main.ts

/*
 qdee package
*/
//% weight=10 icon="\uf013" color=#2896ff
namespace qdee {

    export enum qdee_Colors {
        //% block="Red"
        Red = 0x01,
        //% block="Green"
        Green = 0x02,
        //% block="Blue"
        Blue = 0x03,
        //% block="Black"
        Black = 0x04,
        //% block="White"
        White = 0x05,
        //% block="None"
        None = 0x06
    }

    export enum qdee_RGBValue {
        //% block="Red"
        Red = 0x01,
        //% block="Green"
        Green = 0x02,
        //% block="Blue"
        Blue = 0x03  
    }

    export enum extPins {
        //% block="PA6"
        pa6 = 0x06,
        //% block="PA7"
        pa7 = 0x07,
        //% block="PB0"
        pb0 = 0x10,
        //% block="PB1"
        pb1 = 0x11,
        //% block="PB10"        
        pb10 = 0x1a,
        //% block="PB11"
        pb11 = 0x11,
        //% block="PC13"
        pc13 = 0x23
    }

    export enum qdee_lineFollower {
        //% blockId="S1_OUT_S2_OUT" block="Sensor1 and sensor2 are out black line"
        S1_OUT_S2_OUT = 0x00,
        //% blockId="S1_OUT_S2_IN" block="Sensor2 in black line but sensor1 not"
        S1_OUT_S2_IN = 0x01,
        //% blockId="S1_IN_S2_OUT" block="Sensor1 in black line but sensor2 not"
        S1_IN_S2_OUT = 0x02,
        //% blockId="S1_IN_S2_IN" block="Sensor1 and sensor2 are in black line "
        S1_IN_S2_IN = 0x03
    }

    export enum colorSensorPort {
        //% block="Port 4"
        port4 = 0x04,
        //% block="Port 9"
        port9 = 0x09
    }

    export enum fanPort {
        //% block="Port 1"
        port1 = 0x01,
        //% block="Port 2"
        port2 = 0x02,
    }

    export enum Servos {
        //% block="servo 1"
        Servo1 = 0x01,
        //% block="servo 2"
        Servo2 = 0x02
    }

    export enum ultrasonicPort {
        //% block="Port 1"
        port1 = 0x01,
        //% block="Port 2"
        port2 = 0x02
    }

    export enum lightbeltPort {
        //% block="Port 1"
        port1 = 0x01,
        //% block="Port 2"
        port2 = 0x02,
        //% block="Port 3"
        port3 = 0x03
    }

    export enum busServoPort {
        //% block="Port 10"
        port10 = 0x0A
    }

    export enum knobPort {
        //% block="Port 1"
        port1 = 0x01,
        //% block="Port 6"
        port6 = 0x06,
        //% block="Port 8"
        port8 = 0x08
    }

    export enum touchKeyPort {
        //% block="Port 1"
        port1 = 0x01,
        //% block="Port 2"
        port2 = 0x02,
        //% block="Port 3"
        port3 = 0x03,
        //% block="Port 6"
        port6 = 0x06,
        //% block="Port 8"
        port8 = 0x08
    }

    export enum lineFollowPort {
        //% block="Port 1"
        port1 = 0x01
    }

    export enum extAddress {
        //% block="address 1"
        adress_1 = 0xFE,
        //% block="address 2"
        adress_2 = 0xFD,
        //% block="address 3"
        adress_3 = 0xFC,
        //% block="address 4"
        adress_4 = 0xFB,
        //% block="address 5"
        adress_5 = 0xFA,
        //% block="address 6"
        adress_6 = 0xF9,
        //% block="address 7"
        adress_7 = 0xF8,
        //% block="address 8"
        adress_8 = 0xF7,
        //% block="address 9"
        adress_9 = 0xF6,
        //% block="address 10"
        adress_10 = 0xF5
    }


    export enum LineFollowerSensor {
        //% block="Sensor 1"
        LFSensor_1 = 0x00,
        //% block="Sensor 2"
        LFSensor_2 = 0x01
    }

    export enum IRKEY {
        //% block="CH-"
        CH_MINUS = 162,
        //% block="CH"
        CH = 98,
        //% block="CH+"
        CH_ADD = 226,
        //% block="PREV"
        PREV = 34,
        //% block="NEXT"
        NEXT = 2,
        //% block="PLAY/PAUSE"
        PLAY_PAUSE = 194,
        //% block="+"
        ADD = 168,
        //% block="-"
        MINUS = 224,
        //% block="EQ"
        EQ = 144,
        //% block="100+"
        _100 = 152,
        //% block="200+"
        _200 = 176,
        //% block="R0"
        R0 = 104,
        //% block="R1"
        R1 = 48,
        //% block="R2"
        R2 = 24,
        //% block="R3"
        R3 = 122,
        //% block="R4"
        R4 = 16,
        //% block="R5"
        R5 = 56,
        //% block="R6"
        R6 = 90,
        //% block="R7"
        R7 = 66,
        //% block="R8"     
        R8 = 74,
        //% block="R9"
        R9 = 82
    }

    export enum QdeeCmdType {
        //% block="Invalid command"
        NO_COMMAND = 0,
        //% block="car run"
        CAR_RUN = 1,
        //% block="Servo"
        SERVO = 2,
        //% block="Ultrasonic distance"
        ULTRASONIC = 3,
        //% block="Temperature"
        TEMPERATURE = 4,
        //% block="Sound"
        SOUND = 5,
        //% block="Light"
        LIGHT = 6,
        //% block="Voltage"
        BAT = 7,
        //% block="Rgb light"
        RGB_LIGHT = 8,
        //% block="Honk horn"
        DIDI = 9,
        //% block="Read firmware version"
        VERSION = 10,
        //% block="Remote control"
        REMOTE = 11,
        //% block="Learn code"
        LEARN_CODE = 12,
        //% block="Read angle"
        READ_ANGLE = 13,
        //% block="Light belt"
        RGB_BELT = 14,
        //% block="Sofa status"
        SOFA = 15,
        //% block="Game data"
        GAME = 16,
        //% block="WIFI mode"
        WIFI_MODE = 17,
        //% block="Get mac"
        GET_MAC = 18,
        //% block="Change mode"
        CHANGE_MODE = 19,
        //% block="Show face"
        SHOW_FACE = 20,
        //% block="Play tone"
        PLAY_TONE = 21
    }

    export enum QdeeCarRunCmdType {
        //% block="Stop"
        STOP = 0,
        //% block="Go ahead"
        GO_AHEAD,
        //% block="Back"
        GO_BACK,
        //% block="Turn left"
        TURN_LEFT,
        //% block="Turn right"
        TURN_RIGHT,
        //% block="Go ahead slowly"
        GO_AHEAD_SLOW,
        //% block="Turn left slowly"
        TURN_LEFT_SLOW,
        //% block="Turn right slowly"
        TURN_RIGHT_SLOW,
        //% block="Invalid command"
        COMMAND_ERRO
    }

    let versionNum: number = -1;//-1为未定义
    let readTimes: number = 0;

    /**
     * Qdee initialization, please execute at boot time
    */
    //% weight=100 blockId=qdee_Init block="Initialize Qdee"
    //% subcategory=Init
    export function qdee_Init() {
        qdee_initRGBLight();
        serial.redirect(
            SerialPin.P12,
            SerialPin.P8,
            BaudRate.BaudRate115200);

        basic.forever(() => {
            getHandleCmd();
        });
        while (readTimes < 10 && versionNum == -1) {
            readTimes++;
            sendVersionCmd();
            basic.pause(30)
        }
        basic.pause(1500);
        initExtPins();
    }

    /**
     * Initialize the color sensor,please execute at boot time
     */
    //% weight=99 blockId=qdee_init_colorSensor block="Initialize color sensor port at %port"
    //% subcategory=Init
    export function qdee_init_colorSensor(port: colorSensorPort) {
        InitColor();
        enableLightSensor(true);
        control.waitMicros(100);
    }
   
    /**
	 * Initialize Light belt
	 */
    //% weight=98 blockId=qdee_belt_initRGBLight block="Initialize light belt at port %port"
    //% subcategory=Init
    export function qdee_belt_initRGBLight(port: lightbeltPort) {
        switch (port) {
            case lightbeltPort.port1:
                if (!lhRGBLightBelt) {
                    lhRGBLightBelt = QdeeRGBLight.create(DigitalPin.P1, 30, QdeeRGBPixelMode.RGB);
                }
                break;
            case lightbeltPort.port2:
                if (!lhRGBLightBelt) {
                    lhRGBLightBelt = QdeeRGBLight.create(DigitalPin.P13, 30, QdeeRGBPixelMode.RGB);
                }
                break;
            case lightbeltPort.port3:
                if (!lhRGBLightBelt) {
                    lhRGBLightBelt = QdeeRGBLight.create(DigitalPin.P16, 30, QdeeRGBPixelMode.RGB);
                }
                break;
        }
        qdee_clearLight();
    }

    function sendVersionCmd() {
        let buf = pins.createBuffer(4);
        buf[0] = 0x55;
        buf[1] = 0x55;
        buf[2] = 0x02;
        buf[3] = 0x12;//cmd type
        serial.writeBuffer(buf);
    }

    function initExtPins() {
        let buf = pins.createBuffer(6);
        buf[0] = 0x55;
        buf[1] = 0x55;
        buf[2] = 0x04;
        buf[3] = 0x3E;//cmd type
        buf[4] = 0x01;
        buf[5] = 0x00;
        serial.writeBuffer(buf);
    }

    let handleCmd: string = "";
    let currentVoltage: number = 0;
    let volume: number = 0;
    let lhRGBLight: QdeeRGBLight.LHQdeeRGBLight;
    let lhRGBLightBelt: QdeeRGBLight.LHQdeeRGBLight;

    let PA6 = 2;
    let PA7 = 2;
    let PB0 = 2;
    let PB1 = 2;
    let PB10 = 2;
    let PB11 = 2;
    let PC13 = 2;

    let PA6_ad = 0;
    let PA7_ad = 0;
    let PB0_ad = 0;
    let PB1_ad = 0;

    let MESSAGE_HEAD = 0xff;
    let MESSAGE_IOT_HEAD = 0x102;

    let servo1Angle: number = 0xfff;
    let servo2Angle: number = 0xfff;

    let MESSAGE_HEAD_LONG: number = 0x100;
    let MESSAGE_HEAD_STOP: number = 0x101;

    let cntIr = 0;
    let adress = 0;
    let sendFlag = false;
    /**
    * Get the handle command.
    */
    function getHandleCmd() {
        let charStr: string = serial.readString();
        handleCmd = handleCmd.concat(charStr);
        let cnt: number = countChar(handleCmd, "$");
        if (cnt == 0)
            return;
        let index = findIndexof(handleCmd, "$", 0);
        if (index != -1) {
            let cmd: string = handleCmd.substr(0, index);
            if (cmd.charAt(0).compare("A") == 0 && cmd.length == 13) {
                 let arg1Int: number = strToNumber(cmd.substr(1, 2));
                 let arg2Int: number = strToNumber(cmd.substr(3, 2));
                 let arg3Int: number = strToNumber(cmd.substr(5, 2));
                 let arg4Int: number = strToNumber(cmd.substr(7, 2));
                 let arg5Int: number = strToNumber(cmd.substr(9, 2));
                 let arg6Int: number = strToNumber(cmd.substr(11, 2));
    
                 PA6_ad = arg1Int;
                 PA7_ad = arg2Int;
                 PB0_ad = arg3Int;
                 PB1_ad = arg4Int;   
    
                 if (arg5Int != -1)
                 {
                    currentVoltage = Math.round(arg5Int*10353/200);
                 }  
    
                 if (arg6Int != -1)
                 {
                  volume = arg6Int;
                 }   
                
                PA6 = checkADPortValue(arg1Int);
                PA7 = checkADPortValue(arg2Int);
                PB0 = checkADPortValue(arg3Int);
                PB1 = checkADPortValue(arg4Int);
            }
            else if (cmd.charAt(0).compare("B") == 0 && cmd.length == 16)
            {
                let arg1Int: number = strToNumber(cmd.substr(1, 2));
                let arg2Int: number = strToNumber(cmd.substr(3, 2));
                let arg3Int: number = strToNumber(cmd.substr(5, 2));
                let arg4Int: number = strToNumber(cmd.substr(7, 2));
                let arg5Int: number = strToNumber(cmd.substr(9, 4));
                let arg6Int: number = strToNumber(cmd.charAt(9));
                let arg7Int: number = strToNumber(cmd.charAt(10));
                let arg8Int: number = strToNumber(cmd.charAt(11));
                PA6_ad = arg1Int;
                PA7_ad = arg2Int;
                PB0_ad = arg3Int;
                PB1_ad = arg4Int;
                PA6 = checkADPortValue(arg1Int);
                PA7 = checkADPortValue(arg2Int);
                PB0 = checkADPortValue(arg3Int);
                PB1 = checkADPortValue(arg4Int);
                if (arg5Int != -1) {
                    let high = (arg5Int >> 8) & 0xff;
                    let low = arg5Int & 0xff;
                    if (high == 0)
                    {
                        if (adress != 0) {
                            control.raiseEvent(MESSAGE_HEAD_STOP, 0);
                        }    
                        sendFlag = false;
                        adress = 0;
                    }
                    else
                    {
                        if (low >= extAddress.adress_10 && low <= extAddress.adress_1)
                        {
                            control.raiseEvent(low, high);
                        }
                        else if (low == 0xff)
                        {
                            if (adress != high) {
                                if (!sendFlag) {
                                    control.raiseEvent(MESSAGE_HEAD, high);
                                    sendFlag = true;
                                }
                                adress = high
                            }
                            else {
                                cntIr++;
                            }
                            if (cntIr >= 3) {
                                cntIr = 0;
                                control.raiseEvent(MESSAGE_HEAD_LONG, high);
                            }
                        }                                   
                    }
                }
                if (arg6Int != -1) {
                    PC13 = arg6Int;
                }
                if (arg7Int != -1) {
                    PB11 = arg7Int;
                }
                if (arg8Int != -1) {
                    PB10 = arg8Int;
                }    

        }
        if (cmd.compare("IROK") == 0) {
                music.playTone(988, music.beat(BeatFraction.Quarter));
        }
        if (cmd.charAt(0).compare("V") == 0 && cmd.length > 3) {
                let arg1Int: number = strToNumber(cmd.substr(1, 1));
                let arg2Int: number = strToNumber(cmd.substr(3, 1));
                if (arg1Int != -1 && arg2Int != -1) {
                    versionNum = arg1Int * 10 + arg2Int;
                }
        }
        if (cmd.charAt(0).compare("S") == 0 && cmd.length == 5) {
                let arg1Int: number = strToNumber(cmd.substr(1, 1));
                let arg2Str = cmd.substr(2, 3);
                if (arg2Str.compare("XXX") == 0) {
                    return;
                }
                let arg2Int: number = 0;
                if (arg2Str.charAt(0).compare("F") != 0) {
                    arg2Int = strToNumber(arg2Str);
                }
                if (arg2Int > 1000)
                    arg2Int = 1000;
                if (arg1Int == 1) {
                    servo1Angle = mapRGB(arg2Int, 0, 1000, 0, 240);
                    servo1Angle -= 120;
                }
                else if (arg1Int == 2) {
                    servo2Angle = mapRGB(arg2Int, 0, 1000, 0, 240);
                    servo2Angle -= 120;
                }
            }
        }
        handleCmd = "";
    }

    function checkADPortValue(value: number): number {
        if (value == -1)
            return 2;
        if (value <= 0x2E)
            return 0;
        else if (value >= 0xAA)
            return 1;
        else
            return 2;//未识别电平状态
    }

    function findIndexof(src: string, strFind: string, startIndex: number): number {
        for (let i = startIndex; i < src.length; i++) {
            if (src.charAt(i).compare(strFind) == 0) {
                return i;
            }
        }
        return -1;
    }

    function countChar(src: string, strFind: string): number {
        let cnt: number = 0;
        for (let i = 0; i < src.length; i++) {
            if (src.charAt(i).compare(strFind) == 0) {
                cnt++;
            }
        }
        return cnt;
    }

    function strToNumber(str: string): number {
        let num: number = 0;
        for (let i = 0; i < str.length; i++) {
            let tmp: number = converOneChar(str.charAt(i));
            if (tmp == -1)
                return -1;
            if (i > 0)
                num *= 16;
            num += tmp;
        }
        return num;
    }

    function converOneChar(str: string): number {
        if (str.compare("0") >= 0 && str.compare("9") <= 0) {
            return parseInt(str);
        }
        else if (str.compare("A") >= 0 && str.compare("F") <= 0) {
            if (str.compare("A") == 0) {
                return 10;
            }
            else if (str.compare("B") == 0) {
                return 11;
            }
            else if (str.compare("C") == 0) {
                return 12;
            }
            else if (str.compare("D") == 0) {
                return 13;
            }
            else if (str.compare("E") == 0) {
                return 14;
            }
            else if (str.compare("F") == 0) {
                return 15;
            }
            return -1;
        }
        else
            return -1;
    }

    /**
    * Set the angle of bus servo 1 to 8, range of -120~120 degree
    */
    //% weight=96 blockId=qdee_setBusServo block="Set bus servo|port %port|index %index|angle(-120~120) %angle|duration(ms) %duration"
    //% angle.min=-120 angle.max=120
    //% inlineInputMode=inline
    //% subcategory=Control
    export function qdee_setBusServo(port: busServoPort, index: number, angle: number, duration: number) {
        angle = angle * -1;
        if (angle > 120 || angle < -120) {
            return;
        }

        angle += 120;

        let position = mapRGB(angle, 0, 240, 0, 1000);

        let buf = pins.createBuffer(10);
        buf[0] = 0x55;
        buf[1] = 0x55;
        buf[2] = 0x08;
        buf[3] = 0x03;//cmd type
        buf[4] = 0x01;
        buf[5] = duration & 0xff;
        buf[6] = (duration >> 8) & 0xff;
        buf[7] = index;
        buf[8] = position & 0xff;
        buf[9] = (position >> 8) & 0xff;
        serial.writeBuffer(buf);
    }

    /**
    * Set the number of the servo.
    */
    //% weight=94 blockId=qdee_setBusServoNum block="Set bus servo|number %port|"
    //% subcategory=Control
    export function qdee_setBusServoNum(index: number) {
        let buf = pins.createBuffer(5);
        buf[0] = 0x55;
        buf[1] = 0x55;
        buf[2] = 0x03;
        buf[3] = 0x36;//cmd type
        buf[4] = index;
        serial.writeBuffer(buf);
    }

    /**
     * Send read qdee servos angle command
     */
    //% weight=92 blockId=qdee_readAngle block="Read|%servo|angle command "
    //% subcategory=Control
    export function qdee_readAngle(servo: Servos): number {
        let buf = pins.createBuffer(6);
        buf[0] = 0x55;
        buf[1] = 0x55;
        buf[2] = 0x04;
        buf[3] = 0x3E;//cmd type
        buf[4] = 0x05;
        buf[5] = servo;
        serial.writeBuffer(buf);
        basic.pause(200);

        let value = 0;
        if (servo == Servos.Servo1) {
            if (servo1Angle != 0xfff) {
                value = servo1Angle;
                servo1Angle = 0xfff;
                return value;
            }
            else {
                basic.pause(200);
                if (servo1Angle != 0xfff) {
                    value = servo1Angle;
                    servo1Angle = 0xfff;
                    return value;
                }
            }
        }
        else if (servo == Servos.Servo2) {
            if (servo2Angle != 0xfff) {
                value = servo2Angle;
                servo2Angle = 0xfff;
                return value;
            }
            else {
                basic.pause(200);
                if (servo2Angle != 0xfff) {
                    value = servo2Angle;
                    servo2Angle = 0xfff;
                    return value;
                }
            }
        }
        return 0;
    }


    /**
    *	Set the speed of the number 1 motor and number 2 motor, range of -100~100, that can control the tank to go advance or turn of.
    */
    //% weight=90 blockId=qdee_setMotorSpeed block="Set motor1 speed(-100~100)|%speed1|and motor2|speed %speed2"
    //% speed1.min=-100 speed1.max=100
    //% speed2.min=-100 speed2.max=100
    //% subcategory=Control
    export function qdee_setMotorSpeed(speed1: number, speed2: number) {
        if (speed1 > 100 || speed1 < -100 || speed2 > 100 || speed2 < -100) {
            return;
        }
        speed1 = speed1 * -1;
        speed2 = speed2 * -1;
        let buf = pins.createBuffer(6);
        buf[0] = 0x55;
        buf[1] = 0x55;
        buf[2] = 0x04;
        buf[3] = 0x32;//cmd type
        buf[4] = speed2;
        buf[5] = speed1;
        serial.writeBuffer(buf);
    }
    
    /**
   * Set fan speed
   * @param speed the speed of the fan in -100~100. eg: 80
   */
    //% weight=88 blockId=qdee_fan_speed block="Set the fan|port %port|speed %speed"
    //% speed.min=-100 speed.max=100
    //% subcategory=Control
    export function qdee_fan_speed(port: fanPort, speed: number) {
        let pin1Clock = 0;
        let pin2Clock = 0;
        if (speed > 100)
            speed = 100;
        else if (speed < -100)
            speed = -100;
        speed = Math.round(speed * 1023 / 100);
        if (speed > 0)//正转
        {
            pin1Clock = speed;
        }
        else {
            pin2Clock = -1 * speed;
        }
        switch (port) {
            case fanPort.port1:
                pins.analogWritePin(AnalogPin.P1, pin1Clock);
                pins.analogWritePin(AnalogPin.P2, pin2Clock);
                break;
            case fanPort.port2:
                pins.analogWritePin(AnalogPin.P13, pin1Clock);
                pins.analogWritePin(AnalogPin.P14, pin2Clock);
                break;
        }
    }

    /**
    * Set the Qdee show facial expressions
    */
    //% weight=86 blockId=qdee_show_expressions block="Qdee show facial expressions %type"
    //% type.min=0 type.max=10
    //% subcategory=Control
    export function qdee_show_expressions(type: number) {
        switch (type)
        {
            case 0:
            basic.showLeds(`
            . . . . .
            . . . . .
            . . . . .
            . . . . .
            . . . . .
            `)
            break;

            case 1:
                basic.showIcon(IconNames.Heart);
                break;
            
            case 2:
                basic.showIcon(IconNames.Yes);
                break;
            
            case 3:
                basic.showIcon(IconNames.No);
                break;
            
            case 4:
                basic.showIcon(IconNames.Happy)
                break;
            
            case 5:
                basic.showIcon(IconNames.Sad)
                break;
            
            case 6:
                basic.showIcon(IconNames.Angry)
                break;
            
            case 7:
            basic.showLeds(`
            . . # . .
            . # # # .
            # . # . #
            . . # . .
            . . # . .
            `)
            break;
            
            case 8:
            basic.showLeds(`
            . . # . .
            . . # . .
            # . # . #
            . # # # .
            . . # . .
            `)
            break;
            
            case 9:
            basic.showLeds(`
            . . # . .
            . # . . .
            # # # # #
            . # . . .
            . . # . .
            `)
                break;
            
            case 10:
            basic.showLeds(`
            . . # . .
            . . . # .
            # # # # #
            . . . # .
            . . # . .
            `)
                break;
            
        }
    }
    
    /**
     * Do someting when Qdee receive custom ir code
     * @param address the message id
     * @param code the button that needs to be pressed
     * @param body code to run when event is raised
     */
    //% weight=84 blockId=onQdee_custom_ir_pressed block="on ir receive|%address|code %code"
    //% subcategory=IR
    export function onQdee_custom_ir_pressed(address: extAddress, code: number, body: Action) {
        control.onEvent(address, code, body);
    }

    /**
    * Let Qdee send ir custom data
    */
    //% weight=82 blockId=qdee_send_ir_data block="Let Qdee send custom ir|%address|code %num"
    //% num.min=0 num.max=254  
    //% subcategory=IR
    export function qdee_send_ir_data(address: extAddress, num: number) {
        if (num < 0 || num > 254)
            return;
        let buf = pins.createBuffer(8);
        buf[0] = 0x55;
        buf[1] = 0x55;
        buf[2] = 0x06;
        buf[3] = 0x3E;//cmd type
        buf[4] = 0x04;
        buf[5] = num;
        buf[6] = address;
        buf[7] = 0;
        serial.writeBuffer(buf);
    }

    /**
     * Do someting when Qdee receive remote-control code
     * @param code the ir key button that needs to be pressed
     * @param body code to run when event is raised
     */
    //% weight=80 blockId=onQdee_remote_ir_pressed block="on remote-control|%code|pressed"
    //% subcategory=IR
    export function onQdee_remote_ir_pressed(code: IRKEY, body: Action) {
        control.onEvent(MESSAGE_HEAD, code, body);
}
    
    /**
     * Do someting when remote-control longpress
     * @param code the ir key button that needs to be pressed
     * @param body code to run when event is raised
     */
    //% weight=78 blockId=onQdee_remote_ir_longpressed block="on remote-control|%code|long pressed"
    //% subcategory=IR
    export function onQdee_remote_ir_longpressed(code: IRKEY, body: Action) {
        control.onEvent(MESSAGE_HEAD_LONG, code, body);
    }

    /**
     * Do someting when remote-control stop send
     * @param code the ir key button that needs to be pressed
     * @param body code to run when event is raised
     */
    //% weight=76 blockId=onQdee_remote_no_ir block="on remote-control stop send"
    //% subcategory=IR    
    export function onQdee_remote_no_ir(body: Action) {
        control.onEvent(MESSAGE_HEAD_STOP, 0, body);
    }

    /**
    * Let Qdee send ir remote-control data
    */
    //% weight=74 blockId=qdee_send_remote_data block="Let Qdee send ir remote-control|key %irKey|"
    //% subcategory=IR
    export function qdee_send_remote_data(irKey: IRKEY) {
        let buf = pins.createBuffer(8);
        buf[0] = 0x55;
        buf[1] = 0x55;
        buf[2] = 0x06;
        buf[3] = 0x3E;//cmd type
        buf[4] = 0x04;
        buf[5] = irKey;
        buf[6] = 0xFF;
        buf[7] = 0;
        serial.writeBuffer(buf);
    }


    /**
    * Let Qdee send ir remote-control data from phone
    */
    //% weight=72 blockId=qdee_send_remote_phone_data block="Let Qdee send phone ir remote-control|key %data|"
    //% subcategory=IR
    export function qdee_send_remote_phone_data(data: number) {
        let irKey: IRKEY;
        switch (data) {
            case 0:
                irKey = IRKEY.R0;
                break;

            case 1:
                irKey = IRKEY.R1;
                break;

            case 2:
                irKey = IRKEY.R2;
                break;

            case 3:
                irKey = IRKEY.R3;
                break;

            case 4:
                irKey = IRKEY.R4;
                break;

            case 5:
                irKey = IRKEY.R5;
                break;

            case 6:
                irKey = IRKEY.R6;
                break;

            case 7:
                irKey = IRKEY.R7;
                break;

            case 8:
                irKey = IRKEY.R8;
                break;

            case 9:
                irKey = IRKEY.R9;
                break;

            case 10:
                irKey = IRKEY.ADD;
                break;

            case 11:
                irKey = IRKEY.MINUS;
                break;

        }
        let buf = pins.createBuffer(8);
        buf[0] = 0x55;
        buf[1] = 0x55;
        buf[2] = 0x06;
        buf[3] = 0x3E;//cmd type
        buf[4] = 0x04;
        buf[5] = irKey;
        buf[6] = 0xFF;
        buf[7] = 0;
        serial.writeBuffer(buf);
    }

    /**
    * Set ir enter learn mode
    * @param num number of the learn code in 1-10. eg: 1
    */
    //% weight=70 blockId=qdee_ir_learn_mode block="Set ir enter learning mode,code number(1~10) %num|"   
    //% num.min=1 num.max=10    
    //% subcategory=IR
    export function qdee_ir_learn_mode(num: number) {
        if (num < 1 || num > 10)
            return;
        let buf = pins.createBuffer(6);
        buf[0] = 0x55;
        buf[1] = 0x55;
        buf[2] = 0x04;
        buf[3] = 0x3E;//cmd type
        buf[4] = 0x03;
        buf[5] = num - 1;
        serial.writeBuffer(buf);
    }

    /**
    * Let Qdee send ir learn data
    * @param num number of the learn code in 1-10. eg: 1
    */
    //% weight=68 blockId=qdee_send_learn_data block="Let Qdee send ir learning code,code|number(1~10) %num|"
    //% num.min=1 num.max=10  
    //% subcategory=IR
    export function qdee_send_learn_data(num: number) {
        if (num < 1 || num > 10)
            return;
        let buf = pins.createBuffer(8);
        buf[0] = 0x55;
        buf[1] = 0x55;
        buf[2] = 0x06;
        buf[3] = 0x3E;//cmd type
        buf[4] = 0x04;
        buf[5] = 0xFF;
        buf[6] = 0xFF;
        buf[7] = num - 1;
        serial.writeBuffer(buf);
    }


    /**
    * Get the volume level detected by the sound sensor, range 0 to 255
    */
    //% weight=66 blockId=qdee_getSoundVolume block="Sound volume"
    //% subcategory=Sensor
    export function qdee_getSoundVolume(): number {
        return volume;
    }

    /**
     *  Get Qdee current voltage,the unit is mV
    */
    //% weight=64 blockId=qdee_getBatVoltage block="Get Qdee current voltage (mV)"
    //% subcategory=Sensor
    export function qdee_getBatVoltage(): number {
        return currentVoltage;
    }

    const APDS9960_I2C_ADDR = 0x39;
    const APDS9960_ID_1 = 0xA8;
    const APDS9960_ID_2 = 0x9C;
    /* APDS-9960 register addresses */
    const APDS9960_ENABLE = 0x80;
    const APDS9960_ATIME = 0x81;
    const APDS9960_WTIME = 0x83;
    const APDS9960_AILTL = 0x84;
    const APDS9960_AILTH = 0x85;
    const APDS9960_AIHTL = 0x86;
    const APDS9960_AIHTH = 0x87;
    const APDS9960_PERS = 0x8C;
    const APDS9960_CONFIG1 = 0x8D;
    const APDS9960_PPULSE = 0x8E;
    const APDS9960_CONTROL = 0x8F;
    const APDS9960_CONFIG2 = 0x90;
    const APDS9960_ID = 0x92;
    const APDS9960_STATUS = 0x93;
    const APDS9960_CDATAL = 0x94;
    const APDS9960_CDATAH = 0x95;
    const APDS9960_RDATAL = 0x96;
    const APDS9960_RDATAH = 0x97;
    const APDS9960_GDATAL = 0x98;
    const APDS9960_GDATAH = 0x99;
    const APDS9960_BDATAL = 0x9A;
    const APDS9960_BDATAH = 0x9B;
    const APDS9960_POFFSET_UR = 0x9D;
    const APDS9960_POFFSET_DL = 0x9E;
    const APDS9960_CONFIG3 = 0x9F;
    const APDS9960_GCONF4 = 0xAB;
    const APDS9960_AICLEAR = 0xE7;


    /* LED Drive values */
    const LED_DRIVE_100MA = 0;

    /* ALS Gain (AGAIN) values */
    const AGAIN_4X = 1;

    /* Default values */
    const DEFAULT_ATIME = 219;    // 103ms
    const DEFAULT_WTIME = 246;    // 27ms
    const DEFAULT_PROX_PPULSE = 0x87;    // 16us, 8 pulses
    const DEFAULT_POFFSET_UR = 0;       // 0 offset
    const DEFAULT_POFFSET_DL = 0;       // 0 offset      
    const DEFAULT_CONFIG1 = 0x60;    // No 12x wait (WTIME) factor
    const DEFAULT_AILT = 0xFFFF;  // Force interrupt for calibration
    const DEFAULT_AIHT = 0;
    const DEFAULT_PERS = 0x11;    // 2 consecutive prox or ALS for int.
    const DEFAULT_CONFIG2 = 0x01;    // No saturation interrupts or LED boost  
    const DEFAULT_CONFIG3 = 0;       // Enable all photodiodes, no SAI
    const DEFAULT_LDRIVE = LED_DRIVE_100MA;
    const DEFAULT_AGAIN = AGAIN_4X;

    const OFF = 0;
    const POWER = 0;
    const AMBIENT_LIGHT = 1;
    const ALL = 7;

    const red_wb = 2500;
    const green_wb = 3900;
    const blue_wb = 5820;

    function i2cwrite(reg: number, value: number) {
        let buf = pins.createBuffer(2);
        buf[0] = reg;
        buf[1] = value;
        pins.i2cWriteBuffer(APDS9960_I2C_ADDR, buf);
    }

    function i2cread(reg: number): number {
        pins.i2cWriteNumber(APDS9960_I2C_ADDR, reg, NumberFormat.UInt8BE);
        let val = pins.i2cReadNumber(APDS9960_I2C_ADDR, NumberFormat.UInt8BE);
        return val;
    }

    function InitColor(): boolean {
        let id = i2cread(APDS9960_ID);
        //  serial.writeLine("id:")
        //  serial.writeNumber(id); 
        // if (!(id == APDS9960_ID_1 || id == APDS9960_ID_2)) {
        //     return false;
        // }
        //  serial.writeLine("set mode:")
        setMode(ALL, OFF);
        i2cwrite(APDS9960_ATIME, DEFAULT_ATIME);
        i2cwrite(APDS9960_WTIME, DEFAULT_WTIME);
        i2cwrite(APDS9960_PPULSE, DEFAULT_PROX_PPULSE);
        i2cwrite(APDS9960_POFFSET_UR, DEFAULT_POFFSET_UR);
        i2cwrite(APDS9960_POFFSET_DL, DEFAULT_POFFSET_DL);
        i2cwrite(APDS9960_CONFIG1, DEFAULT_CONFIG1);
        setLEDDrive(DEFAULT_LDRIVE);
        setAmbientLightGain(DEFAULT_AGAIN);
        setLightIntLowThreshold(DEFAULT_AILT);
        setLightIntHighThreshold(DEFAULT_AIHT);
        i2cwrite(APDS9960_PERS, DEFAULT_PERS);
        i2cwrite(APDS9960_CONFIG2, DEFAULT_CONFIG2);
        i2cwrite(APDS9960_CONFIG3, DEFAULT_CONFIG3);
        return true;
    }

    function setLEDDrive(drive: number) {
        let val = i2cread(APDS9960_CONTROL);
        /* Set bits in register to given value */
        drive &= 0b00000011;
        drive = drive << 6;
        val &= 0b00111111;
        val |= drive;
        i2cwrite(APDS9960_CONTROL, val);
    }

    function setLightIntLowThreshold(threshold: number) {
        let val_low = threshold & 0x00FF;
        let val_high = (threshold & 0xFF00) >> 8;
        i2cwrite(APDS9960_AILTL, val_low);
        i2cwrite(APDS9960_AILTH, val_high);
    }

    function setLightIntHighThreshold(threshold: number) {
        let val_low = threshold & 0x00FF;
        let val_high = (threshold & 0xFF00) >> 8;
        i2cwrite(APDS9960_AIHTL, val_low);
        i2cwrite(APDS9960_AIHTH, val_high);
    }


    function rgb2hue(r: number, g: number, b: number): number {
        let max = Math.max(r, Math.max(g, b))
        let min = Math.min(r, Math.min(g, b))
        let c = max - min;
        let hue = 0;
        let segment = 0;
        let shift = 0;
        if (c == 0)
            return 0;
        if ((r > g) && (r > b)) {
            segment = (60.0 * (g - b)) / c;
            if (segment < 0)
                hue = segment + 360;
        }
        else if ((g > b) && (g > r)) {
            segment = (60.0 * (b - r)) / c;
            hue = segment + 120;
        }
        else if ((b > g) && (b > r)) {
            segment = (60.0 * (r - g)) / c;
            hue = segment + 240;
        }
        return hue;
    }

    function setMode(mode: number, enable: number) {
        let reg_val = getMode();
        /* Change bit(s) in ENABLE register */
        enable = enable & 0x01;
        if (mode >= 0 && mode <= 6) {
            if (enable > 0) {
                reg_val |= (1 << mode);
            }
            else {
                //reg_val &= ~(1 << mode);
                reg_val &= (0xff - (1 << mode));
            }
        }
        else if (mode == ALL) {
            if (enable > 0) {
                reg_val = 0x7F;
            }
            else {
                reg_val = 0x00;
            }
        }
        i2cwrite(APDS9960_ENABLE, reg_val);
    }

    function getMode(): number {
        let enable_value = i2cread(APDS9960_ENABLE);
        return enable_value;
    }

    function enableLightSensor(interrupts: boolean) {
        setAmbientLightGain(DEFAULT_AGAIN);
        if (interrupts) {
            setAmbientLightIntEnable(1);
        }
        else {
            setAmbientLightIntEnable(0);
        }
        enablePower();
        setMode(AMBIENT_LIGHT, 1);
    }

    function setAmbientLightGain(drive: number) {
        let val = i2cread(APDS9960_CONTROL);
        /* Set bits in register to given value */
        drive &= 0b00000011;
        val &= 0b11111100;
        val |= drive;
        i2cwrite(APDS9960_CONTROL, val);
    }

    function getAmbientLightGain(): number {
        let val = i2cread(APDS9960_CONTROL);
        val &= 0b00000011;
        return val;
    }

    function enablePower() {
        setMode(POWER, 1);
    }

    function setAmbientLightIntEnable(enable: number) {
        let val = i2cread(APDS9960_ENABLE);
        /* Set bits in register to given value */
        enable &= 0b00000001;
        enable = enable << 4;
        val &= 0b11101111;
        val |= enable;
        i2cwrite(APDS9960_ENABLE, val);
    }
    /**
	 *  Color sensor return the color.
	 */
    //% weight=62 blockId=qdee_checkCurrentColor block="Current color %color"
    //% subcategory=Sensor
    export function qdee_checkCurrentColor(color: qdee_Colors): boolean {
        let c = i2cread(APDS9960_CDATAL) + i2cread(APDS9960_CDATAH) * 256;
        let r = i2cread(APDS9960_RDATAL) + i2cread(APDS9960_RDATAH) * 256;
        let g = i2cread(APDS9960_GDATAL) + i2cread(APDS9960_GDATAH) * 256;
        let b = i2cread(APDS9960_BDATAL) + i2cread(APDS9960_BDATAH) * 256;

        if (r > red_wb)
            r = red_wb;
        if (g > green_wb)
            g = green_wb;
        if (b > blue_wb)
            b = blue_wb;

        r = Math.round(mapRGB(r, 0, red_wb, 0, 255));
        g = Math.round(mapRGB(g, 0, green_wb, 0, 255));
        b = Math.round(mapRGB(b, 0, blue_wb, 0, 255));

        let hsv = rgb2hue(r, g, b)
        let t = qdee_Colors.None;
        if (c > 2200 && r > 65 && g > 65 && b > 65) {
            t = qdee_Colors.White;
        }
        else if (c > 800) {
            if (hsv < 8 || hsv > 350)
                t = qdee_Colors.Red;
            else if (hsv > 60 && hsv < 170) {
                t = qdee_Colors.Green;
            }
            else if (hsv > 210 && hsv < 230) {
                t = qdee_Colors.Blue;
            }
        }
        else if (c > 200 && r > 10 && g > 7 && b > 7 && r < 16.5 && g < 15 && b < 14) {
            t = qdee_Colors.Black;
        }
        return (color == t);
    }


    /**
	 *  Color sensor return the color.
	 */
    //% weight=60 blockId=qdee_get_color block="color %color value(0~255)"
    //% subcategory=Sensor
    export function qdee_get_color(color: qdee_RGBValue): number {
        let value = 0;
        let r = i2cread(APDS9960_RDATAL) + i2cread(APDS9960_RDATAH) * 256;
        let g = i2cread(APDS9960_GDATAL) + i2cread(APDS9960_GDATAH) * 256;
        let b = i2cread(APDS9960_BDATAL) + i2cread(APDS9960_BDATAH) * 256;

        if (r > red_wb)
            r = red_wb;
        if (g > green_wb)
            g = green_wb;
        if (b > blue_wb)
            b = blue_wb;

        r = Math.round(mapRGB(r, 0, red_wb, 0, 255));
        g = Math.round(mapRGB(g, 0, green_wb, 0, 255));
        b = Math.round(mapRGB(b, 0, blue_wb, 0, 255));

        switch (color)
        {
            case qdee_RGBValue.Red:
                value = r;
                break;
            
            case qdee_RGBValue.Green:
                value = g;
                break;
            
            case qdee_RGBValue.Blue:
                value = b;
                break;
        }
        return value;
    }


    /**
    * Get the condition of the line follower sensor
    */
    //% weight=58 blockGap=20 blockId=qdee_readLineFollowerStatus block="Line follower status|port %port|%status"
    //% subcategory=Sensor
    export function qdee_readLineFollowerStatus(port: lineFollowPort, status: qdee_lineFollower): boolean {
        let s1 = 0;
        let s2 = 0;

        s1 = pins.analogReadPin(AnalogPin.P1);
        s2 = pins.analogReadPin(AnalogPin.P2);

        if (s1 < 900)
            s1 = 0;
        else
            s1 = 1;
        if (s2 < 900)
            s2 = 0;
        else
            s2 = 1;

        let s = ((1 & s1) << 1) | s2;
        if (s == status) {
            return true;
        }
        else {
            return false;
        }
    }

    /**
     * Get the line follower sensor port ad value
     */
    //% weight=56 blockId=qdee_lineSensorValue block="Get line follower sensor|port %port|%sensor|ad value"
   //% subcategory=Sensor
    export function qdee_lineSensorValue(port: lineFollowPort, sensor: LineFollowerSensor): number {
        let s1 = 0;
        let s2 = 0;
        s1 = pins.analogReadPin(AnalogPin.P1);
        s2 = pins.analogReadPin(AnalogPin.P2);
        s1 = s1 * 255 / 1023;
        s2 = s2 * 255 / 1023;

        if (sensor == LineFollowerSensor.LFSensor_1) {
            return Math.round(255 - s1);
        }
        else {
            return Math.round(255 - s2);
        }

    }
    /**
    * Get the condition of the touch button,press return 1,or return 0
    */
    //% weight=54 blockGap=20 blockId=qdee_touchButton block=" Touch button|port %port|is pressed"    
    //% subcategory=Sensor    
    export function qdee_touchButton(port: touchKeyPort): boolean {
        let status: boolean = false;
        switch (port) {
            case touchKeyPort.port1:
                pins.setPull(DigitalPin.P1, PinPullMode.PullUp);
                status = !pins.digitalReadPin(DigitalPin.P1);
                break;
            case touchKeyPort.port2:
                pins.setPull(DigitalPin.P13, PinPullMode.PullUp);
                status = !pins.digitalReadPin(DigitalPin.P13);
                break;
            case touchKeyPort.port3:
                pins.setPull(DigitalPin.P16, PinPullMode.PullUp);
                status = !pins.digitalReadPin(DigitalPin.P16);
                break;
            case touchKeyPort.port6:
                status = !PA6;
                break;
            case touchKeyPort.port8:
                status = !PB0;
                break;
        }
        return status;
    }

    let distanceBak = 0;
    /**
     * Get the distance of ultrasonic detection to the obstacle 
     */
    //% weight=52 blockId=qdee_ultrasonic  block="Ultrasonic|port %port|distance(cm)"
    //% subcategory=Sensor    
    export function qdee_ultrasonic(port: ultrasonicPort): number {
        let trigPin: DigitalPin = DigitalPin.P1;
        let echoPin: DigitalPin = DigitalPin.P2;
        let distance: number = 0;
        let d: number = 0;
        if (versionNum == -1)//没有读取到版本号
        {
            switch (port) {
                case ultrasonicPort.port1:
                    trigPin = DigitalPin.P1;
                    break;
                case ultrasonicPort.port2:
                    trigPin = DigitalPin.P13;
                    break;
            }
            pins.setPull(trigPin, PinPullMode.PullNone);
            pins.digitalWritePin(trigPin, 0);
            control.waitMicros(2);
            pins.digitalWritePin(trigPin, 1);
            control.waitMicros(10);
            pins.digitalWritePin(trigPin, 0);

            d = pins.pulseIn(trigPin, PulseValue.High, 15000);
            distance = d;
            // filter timeout spikes
            if (distance == 0 || distance >= 13920) {
                distance = distanceBak;
            }
            else
                distanceBak = d;

        }
        else {
            switch (port) {
                case ultrasonicPort.port1:
                    trigPin = DigitalPin.P1;
                    echoPin = DigitalPin.P2;
                    break;
                case ultrasonicPort.port2:
                    trigPin = DigitalPin.P13;
                    echoPin = DigitalPin.P14;
                    break;
            }
            pins.setPull(echoPin, PinPullMode.PullNone);
            pins.setPull(trigPin, PinPullMode.PullNone);

            // send pulse
            pins.digitalWritePin(trigPin, 0);
            control.waitMicros(2);
            pins.digitalWritePin(trigPin, 1);
            control.waitMicros(10);
            pins.digitalWritePin(trigPin, 0);
            // read pulse
            d = pins.pulseIn(echoPin, PulseValue.High, 15000);
            distance = d;
            // filter timeout spikes
            if (distance == 0 || distance >= 13920) {
                distance = distanceBak;
            }
            else
                distanceBak = d;
        }

        return Math.round(distance * 10 / 6 / 58);
    }

    /**
    * Get the ad value of the knob moudule
    */
    //% weight=50 blockId=qdee_getKnobValue blockGap=50 block="Get knob|port %port|value(0~255)"
    //% subcategory=Sensor    
    export function qdee_getKnobValue(port: knobPort): number {
        let adValue = 0;
        switch (port) {
            case knobPort.port1:
                adValue = pins.analogReadPin(AnalogPin.P1);
                adValue = adValue * 255 / 1023;
                break;
            case knobPort.port6:
                adValue = PA6_ad;
                break;
            case knobPort.port8:
                adValue = PB0_ad;
                break;
        }
        return Math.round(adValue);
    }
    
    /**
     * Set extension pins output high/low
     */
    function qdee_ext_output(pin: number, out: number) {
        let buf = pins.createBuffer(7);
        buf[0] = 0x55;
        buf[1] = 0x55;
        buf[2] = 0x05;
        buf[3] = 0x3E;//cmd type
        buf[4] = 0x2;
        buf[5] = pin;
        buf[6] = out;
        serial.writeBuffer(buf);
    }

    function mapRGB(x: number, in_min: number, in_max: number, out_min: number, out_max: number): number {
        return (x - in_min) * (out_max - out_min) / (in_max - in_min) + out_min;
    }

    /**
    * Resolve the Bluetooth that phone APP send command type, the total of nine types of commands: tank display command, servo debug command, obtaining the distance of ultrasonic command, obtaining temperature command, obtain sound size rank orders, to obtain the light level command, set the color lights command, honking command, firmware version information command.
    */
    //% weight=48 blockId=qdee_analyzeBluetoothCmd block="Get bluetooth command type %str"
    //% subcategory=Bluetooth
    export function qdee_analyzeBluetoothCmd(str: string): number {
        if (str.length > 6) {
            let cmdHead = str.substr(0, 3);

            if (cmdHead == "CMD") {
                let cmdTypeStr: string = str.substr(4, 2);
                let cmdType = strToNumber(cmdTypeStr);
                if (cmdType > QdeeCmdType.PLAY_TONE || cmdType < 0) {
                    return QdeeCmdType.NO_COMMAND;
                }
                else {
                    return cmdType;
                }
            }
            else {
                return QdeeCmdType.NO_COMMAND;
            }
        }
        else {
            return QdeeCmdType.NO_COMMAND;
        }
    }
    /**
     * Resolve the parameters that the phone APP send the command,there are 3 parameters of servo debug command,the other command has just one parameter.
    * @param index number of the learn code in 1-3. eg: 1
     */
    //% weight=46 blockId=qdee_getArgs block="Get bluetooth command|%str|argument at %index"
    //% index.min=1 index.max=3
    //% subcategory=Bluetooth
    export function qdee_getArgs(str: string, index: number): number {
        let cmdType = qdee_analyzeBluetoothCmd(str);
        if (cmdType == QdeeCmdType.NO_COMMAND) {
            return QdeeCarRunCmdType.COMMAND_ERRO;
        }
        else {
            let dataIndex = 7;
            let subLegth = 2;
            if (index == 2) {
                dataIndex = 10;
                subLegth = 2;
            }
            else if (index == 3) {
                dataIndex = 13;
                subLegth = 4;
            }
            if (cmdType == QdeeCmdType.SERVO) {
                if (str.length < 17) {
                    return QdeeCmdType.NO_COMMAND;
                }
            }
            if ((index == 1 && str.length < 10) || (index == 2 && str.length < 13) || (index == 3 && str.length < 17)) {
                return 0;
            }
            let strArgs = str.substr(dataIndex, subLegth);
            let arg = strToNumber(strArgs);
            if (arg == -1)
                return 0;
            return arg;
        }
    }

    /**
     * Returns the enumeration of the command type, which can be compared with this module after obtaining the bluetooth command type sent by the mobile phone APP.
     */
    //% weight=44 blockId=qdee_getBluetoothCmdtype block="Bluetooth command type %type"
    //% subcategory=Bluetooth
    export function qdee_getBluetoothCmdtype(type: QdeeCmdType): number {
        return type;
    }

    /**
     * The command type of the tank is stop, go ahead, back, turn left, turn right, slow down, turn left slowly, turn right slowly.
     */
    //% weight=42 blockId=qdee_getRunCarType block="Car run type %type"
    //% subcategory=Bluetooth
    export function qdee_getRunCarType(type: QdeeCarRunCmdType): number {
        return type;
    }

   
    /**
      * The distance from the ultrasonic obstacle to the standard command, which is sent to the mobile phone. The APP will indicate the distance of the ultrasonic obstacle.
      */
    //% weight=40 blockId=qdee_convertUltrasonic block="Convert ultrasonic distance %data"
    //% subcategory=Bluetooth
    export function qdee_convertUltrasonic(data: number): string {
        let cmdStr: string = "CMD|03|";
        cmdStr += data.toString();
        cmdStr += "|$";
        return cmdStr;
    }
    /**
     * The conversion temperature value to standard command, sent to the mobile phone, and the APP displays the current temperature.
     */
    //% weight=38 blockId=qdee_convertTemperature block="Convert temperature %data"
    //% subcategory=Bluetooth
    export function qdee_convertTemperature(data: number): string {
        let cmdStr: string = "CMD|04|";
        cmdStr += data.toString();
        cmdStr += "|$";
        return cmdStr;
    }

    /**
     * Convert the sound value to the standard command and send it to the mobile phone. (0~255).
     */
    //% weight=36 blockId=qdee_convertSound block="Convert sound %data"
    //% subcategory=Bluetooth
    export function qdee_convertSound(data: number): string {
        let cmdStr: string = "CMD|05|";
        cmdStr += data.toString();
        cmdStr += "|$";
        return cmdStr;
    }

    /**
     * Convert the light value to the standard command and send it to the mobile phone. The APP displays the current light level (0~255).
     */
    //% weight=34 blockId=qdee_convertLight block="Convert light %data"
    //% subcategory=Bluetooth
    export function qdee_convertLight(data: number): string {
        let cmdStr: string = "CMD|06|";
        cmdStr += data.toString();
        cmdStr += "|$";
        return cmdStr;
    }

    /**
     * Convert the battery value to the standard command and send it to the mobile phone. The APP displays the current voltage.
     */
    //% weight=32 blockId=qdee_convertBattery blockGap=50 block="Convert battery %data"
    //% subcategory=Bluetooth
    export function qdee_convertBattery(data: number): string {
        let cmdStr: string = "CMD|07|";
        cmdStr += data.toString();
        cmdStr += "|$";
        return cmdStr;
    }
    
    /**
	 * Initialize RGB
	 */
    function qdee_initRGBLight() {
        if (!lhRGBLight) {
            lhRGBLight = QdeeRGBLight.create(DigitalPin.P15, 6, QdeeRGBPixelMode.RGB);
        }
        qdee_clearLight();
    }

    /**
         * Set the brightness of the strip. This flag only applies to future operation.
         * @param brightness a measure of LED brightness in 0-255. eg: 255
    */
    //% blockId="qdee_setBrightness" block="set brightness %brightness"
    //% weight=30
    //% subcategory=Coloured_lights
    export function qdee_setBrightness(brightness: number): void {
        lhRGBLight.setBrightness(brightness);
    }
    
    /**
     * Set the color of the colored lights, after finished the setting please perform  the display of colored lights.
     */
    //% weight=28 blockId=qdee_setPixelRGB block="Set|%lightoffset|color to %rgb"
    //% subcategory=Coloured_lights    
    export function qdee_setPixelRGB(lightoffset: QdeeLights, rgb: QdeeRGBColors) {
        lhRGBLight.setPixelColor(lightoffset, rgb);
    }
    
    /**
     * Set RGB Color argument
     */
    //% weight=26 blockId=qdee_setPixelRGBArgs block="Set|%lightoffset|color to %rgb"
    //% subcategory=Coloured_lights    
    export function qdee_setPixelRGBArgs(lightoffset: QdeeLights, rgb: number) {
        lhRGBLight.setPixelColor(lightoffset, rgb);
    }

    /**
     * Display the colored lights, and set the color of the colored lights to match the use. After setting the color of the colored lights, the color of the lights must be displayed.
     */
    //% weight=24 blockId=qdee_showLight block="Show light"
    //% subcategory=Coloured_lights    
    export function qdee_showLight() {
        lhRGBLight.show();
    }

    /**
     * Clear the color of the colored lights and turn off the lights.
     */
    //% weight=22 blockGap=50 blockId=qdee_clearLight block="Clear light"
    //% subcategory=Coloured_lights    
    export function qdee_clearLight() {
        lhRGBLight.clear();
    }

    /**
     * Set the color of the colored lights, after finished the setting please perform  the display of colored lights.
     */
    //% weight=20 blockGap=20 blockId=qdee_belt_setPixelRGB block="Set light belt|%lightoffset|color to %rgb"
    //% subcategory=Coloured_lights    
    export function qdee_belt_setPixelRGB(lightoffset: QdeeLightsBelt, rgb: QdeeRGBColors) {
        lhRGBLightBelt.setBeltPixelColor(lightoffset, rgb);
    }
     
    /**
     * Set the color of the colored lights, after finished the setting please perform  the display of colored lights.
     */
    //% weight=18 blockId=qdee_belt_setPixelRGBIndex block="Set light belt|%lightoffset|color to %rgb(1~9)"
    //% subcategory=Coloured_lights    
    export function qdee_belt_setPixelRGBIndex(lightoffset: QdeeLightsBelt, rgb: number) {
        lhRGBLightBelt.setBeltPixelColor(lightoffset, rgb);
    }
    
    /**
     * Set the color of the colored lights, after finished the setting please perform  the display of colored lights.
     */
    //% weight=16 blockId=qdee_belt_setPixelRGBSingle block="Set light belt index(0~29)|%lightoffset|color to %rgb"
    //% lightoffset.min=0  lightoffset.max=29 
    //% subcategory=Coloured_lights    
    export function qdee_belt_setPixelRGBSingle(lightoffset: number, rgb: QdeeRGBColors) {
        lhRGBLightBelt.singleSetBeltPixelColor(lightoffset, rgb);
    }
     
    /**
     * Set the color of the colored lights, after finished the setting please perform  the display of colored lights.
     */
    //% weight=14 blockId=qdee_belt_setPixelRGBSingleRGBIndex block="Set light belt index(0~29)|%lightoffset|color to %rgb(1~9)"
    //% lightoffset.min=0  lightoffset.max=29 
    //% subcategory=Coloured_lights    
    export function qdee_belt_setPixelRGBSingleRGBIndex(lightoffset: number, rgb: number) {
        lhRGBLightBelt.singleSetBeltPixelColor(lightoffset, rgb);
    }
    
    /**
     * Display the colored lights, and set the color of the colored lights to match the use. After setting the color of the colored lights, the color of the lights must be displayed.
     */
    //% weight=12 blockId=qdee_belt_showLight block="Show light belt"
    //% subcategory=Coloured_lights    
    export function qdee_belt_showLight() {
        lhRGBLightBelt.show();
    }

    /**
     * Clear the color of the colored lights and turn off the lights.
     */
    //% weight=10 blockGap=50 blockId=qdee_belt_clearLight block="Clear light belt"
    //% subcategory=Coloured_lights    
    export function qdee_belt_clearLight() {
        lhRGBLightBelt.clear();
    }
}