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pybricks.ev3devices: Add InfraredSensor.
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-29
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3 files changed

+44
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‎pybricks/ev3devices.h‎

Lines changed: 2 additions & 2 deletions
Original file line numberDiff line numberDiff line change
@@ -10,14 +10,14 @@
1010

1111
#if PYBRICKS_PY_EV3DEVICES
1212

13-
extern const mp_obj_type_t pb_type_ev3devices_TouchSensor;
1413
extern const mp_obj_type_t pb_type_ev3devices_ColorSensor;
14+
extern const mp_obj_type_t pb_type_ev3devices_InfraredSensor;
15+
extern const mp_obj_type_t pb_type_ev3devices_TouchSensor;
1516

1617
#endif // PYBRICKS_PY_EV3DEVICES
1718

1819
#if PYBRICKS_PY_EV3DEVDEVICES
1920

20-
extern const mp_obj_type_t pb_type_ev3devices_InfraredSensor;
2121
extern const mp_obj_type_t pb_type_ev3devices_GyroSensor;
2222
extern const mp_obj_type_t pb_type_ev3devices_UltrasonicSensor;
2323

‎pybricks/ev3devices/pb_module_ev3devices.c‎

Lines changed: 2 additions & 2 deletions
Original file line numberDiff line numberDiff line change
@@ -13,10 +13,10 @@ static const mp_rom_map_elem_t ev3devices_globals_table[] = {
1313
#if PYBRICKS_PY_COMMON_MOTORS
1414
{ MP_ROM_QSTR(MP_QSTR_Motor), MP_ROM_PTR(&pb_type_Motor) },
1515
#endif
16-
{ MP_ROM_QSTR(MP_QSTR_TouchSensor), MP_ROM_PTR(&pb_type_ev3devices_TouchSensor) },
1716
{ MP_ROM_QSTR(MP_QSTR_ColorSensor), MP_ROM_PTR(&pb_type_ev3devices_ColorSensor) },
18-
#if PYBRICKS_PY_EV3DEVDEVICES
1917
{ MP_ROM_QSTR(MP_QSTR_InfraredSensor), MP_ROM_PTR(&pb_type_ev3devices_InfraredSensor) },
18+
{ MP_ROM_QSTR(MP_QSTR_TouchSensor), MP_ROM_PTR(&pb_type_ev3devices_TouchSensor) },
19+
#if PYBRICKS_PY_EV3DEVDEVICES
2020
{ MP_ROM_QSTR(MP_QSTR_UltrasonicSensor), MP_ROM_PTR(&pb_type_ev3devices_UltrasonicSensor)},
2121
{ MP_ROM_QSTR(MP_QSTR_GyroSensor), MP_ROM_PTR(&pb_type_ev3devices_GyroSensor) },
2222
#endif

‎pybricks/ev3devices/pb_type_ev3devices_infraredsensor.c‎

Lines changed: 40 additions & 25 deletions
Original file line numberDiff line numberDiff line change
@@ -3,7 +3,7 @@
33

44
#include "py/mpconfig.h"
55

6-
#if PYBRICKS_PY_EV3DEVDEVICES
6+
#if PYBRICKS_PY_EV3DEVICES
77

88
#include <pybricks/common.h>
99
#include <pybricks/ev3devices.h>
@@ -17,6 +17,8 @@
1717
// pybricks.ev3devices.InfraredSensor class object
1818
typedef struct _ev3devices_InfraredSensor_obj_t {
1919
pb_type_device_obj_base_t device_base;
20+
/** Channel id, cached while awaiting read operation. */
21+
uint8_t current_channel;
2022
} ev3devices_InfraredSensor_obj_t;
2123

2224
// pybricks.ev3devices.InfraredSensor.__init__
@@ -26,32 +28,26 @@ static mp_obj_t ev3devices_InfraredSensor_make_new(const mp_obj_type_t *type, si
2628

2729
ev3devices_InfraredSensor_obj_t *self = mp_obj_malloc(ev3devices_InfraredSensor_obj_t, type);
2830
pb_type_device_init_class(&self->device_base, port_in, LEGO_DEVICE_TYPE_ID_EV3_IR_SENSOR);
31+
self->current_channel = 1;
2932
return MP_OBJ_FROM_PTR(self);
3033
}
3134

3235
// pybricks.ev3devices.InfraredSensor.distance
3336
static mp_obj_t ev3devices_InfraredSensor_distance(mp_obj_t self_in) {
34-
int8_t *distance = pb_type_device_get_data_blocking(self_in, LEGO_DEVICE_MODE_EV3_INFRARED_SENSOR__PROX);
37+
int8_t *distance = pb_type_device_get_data(self_in, LEGO_DEVICE_MODE_EV3_INFRARED_SENSOR__PROX);
3538
return mp_obj_new_int(distance[0]);
3639
}
37-
static MP_DEFINE_CONST_FUN_OBJ_1(ev3devices_InfraredSensor_distance_obj, ev3devices_InfraredSensor_distance);
40+
static PB_DEFINE_CONST_TYPE_DEVICE_METHOD_OBJ(ev3devices_InfraredSensor_distance_obj, LEGO_DEVICE_MODE_EV3_INFRARED_SENSOR__PROX, ev3devices_InfraredSensor_distance);
3841

3942
// pybricks.ev3devices.InfraredSensor.beacon
40-
static mp_obj_t ev3devices_InfraredSensor_beacon(size_t n_args, const mp_obj_t *pos_args, mp_map_t *kw_args) {
43+
static mp_obj_t ev3devices_InfraredSensor_beacon_map(mp_obj_t self_in) {
4144

42-
PB_PARSE_ARGS_METHOD(n_args, pos_args, kw_args,
43-
ev3devices_InfraredSensor_obj_t, self,
44-
PB_ARG_REQUIRED(channel));
45+
int8_t *beacon_data = pb_type_device_get_data(self_in, LEGO_DEVICE_MODE_EV3_INFRARED_SENSOR__SEEK);
4546

46-
mp_int_t channel = pb_obj_get_int(channel_in);
47-
if (channel < 1 || channel > 4) {
48-
pb_assert(PBIO_ERROR_INVALID_ARG);
49-
}
47+
ev3devices_InfraredSensor_obj_t *self = MP_OBJ_TO_PTR(self_in);
5048

51-
int8_t *beacon_data = pb_type_device_get_data_blocking(MP_OBJ_FROM_PTR(self), LEGO_DEVICE_MODE_EV3_INFRARED_SENSOR__SEEK);
52-
53-
mp_int_t heading = beacon_data[channel * 2 - 2] * 3;
54-
mp_int_t distance = beacon_data[channel * 2 - 1];
49+
mp_int_t heading = beacon_data[self->current_channel * 2 - 2] * 3;
50+
mp_int_t distance = beacon_data[self->current_channel * 2 - 1];
5551

5652
mp_obj_t ret[2];
5753

@@ -65,23 +61,29 @@ static mp_obj_t ev3devices_InfraredSensor_beacon(size_t n_args, const mp_obj_t *
6561

6662
return mp_obj_new_tuple(2, ret);
6763
}
68-
static MP_DEFINE_CONST_FUN_OBJ_KW(ev3devices_InfraredSensor_beacon_obj, 1, ev3devices_InfraredSensor_beacon);
69-
70-
// pybricks.ev3devices.InfraredSensor.buttons
71-
static mp_obj_t ev3devices_InfraredSensor_buttons(size_t n_args, const mp_obj_t *pos_args, mp_map_t *kw_args) {
64+
static PB_DEFINE_CONST_TYPE_DEVICE_METHOD_OBJ(ev3devices_InfraredSensor_beacon_mapped_obj, LEGO_DEVICE_MODE_EV3_INFRARED_SENSOR__SEEK, ev3devices_InfraredSensor_beacon_map);
7265

66+
static mp_obj_t ev3devices_InfraredSensor_beacon(size_t n_args, const mp_obj_t *pos_args, mp_map_t *kw_args) {
7367
PB_PARSE_ARGS_METHOD(n_args, pos_args, kw_args,
7468
ev3devices_InfraredSensor_obj_t, self,
7569
PB_ARG_REQUIRED(channel));
76-
7770
mp_int_t channel = pb_obj_get_int(channel_in);
7871
if (channel < 1 || channel > 4) {
7972
pb_assert(PBIO_ERROR_INVALID_ARG);
8073
}
74+
self->current_channel = channel;
75+
return pb_type_device_method_call(MP_OBJ_FROM_PTR(&ev3devices_InfraredSensor_beacon_mapped_obj), 1, 0, pos_args);
76+
}
77+
static MP_DEFINE_CONST_FUN_OBJ_KW(ev3devices_InfraredSensor_beacon_obj, 1, ev3devices_InfraredSensor_beacon);
78+
79+
// pybricks.ev3devices.InfraredSensor.buttons
80+
static mp_obj_t ev3devices_InfraredSensor_buttons_map(mp_obj_t self_in) {
8181

82-
int8_t *buttons_data = pb_type_device_get_data_blocking(MP_OBJ_FROM_PTR(self), LEGO_DEVICE_MODE_EV3_INFRARED_SENSOR__REMOTE);
82+
ev3devices_InfraredSensor_obj_t *self = MP_OBJ_TO_PTR(self_in);
8383

84-
mp_int_t encoded = buttons_data[channel - 1];
84+
int8_t *buttons_data = pb_type_device_get_data(MP_OBJ_FROM_PTR(self), LEGO_DEVICE_MODE_EV3_INFRARED_SENSOR__REMOTE);
85+
86+
mp_int_t encoded = buttons_data[self->current_channel - 1];
8587
mp_obj_t pressed[2];
8688
uint8_t len = 0;
8789

@@ -134,12 +136,25 @@ static mp_obj_t ev3devices_InfraredSensor_buttons(size_t n_args, const mp_obj_t
134136

135137
return mp_obj_new_list(len, pressed);
136138
}
139+
static PB_DEFINE_CONST_TYPE_DEVICE_METHOD_OBJ(ev3devices_InfraredSensor_buttons_mapped_obj, LEGO_DEVICE_MODE_EV3_INFRARED_SENSOR__REMOTE, ev3devices_InfraredSensor_buttons_map);
140+
141+
static mp_obj_t ev3devices_InfraredSensor_buttons(size_t n_args, const mp_obj_t *pos_args, mp_map_t *kw_args) {
142+
PB_PARSE_ARGS_METHOD(n_args, pos_args, kw_args,
143+
ev3devices_InfraredSensor_obj_t, self,
144+
PB_ARG_REQUIRED(channel));
145+
mp_int_t channel = pb_obj_get_int(channel_in);
146+
if (channel < 1 || channel > 4) {
147+
pb_assert(PBIO_ERROR_INVALID_ARG);
148+
}
149+
self->current_channel = channel;
150+
return pb_type_device_method_call(MP_OBJ_FROM_PTR(&ev3devices_InfraredSensor_buttons_mapped_obj), 1, 0, pos_args);
151+
}
137152
static MP_DEFINE_CONST_FUN_OBJ_KW(ev3devices_InfraredSensor_buttons_obj, 1, ev3devices_InfraredSensor_buttons);
138153

139154
// pybricks.ev3devices.InfraredSensor.keypad
140155
static mp_obj_t ev3devices_InfraredSensor_keypad(mp_obj_t self_in) {
141156

142-
int16_t keypad_data = *(int16_t *)pb_type_device_get_data_blocking(self_in, LEGO_DEVICE_MODE_EV3_INFRARED_SENSOR__REM_A);
157+
int16_t keypad_data = *(int16_t *)pb_type_device_get_data(self_in, LEGO_DEVICE_MODE_EV3_INFRARED_SENSOR__REM_A);
143158

144159
if (keypad_data == 384) {
145160
return mp_obj_new_list(0, NULL);
@@ -163,7 +178,7 @@ static mp_obj_t ev3devices_InfraredSensor_keypad(mp_obj_t self_in) {
163178

164179
return mp_obj_new_list(len, pressed);
165180
}
166-
static MP_DEFINE_CONST_FUN_OBJ_1(ev3devices_InfraredSensor_keypad_obj, ev3devices_InfraredSensor_keypad);
181+
static PB_DEFINE_CONST_TYPE_DEVICE_METHOD_OBJ(ev3devices_InfraredSensor_keypad_obj, LEGO_DEVICE_MODE_EV3_INFRARED_SENSOR__REM_A, ev3devices_InfraredSensor_keypad);
167182

168183
// dir(pybricks.ev3devices.InfraredSensor)
169184
static const mp_rom_map_elem_t ev3devices_InfraredSensor_locals_dict_table[] = {
@@ -181,4 +196,4 @@ MP_DEFINE_CONST_OBJ_TYPE(pb_type_ev3devices_InfraredSensor,
181196
make_new, ev3devices_InfraredSensor_make_new,
182197
locals_dict, &ev3devices_InfraredSensor_locals_dict);
183198

184-
#endif // PYBRICKS_PY_EV3DEVDEVICES
199+
#endif // PYBRICKS_PY_EV3DEVICES

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