import * as semver from 'semver';
+import { bleDIServiceDidReceiveFirmwareRevision } from '../ble-device-info-service/actions';
 import { didReceiveStatusReport } from '../ble-pybricks-service/actions';
 import { Status, statusToFlag } from '../ble-pybricks-service/protocol';
 import { didConnect, didDisconnect } from '../ble/actions';
+import { pythonVersionToSemver } from '../utils/version';
 import {
     didFailToFinishDownload,
     didFinishDownload,
@@ -118,4 +121,18 @@ const downloadProgress: Reducer<number | null> = (state = null, action) => {
     return state;
 };
 
-export default combineReducers({ runtime, downloadProgress });
+const mpyAbiVersion: Reducer<number> = (state = 6, action) => {
+    if (bleDIServiceDidReceiveFirmwareRevision.matches(action)) {
+        // HACK: there is not a good way to get the supported MPY ABI version
+        // from a running hub, so we use heuristics on the firmware version.
+        if (semver.satisfies(pythonVersionToSemver(action.version), '>=3.2.0-beta.2')) {
+            return 6;
+        }
+
+        return 5;
+    }
+
+    return state;
+};
+
+export default combineReducers({ runtime, downloadProgress, mpyAbiVersion });
diff --git a/src/hub/sagas.test.ts b/src/hub/sagas.test.ts
@@ -31,7 +31,7 @@ describe('downloadAndRun', () => {
 
         saga.updateState({ editor: { isReady: true } });
 
-        saga.put(downloadAndRun());
+        saga.put(downloadAndRun(5));
 
         // first, it gets the value from the current editor
         const editorValueAction = await saga.take();
@@ -41,7 +41,7 @@ describe('downloadAndRun', () => {
 
         // then it tries to compile the program in the current editor
         const compileAction = await saga.take();
-        expect(compileAction).toEqual(compile('', ['-mno-unicode']));
+        expect(compileAction).toEqual(compile('', 5, ['-mno-unicode']));
         saga.put(didCompile(new Uint8Array(30)));
 
         // then it notifies that loading has begun
diff --git a/src/hub/sagas.ts b/src/hub/sagas.ts
@@ -46,10 +46,17 @@ function* waitForWrite(id: number): SagaGenerator<{
     });
 }
 
-function* handleDownloadAndRun(): Generator {
+function* handleDownloadAndRun(action: ReturnType<typeof downloadAndRun>): Generator {
     const script = yield* editorGetValue();
 
-    yield* put(compile(script, ['-mno-unicode']));
+    yield* put(
+        compile(
+            script,
+            action.abiVersion,
+            // no-unicode option was removed in MPY ABI v6
+            action.abiVersion < 6 ? ['-mno-unicode'] : [],
+        ),
+    );
 
     const { mpy, mpyFail } = yield* race({
         mpy: take(didCompile),
diff --git a/src/mpy/actions.ts b/src/mpy/actions.ts
@@ -1,14 +1,17 @@
 // SPDX-License-Identifier: MIT
-// Copyright (c) 2020,2022 The Pybricks Authors
+// Copyright (c) 2020-2022 The Pybricks Authors
 
 import { createAction } from '../actions';
 
 /** Action that requests that a script is compiled. */
-export const compile = createAction((script: string, options: string[]) => ({
-    type: 'mpy.action.compile',
-    script,
-    options,
-}));
+export const compile = createAction(
+    (script: string, abiVersion: number, options: string[]) => ({
+        type: 'mpy.action.compile',
+        script,
+        abiVersion,
+        options,
+    }),
+);
 
 export const didCompile = createAction((data: Uint8Array) => ({
     type: 'mpy.action.didCompile',
diff --git a/src/mpy/sagas.test.ts b/src/mpy/sagas.test.ts
@@ -1,33 +1,28 @@
 // SPDX-License-Identifier: MIT
-// Copyright (c) 2020,2022 The Pybricks Authors
+// Copyright (c) 2020-2022 The Pybricks Authors
 
 import { AsyncSaga } from '../../test';
 import { compile, didCompile, didFailToCompile } from './actions';
 import mpy from './sagas';
 
-enum MpyFeatureFlags {
-    MICROPY_OPT_CACHE_MAP_LOOKUP_IN_BYTECODE = 1 << 0,
-    MICROPY_PY_BUILTINS_STR_UNICODE = 1 << 1,
-}
-
 test('compiler works', async () => {
     const saga = new AsyncSaga(mpy);
 
-    saga.put(compile('print("hello!")', []));
+    saga.put(compile('print("hello!")', 6, []));
 
     const action = await saga.take();
     expect(didCompile.matches(action)).toBeTruthy();
     const { data } = action as ReturnType<typeof didCompile>;
     expect(data[0]).toBe('M'.charCodeAt(0));
-    expect(data[1]).toBe(5); // ABI version
-    expect(data[2]).toBe(MpyFeatureFlags.MICROPY_PY_BUILTINS_STR_UNICODE);
+    expect(data[1]).toBe(6); // ABI version
+    expect(data[2]).toBe(0); // flags
     expect(data[3]).toBe(31); // small int bits
 });
 
 test('compiler error works', async () => {
     const saga = new AsyncSaga(mpy);
 
-    saga.put(compile('syntax error!', []));
+    saga.put(compile('syntax error!', 6, []));
 
     const action = await saga.take();
     expect(didFailToCompile.matches(action)).toBeTruthy();
diff --git a/src/mpy/sagas.ts b/src/mpy/sagas.ts
diff --git a/src/toolbar/buttons/run/RunButton.test.tsx b/src/toolbar/buttons/run/RunButton.test.tsx
diff --git a/src/toolbar/buttons/run/RunButton.tsx b/src/toolbar/buttons/run/RunButton.tsx
diff --git a/yarn.lock b/yarn.lock
