bricks/ev3: Add Port View on apps tab.

Author: laurensvalk

bricks/_common/micropython.c

@@ -308,6 +308,7 @@ pbio_error_t pbsys_main_program_validate(pbsys_main_program_t *program) {
             #if PBSYS_CONFIG_FEATURE_BUILTIN_USER_PROGRAM_EV3_APPS
             case PBIO_PYBRICKS_USER_PROGRAM_ID_EV3_MOTOR_BUTTON_CONTROL:
             case PBIO_PYBRICKS_USER_PROGRAM_ID_EV3_MOTOR_IR_CONTROL:
+            case PBIO_PYBRICKS_USER_PROGRAM_ID_EV3_PORT_VIEW:
                 return PBIO_SUCCESS;
             #endif
             default:
@@ -409,6 +410,10 @@ void pbsys_main_run_program(pbsys_main_program_t *program) {
             pb_package_pybricks_init(false);
             pyexec_frozen_module("_ev3_motor_ir_control.py", false);
             break;
+        case PBIO_PYBRICKS_USER_PROGRAM_ID_EV3_PORT_VIEW:
+            pb_package_pybricks_init(false);
+            pyexec_frozen_module("_ev3_port_view.py", false);
+            break;
         #endif
 
         default:

bricks/ev3/manifest.py

@@ -2,3 +2,4 @@
 freeze_as_mpy("../ev3/modules", "_ev3_motor_button_control.py")
 freeze_as_mpy("../ev3/modules", "_ev3_motor_dc.py")
 freeze_as_mpy("../ev3/modules", "_ev3_motor_ir_control.py")
+freeze_as_mpy("../ev3/modules", "_ev3_port_view.py")

bricks/ev3/modules/_ev3_port_view.py

@@ -0,0 +1,306 @@
+from pybricks.hubs import EV3Brick
+from pybricks.ev3devices import (
+    Motor,
+    ColorSensor as EV3ColorSensor,
+    TouchSensor as EV3TouchSensor,
+    GyroSensor,
+    UltrasonicSensor,
+    InfraredSensor,
+)
+from pybricks.nxtdevices import ColorSensor as NXTColorSensor, LightSensor, SoundSensor
+from pybricks.parameters import Button, Port, ImageFile
+from pybricks.tools import wait
+
+
+# Load and decompress images once.
+IMG_EV3_COLOR_AMBIENT = ImageFile._PORT_VIEW_EV3_COLOR_AMBIENT
+IMG_EV3_COLOR_COLOR = ImageFile._PORT_VIEW_EV3_COLOR_COLOR
+IMG_EV3_COLOR_REFLECTION = ImageFile._PORT_VIEW_EV3_COLOR_REFLECTION
+IMG_EV3_GYRO = ImageFile._PORT_VIEW_EV3_GYRO
+IMG_EV3_IR_BEACON = ImageFile._PORT_VIEW_EV3_IR_BEACON
+IMG_EV3_IR_BUTTON = ImageFile._PORT_VIEW_EV3_IR_BUTTON
+IMG_EV3_IR_PROXIMITY = ImageFile._PORT_VIEW_EV3_IR_PROXIMITY
+IMG_EV3_MOTOR_LARGE = ImageFile._PORT_VIEW_EV3_MOTOR_LARGE
+IMG_EV3_MOTOR_MEDIUM = ImageFile._PORT_VIEW_EV3_MOTOR_MEDIUM
+IMG_EV3_TOUCH = ImageFile._PORT_VIEW_EV3_TOUCH
+IMG_EV3_ULTRASONIC = ImageFile._PORT_VIEW_EV3_ULTRASONIC
+IMG_NXT_COLOR_AMBIENT = ImageFile._PORT_VIEW_NXT_COLOR_AMBIENT
+IMG_NXT_COLOR_COLOR = ImageFile._PORT_VIEW_NXT_COLOR_COLOR
+IMG_NXT_COLOR_REFLECTION = ImageFile._PORT_VIEW_NXT_COLOR_REFLECTION
+IMG_NXT_LIGHT_AMBIENT = ImageFile._PORT_VIEW_NXT_LIGHT_AMBIENT
+IMG_NXT_LIGHT_REFLECTION = ImageFile._PORT_VIEW_NXT_LIGHT_REFLECTION
+IMG_NXT_SOUND = ImageFile._PORT_VIEW_NXT_SOUND
+PORT_NONE_TOP = ImageFile._PORT_VIEW_P0_TOP
+PORT_NONE_BOTTOM = ImageFile._PORT_VIEW_P0_BOTTOM
+PORT_IMG = [
+    ImageFile._PORT_VIEW_PA,
+    ImageFile._PORT_VIEW_PB,
+    ImageFile._PORT_VIEW_PC,
+    ImageFile._PORT_VIEW_PD,
+    ImageFile._PORT_VIEW_P1,
+    ImageFile._PORT_VIEW_P2,
+    ImageFile._PORT_VIEW_P3,
+    ImageFile._PORT_VIEW_P4,
+]
+
+# Initialize brick for display and buttons.
+ev3 = EV3Brick()
+
+# We navigate through the ports with directional buttons.
+# Center button increments (and wraps) mode.
+PORTS = [Port.A, Port.B, Port.C, Port.D, Port.S1, Port.S2, Port.S3, Port.S4]
+modes = [0] * len(PORTS)
+selected = 0
+
+
+# Generator that repeatedly tests which device is plugged in, reading
+# values until it is unplugged, then trying again.
+def port_process(index):
+    while True:
+        # Reset mode on plugged in.
+        modes[index] = 0
+
+        # Large and Medium Motor
+        try:
+            motor = Motor(PORTS[index], reset_angle=False)
+            image = (
+                IMG_EV3_MOTOR_LARGE
+                if motor.control.pid()[0] > 12000
+                else IMG_EV3_MOTOR_MEDIUM
+            )
+            while True:
+                try:
+                    short = motor.angle()
+                    detail = str(short) + " deg"
+                    yield image, short, detail
+                except OSError:
+                    motor.close()
+                    break
+        except OSError:
+            pass
+
+        # EV3 Touch Sensor
+        try:
+            sensor = EV3TouchSensor(PORTS[index])
+            while True:
+                try:
+                    pressed = sensor.pressed()
+                    detail = "pressed" if pressed else "released"
+                    yield IMG_EV3_TOUCH, pressed, detail
+                except OSError:
+                    break
+        except OSError:
+            pass
+
+        # EV3 Ultrasonic Sensor
+        try:
+            sensor = UltrasonicSensor(PORTS[index])
+            while True:
+                try:
+                    distance = sensor.distance()
+                    detail = f"{distance:>4} mm"
+                    yield IMG_EV3_ULTRASONIC, distance, detail
+                except OSError:
+                    break
+        except OSError:
+            pass
+
+        # EV3 Color Sensor
+        try:
+            sensor = EV3ColorSensor(PORTS[index])
+            while True:
+                try:
+                    mode = modes[index] % 3
+                    if mode == 2:
+                        detail = str(sensor.color())[6:].lower()
+                        short = detail[0:3]
+                        image = IMG_EV3_COLOR_COLOR
+                    else:
+                        image = (
+                            IMG_EV3_COLOR_AMBIENT if mode else IMG_EV3_COLOR_REFLECTION
+                        )
+                        short = sensor.ambient() if mode else sensor.reflection()
+                        detail = f"{short:>3} %"
+                    yield image, short, detail
+                except OSError:
+                    break
+        except OSError:
+            pass
+
+        # EV3 Infrared Sensor
+        try:
+            sensor = InfraredSensor(PORTS[index])
+            while True:
+                try:
+                    mode = modes[index] % 3
+                    if mode == 0:
+                        short = sensor.distance()
+                        detail = f"{short:>3} %"
+                        image = IMG_EV3_IR_PROXIMITY
+                    elif mode == 1:
+                        image = IMG_EV3_IR_BUTTON
+                        pressed = [str(b)[7:] for b in sensor.buttons(1)]
+                        short = len(pressed)
+                        if len(pressed) == 1:
+                            detail = pressed[0]
+                        elif len(pressed) == 2:
+                            detail = pressed[0] + "\n" + pressed[1]
+                        else:
+                            detail = "Channel 1\nNo buttons"
+                    else:
+                        image = IMG_EV3_IR_BEACON
+                        distance, angle = sensor.beacon(1)
+                        if distance is None or angle is None:
+                            short = "Non"
+                            detail = "Channel 1\nNo beacon"
+                        else:
+                            short = distance or 0
+                            detail = f"{distance} %\n{angle} deg"
+                    yield image, short, detail
+                except OSError:
+                    break
+        except OSError:
+            pass
+
+        # EV3 Gyro Sensor
+        try:
+            gyro = GyroSensor(PORTS[index])
+            while True:
+                try:
+                    short = gyro.angle()
+                    detail = f"{short:>4} deg\n{gyro.speed():>4} deg/s"
+                    yield IMG_EV3_GYRO, short, detail
+                except OSError:
+                    break
+        except OSError:
+            pass
+
+        # NXT Color Sensor
+        try:
+            sensor = NXTColorSensor(PORTS[index])
+            while True:
+                try:
+                    mode = modes[index] % 3
+                    if mode == 2:
+                        detail = str(sensor.color())[6:].lower()
+                        short = detail[0:3]
+                        image = IMG_NXT_COLOR_COLOR
+                    else:
+                        image = (
+                            IMG_NXT_COLOR_AMBIENT if mode else IMG_NXT_COLOR_REFLECTION
+                        )
+                        value = sensor.ambient() if mode else sensor.reflection()
+                        detail = f"{value:>5.1f} %"
+                    yield image, round(value), detail
+                except OSError:
+                    break
+        except OSError:
+            pass
+
+        # NXT Light Sensor
+        try:
+            sensor = LightSensor(PORTS[index])
+            while True:
+                try:
+                    ambient = modes[index] % 2
+                    image = (
+                        IMG_NXT_LIGHT_AMBIENT if ambient else IMG_NXT_LIGHT_REFLECTION
+                    )
+                    value = sensor.ambient() if ambient else sensor.reflection()
+                    detail = f"{value:>5.1f} %"
+                    yield image, round(value), detail
+                except OSError:
+                    break
+        except OSError:
+            pass
+
+        # NXT Sound Sensor
+        try:
+            sensor = SoundSensor(PORTS[index])
+            while True:
+                try:
+                    value = sensor.intensity()
+                    detail = f"{value:>5.1f} %"
+                    yield IMG_NXT_SOUND, round(value), detail
+                except OSError:
+                    break
+        except OSError:
+            pass
+
+        # Nothing on this port.
+        yield None, "---", "No device"
+
+
+# Each port has its own process that we draw values from.
+processes = [port_process(i) for i in range(len(PORTS))]
+
+
+def draw_ui():
+    # Draw main boxes.
+    ev3.screen.clear()
+    ev3.screen.draw_image(0, 7, PORT_IMG[selected] if selected <= 3 else PORT_NONE_TOP)
+    ev3.screen.draw_image(0, 33, ImageFile._PORT_VIEW_EMPTY)
+    ev3.screen.draw_image(
+        0, 92, PORT_IMG[selected] if selected > 3 else PORT_NONE_BOTTOM
+    )
+    ev3.screen.draw_line(50, 42, 50, 82)
+
+    # Draw all port states.
+    for i in range(len(PORTS)):
+        # Get the state of this port.
+        image, value, detail = next(processes[i])
+
+        if i == selected:
+            # For selection, show main image and larger value.
+            if image:
+                ev3.screen.draw_image(4, 40, image)
+            y = 45 if "\n" in detail or "%" in detail else 55
+            ev3.screen.draw_text(60, y, text=detail)
+            if "%" in detail and "\n" not in detail:
+                ev3.screen.draw_box(60, 65, 160, 75)
+                ev3.screen.draw_box(60, 65, 60 + value, 75, fill=True)
+        else:
+            # Otherwise show value only.
+            x = 15 + (i % 4) * 40
+            y = 11 if i <= 3 else 100
+
+            # Move integers slightly right and add optional short minus.
+            if isinstance(value, int):
+                x += 3
+                if value < 0:
+                    ev3.screen.draw_line(x - 5, y + 7, x - 2, y + 7)
+                    value = -value
+                if value > 999:
+                    value = 999
+            elif isinstance(value, str):
+                value = value[0:3]
+
+            if isinstance(value, bool):
+                # Visualize bool as empty or filled box
+                ev3.screen.draw_box(x + 7, y + 1, x + 17, y + 11, fill=value)
+            else:
+                # Else draw text value in the small box.
+                ev3.screen.draw_text(x, y, text=str(value))
+
+
+# Monitor the buttons to change ports, refreshing the
+# screen while we wait.
+while True:
+    while not (pressed := ev3.buttons.pressed()):
+        draw_ui()
+        wait(100)
+
+    if Button.LEFT in pressed:
+        selected = (selected - 1) % len(PORTS)
+    elif Button.RIGHT in pressed:
+        selected = (selected + 1) % len(PORTS)
+    elif Button.UP in pressed and selected > 3:
+        selected -= 4
+    elif Button.DOWN in pressed and selected <= 3:
+        selected += 4
+    elif Button.CENTER in pressed:
+        modes[selected] += 1
+
+    while any(ev3.buttons.pressed()):
+        draw_ui()
+        wait(100)

bricks/virtualhub/manifest.py

@@ -2,3 +2,4 @@
 freeze_as_mpy("../ev3/modules", "_ev3_motor_button_control.py")
 freeze_as_mpy("../ev3/modules", "_ev3_motor_dc.py")
 freeze_as_mpy("../ev3/modules", "_ev3_motor_ir_control.py")
+freeze_as_mpy("../ev3/modules", "_ev3_port_view.py")

lib/pbio/include/pbio/protocol.h

@@ -77,6 +77,10 @@ typedef enum {
      * Program to control EV3 motors with infrared remote.
      */
     PBIO_PYBRICKS_USER_PROGRAM_ID_EV3_MOTOR_IR_CONTROL = 134,
+    /**
+     * Application to view sensor values.
+     */
+    PBIO_PYBRICKS_USER_PROGRAM_ID_EV3_PORT_VIEW = 135,
 } pbio_pybricks_user_program_id_t;
 
 /**