Adjust aruco.launch arguments

Edit readme
Adjust launch file arguments for more convenient configuration
2026-06-01 15:39:32 +00:00 · 2020-08-05 02:06:41 +03:00 · 2020-07-21 10:09:09 +03:00 · 2020-07-21 10:03:40 +03:00 · 2020-07-21 10:00:33 +03:00
416 changed files with 2398 additions and 153219 deletions
--- a/.gitattributes
+++ b/.gitattributes
@@ -4,5 +4,3 @@ eventemitter2.js linguist-vendored
 ros3d.js linguist-vendored
 three.min.js linguist-vendored
 aruco_pose/vendor/* linguist-vendored
-blockly/* linguist-vendored
-highlight/* linguist-vendored
--- a/.gitignore
+++ b/.gitignore
@@ -4,5 +4,3 @@
 node_modules/
 _book/
 package-lock.json
-clover_blocks/programs/*.*
-!clover_blocks/programs/examples/*
--- a/.markdownlint.json
+++ b/.markdownlint.json
@@ -21,9 +21,7 @@
            "ROS",
            "ROS Kinetic",
            "ROS Melodic",
-            "ROS Noetic",
            "OpenCV",
-            "OpenVPN",
            "Gazebo",
            "GitHub",
            "FPV",
@@ -108,9 +106,7 @@
            "UDP",
            "QR",
            "Li-ion",
-            "Nvidia",
-            "VirtualBox",
-            "VMware"
+            "Nvidia"
        ],
        "code_blocks": false
    },
--- a/.travis.yml
+++ b/.travis.yml
@@ -5,12 +5,12 @@ services:
  - docker
 env:
  global:
-    - DOCKER="sfalexrog/img-tool:qemu-aarch64"
+    - DOCKER="sfalexrog/img-tool:qemu-update"
    - TARGET_REPO="https://github.com/${TRAVIS_REPO_SLUG}.git"
-    - IMAGE_VERSION=${TRAVIS_TAG:-${TRAVIS_COMMIT:0:7}}
+    - if [[ -z ${TRAVIS_TAG} ]]; then IMAGE_VERSION="${TRAVIS_COMMIT}}"; else IMAGE_VERSION="${TRAVIS_TAG}"; fi
    - IMAGE_NAME="$(basename -s '.git' ${TARGET_REPO})_${IMAGE_VERSION}.img"
 git:
-  depth: 25
+  depth: 50
 jobs:
  fast_finish: true
  include:
@@ -36,13 +36,12 @@ jobs:
          fi
      before_cache:
        - cp images/*.zip imgcache
-      after_success:
-        - sudo chmod -R 777 *
-        - cd images && zip -9 ${IMAGE_NAME}.zip ${IMAGE_NAME} && stat --printf="Compressed image size:%s\n" ${IMAGE_NAME}.zip
      before_deploy:
        # Set up git user name and tag this commit
        - git config --local user.name "goldarte"
        - git config --local user.email "goldartt@gmail.com"
+        - sudo chmod -R 777 *
+        - cd images && zip ${IMAGE_NAME}.zip ${IMAGE_NAME}
      deploy:
        provider: releases
        token: ${GITHUB_OAUTH_TOKEN}
@@ -68,14 +67,6 @@ jobs:
        - docker pull ${NATIVE_DOCKER}
      script:
        - docker run --rm -v $(pwd):/root/catkin_ws/src/clover ${NATIVE_DOCKER} /root/catkin_ws/src/clover/builder/standalone-install.sh
-    - stage: Build
-      name: "Native Noetic build"
-      env:
-        - NATIVE_DOCKER=ros:noetic-ros-base
-      before_script:
-        - docker pull ${NATIVE_DOCKER}
-      script:
-        - docker run --rm -v $(pwd):/root/catkin_ws/src/clover ${NATIVE_DOCKER} /root/catkin_ws/src/clover/builder/standalone-install.sh
    - stage: Build
      name: "Documentation"
      language: node_js
@@ -108,6 +99,14 @@ jobs:
        verbose: true
        on:
          branch: master
+    - stage: Annotate
+      name: Auto-generate changelog
+      language: python
+      python: 3.6
+      install:
+        - pip install GitPython PyGithub
+      script:
+        - PYTHONUNBUFFERED=1 python ./gen_changelog.py
    - stage: Build
      name: Editorconfig-lint
      language: generic
@@ -115,9 +114,10 @@ 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|blockly/|clover_blocks/programs/|highlight/|python.js|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|Assets.xcassets|test_parser_pass.txt|test_node_failure.txt|aruco_pose/vendor|\.stl|\.dxf"
 stages:
  - Build
+  - Annotate
 # More info there
 # https://github.com/travis-ci/travis-ci/issues/6893
 # https://docs.travis-ci.com/user/customizing-the-build/
--- a/README.md
+++ b/README.md
@@ -1,14 +1,12 @@
-# clover🍀: create autonomous drones easily
+# COEX Clover Drone Kit

-<img src="docs/assets/clever4-front-white.png" align="right" width="400px" alt="COEX Clover Drone">
+<img src="docs/assets/clever4-front-white.png" align="right" width="400px" alt="Clover Drone">

-Clover is an open source [ROS](https://www.ros.org)-based framework, providing user-friendly tools to control [PX4](https://px4.io)-powered drones. Clover is available as a ROS package, but is shipped mainly as a preconfigured image for Raspberry Pi. Once you've installed Raspberry Pi on your drone and flashed the image to its microSD card, taking the drone up in the air is a matter of minutes.
+Clover is an educational programmable drone kit consisting of an unassembled quadcopter, open source software and documentation. The kit includes Pixracer-compatible autopilot running PX4 firmware, Raspberry Pi 4 as companion computer, a camera for computer vision navigation as well as additional sensors and peripheral devices.

-COEX Clover Drone is an educational programmable drone kit, suited perfectly for running clover software. The kit is shipped unassembled and includes Pixracer-compatible autopilot running PX4 firmware, Raspberry Pi 4 as a companion computer, a camera for computer vision navigation as well as additional sensors and peripheral devices. Batteries included.
+The main documentation is available [on Gitbook](https://clover.coex.tech/).

-The main documentation is available at [https://clover.coex.tech](https://clover.coex.tech/). Official website: [coex.tech/clover](https://coex.tech/clover).
-
-[__Support us on Kickstarter!__](https://www.kickstarter.com/projects/copterexpress/cloverdrone)
+Official website: <a href="https://coex.tech/clover">coex.tech/clover</a>.

 ## Video compilation

@@ -25,7 +23,7 @@ Preconfigured image for Raspberry Pi with installed and configured software, rea
 Image features:

 * Raspbian Buster
-* [ROS Noetic](http://wiki.ros.org/noetic)
+* [ROS Melodic](http://wiki.ros.org/melodic)
 * Configured networking
 * OpenCV
 * [`mavros`](http://wiki.ros.org/mavros)
--- a/aruco_pose/CMakeLists.txt
+++ b/aruco_pose/CMakeLists.txt
@@ -22,21 +22,13 @@ find_package(catkin REQUIRED COMPONENTS
  dynamic_reconfigure
 )

-# Workaround for OpenCV 3/4 support
-set(_opencv_version 4)
-find_package(OpenCV ${_opencv_version} QUIET COMPONENTS core imgproc calib3d)
-if (NOT OpenCV_FOUND)
-  message(STATUS "Did not find OpenCV 4, searching for OpenCV 3")
-  set(_opencv_version 3)
-endif()
-
-find_package(OpenCV ${_opencv_version} REQUIRED COMPONENTS core imgproc calib3d)
+find_package(OpenCV 3 REQUIRED COMPONENTS core imgproc calib3d)
 if ("${OpenCV_VERSION_MINOR}" LESS "9")
  message(STATUS "OpenCV version too low, using vendored ArUco package")
  include(vendor/VendorOpenCV.cmake)
 else()
  message(STATUS "Using system OpenCV ArUco package")
-  find_package(OpenCV ${_opencv_version} REQUIRED COMPONENTS aruco)
+  find_package(OpenCV 3 REQUIRED COMPONENTS aruco)
 endif()
 message(STATUS "OpenCV include dirs: ${OpenCV_INCLUDE_DIRS}")
 message(STATUS "OpenCV libraries: ${OpenCV_LIBRARIES}")
@@ -180,13 +172,6 @@ target_link_libraries(aruco_pose
  ${OpenCV_LIBRARIES}
 )

-# Prevent aruco_pose from having undefined symbols
-set_property(TARGET aruco_pose
-  APPEND
-  PROPERTY LINK_FLAGS
-  -Wl,--no-undefined
-)
-
 #############
 ## Install ##
 #############
@@ -222,10 +207,6 @@ set_property(TARGET aruco_pose
 #   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
 # )

-catkin_install_python(PROGRAMS src/genmap.py
-  DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
-)
-
 #############
 ## Testing ##
 #############
--- a/aruco_pose/src/aruco_detect.cpp
+++ b/aruco_pose/src/aruco_detect.cpp
@@ -110,14 +110,17 @@ public:
 		image_transport::ImageTransport it(nh_);
 		image_transport::ImageTransport it_priv(nh_priv_);

-		dyn_srv_ = std::make_shared<dynamic_reconfigure::Server<aruco_pose::DetectorConfig>>(nh_priv_);
-		dyn_srv_->setCallback(std::bind(&ArucoDetect::paramCallback, this, std::placeholders::_1, std::placeholders::_2));
-
+		map_markers_sub_ = nh_.subscribe("map_markers", 1, &ArucoDetect::mapMarkersCallback, this);
 		debug_pub_ = it_priv.advertise("debug", 1);
 		markers_pub_ = nh_priv_.advertise<aruco_pose::MarkerArray>("markers", 1);
 		vis_markers_pub_ = nh_priv_.advertise<visualization_msgs::MarkerArray>("visualization", 1);
 		img_sub_ = it.subscribeCamera("image_raw", 1, &ArucoDetect::imageCallback, this);
-		map_markers_sub_ = nh_.subscribe("map_markers", 1, &ArucoDetect::mapMarkersCallback, this);
+
+		dyn_srv_ = std::make_shared<dynamic_reconfigure::Server<aruco_pose::DetectorConfig>>(nh_priv_);
+		dynamic_reconfigure::Server<aruco_pose::DetectorConfig>::CallbackType cb;
+
+		cb = std::bind(&ArucoDetect::paramCallback, this, std::placeholders::_1, std::placeholders::_2);
+		dyn_srv_->setCallback(cb);

 		NODELET_INFO("ready");
 	}
--- a/aruco_pose/src/aruco_map.cpp
+++ b/aruco_pose/src/aruco_map.cpp
@@ -124,11 +124,6 @@ public:
 		vis_markers_pub_ = nh_priv_.advertise<visualization_msgs::MarkerArray>("visualization", 1, true);
 		debug_pub_ = it_priv.advertise("debug", 1);

-		publishMarkersFrames();
-		publishMarkers();
-		publishMapImage();
-		vis_markers_pub_.publish(vis_array_);
-
 		image_sub_.subscribe(nh_, "image_raw", 1);
 		info_sub_.subscribe(nh_, "camera_info", 1);
 		markers_sub_.subscribe(nh_, "markers", 1);
@@ -136,6 +131,11 @@ public:
 		sync_.reset(new message_filters::Synchronizer<SyncPolicy>(SyncPolicy(10), image_sub_, info_sub_, markers_sub_));
 		sync_->registerCallback(boost::bind(&ArucoMap::callback, this, _1, _2, _3));

+		publishMarkersFrames();
+		publishMarkers();
+		publishMapImage();
+		vis_markers_pub_.publish(vis_array_);
+
 		NODELET_INFO("ready");
 	}

--- a/aruco_pose/src/draw.cpp
+++ b/aruco_pose/src/draw.cpp
@@ -3,11 +3,26 @@

 #include "draw.h"
 #include <math.h>
-#include <vector>

 using namespace cv;
 using namespace cv::aruco;

+static void _cvProjectPoints2( const CvMat* object_points, const CvMat* rotation_vector,
+                       const CvMat* translation_vector, const CvMat* camera_matrix,
+                       const CvMat* distortion_coeffs, CvMat* image_points,
+                       CvMat* dpdrot CV_DEFAULT(NULL), CvMat* dpdt CV_DEFAULT(NULL),
+                       CvMat* dpdf CV_DEFAULT(NULL), CvMat* dpdc CV_DEFAULT(NULL),
+                       CvMat* dpddist CV_DEFAULT(NULL),
+                       double aspect_ratio CV_DEFAULT(0));
+
+static void _projectPoints( InputArray objectPoints,
+                    InputArray rvec, InputArray tvec,
+                    InputArray cameraMatrix, InputArray distCoeffs,
+                    OutputArray imagePoints,
+                    OutputArray jacobian = noArray(),
+                    double aspectRatio = 0 );
+
+
 void _drawPlanarBoard(Board *_board, Size outSize, OutputArray _img, int marginSize,
                      int borderBits, bool drawAxis) {

@@ -127,194 +142,35 @@ void _drawPlanarBoard(Board *_board, Size outSize, OutputArray _img, int marginS
 	}
 }

-/**
- * @brief Convert point coordinates from world space to camera space.
- *
- * @param points A vector of points in world space.
- * @param rvec Rotation matrix or Rodrigues rotation vector.
- * @param tvec Translation vector from world to camera space.
- *
- * @return A vector of points in camera space.
- */
-template<typename CvPointType>
-static std::vector<CvPointType> worldToCamera(const std::vector<CvPointType>& points,
-                                              const cv::Mat& rvec, const cv::Mat& tvec)
+/* Draw a (potentially partially visible) line. */
+static void linePartial(InputOutputArray image, Point3f p1, Point3f p2, const Scalar& color,
+                        int thickness = 1, int lineType = LINE_8, int shift = 0)
 {
-	// We operate with CV_64F matrices internally to avoid precision loss
-	cv::Mat rvec_64f;
-	cv::Mat tvec_64f;
-	rvec.convertTo(rvec_64f, CV_64F);
-	tvec.convertTo(tvec_64f, CV_64F);
-
-	// Convert Rodrigues vector to rotation matrix
-	cv::Mat rmat;
-	if ((rvec_64f.cols == 3 && rvec_64f.rows == 1) ||
-	    (rvec_64f.cols == 1 && rvec_64f.rows == 3))
-	{
-		Rodrigues(rvec_64f, rmat);
+	// If both points are behind the screen, don't draw anything
+	if (p1.z <= 0 && p2.z <= 0) {
+		return;
 	}
-	else
-	{
-		rmat = rvec_64f.clone();
+	Point2f p1p{p1.x, p1.y};
+	Point2f p2p{p2.x, p2.y};
+	// If points are on the different sides of the plane, compute intersection point
+	if (p1.z * p2.z < 0) {
+		// Compute intersection point with the screen
+		// We denote alpha as such:
+		// xi = (1 - alpha) * x1 + alpha * x2
+		// yi = (1 - alpha) * y1 + alpha * y2
+		// zi = (1 - alpha) * z1 + alpha * z2 = 0
+		// Thus, alpha can be expressed as
+		// alpha = z1 / (z1 - z2)
+		float alpha = p1.z / (p1.z - p2.z);
+		Point2f pi{(1 - alpha) * p1.x + alpha * p2.x, (1 - alpha) * p1.y + alpha * p2.y};
+		// Now, if z1 is negative, we draw the line from (xi, yi) to (x2, y2), else we draw from (x1, y1) to (xi, yi)
+		if (p1.z < 0) {
+			p1p = pi;
+		} else {
+			p2p = pi;
+		}
 	}
-	// Make sure tvec has a size of (3, 1)
-	if (tvec_64f.rows == 1)
-	{
-		tvec_64f = tvec_64f.t();
-	}
-	std::vector<CvPointType> result;
-	result.reserve(points.size());
-	for(const auto& point : points)
-	{
-		// Calculate point coordinates in camera frame
-		// static_casts are here to silence potential narrowing conversion warnings
-		CvPointType camPoint{
-			static_cast<decltype(CvPointType::x)>(point.x * rmat.at<double>(0,0) + point.y * rmat.at<double>(0,1) + point.z * rmat.at<double>(0,2) + tvec_64f.at<double>(0)),
-			static_cast<decltype(CvPointType::y)>(point.x * rmat.at<double>(1,0) + point.y * rmat.at<double>(1,1) + point.z * rmat.at<double>(1,2) + tvec_64f.at<double>(1)),
-			static_cast<decltype(CvPointType::z)>(point.x * rmat.at<double>(2,0) + point.y * rmat.at<double>(2,1) + point.z * rmat.at<double>(2,2) + tvec_64f.at<double>(2))
-		};
-		result.push_back(camPoint);
-	}
-	return result;
-}
-
-/**
- * @brief Project points from camera space to screen space, applying distortion in the process.
- *
- * @param points A vector of points in camera space.
- * @param cameraMatrix OpenCV intrinsic camera matrix.
- * @param distCoeffs OpenCV distortion model coefficients.
- *
- * @return A vector of points in screen space.
- */
-template<typename CvPointType>
-static std::vector<CvPointType> cameraToScreen(const std::vector<CvPointType>& points,
-                                               const cv::Mat& cameraMatrix,
-                                               const cv::Mat& distCoeffs)
-{
-	// We operate with CV_64F matrices internally to avoid precision loss
-	cv::Mat cm_64f; // camera matrix, CV_64F
-	cv::Mat dc_64f; // distortion coefficients, CV_64F
-	cameraMatrix.convertTo(cm_64f, CV_64F);
-	distCoeffs.convertTo(dc_64f, CV_64F);
-
-	// Make sure distortion vector has a size of (N, 1)
-	if (dc_64f.rows == 1)
-	{
-		dc_64f = dc_64f.t();
-	}
-
-	// We will always use 12 distortion coefficients,
-	// and we can safely pad missing ones with zeroes
-	dc_64f.resize(12, 0.0);
-
-	std::vector<CvPointType> result;
-	result.reserve(points.size());
-
-	for(const auto& point : points)
-	{
-		// Apply perspective projection, preserving initial Z coordinate
-		// Always use double-precision
-		cv::Point3d camPoint{
-			point.x / point.z,
-			point.y / point.z,
-			point.z
-		};
-
-		// Apply distortion
-		// Note that we do not consider tilted sensor distortion
-		// r^2 - distance from the image center squared
-		double r2 = camPoint.x * camPoint.x + camPoint.y * camPoint.y;
-		// r^4 - same, but to the 4th power
-		double r4 = r2 * r2;
-		// r^6 - same, but to the 6th power
-		double r6 = r4 * r2;
-		// tg1 - first tangential shift factor (2 * x * y)
-		double tg1 = 2 * camPoint.x * camPoint.y;
-		// tg2 - second tangential shift factor (r^2 + 2 * x^2)
-		double tg2 = r2 + 2 * camPoint.x * camPoint.x;
-		// tg3 - third tangential shift factor (r^2 + 2 * y^2)
-		double tg3 = r2 + 2 * camPoint.y * camPoint.y;
-		// polynomial distortion factor (numerator)
-		double pndist = 1 + dc_64f.at<double>(0) * r2 + dc_64f.at<double>(1) * r4 + dc_64f.at<double>(4) * r6;
-		// polynomial distortion factror (denominator)
-		double pddist = 1.0 / (1 + dc_64f.at<double>(5) * r2 + dc_64f.at<double>(6) * r4 + dc_64f.at<double>(7) * r6);
-		// Distorted point coordinates (always double-precision)
-		cv::Point3d distortedPoint{
-			camPoint.x * pndist * pddist + dc_64f.at<double>(2) * tg1 + dc_64f.at<double>(3) * tg2 + dc_64f.at<double>(8) * r2 + dc_64f.at<double>(9) * r4,
-			camPoint.y * pndist * pddist + dc_64f.at<double>(2) * tg3 + dc_64f.at<double>(3) * tg1 + dc_64f.at<double>(10) * r2 + dc_64f.at<double>(11) * r4,
-			camPoint.z
-		};
-
-		// Convert to screen space
-		// We use static_cast here to silence potential warnings about narrowing conversions
-		// (we expect that to be the case)
-		CvPointType screenPoint{
-			static_cast<decltype(CvPointType::x)>(distortedPoint.x * cm_64f.at<double>(0, 0) + cm_64f.at<double>(0, 2)),
-			static_cast<decltype(CvPointType::y)>(distortedPoint.y * cm_64f.at<double>(1, 1) + cm_64f.at<double>(1, 2)),
-			static_cast<decltype(CvPointType::z)>(distortedPoint.z)
-		};
-
-		result.push_back(screenPoint);
-	}
-	return result;
-}
-
-/**
- * @brief Clip a line against a clip plane.
- *
- * This function "clips" a line (described by two points in *camera space*)
- * against a clip plane that is `clipPlaneDistance` meters away from the
- * camera focal point. If both points are further away from the focal point
- * than `clipPlaneDistance`, they will be returned unmodified. If one of the
- * points is behind the clipping plane, a point *on* the clipping plane will
- * be computed and returned as one of the points.
- *
- * If none of the points are visible, an empty vector will be returned.
- *
- * @param p1 First point on the line, in camera space.
- * @param p2 Second point on the line, in camera space.
- * @param clipPlaneDistance Distance from the focal point to the clipping plane.
- * @return A vector of zero or two points on the clipped line, in camera space.
- */
-static std::vector<Point3f> lineClip(Point3f p1, Point3f p2, float clipPlaneDistance = 0.1f)
-{
-	// We don't need to compute an intersection if both points are
-	// behind us
-	if (p1.z < clipPlaneDistance && p2.z < clipPlaneDistance)
-	{
-		return {};
-	}
-	// We don't need to compute an intersection if both points are
-	// in front of us
-	if (p1.z > clipPlaneDistance && p2.z > clipPlaneDistance)
-	{
-		return {p1, p2};
-	}
-	// We don't really want to compute an intersection if both Z coordinates
-	// are sufficiently close to each other
-	if (std::abs(p1.z - p2.z) < 0.0001) // The number here is chosen arbitrarily
-	{
-		return {p1, p2};
-	}
-	// We compute the intersection as such:
-	// zi = (1 - alpha) * p1.z + alpha * p2.z = clipPlaneDistance
-	// alpha = (p1.z - clipPlaneDistance) / (p1.z - p2.z)
-	double alpha = (p1.z - clipPlaneDistance) / (p1.z - p2.z);
-	Point3f clipPlanePoint{
-		static_cast<float>((1 - alpha) * p1.x + alpha * p2.x),
-		static_cast<float>((1 - alpha) * p1.y + alpha * p2.y),
-		clipPlaneDistance
-	};
-	if (p1.z < clipPlaneDistance)
-	{
-		return {clipPlanePoint, p2};
-	}
-	else
-	{
-		return {p1, clipPlanePoint};
-	}
-	// Unreachable?
+	line(image, p1p, p2p, color, thickness, lineType, shift);
 }

 void _drawAxis(InputOutputArray _image, InputArray _cameraMatrix, InputArray _distCoeffs,
@@ -330,23 +186,647 @@ void _drawAxis(InputOutputArray _image, InputArray _cameraMatrix, InputArray _di
 	axisPoints.push_back(Point3f(length, 0, 0));
 	axisPoints.push_back(Point3f(0, length, 0));
 	axisPoints.push_back(Point3f(0, 0, length));
-	auto camAxisPoints = worldToCamera(axisPoints, _rvec.getMat(), _tvec.getMat());
-	auto axisX = cameraToScreen(lineClip(camAxisPoints[0], camAxisPoints[1]), _cameraMatrix.getMat(), _distCoeffs.getMat());
-	auto axisY = cameraToScreen(lineClip(camAxisPoints[0], camAxisPoints[2]), _cameraMatrix.getMat(), _distCoeffs.getMat());
-	auto axisZ = cameraToScreen(lineClip(camAxisPoints[0], camAxisPoints[3]), _cameraMatrix.getMat(), _distCoeffs.getMat());
-	if (axisX.size() > 0)
-	{
-		line(_image, Point2f{axisX[0].x, axisX[0].y}, Point2f{axisX[1].x, axisX[1].y},
-			Scalar(0, 0, 255), 3);
-	}
-	if (axisY.size() > 0)
-	{
-		line(_image, Point2f{axisY[0].x, axisY[0].y}, Point2f{axisY[1].x, axisY[1].y},
-			Scalar(0, 255, 0), 3);
-	}
-	if (axisZ.size() > 0)
-	{
-		line(_image, Point2f{axisZ[0].x, axisZ[0].y}, Point2f{axisZ[1].x, axisZ[1].y},
-			Scalar(255, 0, 0), 3);
-	}
+	std::vector<Point3f> imagePointsZ;
+	_projectPoints(axisPoints, _rvec, _tvec, _cameraMatrix, _distCoeffs, imagePointsZ);
+
+	// draw axis lines
+	linePartial(_image, imagePointsZ[0], imagePointsZ[1], Scalar(0, 0, 255), 3);
+	linePartial(_image, imagePointsZ[0], imagePointsZ[2], Scalar(0, 255, 0), 3);
+	linePartial(_image, imagePointsZ[0], imagePointsZ[3], Scalar(255, 0, 0), 3);
+}
+
+static CvMat _cvMat(const cv::Mat& m)
+{
+	CvMat self;
+	CV_DbgAssert(m.dims <= 2);
+	self = cvMat(m.rows, m.dims == 1 ? 1 : m.cols, m.type(), m.data);
+	self.step = (int)m.step[0];
+	self.type = (self.type & ~cv::Mat::CONTINUOUS_FLAG) | (m.flags & cv::Mat::CONTINUOUS_FLAG);
+	return self;
+}
+
+static void _projectPoints( InputArray _opoints,
+                        InputArray _rvec,
+                        InputArray _tvec,
+                        InputArray _cameraMatrix,
+                        InputArray _distCoeffs,
+                        OutputArray _ipoints,
+                        OutputArray _jacobian,
+                        double aspectRatio )
+{
+	Mat opoints = _opoints.getMat();
+	int npoints = opoints.checkVector(3), depth = opoints.depth();
+	CV_Assert(npoints >= 0 && (depth == CV_32F || depth == CV_64F));
+
+	CvMat dpdrot, dpdt, dpdf, dpdc, dpddist;
+	CvMat *pdpdrot = 0, *pdpdt = 0, *pdpdf = 0, *pdpdc = 0, *pdpddist = 0;
+
+	CV_Assert(_ipoints.needed());
+
+	_ipoints.create(npoints, 1, CV_MAKETYPE(depth, 3), -1, true);
+	Mat imagePoints = _ipoints.getMat();
+	CvMat c_imagePoints = _cvMat(imagePoints);
+	CvMat c_objectPoints = _cvMat(opoints);
+	Mat cameraMatrix = _cameraMatrix.getMat();
+
+	Mat rvec = _rvec.getMat(), tvec = _tvec.getMat();
+	CvMat c_cameraMatrix = _cvMat(cameraMatrix);
+	CvMat c_rvec = _cvMat(rvec), c_tvec = _cvMat(tvec);
+
+	double dc0buf[5] = {0};
+	Mat dc0(5, 1, CV_64F, dc0buf);
+	Mat distCoeffs = _distCoeffs.getMat();
+	if (distCoeffs.empty())
+		distCoeffs = dc0;
+	CvMat c_distCoeffs = _cvMat(distCoeffs);
+	int ndistCoeffs = distCoeffs.rows + distCoeffs.cols - 1;
+
+	Mat jacobian;
+	if (_jacobian.needed())
+	{
+		_jacobian.create(npoints * 2, 3 + 3 + 2 + 2 + ndistCoeffs, CV_64F);
+		jacobian = _jacobian.getMat();
+		pdpdrot = &(dpdrot = _cvMat(jacobian.colRange(0, 3)));
+		pdpdt = &(dpdt = _cvMat(jacobian.colRange(3, 6)));
+		pdpdf = &(dpdf = _cvMat(jacobian.colRange(6, 8)));
+		pdpdc = &(dpdc = _cvMat(jacobian.colRange(8, 10)));
+		pdpddist = &(dpddist = _cvMat(jacobian.colRange(10, 10 + ndistCoeffs)));
+	}
+
+	_cvProjectPoints2(&c_objectPoints, &c_rvec, &c_tvec, &c_cameraMatrix, &c_distCoeffs,
+					  &c_imagePoints, pdpdrot, pdpdt, pdpdf, pdpdc, pdpddist, aspectRatio);
+}
+
+namespace _detail
+{
+    template <typename FLOAT>
+    void computeTiltProjectionMatrix(FLOAT tauX,
+                                     FLOAT tauY,
+                                     Matx<FLOAT, 3, 3>* matTilt = 0,
+                                     Matx<FLOAT, 3, 3>* dMatTiltdTauX = 0,
+                                     Matx<FLOAT, 3, 3>* dMatTiltdTauY = 0,
+                                     Matx<FLOAT, 3, 3>* invMatTilt = 0)
+    {
+        FLOAT cTauX = cos(tauX);
+        FLOAT sTauX = sin(tauX);
+        FLOAT cTauY = cos(tauY);
+        FLOAT sTauY = sin(tauY);
+        Matx<FLOAT, 3, 3> matRotX = Matx<FLOAT, 3, 3>(1,0,0,0,cTauX,sTauX,0,-sTauX,cTauX);
+        Matx<FLOAT, 3, 3> matRotY = Matx<FLOAT, 3, 3>(cTauY,0,-sTauY,0,1,0,sTauY,0,cTauY);
+        Matx<FLOAT, 3, 3> matRotXY = matRotY * matRotX;
+        Matx<FLOAT, 3, 3> matProjZ = Matx<FLOAT, 3, 3>(matRotXY(2,2),0,-matRotXY(0,2),0,matRotXY(2,2),-matRotXY(1,2),0,0,1);
+        if (matTilt)
+        {
+            // Matrix for trapezoidal distortion of tilted image sensor
+            *matTilt = matProjZ * matRotXY;
+        }
+        if (dMatTiltdTauX)
+        {
+            // Derivative with respect to tauX
+            Matx<FLOAT, 3, 3> dMatRotXYdTauX = matRotY * Matx<FLOAT, 3, 3>(0,0,0,0,-sTauX,cTauX,0,-cTauX,-sTauX);
+            Matx<FLOAT, 3, 3> dMatProjZdTauX = Matx<FLOAT, 3, 3>(dMatRotXYdTauX(2,2),0,-dMatRotXYdTauX(0,2),
+                                                                 0,dMatRotXYdTauX(2,2),-dMatRotXYdTauX(1,2),0,0,0);
+            *dMatTiltdTauX = (matProjZ * dMatRotXYdTauX) + (dMatProjZdTauX * matRotXY);
+        }
+        if (dMatTiltdTauY)
+        {
+            // Derivative with respect to tauY
+            Matx<FLOAT, 3, 3> dMatRotXYdTauY = Matx<FLOAT, 3, 3>(-sTauY,0,-cTauY,0,0,0,cTauY,0,-sTauY) * matRotX;
+            Matx<FLOAT, 3, 3> dMatProjZdTauY = Matx<FLOAT, 3, 3>(dMatRotXYdTauY(2,2),0,-dMatRotXYdTauY(0,2),
+                                                                 0,dMatRotXYdTauY(2,2),-dMatRotXYdTauY(1,2),0,0,0);
+            *dMatTiltdTauY = (matProjZ * dMatRotXYdTauY) + (dMatProjZdTauY * matRotXY);
+        }
+        if (invMatTilt)
+        {
+            FLOAT inv = 1./matRotXY(2,2);
+            Matx<FLOAT, 3, 3> invMatProjZ = Matx<FLOAT, 3, 3>(inv,0,inv*matRotXY(0,2),0,inv,inv*matRotXY(1,2),0,0,1);
+            *invMatTilt = matRotXY.t()*invMatProjZ;
+        }
+    }
+}
+
+static const char* cvDistCoeffErr = "Distortion coefficients must be 1x4, 4x1, 1x5, 5x1, 1x8, 8x1, 1x12, 12x1, 1x14 or 14x1 floating-point vector";
+
+static void _cvProjectPoints2Internal( const CvMat* objectPoints,
+                                      const CvMat* r_vec,
+                                      const CvMat* t_vec,
+                                      const CvMat* A,
+                                      const CvMat* distCoeffs,
+                                      CvMat* imagePoints, CvMat* dpdr CV_DEFAULT(NULL),
+                                      CvMat* dpdt CV_DEFAULT(NULL), CvMat* dpdf CV_DEFAULT(NULL),
+                                      CvMat* dpdc CV_DEFAULT(NULL), CvMat* dpdk CV_DEFAULT(NULL),
+                                      CvMat* dpdo CV_DEFAULT(NULL),
+                                      double aspectRatio CV_DEFAULT(0) )
+{
+    Ptr<CvMat> matM, _m;
+    Ptr<CvMat> _dpdr, _dpdt, _dpdc, _dpdf, _dpdk;
+    Ptr<CvMat> _dpdo;
+
+    int i, j, count;
+    int calc_derivatives;
+    const CvPoint3D64f* M;
+    CvPoint3D64f* m;
+    double r[3], R[9], dRdr[27], t[3], a[9], k[14] = {0,0,0,0,0,0,0,0,0,0,0,0,0,0}, fx, fy, cx, cy;
+    Matx33d matTilt = Matx33d::eye();
+    Matx33d dMatTiltdTauX(0,0,0,0,0,0,0,-1,0);
+    Matx33d dMatTiltdTauY(0,0,0,0,0,0,1,0,0);
+    CvMat _r, _t, _a = cvMat( 3, 3, CV_64F, a ), _k;
+    CvMat matR = cvMat( 3, 3, CV_64F, R ), _dRdr = cvMat( 3, 9, CV_64F, dRdr );
+    double *dpdr_p = 0, *dpdt_p = 0, *dpdk_p = 0, *dpdf_p = 0, *dpdc_p = 0;
+    double* dpdo_p = 0;
+    int dpdr_step = 0, dpdt_step = 0, dpdk_step = 0, dpdf_step = 0, dpdc_step = 0;
+    int dpdo_step = 0;
+    bool fixedAspectRatio = aspectRatio > FLT_EPSILON;
+
+    if( !CV_IS_MAT(objectPoints) || !CV_IS_MAT(r_vec) ||
+        !CV_IS_MAT(t_vec) || !CV_IS_MAT(A) ||
+        /*!CV_IS_MAT(distCoeffs) ||*/ !CV_IS_MAT(imagePoints) )
+        CV_Error( CV_StsBadArg, "One of required arguments is not a valid matrix" );
+
+    int total = objectPoints->rows * objectPoints->cols * CV_MAT_CN(objectPoints->type);
+    if(total % 3 != 0)
+    {
+        //we have stopped support of homogeneous coordinates because it cause ambiguity in interpretation of the input data
+        CV_Error( CV_StsBadArg, "Homogeneous coordinates are not supported" );
+    }
+    count = total / 3;
+
+    if( CV_IS_CONT_MAT(objectPoints->type) &&
+        (CV_MAT_DEPTH(objectPoints->type) == CV_32F || CV_MAT_DEPTH(objectPoints->type) == CV_64F)&&
+        ((objectPoints->rows == 1 && CV_MAT_CN(objectPoints->type) == 3) ||
+         (objectPoints->rows == count && CV_MAT_CN(objectPoints->type)*objectPoints->cols == 3) ||
+         (objectPoints->rows == 3 && CV_MAT_CN(objectPoints->type) == 1 && objectPoints->cols == count)))
+    {
+        matM.reset(cvCreateMat( objectPoints->rows, objectPoints->cols, CV_MAKETYPE(CV_64F,CV_MAT_CN(objectPoints->type)) ));
+        cvConvert(objectPoints, matM);
+    }
+    else
+    {
+//        matM = cvCreateMat( 1, count, CV_64FC3 );
+//        cvConvertPointsHomogeneous( objectPoints, matM );
+        CV_Error( CV_StsBadArg, "Homogeneous coordinates are not supported" );
+    }
+
+    if( CV_IS_CONT_MAT(imagePoints->type) &&
+        (CV_MAT_DEPTH(imagePoints->type) == CV_32F || CV_MAT_DEPTH(imagePoints->type) == CV_64F) &&
+        ((imagePoints->rows == 1 && CV_MAT_CN(imagePoints->type) == 3) ||
+         (imagePoints->rows == count && CV_MAT_CN(imagePoints->type)*imagePoints->cols == 3) ||
+         (imagePoints->rows == 3 && CV_MAT_CN(imagePoints->type) == 1 && imagePoints->cols == count)))
+    {
+        _m.reset(cvCreateMat( imagePoints->rows, imagePoints->cols, CV_MAKETYPE(CV_64F,CV_MAT_CN(imagePoints->type)) ));
+        cvConvert(imagePoints, _m);
+    }
+    else
+    {
+//        _m = cvCreateMat( 1, count, CV_64FC2 );
+        CV_Error( CV_StsBadArg, "Homogeneous coordinates are not supported" );
+    }
+
+    M = (CvPoint3D64f*)matM->data.db;
+    m = (CvPoint3D64f*)_m->data.db;
+
+    if( (CV_MAT_DEPTH(r_vec->type) != CV_64F && CV_MAT_DEPTH(r_vec->type) != CV_32F) ||
+        (((r_vec->rows != 1 && r_vec->cols != 1) ||
+          r_vec->rows*r_vec->cols*CV_MAT_CN(r_vec->type) != 3) &&
+         ((r_vec->rows != 3 && r_vec->cols != 3) || CV_MAT_CN(r_vec->type) != 1)))
+        CV_Error( CV_StsBadArg, "Rotation must be represented by 1x3 or 3x1 "
+                                "floating-point rotation vector, or 3x3 rotation matrix" );
+
+    if( r_vec->rows == 3 && r_vec->cols == 3 )
+    {
+        _r = cvMat( 3, 1, CV_64FC1, r );
+        cvRodrigues2( r_vec, &_r );
+        cvRodrigues2( &_r, &matR, &_dRdr );
+        cvCopy( r_vec, &matR );
+    }
+    else
+    {
+        _r = cvMat( r_vec->rows, r_vec->cols, CV_MAKETYPE(CV_64F,CV_MAT_CN(r_vec->type)), r );
+        cvConvert( r_vec, &_r );
+        cvRodrigues2( &_r, &matR, &_dRdr );
+    }
+
+    if( (CV_MAT_DEPTH(t_vec->type) != CV_64F && CV_MAT_DEPTH(t_vec->type) != CV_32F) ||
+        (t_vec->rows != 1 && t_vec->cols != 1) ||
+        t_vec->rows*t_vec->cols*CV_MAT_CN(t_vec->type) != 3 )
+        CV_Error( CV_StsBadArg,
+                  "Translation vector must be 1x3 or 3x1 floating-point vector" );
+
+    _t = cvMat( t_vec->rows, t_vec->cols, CV_MAKETYPE(CV_64F,CV_MAT_CN(t_vec->type)), t );
+    cvConvert( t_vec, &_t );
+
+    if( (CV_MAT_TYPE(A->type) != CV_64FC1 && CV_MAT_TYPE(A->type) != CV_32FC1) ||
+        A->rows != 3 || A->cols != 3 )
+        CV_Error( CV_StsBadArg, "Instrinsic parameters must be 3x3 floating-point matrix" );
+
+    cvConvert( A, &_a );
+    fx = a[0]; fy = a[4];
+    cx = a[2]; cy = a[5];
+
+    if( fixedAspectRatio )
+        fx = fy*aspectRatio;
+
+    if( distCoeffs )
+    {
+        if( !CV_IS_MAT(distCoeffs) ||
+            (CV_MAT_DEPTH(distCoeffs->type) != CV_64F &&
+             CV_MAT_DEPTH(distCoeffs->type) != CV_32F) ||
+            (distCoeffs->rows != 1 && distCoeffs->cols != 1) ||
+            (distCoeffs->rows*distCoeffs->cols*CV_MAT_CN(distCoeffs->type) != 4 &&
+             distCoeffs->rows*distCoeffs->cols*CV_MAT_CN(distCoeffs->type) != 5 &&
+             distCoeffs->rows*distCoeffs->cols*CV_MAT_CN(distCoeffs->type) != 8 &&
+             distCoeffs->rows*distCoeffs->cols*CV_MAT_CN(distCoeffs->type) != 12 &&
+             distCoeffs->rows*distCoeffs->cols*CV_MAT_CN(distCoeffs->type) != 14) )
+            CV_Error( CV_StsBadArg, cvDistCoeffErr );
+
+        _k = cvMat( distCoeffs->rows, distCoeffs->cols,
+                    CV_MAKETYPE(CV_64F,CV_MAT_CN(distCoeffs->type)), k );
+        cvConvert( distCoeffs, &_k );
+        if(k[12] != 0 || k[13] != 0)
+        {
+            _detail::computeTiltProjectionMatrix(k[12], k[13],
+                                                &matTilt, &dMatTiltdTauX, &dMatTiltdTauY);
+        }
+    }
+
+    if( dpdr )
+    {
+        if( !CV_IS_MAT(dpdr) ||
+            (CV_MAT_TYPE(dpdr->type) != CV_32FC1 &&
+             CV_MAT_TYPE(dpdr->type) != CV_64FC1) ||
+            dpdr->rows != count*2 || dpdr->cols != 3 )
+            CV_Error( CV_StsBadArg, "dp/drot must be 2Nx3 floating-point matrix" );
+
+        if( CV_MAT_TYPE(dpdr->type) == CV_64FC1 )
+        {
+            _dpdr.reset(cvCloneMat(dpdr));
+        }
+        else
+            _dpdr.reset(cvCreateMat( 2*count, 3, CV_64FC1 ));
+        dpdr_p = _dpdr->data.db;
+        dpdr_step = _dpdr->step/sizeof(dpdr_p[0]);
+    }
+
+    if( dpdt )
+    {
+        if( !CV_IS_MAT(dpdt) ||
+            (CV_MAT_TYPE(dpdt->type) != CV_32FC1 &&
+             CV_MAT_TYPE(dpdt->type) != CV_64FC1) ||
+            dpdt->rows != count*2 || dpdt->cols != 3 )
+            CV_Error( CV_StsBadArg, "dp/dT must be 2Nx3 floating-point matrix" );
+
+        if( CV_MAT_TYPE(dpdt->type) == CV_64FC1 )
+        {
+            _dpdt.reset(cvCloneMat(dpdt));
+        }
+        else
+            _dpdt.reset(cvCreateMat( 2*count, 3, CV_64FC1 ));
+        dpdt_p = _dpdt->data.db;
+        dpdt_step = _dpdt->step/sizeof(dpdt_p[0]);
+    }
+
+    if( dpdf )
+    {
+        if( !CV_IS_MAT(dpdf) ||
+            (CV_MAT_TYPE(dpdf->type) != CV_32FC1 && CV_MAT_TYPE(dpdf->type) != CV_64FC1) ||
+            dpdf->rows != count*2 || dpdf->cols != 2 )
+            CV_Error( CV_StsBadArg, "dp/df must be 2Nx2 floating-point matrix" );
+
+        if( CV_MAT_TYPE(dpdf->type) == CV_64FC1 )
+        {
+            _dpdf.reset(cvCloneMat(dpdf));
+        }
+        else
+            _dpdf.reset(cvCreateMat( 2*count, 2, CV_64FC1 ));
+        dpdf_p = _dpdf->data.db;
+        dpdf_step = _dpdf->step/sizeof(dpdf_p[0]);
+    }
+
+    if( dpdc )
+    {
+        if( !CV_IS_MAT(dpdc) ||
+            (CV_MAT_TYPE(dpdc->type) != CV_32FC1 && CV_MAT_TYPE(dpdc->type) != CV_64FC1) ||
+            dpdc->rows != count*2 || dpdc->cols != 2 )
+            CV_Error( CV_StsBadArg, "dp/dc must be 2Nx2 floating-point matrix" );
+
+        if( CV_MAT_TYPE(dpdc->type) == CV_64FC1 )
+        {
+            _dpdc.reset(cvCloneMat(dpdc));
+        }
+        else
+            _dpdc.reset(cvCreateMat( 2*count, 2, CV_64FC1 ));
+        dpdc_p = _dpdc->data.db;
+        dpdc_step = _dpdc->step/sizeof(dpdc_p[0]);
+    }
+
+    if( dpdk )
+    {
+        if( !CV_IS_MAT(dpdk) ||
+            (CV_MAT_TYPE(dpdk->type) != CV_32FC1 && CV_MAT_TYPE(dpdk->type) != CV_64FC1) ||
+            dpdk->rows != count*2 || (dpdk->cols != 14 && dpdk->cols != 12 && dpdk->cols != 8 && dpdk->cols != 5 && dpdk->cols != 4 && dpdk->cols != 2) )
+            CV_Error( CV_StsBadArg, "dp/df must be 2Nx14, 2Nx12, 2Nx8, 2Nx5, 2Nx4 or 2Nx2 floating-point matrix" );
+
+        if( !distCoeffs )
+            CV_Error( CV_StsNullPtr, "distCoeffs is NULL while dpdk is not" );
+
+        if( CV_MAT_TYPE(dpdk->type) == CV_64FC1 )
+        {
+            _dpdk.reset(cvCloneMat(dpdk));
+        }
+        else
+            _dpdk.reset(cvCreateMat( dpdk->rows, dpdk->cols, CV_64FC1 ));
+        dpdk_p = _dpdk->data.db;
+        dpdk_step = _dpdk->step/sizeof(dpdk_p[0]);
+    }
+
+    if( dpdo )
+    {
+        if( !CV_IS_MAT( dpdo ) || ( CV_MAT_TYPE( dpdo->type ) != CV_32FC1
+                                    && CV_MAT_TYPE( dpdo->type ) != CV_64FC1 )
+            || dpdo->rows != count * 2 || dpdo->cols != count * 3 )
+            CV_Error( CV_StsBadArg, "dp/do must be 2Nx3N floating-point matrix" );
+
+        if( CV_MAT_TYPE( dpdo->type ) == CV_64FC1 )
+        {
+            _dpdo.reset( cvCloneMat( dpdo ) );
+        }
+        else
+            _dpdo.reset( cvCreateMat( 2 * count, 3 * count, CV_64FC1 ) );
+        cvZero(_dpdo);
+        dpdo_p = _dpdo->data.db;
+        dpdo_step = _dpdo->step / sizeof( dpdo_p[0] );
+    }
+
+    calc_derivatives = dpdr || dpdt || dpdf || dpdc || dpdk || dpdo;
+
+    for( i = 0; i < count; i++ )
+    {
+        double X = M[i].x, Y = M[i].y, Z = M[i].z;
+        double x = R[0]*X + R[1]*Y + R[2]*Z + t[0];
+        double y = R[3]*X + R[4]*Y + R[5]*Z + t[1];
+        double z = R[6]*X + R[7]*Y + R[8]*Z + t[2];
+        double r2, r4, r6, a1, a2, a3, cdist, icdist2;
+        double xd, yd, xd0, yd0, invProj;
+        Vec3d vecTilt;
+        Vec3d dVecTilt;
+        Matx22d dMatTilt;
+        Vec2d dXdYd;
+
+        double z0 = z;
+        z = z ? 1./z : 1;
+        x *= z; y *= z;
+
+        r2 = x*x + y*y;
+        r4 = r2*r2;
+        r6 = r4*r2;
+        a1 = 2*x*y;
+        a2 = r2 + 2*x*x;
+        a3 = r2 + 2*y*y;
+        cdist = 1 + k[0]*r2 + k[1]*r4 + k[4]*r6;
+        icdist2 = 1./(1 + k[5]*r2 + k[6]*r4 + k[7]*r6);
+        xd0 = x*cdist*icdist2 + k[2]*a1 + k[3]*a2 + k[8]*r2+k[9]*r4;
+        yd0 = y*cdist*icdist2 + k[2]*a3 + k[3]*a1 + k[10]*r2+k[11]*r4;
+
+        // additional distortion by projecting onto a tilt plane
+        vecTilt = matTilt*Vec3d(xd0, yd0, 1);
+        invProj = vecTilt(2) ? 1./vecTilt(2) : 1;
+        xd = invProj * vecTilt(0);
+        yd = invProj * vecTilt(1);
+
+        m[i].x = xd*fx + cx;
+        m[i].y = yd*fy + cy;
+        m[i].z = z; // Just put the projected Z coordinate here, we mainly care about the sign
+
+        if( calc_derivatives )
+        {
+            if( dpdc_p )
+            {
+                dpdc_p[0] = 1; dpdc_p[1] = 0; // dp_xdc_x; dp_xdc_y
+                dpdc_p[dpdc_step] = 0;
+                dpdc_p[dpdc_step+1] = 1;
+                dpdc_p += dpdc_step*2;
+            }
+
+            if( dpdf_p )
+            {
+                if( fixedAspectRatio )
+                {
+                    dpdf_p[0] = 0; dpdf_p[1] = xd*aspectRatio; // dp_xdf_x; dp_xdf_y
+                    dpdf_p[dpdf_step] = 0;
+                    dpdf_p[dpdf_step+1] = yd;
+                }
+                else
+                {
+                    dpdf_p[0] = xd; dpdf_p[1] = 0;
+                    dpdf_p[dpdf_step] = 0;
+                    dpdf_p[dpdf_step+1] = yd;
+                }
+                dpdf_p += dpdf_step*2;
+            }
+            for (int row = 0; row < 2; ++row)
+                for (int col = 0; col < 2; ++col)
+                    dMatTilt(row,col) = matTilt(row,col)*vecTilt(2)
+                                        - matTilt(2,col)*vecTilt(row);
+            double invProjSquare = (invProj*invProj);
+            dMatTilt *= invProjSquare;
+            if( dpdk_p )
+            {
+                dXdYd = dMatTilt*Vec2d(x*icdist2*r2, y*icdist2*r2);
+                dpdk_p[0] = fx*dXdYd(0);
+                dpdk_p[dpdk_step] = fy*dXdYd(1);
+                dXdYd = dMatTilt*Vec2d(x*icdist2*r4, y*icdist2*r4);
+                dpdk_p[1] = fx*dXdYd(0);
+                dpdk_p[dpdk_step+1] = fy*dXdYd(1);
+                if( _dpdk->cols > 2 )
+                {
+                    dXdYd = dMatTilt*Vec2d(a1, a3);
+                    dpdk_p[2] = fx*dXdYd(0);
+                    dpdk_p[dpdk_step+2] = fy*dXdYd(1);
+                    dXdYd = dMatTilt*Vec2d(a2, a1);
+                    dpdk_p[3] = fx*dXdYd(0);
+                    dpdk_p[dpdk_step+3] = fy*dXdYd(1);
+                    if( _dpdk->cols > 4 )
+                    {
+                        dXdYd = dMatTilt*Vec2d(x*icdist2*r6, y*icdist2*r6);
+                        dpdk_p[4] = fx*dXdYd(0);
+                        dpdk_p[dpdk_step+4] = fy*dXdYd(1);
+
+                        if( _dpdk->cols > 5 )
+                        {
+                            dXdYd = dMatTilt*Vec2d(
+                                    x*cdist*(-icdist2)*icdist2*r2, y*cdist*(-icdist2)*icdist2*r2);
+                            dpdk_p[5] = fx*dXdYd(0);
+                            dpdk_p[dpdk_step+5] = fy*dXdYd(1);
+                            dXdYd = dMatTilt*Vec2d(
+                                    x*cdist*(-icdist2)*icdist2*r4, y*cdist*(-icdist2)*icdist2*r4);
+                            dpdk_p[6] = fx*dXdYd(0);
+                            dpdk_p[dpdk_step+6] = fy*dXdYd(1);
+                            dXdYd = dMatTilt*Vec2d(
+                                    x*cdist*(-icdist2)*icdist2*r6, y*cdist*(-icdist2)*icdist2*r6);
+                            dpdk_p[7] = fx*dXdYd(0);
+                            dpdk_p[dpdk_step+7] = fy*dXdYd(1);
+                            if( _dpdk->cols > 8 )
+                            {
+                                dXdYd = dMatTilt*Vec2d(r2, 0);
+                                dpdk_p[8] = fx*dXdYd(0); //s1
+                                dpdk_p[dpdk_step+8] = fy*dXdYd(1); //s1
+                                dXdYd = dMatTilt*Vec2d(r4, 0);
+                                dpdk_p[9] = fx*dXdYd(0); //s2
+                                dpdk_p[dpdk_step+9] = fy*dXdYd(1); //s2
+                                dXdYd = dMatTilt*Vec2d(0, r2);
+                                dpdk_p[10] = fx*dXdYd(0);//s3
+                                dpdk_p[dpdk_step+10] = fy*dXdYd(1); //s3
+                                dXdYd = dMatTilt*Vec2d(0, r4);
+                                dpdk_p[11] = fx*dXdYd(0);//s4
+                                dpdk_p[dpdk_step+11] = fy*dXdYd(1); //s4
+                                if( _dpdk->cols > 12 )
+                                {
+                                    dVecTilt = dMatTiltdTauX * Vec3d(xd0, yd0, 1);
+                                    dpdk_p[12] = fx * invProjSquare * (
+                                            dVecTilt(0) * vecTilt(2) - dVecTilt(2) * vecTilt(0));
+                                    dpdk_p[dpdk_step+12] = fy*invProjSquare * (
+                                            dVecTilt(1) * vecTilt(2) - dVecTilt(2) * vecTilt(1));
+                                    dVecTilt = dMatTiltdTauY * Vec3d(xd0, yd0, 1);
+                                    dpdk_p[13] = fx * invProjSquare * (
+                                            dVecTilt(0) * vecTilt(2) - dVecTilt(2) * vecTilt(0));
+                                    dpdk_p[dpdk_step+13] = fy * invProjSquare * (
+                                            dVecTilt(1) * vecTilt(2) - dVecTilt(2) * vecTilt(1));
+                                }
+                            }
+                        }
+                    }
+                }
+                dpdk_p += dpdk_step*2;
+            }
+
+            if( dpdt_p )
+            {
+                double dxdt[] = { z, 0, -x*z }, dydt[] = { 0, z, -y*z };
+                for( j = 0; j < 3; j++ )
+                {
+                    double dr2dt = 2*x*dxdt[j] + 2*y*dydt[j];
+                    double dcdist_dt = k[0]*dr2dt + 2*k[1]*r2*dr2dt + 3*k[4]*r4*dr2dt;
+                    double dicdist2_dt = -icdist2*icdist2*(k[5]*dr2dt + 2*k[6]*r2*dr2dt + 3*k[7]*r4*dr2dt);
+                    double da1dt = 2*(x*dydt[j] + y*dxdt[j]);
+                    double dmxdt = (dxdt[j]*cdist*icdist2 + x*dcdist_dt*icdist2 + x*cdist*dicdist2_dt +
+                                    k[2]*da1dt + k[3]*(dr2dt + 4*x*dxdt[j]) + k[8]*dr2dt + 2*r2*k[9]*dr2dt);
+                    double dmydt = (dydt[j]*cdist*icdist2 + y*dcdist_dt*icdist2 + y*cdist*dicdist2_dt +
+                                    k[2]*(dr2dt + 4*y*dydt[j]) + k[3]*da1dt + k[10]*dr2dt + 2*r2*k[11]*dr2dt);
+                    dXdYd = dMatTilt*Vec2d(dmxdt, dmydt);
+                    dpdt_p[j] = fx*dXdYd(0);
+                    dpdt_p[dpdt_step+j] = fy*dXdYd(1);
+                }
+                dpdt_p += dpdt_step*2;
+            }
+
+            if( dpdr_p )
+            {
+                double dx0dr[] =
+                        {
+                                X*dRdr[0] + Y*dRdr[1] + Z*dRdr[2],
+                                X*dRdr[9] + Y*dRdr[10] + Z*dRdr[11],
+                                X*dRdr[18] + Y*dRdr[19] + Z*dRdr[20]
+                        };
+                double dy0dr[] =
+                        {
+                                X*dRdr[3] + Y*dRdr[4] + Z*dRdr[5],
+                                X*dRdr[12] + Y*dRdr[13] + Z*dRdr[14],
+                                X*dRdr[21] + Y*dRdr[22] + Z*dRdr[23]
+                        };
+                double dz0dr[] =
+                        {
+                                X*dRdr[6] + Y*dRdr[7] + Z*dRdr[8],
+                                X*dRdr[15] + Y*dRdr[16] + Z*dRdr[17],
+                                X*dRdr[24] + Y*dRdr[25] + Z*dRdr[26]
+                        };
+                for( j = 0; j < 3; j++ )
+                {
+                    double dxdr = z*(dx0dr[j] - x*dz0dr[j]);
+                    double dydr = z*(dy0dr[j] - y*dz0dr[j]);
+                    double dr2dr = 2*x*dxdr + 2*y*dydr;
+                    double dcdist_dr = (k[0] + 2*k[1]*r2 + 3*k[4]*r4)*dr2dr;
+                    double dicdist2_dr = -icdist2*icdist2*(k[5] + 2*k[6]*r2 + 3*k[7]*r4)*dr2dr;
+                    double da1dr = 2*(x*dydr + y*dxdr);
+                    double dmxdr = (dxdr*cdist*icdist2 + x*dcdist_dr*icdist2 + x*cdist*dicdist2_dr +
+                                    k[2]*da1dr + k[3]*(dr2dr + 4*x*dxdr) + (k[8] + 2*r2*k[9])*dr2dr);
+                    double dmydr = (dydr*cdist*icdist2 + y*dcdist_dr*icdist2 + y*cdist*dicdist2_dr +
+                                    k[2]*(dr2dr + 4*y*dydr) + k[3]*da1dr + (k[10] + 2*r2*k[11])*dr2dr);
+                    dXdYd = dMatTilt*Vec2d(dmxdr, dmydr);
+                    dpdr_p[j] = fx*dXdYd(0);
+                    dpdr_p[dpdr_step+j] = fy*dXdYd(1);
+                }
+                dpdr_p += dpdr_step*2;
+            }
+
+            if( dpdo_p )
+            {
+                double dxdo[] = { z * ( R[0] - x * z * z0 * R[6] ),
+                                  z * ( R[1] - x * z * z0 * R[7] ),
+                                  z * ( R[2] - x * z * z0 * R[8] ) };
+                double dydo[] = { z * ( R[3] - y * z * z0 * R[6] ),
+                                  z * ( R[4] - y * z * z0 * R[7] ),
+                                  z * ( R[5] - y * z * z0 * R[8] ) };
+                for( j = 0; j < 3; j++ )
+                {
+                    double dr2do = 2 * x * dxdo[j] + 2 * y * dydo[j];
+                    double dr4do = 2 * r2 * dr2do;
+                    double dr6do = 3 * r4 * dr2do;
+                    double da1do = 2 * y * dxdo[j] + 2 * x * dydo[j];
+                    double da2do = dr2do + 4 * x * dxdo[j];
+                    double da3do = dr2do + 4 * y * dydo[j];
+                    double dcdist_do
+                            = k[0] * dr2do + k[1] * dr4do + k[4] * dr6do;
+                    double dicdist2_do = -icdist2 * icdist2
+                                         * ( k[5] * dr2do + k[6] * dr4do + k[7] * dr6do );
+                    double dxd0_do = cdist * icdist2 * dxdo[j]
+                                     + x * icdist2 * dcdist_do + x * cdist * dicdist2_do
+                                     + k[2] * da1do + k[3] * da2do + k[8] * dr2do
+                                     + k[9] * dr4do;
+                    double dyd0_do = cdist * icdist2 * dydo[j]
+                                     + y * icdist2 * dcdist_do + y * cdist * dicdist2_do
+                                     + k[2] * da3do + k[3] * da1do + k[10] * dr2do
+                                     + k[11] * dr4do;
+                    dXdYd = dMatTilt * Vec2d( dxd0_do, dyd0_do );
+                    dpdo_p[i * 3 + j] = fx * dXdYd( 0 );
+                    dpdo_p[dpdo_step + i * 3 + j] = fy * dXdYd( 1 );
+                }
+                dpdo_p += dpdo_step * 2;
+            }
+        }
+    }
+
+    if( _m != imagePoints )
+        cvConvert( _m, imagePoints );
+
+    if( _dpdr != dpdr )
+        cvConvert( _dpdr, dpdr );
+
+    if( _dpdt != dpdt )
+        cvConvert( _dpdt, dpdt );
+
+    if( _dpdf != dpdf )
+        cvConvert( _dpdf, dpdf );
+
+    if( _dpdc != dpdc )
+        cvConvert( _dpdc, dpdc );
+
+    if( _dpdk != dpdk )
+        cvConvert( _dpdk, dpdk );
+
+    if( _dpdo != dpdo )
+        cvConvert( _dpdo, dpdo );
+}
+
+static void _cvProjectPoints2( const CvMat* objectPoints,
+                        const CvMat* r_vec,
+                        const CvMat* t_vec,
+                        const CvMat* A,
+                        const CvMat* distCoeffs,
+                        CvMat* imagePoints, CvMat* dpdr,
+                        CvMat* dpdt, CvMat* dpdf,
+                        CvMat* dpdc, CvMat* dpdk,
+                        double aspectRatio )
+{
+    _cvProjectPoints2Internal( objectPoints, r_vec, t_vec, A, distCoeffs, imagePoints, dpdr, dpdt,
+                               dpdf, dpdc, dpdk, NULL, aspectRatio );
 }
--- a/aruco_pose/src/genmap.py
+++ b/aruco_pose/src/genmap.py
@@ -13,7 +13,7 @@
 Generate map file for aruco_map nodelet.

 Usage:
-  genmap.py <length> <x> <y> <dist_x> <dist_y> [<first>] [<x0>] [<y0>] [--top-left | --bottom-left] [-o <filename>]
+  genmap.py <length> <x> <y> <dist_x> <dist_y> [<first>] [<x0>] [<y0>] [--top-left | --bottom-left]
  genmap.py (-h | --help)

 Options:
@@ -27,7 +27,6 @@ Options:
  <y0>           Y coordinate for the first marker [default: 0]
  --top-left     First marker is on top-left (default)
  --bottom-left  First marker is on bottom-left
-  -o <filename>  Output map file name in the 'map' subdirectory of aruco_pose package

 Example:
  rosrun aruco_pose genmap.py 0.33 2 4 1 1 0 > $(catkin_find aruco_pose map)/test_map.txt
@@ -35,8 +34,6 @@ Example:

 from __future__ import print_function

-import sys
-from os import path
 from docopt import docopt


@@ -52,19 +49,14 @@ dist_x = float(arguments['<dist_x>'])
 dist_y = float(arguments['<dist_y>'])
 bottom_left = arguments['--bottom-left']

-if arguments['-o'] is None:
-    output = sys.stdout
-else:
-    output = open(path.join(path.dirname(__file__), '..', 'map', arguments['-o']), 'w')
-
 max_y = y0 + (markers_y - 1) * dist_y

-output.write('# id\tlength\tx\ty\tz\trot_z\trot_y\trot_x\n')
+print('# id\tlength\tx\ty\tz\trot_z\trot_y\trot_x')
 for y in range(markers_y):
    for x in range(markers_x):
        pos_x = x0 + x * dist_x
        pos_y = y0 + y * dist_y
        if not bottom_left:
            pos_y = max_y - pos_y
-        output.write('{}\t{}\t{}\t{}\t{}\t{}\t{}\t{}\n'.format(first, length, pos_x, pos_y, 0, 0, 0, 0))
+        print('{}\t{}\t{}\t{}\t{}\t{}\t{}\t{}'.format(first, length, pos_x, pos_y, 0, 0, 0, 0))
        first += 1
--- a/aruco_pose/vendor/VendorOpenCV.cmake
+++ b/aruco_pose/vendor/VendorOpenCV.cmake
@@ -7,7 +7,6 @@ endif()

 message(STATUS "Adding vendored aruco_pose OpenCV module")
 add_library(_opencv_aruco STATIC
-  vendor/aruco/src/apriltag_quad_thresh.cpp
  vendor/aruco/src/aruco.cpp
  vendor/aruco/src/charuco.cpp
  vendor/aruco/src/dictionary.cpp
@@ -24,7 +23,7 @@ target_compile_definitions(_opencv_aruco PRIVATE
  CV_OVERRIDE=override
 )
 target_compile_options(_opencv_aruco PRIVATE
-  -fpic -fPIC -fvisibility=hidden
+  -fpic -fPIC
 )

 target_include_directories(_opencv_aruco PUBLIC
--- a/aruco_pose/vendor/aruco/src/apriltag_quad_thresh.cpp
+++ b/aruco_pose/vendor/aruco/src/apriltag_quad_thresh.cpp
@@ -94,7 +94,7 @@ void ptsort_(struct pt *pts, int sz)

    // Use stack storage if it's not too big.
    cv::AutoBuffer<struct pt, 1024> _tmp_stack(sz);
-    memcpy(_tmp_stack, pts, sizeof(struct pt) * sz);
+    memcpy(_tmp_stack.data(), pts, sizeof(struct pt) * sz);

    int asz = sz/2;
    int bsz = sz - asz;
@@ -470,11 +470,11 @@ int quad_segment_agg(int sz, struct line_fit_pt *lfps, int indices[4]){
    int rvalloc_pos = 0;
    int rvalloc_size = 3*sz;
    cv::AutoBuffer<struct remove_vertex, 0> rvalloc_(std::max(1, rvalloc_size));
-    memset(rvalloc_, 0, sizeof(rvalloc_[0]) * rvalloc_.size()); // TODO Add AutoBuffer zero fill
-    struct remove_vertex *rvalloc = rvalloc_;
+    memset(rvalloc_.data(), 0, sizeof(rvalloc_[0]) * rvalloc_.size()); // TODO Add AutoBuffer zero fill
+    struct remove_vertex *rvalloc = rvalloc_.data();
    cv::AutoBuffer<struct segment, 0> segs_(std::max(1, sz)); // TODO Add AutoBuffer zero fill
-    memset(segs_, 0, sizeof(segs_[0]) * segs_.size());
-    struct segment *segs = segs_;
+    memset(segs_.data(), 0, sizeof(segs_[0]) * segs_.size());
+    struct segment *segs = segs_.data();

    // populate with initial entries
    for (int i = 0; i < sz; i++) {
@@ -753,8 +753,8 @@ int fit_quad(const Ptr<DetectorParameters> &_params, const Mat im, zarray_t *clu
    // efficiently computed for any contiguous range of indices.

    cv::AutoBuffer<struct line_fit_pt, 64> lfps_(sz);
-    memset(lfps_, 0, sizeof(lfps_[0]) * lfps_.size()); // TODO Add AutoBuffer zero fill
-    struct line_fit_pt *lfps = lfps_;
+    memset(lfps_.data(), 0, sizeof(lfps_[0]) * lfps_.size()); // TODO Add AutoBuffer zero fill
+    struct line_fit_pt *lfps = lfps_.data();

    for (int i = 0; i < sz; i++) {
        struct pt *p;
--- a/book.json
+++ b/book.json
@@ -9,7 +9,6 @@
        "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",
--- a/builder/assets/clever/setup.py
+++ b/builder/assets/clever/setup.py
@@ -1,4 +1,4 @@
-#!/usr/bin/env python3
+#!/usr/bin/env python

 from distutils.core import setup

--- a/builder/assets/examples/leds.py
+++ b/builder/assets/examples/leds.py
@@ -7,25 +7,19 @@ rospy.init_node('leds')

 set_effect = rospy.ServiceProxy('led/set_effect', SetLEDEffect)  # define proxy to ROS-service

-print('Fill red')
 set_effect(r=255, g=0, b=0)  # fill strip with red color
 rospy.sleep(2)

-print('Fill green')
 set_effect(r=0, g=100, b=0)  # fill strip with green color
 rospy.sleep(2)

-print('Fade to blue')
 set_effect(effect='fade', r=0, g=0, b=255)  # fade to blue color
 rospy.sleep(2)

-print('Flash red')
 set_effect(effect='flash', r=255, g=0, b=0)  # flash twice with red color
-rospy.sleep(2)
+rospy.sleep(5)

-print('Blink white')
 set_effect(effect='blink', r=255, g=255, b=255)  # blink with white color
 rospy.sleep(5)

-print('Rainbow')
 set_effect(effect='rainbow')  # show rainbow
--- a/builder/assets/examples/navigate_wait.py
+++ b/builder/assets/examples/navigate_wait.py
@@ -1,4 +1,4 @@
-# Information: https://clover.coex.tech/en/snippets.html#navigate_wait
+# Information: https://clover.coex.tech/en/snippets.html#block-nav

 import math
 import rospy
--- a/builder/assets/noetic-rosdep-clover.yaml
+++ b/builder/assets/noetic-rosdep-clover.yaml
@@ -1,18 +0,0 @@
-async_web_server_cpp:
-  debian:
-    buster: [ros-noetic-async-web-server-cpp]
-led_msgs:
-  debian:
-    buster: [ros-noetic-led-msgs]
-ros_pytest:
-  debian:
-    buster: [ros-noetic-ros-pytest]
-tf2_web_republisher:
-  debian:
-    buster: [ros-noetic-tf2-web-republisher]
-web_video_server:
-  debian:
-    buster: [ros-noetic-web-video-server]
-ws281x:
-  debian:
-    buster: [ros-noetic-ws281x]
--- a/builder/assets/roscore.service
+++ b/builder/assets/roscore.service
@@ -3,7 +3,7 @@ Description=Launcher for the ROS master, parameter server and rosout logging nod

 [Service]
 User=pi
-ExecStart=/bin/sh -c ". /opt/ros/noetic/setup.sh; ROS_HOSTNAME=`hostname`.local exec roscore"
+ExecStart=/bin/sh -c ". /opt/ros/melodic/setup.sh; ROS_HOSTNAME=`hostname`.local exec roscore"
 Restart=on-failure
 RestartSec=3

--- a/builder/image-build.sh
+++ b/builder/image-build.sh
@@ -15,7 +15,7 @@

 set -e # Exit immidiately on non-zero result

-SOURCE_IMAGE="https://downloads.raspberrypi.org/raspios_lite_arm64/images/raspios_lite_arm64-2020-08-24/2020-08-20-raspios-buster-arm64-lite.zip"
+SOURCE_IMAGE="https://downloads.raspberrypi.org/raspbian_lite/images/raspbian_lite-2020-02-14/2020-02-13-raspbian-buster-lite.zip"

 export DEBIAN_FRONTEND=${DEBIAN_FRONTEND:='noninteractive'}
 export LANG=${LANG:='C.UTF-8'}
@@ -105,7 +105,7 @@ ${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} copy ${SCRIPTS_DIR}'/assets/monkey.
 # software install
 ${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} exec ${SCRIPTS_DIR}'/image-software.sh'
 # examples
-${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} copy ${SCRIPTS_DIR}'/assets/examples' '/home/pi/'  # TODO: symlink?
+${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} copy ${SCRIPTS_DIR}'/assets/examples' '/home/pi/'
 # network setup
 ${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} exec ${SCRIPTS_DIR}'/image-network.sh'
 # avahi setup
@@ -116,7 +116,7 @@ ${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} copy ${SCRIPTS_DIR}'/assets/avahi-s
 # Clover
 ${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} copy ${SCRIPTS_DIR}'/assets/clover.service' '/lib/systemd/system/'
 ${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} copy ${SCRIPTS_DIR}'/assets/roscore.service' '/lib/systemd/system/'
-${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} copy ${SCRIPTS_DIR}'/assets/noetic-rosdep-clover.yaml' '/etc/ros/rosdep/'
+${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} copy ${SCRIPTS_DIR}'/assets/melodic-rosdep-clover.yaml' '/etc/ros/rosdep/'
 ${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} copy ${SCRIPTS_DIR}'/assets/ros_python_paths' '/etc/sudoers.d/'
 ${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} copy ${SCRIPTS_DIR}'/assets/pigpiod.service' '/lib/systemd/system/'
 ${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} copy ${SCRIPTS_DIR}'/assets/launch.nanorc' '/usr/share/nano/'
--- a/builder/image-init.sh
+++ b/builder/image-init.sh
@@ -55,4 +55,7 @@ echo_stamp "Set max space for syslogs"
 # https://unix.stackexchange.com/questions/139513/how-to-clear-journalctl
 sed -i 's/#SystemMaxUse=/SystemMaxUse=200M/' /etc/systemd/journald.conf

+echo_stamp "Move /etc/ld.so.preload out of the way"
+mv /etc/ld.so.preload /etc/ld.so.preload.disabled-for-build
+
 echo_stamp "End of init image"
--- a/builder/image-ros.sh
+++ b/builder/image-ros.sh
@@ -21,9 +21,6 @@ INSTALL_ROS_PACK_SOURCES=$3
 DISCOVER_ROS_PACK=$4
 NUMBER_THREADS=$5

-# Current ROS distribution
-ROS_DISTRO=noetic
-
 echo_stamp() {
  # TEMPLATE: echo_stamp <TEXT> <TYPE>
  # TYPE: SUCCESS, ERROR, INFO
@@ -71,45 +68,37 @@ my_travis_retry() {
 # TODO: 'kinetic-rosdep-clover.yaml' should add only if we use our repo?
 echo_stamp "Init rosdep"
 my_travis_retry rosdep init
-# FIXME: Re-add this after missing packages are built
-echo "yaml file:///etc/ros/rosdep/${ROS_DISTRO}-rosdep-clover.yaml" >> /etc/ros/rosdep/sources.list.d/20-default.list
+echo "yaml file:///etc/ros/rosdep/melodic-rosdep-clover.yaml" >> /etc/ros/rosdep/sources.list.d/20-default.list
 my_travis_retry rosdep update

 echo_stamp "Populate rosdep for ROS user"
 my_travis_retry sudo -u pi rosdep update

+resolve_rosdep() {
+  # TEMPLATE: resolve_rosdep <CATKIN_PATH> <ROS_DISTRO> <OS_DISTRO> <OS_VERSION>
+  CATKIN_PATH=$1
+  ROS_DISTRO='melodic'
+  OS_DISTRO='debian'
+  OS_VERSION='buster'
+
+  echo_stamp "Installing dependencies apps with rosdep in ${CATKIN_PATH}"
+  cd ${CATKIN_PATH}
+  my_travis_retry rosdep install -y --from-paths src --ignore-src --rosdistro ${ROS_DISTRO} --os=${OS_DISTRO}:${OS_VERSION}
+}
+
 export ROS_IP='127.0.0.1' # needed for running tests

 echo_stamp "Reconfiguring Clover repository for simplier unshallowing"
 cd /home/pi/catkin_ws/src/clover
 git config remote.origin.fetch "+refs/heads/*:refs/remotes/origin/*"

-# This is sort of a hack to force "custom" packages to be installed - the ones built by COEX, linked against OpenCV 4.2
-# I **wish** OpenCV would not be such a mess, but, well, here we are.
-echo_stamp "Installing OpenCV 4.2-compatible ROS packages"
-apt install -y --no-install-recommends \
-ros-${ROS_DISTRO}-compressed-image-transport=1.14.0-0buster \
-ros-${ROS_DISTRO}-cv-bridge=1.15.0-0buster \
-ros-${ROS_DISTRO}-cv-camera=0.5.0-0buster \
-ros-${ROS_DISTRO}-image-publisher=1.15.2-0buster \
-ros-${ROS_DISTRO}-web-video-server=0.2.1-0buster
-apt-mark hold \
-ros-${ROS_DISTRO}-compressed-image-transport \
-ros-${ROS_DISTRO}-cv-bridge \
-ros-${ROS_DISTRO}-cv-camera \
-ros-${ROS_DISTRO}-image-publisher \
-ros-${ROS_DISTRO}-web-video-server
-
 echo_stamp "Build and install Clover"
 cd /home/pi/catkin_ws
-# Don't try to install gazebo_ros
-my_travis_retry rosdep install -y --from-paths src --ignore-src --rosdistro ${ROS_DISTRO} --os=debian:buster \
-  --skip-keys=gazebo_ros --skip-keys=gazebo_plugins
-my_travis_retry pip3 install wheel
-my_travis_retry pip3 install -r /home/pi/catkin_ws/src/clover/clover/requirements.txt
-source /opt/ros/${ROS_DISTRO}/setup.bash
-# Don't build simulation plugins for actual drone
-catkin_make -j2 -DCMAKE_BUILD_TYPE=RelWithDebInfo -DCATKIN_BLACKLIST_PACKAGES=clover_gazebo_plugins
+resolve_rosdep $(pwd)
+my_travis_retry pip install wheel
+my_travis_retry pip install -r /home/pi/catkin_ws/src/clover/clover/requirements.txt
+source /opt/ros/melodic/setup.bash
+catkin_make -j2 -DCMAKE_BUILD_TYPE=Release

 echo_stamp "Install clever package (for backwards compatibility)"
 cd /home/pi/catkin_ws/src/clover/builder/assets/clever
@@ -124,19 +113,24 @@ gitbook build
 touch node_modules/CATKIN_IGNORE docs/CATKIN_IGNORE _book/CATKIN_IGNORE clover/www/CATKIN_IGNORE apps/CATKIN_IGNORE # ignore documentation files by catkin

 echo_stamp "Installing additional ROS packages"
-my_travis_retry apt-get install -y --no-install-recommends \
-    ros-${ROS_DISTRO}-dynamic-reconfigure \
-    ros-${ROS_DISTRO}-rosbridge-suite \
-    ros-${ROS_DISTRO}-rosserial \
-    ros-${ROS_DISTRO}-usb-cam \
-    ros-${ROS_DISTRO}-vl53l1x \
-    ros-${ROS_DISTRO}-ws281x \
-    ros-${ROS_DISTRO}-rosshow
+apt-get install -y --no-install-recommends \
+    ros-melodic-dynamic-reconfigure \
+    ros-melodic-compressed-image-transport \
+    ros-melodic-rosbridge-suite \
+    ros-melodic-rosserial \
+    ros-melodic-usb-cam \
+    ros-melodic-vl53l1x \
+    ros-melodic-ws281x \
+    ros-melodic-rosshow

 # TODO move GeographicLib datasets to Mavros debian package
 echo_stamp "Install GeographicLib datasets (needed for mavros)" \
 && wget -qO- https://raw.githubusercontent.com/mavlink/mavros/master/mavros/scripts/install_geographiclib_datasets.sh | bash

+# FIXME: Buster comes with tornado==5.1.1 but we need tornado==4.2.1 for rosbridge_suite
+# (note that Python 3 will still have a more recent version)
+pip install tornado==4.2.1
+
 echo_stamp "Running tests"
 cd /home/pi/catkin_ws
 # FIXME: Investigate failing tests
@@ -145,15 +139,12 @@ catkin_make run_tests #&& catkin_test_results
 echo_stamp "Change permissions for catkin_ws"
 chown -Rf pi:pi /home/pi/catkin_ws

-echo_stamp "Change permissions for examples"
-chown -Rf pi:pi /home/pi/examples
-
 echo_stamp "Setup ROS environment"
 cat << EOF >> /home/pi/.bashrc
 LANG='C.UTF-8'
 LC_ALL='C.UTF-8'
 export ROS_HOSTNAME=\`hostname\`.local
-source /opt/ros/${ROS_DISTRO}/setup.bash
+source /opt/ros/melodic/setup.bash
 source /home/pi/catkin_ws/devel/setup.bash
 EOF

--- a/builder/image-software.sh
+++ b/builder/image-software.sh
@@ -70,8 +70,8 @@ apt-get update \
 && apt-key adv --keyserver hkp://keyserver.ubuntu.com:80 --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654

 echo "deb http://packages.ros.org/ros/ubuntu buster main" > /etc/apt/sources.list.d/ros-latest.list
-echo "deb http://deb.coex.tech/opencv4 buster main" > /etc/apt/sources.list.d/opencv3.list
-echo "deb http://deb.coex.tech/ros buster main" > /etc/apt/sources.list.d/rpi-ros-melodic.list
+echo "deb http://deb.coex.tech/opencv3 buster main" > /etc/apt/sources.list.d/opencv3.list
+echo "deb http://deb.coex.tech/rpi-ros-melodic buster main" > /etc/apt/sources.list.d/rpi-ros-melodic.list
 echo "deb http://deb.coex.tech/clover buster main" > /etc/apt/sources.list.d/clover.list

 echo_stamp "Update apt cache"
@@ -80,9 +80,8 @@ echo_stamp "Update apt cache"
 apt-get update
 # && apt upgrade -y

-# Let's retry fetching those packages several times, just in case
 echo_stamp "Software installing"
-my_travis_retry apt-get install --no-install-recommends -y \
+apt-get install --no-install-recommends -y \
 unzip \
 zip \
 ipython \
@@ -96,25 +95,29 @@ dnsmasq  \
 tmux \
 vim \
 cmake \
+libjpeg8 \
 tcpdump \
+ltrace \
 libpoco-dev \
 libzbar0 \
-python3-rosdep \
-python3-rosinstall-generator \
-python3-wstool \
-python3-rosinstall \
+python-rosdep \
+python-rosinstall-generator \
+python-wstool \
+python-rosinstall \
 build-essential \
 libffi-dev \
 monkey \
 pigpio python-pigpio python3-pigpio \
 i2c-tools \
-espeak espeak-data python-espeak python3-espeak \
+espeak espeak-data python-espeak \
 ntpdate \
 python-dev \
 python3-dev \
 python-systemd \
 mjpg-streamer \
-python3-opencv
+python3-opencv \
+&& echo_stamp "Everything was installed!" "SUCCESS" \
+|| (echo_stamp "Some packages wasn't installed!" "ERROR"; exit 1)

 # Deny byobu to check available updates
 sed -i "s/updates_available//" /usr/share/byobu/status/status
@@ -140,7 +143,7 @@ my_travis_retry pip3 install butterfly[systemd]
 systemctl enable butterfly.socket

 echo_stamp "Install ws281x library"
-my_travis_retry pip3 install --prefer-binary rpi_ws281x
+my_travis_retry pip install --prefer-binary rpi_ws281x

 echo_stamp "Setup Monkey"
 mv /etc/monkey/sites/default /etc/monkey/sites/default.orig
@@ -149,11 +152,11 @@ systemctl enable monkey.service

 echo_stamp "Install Node.js"
 cd /home/pi
-wget https://nodejs.org/dist/v10.15.0/node-v10.15.0-linux-arm64.tar.gz
-tar -xzf node-v10.15.0-linux-arm64.tar.gz
-cp -R node-v10.15.0-linux-arm64/* /usr/local/
-rm -rf node-v10.15.0-linux-arm64/
-rm node-v10.15.0-linux-arm64.tar.gz
+wget https://nodejs.org/dist/v10.15.0/node-v10.15.0-linux-armv6l.tar.gz
+tar -xzf node-v10.15.0-linux-armv6l.tar.gz
+cp -R node-v10.15.0-linux-armv6l/* /usr/local/
+rm -rf node-v10.15.0-linux-armv6l/
+rm node-v10.15.0-linux-armv6l.tar.gz

 echo_stamp "Installing ptvsd"
 my_travis_retry pip install ptvsd
--- a/builder/image-validate.sh
+++ b/builder/image-validate.sh
@@ -16,9 +16,9 @@ set -ex

 echo "Run image tests"

-export ROS_DISTRO='noetic'
+export ROS_DISTRO='melodic'
 export ROS_IP='127.0.0.1'
-source /opt/ros/${ROS_DISTRO}/setup.bash
+source /opt/ros/melodic/setup.bash
 source /home/pi/catkin_ws/devel/setup.bash

 cd /home/pi/catkin_ws/src/clover/builder/test/
@@ -26,3 +26,6 @@ cd /home/pi/catkin_ws/src/clover/builder/test/
 ./tests.py
 ./tests_py3.py
 [[ $(./tests_clever.py) == "Warning: clever package is renamed to clover" ]]  # test backwards compatibility
+
+echo "Move /etc/ld.so.preload back to its original position"
+mv /etc/ld.so.preload.disabled-for-build /etc/ld.so.preload
--- a/builder/standalone-install.sh
+++ b/builder/standalone-install.sh
@@ -6,39 +6,20 @@ set -e
 apt update
 apt install -y curl
 curl https://bootstrap.pypa.io/get-pip.py -o get-pip.py
-if [ "x${ROS_PYTHON_VERSION}" = "x3" ]; then
-  PYTHON=python3
-else
-  PYTHON=python
-fi
-
-${PYTHON} ./get-pip.py
+python ./get-pip.py

 # Step 1.5: Add deb.coex.tech to apt
 curl http://deb.coex.tech/aptly_repo_signing.key 2> /dev/null | apt-key add -
 echo "deb http://deb.coex.tech/ros xenial main" > /etc/apt/sources.list.d/coex.tech.list
 echo "yaml file:///etc/ros/rosdep/coex.yaml" > /etc/ros/rosdep/sources.list.d/99-coex.list
-CODENAME=$(lsb_release -sc)
-
 cat <<EOF > /etc/ros/rosdep/coex.yaml
 led_msgs:
  ubuntu:
-    ${CODENAME}: [ros-${ROS_DISTRO}-led-msgs]
-async_web_server_cpp:
-  ubuntu:
-    ${CODENAME}: [ros-${ROS_DISTRO}-async-web-server-cpp]
-ros_pytest:
-  ubuntu:
-    ${CODENAME}: [ros-${ROS_DISTRO}-ros-pytest]
-tf2_web_republisher:
-  ubuntu:
-    ${CODENAME}: [ros-${ROS_DISTRO}-tf2-web-republisher]
-web_video_server:
-  ubuntu:
-    ${CODENAME}: [ros-${ROS_DISTRO}-web-video-server]
-ws281x:
-  ubuntu:
-    ${CODENAME}: [ros-${ROS_DISTRO}-ws281x]
+    xenial: ros-kinetic-led-msgs
+    bionic: ros-melodic-led-msgs
+  debian:
+    stretch: ros-kinetic-led-msgs
+    buster: ros-melodic-led-msgs
 EOF
 apt update
 rosdep update
@@ -56,7 +37,7 @@ cd /root/catkin_ws
 catkin_make

 # Step 4: Run tests
-${PYTHON} -m pip install --upgrade pytest
+pip install --upgrade pytest
 cd /root/catkin_ws
 source devel/setup.bash
 catkin_make run_tests && catkin_test_results
--- a/builder/test/tests.py
+++ b/builder/test/tests.py
@@ -1,4 +1,4 @@
-#!/usr/bin/env python3
+#!/usr/bin/env python

 # validate all required modules installed

@@ -28,4 +28,4 @@ import pigpio
 from espeak import espeak
 from pyzbar import pyzbar

-print(cv2.getBuildInformation())
+print cv2.getBuildInformation()
--- a/builder/test/tests_clever.py
+++ b/builder/test/tests_clever.py
@@ -1,4 +1,4 @@
-#!/usr/bin/env python3
+#!/usr/bin/env python

 # test backwards compatibility

--- a/clover/CMakeLists.txt
+++ b/clover/CMakeLists.txt
@@ -30,15 +30,7 @@ list(APPEND CMAKE_MODULE_PATH "${CMAKE_CURRENT_LIST_DIR}/cmake")

 find_package(GeographicLib REQUIRED)

-# Workaround for OpenCV 3/4 support
-set(_opencv_version 4)
-find_package(OpenCV ${_opencv_version} QUIET COMPONENTS calib3d imgproc)
-if (NOT OpenCV_FOUND)
-  message(STATUS "Did not find OpenCV 4, searching for OpenCV 3")
-  set(_opencv_version 3)
-endif()
-
-find_package(OpenCV ${_opencv_version} REQUIRED
+find_package(OpenCV 3 REQUIRED
  COMPONENTS
    calib3d
    imgproc
@@ -174,14 +166,13 @@ add_library(${PROJECT_NAME}
 ## The recommended prefix ensures that target names across packages don't collide
 add_executable(simple_offboard src/simple_offboard.cpp)

-# PX4 already has rc and led targets, so we prefix ours with clover_
-add_executable(clover_rc src/rc.cpp)
+add_executable(rc src/rc.cpp)

 add_executable(camera_markers src/camera_markers.cpp)

 add_executable(vpe_publisher src/vpe_publisher.cpp)

-add_executable(clover_led src/led.cpp)
+add_executable(led src/led.cpp)

 add_executable(shell src/shell.cpp)

@@ -190,24 +181,19 @@ target_link_libraries(simple_offboard
  ${GeographicLib_LIBRARIES}
 )

-# Don't change actual binary names
-set_target_properties(clover_rc PROPERTIES OUTPUT_NAME rc)
-
-set_target_properties(clover_led PROPERTIES OUTPUT_NAME led)
-
-target_link_libraries(clover_rc ${catkin_LIBRARIES})
+target_link_libraries(rc ${catkin_LIBRARIES})

 target_link_libraries(camera_markers ${catkin_LIBRARIES})

 target_link_libraries(vpe_publisher ${catkin_LIBRARIES})

-target_link_libraries(clover_led ${catkin_LIBRARIES})
+target_link_libraries(led ${catkin_LIBRARIES})

 target_link_libraries(shell ${catkin_LIBRARIES})

 add_dependencies(simple_offboard ${PROJECT_NAME}_generate_messages_cpp)

-add_dependencies(clover_led ${PROJECT_NAME}_generate_messages_cpp)
+add_dependencies(led ${PROJECT_NAME}_generate_messages_cpp)

 add_dependencies(shell ${PROJECT_NAME}_generate_messages_cpp)

@@ -262,10 +248,6 @@ target_link_libraries(${PROJECT_NAME}
 #   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
 # )

-catkin_install_python(PROGRAMS src/selfcheck.py
-  DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
-)
-
 # Only install udev rules when building a Debian package
 # FIXME: Other operating systems may have other prefixes
 string(FIND ${CMAKE_INSTALL_PREFIX} "/opt/ros" _PREFIX_INDEX)
--- a/clover/README.md
+++ b/clover/README.md
@@ -4,7 +4,7 @@ A bundle for autonomous navigation and drone control.

 ## Manual installation

-Install ROS Noetic according to the [documentation](http://wiki.ros.org/noetic/Installation), then [create a Catkin workspace](http://wiki.ros.org/catkin/Tutorials/create_a_workspace).
+Install ROS Melodic according to the [documentation](http://wiki.ros.org/melodic/Installation), then [create a Catkin workspace](http://wiki.ros.org/catkin/Tutorials/create_a_workspace).

 Clone this repo to directory `~/catkin_ws/src/clover`:

@@ -44,6 +44,13 @@ Alternatively you may change the `fcu_url` property in `mavros.launch` file to p

 ## Running

+Enable systemd service `roscore` (if not running):
+
+```bash
+sudo systemctl enable /home/<username>/catkin_ws/src/clover/builder/assets/roscore.service
+sudo systemctl start roscore
+```
+
 To start connection to SITL, use:

 ```bash
@@ -57,3 +64,10 @@ roslaunch clover clover.launch
 ```

 > Note that the package is configured to connect to `/dev/px4fmu` by default (see [previous section](#manual-installation)). Install udev rules or specify path to your FCU device in `mavros.launch`.
+
+Also, you can enable and start the systemd service:
+
+```bash
+sudo systemctl enable /home/<username>/catkin_ws/src/clover/deploy/clover.service
+sudo systemctl start clover
+```
--- a/clover/launch/aruco.launch
+++ b/clover/launch/aruco.launch
@@ -1,7 +1,7 @@
 <launch>
-    <arg name="aruco_detect" default="true"/>
-    <arg name="aruco_map" default="false"/>
-    <arg name="aruco_vpe" default="false"/>
+    <arg name="aruco_detect" default="false"/> <!-- markers recognition enabled -->
+    <arg name="aruco_map" default="false"/> <!-- markers map recognition enabled -->
+    <arg name="aruco_vpe" default="false"/> <!-- markers map positioning enabled -->
    <arg name="placement" default="floor"/> <!-- markers placement: floor, ceiling, unknown -->
    <arg name="length" default="0.33"/> <!-- not-in-map markers length, m -->
    <arg name="map" default="map.txt"/> <!-- markers map file name -->
@@ -9,24 +9,22 @@
    <!-- For additional help go to https://clover.coex.tech/aruco -->

    <!-- aruco_detect: detect aruco markers, estimate poses -->
-    <node name="aruco_detect" pkg="nodelet" if="$(arg aruco_detect)" type="nodelet" args="load aruco_pose/aruco_detect nodelet_manager" output="screen" clear_params="true" respawn="true">
+    <node name="aruco_detect" pkg="nodelet" if="$(arg aruco_detect)" type="nodelet" args="load aruco_pose/aruco_detect nodelet_manager" output="screen" clear_params="true">
        <remap from="image_raw" to="main_camera/image_raw"/>
        <remap from="camera_info" to="main_camera/camera_info"/>
        <remap from="map_markers" to="aruco_map/markers" if="$(arg aruco_map)"/>
        <param name="estimate_poses" value="true"/>
        <param name="send_tf" value="true"/>
        <param name="known_tilt" value="map" if="$(eval placement == 'floor')"/>
-        <param name="known_tilt" value="map_flipped" if="$(eval placement == 'ceiling')"/>
+        <param name="known_tilt" value="map_flipped" if="$(eval position == 'ceiling')"/>
        <param name="length" value="$(arg length)"/>
        <!-- aruco detector parameters -->
        <param name="cornerRefinementMethod" value="2"/> <!-- contour refinement -->
        <param name="minMarkerPerimeterRate" value="0.075"/> <!-- 0.075 for 320x240, 0.0375 for 640x480 -->
-        <!-- length override example: -->
-        <!-- <param name="length_override/3" value="0.1"/> -->
    </node>

    <!-- aruco_map: estimate aruco map pose -->
-    <node name="aruco_map" pkg="nodelet" type="nodelet" if="$(arg aruco_map)" args="load aruco_pose/aruco_map nodelet_manager" output="screen" clear_params="true" respawn="true">
+    <node name="aruco_map" pkg="nodelet" type="nodelet" if="$(arg aruco_map)" args="load aruco_pose/aruco_map nodelet_manager" output="screen" clear_params="true">
        <remap from="image_raw" to="main_camera/image_raw"/>
        <remap from="camera_info" to="main_camera/camera_info"/>
        <remap from="markers" to="aruco_detect/markers"/>
--- a/clover/launch/clover.launch
+++ b/clover/launch/clover.launch
@@ -1,21 +1,17 @@
 <launch>
-    <arg name="fcu_conn" default="usb"/>
-    <arg name="fcu_ip" default="127.0.0.1"/>
-    <arg name="fcu_sys_id" default="1"/>
-    <arg name="gcs_bridge" default="tcp"/>
-    <arg name="web_video_server" default="true"/>
-    <arg name="rosbridge" default="true"/>
-    <arg name="main_camera" default="true"/>
-    <arg name="optical_flow" default="true"/>
-    <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="fcu_conn" default="usb"/> <!-- FCU connection type: usb, uart, tcp, udp, sitl -->
+    <arg name="fcu_ip" default="127.0.0.1"/> <!-- FCU IP adddress (if using TCP/UDP) -->
+    <arg name="fcu_sys_id" default="1"/> <!-- MAVLink system ID, noeditor -->
+    <arg name="gcs_bridge" default="tcp"/> <!-- GCS bridge type: tcp, udp, udp-b, udp-pb -->
+    <arg name="web_video_server" default="true"/> <!-- web video server enabled -->
+    <arg name="rosbridge" default="true"/> <!-- rosbridge_suite enabled, noeditor -->
+    <arg name="main_camera" default="true"/> <!-- main camera enabled -->
+    <arg name="optical_flow" default="true"/> <!-- optical flow enabled -->
+    <arg name="rangefinder_vl53l1x" default="true"/> <!-- VL53l1X rangefinder enabled -->
+    <arg name="led" default="true"/> <!-- LED strip driver enabled -->
+    <arg name="rc" default="true"/> <!-- support for mobile RC enabled -->
    <arg name="shell" default="true"/>

-    <arg name="simulator" default="false"/> <!-- flag that we are operating on a simulated drone -->
-
    <!-- log formatting -->
    <env name="ROSCONSOLE_FORMAT" value="[${severity}] [${time}]: ${logger}: ${message}"/>

@@ -34,10 +30,10 @@
    </node>

    <!-- aruco markers -->
-    <include file="$(find clover)/launch/aruco.launch" if="$(arg aruco)"/>
+    <include file="$(find clover)/launch/aruco.launch"/>

    <!-- optical flow -->
-    <node pkg="nodelet" type="nodelet" name="optical_flow" args="load clover/optical_flow nodelet_manager" if="$(arg optical_flow)" clear_params="true" output="screen" respawn="true">
+    <node pkg="nodelet" type="nodelet" name="optical_flow" args="load clover/optical_flow nodelet_manager" if="$(arg optical_flow)" clear_params="true" output="screen">
        <remap from="image_raw" to="main_camera/image_raw"/>
        <remap from="camera_info" to="main_camera/camera_info"/>
        <param name="calc_flow_gyro" value="true"/>
@@ -45,7 +41,7 @@
    </node>

    <!-- main nodelet manager -->
-    <node pkg="nodelet" type="nodelet" name="nodelet_manager" args="manager" output="screen" clear_params="true" respawn="true">
+    <node pkg="nodelet" type="nodelet" name="nodelet_manager" args="manager" output="screen" clear_params="true">
        <param name="num_worker_threads" value="2"/>
    </node>

@@ -56,13 +52,10 @@
        <param name="reference_frames/body" value="map"/>
        <param name="reference_frames/base_link" value="map"/>
        <param name="reference_frames/navigate_target" value="map"/>
-        <param name="reference_frames/main_camera_optical" value="map"/>
    </node>

    <!-- main camera -->
-    <include file="$(find clover)/launch/main_camera.launch" if="$(arg main_camera)">
-        <arg name="simulator" value="$(arg simulator)"/>
-    </include>
+    <include file="$(find clover)/launch/main_camera.launch" if="$(arg main_camera)"/>

    <!-- rosbridge -->
    <include file="$(find rosbridge_server)/launch/rosbridge_websocket.launch" if="$(eval rosbridge or rc)"/>
@@ -71,19 +64,14 @@
    <node name="tf2_web_republisher" pkg="tf2_web_republisher" type="tf2_web_republisher" output="screen" if="$(arg rosbridge)"/>

    <!-- vl53l1x ToF rangefinder -->
-    <node name="rangefinder" pkg="vl53l1x" type="vl53l1x_node" output="screen" if="$(eval rangefinder_vl53l1x and not simulator)">
+    <node name="rangefinder" pkg="vl53l1x" type="vl53l1x_node" output="screen" if="$(arg rangefinder_vl53l1x)">
        <param name="frame_id" value="rangefinder"/>
        <param name="min_signal" value="0.4"/>
        <param name="pass_statuses" type="yaml" value="[0, 6, 7, 11]"/>
    </node>

    <!-- led strip -->
-    <include file="$(find clover)/launch/led.launch" if="$(arg led)">
-        <arg name="simulator" value="$(arg simulator)"/>
-    </include>
-
-    <!-- Clover Blocks -->
-    <node name="clover_blocks" pkg="clover_blocks" type="clover_blocks" output="screen" if="$(arg blocks)"/>
+    <include file="$(find clover)/launch/led.launch" if="$(arg led)"/>

    <!-- rc backend -->
    <node name="rc" pkg="clover" type="rc" output="screen" if="$(arg rc)" clear_params="true">
@@ -98,4 +86,11 @@
    <node pkg="roswww_static" name="roswww_static" type="main.py" clear_params="true">
        <param name="default_package" value="clover"/>
    </node>
+
+    <!-- roslaunch editor parameters -->
+    <group ns="roslaunch_editor">
+        <param name="items" type="yaml" value="[clover/clover.launch, clover/main_camera.launch, clover/aruco.launch, clover/led.launch]"/>
+        <param name="apply_command" value="sudo systemctl restart clover"/>
+        <param name="hide_uncommented" value="true"/>
+    </group>
 </launch>
--- a/clover/launch/led.launch
+++ b/clover/launch/led.launch
@@ -1,18 +1,14 @@
 <launch>
-    <arg name="ws281x" default="true"/>
-    <arg name="led_effect" default="true"/>
-    <arg name="led_notify" default="true"/>
-    <arg name="led_count" default="72"/>
-    <arg name="gpio_pin" default="21"/>
-
-    <arg name="simulator" default="false"/>
+    <arg name="ws281x" default="true"/> <!-- LED strip driver enabled -->
+    <arg name="led_effect" default="true"/> <!-- LED effect API enabled -->
+    <arg name="led_notify" default="all"/> <!-- LED strip notifications: all, battery, none -->

    <!-- For additional help go to https://clover.coex.tech/led -->

    <!-- ws281x led strip driver -->
-    <node pkg="ws281x" name="led" type="ws281x_node" clear_params="true" output="screen" if="$(eval ws281x and not simulator)">
-        <param name="led_count" value="$(arg led_count)"/>
-        <param name="gpio_pin" value="$(arg gpio_pin)"/>
+    <node pkg="ws281x" name="led" type="ws281x_node" clear_params="true" output="screen" if="$(arg ws281x)">
+        <param name="led_count" value="58"/>
+        <param name="gpio_pin" value="21"/>
        <param name="brightness" value="64"/>
        <param name="strip_type" value="WS2811_STRIP_GRB"/>
        <param name="target_frequency" value="800000"/>
@@ -26,7 +22,7 @@
        <param name="fade_period" value="0.5"/>
        <param name="rainbow_period" value="5"/>
        <!-- events effects table -->
-        <rosparam param="notify" if="$(arg led_notify)">
+        <rosparam param="notify" if="$(eval led_notify == 'all')">
            startup: { r: 255, g: 255, b: 255 }
            connected: { effect: rainbow }
            disconnected: { effect: blink, r: 255, g: 50, b: 50 }
@@ -35,8 +31,11 @@
            altctl: { r: 255, g: 255, b: 40 }
            posctl: { r: 50, g: 100, b: 220 }
            offboard: { r: 220, g: 20, b: 250 }
-            low_battery: { threshold: 3.6, effect: blink_fast, r: 255, g: 0, b: 0 }
+            low_battery: { threshold: 3.7, effect: blink_fast, r: 255, g: 0, b: 0 }
            error: { effect: flash, r: 255, g: 0, b: 0 }
        </rosparam>
+        <rosparam param="notify" if="$(eval led_notify == 'battery')">
+            low_battery: { threshold: 3.7, effect: blink_fast, r: 255, g: 0, b: 0 }
+        </rosparam>
    </node>
 </launch>
--- a/clover/launch/main_camera.launch
+++ b/clover/launch/main_camera.launch
@@ -3,14 +3,11 @@

    <arg name="direction_z" default="down"/> <!-- direction the camera points: down, up -->
    <arg name="direction_y" default="backward"/> <!-- direction the camera cable points: backward, forward -->
-    <arg name="simulator" default="false"/>

    <node if="$(eval direction_z == 'down' and direction_y == 'backward')" pkg="tf2_ros" type="static_transform_publisher" name="main_camera_frame" args="0.05 0 -0.07 -1.5707963 0 3.1415926 base_link main_camera_optical"/>
    <node if="$(eval direction_z == 'down' and direction_y == 'forward')" pkg="tf2_ros" type="static_transform_publisher" name="main_camera_frame" args="0.05 0 -0.07 1.5707963 0 3.1415926 base_link main_camera_optical"/>
    <node if="$(eval direction_z == 'up' and direction_y == 'backward')" pkg="tf2_ros" type="static_transform_publisher" name="main_camera_frame" args="0.05 0 0.07 1.5707963 0 0 base_link main_camera_optical"/>
    <node if="$(eval direction_z == 'up' and direction_y == 'forward')" pkg="tf2_ros" type="static_transform_publisher" name="main_camera_frame" args="0.05 0 0.07 -1.5707963 0 0 base_link main_camera_optical"/>
-    <node if="$(eval direction_z == 'forward')" pkg="tf2_ros" type="static_transform_publisher" name="main_camera_frame" args="0.03 0 0.05 -1.5707963 0 -1.5707963 base_link main_camera_optical"/>
-    <node if="$(eval direction_z == 'backward')" pkg="tf2_ros" type="static_transform_publisher" name="main_camera_frame" args="-0.03 0 0.05 1.5707963 0 -1.5707963 base_link main_camera_optical"/>

    <!-- Template for custom camera orientation -->
    <!-- Camera position and orientation are represented by base_link -> main_camera_optical transform -->
@@ -18,7 +15,7 @@
    <!-- <node pkg="tf2_ros" type="static_transform_publisher" name="main_camera_frame" args="0.05 0 -0.07 -1.5707963 0 3.1415926 base_link main_camera_optical"/> -->

    <!-- camera node -->
-    <node pkg="nodelet" type="nodelet" name="main_camera" args="load cv_camera/CvCameraNodelet nodelet_manager" clear_params="true" unless="$(arg simulator)" respawn="true">
+    <node pkg="nodelet" type="nodelet" name="main_camera" args="load cv_camera/CvCameraNodelet nodelet_manager" clear_params="true">
        <param name="device_path" value="/dev/video0"/> <!-- v4l2 device -->
        <param name="frame_id" value="main_camera_optical"/>
        <param name="camera_info_url" value="file://$(find clover)/camera_info/fisheye_cam.yaml"/>
--- a/clover/package.xml
+++ b/clover/package.xml
@@ -1,5 +1,5 @@
 <?xml version="1.0"?>
-<package format="3">
+<package format="2">
  <name>clover</name>
  <version>0.0.1</version>
  <description>The Clover package</description>
@@ -37,8 +37,7 @@
  <depend>rosbridge_server</depend>
  <depend>web_video_server</depend>
  <depend>tf2_web_republisher</depend>
-  <depend condition="$ROS_PYTHON_VERSION == 2">python-lxml</depend>
-  <depend condition="$ROS_PYTHON_VERSION == 3">python3-lxml</depend>
+  <depend>python-lxml</depend>
  <exec_depend>python-pymavlink</exec_depend>
  <!-- Use test_depend for packages you need only for testing: -->
  <!--   <test_depend>gtest</test_depend> -->
--- a/clover/requirements.txt
+++ b/clover/requirements.txt
@@ -1,5 +1,5 @@
 flask==1.1.1
 docopt==0.6.2
 geopy==1.11.0
-smbus2==0.3.0
-VL53L1X==0.0.5
+smbus2==0.2.1
+VL53L1X==0.0.2
--- a/clover/src/optical_flow.cpp
+++ b/clover/src/optical_flow.cpp
@@ -70,6 +70,7 @@ private:
 		roi_rad_ = nh_priv.param("roi_rad", 0.0);
 		calc_flow_gyro_ = nh_priv.param("calc_flow_gyro", false);

+		img_sub_ = it.subscribeCamera("image_raw", 1, &OpticalFlow::flow, this);
 		img_pub_ = it_priv.advertise("debug", 1);
 		flow_pub_ = nh.advertise<mavros_msgs::OpticalFlowRad>("mavros/px4flow/raw/send", 1);
 		velo_pub_ = nh_priv.advertise<geometry_msgs::TwistStamped>("angular_velocity", 1);
@@ -82,8 +83,6 @@ private:
 		flow_.distance = -1; // no distance sensor available
 		flow_.temperature = 0;

-		img_sub_ = it.subscribeCamera("image_raw", 1, &OpticalFlow::flow, this);
-
 		NODELET_INFO("Optical Flow initialized");
 	}

--- a/clover/src/selfcheck.py
+++ b/clover/src/selfcheck.py
@@ -138,7 +138,7 @@ def mavlink_exec(cmd, timeout=3.0):
        timeout=3,
        baudrate=0,
        count=len(cmd),
-        data=[ord(c) for c in cmd.ljust(70, '\0')])
+        data=map(ord, cmd.ljust(70, '\0')))
    msg.pack(link)
    ros_msg = mavlink.convert_to_rosmsg(msg)
    mavlink_pub.publish(ros_msg)
@@ -609,7 +609,7 @@ def check_rangefinder():

@check('Boot duration')
 def check_boot_duration():
-    output = subprocess.check_output('systemd-analyze').decode()
+    output = subprocess.check_output('systemd-analyze')
    r = re.compile(r'([\d\.]+)s\s*$', flags=re.MULTILINE)
    duration = float(r.search(output).groups()[0])
    if duration > 15:
@@ -620,7 +620,7 @@ def check_boot_duration():
 def check_cpu_usage():
    WHITELIST = 'nodelet',
    CMD = "top -n 1 -b -i | tail -n +8 | awk '{ printf(\"%-8s\\t%-8s\\t%-8s\\n\", $1, $9, $12); }'"
-    output = subprocess.check_output(CMD, shell=True).decode()
+    output = subprocess.check_output(CMD, shell=True)
    processes = output.split('\n')
    for process in processes:
        if not process:
@@ -636,7 +636,7 @@ def check_cpu_usage():
 def check_clover_service():
    try:
        output = subprocess.check_output('systemctl show -p ActiveState --value clover.service'.split(),
-                                         stderr=subprocess.STDOUT).decode()
+                                         stderr=subprocess.STDOUT)
    except subprocess.CalledProcessError as e:
        failure('systemctl returned %s: %s', e.returncode, e.output)
        return
@@ -751,7 +751,7 @@ def check_rpi_health():
        # <parameter>=<value>
        # In case of `get_throttled`, <value> is a hexadecimal number
        # with some of the FLAGs OR'ed together
-        output = subprocess.check_output(['vcgencmd', 'get_throttled']).decode()
+        output = subprocess.check_output(['vcgencmd', 'get_throttled'])
    except OSError:
        failure('could not call vcgencmd binary; not a Raspberry Pi?')
        return
--- a/clover/src/simple_offboard.cpp
+++ b/clover/src/simple_offboard.cpp
@@ -36,7 +36,6 @@
 #include <mavros_msgs/Thrust.h>
 #include <mavros_msgs/State.h>
 #include <mavros_msgs/StatusText.h>
-#include <mavros_msgs/ManualControl.h>

 #include <clover/GetTelemetry.h>
 #include <clover/Navigate.h>
@@ -47,7 +46,6 @@
 #include <clover/SetRates.h>

 using std::string;
-using std::isnan;
 using namespace geometry_msgs;
 using namespace sensor_msgs;
 using namespace clover;
@@ -73,10 +71,9 @@ ros::Duration state_timeout;
 ros::Duration velocity_timeout;
 ros::Duration global_position_timeout;
 ros::Duration battery_timeout;
-ros::Duration manual_control_timeout;
 float default_speed;
 bool auto_release;
-bool land_only_in_offboard, nav_from_sp, check_kill_switch;
+bool land_only_in_offboard, nav_from_sp;
 std::map<string, string> reference_frames;

 // Publishers
@@ -124,7 +121,6 @@ enum { YAW, YAW_RATE, TOWARDS } setpoint_yaw_type;
 // Last received telemetry messages
 mavros_msgs::State state;
 mavros_msgs::StatusText statustext;
-mavros_msgs::ManualControl manual_control;
 PoseStamped local_position;
 TwistStamped velocity;
 NavSatFix global_position;
@@ -421,9 +417,8 @@ void publish(const ros::Time stamp)
 	}

 	if (setpoint_type == POSITION || setpoint_type == NAVIGATE || setpoint_type == NAVIGATE_GLOBAL) {
-		position_msg.header.stamp = stamp;
-
 		if (setpoint_yaw_type == YAW || setpoint_yaw_type == TOWARDS) {
+			position_msg.header.stamp = stamp;
 			position_pub.publish(position_msg);

 		} else {
@@ -489,27 +484,6 @@ void publishSetpoint(const ros::TimerEvent& event)
 	publish(event.current_real);
 }

-inline void checkManualControl()
-{
-	if (!manual_control_timeout.isZero() && TIMEOUT(manual_control, manual_control_timeout)) {
-		throw std::runtime_error("Manual control timeout, RC is switched off?");
-	}
-
-	if (check_kill_switch) {
-		// switch values: https://github.com/PX4/PX4-Autopilot/blob/c302514a0809b1765fafd13c014d705446ae1113/msg/manual_control_setpoint.msg#L3
-		const uint8_t SWITCH_POS_NONE = 0; // switch is not mapped
-		const uint8_t SWITCH_POS_ON = 1; // switch activated
-		const uint8_t SWITCH_POS_MIDDLE = 2; // middle position
-		const uint8_t SWITCH_POS_OFF = 3; // switch not activated
-
-		const int KILL_SWITCH_BIT = 12; // https://github.com/PX4/Firmware/blob/c302514a0809b1765fafd13c014d705446ae1113/src/modules/mavlink/mavlink_messages.cpp#L3975
-		uint8_t kill_switch = (manual_control.buttons & (0b11 << KILL_SWITCH_BIT)) >> KILL_SWITCH_BIT;
-
-		if (kill_switch == SWITCH_POS_ON)
-			throw std::runtime_error("Kill switch is on");
-	}
-}
-
 inline void checkState()
 {
 	if (TIMEOUT(state, state_timeout))
@@ -532,88 +506,25 @@ 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();

-		if (auto_arm) {
-			checkManualControl();
-		}
-
-		// 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");
@@ -638,6 +549,14 @@ 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))
@@ -686,13 +605,12 @@ bool serve(enum setpoint_type_t sp_type, float x, float y, float z, float vx, fl

 		if (sp_type == POSITION || sp_type == NAVIGATE || sp_type == NAVIGATE_GLOBAL || sp_type == VELOCITY || sp_type == ATTITUDE) {
 			// destination point and/or yaw
-			PoseStamped ps;
+			static PoseStamped ps;
 			ps.header.frame_id = frame_id;
 			ps.header.stamp = stamp;
 			ps.pose.position.x = x;
 			ps.pose.position.y = y;
 			ps.pose.position.z = z;
-			ps.pose.orientation.w = 1.0; // Ensure quaternion is always valid

 			if (std::isnan(yaw)) {
 				setpoint_yaw_type = YAW_RATE;
@@ -705,7 +623,7 @@ 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::createQuaternionMsgFromYaw(yaw);
+				ps.pose.orientation = tf::createQuaternionMsgFromRollPitchYaw(roll, pitch, yaw);
 			}

 			tf_buffer.transform(ps, setpoint_position, reference_frame);
@@ -733,7 +651,6 @@ 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();

@@ -774,27 +691,27 @@ publish_setpoint:
 }

 bool navigate(Navigate::Request& req, Navigate::Response& res) {
-	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);
+	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);
 }

 bool navigateGlobal(NavigateGlobal::Request& req, NavigateGlobal::Response& res) {
-	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);
+	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);
 }

 bool setPosition(SetPosition::Request& req, SetPosition::Response& res) {
-	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);
+	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);
 }

 bool setVelocity(SetVelocity::Request& req, SetVelocity::Response& res) {
-	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);
+	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);
 }

 bool setAttitude(SetAttitude::Request& req, SetAttitude::Response& res) {
-	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);
+	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);
 }

 bool setRates(SetRates::Request& req, SetRates::Response& res) {
-	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);
+	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);
 }

 bool land(std_srvs::Trigger::Request& req, std_srvs::Trigger::Response& res)
@@ -862,7 +779,6 @@ int main(int argc, char **argv)
 	nh_priv.param("auto_release", auto_release, true);
 	nh_priv.param("land_only_in_offboard", land_only_in_offboard, true);
 	nh_priv.param("nav_from_sp", nav_from_sp, true);
-	nh_priv.param("check_kill_switch", check_kill_switch, true);
 	nh_priv.param("default_speed", default_speed, 0.5f);
 	nh_priv.param<string>("body_frame", body.child_frame_id, "body");
 	nh_priv.getParam("reference_frames", reference_frames);
@@ -872,7 +788,6 @@ int main(int argc, char **argv)
 	velocity_timeout = ros::Duration(nh_priv.param("velocity_timeout", 2.0));
 	global_position_timeout = ros::Duration(nh_priv.param("global_position_timeout", 10.0));
 	battery_timeout = ros::Duration(nh_priv.param("battery_timeout", 2.0));
-	manual_control_timeout = ros::Duration(nh_priv.param("manual_control_timeout", 0.0));

 	transform_timeout = ros::Duration(nh_priv.param("transform_timeout", 0.5));
 	telemetry_transform_timeout = ros::Duration(nh_priv.param("telemetry_transform_timeout", 0.5));
@@ -890,7 +805,6 @@ int main(int argc, char **argv)
 	auto global_position_sub = nh.subscribe("mavros/global_position/global", 1, &handleMessage<NavSatFix, global_position>);
 	auto battery_sub = nh.subscribe("mavros/battery", 1, &handleMessage<BatteryState, battery>);
 	auto statustext_sub = nh.subscribe("mavros/statustext/recv", 1, &handleMessage<mavros_msgs::StatusText, statustext>);
-	auto manual_control_sub = nh.subscribe("mavros/manual_control/control", 1, &handleMessage<mavros_msgs::ManualControl, manual_control>);
 	auto local_position_sub = nh.subscribe("mavros/local_position/pose", 1, &handleLocalPosition);

 	// Setpoint publishers
--- a/clover/test/basic.py
+++ b/clover/test/basic.py
@@ -26,13 +26,8 @@ def test_simple_offboard_services_available():
    rospy.wait_for_service('land', timeout=5)

 def test_web_video_server(node):
-    try:
-        # Python 2
-        import urllib2 as urllib
-    except ModuleNotFoundError:
-        # Python 3
-        import urllib.request as urllib
-    urllib.urlopen("http://localhost:8080").read()
+    import urllib2
+    urllib2.urlopen("http://localhost:8080").read()

 def test_shell(node):
    execute = rospy.ServiceProxy('exec', srv.Execute)
--- a/clover/www/index.html
+++ b/clover/www/index.html
@@ -6,7 +6,6 @@
 	<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>
--- a/clover_blocks/README.md
+++ b/clover_blocks/README.md
@@ -1,54 +0,0 @@
-# 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).
-* `~yaw_tolerance` (*float*) – yaw angle tolerance in degrees, used in set_yaw block (default: 20).
-* `~sleep_time` (*float*) – duration of sleep in loop cycles, used for navigate-like blocks (default: 0.2).
-* `~confirm_run` (*bool*) – enable confirmation to run the program (default: true).
-
-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.
--- a/clover_blocks/msg/Prompt.msg
+++ b/clover_blocks/msg/Prompt.msg
@@ -1,2 +0,0 @@
-string message  # message for prompt
-string id  # user response should be published to ~input/<id> topic
--- a/clover_blocks/programs/examples/aruco-map.xml
+++ b/clover_blocks/programs/examples/aruco-map.xml
@@ -1,73 +0,0 @@
-<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$-(o3}">
-                <field name="NUM">1.5</field>
-              </shadow>
-            </value>
-            <value name="ID">
-              <shadow type="math_number" id="VRo?s#0d)Gl@9fsK@gR=">
-                <field name="NUM">0</field>
-              </shadow>
-            </value>
-            <value name="SPEED">
-              <shadow type="math_number" id="mmZc+d=W})w.AN*B_dSe">
-                <field name="NUM">0.5</field>
-              </shadow>
-            </value>
-          </block>
-        </statement>
-        <next>
-          <block type="land" id="JB%yj/X~K=8A2=Q*7cRs">
-            <field name="WAIT">TRUE</field>
-          </block>
-        </next>
-      </block>
-    </next>
-  </block>
-</xml>
--- a/clover_blocks/programs/examples/aruco-marker.xml
+++ b/clover_blocks/programs/examples/aruco-marker.xml
@@ -1,64 +0,0 @@
-<xml xmlns="https://developers.google.com/blockly/xml">
-  <block type="take_off" id="R@=3~Fq;AxFaRO{ZDFUM" x="37" y="63">
-    <field name="WAIT">TRUE</field>
-    <value name="ALT">
-      <shadow type="math_number" id="cf8/,N48N;Fvn@EWB%,B">
-        <field name="NUM">1.5</field>
-      </shadow>
-    </value>
-    <next>
-      <block type="controls_repeat_ext" id="qc$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">1</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$8`H*Wiafz3D,">
-                <mutation type="NUMBER"></mutation>
-                <field name="TYPE">NUMBER</field>
-                <value name="TEXT">
-                  <shadow type="text" id="@P[TyPj[n1*;EcUC?lwF">
-                    <field name="TEXT">Enter marker ID</field>
-                  </shadow>
-                </value>
-              </block>
-            </value>
-            <value name="SPEED">
-              <shadow type="math_number" id="WrsUXacZ2w)D]d?:@ec_">
-                <field name="NUM">0.5</field>
-              </shadow>
-            </value>
-          </block>
-        </statement>
-        <next>
-          <block type="land" id="G5+Fs.6Y4(K9Dw`wjgua">
-            <field name="WAIT">TRUE</field>
-          </block>
-        </next>
-      </block>
-    </next>
-  </block>
-</xml>
--- a/clover_blocks/programs/examples/flight-led.xml
+++ b/clover_blocks/programs/examples/flight-led.xml
@@ -1,97 +0,0 @@
-<xml xmlns="https://developers.google.com/blockly/xml">
-  <block type="take_off" id="R@=3~Fq;AxFaRO{ZDFUM" x="162" y="63">
-    <field name="WAIT">TRUE</field>
-    <value name="ALT">
-      <shadow type="math_number" id="cf8/,N48N;Fvn@EWB%,B">
-        <field name="NUM">1</field>
-      </shadow>
-    </value>
-    <next>
-      <block type="set_effect" id="5K8qDD0/@Ab!k+ad6IPj">
-        <field name="EFFECT">FILL</field>
-        <value name="COLOR">
-          <shadow type="colour_picker" id="=*Y*L:1DI7y$.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$-FF!fD?">
-                        <field name="NUM">0</field>
-                      </shadow>
-                    </value>
-                    <value name="ID">
-                      <shadow type="math_number" id="Ze2Nun;[K{X.1kE0anMF">
-                        <field name="NUM">0</field>
-                      </shadow>
-                    </value>
-                    <value name="SPEED">
-                      <shadow type="math_number" id="+[A5TSXF:hw4T1M]e~Wu">
-                        <field name="NUM">0.5</field>
-                      </shadow>
-                    </value>
-                    <next>
-                      <block type="land" id="G5+Fs.6Y4(K9Dw`wjgua">
-                        <field name="WAIT">TRUE</field>
-                      </block>
-                    </next>
-                  </block>
-                </next>
-              </block>
-            </next>
-          </block>
-        </next>
-      </block>
-    </next>
-  </block>
-</xml>
--- a/clover_blocks/programs/examples/flip.xml
+++ b/clover_blocks/programs/examples/flip.xml
@@ -1,308 +0,0 @@
-<xml xmlns="https://developers.google.com/blockly/xml">
-  <variables>
-    <variable id="MEu_bi$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>
--- a/clover_blocks/programs/examples/functions.xml
+++ b/clover_blocks/programs/examples/functions.xml
@@ -1,184 +0,0 @@
-<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$">
-            <field name="NUM">0</field>
-          </shadow>
-        </value>
-        <value name="SPEED">
-          <shadow type="math_number" id="X2Ou?:=kt:`aOq,#Q-)+">
-            <field name="NUM">0.5</field>
-          </shadow>
-        </value>
-      </block>
-    </statement>
-  </block>
-</xml>
--- a/clover_blocks/programs/examples/led-compass.xml
+++ b/clover_blocks/programs/examples/led-compass.xml
@@ -1,91 +0,0 @@
-<xml xmlns="https://developers.google.com/blockly/xml">
-  <block type="controls_whileUntil" id="U1it{GcGuSS:=[xiwZr1" x="113" y="113">
-    <field name="MODE">WHILE</field>
-    <value name="BOOL">
-      <block type="logic_boolean" id="]7ZDRwde}/RqjQCX}aVW">
-        <field name="BOOL">TRUE</field>
-      </block>
-    </value>
-    <statement name="DO">
-      <block type="set_effect" id="WI0zqOz/z3].cR/6UWHn">
-        <field name="EFFECT">FILL</field>
-        <value name="COLOR">
-          <shadow type="colour_picker" id="B`6;Xv{s2TFp8Yd=ZpSD">
-            <field name="COLOUR">#000000</field>
-          </shadow>
-        </value>
-        <next>
-          <block type="set_led" id="^Vcs}ki?#ctf7rAchix$">
-            <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="led_count" id="vM@X8s!xa]v}AaK6PWF5"></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>
-</xml>
--- a/clover_blocks/programs/examples/led.xml
+++ b/clover_blocks/programs/examples/led.xml
@@ -1,30 +0,0 @@
-<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="}(${|~%[}eJ.QUY?FWi_"></block>
-        </value>
-        <next>
-          <block type="wait" id="Ux(J;l+?5Gq2n^*!jXj^">
-            <value name="TIME">
-              <shadow type="math_number" id=")As9bASkedr9x@M)*)Pf">
-                <field name="NUM">1</field>
-              </shadow>
-            </value>
-          </block>
-        </next>
-      </block>
-    </statement>
-  </block>
-</xml>
--- a/clover_blocks/programs/examples/print-range.xml
+++ b/clover_blocks/programs/examples/print-range.xml
@@ -1,29 +0,0 @@
-<xml xmlns="https://developers.google.com/blockly/xml">
-  <block type="controls_whileUntil" id="^{D$=!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>
--- a/clover_blocks/programs/examples/rotation.xml
+++ b/clover_blocks/programs/examples/rotation.xml
@@ -1,88 +0,0 @@
-<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>
--- a/clover_blocks/programs/examples/simple-flight.xml
+++ b/clover_blocks/programs/examples/simple-flight.xml
@@ -1,86 +0,0 @@
-<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>
--- a/clover_blocks/programs/examples/takeoff-land.xml
+++ b/clover_blocks/programs/examples/takeoff-land.xml
@@ -1,60 +0,0 @@
-<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$F)">
-                <value name="TIME">
-                  <shadow type="math_number" id="?k~ZUNcrx-iC;LFmarbm">
-                    <field name="NUM">3</field>
-                  </shadow>
-                </value>
-                <next>
-                  <block type="text_print" id="SXJsfN{P13FL~n9;|%P:">
-                    <value name="TEXT">
-                      <shadow type="text" id="[Z5,f|El:VX5zcRaMtXa">
-                        <field name="TEXT">Land</field>
-                      </shadow>
-                    </value>
-                    <next>
-                      <block type="land" id="G5+Fs.6Y4(K9Dw`wjgua">
-                        <field name="WAIT">TRUE</field>
-                        <next>
-                          <block type="text_print" id="o?bvXARz^4_U0oXC-#.V">
-                            <value name="TEXT">
-                              <shadow type="text" id="`tadiS,[OZ`#f:=u.:9~">
-                                <field name="TEXT">Mission finished</field>
-                              </shadow>
-                            </value>
-                          </block>
-                        </next>
-                      </block>
-                    </next>
-                  </block>
-                </next>
-              </block>
-            </next>
-          </block>
-        </next>
-      </block>
-    </next>
-  </block>
-</xml>
--- a/clover_blocks/programs/examples/variables.xml
+++ b/clover_blocks/programs/examples/variables.xml
@@ -1,137 +0,0 @@
-<xml xmlns="https://developers.google.com/blockly/xml">
-  <variables>
-    <variable id="]gc9ItU#$!=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>
--- a/clover_blocks/screenshot.png
+++ b/clover_blocks/screenshot.png
--- a/clover_blocks/src/clover_blocks
+++ b/clover_blocks/src/clover_blocks
@@ -1,184 +0,0 @@
-#!/usr/bin/env python
-
-# Copyright (C) 2020 Copter Express Technologies
-#
-# Author: Oleg Kalachev <okalachev@gmail.com>
-#
-# Distributed under MIT License (available at https://opensource.org/licenses/MIT).
-# The above copyright notice and this permission notice shall be included in all
-# copies or substantial portions of the Software.
-
-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, 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()
--- a/clover_blocks/srv/Load.srv
+++ b/clover_blocks/srv/Load.srv
@@ -1,5 +0,0 @@
---
-bool success
-string message
-string[] names
-string[] programs
--- a/clover_blocks/srv/Run.srv
+++ b/clover_blocks/srv/Run.srv
@@ -1,4 +0,0 @@
-string code # code in Python
---
-bool success
-string message
--- a/clover_blocks/srv/Store.srv
+++ b/clover_blocks/srv/Store.srv
@@ -1,5 +0,0 @@
-string name
-string program
---
-bool success
-string message
--- a/clover_blocks/www/blockly/LICENSE
+++ b/clover_blocks/www/blockly/LICENSE
@@ -1,202 +0,0 @@
-
-                                 Apache License
-                           Version 2.0, January 2004
-                        http://www.apache.org/licenses/
-
-   TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION
-
-   1. Definitions.
-
-      "License" shall mean the terms and conditions for use, reproduction,
-      and distribution as defined by Sections 1 through 9 of this document.
-
-      "Licensor" shall mean the copyright owner or entity authorized by
-      the copyright owner that is granting the License.
-
-      "Legal Entity" shall mean the union of the acting entity and all
-      other entities that control, are controlled by, or are under common
-      control with that entity. For the purposes of this definition,
-      "control" means (i) the power, direct or indirect, to cause the
-      direction or management of such entity, whether by contract or
-      otherwise, or (ii) ownership of fifty percent (50%) or more of the
-      outstanding shares, or (iii) beneficial ownership of such entity.
-
-      "You" (or "Your") shall mean an individual or Legal Entity
-      exercising permissions granted by this License.
-
-      "Source" form shall mean the preferred form for making modifications,
-      including but not limited to software source code, documentation
-      source, and configuration files.
-
-      "Object" form shall mean any form resulting from mechanical
-      transformation or translation of a Source form, including but
-      not limited to compiled object code, generated documentation,
-      and conversions to other media types.
-
-      "Work" shall mean the work of authorship, whether in Source or
-      Object form, made available under the License, as indicated by a
-      copyright notice that is included in or attached to the work
-      (an example is provided in the Appendix below).
-
-      "Derivative Works" shall mean any work, whether in Source or Object
-      form, that is based on (or derived from) the Work and for which the
-      editorial revisions, annotations, elaborations, or other modifications
-      represent, as a whole, an original work of authorship. For the purposes
-      of this License, Derivative Works shall not include works that remain
-      separable from, or merely link (or bind by name) to the interfaces of,
-      the Work and Derivative Works thereof.
-
-      "Contribution" shall mean any work of authorship, including
-      the original version of the Work and any modifications or additions
-      to that Work or Derivative Works thereof, that is intentionally
-      submitted to Licensor for inclusion in the Work by the copyright owner
-      or by an individual or Legal Entity authorized to submit on behalf of
-      the copyright owner. For the purposes of this definition, "submitted"
-      means any form of electronic, verbal, or written communication sent
-      to the Licensor or its representatives, including but not limited to
-      communication on electronic mailing lists, source code control systems,
-      and issue tracking systems that are managed by, or on behalf of, the
-      Licensor for the purpose of discussing and improving the Work, but
-      excluding communication that is conspicuously marked or otherwise
-      designated in writing by the copyright owner as "Not a Contribution."
-
-      "Contributor" shall mean Licensor and any individual or Legal Entity
-      on behalf of whom a Contribution has been received by Licensor and
-      subsequently incorporated within the Work.
-
-   2. Grant of Copyright License. Subject to the terms and conditions of
-      this License, each Contributor hereby grants to You a perpetual,
-      worldwide, non-exclusive, no-charge, royalty-free, irrevocable
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--- a/clover_blocks/www/blockly/README.md
+++ b/clover_blocks/www/blockly/README.md
@@ -1,60 +0,0 @@
-# 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.
--- a/clover_blocks/www/blockly/blockly_compressed.js
+++ b/clover_blocks/www/blockly/blockly_compressed.js
--- a/clover_blocks/www/blockly/blockly_compressed.js.map
+++ b/clover_blocks/www/blockly/blockly_compressed.js.map
--- a/clover_blocks/www/blockly/blocks_compressed.js
+++ b/clover_blocks/www/blockly/blocks_compressed.js
@@ -1,182 +0,0 @@
-// 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
--- a/clover_blocks/www/blockly/blocks_compressed.js.map
+++ b/clover_blocks/www/blockly/blocks_compressed.js.map
--- a/clover_blocks/www/blockly/media/1x1.gif
+++ b/clover_blocks/www/blockly/media/1x1.gif
--- a/clover_blocks/www/blockly/media/click.mp3
+++ b/clover_blocks/www/blockly/media/click.mp3
--- a/clover_blocks/www/blockly/media/click.ogg
+++ b/clover_blocks/www/blockly/media/click.ogg
--- a/clover_blocks/www/blockly/media/click.wav
+++ b/clover_blocks/www/blockly/media/click.wav
--- a/clover_blocks/www/blockly/media/delete.mp3
+++ b/clover_blocks/www/blockly/media/delete.mp3
--- a/clover_blocks/www/blockly/media/delete.ogg
+++ b/clover_blocks/www/blockly/media/delete.ogg
--- a/clover_blocks/www/blockly/media/delete.wav
+++ b/clover_blocks/www/blockly/media/delete.wav
--- a/clover_blocks/www/blockly/media/disconnect.mp3
+++ b/clover_blocks/www/blockly/media/disconnect.mp3
--- a/clover_blocks/www/blockly/media/disconnect.ogg
+++ b/clover_blocks/www/blockly/media/disconnect.ogg
--- a/clover_blocks/www/blockly/media/disconnect.wav
+++ b/clover_blocks/www/blockly/media/disconnect.wav
--- a/clover_blocks/www/blockly/media/dropdown-arrow.svg
+++ b/clover_blocks/www/blockly/media/dropdown-arrow.svg
@@ -1 +0,0 @@
-<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>
--- a/clover_blocks/www/blockly/media/handclosed.cur
+++ b/clover_blocks/www/blockly/media/handclosed.cur
--- a/clover_blocks/www/blockly/media/handdelete.cur
+++ b/clover_blocks/www/blockly/media/handdelete.cur
--- a/clover_blocks/www/blockly/media/handopen.cur
+++ b/clover_blocks/www/blockly/media/handopen.cur
--- a/clover_blocks/www/blockly/media/pilcrow.png
+++ b/clover_blocks/www/blockly/media/pilcrow.png
--- a/clover_blocks/www/blockly/media/quote0.png
+++ b/clover_blocks/www/blockly/media/quote0.png
--- a/clover_blocks/www/blockly/media/quote1.png
+++ b/clover_blocks/www/blockly/media/quote1.png
--- a/clover_blocks/www/blockly/media/sprites.png
+++ b/clover_blocks/www/blockly/media/sprites.png
--- a/clover_blocks/www/blockly/media/sprites.svg
+++ b/clover_blocks/www/blockly/media/sprites.svg
@@ -1,74 +0,0 @@
-<?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>
--- a/clover_blocks/www/blockly/msg/js/en.js
+++ b/clover_blocks/www/blockly/msg/js/en.js
@@ -1,434 +0,0 @@
-// 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";
--- a/clover_blocks/www/blockly/python_compressed.js
+++ b/clover_blocks/www/blockly/python_compressed.js
@@ -1,98 +0,0 @@
-// 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
--- a/clover_blocks/www/blockly/python_compressed.js.map
+++ b/clover_blocks/www/blockly/python_compressed.js.map
--- a/clover_blocks/www/blocks.js
+++ b/clover_blocks/www/blocks.js
@@ -1,602 +0,0 @@
-/*
- * Copyright (C) 2020 Copter Express Technologies
- *
- * Author: Oleg Kalachev <okalachev@gmail.com>
- *
- * Distributed under MIT License (available at https://opensource.org/licenses/MIT).
- * The above copyright notice and this permission notice shall be included in all
- * copies or substantial portions of the Software.
- */
-
-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['led_count'] = {
-	init: function () {
-		this.appendDummyInput()
-			.appendField("LED count");
-		this.setOutput(true, "Number");
-		this.setColour(COLOR_LED);
-		this.setTooltip("Returns the number of LEDs (configured in led.launch).");
-		this.setHelpUrl(DOCS_URL + '#' + this.type);
-	}
-};
-
-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 + '#GPIO');
-	}
-};
-
-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 + '#GPIO');
-	}
-};
-
-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 μs.");
-		this.setHelpUrl(DOCS_URL + '#GPIO');
-	}
-};
-
-Blockly.Blocks['set_duty_cycle'] = {
-	init: function () {
-		this.appendValueInput("PIN")
-			.setCheck("Number")
-			.appendField("set GPIO pin");
-		this.appendValueInput("DUTY_CYCLE")
-			.setCheck("Number")
-			.appendField("to duty cycle");
-		this.setInputsInline(true);
-		this.setColour(COLOR_GPIO);
-		this.setPreviousStatement(true, null);
-		this.setNextStatement(true, null);
-		this.setTooltip("Set PWM duty cycle on a GPIO pin (better to control LEDs, etc). Duty cycle is set in range of 0–1.");
-		this.setHelpUrl(DOCS_URL + '#GPIO');
-	}
-};
--- a/clover_blocks/www/highlight/highlight.pack.js
+++ b/clover_blocks/www/highlight/highlight.pack.js
--- a/clover_blocks/www/highlight/styles/monokai-sublime.css
+++ b/clover_blocks/www/highlight/styles/monokai-sublime.css
@@ -1,83 +0,0 @@
-/*
-
-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,
-.hljs-builtin-name,
-.hljs-selector-id,
-.hljs-selector-attr,
-.hljs-selector-pseudo,
-.hljs-addition,
-.hljs-variable,
-.hljs-template-variable {
-  color: #e6db74;
-}
-
-.hljs-comment,
-.hljs-deletion,
-.hljs-meta {
-  color: #75715e;
-}
--- a/clover_blocks/www/index.html
+++ b/clover_blocks/www/index.html
@@ -1,488 +0,0 @@
-<!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>
-			<block type="led_count"></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>
-			<block type="set_duty_cycle">
-				<value name="PIN"><shadow type="math_number"><field name="NUM">1</field></shadow></value>
-				<value name="DUTY_CYCLE"><shadow type="math_number"><field name="NUM">0.5</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>
--- a/clover_blocks/www/main.css
+++ b/clover_blocks/www/main.css
@@ -1,136 +0,0 @@
-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 */
-}
--- a/clover_blocks/www/main.js
+++ b/clover_blocks/www/main.js
@@ -1,325 +0,0 @@
-/*
- * Copyright (C) 2020 Copter Express Technologies
- *
- * Author: Oleg Kalachev <okalachev@gmail.com>
- *
- * Distributed under MIT License (available at https://opensource.org/licenses/MIT).
- * The above copyright notice and this permission notice shall be included in all
- * copies or substantial portions of the Software.
- */
-
-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('yaw_tolerance', true, 20),
-		ros.readParam('sleep_time', true, 0.2),
-		ros.readParam('confirm_run', true, true),
-	]);
-}
-
-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 (ros.params.confirm_run && !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();
-	}
-});
--- a/clover_blocks/www/python.js
+++ b/clover_blocks/www/python.js
@@ -1,466 +0,0 @@
-/*
- * Copyright (C) 2020 Copter Express Technologies
- *
- * Author: Oleg Kalachev <okalachev@gmail.com>
- *
- * Distributed under MIT License (available at https://opensource.org/licenses/MIT).
- * The above copyright notice and this permission notice shall be included in all
- * copies or substantial portions of the Software.
- */
-
-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,led_count,get_led_count');
-Blockly.Python.addReservedWords('SetLEDs,LEDState,set_leds');
-
-const IMPORT_SRV = `from clover import srv
-from std_srvs.srv import Trigger`;
-
-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(${params.sleep_time})\n`;
-
-const WAIT_YAW = () => `\ndef wait_yaw():
-    while not rospy.is_shutdown():
-        telem = get_telemetry(frame_id='navigate_target')
-        if abs(telem.yaw) < math.radians(${params.yaw_tolerance}):
-            return
-        rospy.sleep(${params.sleep_time})\n`;
-
-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`;
-
-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.ledStateArray) {
-		Blockly.Python.definitions_['import_led_state_array'] = 'from led_msgs.msg import LEDStateArray';
-	}
-	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 (/^'(.*)'$/.test(colorCode)) { // is simple string
-		let color = parseColor(colorCode);
-		return `set_leds([LEDState(index=int(${index}), r=${color.r}, g=${color.g}, b=${color.b})])\n`; // TODO: check for simple int
-	} else {
-		let parseColor = Blockly.Python.provideFunction_('parse_color', [PARSE_COLOR]);
-		return `set_leds([LEDState(index=${index}, **${parseColor}(${colorCode}))])\n`;
-	}
-}
-
-const GET_LED_COUNT = `led_count = None
-
-def get_led_count():
-    global led_count
-    if led_count is None:
-        led_count = len(rospy.wait_for_message('led/state', LEDStateArray, timeout=10).leds)
-    return led_count\n`;
-
-Blockly.Python.led_count = function(block) {
-	rosDefinitions.ledStateArray = true;
-	initNode();
-	Blockly.Python.definitions_['get_led_count'] = GET_LED_COUNT;
-	return [`get_led_count()`, Blockly.Python.ORDER_FUNCTION_CALL]
-}
-
-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`;
-
-const SET_DUTY_CYCLE = `\ndef set_duty_cycle(pin, duty_cycle):
-    pi.set_mode(pin, pigpio.OUTPUT)
-    pi.set_PWM_dutycycle(pin, duty_cycle * 255)\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}, ${pwm})\n`;
-}
-
-Blockly.Python.set_duty_cycle = function(block) {
-	pigpio();
-	Blockly.Python.definitions_['set_duty_cycle'] = SET_DUTY_CYCLE;
-	var pin = Blockly.Python.valueToCode(block, 'PIN', Blockly.Python.ORDER_NONE);
-	var dutyCycle = Blockly.Python.valueToCode(block, 'DUTY_CYCLE', Blockly.Python.ORDER_NONE);
-	return `set_duty_cycle(${pin}, ${dutyCycle})\n`;
-}
--- a/clover_blocks/www/ros.js
+++ b/clover_blocks/www/ros.js
@@ -1,69 +0,0 @@
-/*
- * Copyright (C) 2020 Copter Express Technologies
- *
- * Author: Oleg Kalachev <okalachev@gmail.com>
- *
- * Distributed under MIT License (available at https://opensource.org/licenses/MIT).
- * The above copyright notice and this permission notice shall be included in all
- * copies or substantial portions of the Software.
- */
-
-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' });
--- a/clover_description/CMakeLists.txt
+++ b/clover_description/CMakeLists.txt
@@ -1,10 +0,0 @@
-cmake_minimum_required(VERSION 3.0)
-project(clover_description)
-
-find_package(catkin REQUIRED)
-
-catkin_package()
-
-install(DIRECTORY launch DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
-install(DIRECTORY meshes DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
-install(DIRECTORY urdf DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
--- a/clover_description/README.md
+++ b/clover_description/README.md
@@ -1,29 +0,0 @@
-# `clover_description` ROS package
-
-This package contains models and URDF descriptions for the Clover 4 drone. These descriptions can be used for Gazebo simulation environment.
-
-Note that in order to use these descriptions in Gazebo, you need to use the plugins from [PX4 `sitl_gazebo` package](https://github.com/PX4/sitl_gazebo) and `clover_simulation` package.
-
-## Usage
-
-The descriptions are provided as [`xacro`-enabled](https://wiki.ros.org/xacro) URDF files. A [`spawn_drone.launch`](launch/spawn_drone.launch) file that spawns the model in a running Gazebo instance is also provided for convenience.
-
-You may provide additional parameters for `spawn_drone.launch` as well:
-
-* `main_camera` (*boolean*, default: *true*) - controls whether the drone will have a downward-facing camera attached;
-* `rangefinder` (*boolean*, default: *true*) - controls whether the drone will have a downward-facing laser rangefinder attached;
-* `led` (*boolean*, default: *true*) - controls whether the drone will have a programmable LED strip (requires plugins from `clover_simulation`);
-* `gps` (*boolean*, default: *true*) - controls whether the drone will have a simulated GPS attached (requires plugins from `sitl_gazebo`);
-* `maintain_camera_rate` (*boolean*, default: *false*) - slow down the simultion to maintain camera publishing rate (internally changes the camera plugin from `libgazebo_ros_camera.so` to `libthrottling_camera.so` from [`clover_simulation`](../clover_simulation/README.md#throttling-camera-plugin-throttling_camera)).
-
-For example, in order to spawn a drone without a GPS module, you may use the following command:
-
-```bash
-roslaunch clover_description spawn_drone.launch gps:=false
-```
-
-## Tweaking
-
-By default, the `spawn_drone.launch` command will use the [`clover4.xacro` description file](urdf/clover/clover4.xacro). This is a "high-level" description of the drone, mainly used to attach additional sensors.
-
-The drone "physics" may be tweaked by changing the [`clover4_physics.xacro` file](urdf/clover/clover4_physics.xacro).
--- a/clover_description/launch/spawn_camera.launch
+++ b/clover_description/launch/spawn_camera.launch
@@ -1,6 +0,0 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<launch>
-    <arg name="cmd" default="$(find xacro)/xacro $(find clover_description)/urdf/sensors/rpi_cam.urdf.xacro"/>
-    <param command="$(arg cmd)" name="camera_description"/>
-    <node name="$(anon spawn)" output="screen" pkg="gazebo_ros" type="spawn_model" args="-urdf -param camera_description -model rpi_camera -package_to_model"/>
-</launch>
--- a/clover_description/launch/spawn_drone.launch
+++ b/clover_description/launch/spawn_drone.launch
@@ -1,18 +0,0 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<launch>
-    <!-- Toggleable model parameters -->
-    <!-- Main camera -->
-    <arg name="main_camera" default="true"/>
-    <!-- Slow simulation down to maintain camera rate -->
-    <arg name="maintain_camera_rate" default="false"/>
-    <arg name="rangefinder" default="true"/>
-    <arg name="led" default="true"/>
-    <arg name="gps" default="true"/>
-    <!-- Use physics parameters from CAD programs -->
-    <arg name="use_clover_physics" default="false"/>
-
-    <arg name="cmd" default="$(find xacro)/xacro $(find clover_description)/urdf/clover/clover4.xacro main_camera:=$(arg main_camera) rangefinder:=$(arg rangefinder) led:=$(arg led) gps:=$(arg gps) maintain_camera_rate:=$(arg maintain_camera_rate) use_clover_physics:=$(arg use_clover_physics)"/>
-    <param command="$(arg cmd)" name="drone_description"/>
-    <!-- Note: -package_to_model replaces all mentions of "package://" with "model://" in urdf URIs -->
-    <node name="$(anon spawn)" output="screen" pkg="gazebo_ros" type="spawn_model" args="-urdf -param drone_description -model clover -z 0.3"/> 
-</launch>
--- a/clover_description/launch/view_drone.launch
+++ b/clover_description/launch/view_drone.launch
@@ -1,7 +0,0 @@
-<launch>
-  <arg name="model" default="$(find clover_description)/urdf/drones/clover4.xacro"/>
-
-  <param name="robot_description" command="$(find xacro)/xacro.py $(arg model)"/>
-
-  <node name="rviz" pkg="rviz" type="rviz" required="true"/>
-</launch>
--- a/clover_description/media/materials/scripts/guard_transparent.material
+++ b/clover_description/media/materials/scripts/guard_transparent.material
@@ -1,21 +0,0 @@
-material Polycarbonate
-{
-  technique
-  {
-    pass
-    {
-      scene_blend alpha_blend
-      depth_write off
-
-      ambient 0.57 0.531 0.444 1
-      diffuse 0.57 0.531 0.444 1
-      specular 0.5 0.5 0.5 1
-
-      texture_unit
-      {
-        colour_op_ex source1 src_current src_current 0 1 0
-        alpha_op_ex source1 src_manual src_current 0.72
-      }
-    }
-  }
-}
--- a/Show More
+++ b/Show More
Author	SHA1	Message	Date
Oleg Kalachev	c254691f80	Adjust aruco.launch arguments	2020-08-05 02:06:41 +03:00
Oleg Kalachev	4fe6f24d16	Edit readme	2020-07-21 10:09:09 +03:00
Oleg Kalachev	cda7e62dbf	Adjust launch file arguments for more convenient configuration	2020-07-21 10:03:40 +03:00
Oleg Kalachev	fa9a1794f6	Add roslaunch_editor	2020-07-21 10:00:33 +03:00
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