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mirkoserticmirkosertic
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Integration testing and bug fixing
1 parent 175f5fb commit 5aba97b

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Lines changed: 460 additions & 31 deletions

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‎docs/devicemodes/coloranddistancesensor.json‎

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{
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"ports": [
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{
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"id": 1,
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"connected": true,
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"device": {
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"type": "BOOST Color and Distance Sensor",
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"deviceId": 37,
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"icon": "⚙️",
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"modes": [
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{
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"id": 0,
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"name": "COLOR",
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"units": "IDX",
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"datasets": 1,
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"figures": 3,
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"decimals": 0,
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"type": "DATA8"
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},
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{
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"id": 1,
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"name": "PROX",
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"units": "DIS",
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"datasets": 1,
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"figures": 3,
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"decimals": 0,
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"type": "DATA8"
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},
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{
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"id": 2,
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"name": "COUNT",
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"units": "CNT",
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"datasets": 1,
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"figures": 4,
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"decimals": 0,
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"type": "DATA32"
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},
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{
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"id": 3,
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"name": "REFLT",
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"units": "PCT",
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"datasets": 1,
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"figures": 3,
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"decimals": 0,
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"type": "DATA8"
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},
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{
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"id": 4,
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"name": "AMBI",
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"units": "PCT",
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"datasets": 1,
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"figures": 3,
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"decimals": 0,
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"type": "DATA8"
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},
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{
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"id": 5,
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"name": "COL O",
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"units": "IDX",
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"datasets": 1,
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"figures": 3,
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"decimals": 0,
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"type": "DATA8"
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},
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{
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"id": 6,
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"name": "RGB I",
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"units": "RAW",
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"datasets": 3,
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"figures": 5,
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"decimals": 0,
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"type": "DATA16"
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},
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{
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"id": 7,
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"name": "IR Tx",
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"units": "N/A",
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"datasets": 1,
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"figures": 5,
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"decimals": 0,
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"type": "DATA16"
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}
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]
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}
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},
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{
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"id": 2,
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"connected": false
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},
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{
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"id": 3,
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"connected": false
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},
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{
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"id": 4,
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"connected": false
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}
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]
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}

‎frontend/src/components/blockly/colors.js‎

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@@ -1,10 +1,11 @@
1-
export const colorControlFlow = 25;
2-
export const colorLogic = 50;
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export const colorMath = 75;
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export const colorText = 100;
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export const colorLists = 125;
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export const colorIO = 150;
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export const colorFastLED = 175;
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export const colorIMU = 200;
9-
export const colorUI = 225;
10-
export const colorDebug = 245;
1+
export const colorControlFlow = 20;
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export const colorLogic = 40;
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export const colorMath = 60;
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export const colorText = 80;
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export const colorLists = 100;
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export const colorIO = 120;
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export const colorLego = 140;
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export const colorFastLED = 160;
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export const colorIMU = 180;
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export const colorUI = 200;
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export const colorDebug = 220;

‎frontend/src/components/blockly/component.js‎

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Original file line numberDiff line numberDiff line change
@@ -29,6 +29,8 @@ import {definition as mh_imu_acceleration_y} from './mh_imu_acceleration_y.js'
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import {definition as mh_imu_acceleration_z} from './mh_imu_acceleration_z.js'
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import {definition as ui_show_value} from './ui_show_value.js'
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import {definition as mh_debug_free_heap} from './mh_debug_free_heap.js'
32+
import {definition as lego_get_mode_dataset} from './lego_get_mode_dataset.js'
33+
import {definition as lego_select_mode} from './lego_select_mode.js'
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import {colorLogic,
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colorMath,
@@ -251,6 +253,10 @@ const customBlocks = {
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252254
"mh_set_motor_speed" : mh_set_motor_speed,
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256+
"lego_get_mode_dataset": lego_get_mode_dataset,
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"lego_select_mode": lego_select_mode,
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"mh_fastled_addleds": mh_fastled_addleds,
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"mh_fastled_show": mh_fastled_show,
@@ -273,7 +279,7 @@ const customBlocks = {
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"ui_show_value" : ui_show_value,
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276-
"mh_debug_free_heap" : mh_debug_free_heap,
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"mh_debug_free_heap": mh_debug_free_heap,
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};
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function generateToolbox(definitions) {

‎frontend/src/components/blockly/lego_get_mode_dataset.js‎

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import {colorLego} from './colors.js'
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// clang-format off
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export const definition = {
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category : 'LEGO©',
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colour : colorLego,
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blockdefinition : {
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"type" : "lego_get_mode_dataset",
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"message0" : "Get dataset %2 from selected mode of %1",
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"args0" : [
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{
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"type" : "field_dropdown",
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"name" : "PORT",
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"options" : [
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[ "PORT1", "PORT1" ],
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[ "PORT2", "PORT2" ],
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[ "PORT3", "PORT3" ],
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[ "PORT4", "PORT4" ]
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]
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},
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{
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"type" : "input_value",
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"name" : "DATASET"
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}
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],
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"output" : null,
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"colour" : colorLego,
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"tooltip" : "Get a dataset value from the selected mode of a port",
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"helpUrl" : ""
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},
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generator : (block, generator) => {
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const port = block.getFieldValue('PORT');
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const datasetCode = generator.valueToCode(block, 'DATASET', 0);
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const command = "lego.getmodedataset(" + port + "," + datasetCode + ")";
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return [ command, 0 ];
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}
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};
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// clang-format on

‎frontend/src/components/blockly/lego_select_mode.js‎

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import {colorLego} from './colors.js'
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// clang-format off
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export const definition = {
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category : 'LEGO©',
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colour : colorLego,
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blockdefinition : {
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"type" : "lego_select_mode",
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"message0" : "Set the mode of %1 to %2",
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"args0" : [
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{
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"type" : "field_dropdown",
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"name" : "PORT",
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"options" : [
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[ "PORT1", "PORT1" ],
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[ "PORT2", "PORT2" ],
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[ "PORT3", "PORT3" ],
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[ "PORT4", "PORT4" ]
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]
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},
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{
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"type" : "input_value",
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"name" : "MODE"
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}
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],
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"previousStatement" : true,
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"nextStatement" : true,
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"colour" : colorLego,
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"tooltip" : "Sets the mode of a port",
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"helpUrl" : ""
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},
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generator : (block, generator) => {
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const port = block.getFieldValue('PORT');
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const modeCode = generator.valueToCode(block, 'MODE', 0);
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return "lego.selectmode(" + port + ", " + modeCode + ")\n";
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}
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};
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// clang-format on

‎frontend/src/components/portstatus/component.js‎

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@@ -57,7 +57,7 @@ class PortstatusElement extends HTMLElement {
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<div class="modes-section">
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<div class="modes-label">Modes</div>
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<div class="modes-list">
60-
${port.device.modes.map(mode => `<span class="mode-badge">${mode}</span>`).join('')}
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${port.device.modes.map(mode => `<span class="mode-badge">(${mode.id}) ${mode.name}</span>`).join('')}
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</div>
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</div>
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`;

‎lib/lpfuart/include/legodevice.h‎

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@@ -22,7 +22,7 @@ class LegoDevice {
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void setSerialSpeed(long serialSpeed);
2323
void setVersions(std::string &fwVersion, std::string &hwVersion);
2424
Mode *getMode(int index);
25-
Mode *selectedMode();
25+
int getSelectedModeIndex();
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void finishHandshake();
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void sendAck();
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void sendNack();
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5252
void reset();
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54+
int getDeviceId();
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private:
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long serialSpeed_;
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Mode **modes_;

‎lib/lpfuart/include/mode.h‎

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@@ -39,6 +39,8 @@ class Mode {
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void reset();
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4141
void processDataPacket(int *payload, int payloadSize);
42+
Dataset *getDataset(int index);
43+
Format* getFormat();
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4345
private:
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std::string name_;

‎lib/lpfuart/src/dataset.cpp‎

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break;
4242
}
4343
default:
44-
WARN("Ingnoring dataset of type %d as it is currently not supported", type);
44+
WARN("Unsupported data format");
4545
break;
4646
}
4747
}
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6161
return (int) floatValue_;
6262
}
6363
default: {
64-
WARN("Currently no data available");
64+
WARN("Unsupported data format");
6565
return 0;
6666
}
6767
}
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8282
return floatValue_;
8383
}
8484
default: {
85-
WARN("Currently no data available");
85+
WARN("Unsupported data format");
8686
return 0.0f;
8787
}
8888
}

‎lib/lpfuart/src/legodevice.cpp‎

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@@ -105,14 +105,10 @@ void LegoDevice::setVersions(std::string &fwVersion, std::string &hwVersion) {
105105
}
106106

107107
Mode *LegoDevice::getMode(int index) {
108-
return modes_[index];
109-
}
110-
111-
Mode *LegoDevice::selectedMode() {
112-
if (selectedMode_ == -1) {
108+
if (index == -1) {
113109
return nullptr;
114110
}
115-
return modes_[selectedMode_];
111+
return modes_[index];
116112
}
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118114
void LegoDevice::finishHandshake() {
@@ -267,3 +263,11 @@ std::string LegoDevice::name() {
267263
int LegoDevice::numModes() {
268264
return numModes_;
269265
}
266+
267+
int LegoDevice::getSelectedModeIndex() {
268+
return selectedMode_;
269+
}
270+
271+
int LegoDevice::getDeviceId() {
272+
return deviceId_;
273+
}

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