Radio car

app.ts

@@ -15,14 +15,23 @@ namespace microcode {
             basic.pause(500)
 
             const buf = this.load(SAVESLOT_AUTO)
+            let prog: ProgramDefn = undefined
             if (buf) {
-                const prog = ProgramDefn.fromBuffer(new BufferReader(buf))
-                runProgram(prog)
+                try {
+                    prog = ProgramDefn.fromBuffer(new BufferReader(buf))
+                } catch (e) {
+                    console.log("invalid auto-save, clearing")
+                    this.save(SAVESLOT_AUTO, new ProgramDefn().toBuffer())
+                }
             }
 
-            this.host_ = new AppHost(this)
-
-            this.openHome()
+            if (!__screenhelpers.displayPresent()) {
+                if (prog) runProgram(prog)
+            }
+            else {
+                this.host_ = new AppHost(this)
+                this.openHome()
+            }
         }
 
         public save(slot: string, buf: Buffer) {
@@ -70,8 +79,9 @@ namespace microcode {
         const wasRunning = isProgramRunning()
         if (wasRunning) stopProgram()
         settings.writeBuffer(SAVESLOT_AUTO, buf)
-        if (wasRunning)
+        if (wasRunning) {
             runProgram(ProgramDefn.fromBuffer(new BufferReader(buf)))
+        }
     }
 
     export function stopProgram() {

apphost.ts

@@ -7,7 +7,6 @@ namespace microcode {
             id: string | number,
             nullIfMissing?: boolean,
         ): Bitmap | undefined {
-            if (id == "wordLogo") return wordLogo
             const bitmap = icons.get(id, !!nullIfMissing)
             if (bitmap) return bitmap
             if (nullIfMissing) return undefined

assets.ts

@@ -78,8 +78,9 @@ namespace microcode {
         return null
     }
 
-    // Not packable: apphost.ts returns this const directly for "wordLogo".
-    export const wordLogo = bmp` 
+    //% packable
+    //% whenUsed
+    export const microcodeLogo = bmp` 
     .111111.......111111...1111.......................................................1111111.................................1111..................
     11bbbbbb.....11bbbbbb.11bbbb....................................................111bbbbbbb1..............................11bbbb.................
     1bbbbbbbb...11bbbbbbbf1bbbbbf..................................................11bbbbbbbbbbb.............................1bbbbbf................
@@ -216,7 +217,7 @@ namespace icondb {
     })
     */
 
-    // Not packable: carImages in robot.ts returns this const directly.
+    //% packable whenUsed
     export const arm_open = bmp`
     . . . . . . . . . . c c c . . .
     . . . . . . . . c c b b b c c .
@@ -236,7 +237,7 @@ namespace icondb {
     . . . . . . . . . . c c c . . .
     `
 
-    // Not packable: carImages in robot.ts returns this const directly.
+    //% packable whenUsed
     export const arm_close = bmp`
     . . . . . . . . . . . . . . . .
     . . . . . . . . . . . . . . . .
@@ -316,7 +317,7 @@ namespace icondb {
 
     //TODO: I think this is actually the Jacdac logo?
     // user-interface-base/coreAssets.ts has the real microbitLogo
-    // Use "microbitLogo" and at the end of this function it will check user-interface-base and fetch it.
+    // Use "cd" and at the end of this function it will check user-interface-base and fetch it.
 
     // Not packable: web-only art; whenUsed drops it from the device build.
     //% whenUsed

docs.ts

@@ -43,7 +43,7 @@ namespace docs {
         appendImage(images, "image", "home", screen())
         renderIcons(images)
         const samples = renderSamples(images)
-        appendImage(images, "image", "microcode", microcode.wordLogo)
+        appendImage(images, "image", "microcode", microcode.microcodeLogo)
         appendImage(images, "image", "microbit", microcode.microbitLogo)
         appendImage(
             images,

host.ts

@@ -46,9 +46,22 @@ namespace microcode {
         Tid.TID_FILTER_PIN_2,
     ]
 
+    const line2tids: IdMap = {
+        [robot.robots.RobotLineState.None]: Tid.TID_FILTER_LINE_NEITHER,
+        [robot.robots.RobotLineState.Left]: Tid.TID_FILTER_LINE_LEFT,
+        [robot.robots.RobotLineState.Right]: Tid.TID_FILTER_LINE_RIGHT,
+        [robot.robots.RobotLineState.Both]: Tid.TID_FILTER_LINE_BOTH,
+        [robot.robots.RobotLineState.LostLeft]:
+            Tid.TID_FILTER_LINE_NEITHER_LEFT,
+        [robot.robots.RobotLineState.LostRight]:
+            Tid.TID_FILTER_LINE_NEITHER_RIGHT,
+    }
+
     export class MicrobitHost implements RuntimeHost {
         /** Monotonic token observed by cancellable LED display work. */
         private displayVersion = 0
+        private carWallValue = 0
+        private carLineValue = 0
 
         constructor() {
             this._handler = (s: number, f: number) => {}
@@ -90,7 +103,7 @@ namespace microcode {
                 //TODO: This is a hack to fix the onGesture events not working.
                 // In GDB we see that the CPP functions onGesture, MicrobitAccelerometer constructor and the LSM303Accelerometer constructor are invoked.
                 // In spite of this the __handler is not invoked. For some reason this basic.pause(0) fixes this issue (possibly because of it briefly yielding?)
-                basic.pause(0)
+                basic.pause(0) // this is due to the queueing problem in CODAL. see: https://github.com/microsoft/pxt-microbit/issues/7083
                 input.onGesture(g, () => {
                     this._handler(
                         Tid.TID_SENSOR_ACCELEROMETER,
@@ -99,9 +112,8 @@ namespace microcode {
                 })
             })
 
-            radio.onReceivedNumber(radioNum => {
-                this._handler(Tid.TID_SENSOR_RADIO_RECEIVE, radioNum)
-            })
+            radio.setGroup(1)
+            radio.onReceivedNumber(radioNum => this.handleRadioNumber(radioNum))
 
             input.onSound(DetectedSound.Loud, () => {
                 this._handler(Tid.TID_SENSOR_MICROPHONE, Tid.TID_FILTER_LOUD)
@@ -135,11 +147,31 @@ namespace microcode {
                     value = input.soundLevel()
                     max = 255
                     break
+                case Tid.TID_SENSOR_LINE:
+                    value = this.carLineValue
+                    break
             }
             if (!normalized) return value
             return Math.abs(value) / (Math.abs(min) + max)
         }
 
+        private handleRadioNumber(radioValue: number) {
+            const obstacleState = robot.robots.RobotCompactCommand.ObstacleState
+            const lineState = robot.robots.RobotCompactCommand.LineState
+
+            if (radioValue > obstacleState && radioValue < lineState) {
+                this.carWallValue = radioValue - obstacleState
+                this._handler(Tid.TID_SENSOR_CAR_WALL, this.carWallValue)
+            } else if (radioValue >= lineState) {
+                this.carLineValue = radioValue - lineState
+                const lineTid = line2tids[this.carLineValue]
+                if (lineTid !== undefined)
+                    this._handler(Tid.TID_SENSOR_LINE, lineTid)
+            } else {
+                this._handler(Tid.TID_SENSOR_RADIO_RECEIVE, radioValue)
+            }
+        }
+
         private _handler: (sensorTid: number, filter: number) => void
         registerOnSensorEvent(
             handler: (sensorTid: number, filter: number) => void,
@@ -220,6 +252,9 @@ namespace microcode {
                         music.PlaybackMode.UntilDone,
                     )
                     return
+                case Tid.TID_ACTUATOR_CAR:
+                    if (param !== undefined) radio.sendNumber(param)
+                    return
                 case Tid.TID_ACTUATOR_MUSIC:
                     music.stopAllSounds()
                     music.play(
@@ -290,35 +325,3 @@ namespace microcode {
 
     export const runtimeHost: RuntimeHost = new MicrobitHost()
 }
-
-/*
-
-                // TODO: convert this to external sensor with events and values
-                // TODO: and lift out
-                const radioVal = this.getRadioVal()
-                if (
-                    sensor == Tid.TID_SENSOR_CAR_WALL ||
-                    sensor == Tid.TID_SENSOR_LINE
-                ) {
-                    // this hack separates radio ranges used to communicate with robot car
-                    if (
-                        robot.robots.RobotCompactCommand.ObstacleState <
-                        radioVal
-                    )
-                        if (sensor == Tid.TID_SENSOR_CAR_WALL)
-                            return this.filterOnEvent(
-                                radioVal -
-                                    robot.robots.RobotCompactCommand
-                                        .ObstacleState
-                            )
-                        else if (
-                            robot.robots.RobotCompactCommand.LineState <=
-                            radioVal
-                        )
-                            return this.filterOnEvent(radioVal)
-                } else if (
-                    radioVal < robot.robots.RobotCompactCommand.ObstacleState
-                )
-                    return this.filterViaCompare()
-
-*/