pybricks.nxtdevices: Enable SoundSensor.

Author: laurensvalk

pybricks/nxtdevices/nxtdevices.h

@@ -15,11 +15,11 @@ extern const mp_obj_type_t pb_type_nxtdevices_LightSensor;
 extern const mp_obj_type_t pb_type_nxtdevices_ColorSensor;
 extern const mp_obj_type_t pb_type_nxtdevices_UltrasonicSensor;
 extern const mp_obj_type_t pb_type_nxtdevices_TemperatureSensor;
+extern const mp_obj_type_t pb_type_nxtdevices_SoundSensor;
 
 #if PYBRICKS_PY_EV3DEVDEVICES
 
 extern const mp_obj_type_t pb_type_nxtdevices_EnergyMeter;
-extern const mp_obj_type_t pb_type_nxtdevices_SoundSensor;
 
 int32_t analog_scale(int32_t mvolts, int32_t mvolts_min, int32_t mvolts_max, bool invert);
 

pybricks/nxtdevices/pb_module_nxtdevices.c

@@ -18,9 +18,9 @@ static const mp_rom_map_elem_t nxtdevices_globals_table[] = {
     { MP_ROM_QSTR(MP_QSTR_ColorSensor),       MP_ROM_PTR(&pb_type_nxtdevices_ColorSensor)      },
     { MP_ROM_QSTR(MP_QSTR_UltrasonicSensor),  MP_ROM_PTR(&pb_type_nxtdevices_UltrasonicSensor) },
     { MP_ROM_QSTR(MP_QSTR_TemperatureSensor), MP_ROM_PTR(&pb_type_nxtdevices_TemperatureSensor)},
+    { MP_ROM_QSTR(MP_QSTR_SoundSensor),       MP_ROM_PTR(&pb_type_nxtdevices_SoundSensor)      },
     #if PYBRICKS_PY_EV3DEVDEVICES
     { MP_ROM_QSTR(MP_QSTR_EnergyMeter),       MP_ROM_PTR(&pb_type_nxtdevices_EnergyMeter)      },
-    { MP_ROM_QSTR(MP_QSTR_SoundSensor),       MP_ROM_PTR(&pb_type_nxtdevices_SoundSensor)      },
     #endif
 };
 static MP_DEFINE_CONST_DICT(pb_module_nxtdevices_globals, nxtdevices_globals_table);

pybricks/nxtdevices/pb_type_nxtdevices_soundsensor.c

@@ -1,34 +1,46 @@
 // SPDX-License-Identifier: MIT
-// Copyright (c) 2018-2023 The Pybricks Authors
+// Copyright (c) 2018-2025 The Pybricks Authors
 
 #include "py/mpconfig.h"
 
-#if PYBRICKS_PY_NXTDEVICES && PYBRICKS_PY_EV3DEVDEVICES
+#if PYBRICKS_PY_NXTDEVICES
+
+#include <pbio/int_math.h>
+#include <pbio/port_interface.h>
+#include <pbio/port_dcm.h>
 
 #include <pybricks/common.h>
-#include <pybricks/nxtdevices.h>
 #include <pybricks/parameters.h>
 
 #include <pybricks/util_mp/pb_kwarg_helper.h>
 #include <pybricks/util_mp/pb_obj_helper.h>
-#include <pybricks/common/pb_type_device.h>
+#include <pybricks/util_pb/pb_error.h>
 
 // pybricks.nxtdevices.SoundSensor class object
 typedef struct _nxtdevices_SoundSensor_obj_t {
-    pb_type_device_obj_base_t device_base;
+    mp_obj_base_t base;
+    pbio_port_t *port;
 } nxtdevices_SoundSensor_obj_t;
 
+// Generic linear scaling of an analog value between a known min and max to a percentage
+static int32_t analog_scale(int32_t mvolts, int32_t mvolts_min, int32_t mvolts_max, bool invert) {
+    int32_t scaled = (100 * (mvolts - mvolts_min)) / (mvolts_max - mvolts_min);
+    if (invert) {
+        scaled = 100 - scaled;
+    }
+    return pbio_int_math_bind(scaled, 0, 100);
+}
+
 // pybricks.nxtdevices.SoundSensor.intensity
 static mp_obj_t nxtdevices_SoundSensor_intensity(size_t n_args, const mp_obj_t *pos_args, mp_map_t *kw_args) {
 
     PB_PARSE_ARGS_METHOD(n_args, pos_args, kw_args,
         nxtdevices_SoundSensor_obj_t, self,
         PB_ARG_DEFAULT_TRUE(audible_only));
 
-    uint8_t mode = mp_obj_is_true(audible_only_in) ?LEGO_DEVICE_MODE_NXT_ANALOG__ACTIVE :LEGO_DEVICE_MODE_NXT_ANALOG__PASSIVE;
-    int32_t *analog = pb_type_device_get_data_blocking(MP_OBJ_FROM_PTR(self), mode);
-
-    return mp_obj_new_int(analog_scale(analog[0], 650, 4860, true));
+    uint32_t analog;
+    pb_assert(pbio_port_get_analog_value(self->port, LEGO_DEVICE_TYPE_ID_NXT_SOUND_SENSOR, mp_obj_is_true(audible_only_in), &analog));
+    return mp_obj_new_int(analog_scale(analog, 650, 4860, true));
 }
 static MP_DEFINE_CONST_FUN_OBJ_KW(nxtdevices_SoundSensor_intensity_obj, 1, nxtdevices_SoundSensor_intensity);
 
@@ -38,28 +50,26 @@ static mp_obj_t nxtdevices_SoundSensor_make_new(const mp_obj_type_t *type, size_
         PB_ARG_REQUIRED(port));
 
     nxtdevices_SoundSensor_obj_t *self = mp_obj_malloc(nxtdevices_SoundSensor_obj_t, type);
-    pb_type_device_init_class(&self->device_base, port_in, LEGO_DEVICE_TYPE_ID_NXT_SOUND_SENSOR);
+    pbio_port_id_t port_id = pb_type_enum_get_value(port_in, &pb_enum_type_Port);
+    pb_assert(pbio_port_get_port(port_id, &self->port));
 
     // Do one reading for consistent initial mode
-    mp_obj_t pos_args[1] = { self };
-    mp_map_t kwd_args;
-    mp_map_init_fixed_table(&kwd_args, 0, NULL);
-    nxtdevices_SoundSensor_intensity(1, pos_args, &kwd_args);
-
+    mp_obj_t pos_args[] = { MP_OBJ_FROM_PTR(self) };
+    nxtdevices_SoundSensor_intensity(1, pos_args, (mp_map_t *)&mp_const_empty_map);
     return MP_OBJ_FROM_PTR(self);
 }
 
-// dir(pybricks.ev3devices.SoundSensor)
+// dir(pybricks.nxtdevices.SoundSensor)
 static const mp_rom_map_elem_t nxtdevices_SoundSensor_locals_dict_table[] = {
-    { MP_ROM_QSTR(MP_QSTR_intensity),  MP_ROM_PTR(&nxtdevices_SoundSensor_intensity_obj) },
+    { MP_ROM_QSTR(MP_QSTR_intensity), MP_ROM_PTR(&nxtdevices_SoundSensor_intensity_obj) },
 };
 static MP_DEFINE_CONST_DICT(nxtdevices_SoundSensor_locals_dict, nxtdevices_SoundSensor_locals_dict_table);
 
-// type(pybricks.ev3devices.SoundSensor)
+// type(pybricks.nxtdevices.SoundSensor)
 MP_DEFINE_CONST_OBJ_TYPE(pb_type_nxtdevices_SoundSensor,
     MP_QSTR_SoundSensor,
     MP_TYPE_FLAG_NONE,
     make_new, nxtdevices_SoundSensor_make_new,
     locals_dict, &nxtdevices_SoundSensor_locals_dict);
 
-#endif // PYBRICKS_PY_NXTDEVICES && PYBRICKS_PY_EV3DEVDEVICES
+#endif // PYBRICKS_PY_NXTDEVICES