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Merge branch 'master' into ros-book

Browse Source
This commit is contained in:
Oleg Kalachev
2020-10-06 02:30:23 +03:00
parent bb9d8edb78
commit d15eb7785e
105 changed files with 11452 additions and 101 deletions
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2
.gitattributes vendored
View File

@@ -4,3 +4,5 @@ eventemitter2.js linguist-vendored
ros3d.js linguist-vendored
three.min.js linguist-vendored
aruco_pose/vendor/* linguist-vendored
blockly/* linguist-vendored
highlight/* linguist-vendored

2
.gitignore vendored
View File

@@ -4,3 +4,5 @@
node_modules/
_book/
package-lock.json
clover_blocks/programs/*.*
!clover_blocks/programs/examples/*

2
.travis.yml
View File

@@ -107,7 +107,7 @@ jobs:
- wget https://github.com/okalachev/editorconfig-checker/releases/download/1.2.1-disable-spaces-amount/ec-linux-amd64
- chmod +x ec-linux-amd64
script:
- ./ec-linux-amd64 -spaces-after-tabs -e "roslib.js|ros3d.js|eventemitter2.js|draw.cpp|BinUtils.swift|\.idea|apps/android/app|Assets.xcassets|test_parser_pass.txt|test_node_failure.txt|aruco_pose/vendor|\.stl|\.dxf|\.dae"
- ./ec-linux-amd64 -spaces-after-tabs -e "roslib.js|ros3d.js|eventemitter2.js|draw.cpp|BinUtils.swift|\.idea|apps/android/app|blockly/|clover_blocks/programs/|highlight/|python.js|Assets.xcassets|test_parser_pass.txt|test_node_failure.txt|aruco_pose/vendor|\.stl|\.dxf|\.dae"
stages:
- Build
# More info there

1
book.json
View File

@@ -9,6 +9,7 @@
"richquotes@https://github.com/okalachev/gitbook-plugin-richquotes.git",
"yametrika",
"anchors",
"collapsible-menu",
"validate-links",
"bulk-redirect@https://github.com/okalachev/gitbook-plugin-bulk-redirect.git",
"sitemap@https://github.com/okalachev/plugin-sitemap.git",

4
clover/launch/clover.launch
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@@ -10,6 +10,7 @@
<arg name="aruco" default="false"/>
<arg name="rangefinder_vl53l1x" default="true"/>
<arg name="led" default="true"/>
<arg name="blocks" default="false"/>
<arg name="rc" default="true"/>
<arg name="shell" default="true"/>
@@ -81,6 +82,9 @@
<arg name="simulator" value="$(arg simulator)"/>
</include>
<!-- Clover Blocks -->
<node name="clover_blocks" pkg="clover_blocks" type="clover_blocks" output="screen" if="$(arg blocks)"/>
<!-- rc backend -->
<node name="rc" pkg="clover" type="rc" output="screen" if="$(arg rc)" clear_params="true">
<!-- Send fake GCS heartbeats. Set to "true" for upstream PX4 -->

111
clover/src/simple_offboard.cpp
View File

@@ -46,6 +46,7 @@
#include <clover/SetRates.h>
using std::string;
using std::isnan;
using namespace geometry_msgs;
using namespace sensor_msgs;
using namespace clover;
@@ -507,25 +508,84 @@ bool serve(enum setpoint_type_t sp_type, float x, float y, float z, float vx, fl
if (busy)
throw std::runtime_error("Busy");
ENSURE_FINITE(x);
ENSURE_FINITE(y);
ENSURE_FINITE(z);
ENSURE_FINITE(vx);
ENSURE_FINITE(vy);
ENSURE_FINITE(vz);
ENSURE_FINITE(pitch);
ENSURE_FINITE(roll);
ENSURE_FINITE(pitch_rate);
ENSURE_FINITE(roll_rate);
ENSURE_FINITE(lat);
ENSURE_FINITE(lon);
ENSURE_FINITE(thrust);
busy = true;
// Checks
checkState();
// default frame is local frame
if (frame_id.empty())
frame_id = local_frame;
// look up for reference frame
auto search = reference_frames.find(frame_id);
const string& reference_frame = search == reference_frames.end() ? frame_id : search->second;
// Serve "partial" commands
if (!auto_arm && std::isfinite(yaw) &&
isnan(x) && isnan(y) && isnan(z) && isnan(vx) && isnan(vy) && isnan(vz) &&
isnan(pitch) && isnan(roll) && isnan(thrust) &&
isnan(lat) && isnan(lon)) {
// change only the yaw
if (setpoint_type == POSITION || setpoint_type == NAVIGATE || setpoint_type == NAVIGATE_GLOBAL || setpoint_type == VELOCITY) {
if (!waitTransform(setpoint_position.header.frame_id, frame_id, stamp, transform_timeout))
throw std::runtime_error("Can't transform from " + frame_id + " to " + setpoint_position.header.frame_id);
message = "Changing yaw only";
QuaternionStamped q;
q.header.frame_id = frame_id;
q.header.stamp = stamp;
q.quaternion = tf::createQuaternionMsgFromYaw(yaw); // TODO: pitch=0, roll=0 is not totally correct
setpoint_position.pose.orientation = tf_buffer.transform(q, setpoint_position.header.frame_id).quaternion;
setpoint_yaw_type = YAW;
goto publish_setpoint;
} else {
throw std::runtime_error("Setting yaw is possible only when position or velocity setpoints active");
}
}
if (!auto_arm && std::isfinite(yaw_rate) &&
isnan(x) && isnan(y) && isnan(z) && isnan(vx) && isnan(vy) && isnan(vz) &&
isnan(pitch) && isnan(roll) && isnan(yaw) && isnan(thrust) &&
isnan(lat) && isnan(lon)) {
// change only the yaw rate
if (setpoint_type == POSITION || setpoint_type == NAVIGATE || setpoint_type == NAVIGATE_GLOBAL || setpoint_type == VELOCITY) {
message = "Changing yaw rate only";
setpoint_yaw_type = YAW_RATE;
setpoint_yaw_rate = yaw_rate;
goto publish_setpoint;
} else {
throw std::runtime_error("Setting yaw rate is possible only when position or velocity setpoints active");
}
}
// Serve normal commands
if (sp_type == NAVIGATE || sp_type == POSITION) {
ENSURE_FINITE(x);
ENSURE_FINITE(y);
ENSURE_FINITE(z);
} else if (sp_type == NAVIGATE_GLOBAL) {
ENSURE_FINITE(lat);
ENSURE_FINITE(lon);
ENSURE_FINITE(z);
} else if (sp_type == VELOCITY) {
ENSURE_FINITE(vx);
ENSURE_FINITE(vy);
ENSURE_FINITE(vz);
} else if (sp_type == ATTITUDE) {
ENSURE_FINITE(pitch);
ENSURE_FINITE(roll);
ENSURE_FINITE(thrust);
} else if (sp_type == RATES) {
ENSURE_FINITE(pitch_rate);
ENSURE_FINITE(roll_rate);
ENSURE_FINITE(thrust);
}
if (sp_type == NAVIGATE || sp_type == NAVIGATE_GLOBAL) {
if (TIMEOUT(local_position, local_position_timeout))
throw std::runtime_error("No local position, check settings");
@@ -550,14 +610,6 @@ bool serve(enum setpoint_type_t sp_type, float x, float y, float z, float vx, fl
throw std::runtime_error("No global position");
}
// default frame is local frame
if (frame_id.empty())
frame_id = local_frame;
// look up for reference frame
auto search = reference_frames.find(frame_id);
const string& reference_frame = search == reference_frames.end() ? frame_id : search->second;
if (sp_type == NAVIGATE || sp_type == NAVIGATE_GLOBAL || sp_type == POSITION || sp_type == VELOCITY || sp_type == ATTITUDE) {
// make sure transform from frame_id to reference frame available
if (!waitTransform(reference_frame, frame_id, stamp, transform_timeout))
@@ -625,7 +677,7 @@ bool serve(enum setpoint_type_t sp_type, float x, float y, float z, float vx, fl
} else {
setpoint_yaw_type = YAW;
setpoint_yaw_rate = 0;
ps.pose.orientation = tf::createQuaternionMsgFromRollPitchYaw(roll, pitch, yaw);
ps.pose.orientation = tf::createQuaternionMsgFromYaw(yaw);
}
tf_buffer.transform(ps, setpoint_position, reference_frame);
@@ -653,6 +705,7 @@ bool serve(enum setpoint_type_t sp_type, float x, float y, float z, float vx, fl
wait_armed = auto_arm;
publish_setpoint:
publish(stamp); // calculate initial transformed messages first
setpoint_timer.start();
@@ -693,27 +746,27 @@ bool serve(enum setpoint_type_t sp_type, float x, float y, float z, float vx, fl
}
bool navigate(Navigate::Request& req, Navigate::Response& res) {
return serve(NAVIGATE, req.x, req.y, req.z, 0, 0, 0, 0, 0, req.yaw, 0, 0, req.yaw_rate, 0, 0, 0, req.speed, req.frame_id, req.auto_arm, res.success, res.message);
return serve(NAVIGATE, req.x, req.y, req.z, NAN, NAN, NAN, NAN, NAN, req.yaw, NAN, NAN, req.yaw_rate, NAN, NAN, NAN, req.speed, req.frame_id, req.auto_arm, res.success, res.message);
}
bool navigateGlobal(NavigateGlobal::Request& req, NavigateGlobal::Response& res) {
return serve(NAVIGATE_GLOBAL, 0, 0, req.z, 0, 0, 0, 0, 0, req.yaw, 0, 0, req.yaw_rate, req.lat, req.lon, 0, req.speed, req.frame_id, req.auto_arm, res.success, res.message);
return serve(NAVIGATE_GLOBAL, NAN, NAN, req.z, NAN, NAN, NAN, NAN, NAN, req.yaw, NAN, NAN, req.yaw_rate, req.lat, req.lon, NAN, req.speed, req.frame_id, req.auto_arm, res.success, res.message);
}
bool setPosition(SetPosition::Request& req, SetPosition::Response& res) {
return serve(POSITION, req.x, req.y, req.z, 0, 0, 0, 0, 0, req.yaw, 0, 0, req.yaw_rate, 0, 0, 0, 0, req.frame_id, req.auto_arm, res.success, res.message);
return serve(POSITION, req.x, req.y, req.z, NAN, NAN, NAN, NAN, NAN, req.yaw, NAN, NAN, req.yaw_rate, NAN, NAN, NAN, NAN, req.frame_id, req.auto_arm, res.success, res.message);
}
bool setVelocity(SetVelocity::Request& req, SetVelocity::Response& res) {
return serve(VELOCITY, 0, 0, 0, req.vx, req.vy, req.vz, 0, 0, req.yaw, 0, 0, req.yaw_rate, 0, 0, 0, 0, req.frame_id, req.auto_arm, res.success, res.message);
return serve(VELOCITY, NAN, NAN, NAN, req.vx, req.vy, req.vz, NAN, NAN, req.yaw, NAN, NAN, req.yaw_rate, NAN, NAN, NAN, NAN, req.frame_id, req.auto_arm, res.success, res.message);
}
bool setAttitude(SetAttitude::Request& req, SetAttitude::Response& res) {
return serve(ATTITUDE, 0, 0, 0, 0, 0, 0, req.pitch, req.roll, req.yaw, 0, 0, 0, 0, 0, req.thrust, 0, req.frame_id, req.auto_arm, res.success, res.message);
return serve(ATTITUDE, NAN, NAN, NAN, NAN, NAN, NAN, req.pitch, req.roll, req.yaw, NAN, NAN, NAN, NAN, NAN, req.thrust, NAN, req.frame_id, req.auto_arm, res.success, res.message);
}
bool setRates(SetRates::Request& req, SetRates::Response& res) {
return serve(RATES, 0, 0, 0, 0, 0, 0, 0, 0, 0, req.pitch_rate, req.roll_rate, req.yaw_rate, 0, 0, req.thrust, 0, "", req.auto_arm, res.success, res.message);
return serve(RATES, NAN, NAN, NAN, NAN, NAN, NAN, NAN, NAN, NAN, req.pitch_rate, req.roll_rate, req.yaw_rate, NAN, NAN, req.thrust, NAN, "", req.auto_arm, res.success, res.message);
}
bool land(std_srvs::Trigger::Request& req, std_srvs::Trigger::Response& res)

1
clover/www/index.html
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@@ -6,6 +6,7 @@
<li><a href="" id="butterfly">Open web terminal</a> (<code>Butterfly</code>)</li>
<li><a href="viz.html">View 3D visualization</a> (<code>ros3djs</code>)</li>
<li><a href="aruco_map.html">3D visualization for markers map</a> (<code>ros3djs</code>)</li>
<li><a href="../clover_blocks/">Blocks programming</a> (<code>Blockly</code>)</li>
</ul>
<div class="version"></div>

87
clover_blocks/CMakeLists.txt Normal file
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@@ -0,0 +1,87 @@
cmake_minimum_required(VERSION 2.8.3)
project(clover_blocks)
find_package(catkin REQUIRED COMPONENTS message_generation)
add_message_files(
FILES
Prompt.msg
)
add_service_files(
FILES
Run.srv
Load.srv
Store.srv
)
generate_messages(
DEPENDENCIES
# std_msgs # Or other packages containing msgs
)
catkin_package(
# INCLUDE_DIRS include
# LIBRARIES roslaunch_editor
CATKIN_DEPENDS message_runtime
# DEPENDS system_lib
)
#############
## Install ##
#############
# all install targets should use catkin DESTINATION variables
# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
## Mark executable scripts (Python etc.) for installation
## in contrast to setup.py, you can choose the destination
# install(PROGRAMS
# scripts/my_python_script
# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
# )
## Mark executables for installation
## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html
# install(TARGETS ${PROJECT_NAME}_node
# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
# )
## Mark libraries for installation
## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html
# install(TARGETS ${PROJECT_NAME}
# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
# RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
# )
## Mark cpp header files for installation
# install(DIRECTORY include/${PROJECT_NAME}/
# DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
# FILES_MATCHING PATTERN "*.h"
# PATTERN ".svn" EXCLUDE
# )
## Mark other files for installation (e.g. launch and bag files, etc.)
# install(FILES
# # myfile1
# # myfile2
# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
# )
catkin_install_python(PROGRAMS src/clover_blocks
DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
)
#############
## Testing ##
#############
## Add gtest based cpp test target and link libraries
# catkin_add_gtest(${PROJECT_NAME}-test test/test_roslaunch_editor.cpp)
# if(TARGET ${PROJECT_NAME}-test)
# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
# endif()
## Add folders to be run by python nosetests
# catkin_add_nosetests(test)

52
clover_blocks/README.md Normal file
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@@ -0,0 +1,52 @@
# clover_blocks
Blockly programming support for Clover.
<img src="screenshot.png" width=700>
See user documentation at the [main Clover documentation site](https://clover.coex.tech/en/blocks.html).
Internal package documentation is given below.
## Frontend
The frontend files are located in [`www`](./www/) subdirectory. The frontend application uses [`roblib.js`](http://wiki.ros.org/roslibjs) library for communicating with backend node and other ROS resources.
## `clover_blocks` node
`clover_blocks` is the blocks programming backend, implementing all the services and topics needed for running Blockly-generated Python script.
### Services
* `~run` ([*clover_blocks/Run*](srv/Run.srv)) – run Blockly-generated program (in Python).
* `~stop` ([*std_srvs/Trigger*](http://docs.ros.org/melodic/api/std_srvs/html/srv/Trigger.html)) – terminate the running program.
* `~store` ([*clover_blocks/load*](srv/Store.srv)) – store a user program (to `<package_path>/programs` by default).
* `~load` ([*clover_blocks/load*](srv/Load.srv)) – load all the stored programs.
### Parameters
* `~programs_dir` (*string*) – directory for user programs.
Parameters read by frontend:
* `~navigate_tolerance` (*float*) – distance tolerance in meters, used for navigate-like blocks (default: 0.2).
* `~sleep_time` (*float*) – duration of sleep in loop cycles, used for navigate-like blocks (default: 0.2).
These parameters also can be set as URL GET-parameters, for example:
```
http://<hostname>/clover_blocks/?navigate_tolerance=0.5&sleep_time=0.1
```
### Topics
#### Published
* `~running` ([*std_msgs/Bool*](http://docs.ros.org/melodic/api/std_msgs/html/msg/Bool.html)) – indicates if the program is currently running.
* `~block` ([*std_msgs/String*](http://docs.ros.org/melodic/api/std_msgs/html/msg/String.html)) – current executing block (maximum topic rate is limited).
* `~error` ([*std_msgs/String*](http://docs.ros.org/melodic/api/std_msgs/html/msg/String.html)) – user program errors and exceptions.
* `~prompt` ([*clover_blocks/Prompt*](msg/Prompt.msg)) – user input request (includes random request ID string).
This topic is published from the frontend side:
* `~prompt/<request_id>` ([*std_msgs/String*](http://docs.ros.org/melodic/api/std_msgs/html/msg/String.html)) – user input response.

2
clover_blocks/msg/Prompt.msg Normal file
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@@ -0,0 +1,2 @@
string message # message for prompt
string id # user response should be published to ~input/<id> topic

48
clover_blocks/package.xml Normal file
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@@ -0,0 +1,48 @@
<?xml version="1.0"?>
<package format="2">
<name>clover_blocks</name>
<version>0.0.0</version>
<description>Blockly programming support for Clover</description>
<maintainer email="okalachev@gmail.com">Oleg Kalachev</maintainer>
<license>MIT</license>
<!-- Url tags are optional, but multiple are allowed, one per tag -->
<!-- Optional attribute type can be: website, bugtracker, or repository -->
<url type="repository">https://github.com/CopterExpress/clover</url>
<!-- Author tags are optional, multiple are allowed, one per tag -->
<!-- Authors do not have to be maintainers, but could be -->
<author email="okalachev@gmail.com">Oleg Kalachev</author>
<!-- The *depend tags are used to specify dependencies -->
<!-- Dependencies can be catkin packages or system dependencies -->
<!-- Examples: -->
<!-- Use depend as a shortcut for packages that are both build and exec dependencies -->
<!-- <depend>roscpp</depend> -->
<!-- Note that this is equivalent to the following: -->
<!-- <build_depend>roscpp</build_depend> -->
<!-- <exec_depend>roscpp</exec_depend> -->
<!-- Use build_depend for packages you need at compile time: -->
<!-- <build_depend>message_generation</build_depend> -->
<!-- Use build_export_depend for packages you need in order to build against this package: -->
<!-- <build_export_depend>message_generation</build_export_depend> -->
<!-- Use buildtool_depend for build tool packages: -->
<!-- <buildtool_depend>catkin</buildtool_depend> -->
<!-- Use exec_depend for packages you need at runtime: -->
<!-- <exec_depend>message_runtime</exec_depend> -->
<!-- Use test_depend for packages you need only for testing: -->
<!-- <test_depend>gtest</test_depend> -->
<!-- Use doc_depend for packages you need only for building documentation: -->
<!-- <doc_depend>doxygen</doc_depend> -->
<buildtool_depend>catkin</buildtool_depend>
<depend>message_generation</depend>
<depend>message_runtime</depend>
<depend>rospy</depend>
<!-- The export tag contains other, unspecified, tags -->
<export>
<!-- Other tools can request additional information be placed here -->
</export>
</package>

73
clover_blocks/programs/examples/aruco-map.xml Normal file
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@@ -0,0 +1,73 @@
<xml xmlns="https://developers.google.com/blockly/xml">
<block type="take_off" id="w4,Hi[}0b.mX68K|hOJv" x="38" y="63">
<field name="WAIT">TRUE</field>
<value name="ALT">
<shadow type="math_number" id="q!Ln!d`jutn*3Gy56B0A">
<field name="NUM">1.5</field>
</shadow>
</value>
<next>
<block type="controls_repeat_ext" id="fD/HWb]kb!^pYK{UkM;0">
<value name="TIMES">
<shadow type="math_number" id="%FP0k|kaf~A`0N;M{Oiy">
<field name="NUM">10</field>
</shadow>
</value>
<statement name="DO">
<block type="navigate" id="qM5ROiq4r:$lq}8U_wol">
<field name="FRAME_ID">ARUCO_MAP</field>
<field name="WAIT">TRUE</field>
<value name="X">
<shadow type="math_number" id="=MBV;9zGH8S`Xh57/E;C">
<field name="NUM">0</field>
</shadow>
<block type="text_prompt_ext" id="rUDMP2~yFR!7E`Q]pR/i">
<mutation type="NUMBER"></mutation>
<field name="TYPE">NUMBER</field>
<value name="TEXT">
<shadow type="text" id="z+Q3vS?)kxHl?HTcuI?(">
<field name="TEXT">Enter X</field>
</shadow>
</value>
</block>
</value>
<value name="Y">
<shadow type="math_number" id="%$`av8A.w}vNqG-]1GOn">
<field name="NUM">0</field>
</shadow>
<block type="text_prompt_ext" id=".AjhH^Rh*i}+14s)K-:g">
<mutation type="NUMBER"></mutation>
<field name="TYPE">NUMBER</field>
<value name="TEXT">
<shadow type="text" id="x#)(kg5PB;0uZA5;{(GT">
<field name="TEXT">Enter Y</field>
</shadow>
</value>
</block>
</value>
<value name="Z">
<shadow type="math_number" id="T,]q+-@V;tCYLy$-(o3}">
<field name="NUM">1.5</field>
</shadow>
</value>
<value name="ID">
<shadow type="math_number" id="VRo?s#0d)Gl@9fsK@gR=">
<field name="NUM">0</field>
</shadow>
</value>
<value name="SPEED">
<shadow type="math_number" id="mmZc+d=W})w.AN*B_dSe">
<field name="NUM">0.5</field>
</shadow>
</value>
</block>
</statement>
<next>
<block type="land" id="JB%yj/X~K=8A2=Q*7cRs">
<field name="WAIT">TRUE</field>
</block>
</next>
</block>
</next>
</block>
</xml>

64
clover_blocks/programs/examples/aruco-marker.xml Normal file
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@@ -0,0 +1,64 @@
<xml xmlns="https://developers.google.com/blockly/xml">
<block type="take_off" id="R@=3~Fq;AxFaRO{ZDFUM" x="37" y="63">
<field name="WAIT">TRUE</field>
<value name="ALT">
<shadow type="math_number" id="cf8/,N48N;Fvn@EWB%,B">
<field name="NUM">1.5</field>
</shadow>
</value>
<next>
<block type="controls_repeat_ext" id="qc$F96[A^%lj,-l[fhX+">
<value name="TIMES">
<shadow type="math_number" id="v0QgNIpGzMIb`P@8D@}.">
<field name="NUM">3</field>
</shadow>
</value>
<statement name="DO">
<block type="navigate" id="]kCOMt@NSf$9:N1Fx~dE">
<field name="FRAME_ID">ARUCO</field>
<field name="WAIT">TRUE</field>
<value name="X">
<shadow type="math_number" id="}(7P5,{6%^::Gzb;kRaf">
<field name="NUM">0</field>
</shadow>
</value>
<value name="Y">
<shadow type="math_number" id="hz#sFvY/;IL5IRLQVa.K">
<field name="NUM">0</field>
</shadow>
</value>
<value name="Z">
<shadow type="math_number" id="n0ULZn64%k.:,l(,D?TZ">
<field name="NUM">0</field>
</shadow>
</value>
<value name="ID">
<shadow type="math_number" id="P4^twyJo6as#G1}^Dlq8">
<field name="NUM">0</field>
</shadow>
<block type="text_prompt_ext" id="ot;{twL$8`H*Wiafz3D,">
<mutation type="NUMBER"></mutation>
<field name="TYPE">NUMBER</field>
<value name="TEXT">
<shadow type="text" id="@P[TyPj[n1*;EcUC?lwF">
<field name="TEXT">Enter marker ID</field>
</shadow>
</value>
</block>
</value>
<value name="SPEED">
<shadow type="math_number" id="WrsUXacZ2w)D]d?:@ec_">
<field name="NUM">0.5</field>
</shadow>
</value>
</block>
</statement>
<next>
<block type="land" id="G5+Fs.6Y4(K9Dw`wjgua">
<field name="WAIT">TRUE</field>
</block>
</next>
</block>
</next>
</block>
</xml>

97
clover_blocks/programs/examples/flight-led.xml Normal file
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<xml xmlns="https://developers.google.com/blockly/xml">
<block type="take_off" id="R@=3~Fq;AxFaRO{ZDFUM" x="162" y="63">
<field name="WAIT">TRUE</field>
<value name="ALT">
<shadow type="math_number" id="cf8/,N48N;Fvn@EWB%,B">
<field name="NUM">1</field>
</shadow>
</value>
<next>
<block type="set_effect" id="5K8qDD0/@Ab!k+ad6IPj">
<field name="EFFECT">FILL</field>
<value name="COLOR">
<shadow type="colour_picker" id="=*Y*L:1DI7y$.RR$6jNQ">
<field name="COLOUR">#ff0000</field>
</shadow>
</value>
<next>
<block type="navigate" id="kE7TL3+{PI.GiXby~SyO">
<field name="FRAME_ID">BODY</field>
<field name="WAIT">TRUE</field>
<value name="X">
<shadow type="math_number" id="W$eQ*Xv/e(*`e%8--W:P">
<field name="NUM">1</field>
</shadow>
</value>
<value name="Y">
<shadow type="math_number" id="i~r{%5mpU|}FL|9p!5yG">
<field name="NUM">0</field>
</shadow>
</value>
<value name="Z">
<shadow type="math_number" id="fZ{Cz~^LoWvM#,#;!co_">
<field name="NUM">0</field>
</shadow>
</value>
<value name="ID">
<shadow type="math_number" id="z$Hj|-?4e3zy@Jx$/THh">
<field name="NUM">0</field>
</shadow>
</value>
<value name="SPEED">
<shadow type="math_number" id="FjRM:aex=:/l_``^zcO]">
<field name="NUM">0.5</field>
</shadow>
</value>
<next>
<block type="set_effect" id="Q^DQoW/6G$7#YPlXc}%]">
<field name="EFFECT">FILL</field>
<value name="COLOR">
<shadow type="colour_picker" id="mjOY6]=uMY4$r8^n:n|}">
<field name="COLOUR">#3333ff</field>
</shadow>
</value>
<next>
<block type="navigate" id=";|j@sXR{9)9@ran7g[;~">
<field name="FRAME_ID">BODY</field>
<field name="WAIT">TRUE</field>
<value name="X">
<shadow type="math_number" id="TH(htYn}*/a{[::sFQ[x">
<field name="NUM">-1</field>
</shadow>
</value>
<value name="Y">
<shadow type="math_number" id="h@`=v?y+Tuh,I)wv?+`f">
<field name="NUM">0</field>
</shadow>
</value>
<value name="Z">
<shadow type="math_number" id="pzz:U%?m/~~B$-FF!fD?">
<field name="NUM">0</field>
</shadow>
</value>
<value name="ID">
<shadow type="math_number" id="Ze2Nun;[K{X.1kE0anMF">
<field name="NUM">0</field>
</shadow>
</value>
<value name="SPEED">
<shadow type="math_number" id="+[A5TSXF:hw4T1M]e~Wu">
<field name="NUM">0.5</field>
</shadow>
</value>
<next>
<block type="land" id="G5+Fs.6Y4(K9Dw`wjgua">
<field name="WAIT">TRUE</field>
</block>
</next>
</block>
</next>
</block>
</next>
</block>
</next>
</block>
</next>
</block>
</xml>

308
clover_blocks/programs/examples/flip.xml Normal file
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<xml xmlns="https://developers.google.com/blockly/xml">
<variables>
<variable id="MEu_bi$Xk5e(#Q`Yu=k0">start_x</variable>
<variable id="GtS.)8^|(~RL*T4.~#VV">start_y</variable>
<variable id="jksdQ,]0F47Xan8{_(?+">start_z</variable>
</variables>
<block type="procedures_defnoreturn" id="Uo{/lI4(1i[O|U^jyh]y" x="188" y="62">
<field name="NAME">flip</field>
<comment pinned="false" h="80" w="160">Describe this function...</comment>
<statement name="STACK">
<block type="procedures_callnoreturn" id="G7`l2OBCg~ISh(XsrkRv">
<mutation name="memorize position"></mutation>
<next>
<block type="setpoint" id="8%(,J3=!CEUALDr5gFT+">
<field name="TYPE">RATES</field>
<field name="FRAME_ID">BODY</field>
<comment pinned="false" h="80" w="160">bump up</comment>
<value name="VX">
<shadow type="math_number" id="!@rHW+cG*U6.Py:.;qc)">
<field name="NUM">0</field>
</shadow>
</value>
<value name="VY">
<shadow type="math_number" id="n#I~l7$%1m^@Oz+w;k[H">
<field name="NUM">0</field>
</shadow>
</value>
<value name="VZ">
<shadow type="math_number" id="l0EphD#!^4jX#%UA-rxX">
<field name="NUM">0</field>
</shadow>
</value>
<value name="PITCH">
<shadow type="math_number" id="Ad.[@07QtZcb;(:^,Kjg">
<field name="NUM">0</field>
</shadow>
</value>
<value name="ROLL">
<shadow type="math_number" id="50,,4i.p6KR:e3/l|k2i">
<field name="NUM">0</field>
</shadow>
</value>
<value name="YAW">
<shadow type="math_number" id="(:O}={3*LZ#KDiC@;b[F">
<field name="NUM">0</field>
</shadow>
</value>
<value name="THRUST">
<shadow type="math_number" id="EC6yU;oHb#y-8?W`B/JC">
<field name="NUM">1</field>
</shadow>
</value>
<value name="ID">
<shadow type="math_number" id="k.X^bynEZH2dyG1=Y6lr">
<field name="NUM">0</field>
</shadow>
</value>
<next>
<block type="wait" id="#ga)cR4TsF[9t?;zc1H~">
<value name="TIME">
<shadow type="math_number" id="zg5fX7[;O,lQt*Txg|tn">
<field name="NUM">0.2</field>
</shadow>
</value>
<next>
<block type="setpoint" id="j,yf}/lrx*2J}X%^5LG{">
<field name="TYPE">RATES</field>
<field name="FRAME_ID">BODY</field>
<comment pinned="false" h="80" w="160">maximum pitch rate</comment>
<value name="VX">
<shadow type="math_number" id="^WF12EBPyIXhZdpsj;=D">
<field name="NUM">0</field>
</shadow>
</value>
<value name="VY">
<shadow type="math_number" id="C/uBsz]ObzwyHxGqzUP_">
<field name="NUM">0</field>
</shadow>
</value>
<value name="VZ">
<shadow type="math_number" id="4?)O3G/j`UuVTMImLq{T">
<field name="NUM">0</field>
</shadow>
</value>
<value name="PITCH">
<shadow type="math_number" id="sdCVFTmVkc0v2|*3Fy~h">
<field name="NUM">30</field>
</shadow>
</value>
<value name="ROLL">
<shadow type="math_number" id="V1o!AV[`!OnhrUP4~$=!">
<field name="NUM">0</field>
</shadow>
</value>
<value name="YAW">
<shadow type="math_number" id="0e;`*B;ghV*%=ETSvzSM">
<field name="NUM">0</field>
</shadow>
</value>
<value name="THRUST">
<shadow type="math_number" id="K@VAeOH2bEwc#@7_M!@l">
<field name="NUM">0.2</field>
</shadow>
</value>
<value name="ID">
<shadow type="math_number" id="c6ycgS!D}bIK8pl8oAv+">
<field name="NUM">0</field>
</shadow>
</value>
<next>
<block type="controls_whileUntil" id="H_6do.wf6H.E$?5;$uw8">
<field name="MODE">WHILE</field>
<value name="BOOL">
<block type="logic_boolean" id="pu%GH9}wZvUV{RnGk6Se">
<field name="BOOL">TRUE</field>
</block>
</value>
<statement name="DO">
<block type="controls_if" id="l0w?CSzU]S(K9eL-1(1r">
<value name="IF0">
<block type="logic_operation" id="gtXXJ7OFs=1BynL@|R{.">
<field name="OP">OR</field>
<value name="A">
<block type="logic_compare" id="2%9ns$Jk(8M[8$~9o(=*">
<field name="OP">GT</field>
<value name="A">
<block type="math_single" id="#gr7h89vpJyc8bnbWU9O">
<field name="OP">ABS</field>
<value name="NUM">
<shadow type="math_number" id="5paq?]87z}}+@~NALY}.">
<field name="NUM">9</field>
</shadow>
<block type="get_attitude" id="awk0-~@[jWFVQ+ZPi=Dc">
<field name="FIELD">PITCH</field>
</block>
</value>
</block>
</value>
<value name="B">
<block type="math_number" id=",4p]fd#kwxy`DtCMtraW">
<field name="NUM">90</field>
</block>
</value>
</block>
</value>
<value name="B">
<block type="logic_compare" id="?TPG3^?eg4l~CKM,3DfO">
<field name="OP">GT</field>
<value name="A">
<block type="math_single" id="yS*/-+E3TMpZ]%`1j*Up">
<field name="OP">ABS</field>
<value name="NUM">
<shadow type="math_number">
<field name="NUM">9</field>
</shadow>
<block type="get_attitude" id="~E3RS!on]G(?IZ?SVA#J">
<field name="FIELD">ROLL</field>
</block>
</value>
</block>
</value>
<value name="B">
<block type="math_number" id="#y??I}u#OmOTK:`!pkNS">
<field name="NUM">90</field>
</block>
</value>
</block>
</value>
</block>
</value>
<statement name="DO0">
<block type="controls_flow_statements" id="X|V=r3BDKw9fv)u5EY3.">
<field name="FLOW">BREAK</field>
</block>
</statement>
</block>
</statement>
<next>
<block type="procedures_callnoreturn" id="?;sq{#xJ+]bD`yJ#(]o1">
<mutation name="navigate to memorized position"></mutation>
</block>
</next>
</block>
</next>
</block>
</next>
</block>
</next>
</block>
</next>
</block>
</statement>
</block>
<block type="procedures_defnoreturn" id="!Tv!F*.A}=]dW=C6X@-`" x="538" y="62">
<field name="NAME">memorize position</field>
<comment pinned="false" h="80" w="160">Describe this function...</comment>
<statement name="STACK">
<block type="variables_set" id="s,o|q7_A/fSV+c0E)b^k">
<field name="VAR" id="MEu_bi$Xk5e(#Q`Yu=k0">start_x</field>
<value name="VALUE">
<block type="get_position" id="f#,.s%hV^19JJ;G/DO):">
<field name="FIELD">X</field>
<field name="FRAME_ID">MAP</field>
<value name="ID">
<shadow type="math_number" id="rJRRE#;#JFg}gY+34LVi">
<field name="NUM">0</field>
</shadow>
</value>
</block>
</value>
<next>
<block type="variables_set" id="E+2Pfn3JOB{r=DQ3f1b`">
<field name="VAR" id="GtS.)8^|(~RL*T4.~#VV">start_y</field>
<value name="VALUE">
<block type="get_position" id="J#y+_prX(DI;j8gFO81H">
<field name="FIELD">Y</field>
<field name="FRAME_ID">MAP</field>
<value name="ID">
<shadow type="math_number" id="_bnV`SCa:|Vl#sRlYA@}">
<field name="NUM">0</field>
</shadow>
</value>
</block>
</value>
<next>
<block type="variables_set" id="t*TI?p-h#qC_kC)jM8q0">
<field name="VAR" id="jksdQ,]0F47Xan8{_(?+">start_z</field>
<value name="VALUE">
<block type="get_position" id="Xh#8yLEMxT|bQ}jYvk6/">
<field name="FIELD">Z</field>
<field name="FRAME_ID">MAP</field>
<value name="ID">
<shadow type="math_number" id="z3FTv/jt^H7dVYx1`$$C">
<field name="NUM">0</field>
</shadow>
</value>
</block>
</value>
</block>
</next>
</block>
</next>
</block>
</statement>
</block>
<block type="procedures_defnoreturn" id="$p3=p^fBz}k5Pg1]svL," x="563" y="213">
<field name="NAME">navigate to memorized position</field>
<comment pinned="false" h="80" w="160">Describe this function...</comment>
<statement name="STACK">
<block type="navigate" id="#7b*(J_t9t)V,Arb)3;R">
<field name="FRAME_ID">MAP</field>
<field name="WAIT">TRUE</field>
<value name="X">
<shadow type="math_number">
<field name="NUM">0</field>
</shadow>
<block type="variables_get" id="X#O!NcMac+a9WKL;l7?W">
<field name="VAR" id="MEu_bi$Xk5e(#Q`Yu=k0">start_x</field>
</block>
</value>
<value name="Y">
<shadow type="math_number">
<field name="NUM">0</field>
</shadow>
<block type="variables_get" id="C(=1.r0+01|e3+3qs%SD">
<field name="VAR" id="GtS.)8^|(~RL*T4.~#VV">start_y</field>
</block>
</value>
<value name="Z">
<shadow type="math_number">
<field name="NUM">0</field>
</shadow>
<block type="variables_get" id="?v;YVETEO%vUqgmiro^/">
<field name="VAR" id="jksdQ,]0F47Xan8{_(?+">start_z</field>
</block>
</value>
<value name="ID">
<shadow type="math_number" id="ALt.9P$^_]upK}Q9_M,5">
<field name="NUM">0</field>
</shadow>
</value>
<value name="SPEED">
<shadow type="math_number" id="ObO|OuF^d,1|Bx{Y`O-R">
<field name="NUM">5</field>
</shadow>
</value>
</block>
</statement>
</block>
<block type="take_off" id="I1oP(b3wChmK?WgPtULz" x="563" y="612">
<field name="WAIT">TRUE</field>
<value name="ALT">
<shadow type="math_number" id="N1EX*JgURuG783yO+B^X">
<field name="NUM">2</field>
</shadow>
</value>
<next>
<block type="procedures_callnoreturn" id="(Dc3I{36Kt@1KHN7Ef.m">
<mutation name="flip"></mutation>
<next>
<block type="land" id=";c+lM(v6`13$VK`~jZ|5">
<field name="WAIT">TRUE</field>
</block>
</next>
</block>
</next>
</block>
</xml>

184
clover_blocks/programs/examples/functions.xml Normal file
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<xml xmlns="https://developers.google.com/blockly/xml">
<variables>
<variable id="MEu_bi$Xk5e(#Q`Yu=k0">start_x</variable>
<variable id="GtS.)8^|(~RL*T4.~#VV">start_y</variable>
<variable id="jksdQ,]0F47Xan8{_(?+">start_z</variable>
</variables>
<block type="procedures_defnoreturn" id="X0i)DAnNpakX]gr;CC0}" x="588" y="88">
<field name="NAME">memorize position</field>
<comment pinned="false" h="80" w="160">Describe this function...</comment>
<statement name="STACK">
<block type="variables_set" id="Ma4s0pE-i`P:(-|?c88v">
<field name="VAR" id="MEu_bi$Xk5e(#Q`Yu=k0">start_x</field>
<value name="VALUE">
<block type="get_position" id="~uz[sPf[(s,15#x]3tAw">
<field name="FIELD">X</field>
<field name="FRAME_ID">MAP</field>
<value name="ID">
<shadow type="math_number" id="V#rB*5s3W^*q75}gScM(">
<field name="NUM">0</field>
</shadow>
</value>
</block>
</value>
<next>
<block type="variables_set" id="I07,0;W#gn1CNY697O9n">
<field name="VAR" id="GtS.)8^|(~RL*T4.~#VV">start_y</field>
<value name="VALUE">
<block type="get_position" id="z(5A+nNX@tWO[J/X6Hb(">
<field name="FIELD">Y</field>
<field name="FRAME_ID">MAP</field>
<value name="ID">
<shadow type="math_number" id="6dM^zy88YqX`3ch{IH{1">
<field name="NUM">0</field>
</shadow>
</value>
</block>
</value>
<next>
<block type="variables_set" id="AGgAbxz?+u_2^h;Xo4oc">
<field name="VAR" id="jksdQ,]0F47Xan8{_(?+">start_z</field>
<value name="VALUE">
<block type="get_position" id="k~cMq+jvE^,Ip*kKUmw]">
<field name="FIELD">Z</field>
<field name="FRAME_ID">MAP</field>
<value name="ID">
<shadow type="math_number" id="Q8RU-5,2UG*IfCeZg0cy">
<field name="NUM">0</field>
</shadow>
</value>
</block>
</value>
</block>
</next>
</block>
</next>
</block>
</statement>
</block>
<block type="take_off" id=".0#}q|m$C-GD,.fM/9:/" x="137" y="162">
<field name="WAIT">TRUE</field>
<value name="ALT">
<shadow type="math_number" id="H6G+npH8DS90OnBKP;qy">
<field name="NUM">2</field>
</shadow>
</value>
<next>
<block type="procedures_callnoreturn" id="_r_hGwEy6uksz}DtrwxW">
<mutation name="memorize position"></mutation>
<next>
<block type="navigate" id="e{_?bCxQ}za#e~~A2GmJ">
<field name="FRAME_ID">ARUCO_MAP</field>
<field name="WAIT">TRUE</field>
<value name="X">
<shadow type="math_number" id="}P]lFX9(He:*{Rvp8[.q">
<field name="NUM">0</field>
</shadow>
<block type="text_prompt_ext" id="L:~.WP`isNJ/TBBP75.{">
<mutation type="NUMBER"></mutation>
<field name="TYPE">NUMBER</field>
<value name="TEXT">
<shadow type="text" id="v87(;,:4$T8wgbByRv`z">
<field name="TEXT">Input X</field>
</shadow>
</value>
</block>
</value>
<value name="Y">
<shadow type="math_number" id="eMbKtnF{B^P*p7zRD8SX">
<field name="NUM">0</field>
</shadow>
<block type="text_prompt_ext" id="fp[sLcO^N:q}9k6zYwnN">
<mutation type="NUMBER"></mutation>
<field name="TYPE">NUMBER</field>
<value name="TEXT">
<shadow type="text" id="2Bqk0Rm@h*Vef,,:0c!+">
<field name="TEXT">Input Y</field>
</shadow>
</value>
</block>
</value>
<value name="Z">
<shadow type="math_number" id="1sLNKuRa}07Ek(eHK;/S">
<field name="NUM">2</field>
</shadow>
</value>
<value name="ID">
<shadow type="math_number" id="guM,}nHUz^a?_H3(b{FW">
<field name="NUM">0</field>
</shadow>
</value>
<value name="SPEED">
<shadow type="math_number" id=".EckPx#fD.[:qSk}5/-J">
<field name="NUM">0.5</field>
</shadow>
</value>
<next>
<block type="text_print" id="d,aouAR0nE80mk6qTAti">
<value name="TEXT">
<shadow type="text" id="Yr%NvOOvCnrBP8}m]bn`">
<field name="TEXT">Point reached. Going back.</field>
</shadow>
</value>
<next>
<block type="procedures_callnoreturn" id="B0o:6T%+wpg{O%s27:bH">
<mutation name="navigate to memorized position"></mutation>
<next>
<block type="land" id="~%g;%HDPtF!lqHY}KO@/">
<field name="WAIT">TRUE</field>
</block>
</next>
</block>
</next>
</block>
</next>
</block>
</next>
</block>
</next>
</block>
<block type="procedures_defnoreturn" id="POzAJb%[yRgBrEn9K*x{" x="587" y="362">
<field name="NAME">navigate to memorized position</field>
<comment pinned="false" h="80" w="160">Describe this function...</comment>
<statement name="STACK">
<block type="navigate" id="VX|`@L*bU=aY`4!l=Pbw">
<field name="FRAME_ID">BODY</field>
<field name="WAIT">TRUE</field>
<value name="X">
<shadow type="math_number" id="c$==spjA=Vin//l1(1V@">
<field name="NUM">0</field>
</shadow>
<block type="variables_get" id="LxP$oVs*8[{CH4o^RY._">
<field name="VAR" id="MEu_bi$Xk5e(#Q`Yu=k0">start_x</field>
</block>
</value>
<value name="Y">
<shadow type="math_number" id="a)/FEG4j=.584f/:2$?H">
<field name="NUM">0</field>
</shadow>
<block type="variables_get" id="_-Ib6#usbp0NS}DZ7OGS">
<field name="VAR" id="GtS.)8^|(~RL*T4.~#VV">start_y</field>
</block>
</value>
<value name="Z">
<shadow type="math_number" id="q*MDfPe,V]rfhC1pnltq">
<field name="NUM">0</field>
</shadow>
<block type="variables_get" id="VY4xW2Y|=*AH3`s2C@)5">
<field name="VAR" id="jksdQ,]0F47Xan8{_(?+">start_z</field>
</block>
</value>
<value name="ID">
<shadow type="math_number" id="OiuYE,a3PqUW.vst+Qc$">
<field name="NUM">0</field>
</shadow>
</value>
<value name="SPEED">
<shadow type="math_number" id="X2Ou?:=kt:`aOq,#Q-)+">
<field name="NUM">0.5</field>
</shadow>
</value>
</block>
</statement>
</block>
</xml>

106
clover_blocks/programs/examples/led-compass.xml Normal file
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<xml xmlns="https://developers.google.com/blockly/xml">
<variables>
<variable id="_{V-S5HPBUl]CcJkL1Jw">led_count</variable>
</variables>
<block type="variables_set" id="{)^J~:UMX%D;RWvztWLN" x="113" y="87">
<field name="VAR" id="_{V-S5HPBUl]CcJkL1Jw">led_count</field>
<value name="VALUE">
<block type="math_number" id="V_W$3,VFwZjcc|?|1o`l">
<field name="NUM">58</field>
</block>
</value>
<next>
<block type="controls_whileUntil" id="U1it{GcGuSS:=[xiwZr1">
<field name="MODE">WHILE</field>
<value name="BOOL">
<block type="logic_boolean" id="]7ZDRwde}/RqjQCX}aVW">
<field name="BOOL">TRUE</field>
</block>
</value>
<statement name="DO">
<block type="set_effect" id="WI0zqOz/z3].cR/6UWHn">
<field name="EFFECT">FILL</field>
<value name="COLOR">
<shadow type="colour_picker" id="B`6;Xv{s2TFp8Yd=ZpSD">
<field name="COLOUR">#000000</field>
</shadow>
</value>
<next>
<block type="set_led" id="^Vcs}ki?#ctf7rAchix$">
<value name="INDEX">
<shadow type="math_number" id="U;VWW$[*LOF7Gf,~?YR7">
<field name="NUM">0</field>
</shadow>
<block type="math_arithmetic" id="AI6PZBd`]_Z%_~4c-%dB">
<field name="OP">MULTIPLY</field>
<value name="A">
<shadow type="math_number" id="|p}X]`SedK3).F/;}NlB">
<field name="NUM">1</field>
</shadow>
<block type="math_arithmetic" id="-haE#:,cg{-J=NZERA;F">
<field name="OP">DIVIDE</field>
<value name="A">
<shadow type="math_number" id="::st;ot}[r]csqceURu*">
<field name="NUM">1</field>
</shadow>
<block type="math_arithmetic" id="a%+LN)F~=Igg+,p02[qo">
<field name="OP">ADD</field>
<value name="A">
<shadow type="math_number" id="*yIGN((y)/^z0:f5:VDw">
<field name="NUM">1</field>
</shadow>
<block type="get_yaw" id="mf%77q30bEqNfc/3`Mtb">
<field name="FRAME_ID">MAP</field>
<value name="ID">
<shadow type="math_number" id="xb32G.N#ip`|^Xv*MOmY">
<field name="NUM">0</field>
</shadow>
</value>
</block>
</value>
<value name="B">
<shadow type="math_number" id="T/fTrm;j2Azgav;gI{ZW">
<field name="NUM">180</field>
</shadow>
</value>
</block>
</value>
<value name="B">
<shadow type="math_number" id="Wo1/ZCeir,u6/.e1H+BB">
<field name="NUM">360</field>
</shadow>
</value>
</block>
</value>
<value name="B">
<shadow type="math_number" id="jENTcXz0C5/=)Xpd!}LL">
<field name="NUM">1</field>
</shadow>
<block type="variables_get" id="Ko,`n=i88FY~`YbQLA?[">
<field name="VAR" id="_{V-S5HPBUl]CcJkL1Jw">led_count</field>
</block>
</value>
</block>
</value>
<value name="COLOR">
<shadow type="colour_picker" id="+vw3bff.5c[=_w,Xm^C(">
<field name="COLOUR">#3366ff</field>
</shadow>
</value>
<next>
<block type="wait" id="DT%f$bn1*1El5zsgUW8Y">
<value name="TIME">
<shadow type="math_number" id="~Y0hNY[_^#v@aZkE-TH[">
<field name="NUM">0.1</field>
</shadow>
</value>
</block>
</next>
</block>
</next>
</block>
</statement>
</block>
</next>
</block>
</xml>

30
clover_blocks/programs/examples/led.xml Normal file
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@@ -0,0 +1,30 @@
<xml xmlns="https://developers.google.com/blockly/xml">
<block type="controls_whileUntil" id="A:_Z_27?K?HlScug%u|5" x="113" y="113">
<field name="MODE">WHILE</field>
<value name="BOOL">
<block type="logic_boolean" id="/rlzePJ6XJcv22J(Q4bs">
<field name="BOOL">TRUE</field>
</block>
</value>
<statement name="DO">
<block type="set_effect" id="GT~AX(j]r)u^,f_n0agS">
<field name="EFFECT">WIPE</field>
<value name="COLOR">
<shadow type="colour_picker" id="G`I)ZAuIGcnWNyO@N(sH">
<field name="COLOUR">#ff0000</field>
</shadow>
<block type="colour_random" id="}(${|~%[}eJ.QUY?FWi_"></block>
</value>
<next>
<block type="wait" id="Ux(J;l+?5Gq2n^*!jXj^">
<value name="TIME">
<shadow type="math_number" id=")As9bASkedr9x@M)*)Pf">
<field name="NUM">1</field>
</shadow>
</value>
</block>
</next>
</block>
</statement>
</block>
</xml>

29
clover_blocks/programs/examples/print-range.xml Normal file
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<xml xmlns="https://developers.google.com/blockly/xml">
<block type="controls_whileUntil" id="^{D$=!y=ahJx0.^n?Ycr" x="88" y="137">
<field name="MODE">WHILE</field>
<value name="BOOL">
<block type="logic_boolean" id="a;~UtFPf9O3B)#QBJxL6">
<field name="BOOL">TRUE</field>
</block>
</value>
<statement name="DO">
<block type="text_print" id="doqF#i]/ulE{Z0l/{9`K">
<value name="TEXT">
<shadow type="text" id="Y$c,rIaw^bNs2wIw%[^(">
<field name="TEXT">abc</field>
</shadow>
<block type="rangefinder_distance" id="Pi+WekHZvZ0p}JY-^CLQ"></block>
</value>
<next>
<block type="wait" id="=$,8TaKwL75Pb,_tsCVU">
<value name="TIME">
<shadow type="math_number" id="/r+hzH#G0Ru#ES+}MxUl">
<field name="NUM">0.5</field>
</shadow>
</value>
</block>
</next>
</block>
</statement>
</block>
</xml>

88
clover_blocks/programs/examples/rotation.xml Normal file
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<xml xmlns="https://developers.google.com/blockly/xml">
<block type="take_off" id="R@=3~Fq;AxFaRO{ZDFUM" x="162" y="112">
<field name="WAIT">TRUE</field>
<value name="ALT">
<shadow type="math_number" id="cf8/,N48N;Fvn@EWB%,B">
<field name="NUM">1</field>
</shadow>
</value>
<next>
<block type="navigate" id="[r%uJ2rw#3j.sLSBFf`N">
<field name="FRAME_ID">BODY</field>
<field name="WAIT">TRUE</field>
<value name="X">
<shadow type="math_number" id="5;@1vq|;OnlHl#FFDm/}">
<field name="NUM">1</field>
</shadow>
</value>
<value name="Y">
<shadow type="math_number" id="Jhe8@=gRxwj0oO*Q1F7V">
<field name="NUM">0</field>
</shadow>
</value>
<value name="Z">
<shadow type="math_number" id="wms+rWijPhnI/K++At;P">
<field name="NUM">0</field>
</shadow>
</value>
<value name="ID">
<shadow type="math_number" id=".^-h~@m]zg3il)O.9eFy">
<field name="NUM">0</field>
</shadow>
</value>
<value name="SPEED">
<shadow type="math_number" id="3L3FgAO(:aZp/:V%u=P7">
<field name="NUM">0.5</field>
</shadow>
</value>
<next>
<block type="set_yaw" id="nE,tYuHO--PmXN:*g@D%">
<field name="FRAME_ID">body</field>
<field name="WAIT">TRUE</field>
<value name="YAW">
<shadow type="angle" id="DoJ$Yj+fVT~cj=E%N:4+">
<field name="ANGLE">180</field>
</shadow>
</value>
<next>
<block type="navigate" id="H6W4@QtAT{_xo0.fO^z4">
<field name="FRAME_ID">BODY</field>
<field name="WAIT">TRUE</field>
<value name="X">
<shadow type="math_number" id="|.KN1m1O$/3=C,WG3sx}">
<field name="NUM">1</field>
</shadow>
</value>
<value name="Y">
<shadow type="math_number" id="oyc7mxrbA/@[_1wtPER^">
<field name="NUM">0</field>
</shadow>
</value>
<value name="Z">
<shadow type="math_number" id="dh}ac~kErkIIFeIZB,)d">
<field name="NUM">0</field>
</shadow>
</value>
<value name="ID">
<shadow type="math_number" id="q+{la-yiw61v9BSV-y};">
<field name="NUM">0</field>
</shadow>
</value>
<value name="SPEED">
<shadow type="math_number" id=";dk@RJGfZ)5w*:m4kp==">
<field name="NUM">0.5</field>
</shadow>
</value>
<next>
<block type="land" id="53Ssv6^lEHoD?tBO{5Sh">
<field name="WAIT">TRUE</field>
</block>
</next>
</block>
</next>
</block>
</next>
</block>
</next>
</block>
</xml>

86
clover_blocks/programs/examples/simple-flight.xml Normal file
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<xml xmlns="https://developers.google.com/blockly/xml">
<block type="take_off" id="R@=3~Fq;AxFaRO{ZDFUM" x="62" y="88">
<field name="WAIT">TRUE</field>
<value name="ALT">
<shadow type="math_number" id="cf8/,N48N;Fvn@EWB%,B">
<field name="NUM">1</field>
</shadow>
<block type="text_prompt_ext" id="#BO!OX5u-GHwsu!KzBT5">
<mutation type="NUMBER"></mutation>
<field name="TYPE">NUMBER</field>
<value name="TEXT">
<shadow type="text" id="unay$W?6.WiDB!|[3GN3">
<field name="TEXT">Enter flight altitude</field>
</shadow>
</value>
</block>
</value>
<next>
<block type="navigate" id="BOHP@mRbJamp}]6/yc,n">
<field name="FRAME_ID">BODY</field>
<field name="WAIT">TRUE</field>
<value name="X">
<shadow type="math_number" id="hzjq`v(`k6vZN],.8%Hf">
<field name="NUM">1</field>
</shadow>
</value>
<value name="Y">
<shadow type="math_number" id="FIVk1Hm_+CU8XB~t@?S;">
<field name="NUM">0</field>
</shadow>
</value>
<value name="Z">
<shadow type="math_number" id="B{LoNO6}MgJ.JeN+8]tR">
<field name="NUM">0</field>
</shadow>
</value>
<value name="ID">
<shadow type="math_number" id="w!F}PhAG[Gn;5XsIg$XL">
<field name="NUM">0</field>
</shadow>
</value>
<value name="SPEED">
<shadow type="math_number" id="AjhS9Wf?M`%}A(H_bW9K">
<field name="NUM">0.5</field>
</shadow>
</value>
<next>
<block type="navigate" id="|Aa[hh]OAUS+b7I?;3VJ">
<field name="FRAME_ID">BODY</field>
<field name="WAIT">TRUE</field>
<value name="X">
<shadow type="math_number" id="=n#)78Bd*!iJyzF=dSA*">
<field name="NUM">-1</field>
</shadow>
</value>
<value name="Y">
<shadow type="math_number" id="YqC+GQF/[G=li}/s_o)q">
<field name="NUM">0</field>
</shadow>
</value>
<value name="Z">
<shadow type="math_number" id="~xsT!Ug+uMeU5F/Y4;k5">
<field name="NUM">0</field>
</shadow>
</value>
<value name="ID">
<shadow type="math_number" id="%WRn|02iTTwCG:zB}dSf">
<field name="NUM">0</field>
</shadow>
</value>
<value name="SPEED">
<shadow type="math_number" id="A#q.M,b1D*,13Ldp.F2w">
<field name="NUM">0.5</field>
</shadow>
</value>
<next>
<block type="land" id="_U*W_q1)l+l@#^TC%w)w">
<field name="WAIT">TRUE</field>
</block>
</next>
</block>
</next>
</block>
</next>
</block>
</xml>

60
clover_blocks/programs/examples/takeoff-land.xml Normal file
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<xml xmlns="https://developers.google.com/blockly/xml">
<block type="text_print" id="2p:*N].+8c=|ZJXCWVn[" x="162" y="88">
<value name="TEXT">
<shadow type="text" id="9H+7z4A.pZ:Zz)7}H3Y7">
<field name="TEXT">Start mission</field>
</shadow>
</value>
<next>
<block type="take_off" id="R@=3~Fq;AxFaRO{ZDFUM">
<field name="WAIT">TRUE</field>
<value name="ALT">
<shadow type="math_number" id="cf8/,N48N;Fvn@EWB%,B">
<field name="NUM">1</field>
</shadow>
</value>
<next>
<block type="text_print" id="|Tdajnf]Rz@ajSW`0Skv">
<value name="TEXT">
<shadow type="text" id="Wqr:Hf~r2d.A%S7%%4.)">
<field name="TEXT">Take off complete, wait</field>
</shadow>
</value>
<next>
<block type="wait" id="-]MH9NMT#N-w!5yI1$F)">
<value name="TIME">
<shadow type="math_number" id="?k~ZUNcrx-iC;LFmarbm">
<field name="NUM">3</field>
</shadow>
</value>
<next>
<block type="text_print" id="SXJsfN{P13FL~n9;|%P:">
<value name="TEXT">
<shadow type="text" id="[Z5,f|El:VX5zcRaMtXa">
<field name="TEXT">Land</field>
</shadow>
</value>
<next>
<block type="land" id="G5+Fs.6Y4(K9Dw`wjgua">
<field name="WAIT">TRUE</field>
<next>
<block type="text_print" id="o?bvXARz^4_U0oXC-#.V">
<value name="TEXT">
<shadow type="text" id="`tadiS,[OZ`#f:=u.:9~">
<field name="TEXT">Mission finished</field>
</shadow>
</value>
</block>
</next>
</block>
</next>
</block>
</next>
</block>
</next>
</block>
</next>
</block>
</next>
</block>
</xml>

137
clover_blocks/programs/examples/variables.xml Normal file
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<xml xmlns="https://developers.google.com/blockly/xml">
<variables>
<variable id="]gc9ItU#$!=G*S._3$n~">start_x</variable>
<variable id="D9Oy(29I!!k9+(#zI,4}">start_y</variable>
</variables>
<block type="take_off" id="X]W2Bs=WFxFsco{Yr`bH" x="87" y="88">
<field name="WAIT">TRUE</field>
<value name="ALT">
<shadow type="math_number" id="{7ezr;C@IT-IJ3ylt?];">
<field name="NUM">1.5</field>
</shadow>
</value>
<next>
<block type="variables_set" id="IWR_j|7pUxrIGrxGLP#Z">
<field name="VAR" id="]gc9ItU#$!=G*S._3$n~">start_x</field>
<value name="VALUE">
<block type="get_position" id="ze{FI]Vv*E3kZ1Zw6Bmn">
<field name="FIELD">X</field>
<field name="FRAME_ID">ARUCO_MAP</field>
<value name="ID">
<shadow type="math_number" id="s~^V?k;dKa(($OG9mAK)">
<field name="NUM">0</field>
</shadow>
</value>
</block>
</value>
<next>
<block type="variables_set" id="s3rE=-6+;f(Lua_uKGY[">
<field name="VAR" id="D9Oy(29I!!k9+(#zI,4}">start_y</field>
<value name="VALUE">
<block type="get_position" id="?t+jp;7Bk#wzoz=DY{sO">
<field name="FIELD">Y</field>
<field name="FRAME_ID">ARUCO_MAP</field>
<value name="ID">
<shadow type="math_number" id="KybjD~@_RFIx=8Dzbz4v">
<field name="NUM">0</field>
</shadow>
</value>
</block>
</value>
<next>
<block type="text_print" id="|xj}5M(:.~`Vpq-GKi/0">
<value name="TEXT">
<shadow type="text" id="{o^2v+y6L^1#[Y8r_sdW">
<field name="TEXT">Fly to point 0, 0</field>
</shadow>
</value>
<next>
<block type="navigate" id="-8]peWQRtTK$1X0J0w!2">
<field name="FRAME_ID">ARUCO_MAP</field>
<field name="WAIT">TRUE</field>
<value name="X">
<shadow type="math_number" id="PT`K-=?U^uL#BXouoi~G">
<field name="NUM">0</field>
</shadow>
</value>
<value name="Y">
<shadow type="math_number" id="d_1oBZdx#`_kbWf_Qu$g">
<field name="NUM">0</field>
</shadow>
</value>
<value name="Z">
<shadow type="math_number" id="}Y,E=*pJaG+HOSB*f=aX">
<field name="NUM">1.5</field>
</shadow>
</value>
<value name="ID">
<shadow type="math_number" id=")/%?zNt|6thYwjowvbk/">
<field name="NUM">0</field>
</shadow>
</value>
<value name="SPEED">
<shadow type="math_number" id="MH}%@OvXa*FK-Vx63RTd">
<field name="NUM">0.5</field>
</shadow>
</value>
<next>
<block type="text_print" id="IVsd5hFEwp@V?3f02p},">
<value name="TEXT">
<shadow type="text" id="0gcgp`mZ,9oDTS[4vWpT">
<field name="TEXT">Fly to initial point</field>
</shadow>
</value>
<next>
<block type="navigate" id=":;b$YH+6#3h/_$Fa}0w_">
<field name="FRAME_ID">ARUCO_MAP</field>
<field name="WAIT">TRUE</field>
<value name="X">
<shadow type="math_number" id=";GL$bb^Yu;vQrhxy(o:S">
<field name="NUM">0</field>
</shadow>
<block type="variables_get" id="tsqWR~saO6UU^*iLmDZ(">
<field name="VAR" id="]gc9ItU#$!=G*S._3$n~">start_x</field>
</block>
</value>
<value name="Y">
<shadow type="math_number" id="y5|y58G[s-,qnfB/@Xr%">
<field name="NUM">0</field>
</shadow>
<block type="variables_get" id="Hfzk#prb}M2BbEWIAX3k">
<field name="VAR" id="D9Oy(29I!!k9+(#zI,4}">start_y</field>
</block>
</value>
<value name="Z">
<shadow type="math_number" id="B%NGa`:z=[Kpij2$0p}T">
<field name="NUM">1.5</field>
</shadow>
</value>
<value name="ID">
<shadow type="math_number" id="KaLkf?/NkD_7q@=J1G|I">
<field name="NUM">0</field>
</shadow>
</value>
<value name="SPEED">
<shadow type="math_number" id="Agwx#kYhdE}!dY!St:L1">
<field name="NUM">0.5</field>
</shadow>
</value>
<next>
<block type="land" id="8y]p?)Zm2}*+;0HP]p1$">
<field name="WAIT">TRUE</field>
</block>
</next>
</block>
</next>
</block>
</next>
</block>
</next>
</block>
</next>
</block>
</next>
</block>
</next>
</block>
</xml>

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176
clover_blocks/src/clover_blocks Executable file
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#!/usr/bin/env python
from __future__ import print_function
import rospy
import os
import threading
import re
import uuid
from std_msgs.msg import Bool, String
from std_srvs.srv import Trigger
from clover_blocks.msg import Prompt
from clover_blocks.srv import Run, Load, Store
rospy.init_node('clover_blocks')
stop = None
block = ''
published_block = None
running_lock = threading.Lock()
running_pub = rospy.Publisher('~running', Bool, queue_size=1, latch=True)
block_pub = rospy.Publisher('~block', String, queue_size=1, latch=True)
print_pub = rospy.Publisher('~print', String, queue_size=10)
prompt_pub = rospy.Publisher('~prompt', Prompt, queue_size=10)
error_pub = rospy.Publisher('~error', String, queue_size=10)
running_pub.publish(False)
class Stop(Exception):
pass
def publish_block(event):
global published_block, block
if published_block != block:
block_pub.publish(block)
published_block = block
rospy.Timer(rospy.Duration(rospy.get_param('block_rate', 0.2)), publish_block)
def change_block(_block):
global block
block = _block
if stop: raise Stop
rospy_sleep = rospy.sleep
def sleep(duration):
time_start = rospy.get_time()
if isinstance(duration, rospy.Duration):
duration = duration.to_sec()
time_until = time_start + duration
while not rospy.is_shutdown():
if stop: raise Stop # check stop condition every half-second
if (time_until - rospy.get_time()) > 0.5:
print('sleep 0.5')
rospy_sleep(0.5)
else:
rospy_sleep(time_until - rospy.get_time())
return
rospy.sleep = sleep
rospy.init_node = lambda *args, **kwargs: None
def _print(s):
rospy.loginfo(str(s))
print_pub.publish(str(s))
def _input(s):
rospy.loginfo('Input with message %s', s)
prompt_id = str(uuid.uuid4()).replace('-', '')
prompt_pub.publish(message=str(s), id=prompt_id)
return rospy.wait_for_message('~input/' + prompt_id, String, timeout=30).data;
def run(req):
if not running_lock.acquire(False):
return {'message': 'Already running'}
try:
rospy.loginfo('Run program')
running_pub.publish(True)
def program_thread():
global stop
stop = False
g = {'rospy': rospy,
'_b': change_block,
'print': _print,
'raw_input': _input}
try:
exec req.code in g
except Stop:
rospy.loginfo('Program forced to stop')
except Exception as e:
rospy.logerr(str(e))
error_pub.publish(str(e))
rospy.loginfo('Program terminated')
running_lock.release()
running_pub.publish(False)
change_block('')
t = threading.Thread(target=program_thread)
t.start()
return {'success': True}
except Exception as e:
running_lock.release()
return {'message': str(e)}
def stop(req):
global stop
rospy.loginfo('Stop program')
stop = True
return {'success': True}
programs_path = rospy.get_param('~programs_dir', os.path.dirname(os.path.abspath(__file__)) + '/../programs')
def load(req):
res = {'names': [], 'programs': [], 'success': True}
try:
for currentpath, folders, files in os.walk(programs_path):
for f in files:
if not f.endswith('.xml'):
continue
filename = os.path.join(currentpath, f)
res['names'].append(os.path.relpath(filename, programs_path))
res['programs'].append(open(filename, 'r').read())
return res
except Exception as e:
rospy.logerr(e)
return {'names': [], 'programs': [], 'message': str(e)}
name_regexp = re.compile(r'^[a-zA-Z-_.]{0,20}$')
def store(req):
if not name_regexp.match(req.name):
return {'message': 'Bad program name'}
filename = os.path.abspath(os.path.join(programs_path, req.name))
try:
open(filename, 'w').write(req.program)
return {'success': True, 'message': 'Stored to ' + filename}
except Exception as e:
rospy.logerr(e)
return {'names': [], 'programs': [], 'message': str(e)}
rospy.Service('~run', Run, run)
rospy.Service('~stop', Trigger, stop)
rospy.Service('~load', Load, load)
rospy.Service('~store', Store, store)
rospy.loginfo('Ready')
rospy.spin()

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---
bool success
string message
string[] names
string[] programs

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clover_blocks/srv/Run.srv Normal file
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string code # code in Python
---
bool success
string message

5
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string name
string program
---
bool success
string message

202
clover_blocks/www/blockly/LICENSE Executable file
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Apache License
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60
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# Blockly [![Build Status]( https://travis-ci.org/google/blockly.svg?branch=master)](https://travis-ci.org/google/blockly)
Google's Blockly is a web-based, visual programming editor. Users can drag
blocks together to build programs. All code is free and open source.
**The project page is https://developers.google.com/blockly/**
![](https://developers.google.com/blockly/images/sample.png)
Blockly has an active [developer forum](https://groups.google.com/forum/#!forum/blockly). Please drop by and say hello. Show us your prototypes early; collectively we have a lot of experience and can offer hints which will save you time. We actively monitor the forums and typically respond to questions within 2 working days.
Help us focus our development efforts by telling us [what you are doing with
Blockly](https://developers.google.com/blockly/registration). The questionnaire only takes
a few minutes and will help us better support the Blockly community.
Cross-browser Testing Platform and Open Source <3 Provided by [Sauce Labs](https://saucelabs.com)
We support IE11 and test it using [BrowserStack](https://browserstack.com)
Want to contribute? Great! First, read [our guidelines for contributors](https://developers.google.com/blockly/guides/modify/contributing).
## Releases
The next major release will be **June 26th, 2020**.
We release by pushing the latest code to the master branch, followed by updating our [docs](https://developers.google.com/blockly) and [demo pages](https://blockly-demo.appspot.com). We typically release a new version of Blockly once a quarter (every 3 months). If there are breaking bugs, such as a crash when performing a standard action or a rendering issue that makes Blockly unusable, we will cherry-pick fixes to master between releases to fix them. The [releases page](https://github.com/google/blockly/releases) has a list of all releases.
Releases are tagged by the release date (YYYYMMDD) with a leading '2.' and a trailing '.0' in case we ever need a major or minor version (such as [2.20190722.1](https://github.com/google/blockly/tree/2.20190722.1)). If you're using npm, you can install the ``blockly`` package on npm:
```bash
npm install blockly
```
### New APIs
Once a new API is merged into master it is considered beta until the following release. We generally try to avoid changing an API after it has been merged to master, but sometimes we need to make changes after seeing how an API is used. If an API has been around for at least two releases we'll do our best to avoid breaking it.
Unreleased APIs may change radically. Anything that is in `develop` but not `master` is subject to change without warning.
### Branches
There are two main branches for Blockly.
**[master](https://github.com/google/blockly)** - This is the (mostly) stable current release of Blockly.
**[develop](https://github.com/google/blockly/tree/develop)** - This is where most of our work happens. Pull requests should always be made against develop. This branch will generally be usable, but may be less stable than the master branch. Once something is in develop we expect it to merge to master in the next release.
**other branches:** - Larger changes may have their own branches until they are good enough for people to try out. These will be developed separately until we think they are almost ready for release. These branches typically get merged into develop immediately after a release to allow extra time for testing.
## Issues and Milestones
We typically triage all bugs within 2 working days, which includes adding any appropriate labels and assigning it to a milestone. Please keep in mind, we are a small team so even feature requests that everyone agrees on may not be prioritized.
### Milestones
**Upcoming release** - The upcoming release milestone is for all bugs we plan on fixing before the next release. This typically has the form of `year_quarter_release` (such as `2019_q2_release`). Some bugs will be added to this release when they are triaged, others may be added closer to a release.
**Bug Bash Backlog** - These are bugs that we're still prioritizing. They haven't been added to a specific release yet, but we'll consider them for each release depending on relative priority and available time.
**Icebox** - These are bugs that we do not intend to spend time on. They are either too much work or minor enough that we don't expect them to ever take priority. We are still happy to accept pull requests for these bugs.

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clover_blocks/www/blockly/blocks_compressed.js Executable file
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// Do not edit this file; automatically generated by gulp.
/* eslint-disable */
;(function(root, factory) {
if (typeof define === 'function' && define.amd) { // AMD
define(['./blockly_compressed.js'], factory);
} else if (typeof exports === 'object') { // Node.js
module.exports = factory(require('./blockly_compressed.js'));
} else { // Browser
root.Blockly.Blocks = factory(root.Blockly);
}
}(this, function(Blockly) {
'use strict';Blockly.Blocks.colour={};Blockly.Constants={};Blockly.Constants.Colour={};Blockly.Constants.Colour.HUE=20;
Blockly.defineBlocksWithJsonArray([{type:"colour_picker",message0:"%1",args0:[{type:"field_colour",name:"COLOUR",colour:"#ff0000"}],output:"Colour",helpUrl:"%{BKY_COLOUR_PICKER_HELPURL}",style:"colour_blocks",tooltip:"%{BKY_COLOUR_PICKER_TOOLTIP}",extensions:["parent_tooltip_when_inline"]},{type:"colour_random",message0:"%{BKY_COLOUR_RANDOM_TITLE}",output:"Colour",helpUrl:"%{BKY_COLOUR_RANDOM_HELPURL}",style:"colour_blocks",tooltip:"%{BKY_COLOUR_RANDOM_TOOLTIP}"},{type:"colour_rgb",message0:"%{BKY_COLOUR_RGB_TITLE} %{BKY_COLOUR_RGB_RED} %1 %{BKY_COLOUR_RGB_GREEN} %2 %{BKY_COLOUR_RGB_BLUE} %3",
args0:[{type:"input_value",name:"RED",check:"Number",align:"RIGHT"},{type:"input_value",name:"GREEN",check:"Number",align:"RIGHT"},{type:"input_value",name:"BLUE",check:"Number",align:"RIGHT"}],output:"Colour",helpUrl:"%{BKY_COLOUR_RGB_HELPURL}",style:"colour_blocks",tooltip:"%{BKY_COLOUR_RGB_TOOLTIP}"},{type:"colour_blend",message0:"%{BKY_COLOUR_BLEND_TITLE} %{BKY_COLOUR_BLEND_COLOUR1} %1 %{BKY_COLOUR_BLEND_COLOUR2} %2 %{BKY_COLOUR_BLEND_RATIO} %3",args0:[{type:"input_value",name:"COLOUR1",check:"Colour",
align:"RIGHT"},{type:"input_value",name:"COLOUR2",check:"Colour",align:"RIGHT"},{type:"input_value",name:"RATIO",check:"Number",align:"RIGHT"}],output:"Colour",helpUrl:"%{BKY_COLOUR_BLEND_HELPURL}",style:"colour_blocks",tooltip:"%{BKY_COLOUR_BLEND_TOOLTIP}"}]);Blockly.Blocks.lists={};Blockly.Constants.Lists={};Blockly.Constants.Lists.HUE=260;
Blockly.defineBlocksWithJsonArray([{type:"lists_create_empty",message0:"%{BKY_LISTS_CREATE_EMPTY_TITLE}",output:"Array",style:"list_blocks",tooltip:"%{BKY_LISTS_CREATE_EMPTY_TOOLTIP}",helpUrl:"%{BKY_LISTS_CREATE_EMPTY_HELPURL}"},{type:"lists_repeat",message0:"%{BKY_LISTS_REPEAT_TITLE}",args0:[{type:"input_value",name:"ITEM"},{type:"input_value",name:"NUM",check:"Number"}],output:"Array",style:"list_blocks",tooltip:"%{BKY_LISTS_REPEAT_TOOLTIP}",helpUrl:"%{BKY_LISTS_REPEAT_HELPURL}"},{type:"lists_reverse",
message0:"%{BKY_LISTS_REVERSE_MESSAGE0}",args0:[{type:"input_value",name:"LIST",check:"Array"}],output:"Array",inputsInline:!0,style:"list_blocks",tooltip:"%{BKY_LISTS_REVERSE_TOOLTIP}",helpUrl:"%{BKY_LISTS_REVERSE_HELPURL}"},{type:"lists_isEmpty",message0:"%{BKY_LISTS_ISEMPTY_TITLE}",args0:[{type:"input_value",name:"VALUE",check:["String","Array"]}],output:"Boolean",style:"list_blocks",tooltip:"%{BKY_LISTS_ISEMPTY_TOOLTIP}",helpUrl:"%{BKY_LISTS_ISEMPTY_HELPURL}"},{type:"lists_length",message0:"%{BKY_LISTS_LENGTH_TITLE}",
args0:[{type:"input_value",name:"VALUE",check:["String","Array"]}],output:"Number",style:"list_blocks",tooltip:"%{BKY_LISTS_LENGTH_TOOLTIP}",helpUrl:"%{BKY_LISTS_LENGTH_HELPURL}"}]);
Blockly.Blocks.lists_create_with={init:function(){this.setHelpUrl(Blockly.Msg.LISTS_CREATE_WITH_HELPURL);this.setStyle("list_blocks");this.itemCount_=3;this.updateShape_();this.setOutput(!0,"Array");this.setMutator(new Blockly.Mutator(["lists_create_with_item"]));this.setTooltip(Blockly.Msg.LISTS_CREATE_WITH_TOOLTIP)},mutationToDom:function(){var a=Blockly.utils.xml.createElement("mutation");a.setAttribute("items",this.itemCount_);return a},domToMutation:function(a){this.itemCount_=parseInt(a.getAttribute("items"),
10);this.updateShape_()},decompose:function(a){var b=a.newBlock("lists_create_with_container");b.initSvg();for(var c=b.getInput("STACK").connection,d=0;d<this.itemCount_;d++){var e=a.newBlock("lists_create_with_item");e.initSvg();c.connect(e.previousConnection);c=e.nextConnection}return b},compose:function(a){var b=a.getInputTargetBlock("STACK");for(a=[];b;)a.push(b.valueConnection_),b=b.nextConnection&&b.nextConnection.targetBlock();for(b=0;b<this.itemCount_;b++){var c=this.getInput("ADD"+b).connection.targetConnection;
c&&-1==a.indexOf(c)&&c.disconnect()}this.itemCount_=a.length;this.updateShape_();for(b=0;b<this.itemCount_;b++)Blockly.Mutator.reconnect(a[b],this,"ADD"+b)},saveConnections:function(a){a=a.getInputTargetBlock("STACK");for(var b=0;a;){var c=this.getInput("ADD"+b);a.valueConnection_=c&&c.connection.targetConnection;b++;a=a.nextConnection&&a.nextConnection.targetBlock()}},updateShape_:function(){this.itemCount_&&this.getInput("EMPTY")?this.removeInput("EMPTY"):this.itemCount_||this.getInput("EMPTY")||
this.appendDummyInput("EMPTY").appendField(Blockly.Msg.LISTS_CREATE_EMPTY_TITLE);for(var a=0;a<this.itemCount_;a++)if(!this.getInput("ADD"+a)){var b=this.appendValueInput("ADD"+a).setAlign(Blockly.ALIGN_RIGHT);0==a&&b.appendField(Blockly.Msg.LISTS_CREATE_WITH_INPUT_WITH)}for(;this.getInput("ADD"+a);)this.removeInput("ADD"+a),a++}};
Blockly.Blocks.lists_create_with_container={init:function(){this.setStyle("list_blocks");this.appendDummyInput().appendField(Blockly.Msg.LISTS_CREATE_WITH_CONTAINER_TITLE_ADD);this.appendStatementInput("STACK");this.setTooltip(Blockly.Msg.LISTS_CREATE_WITH_CONTAINER_TOOLTIP);this.contextMenu=!1}};
Blockly.Blocks.lists_create_with_item={init:function(){this.setStyle("list_blocks");this.appendDummyInput().appendField(Blockly.Msg.LISTS_CREATE_WITH_ITEM_TITLE);this.setPreviousStatement(!0);this.setNextStatement(!0);this.setTooltip(Blockly.Msg.LISTS_CREATE_WITH_ITEM_TOOLTIP);this.contextMenu=!1}};
Blockly.Blocks.lists_indexOf={init:function(){var a=[[Blockly.Msg.LISTS_INDEX_OF_FIRST,"FIRST"],[Blockly.Msg.LISTS_INDEX_OF_LAST,"LAST"]];this.setHelpUrl(Blockly.Msg.LISTS_INDEX_OF_HELPURL);this.setStyle("list_blocks");this.setOutput(!0,"Number");this.appendValueInput("VALUE").setCheck("Array").appendField(Blockly.Msg.LISTS_INDEX_OF_INPUT_IN_LIST);this.appendValueInput("FIND").appendField(new Blockly.FieldDropdown(a),"END");this.setInputsInline(!0);var b=this;this.setTooltip(function(){return Blockly.Msg.LISTS_INDEX_OF_TOOLTIP.replace("%1",
b.workspace.options.oneBasedIndex?"0":"-1")})}};
Blockly.Blocks.lists_getIndex={init:function(){var a=[[Blockly.Msg.LISTS_GET_INDEX_GET,"GET"],[Blockly.Msg.LISTS_GET_INDEX_GET_REMOVE,"GET_REMOVE"],[Blockly.Msg.LISTS_GET_INDEX_REMOVE,"REMOVE"]];this.WHERE_OPTIONS=[[Blockly.Msg.LISTS_GET_INDEX_FROM_START,"FROM_START"],[Blockly.Msg.LISTS_GET_INDEX_FROM_END,"FROM_END"],[Blockly.Msg.LISTS_GET_INDEX_FIRST,"FIRST"],[Blockly.Msg.LISTS_GET_INDEX_LAST,"LAST"],[Blockly.Msg.LISTS_GET_INDEX_RANDOM,"RANDOM"]];this.setHelpUrl(Blockly.Msg.LISTS_GET_INDEX_HELPURL);this.setStyle("list_blocks");
a=new Blockly.FieldDropdown(a,function(a){a="REMOVE"==a;this.getSourceBlock().updateStatement_(a)});this.appendValueInput("VALUE").setCheck("Array").appendField(Blockly.Msg.LISTS_GET_INDEX_INPUT_IN_LIST);this.appendDummyInput().appendField(a,"MODE").appendField("","SPACE");this.appendDummyInput("AT");Blockly.Msg.LISTS_GET_INDEX_TAIL&&this.appendDummyInput("TAIL").appendField(Blockly.Msg.LISTS_GET_INDEX_TAIL);this.setInputsInline(!0);this.setOutput(!0);this.updateAt_(!0);var b=this;this.setTooltip(function(){var a=
b.getFieldValue("MODE"),d=b.getFieldValue("WHERE"),e="";switch(a+" "+d){case "GET FROM_START":case "GET FROM_END":e=Blockly.Msg.LISTS_GET_INDEX_TOOLTIP_GET_FROM;break;case "GET FIRST":e=Blockly.Msg.LISTS_GET_INDEX_TOOLTIP_GET_FIRST;break;case "GET LAST":e=Blockly.Msg.LISTS_GET_INDEX_TOOLTIP_GET_LAST;break;case "GET RANDOM":e=Blockly.Msg.LISTS_GET_INDEX_TOOLTIP_GET_RANDOM;break;case "GET_REMOVE FROM_START":case "GET_REMOVE FROM_END":e=Blockly.Msg.LISTS_GET_INDEX_TOOLTIP_GET_REMOVE_FROM;break;case "GET_REMOVE FIRST":e=
Blockly.Msg.LISTS_GET_INDEX_TOOLTIP_GET_REMOVE_FIRST;break;case "GET_REMOVE LAST":e=Blockly.Msg.LISTS_GET_INDEX_TOOLTIP_GET_REMOVE_LAST;break;case "GET_REMOVE RANDOM":e=Blockly.Msg.LISTS_GET_INDEX_TOOLTIP_GET_REMOVE_RANDOM;break;case "REMOVE FROM_START":case "REMOVE FROM_END":e=Blockly.Msg.LISTS_GET_INDEX_TOOLTIP_REMOVE_FROM;break;case "REMOVE FIRST":e=Blockly.Msg.LISTS_GET_INDEX_TOOLTIP_REMOVE_FIRST;break;case "REMOVE LAST":e=Blockly.Msg.LISTS_GET_INDEX_TOOLTIP_REMOVE_LAST;break;case "REMOVE RANDOM":e=
Blockly.Msg.LISTS_GET_INDEX_TOOLTIP_REMOVE_RANDOM}if("FROM_START"==d||"FROM_END"==d)e+=" "+("FROM_START"==d?Blockly.Msg.LISTS_INDEX_FROM_START_TOOLTIP:Blockly.Msg.LISTS_INDEX_FROM_END_TOOLTIP).replace("%1",b.workspace.options.oneBasedIndex?"#1":"#0");return e})},mutationToDom:function(){var a=Blockly.utils.xml.createElement("mutation");a.setAttribute("statement",!this.outputConnection);var b=this.getInput("AT").type==Blockly.INPUT_VALUE;a.setAttribute("at",b);return a},domToMutation:function(a){var b=
"true"==a.getAttribute("statement");this.updateStatement_(b);a="false"!=a.getAttribute("at");this.updateAt_(a)},updateStatement_:function(a){a!=!this.outputConnection&&(this.unplug(!0,!0),a?(this.setOutput(!1),this.setPreviousStatement(!0),this.setNextStatement(!0)):(this.setPreviousStatement(!1),this.setNextStatement(!1),this.setOutput(!0)))},updateAt_:function(a){this.removeInput("AT");this.removeInput("ORDINAL",!0);a?(this.appendValueInput("AT").setCheck("Number"),Blockly.Msg.ORDINAL_NUMBER_SUFFIX&&
this.appendDummyInput("ORDINAL").appendField(Blockly.Msg.ORDINAL_NUMBER_SUFFIX)):this.appendDummyInput("AT");var b=new Blockly.FieldDropdown(this.WHERE_OPTIONS,function(b){var c="FROM_START"==b||"FROM_END"==b;if(c!=a){var e=this.getSourceBlock();e.updateAt_(c);e.setFieldValue(b,"WHERE");return null}});this.getInput("AT").appendField(b,"WHERE");Blockly.Msg.LISTS_GET_INDEX_TAIL&&this.moveInputBefore("TAIL",null)}};
Blockly.Blocks.lists_setIndex={init:function(){var a=[[Blockly.Msg.LISTS_SET_INDEX_SET,"SET"],[Blockly.Msg.LISTS_SET_INDEX_INSERT,"INSERT"]];this.WHERE_OPTIONS=[[Blockly.Msg.LISTS_GET_INDEX_FROM_START,"FROM_START"],[Blockly.Msg.LISTS_GET_INDEX_FROM_END,"FROM_END"],[Blockly.Msg.LISTS_GET_INDEX_FIRST,"FIRST"],[Blockly.Msg.LISTS_GET_INDEX_LAST,"LAST"],[Blockly.Msg.LISTS_GET_INDEX_RANDOM,"RANDOM"]];this.setHelpUrl(Blockly.Msg.LISTS_SET_INDEX_HELPURL);this.setStyle("list_blocks");this.appendValueInput("LIST").setCheck("Array").appendField(Blockly.Msg.LISTS_SET_INDEX_INPUT_IN_LIST);
this.appendDummyInput().appendField(new Blockly.FieldDropdown(a),"MODE").appendField("","SPACE");this.appendDummyInput("AT");this.appendValueInput("TO").appendField(Blockly.Msg.LISTS_SET_INDEX_INPUT_TO);this.setInputsInline(!0);this.setPreviousStatement(!0);this.setNextStatement(!0);this.setTooltip(Blockly.Msg.LISTS_SET_INDEX_TOOLTIP);this.updateAt_(!0);var b=this;this.setTooltip(function(){var a=b.getFieldValue("MODE"),d=b.getFieldValue("WHERE"),e="";switch(a+" "+d){case "SET FROM_START":case "SET FROM_END":e=
Blockly.Msg.LISTS_SET_INDEX_TOOLTIP_SET_FROM;break;case "SET FIRST":e=Blockly.Msg.LISTS_SET_INDEX_TOOLTIP_SET_FIRST;break;case "SET LAST":e=Blockly.Msg.LISTS_SET_INDEX_TOOLTIP_SET_LAST;break;case "SET RANDOM":e=Blockly.Msg.LISTS_SET_INDEX_TOOLTIP_SET_RANDOM;break;case "INSERT FROM_START":case "INSERT FROM_END":e=Blockly.Msg.LISTS_SET_INDEX_TOOLTIP_INSERT_FROM;break;case "INSERT FIRST":e=Blockly.Msg.LISTS_SET_INDEX_TOOLTIP_INSERT_FIRST;break;case "INSERT LAST":e=Blockly.Msg.LISTS_SET_INDEX_TOOLTIP_INSERT_LAST;
break;case "INSERT RANDOM":e=Blockly.Msg.LISTS_SET_INDEX_TOOLTIP_INSERT_RANDOM}if("FROM_START"==d||"FROM_END"==d)e+=" "+Blockly.Msg.LISTS_INDEX_FROM_START_TOOLTIP.replace("%1",b.workspace.options.oneBasedIndex?"#1":"#0");return e})},mutationToDom:function(){var a=Blockly.utils.xml.createElement("mutation"),b=this.getInput("AT").type==Blockly.INPUT_VALUE;a.setAttribute("at",b);return a},domToMutation:function(a){a="false"!=a.getAttribute("at");this.updateAt_(a)},updateAt_:function(a){this.removeInput("AT");
this.removeInput("ORDINAL",!0);a?(this.appendValueInput("AT").setCheck("Number"),Blockly.Msg.ORDINAL_NUMBER_SUFFIX&&this.appendDummyInput("ORDINAL").appendField(Blockly.Msg.ORDINAL_NUMBER_SUFFIX)):this.appendDummyInput("AT");var b=new Blockly.FieldDropdown(this.WHERE_OPTIONS,function(b){var c="FROM_START"==b||"FROM_END"==b;if(c!=a){var e=this.getSourceBlock();e.updateAt_(c);e.setFieldValue(b,"WHERE");return null}});this.moveInputBefore("AT","TO");this.getInput("ORDINAL")&&this.moveInputBefore("ORDINAL",
"TO");this.getInput("AT").appendField(b,"WHERE")}};
Blockly.Blocks.lists_getSublist={init:function(){this.WHERE_OPTIONS_1=[[Blockly.Msg.LISTS_GET_SUBLIST_START_FROM_START,"FROM_START"],[Blockly.Msg.LISTS_GET_SUBLIST_START_FROM_END,"FROM_END"],[Blockly.Msg.LISTS_GET_SUBLIST_START_FIRST,"FIRST"]];this.WHERE_OPTIONS_2=[[Blockly.Msg.LISTS_GET_SUBLIST_END_FROM_START,"FROM_START"],[Blockly.Msg.LISTS_GET_SUBLIST_END_FROM_END,"FROM_END"],[Blockly.Msg.LISTS_GET_SUBLIST_END_LAST,"LAST"]];this.setHelpUrl(Blockly.Msg.LISTS_GET_SUBLIST_HELPURL);this.setStyle("list_blocks");
this.appendValueInput("LIST").setCheck("Array").appendField(Blockly.Msg.LISTS_GET_SUBLIST_INPUT_IN_LIST);this.appendDummyInput("AT1");this.appendDummyInput("AT2");Blockly.Msg.LISTS_GET_SUBLIST_TAIL&&this.appendDummyInput("TAIL").appendField(Blockly.Msg.LISTS_GET_SUBLIST_TAIL);this.setInputsInline(!0);this.setOutput(!0,"Array");this.updateAt_(1,!0);this.updateAt_(2,!0);this.setTooltip(Blockly.Msg.LISTS_GET_SUBLIST_TOOLTIP)},mutationToDom:function(){var a=Blockly.utils.xml.createElement("mutation"),
b=this.getInput("AT1").type==Blockly.INPUT_VALUE;a.setAttribute("at1",b);b=this.getInput("AT2").type==Blockly.INPUT_VALUE;a.setAttribute("at2",b);return a},domToMutation:function(a){var b="true"==a.getAttribute("at1");a="true"==a.getAttribute("at2");this.updateAt_(1,b);this.updateAt_(2,a)},updateAt_:function(a,b){this.removeInput("AT"+a);this.removeInput("ORDINAL"+a,!0);b?(this.appendValueInput("AT"+a).setCheck("Number"),Blockly.Msg.ORDINAL_NUMBER_SUFFIX&&this.appendDummyInput("ORDINAL"+a).appendField(Blockly.Msg.ORDINAL_NUMBER_SUFFIX)):
this.appendDummyInput("AT"+a);var c=new Blockly.FieldDropdown(this["WHERE_OPTIONS_"+a],function(c){var e="FROM_START"==c||"FROM_END"==c;if(e!=b){var d=this.getSourceBlock();d.updateAt_(a,e);d.setFieldValue(c,"WHERE"+a);return null}});this.getInput("AT"+a).appendField(c,"WHERE"+a);1==a&&(this.moveInputBefore("AT1","AT2"),this.getInput("ORDINAL1")&&this.moveInputBefore("ORDINAL1","AT2"));Blockly.Msg.LISTS_GET_SUBLIST_TAIL&&this.moveInputBefore("TAIL",null)}};
Blockly.Blocks.lists_sort={init:function(){this.jsonInit({message0:Blockly.Msg.LISTS_SORT_TITLE,args0:[{type:"field_dropdown",name:"TYPE",options:[[Blockly.Msg.LISTS_SORT_TYPE_NUMERIC,"NUMERIC"],[Blockly.Msg.LISTS_SORT_TYPE_TEXT,"TEXT"],[Blockly.Msg.LISTS_SORT_TYPE_IGNORECASE,"IGNORE_CASE"]]},{type:"field_dropdown",name:"DIRECTION",options:[[Blockly.Msg.LISTS_SORT_ORDER_ASCENDING,"1"],[Blockly.Msg.LISTS_SORT_ORDER_DESCENDING,"-1"]]},{type:"input_value",name:"LIST",check:"Array"}],output:"Array",style:"list_blocks",
tooltip:Blockly.Msg.LISTS_SORT_TOOLTIP,helpUrl:Blockly.Msg.LISTS_SORT_HELPURL})}};
Blockly.Blocks.lists_split={init:function(){var a=this,b=new Blockly.FieldDropdown([[Blockly.Msg.LISTS_SPLIT_LIST_FROM_TEXT,"SPLIT"],[Blockly.Msg.LISTS_SPLIT_TEXT_FROM_LIST,"JOIN"]],function(b){a.updateType_(b)});this.setHelpUrl(Blockly.Msg.LISTS_SPLIT_HELPURL);this.setStyle("list_blocks");this.appendValueInput("INPUT").setCheck("String").appendField(b,"MODE");this.appendValueInput("DELIM").setCheck("String").appendField(Blockly.Msg.LISTS_SPLIT_WITH_DELIMITER);this.setInputsInline(!0);this.setOutput(!0,
"Array");this.setTooltip(function(){var b=a.getFieldValue("MODE");if("SPLIT"==b)return Blockly.Msg.LISTS_SPLIT_TOOLTIP_SPLIT;if("JOIN"==b)return Blockly.Msg.LISTS_SPLIT_TOOLTIP_JOIN;throw Error("Unknown mode: "+b);})},updateType_:function(a){if(this.getFieldValue("MODE")!=a){var b=this.getInput("INPUT").connection;b.setShadowDom(null);var c=b.targetBlock();c&&(b.disconnect(),c.isShadow()?c.dispose():this.bumpNeighbours())}"SPLIT"==a?(this.outputConnection.setCheck("Array"),this.getInput("INPUT").setCheck("String")):
(this.outputConnection.setCheck("String"),this.getInput("INPUT").setCheck("Array"))},mutationToDom:function(){var a=Blockly.utils.xml.createElement("mutation");a.setAttribute("mode",this.getFieldValue("MODE"));return a},domToMutation:function(a){this.updateType_(a.getAttribute("mode"))}};Blockly.Blocks.logic={};Blockly.Constants.Logic={};Blockly.Constants.Logic.HUE=210;
Blockly.defineBlocksWithJsonArray([{type:"logic_boolean",message0:"%1",args0:[{type:"field_dropdown",name:"BOOL",options:[["%{BKY_LOGIC_BOOLEAN_TRUE}","TRUE"],["%{BKY_LOGIC_BOOLEAN_FALSE}","FALSE"]]}],output:"Boolean",style:"logic_blocks",tooltip:"%{BKY_LOGIC_BOOLEAN_TOOLTIP}",helpUrl:"%{BKY_LOGIC_BOOLEAN_HELPURL}"},{type:"controls_if",message0:"%{BKY_CONTROLS_IF_MSG_IF} %1",args0:[{type:"input_value",name:"IF0",check:"Boolean"}],message1:"%{BKY_CONTROLS_IF_MSG_THEN} %1",args1:[{type:"input_statement",
name:"DO0"}],previousStatement:null,nextStatement:null,style:"logic_blocks",helpUrl:"%{BKY_CONTROLS_IF_HELPURL}",mutator:"controls_if_mutator",extensions:["controls_if_tooltip"]},{type:"controls_ifelse",message0:"%{BKY_CONTROLS_IF_MSG_IF} %1",args0:[{type:"input_value",name:"IF0",check:"Boolean"}],message1:"%{BKY_CONTROLS_IF_MSG_THEN} %1",args1:[{type:"input_statement",name:"DO0"}],message2:"%{BKY_CONTROLS_IF_MSG_ELSE} %1",args2:[{type:"input_statement",name:"ELSE"}],previousStatement:null,nextStatement:null,
style:"logic_blocks",tooltip:"%{BKYCONTROLS_IF_TOOLTIP_2}",helpUrl:"%{BKY_CONTROLS_IF_HELPURL}",extensions:["controls_if_tooltip"]},{type:"logic_compare",message0:"%1 %2 %3",args0:[{type:"input_value",name:"A"},{type:"field_dropdown",name:"OP",options:[["=","EQ"],["\u2260","NEQ"],["\u200f<","LT"],["\u200f\u2264","LTE"],["\u200f>","GT"],["\u200f\u2265","GTE"]]},{type:"input_value",name:"B"}],inputsInline:!0,output:"Boolean",style:"logic_blocks",helpUrl:"%{BKY_LOGIC_COMPARE_HELPURL}",extensions:["logic_compare",
"logic_op_tooltip"]},{type:"logic_operation",message0:"%1 %2 %3",args0:[{type:"input_value",name:"A",check:"Boolean"},{type:"field_dropdown",name:"OP",options:[["%{BKY_LOGIC_OPERATION_AND}","AND"],["%{BKY_LOGIC_OPERATION_OR}","OR"]]},{type:"input_value",name:"B",check:"Boolean"}],inputsInline:!0,output:"Boolean",style:"logic_blocks",helpUrl:"%{BKY_LOGIC_OPERATION_HELPURL}",extensions:["logic_op_tooltip"]},{type:"logic_negate",message0:"%{BKY_LOGIC_NEGATE_TITLE}",args0:[{type:"input_value",name:"BOOL",
check:"Boolean"}],output:"Boolean",style:"logic_blocks",tooltip:"%{BKY_LOGIC_NEGATE_TOOLTIP}",helpUrl:"%{BKY_LOGIC_NEGATE_HELPURL}"},{type:"logic_null",message0:"%{BKY_LOGIC_NULL}",output:null,style:"logic_blocks",tooltip:"%{BKY_LOGIC_NULL_TOOLTIP}",helpUrl:"%{BKY_LOGIC_NULL_HELPURL}"},{type:"logic_ternary",message0:"%{BKY_LOGIC_TERNARY_CONDITION} %1",args0:[{type:"input_value",name:"IF",check:"Boolean"}],message1:"%{BKY_LOGIC_TERNARY_IF_TRUE} %1",args1:[{type:"input_value",name:"THEN"}],message2:"%{BKY_LOGIC_TERNARY_IF_FALSE} %1",
args2:[{type:"input_value",name:"ELSE"}],output:null,style:"logic_blocks",tooltip:"%{BKY_LOGIC_TERNARY_TOOLTIP}",helpUrl:"%{BKY_LOGIC_TERNARY_HELPURL}",extensions:["logic_ternary"]}]);
Blockly.defineBlocksWithJsonArray([{type:"controls_if_if",message0:"%{BKY_CONTROLS_IF_IF_TITLE_IF}",nextStatement:null,enableContextMenu:!1,style:"logic_blocks",tooltip:"%{BKY_CONTROLS_IF_IF_TOOLTIP}"},{type:"controls_if_elseif",message0:"%{BKY_CONTROLS_IF_ELSEIF_TITLE_ELSEIF}",previousStatement:null,nextStatement:null,enableContextMenu:!1,style:"logic_blocks",tooltip:"%{BKY_CONTROLS_IF_ELSEIF_TOOLTIP}"},{type:"controls_if_else",message0:"%{BKY_CONTROLS_IF_ELSE_TITLE_ELSE}",previousStatement:null,
enableContextMenu:!1,style:"logic_blocks",tooltip:"%{BKY_CONTROLS_IF_ELSE_TOOLTIP}"}]);Blockly.Constants.Logic.TOOLTIPS_BY_OP={EQ:"%{BKY_LOGIC_COMPARE_TOOLTIP_EQ}",NEQ:"%{BKY_LOGIC_COMPARE_TOOLTIP_NEQ}",LT:"%{BKY_LOGIC_COMPARE_TOOLTIP_LT}",LTE:"%{BKY_LOGIC_COMPARE_TOOLTIP_LTE}",GT:"%{BKY_LOGIC_COMPARE_TOOLTIP_GT}",GTE:"%{BKY_LOGIC_COMPARE_TOOLTIP_GTE}",AND:"%{BKY_LOGIC_OPERATION_TOOLTIP_AND}",OR:"%{BKY_LOGIC_OPERATION_TOOLTIP_OR}"};
Blockly.Extensions.register("logic_op_tooltip",Blockly.Extensions.buildTooltipForDropdown("OP",Blockly.Constants.Logic.TOOLTIPS_BY_OP));
Blockly.Constants.Logic.CONTROLS_IF_MUTATOR_MIXIN={elseifCount_:0,elseCount_:0,suppressPrefixSuffix:!0,mutationToDom:function(){if(!this.elseifCount_&&!this.elseCount_)return null;var a=Blockly.utils.xml.createElement("mutation");this.elseifCount_&&a.setAttribute("elseif",this.elseifCount_);this.elseCount_&&a.setAttribute("else",1);return a},domToMutation:function(a){this.elseifCount_=parseInt(a.getAttribute("elseif"),10)||0;this.elseCount_=parseInt(a.getAttribute("else"),10)||0;this.rebuildShape_()},
decompose:function(a){var b=a.newBlock("controls_if_if");b.initSvg();for(var c=b.nextConnection,d=1;d<=this.elseifCount_;d++){var e=a.newBlock("controls_if_elseif");e.initSvg();c.connect(e.previousConnection);c=e.nextConnection}this.elseCount_&&(a=a.newBlock("controls_if_else"),a.initSvg(),c.connect(a.previousConnection));return b},compose:function(a){a=a.nextConnection.targetBlock();this.elseCount_=this.elseifCount_=0;for(var b=[null],c=[null],d=null;a;){switch(a.type){case "controls_if_elseif":this.elseifCount_++;
b.push(a.valueConnection_);c.push(a.statementConnection_);break;case "controls_if_else":this.elseCount_++;d=a.statementConnection_;break;default:throw TypeError("Unknown block type: "+a.type);}a=a.nextConnection&&a.nextConnection.targetBlock()}this.updateShape_();this.reconnectChildBlocks_(b,c,d)},saveConnections:function(a){a=a.nextConnection.targetBlock();for(var b=1;a;){switch(a.type){case "controls_if_elseif":var c=this.getInput("IF"+b),d=this.getInput("DO"+b);a.valueConnection_=c&&c.connection.targetConnection;
a.statementConnection_=d&&d.connection.targetConnection;b++;break;case "controls_if_else":d=this.getInput("ELSE");a.statementConnection_=d&&d.connection.targetConnection;break;default:throw TypeError("Unknown block type: "+a.type);}a=a.nextConnection&&a.nextConnection.targetBlock()}},rebuildShape_:function(){var a=[null],b=[null],c=null;this.getInput("ELSE")&&(c=this.getInput("ELSE").connection.targetConnection);for(var d=1;this.getInput("IF"+d);){var e=this.getInput("IF"+d),f=this.getInput("DO"+
d);a.push(e.connection.targetConnection);b.push(f.connection.targetConnection);d++}this.updateShape_();this.reconnectChildBlocks_(a,b,c)},updateShape_:function(){this.getInput("ELSE")&&this.removeInput("ELSE");for(var a=1;this.getInput("IF"+a);)this.removeInput("IF"+a),this.removeInput("DO"+a),a++;for(a=1;a<=this.elseifCount_;a++)this.appendValueInput("IF"+a).setCheck("Boolean").appendField(Blockly.Msg.CONTROLS_IF_MSG_ELSEIF),this.appendStatementInput("DO"+a).appendField(Blockly.Msg.CONTROLS_IF_MSG_THEN);
this.elseCount_&&this.appendStatementInput("ELSE").appendField(Blockly.Msg.CONTROLS_IF_MSG_ELSE)},reconnectChildBlocks_:function(a,b,c){for(var d=1;d<=this.elseifCount_;d++)Blockly.Mutator.reconnect(a[d],this,"IF"+d),Blockly.Mutator.reconnect(b[d],this,"DO"+d);Blockly.Mutator.reconnect(c,this,"ELSE")}};Blockly.Extensions.registerMutator("controls_if_mutator",Blockly.Constants.Logic.CONTROLS_IF_MUTATOR_MIXIN,null,["controls_if_elseif","controls_if_else"]);
Blockly.Constants.Logic.CONTROLS_IF_TOOLTIP_EXTENSION=function(){this.setTooltip(function(){if(this.elseifCount_||this.elseCount_){if(!this.elseifCount_&&this.elseCount_)return Blockly.Msg.CONTROLS_IF_TOOLTIP_2;if(this.elseifCount_&&!this.elseCount_)return Blockly.Msg.CONTROLS_IF_TOOLTIP_3;if(this.elseifCount_&&this.elseCount_)return Blockly.Msg.CONTROLS_IF_TOOLTIP_4}else return Blockly.Msg.CONTROLS_IF_TOOLTIP_1;return""}.bind(this))};Blockly.Extensions.register("controls_if_tooltip",Blockly.Constants.Logic.CONTROLS_IF_TOOLTIP_EXTENSION);
Blockly.Constants.Logic.LOGIC_COMPARE_ONCHANGE_MIXIN={onchange:function(a){this.prevBlocks_||(this.prevBlocks_=[null,null]);var b=this.getInputTargetBlock("A"),c=this.getInputTargetBlock("B");b&&c&&!b.outputConnection.checkType(c.outputConnection)&&(Blockly.Events.setGroup(a.group),a=this.prevBlocks_[0],a!==b&&(b.unplug(),!a||a.isDisposed()||a.isShadow()||this.getInput("A").connection.connect(a.outputConnection)),b=this.prevBlocks_[1],b!==c&&(c.unplug(),!b||b.isDisposed()||b.isShadow()||this.getInput("B").connection.connect(b.outputConnection)),
this.bumpNeighbours(),Blockly.Events.setGroup(!1));this.prevBlocks_[0]=this.getInputTargetBlock("A");this.prevBlocks_[1]=this.getInputTargetBlock("B")}};Blockly.Constants.Logic.LOGIC_COMPARE_EXTENSION=function(){this.mixin(Blockly.Constants.Logic.LOGIC_COMPARE_ONCHANGE_MIXIN)};Blockly.Extensions.register("logic_compare",Blockly.Constants.Logic.LOGIC_COMPARE_EXTENSION);
Blockly.Constants.Logic.LOGIC_TERNARY_ONCHANGE_MIXIN={prevParentConnection_:null,onchange:function(a){var b=this.getInputTargetBlock("THEN"),c=this.getInputTargetBlock("ELSE"),d=this.outputConnection.targetConnection;if((b||c)&&d)for(var e=0;2>e;e++){var f=1==e?b:c;f&&!f.outputConnection.checkType(d)&&(Blockly.Events.setGroup(a.group),d===this.prevParentConnection_?(this.unplug(),d.getSourceBlock().bumpNeighbours()):(f.unplug(),f.bumpNeighbours()),Blockly.Events.setGroup(!1))}this.prevParentConnection_=
d}};Blockly.Extensions.registerMixin("logic_ternary",Blockly.Constants.Logic.LOGIC_TERNARY_ONCHANGE_MIXIN);Blockly.Blocks.loops={};Blockly.Constants.Loops={};Blockly.Constants.Loops.HUE=120;
Blockly.defineBlocksWithJsonArray([{type:"controls_repeat_ext",message0:"%{BKY_CONTROLS_REPEAT_TITLE}",args0:[{type:"input_value",name:"TIMES",check:"Number"}],message1:"%{BKY_CONTROLS_REPEAT_INPUT_DO} %1",args1:[{type:"input_statement",name:"DO"}],previousStatement:null,nextStatement:null,style:"loop_blocks",tooltip:"%{BKY_CONTROLS_REPEAT_TOOLTIP}",helpUrl:"%{BKY_CONTROLS_REPEAT_HELPURL}"},{type:"controls_repeat",message0:"%{BKY_CONTROLS_REPEAT_TITLE}",args0:[{type:"field_number",name:"TIMES",value:10,
min:0,precision:1}],message1:"%{BKY_CONTROLS_REPEAT_INPUT_DO} %1",args1:[{type:"input_statement",name:"DO"}],previousStatement:null,nextStatement:null,style:"loop_blocks",tooltip:"%{BKY_CONTROLS_REPEAT_TOOLTIP}",helpUrl:"%{BKY_CONTROLS_REPEAT_HELPURL}"},{type:"controls_whileUntil",message0:"%1 %2",args0:[{type:"field_dropdown",name:"MODE",options:[["%{BKY_CONTROLS_WHILEUNTIL_OPERATOR_WHILE}","WHILE"],["%{BKY_CONTROLS_WHILEUNTIL_OPERATOR_UNTIL}","UNTIL"]]},{type:"input_value",name:"BOOL",check:"Boolean"}],
message1:"%{BKY_CONTROLS_REPEAT_INPUT_DO} %1",args1:[{type:"input_statement",name:"DO"}],previousStatement:null,nextStatement:null,style:"loop_blocks",helpUrl:"%{BKY_CONTROLS_WHILEUNTIL_HELPURL}",extensions:["controls_whileUntil_tooltip"]},{type:"controls_for",message0:"%{BKY_CONTROLS_FOR_TITLE}",args0:[{type:"field_variable",name:"VAR",variable:null},{type:"input_value",name:"FROM",check:"Number",align:"RIGHT"},{type:"input_value",name:"TO",check:"Number",align:"RIGHT"},{type:"input_value",name:"BY",
check:"Number",align:"RIGHT"}],message1:"%{BKY_CONTROLS_REPEAT_INPUT_DO} %1",args1:[{type:"input_statement",name:"DO"}],inputsInline:!0,previousStatement:null,nextStatement:null,style:"loop_blocks",helpUrl:"%{BKY_CONTROLS_FOR_HELPURL}",extensions:["contextMenu_newGetVariableBlock","controls_for_tooltip"]},{type:"controls_forEach",message0:"%{BKY_CONTROLS_FOREACH_TITLE}",args0:[{type:"field_variable",name:"VAR",variable:null},{type:"input_value",name:"LIST",check:"Array"}],message1:"%{BKY_CONTROLS_REPEAT_INPUT_DO} %1",
args1:[{type:"input_statement",name:"DO"}],previousStatement:null,nextStatement:null,style:"loop_blocks",helpUrl:"%{BKY_CONTROLS_FOREACH_HELPURL}",extensions:["contextMenu_newGetVariableBlock","controls_forEach_tooltip"]},{type:"controls_flow_statements",message0:"%1",args0:[{type:"field_dropdown",name:"FLOW",options:[["%{BKY_CONTROLS_FLOW_STATEMENTS_OPERATOR_BREAK}","BREAK"],["%{BKY_CONTROLS_FLOW_STATEMENTS_OPERATOR_CONTINUE}","CONTINUE"]]}],previousStatement:null,style:"loop_blocks",helpUrl:"%{BKY_CONTROLS_FLOW_STATEMENTS_HELPURL}",
extensions:["controls_flow_tooltip","controls_flow_in_loop_check"]}]);Blockly.Constants.Loops.WHILE_UNTIL_TOOLTIPS={WHILE:"%{BKY_CONTROLS_WHILEUNTIL_TOOLTIP_WHILE}",UNTIL:"%{BKY_CONTROLS_WHILEUNTIL_TOOLTIP_UNTIL}"};Blockly.Extensions.register("controls_whileUntil_tooltip",Blockly.Extensions.buildTooltipForDropdown("MODE",Blockly.Constants.Loops.WHILE_UNTIL_TOOLTIPS));Blockly.Constants.Loops.BREAK_CONTINUE_TOOLTIPS={BREAK:"%{BKY_CONTROLS_FLOW_STATEMENTS_TOOLTIP_BREAK}",CONTINUE:"%{BKY_CONTROLS_FLOW_STATEMENTS_TOOLTIP_CONTINUE}"};
Blockly.Extensions.register("controls_flow_tooltip",Blockly.Extensions.buildTooltipForDropdown("FLOW",Blockly.Constants.Loops.BREAK_CONTINUE_TOOLTIPS));
Blockly.Constants.Loops.CUSTOM_CONTEXT_MENU_CREATE_VARIABLES_GET_MIXIN={customContextMenu:function(a){if(!this.isInFlyout){var b=this.getField("VAR").getVariable(),c=b.name;if(!this.isCollapsed()&&null!=c){var d={enabled:!0};d.text=Blockly.Msg.VARIABLES_SET_CREATE_GET.replace("%1",c);b=Blockly.Variables.generateVariableFieldDom(b);c=Blockly.utils.xml.createElement("block");c.setAttribute("type","variables_get");c.appendChild(b);d.callback=Blockly.ContextMenu.callbackFactory(this,c);a.push(d)}}}};
Blockly.Extensions.registerMixin("contextMenu_newGetVariableBlock",Blockly.Constants.Loops.CUSTOM_CONTEXT_MENU_CREATE_VARIABLES_GET_MIXIN);Blockly.Extensions.register("controls_for_tooltip",Blockly.Extensions.buildTooltipWithFieldText("%{BKY_CONTROLS_FOR_TOOLTIP}","VAR"));Blockly.Extensions.register("controls_forEach_tooltip",Blockly.Extensions.buildTooltipWithFieldText("%{BKY_CONTROLS_FOREACH_TOOLTIP}","VAR"));
Blockly.Constants.Loops.CONTROL_FLOW_IN_LOOP_CHECK_MIXIN={LOOP_TYPES:["controls_repeat","controls_repeat_ext","controls_forEach","controls_for","controls_whileUntil"],suppressPrefixSuffix:!0,getSurroundLoop:function(a){do{if(-1!=Blockly.Constants.Loops.CONTROL_FLOW_IN_LOOP_CHECK_MIXIN.LOOP_TYPES.indexOf(a.type))return a;a=a.getSurroundParent()}while(a);return null},onchange:function(a){if(this.workspace.isDragging&&!this.workspace.isDragging()&&a.type==Blockly.Events.BLOCK_MOVE&&a.blockId==this.id){var b=
Blockly.Constants.Loops.CONTROL_FLOW_IN_LOOP_CHECK_MIXIN.getSurroundLoop(this);this.setWarningText(b?null:Blockly.Msg.CONTROLS_FLOW_STATEMENTS_WARNING);if(!this.isInFlyout){var c=Blockly.Events.getGroup();Blockly.Events.setGroup(a.group);this.setEnabled(b);Blockly.Events.setGroup(c)}}}};Blockly.Extensions.registerMixin("controls_flow_in_loop_check",Blockly.Constants.Loops.CONTROL_FLOW_IN_LOOP_CHECK_MIXIN);Blockly.Blocks.math={};Blockly.Constants.Math={};Blockly.Constants.Math.HUE=230;
Blockly.defineBlocksWithJsonArray([{type:"math_number",message0:"%1",args0:[{type:"field_number",name:"NUM",value:0}],output:"Number",helpUrl:"%{BKY_MATH_NUMBER_HELPURL}",style:"math_blocks",tooltip:"%{BKY_MATH_NUMBER_TOOLTIP}",extensions:["parent_tooltip_when_inline"]},{type:"math_arithmetic",message0:"%1 %2 %3",args0:[{type:"input_value",name:"A",check:"Number"},{type:"field_dropdown",name:"OP",options:[["%{BKY_MATH_ADDITION_SYMBOL}","ADD"],["%{BKY_MATH_SUBTRACTION_SYMBOL}","MINUS"],["%{BKY_MATH_MULTIPLICATION_SYMBOL}",
"MULTIPLY"],["%{BKY_MATH_DIVISION_SYMBOL}","DIVIDE"],["%{BKY_MATH_POWER_SYMBOL}","POWER"]]},{type:"input_value",name:"B",check:"Number"}],inputsInline:!0,output:"Number",style:"math_blocks",helpUrl:"%{BKY_MATH_ARITHMETIC_HELPURL}",extensions:["math_op_tooltip"]},{type:"math_single",message0:"%1 %2",args0:[{type:"field_dropdown",name:"OP",options:[["%{BKY_MATH_SINGLE_OP_ROOT}","ROOT"],["%{BKY_MATH_SINGLE_OP_ABSOLUTE}","ABS"],["-","NEG"],["ln","LN"],["log10","LOG10"],["e^","EXP"],["10^","POW10"]]},
{type:"input_value",name:"NUM",check:"Number"}],output:"Number",style:"math_blocks",helpUrl:"%{BKY_MATH_SINGLE_HELPURL}",extensions:["math_op_tooltip"]},{type:"math_trig",message0:"%1 %2",args0:[{type:"field_dropdown",name:"OP",options:[["%{BKY_MATH_TRIG_SIN}","SIN"],["%{BKY_MATH_TRIG_COS}","COS"],["%{BKY_MATH_TRIG_TAN}","TAN"],["%{BKY_MATH_TRIG_ASIN}","ASIN"],["%{BKY_MATH_TRIG_ACOS}","ACOS"],["%{BKY_MATH_TRIG_ATAN}","ATAN"]]},{type:"input_value",name:"NUM",check:"Number"}],output:"Number",style:"math_blocks",
helpUrl:"%{BKY_MATH_TRIG_HELPURL}",extensions:["math_op_tooltip"]},{type:"math_constant",message0:"%1",args0:[{type:"field_dropdown",name:"CONSTANT",options:[["\u03c0","PI"],["e","E"],["\u03c6","GOLDEN_RATIO"],["sqrt(2)","SQRT2"],["sqrt(\u00bd)","SQRT1_2"],["\u221e","INFINITY"]]}],output:"Number",style:"math_blocks",tooltip:"%{BKY_MATH_CONSTANT_TOOLTIP}",helpUrl:"%{BKY_MATH_CONSTANT_HELPURL}"},{type:"math_number_property",message0:"%1 %2",args0:[{type:"input_value",name:"NUMBER_TO_CHECK",check:"Number"},
{type:"field_dropdown",name:"PROPERTY",options:[["%{BKY_MATH_IS_EVEN}","EVEN"],["%{BKY_MATH_IS_ODD}","ODD"],["%{BKY_MATH_IS_PRIME}","PRIME"],["%{BKY_MATH_IS_WHOLE}","WHOLE"],["%{BKY_MATH_IS_POSITIVE}","POSITIVE"],["%{BKY_MATH_IS_NEGATIVE}","NEGATIVE"],["%{BKY_MATH_IS_DIVISIBLE_BY}","DIVISIBLE_BY"]]}],inputsInline:!0,output:"Boolean",style:"math_blocks",tooltip:"%{BKY_MATH_IS_TOOLTIP}",mutator:"math_is_divisibleby_mutator"},{type:"math_change",message0:"%{BKY_MATH_CHANGE_TITLE}",args0:[{type:"field_variable",
name:"VAR",variable:"%{BKY_MATH_CHANGE_TITLE_ITEM}"},{type:"input_value",name:"DELTA",check:"Number"}],previousStatement:null,nextStatement:null,style:"variable_blocks",helpUrl:"%{BKY_MATH_CHANGE_HELPURL}",extensions:["math_change_tooltip"]},{type:"math_round",message0:"%1 %2",args0:[{type:"field_dropdown",name:"OP",options:[["%{BKY_MATH_ROUND_OPERATOR_ROUND}","ROUND"],["%{BKY_MATH_ROUND_OPERATOR_ROUNDUP}","ROUNDUP"],["%{BKY_MATH_ROUND_OPERATOR_ROUNDDOWN}","ROUNDDOWN"]]},{type:"input_value",name:"NUM",
check:"Number"}],output:"Number",style:"math_blocks",helpUrl:"%{BKY_MATH_ROUND_HELPURL}",tooltip:"%{BKY_MATH_ROUND_TOOLTIP}"},{type:"math_on_list",message0:"%1 %2",args0:[{type:"field_dropdown",name:"OP",options:[["%{BKY_MATH_ONLIST_OPERATOR_SUM}","SUM"],["%{BKY_MATH_ONLIST_OPERATOR_MIN}","MIN"],["%{BKY_MATH_ONLIST_OPERATOR_MAX}","MAX"],["%{BKY_MATH_ONLIST_OPERATOR_AVERAGE}","AVERAGE"],["%{BKY_MATH_ONLIST_OPERATOR_MEDIAN}","MEDIAN"],["%{BKY_MATH_ONLIST_OPERATOR_MODE}","MODE"],["%{BKY_MATH_ONLIST_OPERATOR_STD_DEV}",
"STD_DEV"],["%{BKY_MATH_ONLIST_OPERATOR_RANDOM}","RANDOM"]]},{type:"input_value",name:"LIST",check:"Array"}],output:"Number",style:"math_blocks",helpUrl:"%{BKY_MATH_ONLIST_HELPURL}",mutator:"math_modes_of_list_mutator",extensions:["math_op_tooltip"]},{type:"math_modulo",message0:"%{BKY_MATH_MODULO_TITLE}",args0:[{type:"input_value",name:"DIVIDEND",check:"Number"},{type:"input_value",name:"DIVISOR",check:"Number"}],inputsInline:!0,output:"Number",style:"math_blocks",tooltip:"%{BKY_MATH_MODULO_TOOLTIP}",
helpUrl:"%{BKY_MATH_MODULO_HELPURL}"},{type:"math_constrain",message0:"%{BKY_MATH_CONSTRAIN_TITLE}",args0:[{type:"input_value",name:"VALUE",check:"Number"},{type:"input_value",name:"LOW",check:"Number"},{type:"input_value",name:"HIGH",check:"Number"}],inputsInline:!0,output:"Number",style:"math_blocks",tooltip:"%{BKY_MATH_CONSTRAIN_TOOLTIP}",helpUrl:"%{BKY_MATH_CONSTRAIN_HELPURL}"},{type:"math_random_int",message0:"%{BKY_MATH_RANDOM_INT_TITLE}",args0:[{type:"input_value",name:"FROM",check:"Number"},
{type:"input_value",name:"TO",check:"Number"}],inputsInline:!0,output:"Number",style:"math_blocks",tooltip:"%{BKY_MATH_RANDOM_INT_TOOLTIP}",helpUrl:"%{BKY_MATH_RANDOM_INT_HELPURL}"},{type:"math_random_float",message0:"%{BKY_MATH_RANDOM_FLOAT_TITLE_RANDOM}",output:"Number",style:"math_blocks",tooltip:"%{BKY_MATH_RANDOM_FLOAT_TOOLTIP}",helpUrl:"%{BKY_MATH_RANDOM_FLOAT_HELPURL}"},{type:"math_atan2",message0:"%{BKY_MATH_ATAN2_TITLE}",args0:[{type:"input_value",name:"X",check:"Number"},{type:"input_value",
name:"Y",check:"Number"}],inputsInline:!0,output:"Number",style:"math_blocks",tooltip:"%{BKY_MATH_ATAN2_TOOLTIP}",helpUrl:"%{BKY_MATH_ATAN2_HELPURL}"}]);
Blockly.Constants.Math.TOOLTIPS_BY_OP={ADD:"%{BKY_MATH_ARITHMETIC_TOOLTIP_ADD}",MINUS:"%{BKY_MATH_ARITHMETIC_TOOLTIP_MINUS}",MULTIPLY:"%{BKY_MATH_ARITHMETIC_TOOLTIP_MULTIPLY}",DIVIDE:"%{BKY_MATH_ARITHMETIC_TOOLTIP_DIVIDE}",POWER:"%{BKY_MATH_ARITHMETIC_TOOLTIP_POWER}",ROOT:"%{BKY_MATH_SINGLE_TOOLTIP_ROOT}",ABS:"%{BKY_MATH_SINGLE_TOOLTIP_ABS}",NEG:"%{BKY_MATH_SINGLE_TOOLTIP_NEG}",LN:"%{BKY_MATH_SINGLE_TOOLTIP_LN}",LOG10:"%{BKY_MATH_SINGLE_TOOLTIP_LOG10}",EXP:"%{BKY_MATH_SINGLE_TOOLTIP_EXP}",POW10:"%{BKY_MATH_SINGLE_TOOLTIP_POW10}",
SIN:"%{BKY_MATH_TRIG_TOOLTIP_SIN}",COS:"%{BKY_MATH_TRIG_TOOLTIP_COS}",TAN:"%{BKY_MATH_TRIG_TOOLTIP_TAN}",ASIN:"%{BKY_MATH_TRIG_TOOLTIP_ASIN}",ACOS:"%{BKY_MATH_TRIG_TOOLTIP_ACOS}",ATAN:"%{BKY_MATH_TRIG_TOOLTIP_ATAN}",SUM:"%{BKY_MATH_ONLIST_TOOLTIP_SUM}",MIN:"%{BKY_MATH_ONLIST_TOOLTIP_MIN}",MAX:"%{BKY_MATH_ONLIST_TOOLTIP_MAX}",AVERAGE:"%{BKY_MATH_ONLIST_TOOLTIP_AVERAGE}",MEDIAN:"%{BKY_MATH_ONLIST_TOOLTIP_MEDIAN}",MODE:"%{BKY_MATH_ONLIST_TOOLTIP_MODE}",STD_DEV:"%{BKY_MATH_ONLIST_TOOLTIP_STD_DEV}",RANDOM:"%{BKY_MATH_ONLIST_TOOLTIP_RANDOM}"};
Blockly.Extensions.register("math_op_tooltip",Blockly.Extensions.buildTooltipForDropdown("OP",Blockly.Constants.Math.TOOLTIPS_BY_OP));
Blockly.Constants.Math.IS_DIVISIBLEBY_MUTATOR_MIXIN={mutationToDom:function(){var a=Blockly.utils.xml.createElement("mutation"),b="DIVISIBLE_BY"==this.getFieldValue("PROPERTY");a.setAttribute("divisor_input",b);return a},domToMutation:function(a){a="true"==a.getAttribute("divisor_input");this.updateShape_(a)},updateShape_:function(a){var b=this.getInput("DIVISOR");a?b||this.appendValueInput("DIVISOR").setCheck("Number"):b&&this.removeInput("DIVISOR")}};
Blockly.Constants.Math.IS_DIVISIBLE_MUTATOR_EXTENSION=function(){this.getField("PROPERTY").setValidator(function(a){a="DIVISIBLE_BY"==a;this.getSourceBlock().updateShape_(a)})};Blockly.Extensions.registerMutator("math_is_divisibleby_mutator",Blockly.Constants.Math.IS_DIVISIBLEBY_MUTATOR_MIXIN,Blockly.Constants.Math.IS_DIVISIBLE_MUTATOR_EXTENSION);Blockly.Extensions.register("math_change_tooltip",Blockly.Extensions.buildTooltipWithFieldText("%{BKY_MATH_CHANGE_TOOLTIP}","VAR"));
Blockly.Constants.Math.LIST_MODES_MUTATOR_MIXIN={updateType_:function(a){"MODE"==a?this.outputConnection.setCheck("Array"):this.outputConnection.setCheck("Number")},mutationToDom:function(){var a=Blockly.utils.xml.createElement("mutation");a.setAttribute("op",this.getFieldValue("OP"));return a},domToMutation:function(a){this.updateType_(a.getAttribute("op"))}};Blockly.Constants.Math.LIST_MODES_MUTATOR_EXTENSION=function(){this.getField("OP").setValidator(function(a){this.updateType_(a)}.bind(this))};
Blockly.Extensions.registerMutator("math_modes_of_list_mutator",Blockly.Constants.Math.LIST_MODES_MUTATOR_MIXIN,Blockly.Constants.Math.LIST_MODES_MUTATOR_EXTENSION);Blockly.Blocks.procedures={};
Blockly.Blocks.procedures_defnoreturn={init:function(){var a=new Blockly.FieldTextInput("",Blockly.Procedures.rename);a.setSpellcheck(!1);this.appendDummyInput().appendField(Blockly.Msg.PROCEDURES_DEFNORETURN_TITLE).appendField(a,"NAME").appendField("","PARAMS");this.setMutator(new Blockly.Mutator(["procedures_mutatorarg"]));(this.workspace.options.comments||this.workspace.options.parentWorkspace&&this.workspace.options.parentWorkspace.options.comments)&&Blockly.Msg.PROCEDURES_DEFNORETURN_COMMENT&&this.setCommentText(Blockly.Msg.PROCEDURES_DEFNORETURN_COMMENT);
this.setStyle("procedure_blocks");this.setTooltip(Blockly.Msg.PROCEDURES_DEFNORETURN_TOOLTIP);this.setHelpUrl(Blockly.Msg.PROCEDURES_DEFNORETURN_HELPURL);this.arguments_=[];this.argumentVarModels_=[];this.setStatements_(!0);this.statementConnection_=null},setStatements_:function(a){this.hasStatements_!==a&&(a?(this.appendStatementInput("STACK").appendField(Blockly.Msg.PROCEDURES_DEFNORETURN_DO),this.getInput("RETURN")&&this.moveInputBefore("STACK","RETURN")):this.removeInput("STACK",!0),this.hasStatements_=
a)},updateParams_:function(){var a="";this.arguments_.length&&(a=Blockly.Msg.PROCEDURES_BEFORE_PARAMS+" "+this.arguments_.join(", "));Blockly.Events.disable();try{this.setFieldValue(a,"PARAMS")}finally{Blockly.Events.enable()}},mutationToDom:function(a){var b=Blockly.utils.xml.createElement("mutation");a&&b.setAttribute("name",this.getFieldValue("NAME"));for(var c=0;c<this.argumentVarModels_.length;c++){var d=Blockly.utils.xml.createElement("arg"),e=this.argumentVarModels_[c];d.setAttribute("name",
e.name);d.setAttribute("varid",e.getId());a&&this.paramIds_&&d.setAttribute("paramId",this.paramIds_[c]);b.appendChild(d)}this.hasStatements_||b.setAttribute("statements","false");return b},domToMutation:function(a){this.arguments_=[];this.argumentVarModels_=[];for(var b=0,c;c=a.childNodes[b];b++)if("arg"==c.nodeName.toLowerCase()){var d=c.getAttribute("name");c=c.getAttribute("varid")||c.getAttribute("varId");this.arguments_.push(d);c=Blockly.Variables.getOrCreateVariablePackage(this.workspace,c,
d,"");null!=c?this.argumentVarModels_.push(c):console.log("Failed to create a variable with name "+d+", ignoring.")}this.updateParams_();Blockly.Procedures.mutateCallers(this);this.setStatements_("false"!==a.getAttribute("statements"))},decompose:function(a){var b=Blockly.utils.xml.createElement("block");b.setAttribute("type","procedures_mutatorcontainer");var c=Blockly.utils.xml.createElement("statement");c.setAttribute("name","STACK");b.appendChild(c);for(var d=0;d<this.arguments_.length;d++){var e=
Blockly.utils.xml.createElement("block");e.setAttribute("type","procedures_mutatorarg");var f=Blockly.utils.xml.createElement("field");f.setAttribute("name","NAME");var g=Blockly.utils.xml.createTextNode(this.arguments_[d]);f.appendChild(g);e.appendChild(f);f=Blockly.utils.xml.createElement("next");e.appendChild(f);c.appendChild(e);c=f}a=Blockly.Xml.domToBlock(b,a);"procedures_defreturn"==this.type?a.setFieldValue(this.hasStatements_,"STATEMENTS"):a.removeInput("STATEMENT_INPUT");Blockly.Procedures.mutateCallers(this);
return a},compose:function(a){this.arguments_=[];this.paramIds_=[];this.argumentVarModels_=[];for(var b=a.getInputTargetBlock("STACK");b;){var c=b.getFieldValue("NAME");this.arguments_.push(c);c=this.workspace.getVariable(c,"");this.argumentVarModels_.push(c);this.paramIds_.push(b.id);b=b.nextConnection&&b.nextConnection.targetBlock()}this.updateParams_();Blockly.Procedures.mutateCallers(this);a=a.getFieldValue("STATEMENTS");if(null!==a&&(a="TRUE"==a,this.hasStatements_!=a))if(a)this.setStatements_(!0),
Blockly.Mutator.reconnect(this.statementConnection_,this,"STACK"),this.statementConnection_=null;else{a=this.getInput("STACK").connection;if(this.statementConnection_=a.targetConnection)a=a.targetBlock(),a.unplug(),a.bumpNeighbours();this.setStatements_(!1)}},getProcedureDef:function(){return[this.getFieldValue("NAME"),this.arguments_,!1]},getVars:function(){return this.arguments_},getVarModels:function(){return this.argumentVarModels_},renameVarById:function(a,b){var c=this.workspace.getVariableById(a);
if(""==c.type){c=c.name;b=this.workspace.getVariableById(b);for(var d=!1,e=0;e<this.argumentVarModels_.length;e++)this.argumentVarModels_[e].getId()==a&&(this.arguments_[e]=b.name,this.argumentVarModels_[e]=b,d=!0);d&&(this.displayRenamedVar_(c,b.name),Blockly.Procedures.mutateCallers(this))}},updateVarName:function(a){for(var b=a.name,c=!1,d=0;d<this.argumentVarModels_.length;d++)if(this.argumentVarModels_[d].getId()==a.getId()){var e=this.arguments_[d];this.arguments_[d]=b;c=!0}c&&(this.displayRenamedVar_(e,
b),Blockly.Procedures.mutateCallers(this))},displayRenamedVar_:function(a,b){this.updateParams_();if(this.mutator&&this.mutator.isVisible())for(var c=this.mutator.workspace_.getAllBlocks(!1),d=0,e;e=c[d];d++)"procedures_mutatorarg"==e.type&&Blockly.Names.equals(a,e.getFieldValue("NAME"))&&e.setFieldValue(b,"NAME")},customContextMenu:function(a){if(!this.isInFlyout){var b={enabled:!0},c=this.getFieldValue("NAME");b.text=Blockly.Msg.PROCEDURES_CREATE_DO.replace("%1",c);var d=Blockly.utils.xml.createElement("mutation");
d.setAttribute("name",c);for(c=0;c<this.arguments_.length;c++){var e=Blockly.utils.xml.createElement("arg");e.setAttribute("name",this.arguments_[c]);d.appendChild(e)}c=Blockly.utils.xml.createElement("block");c.setAttribute("type",this.callType_);c.appendChild(d);b.callback=Blockly.ContextMenu.callbackFactory(this,c);a.push(b);if(!this.isCollapsed())for(c=0;c<this.argumentVarModels_.length;c++)b={enabled:!0},d=this.argumentVarModels_[c],b.text=Blockly.Msg.VARIABLES_SET_CREATE_GET.replace("%1",d.name),
d=Blockly.Variables.generateVariableFieldDom(d),e=Blockly.utils.xml.createElement("block"),e.setAttribute("type","variables_get"),e.appendChild(d),b.callback=Blockly.ContextMenu.callbackFactory(this,e),a.push(b)}},callType_:"procedures_callnoreturn"};
Blockly.Blocks.procedures_defreturn={init:function(){var a=new Blockly.FieldTextInput("",Blockly.Procedures.rename);a.setSpellcheck(!1);this.appendDummyInput().appendField(Blockly.Msg.PROCEDURES_DEFRETURN_TITLE).appendField(a,"NAME").appendField("","PARAMS");this.appendValueInput("RETURN").setAlign(Blockly.ALIGN_RIGHT).appendField(Blockly.Msg.PROCEDURES_DEFRETURN_RETURN);this.setMutator(new Blockly.Mutator(["procedures_mutatorarg"]));(this.workspace.options.comments||this.workspace.options.parentWorkspace&&
this.workspace.options.parentWorkspace.options.comments)&&Blockly.Msg.PROCEDURES_DEFRETURN_COMMENT&&this.setCommentText(Blockly.Msg.PROCEDURES_DEFRETURN_COMMENT);this.setStyle("procedure_blocks");this.setTooltip(Blockly.Msg.PROCEDURES_DEFRETURN_TOOLTIP);this.setHelpUrl(Blockly.Msg.PROCEDURES_DEFRETURN_HELPURL);this.arguments_=[];this.argumentVarModels_=[];this.setStatements_(!0);this.statementConnection_=null},setStatements_:Blockly.Blocks.procedures_defnoreturn.setStatements_,updateParams_:Blockly.Blocks.procedures_defnoreturn.updateParams_,
mutationToDom:Blockly.Blocks.procedures_defnoreturn.mutationToDom,domToMutation:Blockly.Blocks.procedures_defnoreturn.domToMutation,decompose:Blockly.Blocks.procedures_defnoreturn.decompose,compose:Blockly.Blocks.procedures_defnoreturn.compose,getProcedureDef:function(){return[this.getFieldValue("NAME"),this.arguments_,!0]},getVars:Blockly.Blocks.procedures_defnoreturn.getVars,getVarModels:Blockly.Blocks.procedures_defnoreturn.getVarModels,renameVarById:Blockly.Blocks.procedures_defnoreturn.renameVarById,
updateVarName:Blockly.Blocks.procedures_defnoreturn.updateVarName,displayRenamedVar_:Blockly.Blocks.procedures_defnoreturn.displayRenamedVar_,customContextMenu:Blockly.Blocks.procedures_defnoreturn.customContextMenu,callType_:"procedures_callreturn"};
Blockly.Blocks.procedures_mutatorcontainer={init:function(){this.appendDummyInput().appendField(Blockly.Msg.PROCEDURES_MUTATORCONTAINER_TITLE);this.appendStatementInput("STACK");this.appendDummyInput("STATEMENT_INPUT").appendField(Blockly.Msg.PROCEDURES_ALLOW_STATEMENTS).appendField(new Blockly.FieldCheckbox("TRUE"),"STATEMENTS");this.setStyle("procedure_blocks");this.setTooltip(Blockly.Msg.PROCEDURES_MUTATORCONTAINER_TOOLTIP);this.contextMenu=!1}};
Blockly.Blocks.procedures_mutatorarg={init:function(){var a=new Blockly.FieldTextInput(Blockly.Procedures.DEFAULT_ARG,this.validator_);a.oldShowEditorFn_=a.showEditor_;a.showEditor_=function(){this.createdVariables_=[];this.oldShowEditorFn_()};this.appendDummyInput().appendField(Blockly.Msg.PROCEDURES_MUTATORARG_TITLE).appendField(a,"NAME");this.setPreviousStatement(!0);this.setNextStatement(!0);this.setStyle("procedure_blocks");this.setTooltip(Blockly.Msg.PROCEDURES_MUTATORARG_TOOLTIP);this.contextMenu=
!1;a.onFinishEditing_=this.deleteIntermediateVars_;a.createdVariables_=[];a.onFinishEditing_("x")},validator_:function(a){var b=this.getSourceBlock(),c=Blockly.Mutator.findParentWs(b.workspace);a=a.replace(/[\s\xa0]+/g," ").replace(/^ | $/g,"");if(!a)return null;for(var d=(b.workspace.targetWorkspace||b.workspace).getAllBlocks(!1),e=a.toLowerCase(),f=0;f<d.length;f++)if(d[f].id!=this.getSourceBlock().id){var g=d[f].getFieldValue("NAME");if(g&&g.toLowerCase()==e)return null}if(b.isInFlyout)return a;
(b=c.getVariable(a,""))&&b.name!=a&&c.renameVariableById(b.getId(),a);b||(b=c.createVariable(a,""))&&this.createdVariables_&&this.createdVariables_.push(b);return a},deleteIntermediateVars_:function(a){var b=Blockly.Mutator.findParentWs(this.getSourceBlock().workspace);if(b)for(var c=0;c<this.createdVariables_.length;c++){var d=this.createdVariables_[c];d.name!=a&&b.deleteVariableById(d.getId())}}};
Blockly.Blocks.procedures_callnoreturn={init:function(){this.appendDummyInput("TOPROW").appendField(this.id,"NAME");this.setPreviousStatement(!0);this.setNextStatement(!0);this.setStyle("procedure_blocks");this.setHelpUrl(Blockly.Msg.PROCEDURES_CALLNORETURN_HELPURL);this.arguments_=[];this.argumentVarModels_=[];this.quarkConnections_={};this.quarkIds_=null;this.previousEnabledState_=!0},getProcedureCall:function(){return this.getFieldValue("NAME")},renameProcedure:function(a,b){Blockly.Names.equals(a,
this.getProcedureCall())&&(this.setFieldValue(b,"NAME"),this.setTooltip((this.outputConnection?Blockly.Msg.PROCEDURES_CALLRETURN_TOOLTIP:Blockly.Msg.PROCEDURES_CALLNORETURN_TOOLTIP).replace("%1",b)))},setProcedureParameters_:function(a,b){var c=Blockly.Procedures.getDefinition(this.getProcedureCall(),this.workspace),d=c&&c.mutator&&c.mutator.isVisible();d||(this.quarkConnections_={},this.quarkIds_=null);if(b)if(a.join("\n")==this.arguments_.join("\n"))this.quarkIds_=b;else{if(b.length!=a.length)throw RangeError("paramNames and paramIds must be the same length.");
this.setCollapsed(!1);this.quarkIds_||(this.quarkConnections_={},this.quarkIds_=[]);c=this.rendered;this.rendered=!1;for(var e=0;e<this.arguments_.length;e++){var f=this.getInput("ARG"+e);f&&(f=f.connection.targetConnection,this.quarkConnections_[this.quarkIds_[e]]=f,d&&f&&-1==b.indexOf(this.quarkIds_[e])&&(f.disconnect(),f.getSourceBlock().bumpNeighbours()))}this.arguments_=[].concat(a);this.argumentVarModels_=[];for(e=0;e<this.arguments_.length;e++)a=Blockly.Variables.getOrCreateVariablePackage(this.workspace,
null,this.arguments_[e],""),this.argumentVarModels_.push(a);this.updateShape_();if(this.quarkIds_=b)for(e=0;e<this.arguments_.length;e++)b=this.quarkIds_[e],b in this.quarkConnections_&&(f=this.quarkConnections_[b],Blockly.Mutator.reconnect(f,this,"ARG"+e)||delete this.quarkConnections_[b]);(this.rendered=c)&&this.render()}},updateShape_:function(){for(var a=0;a<this.arguments_.length;a++){var b=this.getField("ARGNAME"+a);if(b){Blockly.Events.disable();try{b.setValue(this.arguments_[a])}finally{Blockly.Events.enable()}}else b=
new Blockly.FieldLabel(this.arguments_[a]),this.appendValueInput("ARG"+a).setAlign(Blockly.ALIGN_RIGHT).appendField(b,"ARGNAME"+a).init()}for(;this.getInput("ARG"+a);)this.removeInput("ARG"+a),a++;if(a=this.getInput("TOPROW"))this.arguments_.length?this.getField("WITH")||(a.appendField(Blockly.Msg.PROCEDURES_CALL_BEFORE_PARAMS,"WITH"),a.init()):this.getField("WITH")&&a.removeField("WITH")},mutationToDom:function(){var a=Blockly.utils.xml.createElement("mutation");a.setAttribute("name",this.getProcedureCall());
for(var b=0;b<this.arguments_.length;b++){var c=Blockly.utils.xml.createElement("arg");c.setAttribute("name",this.arguments_[b]);a.appendChild(c)}return a},domToMutation:function(a){var b=a.getAttribute("name");this.renameProcedure(this.getProcedureCall(),b);b=[];for(var c=[],d=0,e;e=a.childNodes[d];d++)"arg"==e.nodeName.toLowerCase()&&(b.push(e.getAttribute("name")),c.push(e.getAttribute("paramId")));this.setProcedureParameters_(b,c)},getVars:function(){return this.arguments_},getVarModels:function(){return this.argumentVarModels_},
onchange:function(a){if(this.workspace&&!this.workspace.isFlyout&&a.recordUndo)if(a.type==Blockly.Events.BLOCK_CREATE&&-1!=a.ids.indexOf(this.id)){var b=this.getProcedureCall();b=Blockly.Procedures.getDefinition(b,this.workspace);!b||b.type==this.defType_&&JSON.stringify(b.getVars())==JSON.stringify(this.arguments_)||(b=null);if(!b){Blockly.Events.setGroup(a.group);a=Blockly.utils.xml.createElement("xml");b=Blockly.utils.xml.createElement("block");b.setAttribute("type",this.defType_);var c=this.getRelativeToSurfaceXY(),
d=c.y+2*Blockly.SNAP_RADIUS;b.setAttribute("x",c.x+Blockly.SNAP_RADIUS*(this.RTL?-1:1));b.setAttribute("y",d);c=this.mutationToDom();b.appendChild(c);c=Blockly.utils.xml.createElement("field");c.setAttribute("name","NAME");c.appendChild(Blockly.utils.xml.createTextNode(this.getProcedureCall()));b.appendChild(c);a.appendChild(b);Blockly.Xml.domToWorkspace(a,this.workspace);Blockly.Events.setGroup(!1)}}else a.type==Blockly.Events.BLOCK_DELETE?(b=this.getProcedureCall(),b=Blockly.Procedures.getDefinition(b,
this.workspace),b||(Blockly.Events.setGroup(a.group),this.dispose(!0),Blockly.Events.setGroup(!1))):a.type==Blockly.Events.CHANGE&&"disabled"==a.element&&(b=this.getProcedureCall(),(b=Blockly.Procedures.getDefinition(b,this.workspace))&&b.id==a.blockId&&((b=Blockly.Events.getGroup())&&console.log("Saw an existing group while responding to a definition change"),Blockly.Events.setGroup(a.group),a.newValue?(this.previousEnabledState_=this.isEnabled(),this.setEnabled(!1)):this.setEnabled(this.previousEnabledState_),
Blockly.Events.setGroup(b)))},customContextMenu:function(a){if(this.workspace.isMovable()){var b={enabled:!0};b.text=Blockly.Msg.PROCEDURES_HIGHLIGHT_DEF;var c=this.getProcedureCall(),d=this.workspace;b.callback=function(){var a=Blockly.Procedures.getDefinition(c,d);a&&(d.centerOnBlock(a.id),a.select())};a.push(b)}},defType_:"procedures_defnoreturn"};
Blockly.Blocks.procedures_callreturn={init:function(){this.appendDummyInput("TOPROW").appendField("","NAME");this.setOutput(!0);this.setStyle("procedure_blocks");this.setHelpUrl(Blockly.Msg.PROCEDURES_CALLRETURN_HELPURL);this.arguments_=[];this.quarkConnections_={};this.quarkIds_=null;this.previousEnabledState_=!0},getProcedureCall:Blockly.Blocks.procedures_callnoreturn.getProcedureCall,renameProcedure:Blockly.Blocks.procedures_callnoreturn.renameProcedure,setProcedureParameters_:Blockly.Blocks.procedures_callnoreturn.setProcedureParameters_,
updateShape_:Blockly.Blocks.procedures_callnoreturn.updateShape_,mutationToDom:Blockly.Blocks.procedures_callnoreturn.mutationToDom,domToMutation:Blockly.Blocks.procedures_callnoreturn.domToMutation,getVars:Blockly.Blocks.procedures_callnoreturn.getVars,getVarModels:Blockly.Blocks.procedures_callnoreturn.getVarModels,onchange:Blockly.Blocks.procedures_callnoreturn.onchange,customContextMenu:Blockly.Blocks.procedures_callnoreturn.customContextMenu,defType_:"procedures_defreturn"};
Blockly.Blocks.procedures_ifreturn={init:function(){this.appendValueInput("CONDITION").setCheck("Boolean").appendField(Blockly.Msg.CONTROLS_IF_MSG_IF);this.appendValueInput("VALUE").appendField(Blockly.Msg.PROCEDURES_DEFRETURN_RETURN);this.setInputsInline(!0);this.setPreviousStatement(!0);this.setNextStatement(!0);this.setStyle("procedure_blocks");this.setTooltip(Blockly.Msg.PROCEDURES_IFRETURN_TOOLTIP);this.setHelpUrl(Blockly.Msg.PROCEDURES_IFRETURN_HELPURL);this.hasReturnValue_=!0},mutationToDom:function(){var a=
Blockly.utils.xml.createElement("mutation");a.setAttribute("value",Number(this.hasReturnValue_));return a},domToMutation:function(a){this.hasReturnValue_=1==a.getAttribute("value");this.hasReturnValue_||(this.removeInput("VALUE"),this.appendDummyInput("VALUE").appendField(Blockly.Msg.PROCEDURES_DEFRETURN_RETURN))},onchange:function(a){if(this.workspace.isDragging&&!this.workspace.isDragging()){a=!1;var b=this;do{if(-1!=this.FUNCTION_TYPES.indexOf(b.type)){a=!0;break}b=b.getSurroundParent()}while(b);
a?("procedures_defnoreturn"==b.type&&this.hasReturnValue_?(this.removeInput("VALUE"),this.appendDummyInput("VALUE").appendField(Blockly.Msg.PROCEDURES_DEFRETURN_RETURN),this.hasReturnValue_=!1):"procedures_defreturn"!=b.type||this.hasReturnValue_||(this.removeInput("VALUE"),this.appendValueInput("VALUE").appendField(Blockly.Msg.PROCEDURES_DEFRETURN_RETURN),this.hasReturnValue_=!0),this.setWarningText(null),this.isInFlyout||this.setEnabled(!0)):(this.setWarningText(Blockly.Msg.PROCEDURES_IFRETURN_WARNING),
this.isInFlyout||this.getInheritedDisabled()||this.setEnabled(!1))}},FUNCTION_TYPES:["procedures_defnoreturn","procedures_defreturn"]};Blockly.Blocks.texts={};Blockly.Constants.Text={};Blockly.Constants.Text.HUE=160;
Blockly.defineBlocksWithJsonArray([{type:"text",message0:"%1",args0:[{type:"field_input",name:"TEXT",text:""}],output:"String",style:"text_blocks",helpUrl:"%{BKY_TEXT_TEXT_HELPURL}",tooltip:"%{BKY_TEXT_TEXT_TOOLTIP}",extensions:["text_quotes","parent_tooltip_when_inline"]},{type:"text_multiline",message0:"%1 %2",args0:[{type:"field_image",src:"data:image/png;base64,iVBORw0KGgoAAAANSUhEUgAAAAwAAAARCAYAAADpPU2iAAAABGdBTUEAALGPC/xhBQAAAAlwSFlzAAAdhgAAHYYBXaITgQAAABh0RVh0U29mdHdhcmUAcGFpbnQubmV0IDQuMS42/U4J6AAAAP1JREFUOE+Vks0KQUEYhjmRIja4ABtZ2dm5A3t3Ia6AUm7CylYuQRaUhZSlLZJiQbFAyRnPN33y01HOW08z8873zpwzM4F3GWOCruvGIE4/rLaV+Nq1hVGMBqzhqlxgCys4wJA65xnogMHsQ5lujnYHTejBBCK2mE4abjCgMGhNxHgDFWjDSG07kdfVa2pZMf4ZyMAdWmpZMfYOsLiDMYMjlMB+K613QISRhTnITnsYg5yUd0DETmEoMlkFOeIT/A58iyK5E18BuTBfgYXfwNJv4P9/oEBerLylOnRhygmGdPpTTBZAPkde61lbQe4moWUvYUZYLfUNftIY4zwA5X2Z9AYnQrEAAAAASUVORK5CYII=",width:12,
height:17,alt:"\u00b6"},{type:"field_multilinetext",name:"TEXT",text:""}],output:"String",style:"text_blocks",helpUrl:"%{BKY_TEXT_TEXT_HELPURL}",tooltip:"%{BKY_TEXT_TEXT_TOOLTIP}",extensions:["parent_tooltip_when_inline"]},{type:"text_join",message0:"",output:"String",style:"text_blocks",helpUrl:"%{BKY_TEXT_JOIN_HELPURL}",tooltip:"%{BKY_TEXT_JOIN_TOOLTIP}",mutator:"text_join_mutator"},{type:"text_create_join_container",message0:"%{BKY_TEXT_CREATE_JOIN_TITLE_JOIN} %1 %2",args0:[{type:"input_dummy"},
{type:"input_statement",name:"STACK"}],style:"text_blocks",tooltip:"%{BKY_TEXT_CREATE_JOIN_TOOLTIP}",enableContextMenu:!1},{type:"text_create_join_item",message0:"%{BKY_TEXT_CREATE_JOIN_ITEM_TITLE_ITEM}",previousStatement:null,nextStatement:null,style:"text_blocks",tooltip:"%{BKY_TEXT_CREATE_JOIN_ITEM_TOOLTIP}",enableContextMenu:!1},{type:"text_append",message0:"%{BKY_TEXT_APPEND_TITLE}",args0:[{type:"field_variable",name:"VAR",variable:"%{BKY_TEXT_APPEND_VARIABLE}"},{type:"input_value",name:"TEXT"}],
previousStatement:null,nextStatement:null,style:"text_blocks",extensions:["text_append_tooltip"]},{type:"text_length",message0:"%{BKY_TEXT_LENGTH_TITLE}",args0:[{type:"input_value",name:"VALUE",check:["String","Array"]}],output:"Number",style:"text_blocks",tooltip:"%{BKY_TEXT_LENGTH_TOOLTIP}",helpUrl:"%{BKY_TEXT_LENGTH_HELPURL}"},{type:"text_isEmpty",message0:"%{BKY_TEXT_ISEMPTY_TITLE}",args0:[{type:"input_value",name:"VALUE",check:["String","Array"]}],output:"Boolean",style:"text_blocks",tooltip:"%{BKY_TEXT_ISEMPTY_TOOLTIP}",
helpUrl:"%{BKY_TEXT_ISEMPTY_HELPURL}"},{type:"text_indexOf",message0:"%{BKY_TEXT_INDEXOF_TITLE}",args0:[{type:"input_value",name:"VALUE",check:"String"},{type:"field_dropdown",name:"END",options:[["%{BKY_TEXT_INDEXOF_OPERATOR_FIRST}","FIRST"],["%{BKY_TEXT_INDEXOF_OPERATOR_LAST}","LAST"]]},{type:"input_value",name:"FIND",check:"String"}],output:"Number",style:"text_blocks",helpUrl:"%{BKY_TEXT_INDEXOF_HELPURL}",inputsInline:!0,extensions:["text_indexOf_tooltip"]},{type:"text_charAt",message0:"%{BKY_TEXT_CHARAT_TITLE}",
args0:[{type:"input_value",name:"VALUE",check:"String"},{type:"field_dropdown",name:"WHERE",options:[["%{BKY_TEXT_CHARAT_FROM_START}","FROM_START"],["%{BKY_TEXT_CHARAT_FROM_END}","FROM_END"],["%{BKY_TEXT_CHARAT_FIRST}","FIRST"],["%{BKY_TEXT_CHARAT_LAST}","LAST"],["%{BKY_TEXT_CHARAT_RANDOM}","RANDOM"]]}],output:"String",style:"text_blocks",helpUrl:"%{BKY_TEXT_CHARAT_HELPURL}",inputsInline:!0,mutator:"text_charAt_mutator"}]);
Blockly.Blocks.text_getSubstring={init:function(){this.WHERE_OPTIONS_1=[[Blockly.Msg.TEXT_GET_SUBSTRING_START_FROM_START,"FROM_START"],[Blockly.Msg.TEXT_GET_SUBSTRING_START_FROM_END,"FROM_END"],[Blockly.Msg.TEXT_GET_SUBSTRING_START_FIRST,"FIRST"]];this.WHERE_OPTIONS_2=[[Blockly.Msg.TEXT_GET_SUBSTRING_END_FROM_START,"FROM_START"],[Blockly.Msg.TEXT_GET_SUBSTRING_END_FROM_END,"FROM_END"],[Blockly.Msg.TEXT_GET_SUBSTRING_END_LAST,"LAST"]];this.setHelpUrl(Blockly.Msg.TEXT_GET_SUBSTRING_HELPURL);this.setStyle("text_blocks");
this.appendValueInput("STRING").setCheck("String").appendField(Blockly.Msg.TEXT_GET_SUBSTRING_INPUT_IN_TEXT);this.appendDummyInput("AT1");this.appendDummyInput("AT2");Blockly.Msg.TEXT_GET_SUBSTRING_TAIL&&this.appendDummyInput("TAIL").appendField(Blockly.Msg.TEXT_GET_SUBSTRING_TAIL);this.setInputsInline(!0);this.setOutput(!0,"String");this.updateAt_(1,!0);this.updateAt_(2,!0);this.setTooltip(Blockly.Msg.TEXT_GET_SUBSTRING_TOOLTIP)},mutationToDom:function(){var a=Blockly.utils.xml.createElement("mutation"),
b=this.getInput("AT1").type==Blockly.INPUT_VALUE;a.setAttribute("at1",b);b=this.getInput("AT2").type==Blockly.INPUT_VALUE;a.setAttribute("at2",b);return a},domToMutation:function(a){var b="true"==a.getAttribute("at1");a="true"==a.getAttribute("at2");this.updateAt_(1,b);this.updateAt_(2,a)},updateAt_:function(a,b){this.removeInput("AT"+a);this.removeInput("ORDINAL"+a,!0);b?(this.appendValueInput("AT"+a).setCheck("Number"),Blockly.Msg.ORDINAL_NUMBER_SUFFIX&&this.appendDummyInput("ORDINAL"+a).appendField(Blockly.Msg.ORDINAL_NUMBER_SUFFIX)):
this.appendDummyInput("AT"+a);2==a&&Blockly.Msg.TEXT_GET_SUBSTRING_TAIL&&(this.removeInput("TAIL",!0),this.appendDummyInput("TAIL").appendField(Blockly.Msg.TEXT_GET_SUBSTRING_TAIL));var c=new Blockly.FieldDropdown(this["WHERE_OPTIONS_"+a],function(c){var e="FROM_START"==c||"FROM_END"==c;if(e!=b){var d=this.getSourceBlock();d.updateAt_(a,e);d.setFieldValue(c,"WHERE"+a);return null}});this.getInput("AT"+a).appendField(c,"WHERE"+a);1==a&&(this.moveInputBefore("AT1","AT2"),this.getInput("ORDINAL1")&&
this.moveInputBefore("ORDINAL1","AT2"))}};Blockly.Blocks.text_changeCase={init:function(){var a=[[Blockly.Msg.TEXT_CHANGECASE_OPERATOR_UPPERCASE,"UPPERCASE"],[Blockly.Msg.TEXT_CHANGECASE_OPERATOR_LOWERCASE,"LOWERCASE"],[Blockly.Msg.TEXT_CHANGECASE_OPERATOR_TITLECASE,"TITLECASE"]];this.setHelpUrl(Blockly.Msg.TEXT_CHANGECASE_HELPURL);this.setStyle("text_blocks");this.appendValueInput("TEXT").setCheck("String").appendField(new Blockly.FieldDropdown(a),"CASE");this.setOutput(!0,"String");this.setTooltip(Blockly.Msg.TEXT_CHANGECASE_TOOLTIP)}};
Blockly.Blocks.text_trim={init:function(){var a=[[Blockly.Msg.TEXT_TRIM_OPERATOR_BOTH,"BOTH"],[Blockly.Msg.TEXT_TRIM_OPERATOR_LEFT,"LEFT"],[Blockly.Msg.TEXT_TRIM_OPERATOR_RIGHT,"RIGHT"]];this.setHelpUrl(Blockly.Msg.TEXT_TRIM_HELPURL);this.setStyle("text_blocks");this.appendValueInput("TEXT").setCheck("String").appendField(new Blockly.FieldDropdown(a),"MODE");this.setOutput(!0,"String");this.setTooltip(Blockly.Msg.TEXT_TRIM_TOOLTIP)}};
Blockly.Blocks.text_print={init:function(){this.jsonInit({message0:Blockly.Msg.TEXT_PRINT_TITLE,args0:[{type:"input_value",name:"TEXT"}],previousStatement:null,nextStatement:null,style:"text_blocks",tooltip:Blockly.Msg.TEXT_PRINT_TOOLTIP,helpUrl:Blockly.Msg.TEXT_PRINT_HELPURL})}};
Blockly.Blocks.text_prompt_ext={init:function(){var a=[[Blockly.Msg.TEXT_PROMPT_TYPE_TEXT,"TEXT"],[Blockly.Msg.TEXT_PROMPT_TYPE_NUMBER,"NUMBER"]];this.setHelpUrl(Blockly.Msg.TEXT_PROMPT_HELPURL);this.setStyle("text_blocks");var b=this;a=new Blockly.FieldDropdown(a,function(a){b.updateType_(a)});this.appendValueInput("TEXT").appendField(a,"TYPE");this.setOutput(!0,"String");this.setTooltip(function(){return"TEXT"==b.getFieldValue("TYPE")?Blockly.Msg.TEXT_PROMPT_TOOLTIP_TEXT:Blockly.Msg.TEXT_PROMPT_TOOLTIP_NUMBER})},
updateType_:function(a){this.outputConnection.setCheck("NUMBER"==a?"Number":"String")},mutationToDom:function(){var a=Blockly.utils.xml.createElement("mutation");a.setAttribute("type",this.getFieldValue("TYPE"));return a},domToMutation:function(a){this.updateType_(a.getAttribute("type"))}};
Blockly.Blocks.text_prompt={init:function(){this.mixin(Blockly.Constants.Text.QUOTE_IMAGE_MIXIN);var a=[[Blockly.Msg.TEXT_PROMPT_TYPE_TEXT,"TEXT"],[Blockly.Msg.TEXT_PROMPT_TYPE_NUMBER,"NUMBER"]],b=this;this.setHelpUrl(Blockly.Msg.TEXT_PROMPT_HELPURL);this.setStyle("text_blocks");a=new Blockly.FieldDropdown(a,function(a){b.updateType_(a)});this.appendDummyInput().appendField(a,"TYPE").appendField(this.newQuote_(!0)).appendField(new Blockly.FieldTextInput(""),"TEXT").appendField(this.newQuote_(!1));
this.setOutput(!0,"String");this.setTooltip(function(){return"TEXT"==b.getFieldValue("TYPE")?Blockly.Msg.TEXT_PROMPT_TOOLTIP_TEXT:Blockly.Msg.TEXT_PROMPT_TOOLTIP_NUMBER})},updateType_:Blockly.Blocks.text_prompt_ext.updateType_,mutationToDom:Blockly.Blocks.text_prompt_ext.mutationToDom,domToMutation:Blockly.Blocks.text_prompt_ext.domToMutation};
Blockly.Blocks.text_count={init:function(){this.jsonInit({message0:Blockly.Msg.TEXT_COUNT_MESSAGE0,args0:[{type:"input_value",name:"SUB",check:"String"},{type:"input_value",name:"TEXT",check:"String"}],output:"Number",inputsInline:!0,style:"text_blocks",tooltip:Blockly.Msg.TEXT_COUNT_TOOLTIP,helpUrl:Blockly.Msg.TEXT_COUNT_HELPURL})}};
Blockly.Blocks.text_replace={init:function(){this.jsonInit({message0:Blockly.Msg.TEXT_REPLACE_MESSAGE0,args0:[{type:"input_value",name:"FROM",check:"String"},{type:"input_value",name:"TO",check:"String"},{type:"input_value",name:"TEXT",check:"String"}],output:"String",inputsInline:!0,style:"text_blocks",tooltip:Blockly.Msg.TEXT_REPLACE_TOOLTIP,helpUrl:Blockly.Msg.TEXT_REPLACE_HELPURL})}};
Blockly.Blocks.text_reverse={init:function(){this.jsonInit({message0:Blockly.Msg.TEXT_REVERSE_MESSAGE0,args0:[{type:"input_value",name:"TEXT",check:"String"}],output:"String",inputsInline:!0,style:"text_blocks",tooltip:Blockly.Msg.TEXT_REVERSE_TOOLTIP,helpUrl:Blockly.Msg.TEXT_REVERSE_HELPURL})}};
Blockly.Constants.Text.QUOTE_IMAGE_MIXIN={QUOTE_IMAGE_LEFT_DATAURI:"data:image/png;base64,iVBORw0KGgoAAAANSUhEUgAAAAwAAAAKCAQAAAAqJXdxAAAAn0lEQVQI1z3OMa5BURSF4f/cQhAKjUQhuQmFNwGJEUi0RKN5rU7FHKhpjEH3TEMtkdBSCY1EIv8r7nFX9e29V7EBAOvu7RPjwmWGH/VuF8CyN9/OAdvqIXYLvtRaNjx9mMTDyo+NjAN1HNcl9ZQ5oQMM3dgDUqDo1l8DzvwmtZN7mnD+PkmLa+4mhrxVA9fRowBWmVBhFy5gYEjKMfz9AylsaRRgGzvZAAAAAElFTkSuQmCC",QUOTE_IMAGE_RIGHT_DATAURI:"data:image/png;base64,iVBORw0KGgoAAAANSUhEUgAAAAwAAAAKCAQAAAAqJXdxAAAAqUlEQVQI1z3KvUpCcRiA8ef9E4JNHhI0aFEacm1o0BsI0Slx8wa8gLauoDnoBhq7DcfWhggONDmJJgqCPA7neJ7p934EOOKOnM8Q7PDElo/4x4lFb2DmuUjcUzS3URnGib9qaPNbuXvBO3sGPHJDRG6fGVdMSeWDP2q99FQdFrz26Gu5Tq7dFMzUvbXy8KXeAj57cOklgA+u1B5AoslLtGIHQMaCVnwDnADZIFIrXsoXrgAAAABJRU5ErkJggg==",
QUOTE_IMAGE_WIDTH:12,QUOTE_IMAGE_HEIGHT:12,quoteField_:function(a){for(var b=0,c;c=this.inputList[b];b++)for(var d=0,e;e=c.fieldRow[d];d++)if(a==e.name){c.insertFieldAt(d,this.newQuote_(!0));c.insertFieldAt(d+2,this.newQuote_(!1));return}console.warn('field named "'+a+'" not found in '+this.toDevString())},newQuote_:function(a){a=this.RTL?!a:a;return new Blockly.FieldImage(a?this.QUOTE_IMAGE_LEFT_DATAURI:this.QUOTE_IMAGE_RIGHT_DATAURI,this.QUOTE_IMAGE_WIDTH,this.QUOTE_IMAGE_HEIGHT,a?"\u201c":"\u201d")}};
Blockly.Constants.Text.TEXT_QUOTES_EXTENSION=function(){this.mixin(Blockly.Constants.Text.QUOTE_IMAGE_MIXIN);this.quoteField_("TEXT")};
Blockly.Constants.Text.TEXT_JOIN_MUTATOR_MIXIN={mutationToDom:function(){var a=Blockly.utils.xml.createElement("mutation");a.setAttribute("items",this.itemCount_);return a},domToMutation:function(a){this.itemCount_=parseInt(a.getAttribute("items"),10);this.updateShape_()},decompose:function(a){var b=a.newBlock("text_create_join_container");b.initSvg();for(var c=b.getInput("STACK").connection,d=0;d<this.itemCount_;d++){var e=a.newBlock("text_create_join_item");e.initSvg();c.connect(e.previousConnection);
c=e.nextConnection}return b},compose:function(a){var b=a.getInputTargetBlock("STACK");for(a=[];b;)a.push(b.valueConnection_),b=b.nextConnection&&b.nextConnection.targetBlock();for(b=0;b<this.itemCount_;b++){var c=this.getInput("ADD"+b).connection.targetConnection;c&&-1==a.indexOf(c)&&c.disconnect()}this.itemCount_=a.length;this.updateShape_();for(b=0;b<this.itemCount_;b++)Blockly.Mutator.reconnect(a[b],this,"ADD"+b)},saveConnections:function(a){a=a.getInputTargetBlock("STACK");for(var b=0;a;){var c=
this.getInput("ADD"+b);a.valueConnection_=c&&c.connection.targetConnection;b++;a=a.nextConnection&&a.nextConnection.targetBlock()}},updateShape_:function(){this.itemCount_&&this.getInput("EMPTY")?this.removeInput("EMPTY"):this.itemCount_||this.getInput("EMPTY")||this.appendDummyInput("EMPTY").appendField(this.newQuote_(!0)).appendField(this.newQuote_(!1));for(var a=0;a<this.itemCount_;a++)if(!this.getInput("ADD"+a)){var b=this.appendValueInput("ADD"+a).setAlign(Blockly.ALIGN_RIGHT);0==a&&b.appendField(Blockly.Msg.TEXT_JOIN_TITLE_CREATEWITH)}for(;this.getInput("ADD"+
a);)this.removeInput("ADD"+a),a++}};Blockly.Constants.Text.TEXT_JOIN_EXTENSION=function(){this.mixin(Blockly.Constants.Text.QUOTE_IMAGE_MIXIN);this.itemCount_=2;this.updateShape_();this.setMutator(new Blockly.Mutator(["text_create_join_item"]))};Blockly.Extensions.register("text_append_tooltip",Blockly.Extensions.buildTooltipWithFieldText("%{BKY_TEXT_APPEND_TOOLTIP}","VAR"));
Blockly.Constants.Text.TEXT_INDEXOF_TOOLTIP_EXTENSION=function(){var a=this;this.setTooltip(function(){return Blockly.Msg.TEXT_INDEXOF_TOOLTIP.replace("%1",a.workspace.options.oneBasedIndex?"0":"-1")})};
Blockly.Constants.Text.TEXT_CHARAT_MUTATOR_MIXIN={mutationToDom:function(){var a=Blockly.utils.xml.createElement("mutation");a.setAttribute("at",!!this.isAt_);return a},domToMutation:function(a){a="false"!=a.getAttribute("at");this.updateAt_(a)},updateAt_:function(a){this.removeInput("AT",!0);this.removeInput("ORDINAL",!0);a&&(this.appendValueInput("AT").setCheck("Number"),Blockly.Msg.ORDINAL_NUMBER_SUFFIX&&this.appendDummyInput("ORDINAL").appendField(Blockly.Msg.ORDINAL_NUMBER_SUFFIX));Blockly.Msg.TEXT_CHARAT_TAIL&&
(this.removeInput("TAIL",!0),this.appendDummyInput("TAIL").appendField(Blockly.Msg.TEXT_CHARAT_TAIL));this.isAt_=a}};
Blockly.Constants.Text.TEXT_CHARAT_EXTENSION=function(){this.getField("WHERE").setValidator(function(a){a="FROM_START"==a||"FROM_END"==a;a!=this.isAt_&&this.getSourceBlock().updateAt_(a)});this.updateAt_(!0);var a=this;this.setTooltip(function(){var b=a.getFieldValue("WHERE"),c=Blockly.Msg.TEXT_CHARAT_TOOLTIP;("FROM_START"==b||"FROM_END"==b)&&(b="FROM_START"==b?Blockly.Msg.LISTS_INDEX_FROM_START_TOOLTIP:Blockly.Msg.LISTS_INDEX_FROM_END_TOOLTIP)&&(c+=" "+b.replace("%1",a.workspace.options.oneBasedIndex?
"#1":"#0"));return c})};Blockly.Extensions.register("text_indexOf_tooltip",Blockly.Constants.Text.TEXT_INDEXOF_TOOLTIP_EXTENSION);Blockly.Extensions.register("text_quotes",Blockly.Constants.Text.TEXT_QUOTES_EXTENSION);Blockly.Extensions.registerMutator("text_join_mutator",Blockly.Constants.Text.TEXT_JOIN_MUTATOR_MIXIN,Blockly.Constants.Text.TEXT_JOIN_EXTENSION);Blockly.Extensions.registerMutator("text_charAt_mutator",Blockly.Constants.Text.TEXT_CHARAT_MUTATOR_MIXIN,Blockly.Constants.Text.TEXT_CHARAT_EXTENSION);Blockly.Blocks.variables={};Blockly.Constants.Variables={};Blockly.Constants.Variables.HUE=330;
Blockly.defineBlocksWithJsonArray([{type:"variables_get",message0:"%1",args0:[{type:"field_variable",name:"VAR",variable:"%{BKY_VARIABLES_DEFAULT_NAME}"}],output:null,style:"variable_blocks",helpUrl:"%{BKY_VARIABLES_GET_HELPURL}",tooltip:"%{BKY_VARIABLES_GET_TOOLTIP}",extensions:["contextMenu_variableSetterGetter"]},{type:"variables_set",message0:"%{BKY_VARIABLES_SET}",args0:[{type:"field_variable",name:"VAR",variable:"%{BKY_VARIABLES_DEFAULT_NAME}"},{type:"input_value",name:"VALUE"}],previousStatement:null,
nextStatement:null,style:"variable_blocks",tooltip:"%{BKY_VARIABLES_SET_TOOLTIP}",helpUrl:"%{BKY_VARIABLES_SET_HELPURL}",extensions:["contextMenu_variableSetterGetter"]}]);
Blockly.Constants.Variables.CUSTOM_CONTEXT_MENU_VARIABLE_GETTER_SETTER_MIXIN={customContextMenu:function(a){if(!this.isInFlyout){if("variables_get"==this.type)var b="variables_set",c=Blockly.Msg.VARIABLES_GET_CREATE_SET;else b="variables_get",c=Blockly.Msg.VARIABLES_SET_CREATE_GET;var d={enabled:0<this.workspace.remainingCapacity()},e=this.getField("VAR").getText();d.text=c.replace("%1",e);c=Blockly.utils.xml.createElement("field");c.setAttribute("name","VAR");c.appendChild(Blockly.utils.xml.createTextNode(e));
e=Blockly.utils.xml.createElement("block");e.setAttribute("type",b);e.appendChild(c);d.callback=Blockly.ContextMenu.callbackFactory(this,e);a.push(d)}else if("variables_get"==this.type||"variables_get_reporter"==this.type)b={text:Blockly.Msg.RENAME_VARIABLE,enabled:!0,callback:Blockly.Constants.Variables.RENAME_OPTION_CALLBACK_FACTORY(this)},e=this.getField("VAR").getText(),d={text:Blockly.Msg.DELETE_VARIABLE.replace("%1",e),enabled:!0,callback:Blockly.Constants.Variables.DELETE_OPTION_CALLBACK_FACTORY(this)},
a.unshift(b),a.unshift(d)}};Blockly.Constants.Variables.RENAME_OPTION_CALLBACK_FACTORY=function(a){return function(){var b=a.workspace,c=a.getField("VAR").getVariable();Blockly.Variables.renameVariable(b,c)}};Blockly.Constants.Variables.DELETE_OPTION_CALLBACK_FACTORY=function(a){return function(){var b=a.workspace,c=a.getField("VAR").getVariable();b.deleteVariableById(c.getId());b.refreshToolboxSelection()}};Blockly.Extensions.registerMixin("contextMenu_variableSetterGetter",Blockly.Constants.Variables.CUSTOM_CONTEXT_MENU_VARIABLE_GETTER_SETTER_MIXIN);Blockly.Constants.VariablesDynamic={};Blockly.Constants.VariablesDynamic.HUE=310;
Blockly.defineBlocksWithJsonArray([{type:"variables_get_dynamic",message0:"%1",args0:[{type:"field_variable",name:"VAR",variable:"%{BKY_VARIABLES_DEFAULT_NAME}"}],output:null,style:"variable_dynamic_blocks",helpUrl:"%{BKY_VARIABLES_GET_HELPURL}",tooltip:"%{BKY_VARIABLES_GET_TOOLTIP}",extensions:["contextMenu_variableDynamicSetterGetter"]},{type:"variables_set_dynamic",message0:"%{BKY_VARIABLES_SET}",args0:[{type:"field_variable",name:"VAR",variable:"%{BKY_VARIABLES_DEFAULT_NAME}"},{type:"input_value",
name:"VALUE"}],previousStatement:null,nextStatement:null,style:"variable_dynamic_blocks",tooltip:"%{BKY_VARIABLES_SET_TOOLTIP}",helpUrl:"%{BKY_VARIABLES_SET_HELPURL}",extensions:["contextMenu_variableDynamicSetterGetter"]}]);
Blockly.Constants.VariablesDynamic.CUSTOM_CONTEXT_MENU_VARIABLE_GETTER_SETTER_MIXIN={customContextMenu:function(a){if(!this.isInFlyout){var b=this.getFieldValue("VAR");var c=this.workspace.getVariableById(b).type;if("variables_get_dynamic"==this.type){b="variables_set_dynamic";var d=Blockly.Msg.VARIABLES_GET_CREATE_SET}else b="variables_get_dynamic",d=Blockly.Msg.VARIABLES_SET_CREATE_GET;var e={enabled:0<this.workspace.remainingCapacity()},f=this.getField("VAR").getText();e.text=d.replace("%1",f);
d=Blockly.utils.xml.createElement("field");d.setAttribute("name","VAR");d.setAttribute("variabletype",c);d.appendChild(Blockly.utils.xml.createTextNode(f));f=Blockly.utils.xml.createElement("block");f.setAttribute("type",b);f.appendChild(d);e.callback=Blockly.ContextMenu.callbackFactory(this,f);a.push(e)}else if("variables_get_dynamic"==this.type||"variables_get_reporter_dynamic"==this.type)b={text:Blockly.Msg.RENAME_VARIABLE,enabled:!0,callback:Blockly.Constants.Variables.RENAME_OPTION_CALLBACK_FACTORY(this)},
f=this.getField("VAR").getText(),e={text:Blockly.Msg.DELETE_VARIABLE.replace("%1",f),enabled:!0,callback:Blockly.Constants.Variables.DELETE_OPTION_CALLBACK_FACTORY(this)},a.unshift(b),a.unshift(e)},onchange:function(a){a=this.getFieldValue("VAR");a=Blockly.Variables.getVariable(this.workspace,a);"variables_get_dynamic"==this.type?this.outputConnection.setCheck(a.type):this.getInput("VALUE").connection.setCheck(a.type)}};
Blockly.Constants.VariablesDynamic.RENAME_OPTION_CALLBACK_FACTORY=function(a){return function(){var b=a.workspace,c=a.getField("VAR").getVariable();Blockly.Variables.renameVariable(b,c)}};Blockly.Constants.VariablesDynamic.DELETE_OPTION_CALLBACK_FACTORY=function(a){return function(){var b=a.workspace,c=a.getField("VAR").getVariable();b.deleteVariableById(c.getId());b.refreshToolboxSelection()}};Blockly.Extensions.registerMixin("contextMenu_variableDynamicSetterGetter",Blockly.Constants.VariablesDynamic.CUSTOM_CONTEXT_MENU_VARIABLE_GETTER_SETTER_MIXIN);
return Blockly.Blocks;
}));
//# sourceMappingURL=blocks_compressed.js.map

1
clover_blocks/www/blockly/blocks_compressed.js.map Executable file
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clover_blocks/www/blockly/media/dropdown-arrow.svg Executable file
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<svg id="Layer_1" data-name="Layer 1" xmlns="http://www.w3.org/2000/svg" width="12.71" height="8.79" viewBox="0 0 12.71 8.79"><title>dropdown-arrow</title><g opacity="0.1"><path d="M12.71,2.44A2.41,2.41,0,0,1,12,4.16L8.08,8.08a2.45,2.45,0,0,1-3.45,0L0.72,4.16A2.42,2.42,0,0,1,0,2.44,2.48,2.48,0,0,1,.71.71C1,0.47,1.43,0,6.36,0S11.75,0.46,12,.71A2.44,2.44,0,0,1,12.71,2.44Z" fill="#231f20"/></g><path d="M6.36,7.79a1.43,1.43,0,0,1-1-.42L1.42,3.45a1.44,1.44,0,0,1,0-2c0.56-.56,9.31-0.56,9.87,0a1.44,1.44,0,0,1,0,2L7.37,7.37A1.43,1.43,0,0,1,6.36,7.79Z" fill="#fff"/></svg>
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<?xml version="1.0" encoding="utf-8" standalone="no"?>
<svg xmlns="http://www.w3.org/2000/svg" version="1.1" width="96px" height="124px">
<style type="text/css">
#background {
fill: none;
}
.arrows {
fill: #000;
stroke: none;
}
.selected>.arrows {
fill: #fff;
}
.checkmark {
fill: #000;
font-family: sans-serif;
font-size: 10pt;
text-anchor: middle;
}
.trash {
fill: #888;
}
.zoom {
fill: none;
stroke: #888;
stroke-width: 2;
stroke-linecap: round;
}
.zoom>.center {
fill: #888;
stroke-width: 0;
}
</style>
<rect id="background" width="96" height="124" x="0" y="0" />
<g>
<path class="arrows" d="M 13,1.5 13,14.5 1.74,8 z" />
<path class="arrows" d="M 17.5,3 30.5,3 24,14.26 z" />
<path class="arrows" d="M 35,1.5 35,14.5 46.26,8 z" />
</g>
<g class="selected" transform="translate(0, 16)">
<path class="arrows" d="M 13,1.5 13,14.5 1.74,8 z" />
<path class="arrows" d="M 17.5,3 30.5,3 24,14.26 z" />
<path class="arrows" d="M 35,1.5 35,14.5 46.26,8 z" />
</g>
<text class="checkmark" x="55.5" y="28">&#10003;</text>
<g class="trash">
<path d="M 2,41 v 6 h 42 v -6 h -10.5 l -3,-3 h -15 l -3,3 z" />
<rect width="36" height="20" x="5" y="50" />
<rect width="36" height="42" x="5" y="50" rx="4" ry="4" />
</g>
<g class="zoom">
<circle r="11.5" cx="16" cy="108" />
<circle r="4.3" cx="16" cy="108" class="center" />
<path d="m 28,108 h3" />
<path d="m 1,108 h3" />
<path d="m 16,120 v3" />
<path d="m 16,93 v3" />
</g>
<g class="zoom">
<circle r="15" cx="48" cy="108" />
<path d="m 48,101.6 v12.8" />
<path d="m 41.6,108 h12.8" />
</g>
<g class="zoom">
<circle r="15" cx="80" cy="108" />
<path d="m 73.6,108 h12.8" />
</g>
</svg>
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clover_blocks/www/blockly/msg/js/en.js Executable file
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// This file was automatically generated. Do not modify.
'use strict';
Blockly.Msg["ADD_COMMENT"] = "Add Comment";
Blockly.Msg["CANNOT_DELETE_VARIABLE_PROCEDURE"] = "Can't delete the variable '%1' because it's part of the definition of the function '%2'";
Blockly.Msg["CHANGE_VALUE_TITLE"] = "Change value:";
Blockly.Msg["CLEAN_UP"] = "Clean up Blocks";
Blockly.Msg["COLLAPSED_WARNINGS_WARNING"] = "Collapsed blocks contain warnings.";
Blockly.Msg["COLLAPSE_ALL"] = "Collapse Blocks";
Blockly.Msg["COLLAPSE_BLOCK"] = "Collapse Block";
Blockly.Msg["COLOUR_BLEND_COLOUR1"] = "colour 1";
Blockly.Msg["COLOUR_BLEND_COLOUR2"] = "colour 2";
Blockly.Msg["COLOUR_BLEND_HELPURL"] = "https://meyerweb.com/eric/tools/color-blend/#:::rgbp";
Blockly.Msg["COLOUR_BLEND_RATIO"] = "ratio";
Blockly.Msg["COLOUR_BLEND_TITLE"] = "blend";
Blockly.Msg["COLOUR_BLEND_TOOLTIP"] = "Blends two colours together with a given ratio (0.0 - 1.0).";
Blockly.Msg["COLOUR_PICKER_HELPURL"] = "https://en.wikipedia.org/wiki/Color";
Blockly.Msg["COLOUR_PICKER_TOOLTIP"] = "Choose a colour from the palette.";
Blockly.Msg["COLOUR_RANDOM_HELPURL"] = "http://randomcolour.com";
Blockly.Msg["COLOUR_RANDOM_TITLE"] = "random colour";
Blockly.Msg["COLOUR_RANDOM_TOOLTIP"] = "Choose a colour at random.";
Blockly.Msg["COLOUR_RGB_BLUE"] = "blue";
Blockly.Msg["COLOUR_RGB_GREEN"] = "green";
Blockly.Msg["COLOUR_RGB_HELPURL"] = "https://www.december.com/html/spec/colorpercompact.html";
Blockly.Msg["COLOUR_RGB_RED"] = "red";
Blockly.Msg["COLOUR_RGB_TITLE"] = "colour with";
Blockly.Msg["COLOUR_RGB_TOOLTIP"] = "Create a colour with the specified amount of red, green, and blue. All values must be between 0 and 100.";
Blockly.Msg["CONTROLS_FLOW_STATEMENTS_HELPURL"] = "https://github.com/google/blockly/wiki/Loops#loop-termination-blocks";
Blockly.Msg["CONTROLS_FLOW_STATEMENTS_OPERATOR_BREAK"] = "break out of loop";
Blockly.Msg["CONTROLS_FLOW_STATEMENTS_OPERATOR_CONTINUE"] = "continue with next iteration of loop";
Blockly.Msg["CONTROLS_FLOW_STATEMENTS_TOOLTIP_BREAK"] = "Break out of the containing loop.";
Blockly.Msg["CONTROLS_FLOW_STATEMENTS_TOOLTIP_CONTINUE"] = "Skip the rest of this loop, and continue with the next iteration.";
Blockly.Msg["CONTROLS_FLOW_STATEMENTS_WARNING"] = "Warning: This block may only be used within a loop.";
Blockly.Msg["CONTROLS_FOREACH_HELPURL"] = "https://github.com/google/blockly/wiki/Loops#for-each";
Blockly.Msg["CONTROLS_FOREACH_TITLE"] = "for each item %1 in list %2";
Blockly.Msg["CONTROLS_FOREACH_TOOLTIP"] = "For each item in a list, set the variable '%1' to the item, and then do some statements.";
Blockly.Msg["CONTROLS_FOR_HELPURL"] = "https://github.com/google/blockly/wiki/Loops#count-with";
Blockly.Msg["CONTROLS_FOR_TITLE"] = "count with %1 from %2 to %3 by %4";
Blockly.Msg["CONTROLS_FOR_TOOLTIP"] = "Have the variable '%1' take on the values from the start number to the end number, counting by the specified interval, and do the specified blocks.";
Blockly.Msg["CONTROLS_IF_ELSEIF_TOOLTIP"] = "Add a condition to the if block.";
Blockly.Msg["CONTROLS_IF_ELSE_TOOLTIP"] = "Add a final, catch-all condition to the if block.";
Blockly.Msg["CONTROLS_IF_HELPURL"] = "https://github.com/google/blockly/wiki/IfElse";
Blockly.Msg["CONTROLS_IF_IF_TOOLTIP"] = "Add, remove, or reorder sections to reconfigure this if block.";
Blockly.Msg["CONTROLS_IF_MSG_ELSE"] = "else";
Blockly.Msg["CONTROLS_IF_MSG_ELSEIF"] = "else if";
Blockly.Msg["CONTROLS_IF_MSG_IF"] = "if";
Blockly.Msg["CONTROLS_IF_TOOLTIP_1"] = "If a value is true, then do some statements.";
Blockly.Msg["CONTROLS_IF_TOOLTIP_2"] = "If a value is true, then do the first block of statements. Otherwise, do the second block of statements.";
Blockly.Msg["CONTROLS_IF_TOOLTIP_3"] = "If the first value is true, then do the first block of statements. Otherwise, if the second value is true, do the second block of statements.";
Blockly.Msg["CONTROLS_IF_TOOLTIP_4"] = "If the first value is true, then do the first block of statements. Otherwise, if the second value is true, do the second block of statements. If none of the values are true, do the last block of statements.";
Blockly.Msg["CONTROLS_REPEAT_HELPURL"] = "https://en.wikipedia.org/wiki/For_loop";
Blockly.Msg["CONTROLS_REPEAT_INPUT_DO"] = "do";
Blockly.Msg["CONTROLS_REPEAT_TITLE"] = "repeat %1 times";
Blockly.Msg["CONTROLS_REPEAT_TOOLTIP"] = "Do some statements several times.";
Blockly.Msg["CONTROLS_WHILEUNTIL_HELPURL"] = "https://github.com/google/blockly/wiki/Loops#repeat";
Blockly.Msg["CONTROLS_WHILEUNTIL_OPERATOR_UNTIL"] = "repeat until";
Blockly.Msg["CONTROLS_WHILEUNTIL_OPERATOR_WHILE"] = "repeat while";
Blockly.Msg["CONTROLS_WHILEUNTIL_TOOLTIP_UNTIL"] = "While a value is false, then do some statements.";
Blockly.Msg["CONTROLS_WHILEUNTIL_TOOLTIP_WHILE"] = "While a value is true, then do some statements.";
Blockly.Msg["DELETE_ALL_BLOCKS"] = "Delete all %1 blocks?";
Blockly.Msg["DELETE_BLOCK"] = "Delete Block";
Blockly.Msg["DELETE_VARIABLE"] = "Delete the '%1' variable";
Blockly.Msg["DELETE_VARIABLE_CONFIRMATION"] = "Delete %1 uses of the '%2' variable?";
Blockly.Msg["DELETE_X_BLOCKS"] = "Delete %1 Blocks";
Blockly.Msg["DISABLE_BLOCK"] = "Disable Block";
Blockly.Msg["DUPLICATE_BLOCK"] = "Duplicate";
Blockly.Msg["DUPLICATE_COMMENT"] = "Duplicate Comment";
Blockly.Msg["ENABLE_BLOCK"] = "Enable Block";
Blockly.Msg["EXPAND_ALL"] = "Expand Blocks";
Blockly.Msg["EXPAND_BLOCK"] = "Expand Block";
Blockly.Msg["EXTERNAL_INPUTS"] = "External Inputs";
Blockly.Msg["HELP"] = "Help";
Blockly.Msg["INLINE_INPUTS"] = "Inline Inputs";
Blockly.Msg["IOS_CANCEL"] = "Cancel";
Blockly.Msg["IOS_ERROR"] = "Error";
Blockly.Msg["IOS_OK"] = "OK";
Blockly.Msg["IOS_PROCEDURES_ADD_INPUT"] = "+ Add Input";
Blockly.Msg["IOS_PROCEDURES_ALLOW_STATEMENTS"] = "Allow statements";
Blockly.Msg["IOS_PROCEDURES_DUPLICATE_INPUTS_ERROR"] = "This function has duplicate inputs.";
Blockly.Msg["IOS_PROCEDURES_INPUTS"] = "INPUTS";
Blockly.Msg["IOS_VARIABLES_ADD_BUTTON"] = "Add";
Blockly.Msg["IOS_VARIABLES_ADD_VARIABLE"] = "+ Add Variable";
Blockly.Msg["IOS_VARIABLES_DELETE_BUTTON"] = "Delete";
Blockly.Msg["IOS_VARIABLES_EMPTY_NAME_ERROR"] = "You can't use an empty variable name.";
Blockly.Msg["IOS_VARIABLES_RENAME_BUTTON"] = "Rename";
Blockly.Msg["IOS_VARIABLES_VARIABLE_NAME"] = "Variable name";
Blockly.Msg["LISTS_CREATE_EMPTY_HELPURL"] = "https://github.com/google/blockly/wiki/Lists#create-empty-list";
Blockly.Msg["LISTS_CREATE_EMPTY_TITLE"] = "create empty list";
Blockly.Msg["LISTS_CREATE_EMPTY_TOOLTIP"] = "Returns a list, of length 0, containing no data records";
Blockly.Msg["LISTS_CREATE_WITH_CONTAINER_TITLE_ADD"] = "list";
Blockly.Msg["LISTS_CREATE_WITH_CONTAINER_TOOLTIP"] = "Add, remove, or reorder sections to reconfigure this list block.";
Blockly.Msg["LISTS_CREATE_WITH_HELPURL"] = "https://github.com/google/blockly/wiki/Lists#create-list-with";
Blockly.Msg["LISTS_CREATE_WITH_INPUT_WITH"] = "create list with";
Blockly.Msg["LISTS_CREATE_WITH_ITEM_TOOLTIP"] = "Add an item to the list.";
Blockly.Msg["LISTS_CREATE_WITH_TOOLTIP"] = "Create a list with any number of items.";
Blockly.Msg["LISTS_GET_INDEX_FIRST"] = "first";
Blockly.Msg["LISTS_GET_INDEX_FROM_END"] = "# from end";
Blockly.Msg["LISTS_GET_INDEX_FROM_START"] = "#";
Blockly.Msg["LISTS_GET_INDEX_GET"] = "get";
Blockly.Msg["LISTS_GET_INDEX_GET_REMOVE"] = "get and remove";
Blockly.Msg["LISTS_GET_INDEX_LAST"] = "last";
Blockly.Msg["LISTS_GET_INDEX_RANDOM"] = "random";
Blockly.Msg["LISTS_GET_INDEX_REMOVE"] = "remove";
Blockly.Msg["LISTS_GET_INDEX_TAIL"] = "";
Blockly.Msg["LISTS_GET_INDEX_TOOLTIP_GET_FIRST"] = "Returns the first item in a list.";
Blockly.Msg["LISTS_GET_INDEX_TOOLTIP_GET_FROM"] = "Returns the item at the specified position in a list.";
Blockly.Msg["LISTS_GET_INDEX_TOOLTIP_GET_LAST"] = "Returns the last item in a list.";
Blockly.Msg["LISTS_GET_INDEX_TOOLTIP_GET_RANDOM"] = "Returns a random item in a list.";
Blockly.Msg["LISTS_GET_INDEX_TOOLTIP_GET_REMOVE_FIRST"] = "Removes and returns the first item in a list.";
Blockly.Msg["LISTS_GET_INDEX_TOOLTIP_GET_REMOVE_FROM"] = "Removes and returns the item at the specified position in a list.";
Blockly.Msg["LISTS_GET_INDEX_TOOLTIP_GET_REMOVE_LAST"] = "Removes and returns the last item in a list.";
Blockly.Msg["LISTS_GET_INDEX_TOOLTIP_GET_REMOVE_RANDOM"] = "Removes and returns a random item in a list.";
Blockly.Msg["LISTS_GET_INDEX_TOOLTIP_REMOVE_FIRST"] = "Removes the first item in a list.";
Blockly.Msg["LISTS_GET_INDEX_TOOLTIP_REMOVE_FROM"] = "Removes the item at the specified position in a list.";
Blockly.Msg["LISTS_GET_INDEX_TOOLTIP_REMOVE_LAST"] = "Removes the last item in a list.";
Blockly.Msg["LISTS_GET_INDEX_TOOLTIP_REMOVE_RANDOM"] = "Removes a random item in a list.";
Blockly.Msg["LISTS_GET_SUBLIST_END_FROM_END"] = "to # from end";
Blockly.Msg["LISTS_GET_SUBLIST_END_FROM_START"] = "to #";
Blockly.Msg["LISTS_GET_SUBLIST_END_LAST"] = "to last";
Blockly.Msg["LISTS_GET_SUBLIST_HELPURL"] = "https://github.com/google/blockly/wiki/Lists#getting-a-sublist";
Blockly.Msg["LISTS_GET_SUBLIST_START_FIRST"] = "get sub-list from first";
Blockly.Msg["LISTS_GET_SUBLIST_START_FROM_END"] = "get sub-list from # from end";
Blockly.Msg["LISTS_GET_SUBLIST_START_FROM_START"] = "get sub-list from #";
Blockly.Msg["LISTS_GET_SUBLIST_TAIL"] = "";
Blockly.Msg["LISTS_GET_SUBLIST_TOOLTIP"] = "Creates a copy of the specified portion of a list.";
Blockly.Msg["LISTS_INDEX_FROM_END_TOOLTIP"] = "%1 is the last item.";
Blockly.Msg["LISTS_INDEX_FROM_START_TOOLTIP"] = "%1 is the first item.";
Blockly.Msg["LISTS_INDEX_OF_FIRST"] = "find first occurrence of item";
Blockly.Msg["LISTS_INDEX_OF_HELPURL"] = "https://github.com/google/blockly/wiki/Lists#getting-items-from-a-list";
Blockly.Msg["LISTS_INDEX_OF_LAST"] = "find last occurrence of item";
Blockly.Msg["LISTS_INDEX_OF_TOOLTIP"] = "Returns the index of the first/last occurrence of the item in the list. Returns %1 if item is not found.";
Blockly.Msg["LISTS_INLIST"] = "in list";
Blockly.Msg["LISTS_ISEMPTY_HELPURL"] = "https://github.com/google/blockly/wiki/Lists#is-empty";
Blockly.Msg["LISTS_ISEMPTY_TITLE"] = "%1 is empty";
Blockly.Msg["LISTS_ISEMPTY_TOOLTIP"] = "Returns true if the list is empty.";
Blockly.Msg["LISTS_LENGTH_HELPURL"] = "https://github.com/google/blockly/wiki/Lists#length-of";
Blockly.Msg["LISTS_LENGTH_TITLE"] = "length of %1";
Blockly.Msg["LISTS_LENGTH_TOOLTIP"] = "Returns the length of a list.";
Blockly.Msg["LISTS_REPEAT_HELPURL"] = "https://github.com/google/blockly/wiki/Lists#create-list-with";
Blockly.Msg["LISTS_REPEAT_TITLE"] = "create list with item %1 repeated %2 times";
Blockly.Msg["LISTS_REPEAT_TOOLTIP"] = "Creates a list consisting of the given value repeated the specified number of times.";
Blockly.Msg["LISTS_REVERSE_HELPURL"] = "https://github.com/google/blockly/wiki/Lists#reversing-a-list";
Blockly.Msg["LISTS_REVERSE_MESSAGE0"] = "reverse %1";
Blockly.Msg["LISTS_REVERSE_TOOLTIP"] = "Reverse a copy of a list.";
Blockly.Msg["LISTS_SET_INDEX_HELPURL"] = "https://github.com/google/blockly/wiki/Lists#in-list--set";
Blockly.Msg["LISTS_SET_INDEX_INPUT_TO"] = "as";
Blockly.Msg["LISTS_SET_INDEX_INSERT"] = "insert at";
Blockly.Msg["LISTS_SET_INDEX_SET"] = "set";
Blockly.Msg["LISTS_SET_INDEX_TOOLTIP_INSERT_FIRST"] = "Inserts the item at the start of a list.";
Blockly.Msg["LISTS_SET_INDEX_TOOLTIP_INSERT_FROM"] = "Inserts the item at the specified position in a list.";
Blockly.Msg["LISTS_SET_INDEX_TOOLTIP_INSERT_LAST"] = "Append the item to the end of a list.";
Blockly.Msg["LISTS_SET_INDEX_TOOLTIP_INSERT_RANDOM"] = "Inserts the item randomly in a list.";
Blockly.Msg["LISTS_SET_INDEX_TOOLTIP_SET_FIRST"] = "Sets the first item in a list.";
Blockly.Msg["LISTS_SET_INDEX_TOOLTIP_SET_FROM"] = "Sets the item at the specified position in a list.";
Blockly.Msg["LISTS_SET_INDEX_TOOLTIP_SET_LAST"] = "Sets the last item in a list.";
Blockly.Msg["LISTS_SET_INDEX_TOOLTIP_SET_RANDOM"] = "Sets a random item in a list.";
Blockly.Msg["LISTS_SORT_HELPURL"] = "https://github.com/google/blockly/wiki/Lists#sorting-a-list";
Blockly.Msg["LISTS_SORT_ORDER_ASCENDING"] = "ascending";
Blockly.Msg["LISTS_SORT_ORDER_DESCENDING"] = "descending";
Blockly.Msg["LISTS_SORT_TITLE"] = "sort %1 %2 %3";
Blockly.Msg["LISTS_SORT_TOOLTIP"] = "Sort a copy of a list.";
Blockly.Msg["LISTS_SORT_TYPE_IGNORECASE"] = "alphabetic, ignore case";
Blockly.Msg["LISTS_SORT_TYPE_NUMERIC"] = "numeric";
Blockly.Msg["LISTS_SORT_TYPE_TEXT"] = "alphabetic";
Blockly.Msg["LISTS_SPLIT_HELPURL"] = "https://github.com/google/blockly/wiki/Lists#splitting-strings-and-joining-lists";
Blockly.Msg["LISTS_SPLIT_LIST_FROM_TEXT"] = "make list from text";
Blockly.Msg["LISTS_SPLIT_TEXT_FROM_LIST"] = "make text from list";
Blockly.Msg["LISTS_SPLIT_TOOLTIP_JOIN"] = "Join a list of texts into one text, separated by a delimiter.";
Blockly.Msg["LISTS_SPLIT_TOOLTIP_SPLIT"] = "Split text into a list of texts, breaking at each delimiter.";
Blockly.Msg["LISTS_SPLIT_WITH_DELIMITER"] = "with delimiter";
Blockly.Msg["LOGIC_BOOLEAN_FALSE"] = "false";
Blockly.Msg["LOGIC_BOOLEAN_HELPURL"] = "https://github.com/google/blockly/wiki/Logic#values";
Blockly.Msg["LOGIC_BOOLEAN_TOOLTIP"] = "Returns either true or false.";
Blockly.Msg["LOGIC_BOOLEAN_TRUE"] = "true";
Blockly.Msg["LOGIC_COMPARE_HELPURL"] = "https://en.wikipedia.org/wiki/Inequality_(mathematics)";
Blockly.Msg["LOGIC_COMPARE_TOOLTIP_EQ"] = "Return true if both inputs equal each other.";
Blockly.Msg["LOGIC_COMPARE_TOOLTIP_GT"] = "Return true if the first input is greater than the second input.";
Blockly.Msg["LOGIC_COMPARE_TOOLTIP_GTE"] = "Return true if the first input is greater than or equal to the second input.";
Blockly.Msg["LOGIC_COMPARE_TOOLTIP_LT"] = "Return true if the first input is smaller than the second input.";
Blockly.Msg["LOGIC_COMPARE_TOOLTIP_LTE"] = "Return true if the first input is smaller than or equal to the second input.";
Blockly.Msg["LOGIC_COMPARE_TOOLTIP_NEQ"] = "Return true if both inputs are not equal to each other.";
Blockly.Msg["LOGIC_NEGATE_HELPURL"] = "https://github.com/google/blockly/wiki/Logic#not";
Blockly.Msg["LOGIC_NEGATE_TITLE"] = "not %1";
Blockly.Msg["LOGIC_NEGATE_TOOLTIP"] = "Returns true if the input is false. Returns false if the input is true.";
Blockly.Msg["LOGIC_NULL"] = "null";
Blockly.Msg["LOGIC_NULL_HELPURL"] = "https://en.wikipedia.org/wiki/Nullable_type";
Blockly.Msg["LOGIC_NULL_TOOLTIP"] = "Returns null.";
Blockly.Msg["LOGIC_OPERATION_AND"] = "and";
Blockly.Msg["LOGIC_OPERATION_HELPURL"] = "https://github.com/google/blockly/wiki/Logic#logical-operations";
Blockly.Msg["LOGIC_OPERATION_OR"] = "or";
Blockly.Msg["LOGIC_OPERATION_TOOLTIP_AND"] = "Return true if both inputs are true.";
Blockly.Msg["LOGIC_OPERATION_TOOLTIP_OR"] = "Return true if at least one of the inputs is true.";
Blockly.Msg["LOGIC_TERNARY_CONDITION"] = "test";
Blockly.Msg["LOGIC_TERNARY_HELPURL"] = "https://en.wikipedia.org/wiki/%3F:";
Blockly.Msg["LOGIC_TERNARY_IF_FALSE"] = "if false";
Blockly.Msg["LOGIC_TERNARY_IF_TRUE"] = "if true";
Blockly.Msg["LOGIC_TERNARY_TOOLTIP"] = "Check the condition in 'test'. If the condition is true, returns the 'if true' value; otherwise returns the 'if false' value.";
Blockly.Msg["MATH_ADDITION_SYMBOL"] = "+";
Blockly.Msg["MATH_ARITHMETIC_HELPURL"] = "https://en.wikipedia.org/wiki/Arithmetic";
Blockly.Msg["MATH_ARITHMETIC_TOOLTIP_ADD"] = "Return the sum of the two numbers.";
Blockly.Msg["MATH_ARITHMETIC_TOOLTIP_DIVIDE"] = "Return the quotient of the two numbers.";
Blockly.Msg["MATH_ARITHMETIC_TOOLTIP_MINUS"] = "Return the difference of the two numbers.";
Blockly.Msg["MATH_ARITHMETIC_TOOLTIP_MULTIPLY"] = "Return the product of the two numbers.";
Blockly.Msg["MATH_ARITHMETIC_TOOLTIP_POWER"] = "Return the first number raised to the power of the second number.";
Blockly.Msg["MATH_ATAN2_HELPURL"] = "https://en.wikipedia.org/wiki/Atan2";
Blockly.Msg["MATH_ATAN2_TITLE"] = "atan2 of X:%1 Y:%2";
Blockly.Msg["MATH_ATAN2_TOOLTIP"] = "Return the arctangent of point (X, Y) in degrees from -180 to 180.";
Blockly.Msg["MATH_CHANGE_HELPURL"] = "https://en.wikipedia.org/wiki/Programming_idiom#Incrementing_a_counter";
Blockly.Msg["MATH_CHANGE_TITLE"] = "change %1 by %2";
Blockly.Msg["MATH_CHANGE_TOOLTIP"] = "Add a number to variable '%1'.";
Blockly.Msg["MATH_CONSTANT_HELPURL"] = "https://en.wikipedia.org/wiki/Mathematical_constant";
Blockly.Msg["MATH_CONSTANT_TOOLTIP"] = "Return one of the common constants: π (3.141…), e (2.718…), φ (1.618…), sqrt(2) (1.414…), sqrt(½) (0.707…), or ∞ (infinity).";
Blockly.Msg["MATH_CONSTRAIN_HELPURL"] = "https://en.wikipedia.org/wiki/Clamping_(graphics)";
Blockly.Msg["MATH_CONSTRAIN_TITLE"] = "constrain %1 low %2 high %3";
Blockly.Msg["MATH_CONSTRAIN_TOOLTIP"] = "Constrain a number to be between the specified limits (inclusive).";
Blockly.Msg["MATH_DIVISION_SYMBOL"] = "÷";
Blockly.Msg["MATH_IS_DIVISIBLE_BY"] = "is divisible by";
Blockly.Msg["MATH_IS_EVEN"] = "is even";
Blockly.Msg["MATH_IS_NEGATIVE"] = "is negative";
Blockly.Msg["MATH_IS_ODD"] = "is odd";
Blockly.Msg["MATH_IS_POSITIVE"] = "is positive";
Blockly.Msg["MATH_IS_PRIME"] = "is prime";
Blockly.Msg["MATH_IS_TOOLTIP"] = "Check if a number is an even, odd, prime, whole, positive, negative, or if it is divisible by certain number. Returns true or false.";
Blockly.Msg["MATH_IS_WHOLE"] = "is whole";
Blockly.Msg["MATH_MODULO_HELPURL"] = "https://en.wikipedia.org/wiki/Modulo_operation";
Blockly.Msg["MATH_MODULO_TITLE"] = "remainder of %1 ÷ %2";
Blockly.Msg["MATH_MODULO_TOOLTIP"] = "Return the remainder from dividing the two numbers.";
Blockly.Msg["MATH_MULTIPLICATION_SYMBOL"] = "×";
Blockly.Msg["MATH_NUMBER_HELPURL"] = "https://en.wikipedia.org/wiki/Number";
Blockly.Msg["MATH_NUMBER_TOOLTIP"] = "A number.";
Blockly.Msg["MATH_ONLIST_HELPURL"] = "";
Blockly.Msg["MATH_ONLIST_OPERATOR_AVERAGE"] = "average of list";
Blockly.Msg["MATH_ONLIST_OPERATOR_MAX"] = "max of list";
Blockly.Msg["MATH_ONLIST_OPERATOR_MEDIAN"] = "median of list";
Blockly.Msg["MATH_ONLIST_OPERATOR_MIN"] = "min of list";
Blockly.Msg["MATH_ONLIST_OPERATOR_MODE"] = "modes of list";
Blockly.Msg["MATH_ONLIST_OPERATOR_RANDOM"] = "random item of list";
Blockly.Msg["MATH_ONLIST_OPERATOR_STD_DEV"] = "standard deviation of list";
Blockly.Msg["MATH_ONLIST_OPERATOR_SUM"] = "sum of list";
Blockly.Msg["MATH_ONLIST_TOOLTIP_AVERAGE"] = "Return the average (arithmetic mean) of the numeric values in the list.";
Blockly.Msg["MATH_ONLIST_TOOLTIP_MAX"] = "Return the largest number in the list.";
Blockly.Msg["MATH_ONLIST_TOOLTIP_MEDIAN"] = "Return the median number in the list.";
Blockly.Msg["MATH_ONLIST_TOOLTIP_MIN"] = "Return the smallest number in the list.";
Blockly.Msg["MATH_ONLIST_TOOLTIP_MODE"] = "Return a list of the most common item(s) in the list.";
Blockly.Msg["MATH_ONLIST_TOOLTIP_RANDOM"] = "Return a random element from the list.";
Blockly.Msg["MATH_ONLIST_TOOLTIP_STD_DEV"] = "Return the standard deviation of the list.";
Blockly.Msg["MATH_ONLIST_TOOLTIP_SUM"] = "Return the sum of all the numbers in the list.";
Blockly.Msg["MATH_POWER_SYMBOL"] = "^";
Blockly.Msg["MATH_RANDOM_FLOAT_HELPURL"] = "https://en.wikipedia.org/wiki/Random_number_generation";
Blockly.Msg["MATH_RANDOM_FLOAT_TITLE_RANDOM"] = "random fraction";
Blockly.Msg["MATH_RANDOM_FLOAT_TOOLTIP"] = "Return a random fraction between 0.0 (inclusive) and 1.0 (exclusive).";
Blockly.Msg["MATH_RANDOM_INT_HELPURL"] = "https://en.wikipedia.org/wiki/Random_number_generation";
Blockly.Msg["MATH_RANDOM_INT_TITLE"] = "random integer from %1 to %2";
Blockly.Msg["MATH_RANDOM_INT_TOOLTIP"] = "Return a random integer between the two specified limits, inclusive.";
Blockly.Msg["MATH_ROUND_HELPURL"] = "https://en.wikipedia.org/wiki/Rounding";
Blockly.Msg["MATH_ROUND_OPERATOR_ROUND"] = "round";
Blockly.Msg["MATH_ROUND_OPERATOR_ROUNDDOWN"] = "round down";
Blockly.Msg["MATH_ROUND_OPERATOR_ROUNDUP"] = "round up";
Blockly.Msg["MATH_ROUND_TOOLTIP"] = "Round a number up or down.";
Blockly.Msg["MATH_SINGLE_HELPURL"] = "https://en.wikipedia.org/wiki/Square_root";
Blockly.Msg["MATH_SINGLE_OP_ABSOLUTE"] = "absolute";
Blockly.Msg["MATH_SINGLE_OP_ROOT"] = "square root";
Blockly.Msg["MATH_SINGLE_TOOLTIP_ABS"] = "Return the absolute value of a number.";
Blockly.Msg["MATH_SINGLE_TOOLTIP_EXP"] = "Return e to the power of a number.";
Blockly.Msg["MATH_SINGLE_TOOLTIP_LN"] = "Return the natural logarithm of a number.";
Blockly.Msg["MATH_SINGLE_TOOLTIP_LOG10"] = "Return the base 10 logarithm of a number.";
Blockly.Msg["MATH_SINGLE_TOOLTIP_NEG"] = "Return the negation of a number.";
Blockly.Msg["MATH_SINGLE_TOOLTIP_POW10"] = "Return 10 to the power of a number.";
Blockly.Msg["MATH_SINGLE_TOOLTIP_ROOT"] = "Return the square root of a number.";
Blockly.Msg["MATH_SUBTRACTION_SYMBOL"] = "-";
Blockly.Msg["MATH_TRIG_ACOS"] = "acos";
Blockly.Msg["MATH_TRIG_ASIN"] = "asin";
Blockly.Msg["MATH_TRIG_ATAN"] = "atan";
Blockly.Msg["MATH_TRIG_COS"] = "cos";
Blockly.Msg["MATH_TRIG_HELPURL"] = "https://en.wikipedia.org/wiki/Trigonometric_functions";
Blockly.Msg["MATH_TRIG_SIN"] = "sin";
Blockly.Msg["MATH_TRIG_TAN"] = "tan";
Blockly.Msg["MATH_TRIG_TOOLTIP_ACOS"] = "Return the arccosine of a number.";
Blockly.Msg["MATH_TRIG_TOOLTIP_ASIN"] = "Return the arcsine of a number.";
Blockly.Msg["MATH_TRIG_TOOLTIP_ATAN"] = "Return the arctangent of a number.";
Blockly.Msg["MATH_TRIG_TOOLTIP_COS"] = "Return the cosine of a degree (not radian).";
Blockly.Msg["MATH_TRIG_TOOLTIP_SIN"] = "Return the sine of a degree (not radian).";
Blockly.Msg["MATH_TRIG_TOOLTIP_TAN"] = "Return the tangent of a degree (not radian).";
Blockly.Msg["NEW_COLOUR_VARIABLE"] = "Create colour variable...";
Blockly.Msg["NEW_NUMBER_VARIABLE"] = "Create number variable...";
Blockly.Msg["NEW_STRING_VARIABLE"] = "Create string variable...";
Blockly.Msg["NEW_VARIABLE"] = "Create variable...";
Blockly.Msg["NEW_VARIABLE_TITLE"] = "New variable name:";
Blockly.Msg["NEW_VARIABLE_TYPE_TITLE"] = "New variable type:";
Blockly.Msg["ORDINAL_NUMBER_SUFFIX"] = "";
Blockly.Msg["PROCEDURES_ALLOW_STATEMENTS"] = "allow statements";
Blockly.Msg["PROCEDURES_BEFORE_PARAMS"] = "with:";
Blockly.Msg["PROCEDURES_CALLNORETURN_HELPURL"] = "https://en.wikipedia.org/wiki/Subroutine";
Blockly.Msg["PROCEDURES_CALLNORETURN_TOOLTIP"] = "Run the user-defined function '%1'.";
Blockly.Msg["PROCEDURES_CALLRETURN_HELPURL"] = "https://en.wikipedia.org/wiki/Subroutine";
Blockly.Msg["PROCEDURES_CALLRETURN_TOOLTIP"] = "Run the user-defined function '%1' and use its output.";
Blockly.Msg["PROCEDURES_CALL_BEFORE_PARAMS"] = "with:";
Blockly.Msg["PROCEDURES_CREATE_DO"] = "Create '%1'";
Blockly.Msg["PROCEDURES_DEFNORETURN_COMMENT"] = "Describe this function...";
Blockly.Msg["PROCEDURES_DEFNORETURN_DO"] = "";
Blockly.Msg["PROCEDURES_DEFNORETURN_HELPURL"] = "https://en.wikipedia.org/wiki/Subroutine";
Blockly.Msg["PROCEDURES_DEFNORETURN_PROCEDURE"] = "do something";
Blockly.Msg["PROCEDURES_DEFNORETURN_TITLE"] = "to";
Blockly.Msg["PROCEDURES_DEFNORETURN_TOOLTIP"] = "Creates a function with no output.";
Blockly.Msg["PROCEDURES_DEFRETURN_HELPURL"] = "https://en.wikipedia.org/wiki/Subroutine";
Blockly.Msg["PROCEDURES_DEFRETURN_RETURN"] = "return";
Blockly.Msg["PROCEDURES_DEFRETURN_TOOLTIP"] = "Creates a function with an output.";
Blockly.Msg["PROCEDURES_DEF_DUPLICATE_WARNING"] = "Warning: This function has duplicate parameters.";
Blockly.Msg["PROCEDURES_HIGHLIGHT_DEF"] = "Highlight function definition";
Blockly.Msg["PROCEDURES_IFRETURN_HELPURL"] = "http://c2.com/cgi/wiki?GuardClause";
Blockly.Msg["PROCEDURES_IFRETURN_TOOLTIP"] = "If a value is true, then return a second value.";
Blockly.Msg["PROCEDURES_IFRETURN_WARNING"] = "Warning: This block may be used only within a function definition.";
Blockly.Msg["PROCEDURES_MUTATORARG_TITLE"] = "input name:";
Blockly.Msg["PROCEDURES_MUTATORARG_TOOLTIP"] = "Add an input to the function.";
Blockly.Msg["PROCEDURES_MUTATORCONTAINER_TITLE"] = "inputs";
Blockly.Msg["PROCEDURES_MUTATORCONTAINER_TOOLTIP"] = "Add, remove, or reorder inputs to this function.";
Blockly.Msg["REDO"] = "Redo";
Blockly.Msg["REMOVE_COMMENT"] = "Remove Comment";
Blockly.Msg["RENAME_VARIABLE"] = "Rename variable...";
Blockly.Msg["RENAME_VARIABLE_TITLE"] = "Rename all '%1' variables to:";
Blockly.Msg["TEXT_APPEND_HELPURL"] = "https://github.com/google/blockly/wiki/Text#text-modification";
Blockly.Msg["TEXT_APPEND_TITLE"] = "to %1 append text %2";
Blockly.Msg["TEXT_APPEND_TOOLTIP"] = "Append some text to variable '%1'.";
Blockly.Msg["TEXT_CHANGECASE_HELPURL"] = "https://github.com/google/blockly/wiki/Text#adjusting-text-case";
Blockly.Msg["TEXT_CHANGECASE_OPERATOR_LOWERCASE"] = "to lower case";
Blockly.Msg["TEXT_CHANGECASE_OPERATOR_TITLECASE"] = "to Title Case";
Blockly.Msg["TEXT_CHANGECASE_OPERATOR_UPPERCASE"] = "to UPPER CASE";
Blockly.Msg["TEXT_CHANGECASE_TOOLTIP"] = "Return a copy of the text in a different case.";
Blockly.Msg["TEXT_CHARAT_FIRST"] = "get first letter";
Blockly.Msg["TEXT_CHARAT_FROM_END"] = "get letter # from end";
Blockly.Msg["TEXT_CHARAT_FROM_START"] = "get letter #";
Blockly.Msg["TEXT_CHARAT_HELPURL"] = "https://github.com/google/blockly/wiki/Text#extracting-text";
Blockly.Msg["TEXT_CHARAT_LAST"] = "get last letter";
Blockly.Msg["TEXT_CHARAT_RANDOM"] = "get random letter";
Blockly.Msg["TEXT_CHARAT_TAIL"] = "";
Blockly.Msg["TEXT_CHARAT_TITLE"] = "in text %1 %2";
Blockly.Msg["TEXT_CHARAT_TOOLTIP"] = "Returns the letter at the specified position.";
Blockly.Msg["TEXT_COUNT_HELPURL"] = "https://github.com/google/blockly/wiki/Text#counting-substrings";
Blockly.Msg["TEXT_COUNT_MESSAGE0"] = "count %1 in %2";
Blockly.Msg["TEXT_COUNT_TOOLTIP"] = "Count how many times some text occurs within some other text.";
Blockly.Msg["TEXT_CREATE_JOIN_ITEM_TOOLTIP"] = "Add an item to the text.";
Blockly.Msg["TEXT_CREATE_JOIN_TITLE_JOIN"] = "join";
Blockly.Msg["TEXT_CREATE_JOIN_TOOLTIP"] = "Add, remove, or reorder sections to reconfigure this text block.";
Blockly.Msg["TEXT_GET_SUBSTRING_END_FROM_END"] = "to letter # from end";
Blockly.Msg["TEXT_GET_SUBSTRING_END_FROM_START"] = "to letter #";
Blockly.Msg["TEXT_GET_SUBSTRING_END_LAST"] = "to last letter";
Blockly.Msg["TEXT_GET_SUBSTRING_HELPURL"] = "https://github.com/google/blockly/wiki/Text#extracting-a-region-of-text";
Blockly.Msg["TEXT_GET_SUBSTRING_INPUT_IN_TEXT"] = "in text";
Blockly.Msg["TEXT_GET_SUBSTRING_START_FIRST"] = "get substring from first letter";
Blockly.Msg["TEXT_GET_SUBSTRING_START_FROM_END"] = "get substring from letter # from end";
Blockly.Msg["TEXT_GET_SUBSTRING_START_FROM_START"] = "get substring from letter #";
Blockly.Msg["TEXT_GET_SUBSTRING_TAIL"] = "";
Blockly.Msg["TEXT_GET_SUBSTRING_TOOLTIP"] = "Returns a specified portion of the text.";
Blockly.Msg["TEXT_INDEXOF_HELPURL"] = "https://github.com/google/blockly/wiki/Text#finding-text";
Blockly.Msg["TEXT_INDEXOF_OPERATOR_FIRST"] = "find first occurrence of text";
Blockly.Msg["TEXT_INDEXOF_OPERATOR_LAST"] = "find last occurrence of text";
Blockly.Msg["TEXT_INDEXOF_TITLE"] = "in text %1 %2 %3";
Blockly.Msg["TEXT_INDEXOF_TOOLTIP"] = "Returns the index of the first/last occurrence of the first text in the second text. Returns %1 if text is not found.";
Blockly.Msg["TEXT_ISEMPTY_HELPURL"] = "https://github.com/google/blockly/wiki/Text#checking-for-empty-text";
Blockly.Msg["TEXT_ISEMPTY_TITLE"] = "%1 is empty";
Blockly.Msg["TEXT_ISEMPTY_TOOLTIP"] = "Returns true if the provided text is empty.";
Blockly.Msg["TEXT_JOIN_HELPURL"] = "https://github.com/google/blockly/wiki/Text#text-creation";
Blockly.Msg["TEXT_JOIN_TITLE_CREATEWITH"] = "create text with";
Blockly.Msg["TEXT_JOIN_TOOLTIP"] = "Create a piece of text by joining together any number of items.";
Blockly.Msg["TEXT_LENGTH_HELPURL"] = "https://github.com/google/blockly/wiki/Text#text-modification";
Blockly.Msg["TEXT_LENGTH_TITLE"] = "length of %1";
Blockly.Msg["TEXT_LENGTH_TOOLTIP"] = "Returns the number of letters (including spaces) in the provided text.";
Blockly.Msg["TEXT_PRINT_HELPURL"] = "https://github.com/google/blockly/wiki/Text#printing-text";
Blockly.Msg["TEXT_PRINT_TITLE"] = "print %1";
Blockly.Msg["TEXT_PRINT_TOOLTIP"] = "Print the specified text, number or other value.";
Blockly.Msg["TEXT_PROMPT_HELPURL"] = "https://github.com/google/blockly/wiki/Text#getting-input-from-the-user";
Blockly.Msg["TEXT_PROMPT_TOOLTIP_NUMBER"] = "Prompt for user for a number.";
Blockly.Msg["TEXT_PROMPT_TOOLTIP_TEXT"] = "Prompt for user for some text.";
Blockly.Msg["TEXT_PROMPT_TYPE_NUMBER"] = "prompt for number with message";
Blockly.Msg["TEXT_PROMPT_TYPE_TEXT"] = "prompt for text with message";
Blockly.Msg["TEXT_REPLACE_HELPURL"] = "https://github.com/google/blockly/wiki/Text#replacing-substrings";
Blockly.Msg["TEXT_REPLACE_MESSAGE0"] = "replace %1 with %2 in %3";
Blockly.Msg["TEXT_REPLACE_TOOLTIP"] = "Replace all occurances of some text within some other text.";
Blockly.Msg["TEXT_REVERSE_HELPURL"] = "https://github.com/google/blockly/wiki/Text#reversing-text";
Blockly.Msg["TEXT_REVERSE_MESSAGE0"] = "reverse %1";
Blockly.Msg["TEXT_REVERSE_TOOLTIP"] = "Reverses the order of the characters in the text.";
Blockly.Msg["TEXT_TEXT_HELPURL"] = "https://en.wikipedia.org/wiki/String_(computer_science)";
Blockly.Msg["TEXT_TEXT_TOOLTIP"] = "A letter, word, or line of text.";
Blockly.Msg["TEXT_TRIM_HELPURL"] = "https://github.com/google/blockly/wiki/Text#trimming-removing-spaces";
Blockly.Msg["TEXT_TRIM_OPERATOR_BOTH"] = "trim spaces from both sides of";
Blockly.Msg["TEXT_TRIM_OPERATOR_LEFT"] = "trim spaces from left side of";
Blockly.Msg["TEXT_TRIM_OPERATOR_RIGHT"] = "trim spaces from right side of";
Blockly.Msg["TEXT_TRIM_TOOLTIP"] = "Return a copy of the text with spaces removed from one or both ends.";
Blockly.Msg["TODAY"] = "Today";
Blockly.Msg["UNDO"] = "Undo";
Blockly.Msg["UNNAMED_KEY"] = "unnamed";
Blockly.Msg["VARIABLES_DEFAULT_NAME"] = "item";
Blockly.Msg["VARIABLES_GET_CREATE_SET"] = "Create 'set %1'";
Blockly.Msg["VARIABLES_GET_HELPURL"] = "https://github.com/google/blockly/wiki/Variables#get";
Blockly.Msg["VARIABLES_GET_TOOLTIP"] = "Returns the value of this variable.";
Blockly.Msg["VARIABLES_SET"] = "set %1 to %2";
Blockly.Msg["VARIABLES_SET_CREATE_GET"] = "Create 'get %1'";
Blockly.Msg["VARIABLES_SET_HELPURL"] = "https://github.com/google/blockly/wiki/Variables#set";
Blockly.Msg["VARIABLES_SET_TOOLTIP"] = "Sets this variable to be equal to the input.";
Blockly.Msg["VARIABLE_ALREADY_EXISTS"] = "A variable named '%1' already exists.";
Blockly.Msg["VARIABLE_ALREADY_EXISTS_FOR_ANOTHER_TYPE"] = "A variable named '%1' already exists for another type: '%2'.";
Blockly.Msg["WORKSPACE_ARIA_LABEL"] = "Blockly Workspace";
Blockly.Msg["WORKSPACE_COMMENT_DEFAULT_TEXT"] = "Say something...";
Blockly.Msg["CONTROLS_FOREACH_INPUT_DO"] = Blockly.Msg["CONTROLS_REPEAT_INPUT_DO"];
Blockly.Msg["CONTROLS_FOR_INPUT_DO"] = Blockly.Msg["CONTROLS_REPEAT_INPUT_DO"];
Blockly.Msg["CONTROLS_IF_ELSEIF_TITLE_ELSEIF"] = Blockly.Msg["CONTROLS_IF_MSG_ELSEIF"];
Blockly.Msg["CONTROLS_IF_ELSE_TITLE_ELSE"] = Blockly.Msg["CONTROLS_IF_MSG_ELSE"];
Blockly.Msg["CONTROLS_IF_IF_TITLE_IF"] = Blockly.Msg["CONTROLS_IF_MSG_IF"];
Blockly.Msg["CONTROLS_IF_MSG_THEN"] = Blockly.Msg["CONTROLS_REPEAT_INPUT_DO"];
Blockly.Msg["CONTROLS_WHILEUNTIL_INPUT_DO"] = Blockly.Msg["CONTROLS_REPEAT_INPUT_DO"];
Blockly.Msg["LISTS_CREATE_WITH_ITEM_TITLE"] = Blockly.Msg["VARIABLES_DEFAULT_NAME"];
Blockly.Msg["LISTS_GET_INDEX_HELPURL"] = Blockly.Msg["LISTS_INDEX_OF_HELPURL"];
Blockly.Msg["LISTS_GET_INDEX_INPUT_IN_LIST"] = Blockly.Msg["LISTS_INLIST"];
Blockly.Msg["LISTS_GET_SUBLIST_INPUT_IN_LIST"] = Blockly.Msg["LISTS_INLIST"];
Blockly.Msg["LISTS_INDEX_OF_INPUT_IN_LIST"] = Blockly.Msg["LISTS_INLIST"];
Blockly.Msg["LISTS_SET_INDEX_INPUT_IN_LIST"] = Blockly.Msg["LISTS_INLIST"];
Blockly.Msg["MATH_CHANGE_TITLE_ITEM"] = Blockly.Msg["VARIABLES_DEFAULT_NAME"];
Blockly.Msg["PROCEDURES_DEFRETURN_COMMENT"] = Blockly.Msg["PROCEDURES_DEFNORETURN_COMMENT"];
Blockly.Msg["PROCEDURES_DEFRETURN_DO"] = Blockly.Msg["PROCEDURES_DEFNORETURN_DO"];
Blockly.Msg["PROCEDURES_DEFRETURN_PROCEDURE"] = Blockly.Msg["PROCEDURES_DEFNORETURN_PROCEDURE"];
Blockly.Msg["PROCEDURES_DEFRETURN_TITLE"] = Blockly.Msg["PROCEDURES_DEFNORETURN_TITLE"];
Blockly.Msg["TEXT_APPEND_VARIABLE"] = Blockly.Msg["VARIABLES_DEFAULT_NAME"];
Blockly.Msg["TEXT_CREATE_JOIN_ITEM_TITLE_ITEM"] = Blockly.Msg["VARIABLES_DEFAULT_NAME"];
Blockly.Msg["MATH_HUE"] = "230";
Blockly.Msg["LOOPS_HUE"] = "120";
Blockly.Msg["LISTS_HUE"] = "260";
Blockly.Msg["LOGIC_HUE"] = "210";
Blockly.Msg["VARIABLES_HUE"] = "330";
Blockly.Msg["TEXTS_HUE"] = "160";
Blockly.Msg["PROCEDURES_HUE"] = "290";
Blockly.Msg["COLOUR_HUE"] = "20";
Blockly.Msg["VARIABLES_DYNAMIC_HUE"] = "310";

98
clover_blocks/www/blockly/python_compressed.js Executable file
View File

@@ -0,0 +1,98 @@
// Do not edit this file; automatically generated by gulp.
/* eslint-disable */
;(function(root, factory) {
if (typeof define === 'function' && define.amd) { // AMD
define(['./blockly_compressed.js'], factory);
} else if (typeof exports === 'object') { // Node.js
module.exports = factory(require('./blockly_compressed.js'));
} else { // Browser
root.Blockly.Python = factory(root.Blockly);
}
}(this, function(Blockly) {
'use strict';Blockly.Python=new Blockly.Generator("Python");Blockly.Python.addReservedWords("False,None,True,and,as,assert,break,class,continue,def,del,elif,else,except,exec,finally,for,from,global,if,import,in,is,lambda,nonlocal,not,or,pass,print,raise,return,try,while,with,yield,NotImplemented,Ellipsis,__debug__,quit,exit,copyright,license,credits,ArithmeticError,AssertionError,AttributeError,BaseException,BlockingIOError,BrokenPipeError,BufferError,BytesWarning,ChildProcessError,ConnectionAbortedError,ConnectionError,ConnectionRefusedError,ConnectionResetError,DeprecationWarning,EOFError,Ellipsis,EnvironmentError,Exception,FileExistsError,FileNotFoundError,FloatingPointError,FutureWarning,GeneratorExit,IOError,ImportError,ImportWarning,IndentationError,IndexError,InterruptedError,IsADirectoryError,KeyError,KeyboardInterrupt,LookupError,MemoryError,ModuleNotFoundError,NameError,NotADirectoryError,NotImplemented,NotImplementedError,OSError,OverflowError,PendingDeprecationWarning,PermissionError,ProcessLookupError,RecursionError,ReferenceError,ResourceWarning,RuntimeError,RuntimeWarning,StandardError,StopAsyncIteration,StopIteration,SyntaxError,SyntaxWarning,SystemError,SystemExit,TabError,TimeoutError,TypeError,UnboundLocalError,UnicodeDecodeError,UnicodeEncodeError,UnicodeError,UnicodeTranslateError,UnicodeWarning,UserWarning,ValueError,Warning,ZeroDivisionError,_,__build_class__,__debug__,__doc__,__import__,__loader__,__name__,__package__,__spec__,abs,all,any,apply,ascii,basestring,bin,bool,buffer,bytearray,bytes,callable,chr,classmethod,cmp,coerce,compile,complex,copyright,credits,delattr,dict,dir,divmod,enumerate,eval,exec,execfile,exit,file,filter,float,format,frozenset,getattr,globals,hasattr,hash,help,hex,id,input,int,intern,isinstance,issubclass,iter,len,license,list,locals,long,map,max,memoryview,min,next,object,oct,open,ord,pow,print,property,quit,range,raw_input,reduce,reload,repr,reversed,round,set,setattr,slice,sorted,staticmethod,str,sum,super,tuple,type,unichr,unicode,vars,xrange,zip");
Blockly.Python.ORDER_ATOMIC=0;Blockly.Python.ORDER_COLLECTION=1;Blockly.Python.ORDER_STRING_CONVERSION=1;Blockly.Python.ORDER_MEMBER=2.1;Blockly.Python.ORDER_FUNCTION_CALL=2.2;Blockly.Python.ORDER_EXPONENTIATION=3;Blockly.Python.ORDER_UNARY_SIGN=4;Blockly.Python.ORDER_BITWISE_NOT=4;Blockly.Python.ORDER_MULTIPLICATIVE=5;Blockly.Python.ORDER_ADDITIVE=6;Blockly.Python.ORDER_BITWISE_SHIFT=7;Blockly.Python.ORDER_BITWISE_AND=8;Blockly.Python.ORDER_BITWISE_XOR=9;Blockly.Python.ORDER_BITWISE_OR=10;
Blockly.Python.ORDER_RELATIONAL=11;Blockly.Python.ORDER_LOGICAL_NOT=12;Blockly.Python.ORDER_LOGICAL_AND=13;Blockly.Python.ORDER_LOGICAL_OR=14;Blockly.Python.ORDER_CONDITIONAL=15;Blockly.Python.ORDER_LAMBDA=16;Blockly.Python.ORDER_NONE=99;
Blockly.Python.ORDER_OVERRIDES=[[Blockly.Python.ORDER_FUNCTION_CALL,Blockly.Python.ORDER_MEMBER],[Blockly.Python.ORDER_FUNCTION_CALL,Blockly.Python.ORDER_FUNCTION_CALL],[Blockly.Python.ORDER_MEMBER,Blockly.Python.ORDER_MEMBER],[Blockly.Python.ORDER_MEMBER,Blockly.Python.ORDER_FUNCTION_CALL],[Blockly.Python.ORDER_LOGICAL_NOT,Blockly.Python.ORDER_LOGICAL_NOT],[Blockly.Python.ORDER_LOGICAL_AND,Blockly.Python.ORDER_LOGICAL_AND],[Blockly.Python.ORDER_LOGICAL_OR,Blockly.Python.ORDER_LOGICAL_OR]];
Blockly.Python.init=function(a){Blockly.Python.PASS=this.INDENT+"pass\n";Blockly.Python.definitions_=Object.create(null);Blockly.Python.functionNames_=Object.create(null);Blockly.Python.variableDB_?Blockly.Python.variableDB_.reset():Blockly.Python.variableDB_=new Blockly.Names(Blockly.Python.RESERVED_WORDS_);Blockly.Python.variableDB_.setVariableMap(a.getVariableMap());for(var b=[],c=Blockly.Variables.allDeveloperVariables(a),d=0;d<c.length;d++)b.push(Blockly.Python.variableDB_.getName(c[d],Blockly.Names.DEVELOPER_VARIABLE_TYPE)+
" = None");a=Blockly.Variables.allUsedVarModels(a);for(d=0;d<a.length;d++)b.push(Blockly.Python.variableDB_.getName(a[d].getId(),Blockly.VARIABLE_CATEGORY_NAME)+" = None");Blockly.Python.definitions_.variables=b.join("\n")};
Blockly.Python.finish=function(a){var b=[],c=[],d;for(d in Blockly.Python.definitions_){var e=Blockly.Python.definitions_[d];e.match(/^(from\s+\S+\s+)?import\s+\S+/)?b.push(e):c.push(e)}delete Blockly.Python.definitions_;delete Blockly.Python.functionNames_;Blockly.Python.variableDB_.reset();return(b.join("\n")+"\n\n"+c.join("\n\n")).replace(/\n\n+/g,"\n\n").replace(/\n*$/,"\n\n\n")+a};Blockly.Python.scrubNakedValue=function(a){return a+"\n"};
Blockly.Python.quote_=function(a){a=a.replace(/\\/g,"\\\\").replace(/\n/g,"\\\n");var b="'";-1!==a.indexOf("'")&&(-1===a.indexOf('"')?b='"':a=a.replace(/'/g,"\\'"));return b+a+b};Blockly.Python.multiline_quote_=function(a){a=a.replace(/'''/g,"\\'\\'\\'");return"'''"+a+"'''"};
Blockly.Python.scrub_=function(a,b,c){var d="";if(!a.outputConnection||!a.outputConnection.targetConnection){var e=a.getCommentText();e&&(e=Blockly.utils.string.wrap(e,Blockly.Python.COMMENT_WRAP-3),d+=Blockly.Python.prefixLines(e+"\n","# "));for(var f=0;f<a.inputList.length;f++)a.inputList[f].type==Blockly.INPUT_VALUE&&(e=a.inputList[f].connection.targetBlock())&&(e=Blockly.Python.allNestedComments(e))&&(d+=Blockly.Python.prefixLines(e,"# "))}a=a.nextConnection&&a.nextConnection.targetBlock();c=
c?"":Blockly.Python.blockToCode(a);return d+b+c};Blockly.Python.getAdjustedInt=function(a,b,c,d){c=c||0;a.workspace.options.oneBasedIndex&&c--;var e=a.workspace.options.oneBasedIndex?"1":"0";a=Blockly.Python.valueToCode(a,b,c?Blockly.Python.ORDER_ADDITIVE:Blockly.Python.ORDER_NONE)||e;Blockly.isNumber(a)?(a=parseInt(a,10)+c,d&&(a=-a)):(a=0<c?"int("+a+" + "+c+")":0>c?"int("+a+" - "+-c+")":"int("+a+")",d&&(a="-"+a));return a};Blockly.Python.colour={};Blockly.Python.colour_picker=function(a){return[Blockly.Python.quote_(a.getFieldValue("COLOUR")),Blockly.Python.ORDER_ATOMIC]};Blockly.Python.colour_random=function(a){Blockly.Python.definitions_.import_random="import random";return["'#%06x' % random.randint(0, 2**24 - 1)",Blockly.Python.ORDER_FUNCTION_CALL]};
Blockly.Python.colour_rgb=function(a){var b=Blockly.Python.provideFunction_("colour_rgb",["def "+Blockly.Python.FUNCTION_NAME_PLACEHOLDER_+"(r, g, b):"," r = round(min(100, max(0, r)) * 2.55)"," g = round(min(100, max(0, g)) * 2.55)"," b = round(min(100, max(0, b)) * 2.55)"," return '#%02x%02x%02x' % (r, g, b)"]),c=Blockly.Python.valueToCode(a,"RED",Blockly.Python.ORDER_NONE)||0,d=Blockly.Python.valueToCode(a,"GREEN",Blockly.Python.ORDER_NONE)||0;a=Blockly.Python.valueToCode(a,"BLUE",Blockly.Python.ORDER_NONE)||
0;return[b+"("+c+", "+d+", "+a+")",Blockly.Python.ORDER_FUNCTION_CALL]};
Blockly.Python.colour_blend=function(a){var b=Blockly.Python.provideFunction_("colour_blend",["def "+Blockly.Python.FUNCTION_NAME_PLACEHOLDER_+"(colour1, colour2, ratio):"," r1, r2 = int(colour1[1:3], 16), int(colour2[1:3], 16)"," g1, g2 = int(colour1[3:5], 16), int(colour2[3:5], 16)"," b1, b2 = int(colour1[5:7], 16), int(colour2[5:7], 16)"," ratio = min(1, max(0, ratio))"," r = round(r1 * (1 - ratio) + r2 * ratio)"," g = round(g1 * (1 - ratio) + g2 * ratio)"," b = round(b1 * (1 - ratio) + b2 * ratio)",
" return '#%02x%02x%02x' % (r, g, b)"]),c=Blockly.Python.valueToCode(a,"COLOUR1",Blockly.Python.ORDER_NONE)||"'#000000'",d=Blockly.Python.valueToCode(a,"COLOUR2",Blockly.Python.ORDER_NONE)||"'#000000'";a=Blockly.Python.valueToCode(a,"RATIO",Blockly.Python.ORDER_NONE)||0;return[b+"("+c+", "+d+", "+a+")",Blockly.Python.ORDER_FUNCTION_CALL]};Blockly.Python.lists={};Blockly.Python.lists_create_empty=function(a){return["[]",Blockly.Python.ORDER_ATOMIC]};Blockly.Python.lists_create_with=function(a){for(var b=Array(a.itemCount_),c=0;c<a.itemCount_;c++)b[c]=Blockly.Python.valueToCode(a,"ADD"+c,Blockly.Python.ORDER_NONE)||"None";return["["+b.join(", ")+"]",Blockly.Python.ORDER_ATOMIC]};
Blockly.Python.lists_repeat=function(a){var b=Blockly.Python.valueToCode(a,"ITEM",Blockly.Python.ORDER_NONE)||"None";a=Blockly.Python.valueToCode(a,"NUM",Blockly.Python.ORDER_MULTIPLICATIVE)||"0";return["["+b+"] * "+a,Blockly.Python.ORDER_MULTIPLICATIVE]};Blockly.Python.lists_length=function(a){return["len("+(Blockly.Python.valueToCode(a,"VALUE",Blockly.Python.ORDER_NONE)||"[]")+")",Blockly.Python.ORDER_FUNCTION_CALL]};
Blockly.Python.lists_isEmpty=function(a){return["not len("+(Blockly.Python.valueToCode(a,"VALUE",Blockly.Python.ORDER_NONE)||"[]")+")",Blockly.Python.ORDER_LOGICAL_NOT]};
Blockly.Python.lists_indexOf=function(a){var b=Blockly.Python.valueToCode(a,"FIND",Blockly.Python.ORDER_NONE)||"[]",c=Blockly.Python.valueToCode(a,"VALUE",Blockly.Python.ORDER_NONE)||"''";if(a.workspace.options.oneBasedIndex)var d=" 0",e=" + 1",f="";else d=" -1",e="",f=" - 1";if("FIRST"==a.getFieldValue("END"))return a=Blockly.Python.provideFunction_("first_index",["def "+Blockly.Python.FUNCTION_NAME_PLACEHOLDER_+"(my_list, elem):"," try: index = my_list.index(elem)"+e," except: index ="+d," return index"]),
[a+"("+c+", "+b+")",Blockly.Python.ORDER_FUNCTION_CALL];a=Blockly.Python.provideFunction_("last_index",["def "+Blockly.Python.FUNCTION_NAME_PLACEHOLDER_+"(my_list, elem):"," try: index = len(my_list) - my_list[::-1].index(elem)"+f," except: index ="+d," return index"]);return[a+"("+c+", "+b+")",Blockly.Python.ORDER_FUNCTION_CALL]};
Blockly.Python.lists_getIndex=function(a){var b=a.getFieldValue("MODE")||"GET",c=a.getFieldValue("WHERE")||"FROM_START",d=Blockly.Python.valueToCode(a,"VALUE","RANDOM"==c?Blockly.Python.ORDER_NONE:Blockly.Python.ORDER_MEMBER)||"[]";switch(c){case "FIRST":if("GET"==b)return[d+"[0]",Blockly.Python.ORDER_MEMBER];if("GET_REMOVE"==b)return[d+".pop(0)",Blockly.Python.ORDER_FUNCTION_CALL];if("REMOVE"==b)return d+".pop(0)\n";break;case "LAST":if("GET"==b)return[d+"[-1]",Blockly.Python.ORDER_MEMBER];if("GET_REMOVE"==
b)return[d+".pop()",Blockly.Python.ORDER_FUNCTION_CALL];if("REMOVE"==b)return d+".pop()\n";break;case "FROM_START":a=Blockly.Python.getAdjustedInt(a,"AT");if("GET"==b)return[d+"["+a+"]",Blockly.Python.ORDER_MEMBER];if("GET_REMOVE"==b)return[d+".pop("+a+")",Blockly.Python.ORDER_FUNCTION_CALL];if("REMOVE"==b)return d+".pop("+a+")\n";break;case "FROM_END":a=Blockly.Python.getAdjustedInt(a,"AT",1,!0);if("GET"==b)return[d+"["+a+"]",Blockly.Python.ORDER_MEMBER];if("GET_REMOVE"==b)return[d+".pop("+a+")",
Blockly.Python.ORDER_FUNCTION_CALL];if("REMOVE"==b)return d+".pop("+a+")\n";break;case "RANDOM":Blockly.Python.definitions_.import_random="import random";if("GET"==b)return["random.choice("+d+")",Blockly.Python.ORDER_FUNCTION_CALL];d=Blockly.Python.provideFunction_("lists_remove_random_item",["def "+Blockly.Python.FUNCTION_NAME_PLACEHOLDER_+"(myList):"," x = int(random.random() * len(myList))"," return myList.pop(x)"])+"("+d+")";if("GET_REMOVE"==b)return[d,Blockly.Python.ORDER_FUNCTION_CALL];if("REMOVE"==
b)return d+"\n"}throw Error("Unhandled combination (lists_getIndex).");};
Blockly.Python.lists_setIndex=function(a){var b=Blockly.Python.valueToCode(a,"LIST",Blockly.Python.ORDER_MEMBER)||"[]",c=a.getFieldValue("MODE")||"GET",d=a.getFieldValue("WHERE")||"FROM_START",e=Blockly.Python.valueToCode(a,"TO",Blockly.Python.ORDER_NONE)||"None";switch(d){case "FIRST":if("SET"==c)return b+"[0] = "+e+"\n";if("INSERT"==c)return b+".insert(0, "+e+")\n";break;case "LAST":if("SET"==c)return b+"[-1] = "+e+"\n";if("INSERT"==c)return b+".append("+e+")\n";break;case "FROM_START":a=Blockly.Python.getAdjustedInt(a,
"AT");if("SET"==c)return b+"["+a+"] = "+e+"\n";if("INSERT"==c)return b+".insert("+a+", "+e+")\n";break;case "FROM_END":a=Blockly.Python.getAdjustedInt(a,"AT",1,!0);if("SET"==c)return b+"["+a+"] = "+e+"\n";if("INSERT"==c)return b+".insert("+a+", "+e+")\n";break;case "RANDOM":Blockly.Python.definitions_.import_random="import random";b.match(/^\w+$/)?a="":(a=Blockly.Python.variableDB_.getDistinctName("tmp_list",Blockly.VARIABLE_CATEGORY_NAME),d=a+" = "+b+"\n",b=a,a=d);d=Blockly.Python.variableDB_.getDistinctName("tmp_x",
Blockly.VARIABLE_CATEGORY_NAME);a+=d+" = int(random.random() * len("+b+"))\n";if("SET"==c)return a+(b+"["+d+"] = "+e+"\n");if("INSERT"==c)return a+(b+".insert("+d+", "+e+")\n")}throw Error("Unhandled combination (lists_setIndex).");};
Blockly.Python.lists_getSublist=function(a){var b=Blockly.Python.valueToCode(a,"LIST",Blockly.Python.ORDER_MEMBER)||"[]",c=a.getFieldValue("WHERE1"),d=a.getFieldValue("WHERE2");switch(c){case "FROM_START":c=Blockly.Python.getAdjustedInt(a,"AT1");"0"==c&&(c="");break;case "FROM_END":c=Blockly.Python.getAdjustedInt(a,"AT1",1,!0);break;case "FIRST":c="";break;default:throw Error("Unhandled option (lists_getSublist)");}switch(d){case "FROM_START":a=Blockly.Python.getAdjustedInt(a,"AT2",1);break;case "FROM_END":a=
Blockly.Python.getAdjustedInt(a,"AT2",0,!0);Blockly.isNumber(String(a))?"0"==a&&(a=""):(Blockly.Python.definitions_.import_sys="import sys",a+=" or sys.maxsize");break;case "LAST":a="";break;default:throw Error("Unhandled option (lists_getSublist)");}return[b+"["+c+" : "+a+"]",Blockly.Python.ORDER_MEMBER]};
Blockly.Python.lists_sort=function(a){var b=Blockly.Python.valueToCode(a,"LIST",Blockly.Python.ORDER_NONE)||"[]",c=a.getFieldValue("TYPE");a="1"===a.getFieldValue("DIRECTION")?"False":"True";return[Blockly.Python.provideFunction_("lists_sort",["def "+Blockly.Python.FUNCTION_NAME_PLACEHOLDER_+"(my_list, type, reverse):"," def try_float(s):"," try:"," return float(s)"," except:"," return 0"," key_funcs = {",' "NUMERIC": try_float,',' "TEXT": str,',' "IGNORE_CASE": lambda s: str(s).lower()',
" }"," key_func = key_funcs[type]"," list_cpy = list(my_list)"," return sorted(list_cpy, key=key_func, reverse=reverse)"])+"("+b+', "'+c+'", '+a+")",Blockly.Python.ORDER_FUNCTION_CALL]};
Blockly.Python.lists_split=function(a){var b=a.getFieldValue("MODE");if("SPLIT"==b)b=Blockly.Python.valueToCode(a,"INPUT",Blockly.Python.ORDER_MEMBER)||"''",a=Blockly.Python.valueToCode(a,"DELIM",Blockly.Python.ORDER_NONE),a=b+".split("+a+")";else if("JOIN"==b)b=Blockly.Python.valueToCode(a,"INPUT",Blockly.Python.ORDER_NONE)||"[]",a=Blockly.Python.valueToCode(a,"DELIM",Blockly.Python.ORDER_MEMBER)||"''",a=a+".join("+b+")";else throw Error("Unknown mode: "+b);return[a,Blockly.Python.ORDER_FUNCTION_CALL]};
Blockly.Python.lists_reverse=function(a){return["list(reversed("+(Blockly.Python.valueToCode(a,"LIST",Blockly.Python.ORDER_NONE)||"[]")+"))",Blockly.Python.ORDER_FUNCTION_CALL]};Blockly.Python.logic={};
Blockly.Python.controls_if=function(a){var b=0,c="";Blockly.Python.STATEMENT_PREFIX&&(c+=Blockly.Python.injectId(Blockly.Python.STATEMENT_PREFIX,a));do{var d=Blockly.Python.valueToCode(a,"IF"+b,Blockly.Python.ORDER_NONE)||"False";var e=Blockly.Python.statementToCode(a,"DO"+b)||Blockly.Python.PASS;Blockly.Python.STATEMENT_SUFFIX&&(e=Blockly.Python.prefixLines(Blockly.Python.injectId(Blockly.Python.STATEMENT_SUFFIX,a),Blockly.Python.INDENT)+e);c+=(0==b?"if ":"elif ")+d+":\n"+e;++b}while(a.getInput("IF"+
b));if(a.getInput("ELSE")||Blockly.Python.STATEMENT_SUFFIX)e=Blockly.Python.statementToCode(a,"ELSE")||Blockly.Python.PASS,Blockly.Python.STATEMENT_SUFFIX&&(e=Blockly.Python.prefixLines(Blockly.Python.injectId(Blockly.Python.STATEMENT_SUFFIX,a),Blockly.Python.INDENT)+e),c+="else:\n"+e;return c};Blockly.Python.controls_ifelse=Blockly.Python.controls_if;
Blockly.Python.logic_compare=function(a){var b={EQ:"==",NEQ:"!=",LT:"<",LTE:"<=",GT:">",GTE:">="}[a.getFieldValue("OP")],c=Blockly.Python.ORDER_RELATIONAL,d=Blockly.Python.valueToCode(a,"A",c)||"0";a=Blockly.Python.valueToCode(a,"B",c)||"0";return[d+" "+b+" "+a,c]};
Blockly.Python.logic_operation=function(a){var b="AND"==a.getFieldValue("OP")?"and":"or",c="and"==b?Blockly.Python.ORDER_LOGICAL_AND:Blockly.Python.ORDER_LOGICAL_OR,d=Blockly.Python.valueToCode(a,"A",c);a=Blockly.Python.valueToCode(a,"B",c);if(d||a){var e="and"==b?"True":"False";d||(d=e);a||(a=e)}else a=d="False";return[d+" "+b+" "+a,c]};Blockly.Python.logic_negate=function(a){return["not "+(Blockly.Python.valueToCode(a,"BOOL",Blockly.Python.ORDER_LOGICAL_NOT)||"True"),Blockly.Python.ORDER_LOGICAL_NOT]};
Blockly.Python.logic_boolean=function(a){return["TRUE"==a.getFieldValue("BOOL")?"True":"False",Blockly.Python.ORDER_ATOMIC]};Blockly.Python.logic_null=function(a){return["None",Blockly.Python.ORDER_ATOMIC]};
Blockly.Python.logic_ternary=function(a){var b=Blockly.Python.valueToCode(a,"IF",Blockly.Python.ORDER_CONDITIONAL)||"False",c=Blockly.Python.valueToCode(a,"THEN",Blockly.Python.ORDER_CONDITIONAL)||"None";a=Blockly.Python.valueToCode(a,"ELSE",Blockly.Python.ORDER_CONDITIONAL)||"None";return[c+" if "+b+" else "+a,Blockly.Python.ORDER_CONDITIONAL]};Blockly.Python.loops={};Blockly.Python.controls_repeat_ext=function(a){var b=a.getField("TIMES")?String(parseInt(a.getFieldValue("TIMES"),10)):Blockly.Python.valueToCode(a,"TIMES",Blockly.Python.ORDER_NONE)||"0";b=Blockly.isNumber(b)?parseInt(b,10):"int("+b+")";var c=Blockly.Python.statementToCode(a,"DO");c=Blockly.Python.addLoopTrap(c,a)||Blockly.Python.PASS;return"for "+Blockly.Python.variableDB_.getDistinctName("count",Blockly.VARIABLE_CATEGORY_NAME)+" in range("+b+"):\n"+c};
Blockly.Python.controls_repeat=Blockly.Python.controls_repeat_ext;Blockly.Python.controls_whileUntil=function(a){var b="UNTIL"==a.getFieldValue("MODE"),c=Blockly.Python.valueToCode(a,"BOOL",b?Blockly.Python.ORDER_LOGICAL_NOT:Blockly.Python.ORDER_NONE)||"False",d=Blockly.Python.statementToCode(a,"DO");d=Blockly.Python.addLoopTrap(d,a)||Blockly.Python.PASS;b&&(c="not "+c);return"while "+c+":\n"+d};
Blockly.Python.controls_for=function(a){var b=Blockly.Python.variableDB_.getName(a.getFieldValue("VAR"),Blockly.VARIABLE_CATEGORY_NAME),c=Blockly.Python.valueToCode(a,"FROM",Blockly.Python.ORDER_NONE)||"0",d=Blockly.Python.valueToCode(a,"TO",Blockly.Python.ORDER_NONE)||"0",e=Blockly.Python.valueToCode(a,"BY",Blockly.Python.ORDER_NONE)||"1",f=Blockly.Python.statementToCode(a,"DO");f=Blockly.Python.addLoopTrap(f,a)||Blockly.Python.PASS;var l="",h=function(){return Blockly.Python.provideFunction_("upRange",
["def "+Blockly.Python.FUNCTION_NAME_PLACEHOLDER_+"(start, stop, step):"," while start <= stop:"," yield start"," start += abs(step)"])},g=function(){return Blockly.Python.provideFunction_("downRange",["def "+Blockly.Python.FUNCTION_NAME_PLACEHOLDER_+"(start, stop, step):"," while start >= stop:"," yield start"," start -= abs(step)"])};a=function(a,b,c){return"("+a+" <= "+b+") and "+h()+"("+a+", "+b+", "+c+") or "+g()+"("+a+", "+b+", "+c+")"};if(Blockly.isNumber(c)&&Blockly.isNumber(d)&&
Blockly.isNumber(e))c=Number(c),d=Number(d),e=Math.abs(Number(e)),0===c%1&&0===d%1&&0===e%1?(c<=d?(d++,a=0==c&&1==e?d:c+", "+d,1!=e&&(a+=", "+e)):(d--,a=c+", "+d+", -"+e),a="range("+a+")"):(a=c<d?h():g(),a+="("+c+", "+d+", "+e+")");else{var k=function(a,c){Blockly.isNumber(a)?a=Number(a):a.match(/^\w+$/)?a="float("+a+")":(c=Blockly.Python.variableDB_.getDistinctName(b+c,Blockly.VARIABLE_CATEGORY_NAME),l+=c+" = float("+a+")\n",a=c);return a};c=k(c,"_start");d=k(d,"_end");k(e,"_inc");a="number"==typeof c&&
"number"==typeof d?c<d?h(c,d,e):g(c,d,e):a(c,d,e)}return l+="for "+b+" in "+a+":\n"+f};Blockly.Python.controls_forEach=function(a){var b=Blockly.Python.variableDB_.getName(a.getFieldValue("VAR"),Blockly.VARIABLE_CATEGORY_NAME),c=Blockly.Python.valueToCode(a,"LIST",Blockly.Python.ORDER_RELATIONAL)||"[]",d=Blockly.Python.statementToCode(a,"DO");d=Blockly.Python.addLoopTrap(d,a)||Blockly.Python.PASS;return"for "+b+" in "+c+":\n"+d};
Blockly.Python.controls_flow_statements=function(a){var b="";Blockly.Python.STATEMENT_PREFIX&&(b+=Blockly.Python.injectId(Blockly.Python.STATEMENT_PREFIX,a));Blockly.Python.STATEMENT_SUFFIX&&(b+=Blockly.Python.injectId(Blockly.Python.STATEMENT_SUFFIX,a));if(Blockly.Python.STATEMENT_PREFIX){var c=Blockly.Constants.Loops.CONTROL_FLOW_IN_LOOP_CHECK_MIXIN.getSurroundLoop(a);c&&!c.suppressPrefixSuffix&&(b+=Blockly.Python.injectId(Blockly.Python.STATEMENT_PREFIX,c))}switch(a.getFieldValue("FLOW")){case "BREAK":return b+
"break\n";case "CONTINUE":return b+"continue\n"}throw Error("Unknown flow statement.");};Blockly.Python.math={};Blockly.Python.addReservedWords("math,random,Number");Blockly.Python.math_number=function(a){a=Number(a.getFieldValue("NUM"));if(Infinity==a){a='float("inf")';var b=Blockly.Python.ORDER_FUNCTION_CALL}else-Infinity==a?(a='-float("inf")',b=Blockly.Python.ORDER_UNARY_SIGN):b=0>a?Blockly.Python.ORDER_UNARY_SIGN:Blockly.Python.ORDER_ATOMIC;return[a,b]};
Blockly.Python.math_arithmetic=function(a){var b={ADD:[" + ",Blockly.Python.ORDER_ADDITIVE],MINUS:[" - ",Blockly.Python.ORDER_ADDITIVE],MULTIPLY:[" * ",Blockly.Python.ORDER_MULTIPLICATIVE],DIVIDE:[" / ",Blockly.Python.ORDER_MULTIPLICATIVE],POWER:[" ** ",Blockly.Python.ORDER_EXPONENTIATION]}[a.getFieldValue("OP")],c=b[0];b=b[1];var d=Blockly.Python.valueToCode(a,"A",b)||"0";a=Blockly.Python.valueToCode(a,"B",b)||"0";return[d+c+a,b]};
Blockly.Python.math_single=function(a){var b=a.getFieldValue("OP");if("NEG"==b){var c=Blockly.Python.valueToCode(a,"NUM",Blockly.Python.ORDER_UNARY_SIGN)||"0";return["-"+c,Blockly.Python.ORDER_UNARY_SIGN]}Blockly.Python.definitions_.import_math="import math";a="SIN"==b||"COS"==b||"TAN"==b?Blockly.Python.valueToCode(a,"NUM",Blockly.Python.ORDER_MULTIPLICATIVE)||"0":Blockly.Python.valueToCode(a,"NUM",Blockly.Python.ORDER_NONE)||"0";switch(b){case "ABS":c="math.fabs("+a+")";break;case "ROOT":c="math.sqrt("+
a+")";break;case "LN":c="math.log("+a+")";break;case "LOG10":c="math.log10("+a+")";break;case "EXP":c="math.exp("+a+")";break;case "POW10":c="math.pow(10,"+a+")";break;case "ROUND":c="round("+a+")";break;case "ROUNDUP":c="math.ceil("+a+")";break;case "ROUNDDOWN":c="math.floor("+a+")";break;case "SIN":c="math.sin("+a+" / 180.0 * math.pi)";break;case "COS":c="math.cos("+a+" / 180.0 * math.pi)";break;case "TAN":c="math.tan("+a+" / 180.0 * math.pi)"}if(c)return[c,Blockly.Python.ORDER_FUNCTION_CALL];switch(b){case "ASIN":c=
"math.asin("+a+") / math.pi * 180";break;case "ACOS":c="math.acos("+a+") / math.pi * 180";break;case "ATAN":c="math.atan("+a+") / math.pi * 180";break;default:throw Error("Unknown math operator: "+b);}return[c,Blockly.Python.ORDER_MULTIPLICATIVE]};
Blockly.Python.math_constant=function(a){var b={PI:["math.pi",Blockly.Python.ORDER_MEMBER],E:["math.e",Blockly.Python.ORDER_MEMBER],GOLDEN_RATIO:["(1 + math.sqrt(5)) / 2",Blockly.Python.ORDER_MULTIPLICATIVE],SQRT2:["math.sqrt(2)",Blockly.Python.ORDER_MEMBER],SQRT1_2:["math.sqrt(1.0 / 2)",Blockly.Python.ORDER_MEMBER],INFINITY:["float('inf')",Blockly.Python.ORDER_ATOMIC]};a=a.getFieldValue("CONSTANT");"INFINITY"!=a&&(Blockly.Python.definitions_.import_math="import math");return b[a]};
Blockly.Python.math_number_property=function(a){var b=Blockly.Python.valueToCode(a,"NUMBER_TO_CHECK",Blockly.Python.ORDER_MULTIPLICATIVE)||"0",c=a.getFieldValue("PROPERTY");if("PRIME"==c)return Blockly.Python.definitions_.import_math="import math",Blockly.Python.definitions_.from_numbers_import_Number="from numbers import Number",[Blockly.Python.provideFunction_("math_isPrime",["def "+Blockly.Python.FUNCTION_NAME_PLACEHOLDER_+"(n):"," # https://en.wikipedia.org/wiki/Primality_test#Naive_methods",
" # If n is not a number but a string, try parsing it."," if not isinstance(n, Number):"," try:"," n = float(n)"," except:"," return False"," if n == 2 or n == 3:"," return True"," # False if n is negative, is 1, or not whole, or if n is divisible by 2 or 3."," if n <= 1 or n % 1 != 0 or n % 2 == 0 or n % 3 == 0:"," return False"," # Check all the numbers of form 6k +/- 1, up to sqrt(n)."," for x in range(6, int(math.sqrt(n)) + 2, 6):"," if n % (x - 1) == 0 or n % (x + 1) == 0:",
" return False"," return True"])+"("+b+")",Blockly.Python.ORDER_FUNCTION_CALL];switch(c){case "EVEN":var d=b+" % 2 == 0";break;case "ODD":d=b+" % 2 == 1";break;case "WHOLE":d=b+" % 1 == 0";break;case "POSITIVE":d=b+" > 0";break;case "NEGATIVE":d=b+" < 0";break;case "DIVISIBLE_BY":a=Blockly.Python.valueToCode(a,"DIVISOR",Blockly.Python.ORDER_MULTIPLICATIVE);if(!a||"0"==a)return["False",Blockly.Python.ORDER_ATOMIC];d=b+" % "+a+" == 0"}return[d,Blockly.Python.ORDER_RELATIONAL]};
Blockly.Python.math_change=function(a){Blockly.Python.definitions_.from_numbers_import_Number="from numbers import Number";var b=Blockly.Python.valueToCode(a,"DELTA",Blockly.Python.ORDER_ADDITIVE)||"0";a=Blockly.Python.variableDB_.getName(a.getFieldValue("VAR"),Blockly.VARIABLE_CATEGORY_NAME);return a+" = ("+a+" if isinstance("+a+", Number) else 0) + "+b+"\n"};Blockly.Python.math_round=Blockly.Python.math_single;Blockly.Python.math_trig=Blockly.Python.math_single;
Blockly.Python.math_on_list=function(a){var b=a.getFieldValue("OP");a=Blockly.Python.valueToCode(a,"LIST",Blockly.Python.ORDER_NONE)||"[]";switch(b){case "SUM":b="sum("+a+")";break;case "MIN":b="min("+a+")";break;case "MAX":b="max("+a+")";break;case "AVERAGE":Blockly.Python.definitions_.from_numbers_import_Number="from numbers import Number";b=Blockly.Python.provideFunction_("math_mean",["def "+Blockly.Python.FUNCTION_NAME_PLACEHOLDER_+"(myList):"," localList = [e for e in myList if isinstance(e, Number)]",
" if not localList: return"," return float(sum(localList)) / len(localList)"]);b=b+"("+a+")";break;case "MEDIAN":Blockly.Python.definitions_.from_numbers_import_Number="from numbers import Number";b=Blockly.Python.provideFunction_("math_median",["def "+Blockly.Python.FUNCTION_NAME_PLACEHOLDER_+"(myList):"," localList = sorted([e for e in myList if isinstance(e, Number)])"," if not localList: return"," if len(localList) % 2 == 0:"," return (localList[len(localList) // 2 - 1] + localList[len(localList) // 2]) / 2.0",
" else:"," return localList[(len(localList) - 1) // 2]"]);b=b+"("+a+")";break;case "MODE":b=Blockly.Python.provideFunction_("math_modes",["def "+Blockly.Python.FUNCTION_NAME_PLACEHOLDER_+"(some_list):"," modes = []"," # Using a lists of [item, count] to keep count rather than dict",' # to avoid "unhashable" errors when the counted item is itself a list or dict.'," counts = []"," maxCount = 1"," for item in some_list:"," found = False"," for count in counts:"," if count[0] == item:",
" count[1] += 1"," maxCount = max(maxCount, count[1])"," found = True"," if not found:"," counts.append([item, 1])"," for counted_item, item_count in counts:"," if item_count == maxCount:"," modes.append(counted_item)"," return modes"]);b=b+"("+a+")";break;case "STD_DEV":Blockly.Python.definitions_.import_math="import math";b=Blockly.Python.provideFunction_("math_standard_deviation",["def "+Blockly.Python.FUNCTION_NAME_PLACEHOLDER_+"(numbers):"," n = len(numbers)",
" if n == 0: return"," mean = float(sum(numbers)) / n"," variance = sum((x - mean) ** 2 for x in numbers) / n"," return math.sqrt(variance)"]);b=b+"("+a+")";break;case "RANDOM":Blockly.Python.definitions_.import_random="import random";b="random.choice("+a+")";break;default:throw Error("Unknown operator: "+b);}return[b,Blockly.Python.ORDER_FUNCTION_CALL]};
Blockly.Python.math_modulo=function(a){var b=Blockly.Python.valueToCode(a,"DIVIDEND",Blockly.Python.ORDER_MULTIPLICATIVE)||"0";a=Blockly.Python.valueToCode(a,"DIVISOR",Blockly.Python.ORDER_MULTIPLICATIVE)||"0";return[b+" % "+a,Blockly.Python.ORDER_MULTIPLICATIVE]};
Blockly.Python.math_constrain=function(a){var b=Blockly.Python.valueToCode(a,"VALUE",Blockly.Python.ORDER_NONE)||"0",c=Blockly.Python.valueToCode(a,"LOW",Blockly.Python.ORDER_NONE)||"0";a=Blockly.Python.valueToCode(a,"HIGH",Blockly.Python.ORDER_NONE)||"float('inf')";return["min(max("+b+", "+c+"), "+a+")",Blockly.Python.ORDER_FUNCTION_CALL]};
Blockly.Python.math_random_int=function(a){Blockly.Python.definitions_.import_random="import random";var b=Blockly.Python.valueToCode(a,"FROM",Blockly.Python.ORDER_NONE)||"0";a=Blockly.Python.valueToCode(a,"TO",Blockly.Python.ORDER_NONE)||"0";return["random.randint("+b+", "+a+")",Blockly.Python.ORDER_FUNCTION_CALL]};Blockly.Python.math_random_float=function(a){Blockly.Python.definitions_.import_random="import random";return["random.random()",Blockly.Python.ORDER_FUNCTION_CALL]};
Blockly.Python.math_atan2=function(a){Blockly.Python.definitions_.import_math="import math";var b=Blockly.Python.valueToCode(a,"X",Blockly.Python.ORDER_NONE)||"0";return["math.atan2("+(Blockly.Python.valueToCode(a,"Y",Blockly.Python.ORDER_NONE)||"0")+", "+b+") / math.pi * 180",Blockly.Python.ORDER_MULTIPLICATIVE]};Blockly.Python.procedures={};
Blockly.Python.procedures_defreturn=function(a){for(var b=[],c,d=a.workspace,e=Blockly.Variables.allUsedVarModels(d)||[],f=0;c=e[f];f++)c=c.name,-1==a.getVars().indexOf(c)&&b.push(Blockly.Python.variableDB_.getName(c,Blockly.VARIABLE_CATEGORY_NAME));e=Blockly.Variables.allDeveloperVariables(d);for(f=0;f<e.length;f++)b.push(Blockly.Python.variableDB_.getName(e[f],Blockly.Names.DEVELOPER_VARIABLE_TYPE));b=b.length?Blockly.Python.INDENT+"global "+b.join(", ")+"\n":"";d=Blockly.Python.variableDB_.getName(a.getFieldValue("NAME"),Blockly.PROCEDURE_CATEGORY_NAME);
c="";Blockly.Python.STATEMENT_PREFIX&&(c+=Blockly.Python.injectId(Blockly.Python.STATEMENT_PREFIX,a));Blockly.Python.STATEMENT_SUFFIX&&(c+=Blockly.Python.injectId(Blockly.Python.STATEMENT_SUFFIX,a));c&&(c=Blockly.Python.prefixLines(c,Blockly.Python.INDENT));var l="";Blockly.Python.INFINITE_LOOP_TRAP&&(l=Blockly.Python.prefixLines(Blockly.Python.injectId(Blockly.Python.INFINITE_LOOP_TRAP,a),Blockly.Python.INDENT));var h=Blockly.Python.statementToCode(a,"STACK"),g=Blockly.Python.valueToCode(a,"RETURN",
Blockly.Python.ORDER_NONE)||"",k="";h&&g&&(k=c);g?g=Blockly.Python.INDENT+"return "+g+"\n":h||(h=Blockly.Python.PASS);var m=[];e=a.getVars();for(f=0;f<e.length;f++)m[f]=Blockly.Python.variableDB_.getName(e[f],Blockly.VARIABLE_CATEGORY_NAME);b="def "+d+"("+m.join(", ")+"):\n"+b+c+l+h+k+g;b=Blockly.Python.scrub_(a,b);Blockly.Python.definitions_["%"+d]=b;return null};Blockly.Python.procedures_defnoreturn=Blockly.Python.procedures_defreturn;
Blockly.Python.procedures_callreturn=function(a){for(var b=Blockly.Python.variableDB_.getName(a.getFieldValue("NAME"),Blockly.PROCEDURE_CATEGORY_NAME),c=[],d=a.getVars(),e=0;e<d.length;e++)c[e]=Blockly.Python.valueToCode(a,"ARG"+e,Blockly.Python.ORDER_NONE)||"None";return[b+"("+c.join(", ")+")",Blockly.Python.ORDER_FUNCTION_CALL]};Blockly.Python.procedures_callnoreturn=function(a){return Blockly.Python.procedures_callreturn(a)[0]+"\n"};
Blockly.Python.procedures_ifreturn=function(a){var b="if "+(Blockly.Python.valueToCode(a,"CONDITION",Blockly.Python.ORDER_NONE)||"False")+":\n";Blockly.Python.STATEMENT_SUFFIX&&(b+=Blockly.Python.prefixLines(Blockly.Python.injectId(Blockly.Python.STATEMENT_SUFFIX,a),Blockly.Python.INDENT));a.hasReturnValue_?(a=Blockly.Python.valueToCode(a,"VALUE",Blockly.Python.ORDER_NONE)||"None",b+=Blockly.Python.INDENT+"return "+a+"\n"):b+=Blockly.Python.INDENT+"return\n";return b};Blockly.Python.texts={};Blockly.Python.text=function(a){return[Blockly.Python.quote_(a.getFieldValue("TEXT")),Blockly.Python.ORDER_ATOMIC]};Blockly.Python.text_multiline=function(a){return[Blockly.Python.multiline_quote_(a.getFieldValue("TEXT")),Blockly.Python.ORDER_ATOMIC]};Blockly.Python.text.forceString_=function(a){return Blockly.Python.text.forceString_.strRegExp.test(a)?a:"str("+a+")"};Blockly.Python.text.forceString_.strRegExp=/^\s*'([^']|\\')*'\s*$/;
Blockly.Python.text_join=function(a){switch(a.itemCount_){case 0:return["''",Blockly.Python.ORDER_ATOMIC];case 1:return a=Blockly.Python.valueToCode(a,"ADD0",Blockly.Python.ORDER_NONE)||"''",a=Blockly.Python.text.forceString_(a),[a,Blockly.Python.ORDER_FUNCTION_CALL];case 2:var b=Blockly.Python.valueToCode(a,"ADD0",Blockly.Python.ORDER_NONE)||"''";a=Blockly.Python.valueToCode(a,"ADD1",Blockly.Python.ORDER_NONE)||"''";a=Blockly.Python.text.forceString_(b)+" + "+Blockly.Python.text.forceString_(a);
return[a,Blockly.Python.ORDER_ADDITIVE];default:b=[];for(var c=0;c<a.itemCount_;c++)b[c]=Blockly.Python.valueToCode(a,"ADD"+c,Blockly.Python.ORDER_NONE)||"''";a=Blockly.Python.variableDB_.getDistinctName("x",Blockly.VARIABLE_CATEGORY_NAME);a="''.join([str("+a+") for "+a+" in ["+b.join(", ")+"]])";return[a,Blockly.Python.ORDER_FUNCTION_CALL]}};
Blockly.Python.text_append=function(a){var b=Blockly.Python.variableDB_.getName(a.getFieldValue("VAR"),Blockly.VARIABLE_CATEGORY_NAME);a=Blockly.Python.valueToCode(a,"TEXT",Blockly.Python.ORDER_NONE)||"''";return b+" = str("+b+") + "+Blockly.Python.text.forceString_(a)+"\n"};Blockly.Python.text_length=function(a){return["len("+(Blockly.Python.valueToCode(a,"VALUE",Blockly.Python.ORDER_NONE)||"''")+")",Blockly.Python.ORDER_FUNCTION_CALL]};
Blockly.Python.text_isEmpty=function(a){return["not len("+(Blockly.Python.valueToCode(a,"VALUE",Blockly.Python.ORDER_NONE)||"''")+")",Blockly.Python.ORDER_LOGICAL_NOT]};
Blockly.Python.text_indexOf=function(a){var b="FIRST"==a.getFieldValue("END")?"find":"rfind",c=Blockly.Python.valueToCode(a,"FIND",Blockly.Python.ORDER_NONE)||"''";b=(Blockly.Python.valueToCode(a,"VALUE",Blockly.Python.ORDER_MEMBER)||"''")+"."+b+"("+c+")";return a.workspace.options.oneBasedIndex?[b+" + 1",Blockly.Python.ORDER_ADDITIVE]:[b,Blockly.Python.ORDER_FUNCTION_CALL]};
Blockly.Python.text_charAt=function(a){var b=a.getFieldValue("WHERE")||"FROM_START",c=Blockly.Python.valueToCode(a,"VALUE",Blockly.Python.ORDER_MEMBER)||"''";switch(b){case "FIRST":return[c+"[0]",Blockly.Python.ORDER_MEMBER];case "LAST":return[c+"[-1]",Blockly.Python.ORDER_MEMBER];case "FROM_START":return a=Blockly.Python.getAdjustedInt(a,"AT"),[c+"["+a+"]",Blockly.Python.ORDER_MEMBER];case "FROM_END":return a=Blockly.Python.getAdjustedInt(a,"AT",1,!0),[c+"["+a+"]",Blockly.Python.ORDER_MEMBER];case "RANDOM":return Blockly.Python.definitions_.import_random=
"import random",[Blockly.Python.provideFunction_("text_random_letter",["def "+Blockly.Python.FUNCTION_NAME_PLACEHOLDER_+"(text):"," x = int(random.random() * len(text))"," return text[x];"])+"("+c+")",Blockly.Python.ORDER_FUNCTION_CALL]}throw Error("Unhandled option (text_charAt).");};
Blockly.Python.text_getSubstring=function(a){var b=a.getFieldValue("WHERE1"),c=a.getFieldValue("WHERE2"),d=Blockly.Python.valueToCode(a,"STRING",Blockly.Python.ORDER_MEMBER)||"''";switch(b){case "FROM_START":b=Blockly.Python.getAdjustedInt(a,"AT1");"0"==b&&(b="");break;case "FROM_END":b=Blockly.Python.getAdjustedInt(a,"AT1",1,!0);break;case "FIRST":b="";break;default:throw Error("Unhandled option (text_getSubstring)");}switch(c){case "FROM_START":a=Blockly.Python.getAdjustedInt(a,"AT2",1);break;case "FROM_END":a=
Blockly.Python.getAdjustedInt(a,"AT2",0,!0);Blockly.isNumber(String(a))?"0"==a&&(a=""):(Blockly.Python.definitions_.import_sys="import sys",a+=" or sys.maxsize");break;case "LAST":a="";break;default:throw Error("Unhandled option (text_getSubstring)");}return[d+"["+b+" : "+a+"]",Blockly.Python.ORDER_MEMBER]};
Blockly.Python.text_changeCase=function(a){var b={UPPERCASE:".upper()",LOWERCASE:".lower()",TITLECASE:".title()"}[a.getFieldValue("CASE")];return[(Blockly.Python.valueToCode(a,"TEXT",Blockly.Python.ORDER_MEMBER)||"''")+b,Blockly.Python.ORDER_FUNCTION_CALL]};Blockly.Python.text_trim=function(a){var b={LEFT:".lstrip()",RIGHT:".rstrip()",BOTH:".strip()"}[a.getFieldValue("MODE")];return[(Blockly.Python.valueToCode(a,"TEXT",Blockly.Python.ORDER_MEMBER)||"''")+b,Blockly.Python.ORDER_FUNCTION_CALL]};
Blockly.Python.text_print=function(a){return"print("+(Blockly.Python.valueToCode(a,"TEXT",Blockly.Python.ORDER_NONE)||"''")+")\n"};
Blockly.Python.text_prompt_ext=function(a){var b=Blockly.Python.provideFunction_("text_prompt",["def "+Blockly.Python.FUNCTION_NAME_PLACEHOLDER_+"(msg):"," try:"," return raw_input(msg)"," except NameError:"," return input(msg)"]),c=a.getField("TEXT")?Blockly.Python.quote_(a.getFieldValue("TEXT")):Blockly.Python.valueToCode(a,"TEXT",Blockly.Python.ORDER_NONE)||"''";b=b+"("+c+")";"NUMBER"==a.getFieldValue("TYPE")&&(b="float("+b+")");return[b,Blockly.Python.ORDER_FUNCTION_CALL]};
Blockly.Python.text_prompt=Blockly.Python.text_prompt_ext;Blockly.Python.text_count=function(a){var b=Blockly.Python.valueToCode(a,"TEXT",Blockly.Python.ORDER_MEMBER)||"''";a=Blockly.Python.valueToCode(a,"SUB",Blockly.Python.ORDER_NONE)||"''";return[b+".count("+a+")",Blockly.Python.ORDER_MEMBER]};
Blockly.Python.text_replace=function(a){var b=Blockly.Python.valueToCode(a,"TEXT",Blockly.Python.ORDER_MEMBER)||"''",c=Blockly.Python.valueToCode(a,"FROM",Blockly.Python.ORDER_NONE)||"''";a=Blockly.Python.valueToCode(a,"TO",Blockly.Python.ORDER_NONE)||"''";return[b+".replace("+c+", "+a+")",Blockly.Python.ORDER_MEMBER]};Blockly.Python.text_reverse=function(a){return[(Blockly.Python.valueToCode(a,"TEXT",Blockly.Python.ORDER_MEMBER)||"''")+"[::-1]",Blockly.Python.ORDER_MEMBER]};Blockly.Python.variables={};Blockly.Python.variables_get=function(a){return[Blockly.Python.variableDB_.getName(a.getFieldValue("VAR"),Blockly.VARIABLE_CATEGORY_NAME),Blockly.Python.ORDER_ATOMIC]};Blockly.Python.variables_set=function(a){var b=Blockly.Python.valueToCode(a,"VALUE",Blockly.Python.ORDER_NONE)||"0";return Blockly.Python.variableDB_.getName(a.getFieldValue("VAR"),Blockly.VARIABLE_CATEGORY_NAME)+" = "+b+"\n"};Blockly.Python.variablesDynamic={};Blockly.Python.variables_get_dynamic=Blockly.Python.variables_get;Blockly.Python.variables_set_dynamic=Blockly.Python.variables_set;
return Blockly.Python;
}));
//# sourceMappingURL=python_compressed.js.map

1
clover_blocks/www/blockly/python_compressed.js.map Executable file
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564
clover_blocks/www/blocks.js Normal file
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const COLOR_FLIGHT = 293;
const COLOR_STATE = 36;
const COLOR_LED = 143;
const COLOR_GPIO = 200;
const DOCS_URL = 'https://clover.coex.tech/en/blocks.html';
var frameIds = [["body", "BODY"], ["markers map", "ARUCO_MAP"], ["marker", "ARUCO"], ["last navigate target", "NAVIGATE_TARGET"], ["map", "MAP"]];
function considerFrameId(e) {
if (!(e instanceof Blockly.Events.Change || e instanceof Blockly.Events.Create)) return;
var frameId = this.getFieldValue('FRAME_ID');
// set appropriate coordinates labels
if (this.getInput('X')) { // block has x-y-z fields
if (frameId == 'BODY' || frameId == 'NAVIGATE_TARGET' || frameId == 'BASE_LINK') {
this.getInput('X').fieldRow[0].setValue('forward');
this.getInput('Y').fieldRow[0].setValue('left');
this.getInput('Z').fieldRow[0].setValue('up');
} else {
this.getInput('X').fieldRow[0].setValue('x');
this.getInput('Y').fieldRow[0].setValue('y');
this.getInput('Z').fieldRow[0].setValue('z');
}
}
if (this.getInput('ID')) { // block has marker id field
this.getInput('ID').setVisible(frameId == 'ARUCO'); // toggle id field
}
this.render();
}
function updateSetpointBlock(e) {
if (!(e instanceof Blockly.Events.Change || e instanceof Blockly.Events.Create)) return;
considerFrameId.apply(this, arguments);
var type = this.getFieldValue('TYPE');
var velocity = type == 'VELOCITY';
var attitude = type == 'ATTITUDE' || type == 'RATES';
this.getInput('VX').setVisible(velocity);
this.getInput('VY').setVisible(velocity);
this.getInput('VZ').setVisible(velocity);
this.getInput('YAW').setVisible(attitude);
this.getInput('PITCH').setVisible(attitude);
this.getInput('ROLL').setVisible(attitude);
this.getInput('THRUST').setVisible(attitude);
this.getInput('RELATIVE_TO').setVisible(type != 'RATES');
if (type == 'RATES') {
this.getInput('ID').setVisible(false);
}
this.render();
}
Blockly.Blocks['navigate'] = {
init: function () {
this.appendDummyInput()
.appendField("navigate to point");
this.appendValueInput("X")
.setCheck("Number")
.appendField("forward");
this.appendValueInput("Y")
.setCheck("Number")
.appendField("left");
this.appendValueInput("Z")
.setCheck("Number")
.appendField("up");
this.appendDummyInput()
.appendField("relative to")
.appendField(new Blockly.FieldDropdown(frameIds), "FRAME_ID");
this.appendValueInput("ID")
.setCheck("Number")
.appendField("with ID")
.setVisible(false)
this.appendValueInput("SPEED")
.setCheck("Number")
.appendField("with speed");
this.appendDummyInput()
.appendField("wait")
.appendField(new Blockly.FieldCheckbox("TRUE"), "WAIT");
this.setInputsInline(false);
this.setPreviousStatement(true, null);
this.setNextStatement(true, null);
this.setColour(COLOR_FLIGHT);
this.setTooltip("Navigate to the specified point, coordinates are in meters.");
this.setHelpUrl(DOCS_URL + '#' + this.type);
this.setOnChange(considerFrameId);
}
};
Blockly.Blocks['set_velocity'] = {
init: function () {
this.appendDummyInput()
.appendField("set velocity");
this.appendValueInput("X")
.setCheck("Number")
.appendField("forward");
this.appendValueInput("Y")
.setCheck("Number")
.appendField("left");
this.appendValueInput("Z")
.setCheck("Number")
.appendField("up");
this.appendDummyInput()
.appendField("relative to")
.appendField(new Blockly.FieldDropdown(frameIds), "FRAME_ID");
this.appendValueInput("ID")
.setCheck("Number")
.appendField("with ID")
.setVisible(false)
this.setInputsInline(false);
this.setPreviousStatement(true, null);
this.setNextStatement(true, null);
this.setColour(COLOR_FLIGHT);
this.setTooltip("Set the drone velocity in meters per second (cancels navigation requests).");
this.setHelpUrl(DOCS_URL + '#' + this.type);
this.setOnChange(considerFrameId);
}
};
Blockly.Blocks['setpoint'] = {
init: function () {
this.appendDummyInput()
.appendField("set");
this.appendDummyInput()
.appendField(new Blockly.FieldDropdown([["velocity", "VELOCITY"], ["attitude", "ATTITUDE"], ["angular rates", "RATES"]]), "TYPE");
this.appendValueInput("VX")
.setCheck("Number")
.appendField("vx");
this.appendValueInput("VY")
.setCheck("Number")
.appendField("vy");
this.appendValueInput("VZ")
.setCheck("Number")
.appendField("vz");
this.appendValueInput("PITCH")
.setCheck("Number")
.appendField("pitch")
.setVisible(false);
this.appendValueInput("ROLL")
.setCheck("Number")
.appendField("roll")
.setVisible(false);
this.appendValueInput("YAW")
.setCheck("Number")
.appendField("yaw")
.setVisible(false);
this.appendValueInput("THRUST")
.setCheck("Number")
.appendField("thrust")
.setVisible(false);
this.appendDummyInput('RELATIVE_TO')
.appendField("relative to")
.appendField(new Blockly.FieldDropdown(frameIds), "FRAME_ID");
this.appendValueInput("ID")
.setCheck("Number")
.appendField("with ID")
.setVisible(false);
this.setInputsInline(false);
this.setPreviousStatement(true, null);
this.setNextStatement(true, null);
this.setColour(COLOR_FLIGHT);
this.setTooltip("Set the drone's setpoints of different types (cancels navigation requests).");
this.setHelpUrl(DOCS_URL + '#' + this.type);
this.setOnChange(updateSetpointBlock);
}
};
Blockly.Blocks['rangefinder_distance'] = {
init: function () {
this.appendDummyInput()
.appendField("current rangefinder distance");
this.setOutput(true, "Number");
this.setColour(COLOR_STATE);
this.setTooltip("");
this.setHelpUrl(DOCS_URL + '#' + this.type);
}
};
Blockly.Blocks['get_position'] = {
init: function () {
this.appendDummyInput()
.appendField("current")
.appendField(new Blockly.FieldDropdown([["x", "X"], ["y", "Y"], ["z", "Z"], ["vx", "VX"], ["vy", "VY"], ["vz", "VZ"]]), "FIELD")
.appendField("relative to")
.appendField(new Blockly.FieldDropdown(frameIds), "FRAME_ID");
this.appendValueInput("ID")
.setCheck("Number")
.appendField("with ID")
.setVisible(false)
this.setOutput(true, "Number");
this.setColour(COLOR_STATE);
this.setTooltip("Returns current position or velocity in meters or meters per second.");
this.setHelpUrl(DOCS_URL + '#' + this.type);
this.setOnChange(considerFrameId);
}
};
Blockly.Blocks['get_yaw'] = {
init: function () {
this.appendDummyInput()
.appendField("current yaw relative to")
.appendField(new Blockly.FieldDropdown(frameIds), "FRAME_ID");
this.appendValueInput("ID")
.setCheck("Number")
.appendField("with ID")
.setVisible(false)
this.setOutput(true, "Number");
this.setColour(COLOR_STATE);
this.setTooltip("Returns current yaw in degree (not radian).");
this.setHelpUrl(DOCS_URL + '#' + this.type);
this.setOnChange(considerFrameId);
}
};
Blockly.Blocks['get_attitude'] = {
init: function () {
this.appendDummyInput()
.appendField("current")
.appendField(new Blockly.FieldDropdown([["pitch", "PITCH"], ["roll", "ROLL"], ["pitch rate", "PITCH_RATE"], ["roll rate", "ROLL_RATE"], ["yaw rate", "YAW_RATE"]]), "FIELD");
this.setOutput(true, "Number");
this.setColour(COLOR_STATE);
this.setTooltip("Returns current orientation or angle rates in degree or degree per second (not radian).");
this.setHelpUrl(DOCS_URL + '#' + this.type);
}
};
Blockly.Blocks['voltage'] = {
init: function () {
this.appendDummyInput()
.appendField("current")
.appendField(new Blockly.FieldDropdown([["total", "VOLTAGE"], ["cell", "CELL_VOLTAGE"]]), "TYPE")
.appendField("voltage");
this.setOutput(true, "Number");
this.setColour(COLOR_STATE);
this.setTooltip("Returns current battery voltage in volts.");
this.setHelpUrl(DOCS_URL + '#' + this.type);
}
};
Blockly.Blocks['armed'] = {
init: function () {
this.appendDummyInput()
.appendField("armed?");
this.setOutput(true, "Boolean");
this.setColour(COLOR_STATE);
this.setTooltip("Returns if the drone armed.");
this.setHelpUrl(DOCS_URL + '#' + this.type);
}
};
Blockly.Blocks['mode'] = {
init: function () {
this.appendDummyInput()
.appendField("current flight mode");
this.setOutput(true, "String");
this.setColour(COLOR_STATE);
this.setTooltip("");
this.setHelpUrl(DOCS_URL + '#' + this.type);
}
};
Blockly.Blocks['wait_arrival'] = {
init: function () {
this.appendDummyInput()
.appendField("wait arrival");
this.setPreviousStatement(true, null);
this.setNextStatement(true, null);
this.setColour(COLOR_FLIGHT);
this.setTooltip("Wait until the drone arrives to the navigation target.");
this.setHelpUrl(DOCS_URL + '#' + this.type);
}
};
Blockly.Blocks['get_time'] = {
init: function () {
this.appendDummyInput()
.appendField("time");
this.setOutput(true, "Number");
this.setColour(COLOR_STATE);
this.setTooltip("Returns current timestamp in seconds.");
this.setHelpUrl(DOCS_URL + '#' + this.type);
}
};
Blockly.Blocks['arrived'] = {
init: function () {
this.appendDummyInput()
.appendField("arrived?");
this.setOutput(true, "Boolean");
this.setColour(COLOR_STATE);
this.setTooltip("Returns if the drone arrived to the navigation target.");
this.setHelpUrl(DOCS_URL + '#' + this.type);
}
};
Blockly.Blocks['set_led'] = {
init: function () {
this.appendDummyInput()
.appendField("set LED");
this.appendValueInput("INDEX")
.setCheck("Number");
this.appendValueInput("COLOR")
.setCheck("Colour")
.appendField("to color");
this.setInputsInline(true);
this.setPreviousStatement(true, null);
this.setNextStatement(true, null);
this.setColour(COLOR_LED);
this.setTooltip("Set an individual LED to specified color.");
this.setHelpUrl(DOCS_URL + '#' + this.type);
}
};
Blockly.Blocks['set_effect'] = {
init: function () {
this.appendDummyInput()
.appendField("set LED effect")
.appendField(new Blockly.FieldDropdown([["fill", "FILL"], ["blink", "BLINK"], ["fast blink", "BLINK_FAST"], ["fade", "FADE"], ["wipe", "WIPE"], ["flash", "FLASH"], ["rainbow", "RAINBOW"], ["rainbow fill", "RAINBOW_FILL"]]), "EFFECT");
this.appendValueInput("COLOR")
.setCheck("Colour")
.appendField("with color");
this.setInputsInline(true);
this.setPreviousStatement(true, null);
this.setNextStatement(true, null);
this.setColour(COLOR_LED);
this.setTooltip("Set desired LED strip effect.");
this.setHelpUrl(DOCS_URL + '#' + this.type);
this.setOnChange(function(e) {
if (!(e instanceof Blockly.Events.Change || e instanceof Blockly.Events.Create)) return;
// Hide color field on some effects
var effect = this.getFieldValue('EFFECT');
var hideColor = effect == 'RAINBOW' || effect == 'RAINBOW_FILL';
this.inputList[1].setVisible(!hideColor);
this.render();
});
}
};
Blockly.Blocks['take_off'] = {
init: function () {
this.appendValueInput("ALT")
.setCheck("Number")
.appendField("take off to");
this.appendDummyInput()
.appendField("wait")
.appendField(new Blockly.FieldCheckbox("TRUE"), "WAIT");
this.setPreviousStatement(true, null);
this.setNextStatement(true, null);
this.setColour(COLOR_FLIGHT);
this.setTooltip("Take off on desired altitude in meters");
this.setHelpUrl(DOCS_URL + '#' + this.type);
}
};
Blockly.Blocks['land'] = {
init: function () {
this.appendDummyInput()
.appendField("land");
this.appendDummyInput()
.appendField("wait")
.appendField(new Blockly.FieldCheckbox("TRUE"), "WAIT");
this.setInputsInline(true);
this.setPreviousStatement(true, null);
this.setNextStatement(true, null);
this.setColour(COLOR_FLIGHT);
this.setTooltip("");
this.setHelpUrl(DOCS_URL + '#' + this.type);
}
};
Blockly.Blocks['global_position'] = {
init: function () {
this.appendDummyInput()
.appendField("current")
.appendField(new Blockly.FieldDropdown([["latitude", "LATITUDE"], ["longitude", "LONGITUDE"], ["altitude", "ALTITUDE"]]), "NAME");
this.setOutput(true, "Number");
this.setColour(230);
this.setTooltip("");
this.setHelpUrl(DOCS_URL + '#' + this.type);
}
};
Blockly.Blocks['on_take_off'] = {
init: function () {
this.appendStatementInput("TAKE_OFF")
.setCheck(null)
.appendField("When took off");
this.setColour(230);
this.setTooltip("");
this.setHelpUrl(DOCS_URL + '#' + this.type);
}
};
Blockly.Blocks['on_landing'] = {
init: function () {
this.appendStatementInput("LAND")
.setCheck(null)
.appendField("When landed");
this.setColour(230);
this.setTooltip("");
this.setHelpUrl(DOCS_URL + '#' + this.type);
}
};
Blockly.Blocks['on_armed'] = {
init: function () {
this.appendStatementInput("ARMED")
.setCheck(null)
.appendField("when armed");
this.setColour(230);
this.setTooltip("");
this.setHelpUrl(DOCS_URL + '#' + this.type);
}
};
Blockly.FieldAngle.WRAP = 180;
Blockly.FieldAngle.ROUND = 10;
Blockly.Blocks['angle'] = {
init: function () {
this.appendDummyInput()
.appendField(new Blockly.FieldAngle(90), "ANGLE");
this.setOutput(true, "Number");
this.setColour(230);
this.setTooltip("");
this.setHelpUrl(DOCS_URL + '#' + this.type);
}
};
Blockly.Blocks['set_yaw'] = {
init: function () {
this.appendValueInput("YAW")
.setCheck("Number")
.appendField("rotate by");
this.appendDummyInput()
.appendField("relative to")
.appendField(new Blockly.FieldDropdown([["body", "body"], ["markers map", "aruco_map"], ["last navigate target", "navigate_target"]]), "FRAME_ID");
this.appendDummyInput()
.appendField("wait")
.appendField(new Blockly.FieldCheckbox("TRUE"), "WAIT");
this.setInputsInline(true);
this.setPreviousStatement(true, null);
this.setNextStatement(true, null);
this.setColour(COLOR_FLIGHT);
this.setTooltip("Rotate the drone to the specified angle in degree (not radian).");
this.setHelpUrl(DOCS_URL + '#' + this.type);
}
};
Blockly.Blocks['distance'] = {
init: function () {
this.appendDummyInput()
.appendField("distance to point");
this.appendValueInput("X")
.setCheck("Number")
.appendField("x");
this.appendValueInput("Y")
.setCheck("Number")
.appendField("y");
this.appendValueInput("Z")
.setCheck("Number")
.appendField("z");
this.appendDummyInput()
.appendField("relative to")
.appendField(new Blockly.FieldDropdown([["markers map", "ARUCO_MAP"], ["marker", "ARUCO"], ["last navigate target", "NAVIGATE_TARGET"]]), "FRAME_ID");
this.appendValueInput("ID")
.setCheck("Number")
.appendField("with ID")
.setVisible(false);
this.setInputsInline(false);
this.setOutput(true, "Number");
this.setColour(COLOR_STATE);
this.setTooltip("Returns the distance to the given point in meters.");
this.setHelpUrl(DOCS_URL + '#' + this.type);
this.setOnChange(considerFrameId);
}
};
Blockly.Blocks['wait'] = {
init: function () {
this.appendDummyInput()
.appendField("wait");
this.appendValueInput("TIME")
.setCheck("Number");
this.appendDummyInput()
.appendField("seconds");
this.setPreviousStatement(true, null);
this.setNextStatement(true, null);
this.setColour(COLOR_FLIGHT);
this.setTooltip("");
this.setHelpUrl(DOCS_URL + '#' + this.type);
}
};
var keys = [['up', 'UP'], ['down', 'DOWN'], ['left', 'LEFT'], ['right', 'RIGHT'], ['space', 'SPACE']];
Blockly.Blocks['key_pressed'] = {
init: function () {
this.appendDummyInput()
.appendField("key")
.appendField(new Blockly.FieldDropdown(keys, "NAME"))
.appendField("pressed");
this.appendStatementInput("PRESSED")
.setCheck(null);
this.setPreviousStatement(true, null);
this.setNextStatement(true, null);
this.setColour(230);
this.setTooltip("");
this.setHelpUrl(DOCS_URL + '#' + this.type);
}
};
Blockly.Blocks['gpio_read'] = {
init: function () {
this.appendValueInput("PIN")
.setCheck("Number")
.appendField("read GPIO pin");
this.setOutput(true, "Boolean");
this.setColour(COLOR_GPIO);
this.setTooltip("Returns if there is voltage on a GPIO pin.");
this.setHelpUrl(DOCS_URL + '#' + this.type);
}
};
Blockly.Blocks['gpio_write'] = {
init: function () {
this.appendValueInput("PIN")
.setCheck("Number")
.appendField("set GPIO pin");
this.appendValueInput("LEVEL")
.setCheck("Boolean")
.appendField("to");
this.setInputsInline(true);
this.setColour(COLOR_GPIO);
this.setPreviousStatement(true, null);
this.setNextStatement(true, null);
this.setTooltip("Set GPIO pin level.");
this.setHelpUrl(DOCS_URL + '#' + this.type);
}
};
Blockly.Blocks['set_servo'] = {
init: function () {
this.appendValueInput("PIN")
.setCheck("Number")
.appendField("set GPIO pin");
this.appendValueInput("PWM")
.setCheck("Number")
.appendField("to PWM");
this.setInputsInline(true);
this.setColour(COLOR_GPIO);
this.setPreviousStatement(true, null);
this.setNextStatement(true, null);
this.setTooltip("Set PWM on a GPIO pin to control servo. PWM is specified in range of 500–2500 ms.");
this.setHelpUrl(DOCS_URL + '#' + this.type);
}
};

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/*
Monokai Sublime style. Derived from Monokai by noformnocontent http://nn.mit-license.org/
*/
.hljs {
display: block;
overflow-x: auto;
padding: 0.5em;
background: #23241f;
}
.hljs,
.hljs-tag,
.hljs-subst {
color: #f8f8f2;
}
.hljs-strong,
.hljs-emphasis {
color: #a8a8a2;
}
.hljs-bullet,
.hljs-quote,
.hljs-number,
.hljs-regexp,
.hljs-literal,
.hljs-link {
color: #ae81ff;
}
.hljs-code,
.hljs-title,
.hljs-section,
.hljs-selector-class {
color: #a6e22e;
}
.hljs-strong {
font-weight: bold;
}
.hljs-emphasis {
font-style: italic;
}
.hljs-keyword,
.hljs-selector-tag,
.hljs-name,
.hljs-attr {
color: #f92672;
}
.hljs-symbol,
.hljs-attribute {
color: #66d9ef;
}
.hljs-params,
.hljs-class .hljs-title {
color: #f8f8f2;
}
.hljs-string,
.hljs-type,
.hljs-built_in,
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color: #e6db74;
}
.hljs-comment,
.hljs-deletion,
.hljs-meta {
color: #75715e;
}

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<!DOCTYPE html>
<html lang="en">
<head>
<title>Clover Blocks</title>
<meta charset="UTF-8">
<meta name="viewport" content="width=device-width, initial-scale=1, shrink-to-fit=no">
<link rel="stylesheet" href="main.css">
<link rel="icon" href="data:,">
<link rel="stylesheet" href="highlight/styles/monokai-sublime.css">
<script src="highlight/highlight.pack.js"></script>
<script src="roslib.js"></script>
<script src="blockly/blockly_compressed.js"></script>
<script src="blockly/python_compressed.js"></script>
<script src="blockly/blocks_compressed.js"></script>
<script src="blockly/msg/js/en.js"></script>
<script type="module" src="main.js"></script>
</head>
<body data-tab="blocks">
<ul id="tabs">
<li class="selected" data-tab="blocks">Blocks</li>
<li data-tab="python">Python</li>
</ul>
<div id="tools">
<div class="disconnected">Disconnected</div>
<div class="backend-fail">Failed to contact with <code>clover_blocks</code> node, see <a href="../clover/docs/en/blocks.html#configuration" target="_blank">configuration</a> documentation.</div>
<div id="running">Running...</div>
<select id="program-name" title="Files are saved in <package_path>/programs/.">
<option value="" disabled selected>&lt;Unsaved&gt;</option>
<option value="@clear">Clear...</option>
<option style="font-style: italic;" value="@save">Save... (Ctrl+S)</option>
<optgroup label="User" data-type="user"></optgroup>
<optgroup label="Examples" data-type="example"></optgroup>
</select>
<button onclick="runProgram()" disabled id="run" disabled title="Run the program">Run</button>
<button onclick="stopProgram()" title="Stop the program">Stop</button>
<button onclick="land()" title="Stop the program and land">Land</button>
</div>
<div id="notifications"></div>
<div id="blockly" class="content"></div>
<pre id="python" class="content" contenteditable oncut="return false" onpaste="return false" onkeydown="if(!event.metaKey) return false" spellcheck="false"></pre>
<xml xmlns="https://developers.google.com/blockly/xml" id="toolbox" style="display: none">
<category name="Flight" colour="#870b99">
<block type="take_off">
<value name="ALT"><shadow type="math_number"><field name="NUM">1</field></shadow></value>
</block>
<block type="navigate">
<value name="X"><shadow type="math_number"><field name="NUM">0</field></shadow></value>
<value name="Y"><shadow type="math_number"><field name="NUM">0</field></shadow></value>
<value name="Z"><shadow type="math_number"><field name="NUM">0</field></shadow></value>
<value name="SPEED"><shadow type="math_number"><field name="NUM">0.5</field></shadow></value>
<value name="ID"><shadow type="math_number"><field name="NUM">0</field></shadow></value>
</block>
<block type="land"></block>
<block type="set_yaw">
<value name="YAW"><shadow type="angle"></shadow></value>
</block>
<block type="wait">
<value name="TIME"><shadow type="math_number"><field name="NUM">3</field></shadow></value>
</block>
<block type="wait_arrival"></block>
<block type="setpoint">
<value name="VX"><shadow type="math_number"><field name="NUM">0</field></shadow></value>
<value name="VY"><shadow type="math_number"><field name="NUM">0</field></shadow></value>
<value name="VZ"><shadow type="math_number"><field name="NUM">0</field></shadow></value>
<value name="PITCH"><shadow type="math_number"><field name="NUM">0</field></shadow></value>
<value name="ROLL"><shadow type="math_number"><field name="NUM">0</field></shadow></value>
<value name="YAW"><shadow type="math_number"><field name="NUM">0</field></shadow></value>
<value name="THRUST"><shadow type="math_number"><field name="NUM">0.5</field></shadow></value>
<value name="ID"><shadow type="math_number"><field name="NUM">0</field></shadow></value>
</block>
<!-- <block type="key_pressed"></block> -->
</category>
<category name="State" colour="#ff9a00">
<block type="get_position">
<field name="FRAME_ID">ARUCO_MAP</field>
<value name="ID"><shadow type="math_number"><field name="NUM">0</field></shadow></value>
</block>
<block type="get_yaw">
<field name="FRAME_ID">ARUCO_MAP</field>
<value name="ID"><shadow type="math_number"><field name="NUM">0</field></shadow></value>
</block>
<block type="get_attitude"></block>
<block type="distance">
<value name="X"><shadow type="math_number"><field name="NUM">0</field></shadow></value>
<value name="Y"><shadow type="math_number"><field name="NUM">0</field></shadow></value>
<value name="Z"><shadow type="math_number"><field name="NUM">0</field></shadow></value>
<value name="ID"><shadow type="math_number"><field name="NUM">0</field></shadow></value>
</block>
<block type="get_time"></block>
<block type="arrived"></block>
<block type="rangefinder_distance"></block>
<block type="mode"></block>
<block type="armed"></block>
<block type="voltage"></block>
</category>
<category name="LED" colour="#02d754">
<block type="set_effect">
<value name="COLOR"><shadow type="colour_picker"></shadow></value>
</block>
<block type="set_led">
<value name="INDEX"><shadow type="math_number"><field name="NUM">0</field></shadow></value>
<value name="COLOR"><shadow type="colour_picker"></shadow></value>
</block>
</category>
<category name="GPIO" colour="#5b97cc">
<block type="gpio_read">
<value name="PIN"><shadow type="math_number"><field name="NUM">1</field></shadow></value>
</block>
<block type="gpio_write">
<value name="PIN"><shadow type="math_number"><field name="NUM">1</field></shadow></value>
<value name="LEVEL"><shadow type="logic_boolean"></shadow></value>
</block>
<block type="set_servo">
<value name="PIN"><shadow type="math_number"><field name="NUM">1</field></shadow></value>
<value name="PWM"><shadow type="math_number"><field name="NUM">1500</field></shadow></value>
</block>
</category>
<sep></sep>
<category name="Logic" colour="#5b80a5">
<block type="controls_if"></block>
<block type="logic_compare">
<field name="OP">EQ</field>
</block>
<block type="logic_operation">
<field name="OP">AND</field>
</block>
<block type="logic_negate"></block>
<block type="logic_boolean">
<field name="BOOL">TRUE</field>
</block>
<block type="logic_null"></block>
<block type="logic_ternary"></block>
</category>
<category name="Loops" colour="#5ba55b">
<block type="controls_repeat_ext">
<value name="TIMES">
<shadow type="math_number">
<field name="NUM">10</field>
</shadow>
</value>
</block>
<block type="controls_whileUntil">
<field name="MODE">WHILE</field>
</block>
<block type="controls_for">
<field name="VAR" id="SMJ.7:a)p9(!mF0x)WK~">i</field>
<value name="FROM">
<shadow type="math_number">
<field name="NUM">1</field>
</shadow>
</value>
<value name="TO">
<shadow type="math_number">
<field name="NUM">10</field>
</shadow>
</value>
<value name="BY">
<shadow type="math_number">
<field name="NUM">1</field>
</shadow>
</value>
</block>
<block type="controls_forEach">
<field name="VAR" id="#hg!+5qncbZDpf;c6Qiw">j</field>
</block>
<block type="controls_flow_statements">
<field name="FLOW">BREAK</field>
</block>
</category>
<category name="Math" colour="#5b67a5">
<block type="math_number">
<field name="NUM">0</field>
</block>
<block type="math_arithmetic">
<field name="OP">ADD</field>
<value name="A">
<shadow type="math_number">
<field name="NUM">1</field>
</shadow>
</value>
<value name="B">
<shadow type="math_number">
<field name="NUM">1</field>
</shadow>
</value>
</block>
<block type="math_single">
<field name="OP">ROOT</field>
<value name="NUM">
<shadow type="math_number">
<field name="NUM">9</field>
</shadow>
</value>
</block>
<block type="math_trig">
<field name="OP">SIN</field>
<value name="NUM">
<shadow type="math_number">
<field name="NUM">45</field>
</shadow>
</value>
</block>
<block type="math_constant">
<field name="CONSTANT">PI</field>
</block>
<block type="math_number_property">
<mutation divisor_input="false"></mutation>
<field name="PROPERTY">EVEN</field>
<value name="NUMBER_TO_CHECK">
<shadow type="math_number">
<field name="NUM">0</field>
</shadow>
</value>
</block>
<block type="math_round">
<field name="OP">ROUND</field>
<value name="NUM">
<shadow type="math_number">
<field name="NUM">3.1</field>
</shadow>
</value>
</block>
<block type="math_on_list">
<mutation op="SUM"></mutation>
<field name="OP">SUM</field>
</block>
<block type="math_modulo">
<value name="DIVIDEND">
<shadow type="math_number">
<field name="NUM">64</field>
</shadow>
</value>
<value name="DIVISOR">
<shadow type="math_number">
<field name="NUM">10</field>
</shadow>
</value>
</block>
<block type="math_constrain">
<value name="VALUE">
<shadow type="math_number">
<field name="NUM">50</field>
</shadow>
</value>
<value name="LOW">
<shadow type="math_number">
<field name="NUM">1</field>
</shadow>
</value>
<value name="HIGH">
<shadow type="math_number">
<field name="NUM">100</field>
</shadow>
</value>
</block>
<block type="math_random_int">
<value name="FROM">
<shadow type="math_number">
<field name="NUM">1</field>
</shadow>
</value>
<value name="TO">
<shadow type="math_number">
<field name="NUM">100</field>
</shadow>
</value>
</block>
<block type="math_random_float"></block>
</category>
<category name="Text" colour="#5ba58c">
<block type="text">
<field name="TEXT"></field>
</block>
<block type="text_join">
<mutation items="2"></mutation>
</block>
<block type="text_append">
<field name="VAR" id="SmwB.@#2p5}McHySTA:V">item</field>
<value name="TEXT">
<shadow type="text">
<field name="TEXT"></field>
</shadow>
</value>
</block>
<block type="text_length">
<value name="VALUE">
<shadow type="text">
<field name="TEXT">abc</field>
</shadow>
</value>
</block>
<block type="text_isEmpty">
<value name="VALUE">
<shadow type="text">
<field name="TEXT"></field>
</shadow>
</value>
</block>
<block type="text_indexOf">
<field name="END">FIRST</field>
<value name="VALUE">
<block type="variables_get">
<field name="VAR" id="C^Ay41*aH0(G-jwM$x4w">text</field>
</block>
</value>
<value name="FIND">
<shadow type="text">
<field name="TEXT">abc</field>
</shadow>
</value>
</block>
<block type="text_charAt">
<mutation at="true"></mutation>
<field name="WHERE">FROM_START</field>
<value name="VALUE">
<block type="variables_get">
<field name="VAR" id="C^Ay41*aH0(G-jwM$x4w">text</field>
</block>
</value>
</block>
<block type="text_getSubstring">
<mutation at1="true" at2="true"></mutation>
<field name="WHERE1">FROM_START</field>
<field name="WHERE2">FROM_START</field>
<value name="STRING">
<block type="variables_get">
<field name="VAR" id="C^Ay41*aH0(G-jwM$x4w">text</field>
</block>
</value>
</block>
<block type="text_changeCase">
<field name="CASE">UPPERCASE</field>
<value name="TEXT">
<shadow type="text">
<field name="TEXT">abc</field>
</shadow>
</value>
</block>
<block type="text_trim">
<field name="MODE">BOTH</field>
<value name="TEXT">
<shadow type="text">
<field name="TEXT">abc</field>
</shadow>
</value>
</block>
<block type="text_print">
<value name="TEXT">
<shadow type="text">
<field name="TEXT">abc</field>
</shadow>
</value>
</block>
<block type="text_prompt_ext">
<mutation type="TEXT"></mutation>
<field name="TYPE">TEXT</field>
<value name="TEXT">
<shadow type="text">
<field name="TEXT">abc</field>
</shadow>
</value>
</block>
</category>
<category name="Lists" colour="#745ba5">
<block type="lists_create_with">
<mutation items="0"></mutation>
</block>
<block type="lists_create_with">
<mutation items="3"></mutation>
</block>
<block type="lists_repeat">
<value name="NUM">
<shadow type="math_number">
<field name="NUM">5</field>
</shadow>
</value>
</block>
<block type="lists_length"></block>
<block type="lists_isEmpty"></block>
<block type="lists_indexOf">
<field name="END">FIRST</field>
<value name="VALUE">
<block type="variables_get">
<field name="VAR" id="+/w.~s(u:tRiXNBG5eR#">list</field>
</block>
</value>
</block>
<block type="lists_getIndex">
<mutation statement="false" at="true"></mutation>
<field name="MODE">GET</field>
<field name="WHERE">FROM_START</field>
<value name="VALUE">
<block type="variables_get">
<field name="VAR" id="+/w.~s(u:tRiXNBG5eR#">list</field>
</block>
</value>
</block>
<block type="lists_setIndex">
<mutation at="true"></mutation>
<field name="MODE">SET</field>
<field name="WHERE">FROM_START</field>
<value name="LIST">
<block type="variables_get">
<field name="VAR" id="+/w.~s(u:tRiXNBG5eR#">list</field>
</block>
</value>
</block>
<block type="lists_getSublist">
<mutation at1="true" at2="true"></mutation>
<field name="WHERE1">FROM_START</field>
<field name="WHERE2">FROM_START</field>
<value name="LIST">
<block type="variables_get">
<field name="VAR" id="+/w.~s(u:tRiXNBG5eR#">list</field>
</block>
</value>
</block>
<block type="lists_split">
<mutation mode="SPLIT"></mutation>
<field name="MODE">SPLIT</field>
<value name="DELIM">
<shadow type="text">
<field name="TEXT">,</field>
</shadow>
</value>
</block>
<block type="lists_sort">
<field name="TYPE">NUMERIC</field>
<field name="DIRECTION">1</field>
</block>
</category>
<category name="Colour" colour="#a5745b">
<block type="colour_picker">
<field name="COLOUR">#ff0000</field>
</block>
<block type="colour_random"></block>
<block type="colour_rgb">
<value name="RED">
<shadow type="math_number">
<field name="NUM">100</field>
</shadow>
</value>
<value name="GREEN">
<shadow type="math_number">
<field name="NUM">50</field>
</shadow>
</value>
<value name="BLUE">
<shadow type="math_number">
<field name="NUM">0</field>
</shadow>
</value>
</block>
<block type="colour_blend">
<value name="COLOUR1">
<shadow type="colour_picker">
<field name="COLOUR">#ff0000</field>
</shadow>
</value>
<value name="COLOUR2">
<shadow type="colour_picker">
<field name="COLOUR">#3333ff</field>
</shadow>
</value>
<value name="RATIO">
<shadow type="math_number">
<field name="NUM">0.5</field>
</shadow>
</value>
</block>
</category>
<sep></sep>
<category name="Variables" colour="#a55b80" custom="VARIABLE"></category>
<category name="Functions" colour="#995ba5" custom="PROCEDURE"></category>
</xml>
</body>
</html>

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clover_blocks/www/main.css Normal file
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body, html {
width: 100%;
height: 100%;
}
body {
padding: 0;
margin: 0;
display: grid;
grid-template-areas:
"tabs tools"
"content content";
grid-template-rows: min-content 1fr;
grid-template-columns: 1fr min-content ;
font-family: sans-serif;
font-size: 16px;
}
#tools, #tabs {
background: #dddddd;
border-bottom: 2px rgb(192, 192, 192) solid;
white-space: nowrap;
}
#tools {
grid-area: tools;
white-space: nowrap;
padding: 10px;
display: flex;
align-items: center;
}
#program-name {
width: 150px;
border: none;
font-size: 14px;
padding: 5px;
outline: none;
background: transparent;
text-overflow: ellipsis;
}
#program-name:focus {
background: white;
}
.changed #program-name {
color: red;
}
.disconnected {
color: red;
margin-right: 20px;
}
.connected .disconnected { display: none; }
.backend-fail {
margin-right: 20px;
display: none;
}
@keyframes blink {
0% { opacity: 1; }
50% { opacity: 0.5; }
100% { opacity: 1; }
}
#running {
color: green;
margin-right: 20px;
animation: 1s blink linear infinite;
display: none;
}
.running #running { display: block; }
#tools button {
font-size: 20px;
margin-left: 10px;
}
#tabs {
grid-area: tabs;
list-style: none;
margin: 0;
padding: 10px;
}
#tabs li {
font-size: 18px;
display: inline-block;
padding: 5px 10px;
cursor: pointer;
}
#tabs li.selected {
background: white;
}
#run {
width: 70px;
}
#notifications {
position: absolute;
right: 10px;
background: rgba(0, 0, 0, 0.7);
color: white;
max-width: 350px;
top: 53px;
/* border: white solid 3px; */
z-index: 1;
padding: 10px;
font-family: monospace;
font-size: 16px;
white-space: pre;
max-height: 400px;
overflow: scroll;
}
#notifications:empty { display: none; }
.content {
display: none !important;
grid-area: content;
}
body[data-tab="blocks"] #blockly { display: block !important; }
body[data-tab="python"] #python { display: block !important; }
#python {
margin: 0px;
padding: 10px;
z-index: 999999; /* overlap some Blockly's popups */
}

313
clover_blocks/www/main.js Normal file
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import * as ros from './ros.js';
import './blocks.js';
import {generateCode, generateUserCode} from './python.js';
// Tabs
document.getElementById('tabs').addEventListener('click', function(e) {
var tab = e.target.getAttribute('data-tab');
if (tab) {
for (let elem of e.target.parentElement.querySelectorAll('[data-tab]')) {
elem.classList.remove('selected');
}
e.target.classList.add('selected');
document.body.setAttribute('data-tab', tab);
}
});
var workspace = Blockly.inject('blockly', {
toolbox: document.getElementById('toolbox'),
grid: {
spacing: 25,
length: 3,
colour: '#ccc',
snap: true
},
zoom: { controls: true, wheel: true },
media: 'blockly/media/',
});
function readParams() {
return Promise.all([
ros.readParam('navigate_tolerance', true, 0.2),
ros.readParam('sleep_time', true, 0.2)
]);
}
var ready = readParams(); // initialization complete promise
var pythonArea = document.getElementById('python');
// update Python code
workspace.addChangeListener(function(e) {
ready.then(function() {
pythonArea.innerHTML = generateUserCode(workspace);
hljs.highlightBlock(pythonArea);
});
});
var running = false;
var runRequest = false;
new ROSLIB.Topic({ ros: ros.ros, name: ros.priv + 'block', messageType: 'std_msgs/String' }).subscribe(function(msg) {
workspace.highlightBlock(msg.data);
runRequest = false;
update();
});
new ROSLIB.Topic({ ros: ros.ros, name: ros.priv + 'running' }).subscribe(function(msg) {
running = msg.data;
runRequest = false;
if (!running) {
workspace.highlightBlock('');
}
update();
});
var notifElem = document.getElementById('notifications');
function z(n) { return (n < 10 ? '0' : '') + n; } // add leading zero
new ROSLIB.Topic({ ros: ros.ros, name: ros.priv + 'print', messageType: 'std_msgs/String'}).subscribe(function(msg) {
var d = new Date(); // TODO: use rosgraph_msgs/Log?
var timestamp = `${z(d.getHours())}:${z(d.getMinutes())}:${z(d.getSeconds())}`;
notifElem.innerHTML += `${timestamp}: ${msg.data}\n`;
notifElem.scrollTop = notifElem.scrollHeight;
});
new ROSLIB.Topic({ ros: ros.ros, name: ros.priv + 'error', messageType: 'std_msgs/String'}).subscribe(function(msg) {
alert('Error: ' + msg.data);
});
var runButton = document.getElementById('run');
function update() {
document.body.classList.toggle('running', running);
runButton.disabled = !ros.ros.isConnected || runRequest || running;
}
var shownPrompts = new Set();
new ROSLIB.Topic({ ros: ros.ros, name: ros.priv + 'prompt', messageType: 'clover_blocks/Prompt'}).subscribe(function(msg) {
if (shownPrompts.has(msg.id)) return;
shownPrompts.add(msg.id);
var response = prompt(msg.message);
new ROSLIB.Topic({
ros: ros.ros,
name: ros.priv + 'input/' + msg.id,
messageType: 'std_msgs/String',
latch: true
}).publish(new ROSLIB.Message({ data: response }));
});
window.stopProgram = function() {
ros.stopService.callService(new ROSLIB.ServiceRequest(), function(res) {
if (!res.success) alert(res.message);
}, err => alert(err))
}
ros.ros.on('connection', update);
ros.ros.on('close', update);
ready.then(() => runButton.disabled = false);
window.runProgram = function() {
if (!confirm('Run program?')) return;
runRequest = true;
update();
var code = generateCode(workspace);
console.log(code);
ros.runService.callService(new ROSLIB.ServiceRequest({ code: code } ), function(res) {
if (!res.success) {
runRequest = false;
update();
alert(res.message);
}
}, function(err) {
runRequest = false;
update();
alert(err);
})
}
window.land = function() {
window.stopProgram();
ros.landService.callService(new ROSLIB.ServiceRequest(), function(result) {
}, function(err) {
alert('Unable to land: ' + err);
});
}
function getProgramXml() {
var xmlDom = Blockly.Xml.workspaceToDom(workspace);
return Blockly.Xml.domToPrettyText(xmlDom);
}
function setProgramXml(xml) {
workspace.clear();
if (xml) {
let xmlDom = Blockly.Xml.textToDom(xml);
Blockly.Xml.domToWorkspace(xmlDom, workspace);
}
}
workspace.addChangeListener(function(e) {
localStorage.setItem('xml', getProgramXml());
});
var programSelect = document.querySelector('#program-name');
var userPrograms = programSelect.querySelector('optgroup[data-type=user]');
var examplePrograms = programSelect.querySelector('optgroup[data-type=example]');
var programs = {};
var program = '';
function loadWorkspace() {
var xml = localStorage.getItem('xml');
if (xml) {
setProgramXml(xml);
}
program = localStorage.getItem('program') || '';
}
loadWorkspace();
function loadPrograms() {
ros.loadService.callService(new ROSLIB.ServiceRequest(), function(res) {
if (!res.success) alert(res.message);
for (let i = 0; i < res.names.length; i++) {
let name = res.names[i];
let program = res.programs[i];
let option = document.createElement('option');
option.innerHTML = res.names[i];
if (name.startsWith('examples/')) {
examplePrograms.appendChild(option);
} else {
userPrograms.appendChild(option);
}
programs[name] = program;
}
if (program) {
programSelect.value = program;
}
updateChanged();
}, function(err) {
document.querySelector('.backend-fail').style.display = 'inline';
alert(`Error loading programs list.\n\nHave you enabled clover_blocks in clover.launch?`);
runButton.disabled = true;
})
}
loadPrograms();
function getProgramName() {
if (programSelect.value.startsWith('@')) {
return ''
}
return programSelect.value;
}
function updateChanged() {
var name = program;
document.body.classList.toggle('changed', name in programs && (programs[name].trim() != getProgramXml().trim()));
}
workspace.addChangeListener(function(e) {
if (e instanceof Blockly.Events.Change || e instanceof Blockly.Events.Create || e instanceof Blockly.Events.Delete) {
updateChanged();
}
});
function saveProgram() {
var name = getProgramName();
if (!name) {
name = prompt('Enter new program name:');
if (!name) {
programSelect.value = program;
return;
}
if (!name.endsWith('.xml')) {
name += '.xml';
}
let option = document.createElement('option');
option.innerHTML = name;
userPrograms.appendChild(option);
}
let xml = getProgramXml();
ros.storeService.callService(new ROSLIB.ServiceRequest({
name: name,
program: xml
}), function(result) {
if (!result.success) {
alert(result.message);
return;
}
console.log(result.message);
programSelect.blur();
program = name;
localStorage.setItem('program', name);
programs[name] = xml;
programSelect.value = program;
updateChanged();
}, function(err) {
// TODO: restore previous state correctly
alert('Unable to store: ' + err);
programSelect.blur();
programSelect.value = program;
});
}
window.addEventListener('keydown', function(e) {
if ((e.metaKey || e.ctrlKey) && e.key == 's') { // ctrl+s/cmd+s
e.preventDefault();
if (!document.body.classList.contains('changed')) { // if not changed, ignore
return;
}
saveProgram();
}
});
programSelect.addEventListener('change', function(e) {
if (programSelect.value == '@clear') {
if (!confirm('Clear workspace?')) {
programSelect.value = program;
return;
}
localStorage.removeItem('program');
program = '';
setProgramXml('');
programSelect.value = program;
programSelect.blur();
} else if (programSelect.value == '@save') {
saveProgram();
} else {
// load program
if (program == '' || document.body.classList.contains('changed')) {
if (!confirm('Discard changes?')) {
programSelect.value = program;
return;
}
}
let name = programSelect.value;
let lastProgram = getProgramXml();
programSelect.blur();
try {
setProgramXml(programs[name]);
program = name;
localStorage.setItem('program', name);
} catch(e) {
alert(e);
setProgramXml(lastProgram);
program = ''
programSelect.value = program;
}
updateChanged();
}
});

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clover_blocks/www/python.js Normal file
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import {params} from './ros.js';
// If any new block imports any library, add that library name here.
Blockly.Python.addReservedWords('_b,_print');
Blockly.Python.addReservedWords('rospy,srv,Trigger,get_telemetry,navigate,set_velocity,land');
Blockly.Python.addReservedWords('navigate_wait,land_wait,wait_arrival,wait_yaw,get_distance');
Blockly.Python.addReservedWords('pigpio,pi,Range');
Blockly.Python.addReservedWords('SetLEDEffect,set_effect');
Blockly.Python.addReservedWords('SetLEDs,LEDState,set_leds');
// TODO: parametrize
const navigate_tolerance = 0.2;
const sleep_time = 0.2;
const IMPORT_SRV = `from clover import srv
from std_srvs.srv import Trigger`;
// TODO: tolerance to parameters
const NAVIGATE_WAIT = () => `\ndef navigate_wait(x=0, y=0, z=0, speed=0.5, frame_id='body', auto_arm=False):
res = navigate(x=x, y=y, z=z, yaw=float('nan'), speed=speed, frame_id=frame_id, auto_arm=auto_arm)
if not res.success:
raise Exception(res.message)
while not rospy.is_shutdown():
telem = get_telemetry(frame_id='navigate_target')
if math.sqrt(telem.x ** 2 + telem.y ** 2 + telem.z ** 2) < ${params.navigate_tolerance}:
return
rospy.sleep(${params.sleep_time})\n`;
const LAND_WAIT = () => `\ndef land_wait():
land()
while get_telemetry().armed:
rospy.sleep(${params.sleep_time})\n`;
// TODO: tolerance to parameters
const WAIT_YAW = () => `\ndef wait_yaw():
while not rospy.is_shutdown():
telem = get_telemetry(frame_id='navigate_target')
if abs(telem.yaw) < math.radians(20):
return
rospy.sleep(${params.sleep_time})\n`;
// TODO: tolerance to parameters
const WAIT_ARRIVAL = () => `\ndef wait_arrival():
while not rospy.is_shutdown():
telem = get_telemetry(frame_id='navigate_target')
if math.sqrt(telem.x ** 2 + telem.y ** 2 + telem.z ** 2) < ${params.navigate_tolerance}:
return
rospy.sleep(${params.sleep_time})\n`;
// TODO: tolerance to parameters
const ARRIVED = () => `\ndef arrived():
telem = get_telemetry(frame_id='navigate_target')
return math.sqrt(telem.x ** 2 + telem.y ** 2 + telem.z ** 2) < ${params.navigate_tolerance}\n`
const GET_DISTANCE = `\ndef get_distance(x, y, z, frame_id):
telem = get_telemetry(frame_id)
return math.sqrt((x - telem.x) ** 2 + (y - telem.y) ** 2 + (z - telem.z) ** 2)\n`;
var rosDefinitions = {};
function generateROSDefinitions() {
// order for ROS definitions is significant, so generate all ROS definitions as one
var code = `rospy.init_node('flight')\n\n`;
if (rosDefinitions.offboard) {
code += `get_telemetry = rospy.ServiceProxy('get_telemetry', srv.GetTelemetry)\n`;
code += `navigate = rospy.ServiceProxy('navigate', srv.Navigate)\n`;
if (rosDefinitions.setVelocity) {
code += `set_velocity = rospy.ServiceProxy('set_velocity', srv.SetVelocity)\n`;
}
if (rosDefinitions.setAttitude) {
code += `set_attitude = rospy.ServiceProxy('set_attitude', srv.SetAttitude)\n`;
}
if (rosDefinitions.setRates) {
code += `set_rates = rospy.ServiceProxy('set_rates', srv.SetRates)\n`;
}
code += `land = rospy.ServiceProxy('land', Trigger)\n`;
}
if (rosDefinitions.setEffect) {
Blockly.Python.definitions_['import_led_effect'] = 'from clover.srv import SetLEDEffect';
code += `set_effect = rospy.ServiceProxy('led/set_effect', SetLEDEffect, persistent=True)\n`;
}
if (rosDefinitions.setLeds) {
Blockly.Python.definitions_['import_set_led'] = 'from led_msgs.srv import SetLEDs\nfrom led_msgs.msg import LEDState';
code += `set_leds = rospy.ServiceProxy('led/set_leds', SetLEDs, persistent=True)\n`;
}
if (rosDefinitions.navigateWait) {
Blockly.Python.definitions_['import_math'] = 'import math';
code += NAVIGATE_WAIT();
}
if (rosDefinitions.landWait) {
code += LAND_WAIT();
}
if (rosDefinitions.waitArrival) {
Blockly.Python.definitions_['import_math'] = 'import math';
code += WAIT_ARRIVAL();
}
if (rosDefinitions.arrived) {
Blockly.Python.definitions_['import_math'] = 'import math';
code += ARRIVED();
}
if (rosDefinitions.waitYaw) {
Blockly.Python.definitions_['import_math'] = 'import math';
code += WAIT_YAW();
}
if (rosDefinitions.distance) {
Blockly.Python.definitions_['import_math'] = 'import math';
code += GET_DISTANCE;
}
Blockly.Python.definitions_['ros'] = code;
}
function initNode() {
Blockly.Python.definitions_['import_rospy'] = 'import rospy';
generateROSDefinitions();
}
function simpleOffboard() {
rosDefinitions.offboard = true;
Blockly.Python.definitions_['import_srv'] = IMPORT_SRV;
initNode();
}
// Adjust indentation
Blockly.Python.INDENT = ' ';
export function generateUserCode(workspace) {
rosDefinitions = {};
Blockly.Python.STATEMENT_PREFIX = null;
return Blockly.Python.workspaceToCode(workspace);
}
export function generateCode(workspace) {
rosDefinitions = {};
Blockly.Python.STATEMENT_PREFIX = '_b(%1)\n';
var code = Blockly.Python.workspaceToCode(workspace);
return code;
}
function buildFrameId(block) {
let frame = block.getFieldValue('FRAME_ID').toLowerCase();
let id = Blockly.Python.valueToCode(block, 'ID', Blockly.Python.ORDER_NONE);
if (frame == 'aruco') { // aruco marker frame
if (id.match(/^[0-9]+$/)) { // id is positive integer
return `'${frame}_${id}'`;
} else { // something else...
return `'${frame}_' + str(int(${id}))`;
}
} else {
return `'${frame}'`;
}
}
Blockly.Python.navigate = function(block) {
let x = Blockly.Python.valueToCode(block, 'X', Blockly.Python.ORDER_NONE);
let y = Blockly.Python.valueToCode(block, 'Y', Blockly.Python.ORDER_NONE);
let z = Blockly.Python.valueToCode(block, 'Z', Blockly.Python.ORDER_NONE);
let frameId = buildFrameId(block);
let speed = Blockly.Python.valueToCode(block, 'SPEED', Blockly.Python.ORDER_NONE);
let params = [`x=${x}`, `y=${y}`, `z=${z}`, `frame_id=${frameId}`, `speed=${speed}`];
simpleOffboard();
if (block.getFieldValue('WAIT') == 'TRUE') {
rosDefinitions.navigateWait = true;
simpleOffboard();
return `navigate_wait(${params.join(', ')})\n`;
} else {
if (frameId != 'body') {
params.push(`yaw=float('nan')`);
}
return `navigate(${params.join(', ')})\n`;
}
}
Blockly.Python.set_velocity = function(block) {
let x = Blockly.Python.valueToCode(block, 'X', Blockly.Python.ORDER_NONE);
let y = Blockly.Python.valueToCode(block, 'Y', Blockly.Python.ORDER_NONE);
let z = Blockly.Python.valueToCode(block, 'Z', Blockly.Python.ORDER_NONE);
let frameId = buildFrameId(block);
simpleOffboard();
if (frameId == `'body'`) {
return `set_velocity(vx=${x}, vy=${y}, vz=${z}, frame_id=${frameId})\n`;
} else {
return `set_velocity(vx=${x}, vy=${y}, vz=${z}, yaw=float('nan'), frame_id=${frameId})\n`;
}
}
Blockly.Python.take_off = function(block) {
simpleOffboard();
let z = Blockly.Python.valueToCode(block, 'ALT', Blockly.Python.ORDER_NONE);
if (block.getFieldValue('WAIT') == 'TRUE') {
rosDefinitions.navigateWait = true;
simpleOffboard();
return `navigate_wait(z=${z}, frame_id='body', auto_arm=True)\n`;
} else {
return `navigate(z=${z}, frame_id='body', auto_arm=True)\n`;
}
}
Blockly.Python.land = function(block) {
simpleOffboard();
if (block.getFieldValue('WAIT') == 'TRUE') {
rosDefinitions.landWait = true;
simpleOffboard();
return `land_wait()\n`;
} else {
return 'land()\n';
}
}
Blockly.Python.angle = function(block) {
// return [block.getFieldValue('ANGLE'), Blockly.Python.ORDER_UNARY_SIGN];
Blockly.Python.definitions_['import_math'] = 'import math';
return [`math.radians(${block.getFieldValue('ANGLE')})`, Blockly.Python.ORDER_FUNCTION_CALL];
}
Blockly.Python.set_yaw = function(block) {
simpleOffboard();
let yaw = Blockly.Python.valueToCode(block, 'YAW', Blockly.Python.ORDER_NONE);
let frameId = buildFrameId(block);
let code = `navigate(x=float('nan'), y=float('nan'), z=float('nan'), yaw=${yaw}, frame_id=${frameId})\n`;
if (block.getFieldValue('WAIT') == 'TRUE') {
rosDefinitions.waitYaw = true;
simpleOffboard();
code += 'wait_yaw()\n';
}
return code;
}
Blockly.Python.wait_arrival = function(block) {
rosDefinitions.waitArrival = true;
simpleOffboard();
return 'wait_arrival()\n';
}
Blockly.Python.get_time = function(block) {
initNode();
return ['rospy.get_time()', Blockly.Python.ORDER_FUNCTION_CALL];
}
Blockly.Python.arrived = function(block) {
rosDefinitions.arrived = true;
simpleOffboard();
return ['arrived()', Blockly.Python.ORDER_FUNCTION_CALL];
}
Blockly.Python.wait = function(block) {
initNode();
return `rospy.sleep(${Blockly.Python.valueToCode(block, 'TIME', Blockly.Python.ORDER_NONE)})\n`;
}
Blockly.Python.setpoint = function(block) {
var type = block.getFieldValue('TYPE');
let frameId = buildFrameId(block);
let vx = Blockly.Python.valueToCode(block, 'VX', Blockly.Python.ORDER_NONE);
let vy = Blockly.Python.valueToCode(block, 'VY', Blockly.Python.ORDER_NONE);
let vz = Blockly.Python.valueToCode(block, 'VZ', Blockly.Python.ORDER_NONE);
let yaw = Blockly.Python.valueToCode(block, 'YAW', Blockly.Python.ORDER_NONE);
let pitch = Blockly.Python.valueToCode(block, 'PITCH', Blockly.Python.ORDER_NONE);
let roll = Blockly.Python.valueToCode(block, 'ROLL', Blockly.Python.ORDER_NONE);
let thrust = Blockly.Python.valueToCode(block, 'THRUST', Blockly.Python.ORDER_NONE);
if (type == 'VELOCITY') {
rosDefinitions.setVelocity = true;
simpleOffboard();
return `set_velocity(vx=${vx}, vy=${vy}, vz=${vz}, frame_id=${frameId}, yaw=float('nan'))\n`;
} else if (type == 'ATTITUDE') {
rosDefinitions.setAttitude = true;
simpleOffboard();
return `set_attitude(pitch=${pitch}, roll=${roll}, yaw=${yaw}, thrust=${thrust}, frame_id=${frameId})\n`;
} else if (type == 'RATES') {
rosDefinitions.setRates = true;
simpleOffboard();
return `set_rates(pitch_rate=${pitch}, roll_rate=${roll}, yaw_rate=${yaw}, thrust=${thrust})\n`;
}
}
Blockly.Python.get_position = function(block) {
simpleOffboard();
let frameId = buildFrameId(block);
var code = `get_telemetry(${frameId}).${block.getFieldValue('FIELD').toLowerCase()}`;
return [code, Blockly.Python.ORDER_FUNCTION_CALL];
}
Blockly.Python.get_yaw = function(block) {
simpleOffboard();
Blockly.Python.definitions_['import_math'] = 'import math';
let frameId = buildFrameId(block);
var code = `math.degrees(get_telemetry(${frameId}).yaw)`;
return [code, Blockly.Python.ORDER_FUNCTION_CALL];
}
Blockly.Python.get_attitude = function(block) {
simpleOffboard();
Blockly.Python.definitions_['import_math'] = 'import math';
var code = `math.degrees(get_telemetry().${block.getFieldValue('FIELD').toLowerCase()})`;
return [code, Blockly.Python.ORDER_FUNCTION_CALL];
}
Blockly.Python.distance = function(block) {
rosDefinitions.distance = true;
simpleOffboard();
let x = Blockly.Python.valueToCode(block, 'X', Blockly.Python.ORDER_NONE);
let y = Blockly.Python.valueToCode(block, 'Y', Blockly.Python.ORDER_NONE);
let z = Blockly.Python.valueToCode(block, 'Z', Blockly.Python.ORDER_NONE);
let frameId = buildFrameId(block);
return [`get_distance(${x}, ${y}, ${z}, ${frameId})`, Blockly.Python.ORDER_FUNCTION_CALL]
}
Blockly.Python.rangefinder_distance = function(block) {
initNode();
Blockly.Python.definitions_['import_range'] = 'from sensor_msgs.msg import Range';
return [`rospy.wait_for_message('rangefinder/range', Range).range`, Blockly.Python.ORDER_FUNCTION_CALL]
}
Blockly.Python.mode = function(block) {
simpleOffboard();
return [`get_telemetry().mode`, Blockly.Python.ORDER_FUNCTION_CALL]
}
Blockly.Python.armed = function(block) {
simpleOffboard();
return [`get_telemetry().armed`, Blockly.Python.ORDER_FUNCTION_CALL]
}
Blockly.Python.voltage = function(block) {
simpleOffboard();
var code = `get_telemetry().${block.getFieldValue('TYPE').toLowerCase()}`;
return [code, Blockly.Python.ORDER_FUNCTION_CALL];
}
function parseColor(color) {
return {
r: parseInt(color.substr(2, 2), 16),
g: parseInt(color.substr(4, 2), 16),
b: parseInt(color.substr(6, 2), 16)
}
}
const PARSE_COLOR = `def ${Blockly.Python.FUNCTION_NAME_PLACEHOLDER_}(color):
return {'r': int(color[1:3], 16), 'g': int(color[3:5], 16), 'b': int(color[5:7], 16)}`;
// TODO: weird code with colour_rgb block
Blockly.Python.set_effect = function(block) {
rosDefinitions.setEffect = true;
initNode();
var effect = block.getFieldValue('EFFECT').toLowerCase();
if (effect == 'rainbow' || effect == 'rainbow_fill') {
return `set_effect(effect='${effect}')\n`;
} else {
let colorCode = Blockly.Python.valueToCode(block, 'COLOR', Blockly.Python.ORDER_NONE);
if (/^'(.*)'$/.test(colorCode)) { // is simple string
let color = parseColor(colorCode);
return `set_effect(effect='${effect}', r=${color.r}, g=${color.g}, b=${color.b})\n`;
} else {
let parseColor = Blockly.Python.provideFunction_('parse_color', [PARSE_COLOR]);
return `set_effect(effect='${effect}', **${parseColor}(${colorCode}))\n`;
}
}
}
Blockly.Python.set_led = function(block) {
rosDefinitions.setLeds = true;
initNode();
var index = Blockly.Python.valueToCode(block, 'INDEX', Blockly.Python.ORDER_NONE);
var colorCode = Blockly.Python.valueToCode(block, 'COLOR', Blockly.Python.ORDER_NONE);
if (/^'(.*)'$/.test(colorCode)) { // is simple string
let color = parseColor(colorCode);
return `set_leds([LEDState(index=${index}, r=${color.r}, g=${color.g}, b=${color.b})])\n`;
} else {
let parseColor = Blockly.Python.provideFunction_('parse_color', [PARSE_COLOR]);
return `set_leds([LEDState(index=${index}, **${parseColor}(${colorCode})])\n`;
}
}
function pigpio() {
Blockly.Python.definitions_['import_pigpio'] = 'import pigpio';
Blockly.Python.definitions_['init_pigpio'] = 'pi = pigpio.pi()';
}
const GPIO_READ = `\ndef gpio_read(pin):
pi.set_mode(pin, pigpio.INPUT)
return pi.read(pin)\n`;
const GPIO_WRITE = `\ndef gpio_write(pin, level):
pi.set_mode(pin, pigpio.OUTPUT)
pi.write(pin, level)\n`;
const SET_SERVO = `\ndef set_servo(pin, pwm):
pi.set_mode(pin, pigpio.OUTPUT)
pi.set_servo_pulsewidth(pin, pwm)\n`;
Blockly.Python.gpio_read = function(block) {
pigpio();
Blockly.Python.definitions_['gpio_read'] = GPIO_READ;
var pin = Blockly.Python.valueToCode(block, 'PIN', Blockly.Python.ORDER_NONE);
return [`gpio_read(${pin})`, Blockly.Python.ORDER_FUNCTION_CALL];
}
Blockly.Python.gpio_write = function(block) {
pigpio();
Blockly.Python.definitions_['gpio_write'] = GPIO_WRITE;
var pin = Blockly.Python.valueToCode(block, 'PIN', Blockly.Python.ORDER_NONE);
var level = Blockly.Python.valueToCode(block, 'LEVEL', Blockly.Python.ORDER_NONE);
return `gpio_write(${pin}, ${level})\n`;
}
Blockly.Python.set_servo = function(block) {
pigpio();
Blockly.Python.definitions_['set_servo'] = SET_SERVO;
var pin = Blockly.Python.valueToCode(block, 'PIN', Blockly.Python.ORDER_NONE);
var pwm = Blockly.Python.valueToCode(block, 'PWM', Blockly.Python.ORDER_NONE);
return `set_servo(${pin}, ${pwm})\n`;
}

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var url = 'ws://' + location.hostname + ':9090';
export var ros = new ROSLIB.Ros({ url });
ros.on('connection', function () {
console.log('connection')
document.body.classList.add('connected');
});
ros.on('close', function () {
console.log('close')
document.body.classList.remove('connected');
setTimeout(function() {
ros.connect(url);
}, 2000);
});
ros.on('error', function(err) {
});
export const namespace = '/';
export const priv = namespace + 'clover_blocks/';
export var params = {}; // parameters storage
export function readParam(name, fromUrl, _default) {
return new Promise(function(resolve, reject) {
if (params[name] !== undefined) {
resolve();
return;
}
// read from url
if (fromUrl && ((params[name] = new URL(window.location.href).searchParams.get(name)) !== null)) {
resolve();
return;
}
// read from ROS params
new ROSLIB.Param({ ros: ros, name: priv + name }).get(function(val) {
if (val === null) {
if (_default === undefined) {
alert('Cannot read required parameter ' + name);
reject();
} else {
params[name] = _default;
resolve();
}
return;
}
params[name] = val;
resolve();
})
});
}
export var runService = new ROSLIB.Service({ ros: ros, name: priv + 'run', serviceType: 'clover_blocks/Run' });
export var stopService = new ROSLIB.Service({ ros: ros, name: priv + 'stop', serviceType: 'std_srvs/Trigger' });
export var loadService = new ROSLIB.Service({ ros: ros, name : priv + 'load', serviceType : 'clover_blocks/Load' });
export var storeService = new ROSLIB.Service({ ros: ros, name : priv + 'store', serviceType : 'clover_blocks/Store' });
export var landService = new ROSLIB.Service({ ros: ros, name : namespace + 'land', serviceType : 'std_srvs/Trigger' });

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.type_table tr td {
padding: 14px 20px;
}
table.versions td {
text-align: center;
background: white;
.circle {
width: 0.8em;
height: 0.8em;
border-radius: 50%;
display: inline-block;
margin-right: 0.5em;
}

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# Summary
* [Introduction](README.md)
* [Glossary](gloss.md)
* [Glossary](glossary.md)
* [Safety tips](safety.md)
* Assembly
* [Assembly](assembly.md)
* [Clover 4.2 assembly](assemble_4_2.md)
* [Clover 4 assembly](assemble_4.md)
* [Clover 3 assembly](assemble_3.md)
* [Clover 2 assembly](assemble_2.md)
* Configuration
* [Initial setup](setup.md)
* [Configuration](setup.md)
* [Sensor calibration](calibration.md)
* [RC setup](radio.md)
* [Using FS-A8S](rc_flysky_a8s.md)
* [Flight modes](modes.md)
* [Power setup](power.md)
* [Failsafe configuration](failsafe.md)
* Manual flight
* [Manual flight](flight.md)
* [Basics](flight.md)
* [Exercises](flight_exercises.md)
* Working with Raspberry Pi
* [Raspberry Pi](raspberry.md)
* [Working with Raspberry Pi](raspberry.md)
* [RPi Image](image.md)
* [Wi-Fi connection](wifi.md)
* [Connection to the Pixracer](connection.md)
@@ -29,11 +27,9 @@
* [Command line interface](cli.md)
* [Automated self-checks](selfcheck.md)
* [Viewing images from cameras](web_video_server.md)
* Programming
* [Overview](programming.md)
* [Programming](programming.md)
* [Camera setup](camera_setup.md)
* Fiducial markers (ArUco)
* [Overview](aruco.md)
* [Fiducial markers (ArUco)](aruco.md)
* [Marker detection](aruco_marker.md)
* [Map-based navigation](aruco_map.md)
* [Optical Flow](optical_flow.md)
@@ -48,14 +44,14 @@
* [Using rviz and rqt](rviz.md)
* [Software autorun](autolaunch.md)
* [Using JavaScript](javascript.md)
* [ROS](ros.md)
* [MAVROS](mavros.md)
* Simulation
* [Overview](simulation.md)
* [Blocks programming](blocks.md)
* [Simulation](simulation.md)
* [Native setup](simulation_native.md)
* [VM setup](simulation_vm.md)
* [Usage](simulation_usage.md)
* Supplementary materials
* [ROS](ros.md)
* [MAVROS](mavros.md)
* [Supplementary materials](supplementary.md)
* [COEX Pix](coex_pix.md)
* [Guide on autonomous flight](auto_setup.md)
* [Hostname](hostname.md)
@@ -88,7 +84,7 @@
* [LED strip (legacy)](leds_old.md)
* [Contribution Guidelines](contributing.md)
* [Migration to v0.20](migrate20.md)
* Clover-based projects
* [Clover-based projects](projects.md)
* [Drone show](clever-show.md)
* [Innopolis Open 2020 (L22_ÆRO)](innopolis_open_L22_AERO.md)
* [Copter spheric guard](shield.md)

2
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@@ -410,7 +410,7 @@ Check the quadrotor assembly:
<img src="../assets/assembling_clever4/final_1.png" width=300 class="zoom border center">
Be sure to install and setup the voltage indicator before flying, so as not to overdischarge the battery. To configure the indicator, use the button located at its base. The displayed numbers during setup indicate the minimum possible voltage in each [cell](gloss.md#battery-cell) of the battery, the recommended value is **3.5**.
Be sure to install and setup the voltage indicator before flying, so as not to overdischarge the battery. To configure the indicator, use the button located at its base. The displayed numbers during setup indicate the minimum possible voltage in each [cell](glossary.md#battery-cell) of the battery, the recommended value is **3.5**.
> **Info** Sound indication means that your battery is low and needs to be charged.

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# Clover drone assembly
This section contains articles describing the assembly of each version of Clover.
<table class=versions>
<tr><th>Version</th><th>Image</th></tr>
<tr>
<td><a href="assemble_4_2.md">Clover&nbsp;4.2</a></td>
<td><img src="../assets/versions/clover_4.jpg" width=200></td>
</tr>
<tr>
<td><a href="assemble_4_2.md">Clover&nbsp;4.1</a></td>
<td><img src="../assets/versions/clover_4.jpg" width=200></td>
</tr>
<tr>
<td><a href="assemble_4_2.md">Clover&nbsp;4</a></td>
<td><img src="../assets/versions/clover_4.jpg" width=200></td>
</tr>
<tr>
<td><a href="assemble_4_2.md">Clover&nbsp;3</a></td>
<td><img src="../assets/versions/clover_3.jpg" width=200></td>
</tr>
<tr>
<td><a href="assemble_4_2.md">Clover&nbsp;2</a></td>
<td><img src="../assets/versions/clover_2.jpg" width=200></td>
</tr>
</table>

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# Blocks programming for Clover
<img src="../assets/blocks/blockly.svg" width=200 align="right">
Visual blocks programming feature has been added to the [RPi image](image.md), starting with the version **0.21**. Blocks programming is implemented using [Google Blockly](https://developers.google.com/blockly) platform. Blocks programming integration can lower the entry barrier to a minimum.
## Configuration
For correct work of the blocks programming, `blocks` argument in the Clover launch-file (`~/catkin_ws/src/clover/clover/launch/clover.launch`) [should be equal to](cli.md#editing) `true`:
```xml
<arg name="blocks" default="true"/>
```
## Running
To run Clover's blocks programming interface, [connect to Clover's Wi-Fi](wifi.md) and go to web-page http://192.168.11.1:8080/clover_blocks/ or click the link *Blocks programming* at the [main page](wifi.md#web-interface).
The page looks as follows:
<img src="../assets/blocks/blocks.png" width=600>
Assemble your program using blocks in the menu at the left and then click *Run* button for running. You can also view generated Python-code, switching to *Python* tab.
The *Stop* button stops the program. Clicking *Land* button also stops the program and lands the drone.
## Storing and loading
<img src="../assets/blocks/save.png" width=300 align=right>
To store the program, open the menu at the top right, select *Save* item and input your program's name. The name should contain only Latin characters, hyphen, underline and dot characters. All your stored programs are available at the same menu.
Your programs are stored as XML-files in the `/catkin_ws/src/clover/clover_blocks/programs/` directory of the SD-card.
> **Note** Note also example programs, available at the same menu.
## Blocks
The set of blocks is somewhat similar to the set of ROS-services of [Clover's autonomous flights API](simple_offboard.md). This section contains descriptions of some of them.
Clover's blocks are separated into 4 categories:
* <span style="padding:2px;color:white;background:#9d5ca6">Flight</span> – autonomous flight related commands.
* <span style="padding:2px;color:white;background:#ff9b00">State</span> – blocks for obtaining the drone state parameters.
* <span style="padding:2px;color:white;background:#01d754">LED</span> – blocks for controlling [LED strip](leds.md).
* <span style="padding:2px;color:white;background:#5b97cc">GPIO</span> – blocks for working with [GPIO pins](gpio.md).
The rest of categories contains standard Blockly's blocks.
### take_off
<img src="../assets/blocks/take-off.png" srcset="../assets/blocks/take-off.png 2x">
Take off to specified altitude in meters. The altitude may be an arbitrary block, that returns a number.
The `wait` flag specifies, if the drone should wait until take off is complete, before executing the next block.
### navigate
<img src="../assets/blocks/navigate.png" srcset="../assets/blocks/navigate.png 2x">
Navigate to specified point. Coordinates are specified in meters.
The `wait` flag specifies, if the drone should wait until navigation is complete, before executing the next block.
#### *Relative to* field {#relative_to}
This block allows to specify the [coordinate frame](frames.md) of the target point:
* *body* – coordinates, relative to the drone: *forward*, *left*, *up*.
* *markers map* – coordinates, relative to the [map of ArUco-markers](aruco_map.md).
* *marker* – coordinates, relative to an [ArUco-marker](aruco_marker.md); marker's ID input fields appears.
* *last navigate target* – coordinates, relative to the last specified navigate point.
* *map* – drone's local coordinate system, linked with the point of its initialization.
### land
<img src="../assets/blocks/land.png" srcset="../assets/blocks/land.png 2x">
Land the drone.
The `wait` flag specifies, if the drone should wait until landing is complete, before executing the next block.
### wait
<img src="../assets/blocks/wait.png" srcset="../assets/blocks/wait.png 2x">
Wait specified time period in seconds. The time period may be an arbitrary block, that returns a number.
### wait_arrival
<img src="../assets/blocks/wait-arrival.png" srcset="../assets/blocks/wait-arrival.png 2x">
Wait, until the drone reaches [navigate](#navigate)-block's target point.
### get_position
<img src="../assets/blocks/get-position.png" srcset="../assets/blocks/get-position.png 2x">
The block returns current position, velocity or yaw angle of the drone relative to the specified [coordinate frame](#relative_to).
### set_effect
<img src="../assets/blocks/set-effect.png" srcset="../assets/blocks/set-effect.png 2x">
The block allows to set animations to LED strip, similarly to [`set_effect`](leds.md#set_effect) ROS-service.
Example of using the block with a random color (colors-related blocks are located in *Colour* category):
<img src="../assets/blocks/random-color.png" srcset="../assets/blocks/random-color.png 2x">

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{
"language": "en",
"root": "."
"root": ".",
"structure": {"glossary": "_GLOSSARY.md" }
}

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@@ -95,16 +95,26 @@ disconnected: { effect: blink, r: 255, g: 50, b: 50 }
<!-- ... -->
```
The left part is one of the possible events that the strip reacts to. The right part contains the effect description that you want to execute for this event. Here is the list of supported events:
The left part is one of the possible events that the strip reacts to. The right part contains the effect description that you want to execute for this event.
* `startup` – Clover system startup;
* `connected` – successful connection to the flight controller;
* `disconnected` – connection to the flight controller lost;
* `armed` – flight controller transitioned to armed state;
* `disarmed` – flight controller transitioned to disarmed state;
* `stabilized`, `acro`, `rattitude`, `altctl`, `posctl`, `offboard`, `mission`, `rtl`, `land` – transition to said flight mode;
* `error` – an error occured in one of ROS nodes or in the flight controller (*ERROR* message in `/rosout`);
* `low_battery` – low battery (threshold is set in the `threshold` parameter).
Here is the list of supported events:
<table>
<tr><th>Event</th><th>Description</th><th>Default effect</th></tr>
<tr><td><code>startup</code></td><td>Clover system startup</td><td>White</td></tr>
<tr><td><code>connected</code></td><td>Successful connection to flight controller</td><td>Rainbow</td></tr>
<tr><td><code>disconnected</code></td><td>Connection to flight controller lost</td><td><div class=circle style="background:rgb(255,50,50)"></div>Red&nbsp;blink</td></tr>
<tr><td><code>armed</code></td><td>Transition to Armed state</td><td></td></tr>
<tr><td><code>disarmed</code></td><td>Transition to Disarmed state</td><td></td></tr>
<tr><td><code>acro</code></td><td>Acro mode</td><td><div class=circle style="background:rgb(245,155,0)"></div>Orange</td></tr>
<tr><td><code>stabilized</code></td><td>Stabilized mode</td><td><div class=circle style="background:rgb(30,180,50)"></div>Green</td></tr>
<tr><td><code>altctl</code></td><td>Altitude mode</td><td><div class=circle style="background:rgb(255,255,40)"></div>Yellow</td></tr>
<tr><td><code>posctl</code></td><td>Position mode</td><td><div class=circle style="background:rgb(50,100,220)"></div>Blue</td></tr>
<tr><td><code>offboard</code></td><td>Offboard mode</td><td><div class=circle style="background:rgb(220,20,250)"></div>Violet</td></tr>
<tr><td><code>rattitude</code>, <code>mission</code>, <code>rtl</code>, <code>land</code></td><td>Corresponding mode</td><td></td></tr>
<tr><td><code>error</code></td><td>Error in one of ROS nodes or in the flight controller (<i>ERROR</i> message in <code>/rosout</code>)</td><td><div class=circle style="background:rgb(255,0,0)"></div>Red flash</td></tr>
<tr><td><code>low_battery</code></td><td>Low battery (threshold is set in the <code>threshold</code> parameter)</td><td><nobr><div class=circle style="background:rgb(255,0,0)"></div>Red fast blink</nobr></td></tr>
</table>
> **Note** You need to [calibrate the power sensor](power.md#calibrating-the-power-sensor) for the `low_battery` event to work properly.

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# Clover-based projects
Clover drone kit is widely used in design activities. This section contains user articles describing the implemented projects.

5
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# Supplementary materials
This section contains articles that are not included in the main sections, as well as articles by the users on various subjects related to UAV.
To learn more about publishing text in this section, see the article "[Contributing to Clover](contributing.md)".

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# Содержание
* [Введение](README.md)
* [Глоссарий](gloss.md)
* [Глоссарий](glossary.md)
* [Безопасность](safety.md)
* Сборка
* [Сборка](assembly.md)
* [Клевер 4.2](assemble_4_2.md)
* [Клевер 4.1](assemble_4_1.md)
* [Клевер 4](assemble_4.md)
* [Клевер 3](assemble_3.md)
* [Клевер 2](assemble_2.md)
* Настройка
* [Первоначальная настройка](setup.md)
* [Настройка](setup.md)
* [Калибровка датчиков](calibration.md)
* [Настройка пульта](radio.md)
* [Работа с FS-A8S](rc_flysky_a8s.md)
* [Полетные режимы](modes.md)
* [Настройка питания](power.md)
* [Настройка failsafe](failsafe.md)
* Ручной полет
* [Основы](flight.md)
* [Ручной полет](flight.md)
* [Упражнения](flight_exercises.md)
* Работа с Raspberry Pi
* [Raspberry Pi](raspberry.md)
* [Работа с Raspberry Pi](raspberry.md)
* [Образ для RPi](image.md)
* [Подключение по Wi-Fi](wifi.md)
* [Подключение к Pixracer](connection.md)
@@ -30,11 +27,9 @@
* [Командная строка](cli.md)
* [Автоматическая проверка](selfcheck.md)
* [Просмотр видеострима с камер](web_video_server.md)
* Программирование
* [Общая информация](programming.md)
* [Программирование](programming.md)
* [Настройка камеры](camera_setup.md)
* Визуальные маркеры (ArUco)
* [Общая информация](aruco.md)
* [Визуальные маркеры (ArUco)](aruco.md)
* [Распознавание маркеров](aruco_marker.md)
* [Навигация по карте маркеров](aruco_map.md)
* [Навигация по Optical Flow](optical_flow.md)
@@ -46,23 +41,20 @@
* [Работа с GPIO](gpio.md)
* [Ультразвуковой дальномер](sonar.md)
* [Компьютерное зрение](camera.md)
* [Визуализация с помощью rviz](rviz.md)
* [Визуализация с помощью rviz и rqt](rviz.md)
* [Автозапуск ПО](autolaunch.md)
* [Использование JavaScript](javascript.md)
* [`mavros`](mavros.md)
* Симулятор
* [Общая информация](simulation.md)
* [Блочное программирование](blocks.md)
* [Симулятор](simulation.md)
* [Сборка на собственной машине](simulation_native.md)
* [Установка виртуальной машины](simulation_vm.md)
* [Использование симулятора](simulation_usage.md)
* ROS: учебник
* [Общая информация](ros.md)
* [ROS: учебник](ros.md)
* [Графические инструменты](ros_gui.md)
* [Соглашения ROS](ros_conventions.md)
* [Продвинутое использование](ros_advanced.md)
* [ROS](ros.md)
* [MAVROS](mavros.md)
* Дополнительные материалы
* [Дополнительные материалы](supplementary.md)
* [COEX Pix](coex_pix.md)
* [Гид по автономному полету](auto_setup.md)
* [Имя хоста](hostname.md)
@@ -99,14 +91,14 @@
* [Светодиодная лента (legacy)](leds_old.md)
* [Вклад в Клевер](contributing.md)
* [Переход на версию 0.20](migrate20.md)
* Мероприятия
* [Мероприятия](events.md)
* [CopterHack-2021](copterhack2021.md)
* [CopterHack-2019](copterhack2019.md)
* [Олимпиада НТИ 2019](nti2019.md)
* [Робокросс-2019](robocross2019.md)
* [CopterHack-2018](copterhack2018.md)
* [CopterHack-2017](copterhack2017.md)
* Проекты на базе Клевера
* [Список проектов](projects.md)
* [Проекты на базе Клевера](projects.md)
* [Шоу коптеров](clever-show.md)
* [Innopolis Open 2020 (L22_ÆRO)](innopolis_open_L22_AERO.md)
* [Олимпиада НТИ 2020 (P4DF2)](nti2020_p4df2.md)
@@ -126,4 +118,4 @@
* [Теория и видеоуроки](lessons.md)
* [Учебно-методическое пособие](metod.md)
* [Контрольные и проверочные материалы](tests.md)
* [Контрольные материалы](tests.md)

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@@ -413,7 +413,7 @@
<img src="../assets/assembling_clever4/final_1.png" width=300 class="zoom border center">
Обязательно установите и настройте индикатор напряжения перед полетом, чтобы не переразрядить аккумулятор. Для настройки индикатора используйте конпку расположенную в его основании. Отображаемые цифры во время настройки обозначают минимально возможное напряжение в каждой [ячейке](gloss.md#ячейка--банка-акб) аккумулятора, рекомендуемое значение **3.5**.
Обязательно установите и настройте индикатор напряжения перед полетом, чтобы не переразрядить аккумулятор. Для настройки индикатора используйте конпку расположенную в его основании. Отображаемые цифры во время настройки обозначают минимально возможное напряжение в каждой [ячейке](glossary.md#ячейка--банка-акб) аккумулятора, рекомендуемое значение **3.5**.
> **Info** Звуковая индикация означает, что ваш аккумулятор разряжен и его нужно зарядить.

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@@ -234,7 +234,7 @@
<img src="../assets/assembling_clover4_1/assembly.jpg" width=300 class="zoom border center">
Обязательно установите и настройте индикатор напряжения перед полетом, чтобы не переразрядить аккумулятор. Для настройки индикатора используйте кнопку, расположенную в его основании. Отображаемые цифры во время настройки обозначают минимально возможное напряжение в каждой [ячейке](gloss.md#ячейка--банка-акб) аккумулятора, рекомендуемое значение **3.5**.
Обязательно установите и настройте индикатор напряжения перед полетом, чтобы не переразрядить аккумулятор. Для настройки индикатора используйте кнопку, расположенную в его основании. Отображаемые цифры во время настройки обозначают минимально возможное напряжение в каждой [ячейке](glossary.md#ячейка--банка-акб) аккумулятора, рекомендуемое значение **3.5**.
> **Info** Звуковая индикация означает, что ваш аккумулятор разряжен и его нужно зарядить.

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@@ -174,6 +174,12 @@
5. На деку захвата установите дальномер с помощью самоконтрящихся гаек и винтов М3х8, и приклейте радиоприемник с помощью двустороннего скотча.
> **Сaution** Обратите внимание, что крепящие гайки расположены обратной стороны от платы дальномера, как на схеме, иначе есть большая вероятность повредить плату.
<!---->
> **Hint** Также плата может быть закреплена на саморезы М2 в соседние отверстия.
<img src="../assets/assembling_clever4_2/raspberry_5.png" width=300 class="zoom border center">
6. Установите 4 стойки 20мм и закрепите их с помощью винтов М3х8.

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# Сборка Клевера
В этом разделе находится статьи, описывающие сборку каждой из версии Клевера.
<table class=versions>
<tr><th>Версия</th><th>Изображение</th></tr>
<tr>
<td><a href="assemble_4_2.md">Клевер&nbsp;4.2</a></td>
<td><img src="../assets/versions/clover_4.jpg" width=200></td>
</tr>
<tr>
<td><a href="assemble_4_2.md">Клевер&nbsp;4.1</a></td>
<td><img src="../assets/versions/clover_4.jpg" width=200></td>
</tr>
<tr>
<td><a href="assemble_4_2.md">Клевер&nbsp;4</a></td>
<td><img src="../assets/versions/clover_4.jpg" width=200></td>
</tr>
<tr>
<td><a href="assemble_4_2.md">Клевер&nbsp;3</a></td>
<td><img src="../assets/versions/clover_3.jpg" width=200></td>
</tr>
<tr>
<td><a href="assemble_4_2.md">Клевер&nbsp;2</a></td>
<td><img src="../assets/versions/clover_2.jpg" width=200></td>
</tr>
</table>

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# Блочное программирование Клевера
<img src="../assets/blocks/blockly.svg" width=200 align="right">
Возможность блочного визуального программирования автономных полетов Клевера добавлена в [образ для RPi](image.md), начиная с версии **0.21**. Реализация блочного программирования основана на [Google Blockly](https://developers.google.com/blockly). Интеграция Blockly в Клевер позволяет понизить входной порог в программирование автономных полетов до минимального уровня.
## Конфигурация
Для корректной работы работы блочного программирования аргумент `blocks` в launch-файле Клевера (`~/catkin_ws/src/clover/clover/launch/clover.launch`) [должен быть в значении](cli.md#editing) `true`:
```xml
<arg name="blocks" default="true"/>
```
## Запуск
Для того, чтобы открыть интерфейс блочного программирования в Клевере, [подключитесь к Клеверу по Wi-Fi](wifi.md) и перейдите на страницу http://192.168.11.1:8080/clover_blocks/ либо нажмите ссылку *Blocks programming* на [основной веб-странице Клевера](wifi.md#веб-интерфейс).
Интерфейс выглядит следующим образом:
<img src="../assets/blocks/blocks.png" width=600>
Соберите необходимую программу из блоков в меню слева а затем нажмите кнопку *Run* для ее запуска. Также вы можете просмотреть сгенерированный код на языке Python, переключившись во вкладку *Python*.
Кнопка *Stop* позволяет остановить программу. Нажатие кнопки *Land* также останавливает программу и сажает дрон.
## Сохранение и загрузка
<img src="../assets/blocks/save.png" width=300 align=right>
Для сохранения программы откройте меню справа сверху, выберите пункт меню *Save* и введите название программы. Название программы может содержать только латинские буквы, дефис, подчеркивание и точку. Все ранее сохраненные программы будут доступны в этом же меню.
На карте памяти сохраненные XML-файлы программ хранятся в каталоге `/catkin_ws/src/clover/clover_blocks/programs/`.
В этом же меню доступны примеры программ (подкаталог `examples`).
## Блоки
Набор блоков приблизительно аналогичен набору ROS-сервисов [API автономных полетов Клевера](simple_offboard.md). В этом разделе приведено описание некоторых из них.
Блоки Клевера поделены на 4 категории:
* <span style="padding:2px;color:white;background:#9d5ca6">Flight</span> – команды, имеющие отношение к полету.
* <span style="padding:2px;color:white;background:#ff9b00">State</span> – блоки, позволяющие получить те или иные параметры текущего состояния коптера.
* <span style="padding:2px;color:white;background:#01d754">LED</span> – блоки для управления [LED-лентой](leds.md).
* <span style="padding:2px;color:white;background:#5b97cc">GPIO</span> – блоки для работы с [GPIO-пинами](gpio.md).
В остальных категориях находятся стандартные блоки Google Blockly.
### take_off
<img src="../assets/blocks/take-off.png" srcset="../assets/blocks/take-off.png 2x">
Взлететь на указанную высоту в метрах. Высота может быть произвольным блоком, возвращающим числовое значение.
Флаг `wait` определяет, должен ли дрон ожидать окончания взлета перед выполнением следующего блока.
### navigate
<img src="../assets/blocks/navigate.png" srcset="../assets/blocks/navigate.png 2x">
Прилететь в заданную точку. Координаты точки задаются в метрах.
Флаг `wait` определяет, должен ли дрон ожидать завершения полета в точку перед выполнением следующего блока.
#### Поле *relative to* {#relative_to}
В блоке может быть выбрана [система координат](frames.md), в которой задана целевая точка:
* *body* – координаты относительно коптера: вперед (*forward*), влево (*left*), вверх (*up*).
* *markers map* – система координат, связанная с [картой ArUco-маркеров](aruco_map.md).
* *marker* – система координта, связанная с [ArUco-маркером](aruco_marker.md); появляется поле для ввода ID маркеа.
* *last navigate target* – координаты относительно последней заданной точки для навигации.
* *map* – локальная система координат коптера, связана с местом его инициализации.
### land
<img src="../assets/blocks/land.png" srcset="../assets/blocks/land.png 2x">
Произвести посадку.
Флаг `wait` определяет, должен ли дрон ожидать окончания посадки перед выполнением следующего блока.
### wait
<img src="../assets/blocks/wait.png" srcset="../assets/blocks/wait.png 2x">
Ожидать заданное время в секундах. Время ожидания может быть произвольным блоком, возвращающим числовое значение.
### wait_arrival
<img src="../assets/blocks/wait-arrival.png" srcset="../assets/blocks/wait-arrival.png 2x">
Ожидать, пока дрон долетит до целевой точки (заданной в [navigate](#navigate)-блоке).
### get_position
<img src="../assets/blocks/get-position.png" srcset="../assets/blocks/get-position.png 2x">
Блок позволяет получить позицию, скорость и угол по рысканью дрона в заданной [системе координат](#relative_to).
### set_effect
<img src="../assets/blocks/set-effect.png" srcset="../assets/blocks/set-effect.png 2x">
Блок позволяет устанавливать различные анимации на LED-ленту аналогично [ROS-сервису `set_effect`](leds.md#set_effect).
Пример использования блока для установки случайного цвета (блоки, связанные с цветами находятся в категории *Colour*):
<img src="../assets/blocks/random-color.png" srcset="../assets/blocks/random-color.png 2x">

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{
"language": "ru",
"root": "."
"root": ".",
"structure": {"glossary": "_GLOSSARY.md" }
}

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# Блочное программирование Клевера
> **Warning** В этой статье описана неофициальная реализация блочного программирования. [Официальная поддержка](blocks.md) появилась в образе Клевера версии **0.21**.
<img src="../assets/clever_blocks.jpg">
В этой статье я опишу процесс скачивания, установки и запуска блочного конструктора программ для квадрокоптера Клевер.

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# CopterHack 2021
CopterHack 2021 – это командный конкурс по разработке проектов с открытым исходным кодом для платформы квадрокоптера "Клевер".
Все информацию о мероприятии смотрите на официальном сайте: https://ru.coex.tech/copterhack.

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# Мероприятия
"Клевер" применяется в в большом количестве образовательных мероприятий и соревнований: WorldSkills, Олимпиада НТИ, Copter Hack, Всероссийская Робототехническая Олимпиада и других.
Этот раздел содержит статьи, написанные специально к тому или иному мероприятию.

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