brining up to date

_scratch/colorTests.lua

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+-- testing functions for use in arduino for hsb2rgb and rgb2hsb conversion against mac's built in conversion
+-- adapted from https://github.com/ratkins/RGBConverter/blob/master/RGBConverter.cpp
+--    converted to ranges used by Philips Hue bridge
+--    converted to lua for these tests
+
+local rgb2hsb = function(red, green, blue)
+    local rd = red   / 255
+    local gd = green / 255
+    local bd = blue  / 255
+    local mx = math.max(rd, gd, bd)
+    local mn = math.min(rd, gd, bd)
+    local h, s
+    local v = mx
+
+    local d = mx - mn
+    s = (mx == 0) and 0 or (d / mx)
+
+    if (mx == mn) then
+        h = 0 -- achromatic
+    else
+        if (mx == rd) then
+            h = (gd - bd) / d + ((gd < bd) and 6 or 0)
+        elseif (mx == gd) then
+            h = (bd - rd) / d + 2
+        elseif (mx == bd) then
+            h = (rd - gd) / d + 4
+        end
+        h = h / 6
+    end
+
+    return math.floor(h * 65535), math.floor(s * 255), math.floor(v * 255)
+end
+
+local hsb2rgb = function(hue, sat, bri)
+    hue, sat, bri = hue / 65535, sat / 255, bri / 255
+    local r, g, b
+
+    local i = math.floor(hue * 6)
+    local f = hue * 6 - i
+    local p = bri * (1 - sat)
+    local q = bri * (1 - f * sat)
+    local t = bri * (1 - (1 - f) * sat)
+
+    if (i % 6) == 0 then
+        r, g, b = bri, t, p
+    elseif (i % 6) == 1 then
+        r, g, b = q, bri, p
+    elseif (i % 6) == 2 then
+        r, g, b = p, bri, t
+    elseif (i % 6) == 3 then
+        r, g, b = p, q, bri
+    elseif (i % 6) == 4 then
+        r, g, b = t, p, bri
+    elseif (i % 6) == 5 then
+        r, g, b = bri, p, q
+    end
+
+    return math.floor(r * 255), math.floor(g * 255), math.floor(b * 255)
+end
+
+-- now mac conversion functions
+
+local mac_rgb2hsb = function(red, green, blue)
+    local color = require("hs.drawing").color
+    local temp = color.asHSB{ red = red / 255, green = green / 255, blue = blue / 255 }
+    return math.floor(temp.hue * 65535), math.floor(temp.saturation * 255), math.floor(temp.brightness * 255)
+end
+
+local mac_hsb2rgb = function(hue, sat, bri)
+    local color = require("hs.drawing").color
+    local temp = color.asRGB{ hue = hue / 65535, saturation = sat / 255, brightness = bri / 255 }
+    return math.floor(temp.red * 255), math.floor(temp.green * 255), math.floor(temp.blue * 255)
+end
+
+
+
+require("hs.console").clearConsole()
+
+-- we'll accept conversions that are within a margin of error
+local closeEnough = function(a, b) return math.abs(a - b) <= 1 end
+
+local count, good = 0, 0
+for r = 0, 1, .01 do for g = 0, 1, .01 do for b = 0, 1, .01 do -- for final test, do 1,000,000 comparisons
+    count = count + 1
+    local r1, g1, b1 = math.floor(r * 255), math.floor(g * 255), math.floor(b * 255)
+    local h2, s2, b2 = rgb2hsb(r1, g1, b1)
+    local h3, s3, b3 = mac_rgb2hsb(r1, g1, b1)
+    -- hue of 65535 == hue of 0, so catch both
+    local st = (closeEnough(h2,h3) or ((h2 == 0) and (h3 == 65535)) or ((h2 == 65535) and (h3 == 0))) and (s2 == s3) and (b2 == b3)
+    if st then
+        good = good + 1
+    else
+        hs.printf("%3d, %3d, %3d rgb2hsb == %5d, %3d, %3d mac_rgb2hsb == %5d, %3d, %3d %s", r1, g1, b1, h2, s2, b2, h3, s3, b3, st)
+    end
+end end end
+
+hs.printf("rgb2hsb total %d, passed %d\n", count, good)
+
+local count, good = 0, 0
+for h = 0, 1, .01 do for s = 0, 1, .01 do for b = 0, 1, .01 do
+    count = count + 1
+    local h1, s1, b1 = math.floor(h * 65535), math.floor(s * 255), math.floor(b * 255)
+    local r2, g2, b2 = hsb2rgb(h1, s1, b1)
+    local r3, g3, b3 = mac_hsb2rgb(h1, s1, b1)
+    local st = (r2 == r3) and (g2 == g3) and (b2 == b3)
+    if st then
+        good = good + 1
+    else
+        hs.printf("%5d, %3d, %3d hsb2rgb == %3d, %3d, %3d mac_hsb2rgb == %3d, %3d, %3d %s", h1, s1, b1, r2, g2, b2, r3, g3, b3, st)
+    end
+end end end
+
+hs.printf("hsb2rgb total %d, passed %d\n", count, good)

_scratch/examineHotKeys.lua

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+
+local flagMasks = {
+  activeFlag                    = 1 << 0,
+  btnState                      = 1 << 7,
+  cmdKey                        = 1 << 8,
+  shiftKey                      = 1 << 9,
+  alphaLock                     = 1 << 10,
+  optionKey                     = 1 << 11,
+  controlKey                    = 1 << 12,
+  rightShiftKey                 = 1 << 13,
+  rightOptionKey                = 1 << 14,
+  rightControlKey               = 1 << 15,
+
+  -- I think -- we can't set it, but I see this on keys that I also see this set for when using hs.eventtap
+  functionKey                   = 1 << 17,
+}
+
+for i, v in ipairs(_xtras.hotkeys()) do
+  local hotkey = rawget(hs.keycodes.map, v.kHISymbolicHotKeyCode) or ("{" .. tostring(v.kHISymbolicHotKeyCode) .. "}")
+  local mods, mask = {}, v.kHISymbolicHotKeyModifiers
+  for k2, v2 in pairs(flagMasks) do
+      if (mask & v2) == v2 then
+          mask = mask - v2
+          table.insert(mods, k2)
+      end
+  end
+  if mask ~= 0 then table.insert(mods, mask) end
+  print(string.format("%s %-12s %s", (v.kHISymbolicHotKeyEnabled and "+" or "-"), hotkey, finspect(mods)))
+end

robots/rsClamping.lua

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+local UUIDperipheralCurieBLE   = "E924FF90-D5FD-41EB-A8BF-C0C928DE014F"
+local UUIDserviceCommand       = "EA833120-DBE3-4035-B8EC-006AAD46BB07"
+local UUIDcharacteristicAction = "EA833121-DBE3-4035-B8EC-006AAD46BB07"
+
+local UUIDserviceIMU                  = "831BA4C0-4F24-4E46-85D9-1F04852731AA"
+local UUIDcharacteristicAccelerometer = "831BA4C1-4F24-4E46-85D9-1F04852731AA"
+local UUIDcharacteristicGyroscope     = "831BA4C2-4F24-4E46-85D9-1F04852731AA"
+
+local module = {}
+
+local ble    = require("hs._asm.btle")
+local timer  = require("hs.timer")
+local hotkey = require("hs.hotkey")
+local mods   = require("hs._asm.extras").mods
+
+local sendChar = function(char)
+    local service = ble.discovered[UUIDperipheralCurieBLE].services[UUIDserviceCommand]
+    if service then
+        local characteristic = service.characteristics[UUIDcharacteristicAction]
+        if characteristic then
+            characteristic.characteristic:writeValue(((type(char) == "string") and char:sub(1,1) or "\0"))
+        else
+            hs.printf("missing characteristic %s for service %s", UUIDcharacteristicAction, UUIDserviceCommand)
+        end
+    else
+        hs.printf("missing service %s", UUIDserviceCommand)
+    end
+--     ble.discovered[UUIDperipheralCurieBLE].
+--         services[UUIDserviceCommand].
+--         characteristics[UUIDcharacteristicAction].characteristic:writeValue(((type(char) == "string") and char:sub(1,1) or "\0"))
+end
+
+ble.create()
+
+module._modalKeys = hotkey.modal.new()
+function module._modalKeys:entered() end
+    module._modalKeys:bind(mods.cAsc, "w",     function() sendChar("1") end, function() sendChar("\0") end)
+    module._modalKeys:bind(mods.cAsc, "a",     function() sendChar("2") end, function() sendChar("\0") end)
+    module._modalKeys:bind(mods.cAsc, "s",     function() sendChar("3") end, function() sendChar("\0") end)
+    module._modalKeys:bind(mods.cAsc, "d",     function() sendChar("4") end, function() sendChar("\0") end)
+    module._modalKeys:bind(mods.cAsc, "f",     function() sendChar("5") end, function() sendChar("\0") end)
+--     module._modalKeys:bind(mods.cAsc, "",     function() sendChar("6") end, function() sendChar("\0") end)
+    module._modalKeys:bind(mods.cAsc, "e",     function() sendChar("7") end, function() sendChar("\0") end)
+    module._modalKeys:bind(mods.cAsc, "r",     function() sendChar("8") end, function() sendChar("\0") end)
+    module._modalKeys:bind(mods.cAsc, "up",    function() sendChar("a") end, function() sendChar("\0") end)
+    module._modalKeys:bind(mods.cAsc, "down",  function() sendChar("b") end, function() sendChar("\0") end)
+    module._modalKeys:bind(mods.cAsc, "left",  function() sendChar("c") end, function() sendChar("\0") end)
+    module._modalKeys:bind(mods.cAsc, "right", function() sendChar("d") end, function() sendChar("\0") end)
+function module._modalKeys:exited() sendChar("\0") end
+
+module._setupTimer = timer.doEvery(1, function()
+    if ble._manager then
+        module._setupTimer:stop()
+        module._setupTimer = timer.doEvery(1, function()
+            if ble._manager:state() == "poweredOn" then
+                module._setupTimer:stop()
+                ble.startScanning()
+                module._setupTimer = timer.doEvery(1, function()
+                    if ble.discovered[UUIDperipheralCurieBLE] then
+                        module._setupTimer:stop()
+                        module._setupTimer = nil
+                        print("Curie BLE discovered")
+                    end
+                end)
+            end
+        end)
+    end
+end)
+
+module.connect = function()
+    if ble.discovered[UUIDperipheralCurieBLE].peripheral:state() == "disconnected" then
+        ble._manager:connectPeripheral(ble.discovered[UUIDperipheralCurieBLE].peripheral)
+        module._modalKeys:enter()
+    else
+        print("already connected or in progress")
+    end
+end
+
+module.watch = function(watchUpdate)
+    local service = ble.discovered[UUIDperipheralCurieBLE].services[UUIDserviceIMU]
+    if service then
+        local characteristic = service.characteristics[UUIDcharacteristicAccelerometer]
+        if characteristic then
+            characteristic.characteristic:watch(watchUpdate)
+        else
+            hs.printf("missing characteristic %s for service %s", UUIDcharacteristicAccelerometer, UUIDserviceIMU)
+        end
+        local characteristic = service.characteristics[UUIDcharacteristicGyroscope]
+        if characteristic then
+            characteristic.characteristic:watch(watchUpdate)
+        else
+            hs.printf("missing characteristic %s for service %s", UUIDcharacteristicGyroscope, UUIDserviceIMU)
+        end
+        ble.discovered[UUIDperipheralCurieBLE].fn = function(peripheral, message, ...)
+            if message == "didUpdateValueForCharacteristic" then
+                local characteristic, errMsg = ...
+                local cUUID = characteristic:UUID()
+                if errMsg then
+                    print("error with update to " .. cUUID .. ": " .. errMsg)
+                else
+                    local label = ""
+                    if cUUID == UUIDcharacteristicAccelerometer then
+                        label = "Accelerometer"
+                    elseif cUUID == UUIDcharacteristicGyroscope then
+                        label = "Gyroscope"
+                    else
+                        print("not watching characteristic " .. cUUID)
+                        return
+                    end
+                    local value = characteristic:value()
+                    if #value == 12 then
+                        local x, y, z = string.unpack("fff", value)
+                        hs.printf("%-13s: X:%7.3f Y:%7.3f Z:%7.3f", label, x, y, z)
+                    else
+                        print("unexpected value length for " .. cUUID)
+                    end
+                end
+            end
+        end
+    else
+        hs.printf("missing service %s", UUIDserviceIMU)
+    end
+end
+
+
+module.disconnect = function()
+    if ble.discovered[UUIDperipheralCurieBLE].peripheral:state() ~= "disconnected" then
+        ble.discovered[UUIDperipheralCurieBLE].fn = nil
+        module._modalKeys:exit()
+        ble._manager:disconnectPeripheral(ble.discovered[UUIDperipheralCurieBLE].peripheral)
+    else
+        print("not connected")
+    end
+end
+
+return module