htcolor2.ts

const enum HTCS2Mode {
    Active = 0, // Use ambient light cancellation
    Passive = 1, // Disable ambient light cancellation
    Raw = 3 // Raw data from light sensor
}

const enum HTCS2SoftMode {
    All = 0,
    Color = 1,
    Rgbw = 2,
    PassiveRgbw = 5,
    RawRgbw = 6,
}

const enum HTCS2FreqMode {
    //% block="50"
    Freq50 = 53, // Set sensor to 50Hz cancellation mode // 35
    //% block="60"
    Freq60 = 54 // Set sensor to 60Hz cancellation mode // 36
}

namespace sensors {

    const MODE_SWITCH_DELAY = 100;

    /**
    * The new and totally redesigned HiTechnic Color Sensor V2 operates by using a single white LED to illuminate the target and analyses the color components of the light reflected by the target's surface and calculates a Color Number that is returned.
    * NOTE: The Color Sensor V2 must be configured to match the mains electricity frequency for your country details on how to configure the Color Sensor V2 can be found in the configuration tab on this page.
    */
    //% fixedInstances
    export class HiTechnicColorSensor2 extends sensors.internal.IICSensor {

        constructor(port: number) {
            super(port);
            this.setMode(HTCS2SoftMode.All);
        }

        _deviceType() {
            return DAL.DEVICE_TYPE_NXT_IIC;
        }
        
        setMode(m: HTCS2SoftMode) {
            this._setMode(m);
        }

        _setMode(m: number) {
            let v = m | 0;
            this.mode = v;
            if (!this.isActive()) return;
            if (this.realmode != this.mode) {
                this.realmode = v;
                if (m == HTCS2SoftMode.All || m == HTCS2SoftMode.Color || m == HTCS2SoftMode.Rgbw) {
                    this.transaction(1, [65, HTCS2Mode.Active], 0);
                } else if (m == HTCS2SoftMode.PassiveRgbw) {
                    this.transaction(1, [65, HTCS2Mode.Passive], 0);
                } else if (m == HTCS2SoftMode.RawRgbw) {
                    this.transaction(1, [65, HTCS2Mode.Raw], 0);
                }
                pause(MODE_SWITCH_DELAY);
            }
        }

        _query() {
            this.transaction(1, [66], 8);
            if (this.mode == HTCS2SoftMode.All) {
                return [this.getBytes()[0], this.getBytes()[1], this.getBytes()[2], this.getBytes()[3], this.getBytes()[4]];
            } else if (this.mode == HTCS2SoftMode.Color) {
                return [this.getBytes()[0]];
            } else if (this.mode == HTCS2SoftMode.Rgbw) {
                return [this.getBytes()[1], this.getBytes()[2], this.getBytes()[3], this.getBytes()[4]];
            } else if (this.mode == HTCS2SoftMode.PassiveRgbw || this.mode == HTCS2SoftMode.RawRgbw) {
                return [this.getBytes()[0], this.getBytes()[1], this.getBytes()[2], this.getBytes()[3], this.getBytes()[4], this.getBytes()[5], this.getBytes()[6], this.getBytes()[7]];
            }
            return [0];
        }

        _info() {
            if (HTCS2SoftMode.Color) {
                return [this._query()[0].toString()];
            } else if (this.mode == HTCS2SoftMode.All || this.mode == HTCS2SoftMode.Rgbw || this.mode == HTCS2SoftMode.PassiveRgbw || this.mode == HTCS2SoftMode.RawRgbw) {
                return this._query().map(number => number.toString());
            }
            return ["0"];
        }

        /**
         * Get software mode to HiTechnic Color Sensor v2.
         * @param sensor the ht color sensor v2 port
         */
        //% help=github:makecode-ev3-hitechnic-color-sensor-v2/docs/mode
        //% block="**ht color sensor** $this|get mode"
        //% block.loc.ru="**ht датчик цвета** $this|режим"
        //% blockId=HTCS2GetMode
        //% parts="htcolorsensor"
        //% blockNamespace=sensors
        //% this.fieldEditor="ports"
        //% weight=90
        //% subcategory="HiTechnic"
        //% blockHidden=true
        getMode() {
            return <HTCS2SoftMode>this.mode;
        }

        /**
         * Get array with color, red, green, blue, white values from HiTechnic Color Sensor v2.
         * @param sensor the ht color sensor v2 port
         */
        //% help=github:makecode-ev3-hitechnic-color-sensor-v2/docs/all
        //% block="**ht color sensor** $this|all"
        //% block.loc.ru="**ht датчик цвета** $this|все значения"
        //% blockId=HTCS2GetAll
        //% parts="htcolorsensor"
        //% blockNamespace=sensors
        //% this.fieldEditor="ports"
        //% weight=100 blockGap=12
        //% subcategory="HiTechnic"
        //% group="Color Sensor V2"
        getAll(): number[] {
            this.setMode(HTCS2SoftMode.All);
            this.poke();
            return this._query();
        }

        /**
         * Get color code from HiTechnic Color Sensor v2.
         * @param sensor the ht color sensor v2 port
         */
        //% help=github:makecode-ev3-hitechnic-color-sensor-v2/docs/color
        //% block="**ht color sensor** $this|color"
        //% block.loc.ru="**ht датчик цвета** $this|цвет"
        //% blockId=HTCS2GetColor
        //% parts="htcolorsensor"
        //% blockNamespace=sensors
        //% this.fieldEditor="ports"
        //% weight=99 blockGap=12
        //% subcategory="HiTechnic"
        //% group="Color Sensor V2"
        getColor(): number {
            this.setMode(HTCS2SoftMode.Color);
            this.poke();
            return this._query()[0];
        }

        /**
         * Get array with RGBW values from HiTechnic Color Sensor v2.
         * @param sensor the ht color sensor v2 port
         */
        //% help=github:makecode-ev3-hitechnic-color-sensor-v2/docs/rgbw
        //% block="**ht color sensor** $this|RGBW"
        //% block.loc.ru="**ht датчик цвета** $this|RGBW"
        //% blockId=HTCS2GetRGBW
        //% parts="htcolorsensor"
        //% blockNamespace=sensors
        //% this.fieldEditor="ports"
        //% weight=98 blockGap=12
        //% subcategory="HiTechnic"
        //% group="Color Sensor V2"
        getRGBW(): number[] {
            this.setMode(HTCS2SoftMode.Rgbw);
            this.poke();
            return this._query();
        }

        /**
         * Get array with RGBW values from HiTechnic Color Sensor v2 when the backlight is off.
         * @param sensor the ht color sensor v2 port
         */
        //% help=github:makecode-ev3-hitechnic-color-sensor-v2/docs/passive-rgbw
        //% block="**ht color sensor** $this|RGBW at passive"
        //% block.loc.ru="**ht датчик цвета** $this|RGBW с выключеной подсветкой"
        //% blockId=HTCS2GetPassiveRGBW
        //% parts="htcolorsensor"
        //% blockNamespace=sensors
        //% this.fieldEditor="ports"
        //% weight=97 blockGap=12
        //% subcategory="HiTechnic"
        //% group="Color Sensor V2"
        getPassiveRGBW(): number[] {
            this.setMode(HTCS2SoftMode.PassiveRgbw);
            const r = this.getBytes()[0] * 256 + this.getBytes()[1];
            const g = this.getBytes()[2] * 256 + this.getBytes()[3];
            const b = this.getBytes()[4] * 256 + this.getBytes()[5];
            const w = this.getBytes()[6] * 256 + this.getBytes()[7];
            return [r, g, b, w];
        }

        /**
         * Get array with raw RGBW values from HiTechnic Color Sensor v2.
         * @param sensor the ht color sensor v2 port
         */
        //% help=github:makecode-ev3-hitechnic-color-sensor-v2/docs/raw-rgbw
        //% block="**ht color sensor** $this|raw RGBW"
        //% block.loc.ru="**ht датчик цвета** $this|сырые RGBW"
        //% blockId=HTCS2GetRawRGBW
        //% parts="htcolorsensor"
        //% blockNamespace=sensors
        //% this.fieldEditor="ports"
        //% weight=97
        //% subcategory="HiTechnic"
        //% group="Color Sensor V2"
        getRawRGBW(): number[] {
            this.setMode(HTCS2SoftMode.RawRgbw);
            const r = this.getBytes()[0] * 256 + this.getBytes()[1];
            const g = this.getBytes()[2] * 256 + this.getBytes()[3];
            const b = this.getBytes()[4] * 256 + this.getBytes()[5];
            const w = this.getBytes()[6] * 256 + this.getBytes()[7];
            return [r, g, b, w];
        }

        /**
         * Get array with HSVL values from HiTechnic Color Sensor v2.
         * @param sensor the ht color sensor v2 port
         */
        //% help=github:makecode-ev3-hitechnic-color-sensor-v2/docs/hsvl
        //% block="**ht color sensor** $this|HSVL"
        //% block.loc.ru="**ht датчик цвета** $this|HSVL"
        //% blockId=HTCS2GetHSVL
        //% parts="htcolorsensor"
        //% blockNamespace=sensors
        //% this.fieldEditor="ports"
        //% weight=95
        //% subcategory="HiTechnic"
        //% group="Color Sensor V2"
        getHSVL(): number[] {
            // https://github.com/botbench/robotcdriversuite/blob/master/include/common-light.h
            // https://github.com/ofdl-robotics-tw/EV3-CLEV3R-Modules/blob/main/Mods/HTColorV2.bpm
            this.setMode(HTCS2SoftMode.Rgbw);
            this.poke();
            const rgbArr = this._query();
            let r = rgbArr[0], g = rgbArr[1], b = rgbArr[2];

            // https://clev3r.ru/codesamples/
            // Color sensor V2 RGB Maxmium is 255
            let hue = 0, sat = 0, val = 0, light = 0;

            let rgb_max = Math.max(Math.max(r, g), b);
            let rgb_min = Math.min(Math.min(r, g), b);

            light = (rgb_max + rgb_min) / 5.12;
            val = rgb_max / 2.56;

            if (val == 0) { // It's black, there's no way to tell hue and sat // val == 0 || rgb_max == 0
                hue = -1;
                sat = -1;
            }

            if (hue != -1 && sat != -1) {
                r = r / rgb_max;
                g = g / rgb_max;
                b = b / rgb_max;

                rgb_max = Math.max(Math.max(r, g), b);
                rgb_min = Math.min(Math.min(r, g), b);

                sat = (rgb_max - rgb_min) * 100;
                
                if (sat == 0) {
                    hue = -1;
                }

                if (hue != -1) { // It's white, there's no way to tell hue
                    r = (r - rgb_min) / (rgb_max - rgb_min);
                    g = (g - rgb_min) / (rgb_max - rgb_min);
                    b = (b - rgb_min) / (rgb_max - rgb_min);

                    rgb_max = Math.max(Math.max(r, g), b);
                    rgb_min = Math.min(Math.min(r, g), b);

                    if (rgb_max == r) {
                        hue = 0 + 60 * (g - b);
                        if (hue < 0) hue += 360;
                    } else if (rgb_max == g) {
                        hue = 120 + 60 * (b - r);
                    } else {
                        hue = 240 + 60 * (r - g);
                    }
                }
            }
            return [Math.round(hue), Math.round(sat), Math.round(val), Math.round(light)];
        }

        /**
         * Set the sensor to the selected frequency to HiTechnic Color Sensor v2. The Sensor is configured by default for locations with 60Hz electrical supplies.
         * @param sensor the ht color sensor v2 port
         * @param freq the ht color sensor v2 frequency
         */
        //% help=github:makecode-ev3-hitechnic-color-sensor-v2/docs/frequency
        //% block="**ht color sensor** $this|set $freq|(Hz) frequency"
        //% block.loc.ru="**ht датчик цвета** $this|установить частоту $freq|(Гц)"
        //% blockId=HTCS2SetHz
        //% parts="htcolorsensor"
        //% blockNamespace=sensors
        //% this.fieldEditor="ports"
        //% weight=89 blockGap=12
        //% subcategory="HiTechnic"
        //% group="Color Sensor V2"
        setHz(freq: HTCS2FreqMode) {
            // https://github.com/ofdl-robotics-tw/EV3-CLEV3R-Modules/blob/main/Mods/HTColorV2.bpm
            this.transaction(1, [65, freq], 0);
            pause(MODE_SWITCH_DELAY);
        }

        _IICId() {
            return 'HiTechncColorPD';
        }
    }

    //% whenUsed block="1" weight=95 fixedInstance jres=icons.port1
    export const htColor1 = new HiTechnicColorSensor2(1);

    //% whenUsed block="2" weight=90 fixedInstance jres=icons.port2
    export const htColor2 = new HiTechnicColorSensor2(2);

    //% whenUsed block="3" weight=90 fixedInstance jres=icons.port3
    export const htColor3 = new HiTechnicColorSensor2(3);
    
    //% whenUsed block="4" weight=90 fixedInstance jres=icons.port4
    export const htColor4 = new HiTechnicColorSensor2(4);
}