Doku, Bugfixes

Fixed sensor raw reading to allow negative numbers.
Added Small Basic documentation for file operations

EV3BasicCompiler/Resources/Sensor.txt

@@ -192,17 +192,18 @@ subcall SENSOR.READRAW            // FFA
 	JR_LTEQ32 values32 0 arrayempty
 	ARRAY RESIZE resultarray values32
 
-	DATA8 rawvalue0
-	DATA8 rawvalue1
-	DATA8 rawvalue2
-	DATA8 rawvalue3
-	DATA8 rawvalue4
-	DATA8 rawvalue5
-	DATA8 rawvalue6
-	DATA8 rawvalue7
+	DATA32 rawvalue0
+	DATA32 rawvalue1
+	DATA32 rawvalue2
+	DATA32 rawvalue3
+	DATA32 rawvalue4
+	DATA32 rawvalue5
+	DATA32 rawvalue6
+	DATA32 rawvalue7
 	INPUT_READEXT layer no 0 -1 18 8 rawvalue0 rawvalue1 rawvalue2 rawvalue3 rawvalue4 rawvalue5 rawvalue6 rawvalue7
 
 	DATA32 i
+	DATA32 rawtmp
 	MOVE32_32 0 i
 loop:
 	DATA8 tmp8
@@ -212,9 +213,9 @@ loop:
 	JR_GTEQ32 i 8 nomoredata
 
 	MOVE32_8 i tmp8
-	READ8 rawvalue0 tmp8 tmp8
-	JR_LT8 tmp8 0 nomoredata
-	MOVE8_F tmp8 tmpf
+	READ32 rawvalue0 tmp8 rawtmp
+	JR_LT32 rawtmp -1000000000 nomoredata
+	MOVE32_F rawtmp tmpf
 
 nomoredata:	
 	ARRAY_WRITE resultarray i tmpf

SmallBasicEV3Extension/EV3.cs

@@ -68,7 +68,7 @@ public static void SetLEDColor(Primitive color, Primitive effect)
         }
 
         /// <summary>
-        /// The current loading level of the battery (range 0 to 100)
+        /// The current loading level of the battery (range 0 to 100).
         /// </summary>
         public static Primitive BatteryLevel
         {
@@ -91,6 +91,11 @@ public static Primitive BatteryLevel
             }
         }
 
+        /// <summary>
+        /// Execute one system command by the command shell of the EV3 linux system. All threads of the virtual machine are halted until the system command is finished.
+        /// </summary>
+        /// <param name="commandline">The system command.</param>
+        /// <returns>Exit status of the command.</returns>
         public static Primitive SystemCall (Primitive commandline)
         {
             String cmd = (commandline == null ? "" : commandline.ToString());
@@ -113,7 +118,7 @@ public static Primitive SystemCall (Primitive commandline)
 
         static bool[] hasDownloaded = new bool[1];
 
-        public static Primitive NativeCode(Primitive command)
+        internal static Primitive NativeCode(Primitive command)
         {
             String cmd = (command == null) ? "" : command.ToString().Trim();
             if (cmd.Length==0)

SmallBasicEV3Extension/EV3File.cs

@@ -12,6 +12,7 @@ namespace SmallBasicEV3Extension
 
     /// <summary>
     /// Access the file system on the EV3 brick to read or write data.
+    /// File names can be given either absolute (with a leading '/') to reach any file in the system, or relative to the 'prjs' folder.
     /// </summary>
     [SmallBasicType]
     public static class EV3File
@@ -63,17 +64,31 @@ private static Primitive OpenWriteImpl(Primitive filename, bool append)
             }
         }
 
+        /// <summary>
+        /// Open a file for writing. When the file already exists, it will be overwritten.
+        /// </summary>
+        /// <param name="filename">Name of the file to create/overwrite.</param>
+        /// <returns>A number that identifies this open file (a.k.a. file handle)</returns>
         public static Primitive OpenWrite(Primitive filename)
         {
             return OpenWriteImpl(filename, false);
         }
 
+        /// <summary>
+        /// Open a file for adding data. When the file does not exist, it will be created.
+        /// </summary>
+        /// <param name="filename">Name of the file to create/extend.</param>
+        /// <returns>A number that identifies this open file (a.k.a. file handle)</returns>
         public static Primitive OpenAppend(Primitive filename)
         {
             return OpenWriteImpl(filename, true);
         }
 
-
+        /// <summary>
+        /// Open a file for reading data. When the file does not exist the program will crash.
+        /// </summary>
+        /// <param name="filename">Name of the file to read from.</param>
+        /// <returns>A number that identifies this open file (a.k.a. file handle)</returns>
         public static Primitive OpenRead(Primitive filename)
         {
             String f = (filename == null ? "" : filename.ToString());
@@ -104,6 +119,10 @@ public static Primitive OpenRead(Primitive filename)
             }
         }
 
+        /// <summary>
+        /// Close an open file.
+        /// </summary>
+        /// <param name="handle">The file handle (previously obtained from an Open... call)</param>
         public static void Close(Primitive handle)
         {
             int hdl = 0;
@@ -117,6 +136,11 @@ public static void Close(Primitive handle)
             }
         }
 
+        /// <summary>
+        /// Write one line of text to the file. The line will be encoded with ISO-8859-1 encoding and will be terminated with a newline-character (code 10).
+        /// </summary>
+        /// <param name="handle">The file handle (previously obtained from an Open... call)</param>
+        /// <param name="text">The text to write to the file.</param>
         public static void WriteLine(Primitive handle, Primitive text)
         {
             int hdl = 0;
@@ -148,6 +172,11 @@ public static void WriteLine(Primitive handle, Primitive text)
             }
         }
 
+        /// <summary>
+        /// Write a single byte of data on the file.
+        /// </summary>
+        /// <param name="handle">The file handle (previously obtained from an Open... call)</param>
+        /// <param name="data">One byte to write (value of 0 - 255).</param>        
         public static void WriteByte(Primitive handle, Primitive data)
         {
             int hdl = 0;
@@ -179,6 +208,11 @@ public static void WriteByte(Primitive handle, Primitive data)
             }
         }
 
+        /// <summary>
+        /// Read one line of text from the file. The line will be decoded using the ISO-8859-1 encoding and must be terminated with a newline-character (code 10).
+        /// </summary>
+        /// <param name="handle">The file handle (previously obtained from an Open... call)</param>
+        /// <returns>The text from the current line in the file.</returns>
         public static Primitive ReadLine(Primitive handle)
         {
             int hdl = 0;
@@ -204,6 +238,11 @@ public static Primitive ReadLine(Primitive handle)
             return new Primitive("");
         }
 
+        /// <summary>
+        /// Read one byte of data from the file.
+        /// </summary>
+        /// <param name="handle">The file handle (previously obtained from an Open... call)</param>
+        /// <returns>The next byte from the file.</returns>
         public static Primitive ReadByte(Primitive handle)
         {
             int hdl = 0;
@@ -224,14 +263,27 @@ public static Primitive ReadByte(Primitive handle)
             return new Primitive(0);
         }
 
+        /// <summary>
+        /// Utility function to convert a text to a number. 
+        /// </summary>
+        /// <param name="text">A text holding a number in decimal representation (with optional fractional digits)</param>
+        /// <returns>The number</returns>
         public static Primitive ConvertToNumber(Primitive text)
         {
             double d = 0;
             double.TryParse(text == null ? "" : text.ToString(), out d);
             return new Primitive(d);
         }
 
-
+        /// <summary>
+        /// Utility function to read bytes from potentially huge data files that are too big to be transfered to memory as a whole.
+        /// Because the file could be so big that the numerical precision of the normal numbers is not enough, a row/column addressing is possible.
+        /// </summary>
+        /// <param name="filename">The name of the file.</param>
+        /// <param name="bytes_per_row">When the file has a row/column structure, this is the number of bytes in one row. Use 1 if not applicable.</param>
+        /// <param name="row">Which row to access (start with 0).</param>
+        /// <param name="column">Which column to access (start with 0).</param>
+        /// <returns>The byte on the denoted position</returns>
         public static Primitive TableLookup(Primitive filename, Primitive bytes_per_row, Primitive row, Primitive column)
         {
             int bpr = 0;

SmallBasicEV3Extension/Sensor.cs

@@ -271,7 +271,7 @@ public static Primitive ReadRaw(Primitive port, Primitive values)
                 {
                     v = DecodeRaw(result, i * 4);
                 }
-                map[new Primitive((double)i)] = new Primitive(v<0 ? 0:v);
+                map[new Primitive((double)i)] = new Primitive(v<-1000000000 ? 0:v);
             }            
             return Primitive.ConvertFromMap(map);
         }
@@ -389,10 +389,6 @@ private static int DecodeRaw(byte[] result, int start)
             return b0 | (b1<<8) | (b2<<16) | (b3<<24);
         }
 
-        private static double DecodeSI(byte[] result, int start)
-        {
-            return BitConverter.ToSingle(result, start);
-        }
 
     }
 }