JS: vgm_sensor tutorial

js/vgm_sensor/js_vgm/js_vgm.c

@@ -0,0 +1,159 @@
+#include "../../js_modules.h"
+#include <furi.h>
+#include <toolbox/path.h>
+#include "imu.h"
+
+#define TAG "JsVgm"
+
+typedef struct {
+    Imu* imu;
+    bool present;
+} JsVgmInst;
+
+static void js_vgm_get_pitch(struct mjs* mjs) {
+    mjs_val_t obj_inst = mjs_get(mjs, mjs_get_this(mjs), INST_PROP_NAME, ~0);
+    JsVgmInst* vgm = mjs_get_ptr(mjs, obj_inst);
+    furi_assert(vgm);
+
+    if(vgm->present) {
+        mjs_return(mjs, mjs_mk_number(mjs, imu_pitch_get(vgm->imu)));
+    } else {
+        FURI_LOG_T(TAG, "VGM not present.");
+        mjs_return(mjs, mjs_mk_undefined());
+    }
+}
+
+static void js_vgm_get_roll(struct mjs* mjs) {
+    mjs_val_t obj_inst = mjs_get(mjs, mjs_get_this(mjs), INST_PROP_NAME, ~0);
+    JsVgmInst* vgm = mjs_get_ptr(mjs, obj_inst);
+    furi_assert(vgm);
+
+    if(vgm->present) {
+        mjs_return(mjs, mjs_mk_number(mjs, imu_roll_get(vgm->imu)));
+    } else {
+        FURI_LOG_T(TAG, "VGM not present.");
+        mjs_return(mjs, mjs_mk_undefined());
+    }
+}
+
+static void js_vgm_get_yaw(struct mjs* mjs) {
+    mjs_val_t obj_inst = mjs_get(mjs, mjs_get_this(mjs), INST_PROP_NAME, ~0);
+    JsVgmInst* vgm = mjs_get_ptr(mjs, obj_inst);
+    furi_assert(vgm);
+
+    if(vgm->present) {
+        mjs_return(mjs, mjs_mk_number(mjs, imu_yaw_get(vgm->imu)));
+    } else {
+        FURI_LOG_T(TAG, "VGM not present.");
+        mjs_return(mjs, mjs_mk_undefined());
+    }
+}
+
+static float distance(float current, float start, float angle) {
+    // make 0 to 359.999...
+    current = (current < 0) ? current + 360 : current;
+    start = (start < 0) ? start + 360 : start;
+
+    // get max and min
+    bool max_is_current = current > start;
+    float max = (max_is_current) ? current : start;
+    float min = (max_is_current) ? start : current;
+
+    // get diff, check if it's greater than 180, and adjust
+    float diff = max - min;
+    bool diff_gt_180 = diff > 180;
+    if(diff_gt_180) {
+        diff = 360 - diff;
+    }
+
+    // if diff is less than angle return 0
+    if(diff < angle) {
+        FURI_LOG_T(TAG, "diff: %f, angle: %f", (double)diff, (double)angle);
+        return 0;
+    }
+
+    // return diff with sign
+    return (max_is_current ^ diff_gt_180) ? -diff : diff;
+}
+
+static void js_vgm_delta_yaw(struct mjs* mjs) {
+    mjs_val_t obj_inst = mjs_get(mjs, mjs_get_this(mjs), INST_PROP_NAME, ~0);
+    JsVgmInst* vgm = mjs_get_ptr(mjs, obj_inst);
+    furi_assert(vgm);
+    size_t num_args = mjs_nargs(mjs);
+    if(num_args < 1 || num_args > 2) {
+        mjs_prepend_errorf(
+            mjs,
+            MJS_BAD_ARGS_ERROR,
+            "Invalid args. Pass (angle [, timeout]). Got %d args.",
+            num_args);
+        mjs_return(mjs, mjs_mk_undefined());
+        return;
+    }
+
+    if(!vgm->present) {
+        FURI_LOG_T(TAG, "VGM not present.");
+        mjs_return(mjs, MJS_UNDEFINED);
+        return;
+    }
+
+    double angle = mjs_get_double(mjs, mjs_arg(mjs, 0));
+    if(isnan(angle)) {
+        mjs_prepend_errorf(mjs, MJS_TYPE_ERROR, "Invalid arg (angle).");
+        mjs_return(mjs, mjs_mk_undefined());
+        return;
+    }
+    uint32_t ms = (num_args == 2) ? mjs_get_int(mjs, mjs_arg(mjs, 1)) : 3000;
+    uint32_t timeout = furi_get_tick() + ms;
+    float initial_yaw = imu_yaw_get(vgm->imu);
+    do {
+        float current_yaw = imu_yaw_get(vgm->imu);
+        double diff = distance(current_yaw, initial_yaw, angle);
+        if(diff != 0) {
+            mjs_return(mjs, mjs_mk_number(mjs, diff));
+            return;
+        }
+        furi_delay_ms(100);
+    } while(furi_get_tick() < timeout);
+
+    mjs_return(mjs, mjs_mk_number(mjs, 0));
+}
+
+static void* js_vgm_create(struct mjs* mjs, mjs_val_t* object) {
+    JsVgmInst* vgm = malloc(sizeof(JsVgmInst));
+    vgm->imu = imu_alloc();
+    vgm->present = imu_present(vgm->imu);
+    if(!vgm->present) FURI_LOG_W(TAG, "VGM not present.");
+    mjs_val_t vgm_obj = mjs_mk_object(mjs);
+    mjs_set(mjs, vgm_obj, INST_PROP_NAME, ~0, mjs_mk_foreign(mjs, vgm));
+    mjs_set(mjs, vgm_obj, "getPitch", ~0, MJS_MK_FN(js_vgm_get_pitch));
+    mjs_set(mjs, vgm_obj, "getRoll", ~0, MJS_MK_FN(js_vgm_get_roll));
+    mjs_set(mjs, vgm_obj, "getYaw", ~0, MJS_MK_FN(js_vgm_get_yaw));
+    mjs_set(mjs, vgm_obj, "deltaYaw", ~0, MJS_MK_FN(js_vgm_delta_yaw));
+    *object = vgm_obj;
+    return vgm;
+}
+
+static void js_vgm_destroy(void* inst) {
+    JsVgmInst* vgm = inst;
+    furi_assert(vgm);
+    imu_free(vgm->imu);
+    vgm->imu = NULL;
+    free(vgm);
+}
+
+static const JsModuleDescriptor js_vgm_desc = {
+    name: "vgm",
+    create: js_vgm_create,
+    destroy: js_vgm_destroy,
+};
+
+static const FlipperAppPluginDescriptor plugin_descriptor = {
+    .appid = PLUGIN_APP_ID,
+    .ep_api_version = PLUGIN_API_VERSION,
+    .entry_point = &js_vgm_desc,
+};
+
+const FlipperAppPluginDescriptor* js_vgm_ep(void) {
+    return &plugin_descriptor;
+}