sensor.pl

use Time::HiRes;
use lib "..";
use ev3;

my @color = ( "?", "BLACK", "BLUE", "GREEN", "YELLOW", "RED", "WHITE", "BROWN" );

sub _check_pressed {
    my $sn = shift;
    if ( $sn == $ev3::SENSOR__NONE_ ) {
        my ( $ok, $val ) = ev3::ev3_read_keys();
        return ( $ok && ( $val & $ev3::EV3_KEY_UP ));
    } else {
        my ( $ok, $val ) = ev3::get_sensor_value( 0, $sn );
        return ( $ok && $val );
    }
}

print "Waiting the EV3 brick online...\n";
ev3::ev3_init() > 0 || exit( 1 );

print "*** ( EV3 ) Hello! ***\n";
ev3::ev3_sensor_init();

print "Found sensors:\n";
for ( $i = 0; $i < $ev3::SENSOR_DESC__LIMIT_; $i++ ) {
    my $type_inx = ev3::ev3_sensor_desc_type_inx( $i );
    if ( $type_inx != $ev3::SENSOR_TYPE__NONE_) {
        my $type = ev3::ev3_sensor_type( $type_inx );
        print "  type = $type\n";
        my $port_name = ev3::ev3_sensor_port_name( $i );
        print "  port = $port_name\n";
        my ( $ok, $mode ) = ev3::get_sensor_mode( $i, 256 );
        if ( $ok ) {
            print "  mode = $mode\n";
        }
        my ( $ok, $n ) = ev3::get_sensor_num_values( $i );
        if ( $ok ) {
            for ( $ii = 0; $ii < $n; $ii++ ) {
                my ( $ok, $val ) = ev3::get_sensor_value( $ii, $i );
                if ( $ok ) {
                    print "  value$ii = $val\n";
                }
            }
        }
    }
}
my ( $ok, $sn_touch ) = ev3::ev3_search_sensor( $ev3::LEGO_EV3_TOUCH );
if ( $ok ) {
    print "TOUCH sensor is found, press BUTTON for EXIT...\n";
} else {
    print "TOUCH sensor is NOT found, press UP on the EV3 brick for EXIT...\n";
}
my ( $ok, $sn_color ) = ev3::ev3_search_sensor( $ev3::LEGO_EV3_COLOR );
if ( $ok ) {
    print "COLOR sensor is found, reading COLOR...\n";
    ev3::set_sensor_mode( $sn_color, "COL-COLOR" );
    while ( true ) {
        my ( $ok, $val ) = ev3::get_sensor_value( 0, $sn_color );
        if ( !$ok || ( $val < 0 ) || ( $val >= scalar @color )) {
            $val = 0;
        }
        print "\r($color[ $val ])";
        $| = 1;
        if ( _check_pressed( $sn_touch )) {
            last;
        }
        Time::HiRes::sleep( 0.2 );
        print "\r        ";
        $| = 1;
        if ( _check_pressed( $sn_touch )) {
            last;
        }
        Time::HiRes::sleep( 0.2 );
    }
} else {
    print "COLOR sensor is NOT found\n";
    while ( !_check_pressed( $sn_touch )) {
        Time::HiRes::sleep( 0.1 );
    }
}
ev3::ev3_uninit();
print "\n*** ( EV3 ) Bye! ***\n";