Minor fix

* docs: Add translation of the article about flight exercises

* docs: Add translation of the article about flight

* docs: Added articles about flying to summary

* docs: fix

* Update docs/en/flight.md

Co-authored-by: Oleg Kalachev <okalachev@gmail.com>

* docs: fix

* Fix

* Remove unnecessary image borders

* Edit flight article

* Edit flight articles

* Fix

Co-authored-by: Oleg Kalachev <okalachev@gmail.com>

.gitattributes

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

.gitignore

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

.travis.yml

@@ -100,14 +100,6 @@ 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
@@ -115,10 +107,9 @@ jobs:
         - wget https://github.com/okalachev/editorconfig-checker/releases/download/1.2.1-disable-spaces-amount/ec-linux-amd64
         - chmod +x ec-linux-amd64
       script:
-        - ./ec-linux-amd64 -spaces-after-tabs -e "roslib.js|ros3d.js|eventemitter2.js|draw.cpp|BinUtils.swift|\.idea|apps/android/app|Assets.xcassets|test_parser_pass.txt|test_node_failure.txt|aruco_pose/vendor|\.stl|\.dxf|\.dae"
+        - ./ec-linux-amd64 -spaces-after-tabs -e "roslib.js|ros3d.js|eventemitter2.js|draw.cpp|BinUtils.swift|\.idea|apps/android/app|blockly/|clover_blocks/programs/|highlight/|python.js|Assets.xcassets|test_parser_pass.txt|test_node_failure.txt|aruco_pose/vendor|\.stl|\.dxf|\.dae"
 stages:
   - Build
-  - Annotate
 # More info there
 # https://github.com/travis-ci/travis-ci/issues/6893
 # https://docs.travis-ci.com/user/customizing-the-build/

book.json

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

builder/assets/examples/navigate_wait.py

@@ -1,4 +1,4 @@
-# Information: https://clover.coex.tech/en/snippets.html#block-nav
+# Information: https://clover.coex.tech/en/snippets.html#navigate_wait
 
 import math
 import rospy

clover/launch/clover.launch

@@ -10,6 +10,7 @@
     <arg name="aruco" default="false"/>
     <arg name="rangefinder_vl53l1x" default="true"/>
     <arg name="led" default="true"/>
+    <arg name="blocks" default="false"/>
     <arg name="rc" default="true"/>
     <arg name="shell" default="true"/>
 
@@ -55,6 +56,7 @@
         <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 -->
@@ -80,6 +82,9 @@
         <arg name="simulator" value="$(arg simulator)"/>
     </include>
 
+    <!-- Clover Blocks -->
+    <node name="clover_blocks" pkg="clover_blocks" type="clover_blocks" output="screen" if="$(arg blocks)"/>
+
     <!-- rc backend -->
     <node name="rc" pkg="clover" type="rc" output="screen" if="$(arg rc)" clear_params="true">
         <!-- Send fake GCS heartbeats. Set to "true" for upstream PX4 -->

clover/src/simple_offboard.cpp

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

clover/www/index.html

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

clover_blocks/CMakeLists.txt

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

clover_blocks/README.md

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

clover_blocks/msg/Prompt.msg

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

clover_blocks/package.xml

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

clover_blocks/programs/examples/aruco-map.xml

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

clover_blocks/programs/examples/aruco-marker.xml

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

clover_blocks/programs/examples/flight-led.xml

@@ -0,0 +1,97 @@
+<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>

clover_blocks/programs/examples/flip.xml

@@ -0,0 +1,308 @@
+<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>

clover_blocks/programs/examples/functions.xml

@@ -0,0 +1,184 @@
+<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>

clover_blocks/programs/examples/led-compass.xml

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

clover_blocks/programs/examples/led.xml

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

clover_blocks/programs/examples/print-range.xml

@@ -0,0 +1,29 @@
+<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>

clover_blocks/programs/examples/rotation.xml

@@ -0,0 +1,88 @@
+<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>

clover_blocks/programs/examples/simple-flight.xml

@@ -0,0 +1,86 @@
+<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>

clover_blocks/programs/examples/takeoff-land.xml

@@ -0,0 +1,60 @@
+<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>

clover_blocks/programs/examples/variables.xml

@@ -0,0 +1,137 @@
+<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>

clover_blocks/src/clover_blocks

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

clover_blocks/srv/Load.srv

@@ -0,0 +1,5 @@
+---
+bool success
+string message
+string[] names
+string[] programs

clover_blocks/srv/Run.srv

@@ -0,0 +1,4 @@
+string code # code in Python
+---
+bool success
+string message

clover_blocks/srv/Store.srv

@@ -0,0 +1,5 @@
+string name
+string program
+---
+bool success
+string message

clover_blocks/www/blockly/LICENSE

@@ -0,0 +1,202 @@
+
+                                 Apache License
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+
+   TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION
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+   limitations under the License.

clover_blocks/www/blockly/README.md

@@ -0,0 +1,60 @@
+# 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.

clover_blocks/www/blockly/blocks_compressed.js

@@ -0,0 +1,182 @@
+// 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

clover_blocks/www/blockly/media/dropdown-arrow.svg

@@ -0,0 +1 @@
+<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>

clover_blocks/www/blockly/media/sprites.svg

@@ -0,0 +1,74 @@
+<?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>

clover_blocks/www/blockly/msg/js/en.js

@@ -0,0 +1,434 @@
+// 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";

clover_blocks/www/blockly/python_compressed.js

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

clover_blocks/www/blocks.js

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

clover_blocks/www/highlight/styles/monokai-sublime.css

@@ -0,0 +1,83 @@
+/*
+
+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;
+}

clover_blocks/www/index.html

@@ -0,0 +1,483 @@
+<!DOCTYPE html>
+<html lang="en">
+<head>
+	<title>Clover Blocks</title>
+	<meta charset="UTF-8">
+	<meta name="viewport" content="width=device-width, initial-scale=1, shrink-to-fit=no">
+	<link rel="stylesheet" href="main.css">
+	<link rel="icon" href="data:,">
+	<link rel="stylesheet" href="highlight/styles/monokai-sublime.css">
+	<script src="highlight/highlight.pack.js"></script>
+	<script src="roslib.js"></script>
+	<script src="blockly/blockly_compressed.js"></script>
+	<script src="blockly/python_compressed.js"></script>
+	<script src="blockly/blocks_compressed.js"></script>
+	<script src="blockly/msg/js/en.js"></script>
+	<script type="module" src="main.js"></script>
+</head>
+
+<body data-tab="blocks">
+	<ul id="tabs">
+		<li class="selected" data-tab="blocks">Blocks</li>
+		<li data-tab="python">Python</li>
+	</ul>
+
+	<div id="tools">
+		<div class="disconnected">Disconnected</div>
+		<div class="backend-fail">Failed to contact with <code>clover_blocks</code> node, see <a href="../clover/docs/en/blocks.html#configuration" target="_blank">configuration</a> documentation.</div>
+		<div id="running">Running...</div>
+		<select id="program-name" title="Files are saved in <package_path>/programs/.">
+				<option value="" disabled selected>&lt;Unsaved&gt;</option>
+				<option value="@clear">Clear...</option>
+				<option style="font-style: italic;" value="@save">Save... (Ctrl+S)</option>
+			<optgroup label="User" data-type="user"></optgroup>
+			<optgroup label="Examples" data-type="example"></optgroup>
+		</select>
+		<button onclick="runProgram()" disabled id="run" disabled title="Run the program">Run</button>
+		<button onclick="stopProgram()" title="Stop the program">Stop</button>
+		<button onclick="land()" title="Stop the program and land">Land</button>
+	</div>
+
+	<div id="notifications"></div>
+
+	<div id="blockly" class="content"></div>
+	<pre id="python" class="content" contenteditable oncut="return false" onpaste="return false" onkeydown="if(!event.metaKey) return false" spellcheck="false"></pre>
+
+	<xml xmlns="https://developers.google.com/blockly/xml" id="toolbox" style="display: none">
+		<category name="Flight" colour="#870b99">
+			<block type="take_off">
+				<value name="ALT"><shadow type="math_number"><field name="NUM">1</field></shadow></value>
+			</block>
+			<block type="navigate">
+				<value name="X"><shadow type="math_number"><field name="NUM">0</field></shadow></value>
+				<value name="Y"><shadow type="math_number"><field name="NUM">0</field></shadow></value>
+				<value name="Z"><shadow type="math_number"><field name="NUM">0</field></shadow></value>
+				<value name="SPEED"><shadow type="math_number"><field name="NUM">0.5</field></shadow></value>
+				<value name="ID"><shadow type="math_number"><field name="NUM">0</field></shadow></value>
+			</block>
+			<block type="land"></block>
+			<block type="set_yaw">
+				<value name="YAW"><shadow type="angle"></shadow></value>
+			</block>
+			<block type="wait">
+				<value name="TIME"><shadow type="math_number"><field name="NUM">3</field></shadow></value>
+			</block>
+			<block type="wait_arrival"></block>
+			<block type="setpoint">
+				<value name="VX"><shadow type="math_number"><field name="NUM">0</field></shadow></value>
+				<value name="VY"><shadow type="math_number"><field name="NUM">0</field></shadow></value>
+				<value name="VZ"><shadow type="math_number"><field name="NUM">0</field></shadow></value>
+				<value name="PITCH"><shadow type="math_number"><field name="NUM">0</field></shadow></value>
+				<value name="ROLL"><shadow type="math_number"><field name="NUM">0</field></shadow></value>
+				<value name="YAW"><shadow type="math_number"><field name="NUM">0</field></shadow></value>
+				<value name="THRUST"><shadow type="math_number"><field name="NUM">0.5</field></shadow></value>
+				<value name="ID"><shadow type="math_number"><field name="NUM">0</field></shadow></value>
+			</block>
+			<!-- <block type="key_pressed"></block> -->
+		</category>
+		<category name="State" colour="#ff9a00">
+			<block type="get_position">
+				<field name="FRAME_ID">ARUCO_MAP</field>
+				<value name="ID"><shadow type="math_number"><field name="NUM">0</field></shadow></value>
+			</block>
+			<block type="get_yaw">
+				<field name="FRAME_ID">ARUCO_MAP</field>
+				<value name="ID"><shadow type="math_number"><field name="NUM">0</field></shadow></value>
+			</block>
+			<block type="get_attitude"></block>
+			<block type="distance">
+				<value name="X"><shadow type="math_number"><field name="NUM">0</field></shadow></value>
+				<value name="Y"><shadow type="math_number"><field name="NUM">0</field></shadow></value>
+				<value name="Z"><shadow type="math_number"><field name="NUM">0</field></shadow></value>
+				<value name="ID"><shadow type="math_number"><field name="NUM">0</field></shadow></value>
+			</block>
+			<block type="get_time"></block>
+			<block type="arrived"></block>
+			<block type="rangefinder_distance"></block>
+			<block type="mode"></block>
+			<block type="armed"></block>
+			<block type="voltage"></block>
+		</category>
+		<category name="LED" colour="#02d754">
+			<block type="set_effect">
+				<value name="COLOR"><shadow type="colour_picker"></shadow></value>
+			</block>
+			<block type="set_led">
+				<value name="INDEX"><shadow type="math_number"><field name="NUM">0</field></shadow></value>
+				<value name="COLOR"><shadow type="colour_picker"></shadow></value>
+			</block>
+		</category>
+		<category name="GPIO" colour="#5b97cc">
+			<block type="gpio_read">
+				<value name="PIN"><shadow type="math_number"><field name="NUM">1</field></shadow></value>
+			</block>
+			<block type="gpio_write">
+				<value name="PIN"><shadow type="math_number"><field name="NUM">1</field></shadow></value>
+				<value name="LEVEL"><shadow type="logic_boolean"></shadow></value>
+			</block>
+			<block type="set_servo">
+				<value name="PIN"><shadow type="math_number"><field name="NUM">1</field></shadow></value>
+				<value name="PWM"><shadow type="math_number"><field name="NUM">1500</field></shadow></value>
+			</block>
+		</category>
+		<sep></sep>
+		<category name="Logic" colour="#5b80a5">
+			<block type="controls_if"></block>
+			<block type="logic_compare">
+				<field name="OP">EQ</field>
+			</block>
+			<block type="logic_operation">
+				<field name="OP">AND</field>
+			</block>
+			<block type="logic_negate"></block>
+			<block type="logic_boolean">
+				<field name="BOOL">TRUE</field>
+			</block>
+			<block type="logic_null"></block>
+			<block type="logic_ternary"></block>
+		</category>
+		<category name="Loops" colour="#5ba55b">
+			<block type="controls_repeat_ext">
+				<value name="TIMES">
+					<shadow type="math_number">
+						<field name="NUM">10</field>
+					</shadow>
+				</value>
+			</block>
+			<block type="controls_whileUntil">
+				<field name="MODE">WHILE</field>
+			</block>
+			<block type="controls_for">
+				<field name="VAR" id="SMJ.7:a)p9(!mF0x)WK~">i</field>
+				<value name="FROM">
+					<shadow type="math_number">
+						<field name="NUM">1</field>
+					</shadow>
+				</value>
+				<value name="TO">
+					<shadow type="math_number">
+						<field name="NUM">10</field>
+					</shadow>
+				</value>
+				<value name="BY">
+					<shadow type="math_number">
+						<field name="NUM">1</field>
+					</shadow>
+				</value>
+			</block>
+			<block type="controls_forEach">
+				<field name="VAR" id="#hg!+5qncbZDpf;c6Qiw">j</field>
+			</block>
+			<block type="controls_flow_statements">
+				<field name="FLOW">BREAK</field>
+			</block>
+		</category>
+		<category name="Math" colour="#5b67a5">
+			<block type="math_number">
+				<field name="NUM">0</field>
+			</block>
+			<block type="math_arithmetic">
+				<field name="OP">ADD</field>
+				<value name="A">
+					<shadow type="math_number">
+						<field name="NUM">1</field>
+					</shadow>
+				</value>
+				<value name="B">
+					<shadow type="math_number">
+						<field name="NUM">1</field>
+					</shadow>
+				</value>
+			</block>
+			<block type="math_single">
+				<field name="OP">ROOT</field>
+				<value name="NUM">
+					<shadow type="math_number">
+						<field name="NUM">9</field>
+					</shadow>
+				</value>
+			</block>
+			<block type="math_trig">
+				<field name="OP">SIN</field>
+				<value name="NUM">
+					<shadow type="math_number">
+						<field name="NUM">45</field>
+					</shadow>
+				</value>
+			</block>
+			<block type="math_constant">
+				<field name="CONSTANT">PI</field>
+			</block>
+			<block type="math_number_property">
+				<mutation divisor_input="false"></mutation>
+				<field name="PROPERTY">EVEN</field>
+				<value name="NUMBER_TO_CHECK">
+					<shadow type="math_number">
+						<field name="NUM">0</field>
+					</shadow>
+				</value>
+			</block>
+			<block type="math_round">
+				<field name="OP">ROUND</field>
+				<value name="NUM">
+					<shadow type="math_number">
+						<field name="NUM">3.1</field>
+					</shadow>
+				</value>
+			</block>
+			<block type="math_on_list">
+				<mutation op="SUM"></mutation>
+				<field name="OP">SUM</field>
+			</block>
+			<block type="math_modulo">
+				<value name="DIVIDEND">
+					<shadow type="math_number">
+						<field name="NUM">64</field>
+					</shadow>
+				</value>
+				<value name="DIVISOR">
+					<shadow type="math_number">
+						<field name="NUM">10</field>
+					</shadow>
+				</value>
+			</block>
+			<block type="math_constrain">
+				<value name="VALUE">
+					<shadow type="math_number">
+						<field name="NUM">50</field>
+					</shadow>
+				</value>
+				<value name="LOW">
+					<shadow type="math_number">
+						<field name="NUM">1</field>
+					</shadow>
+				</value>
+				<value name="HIGH">
+					<shadow type="math_number">
+						<field name="NUM">100</field>
+					</shadow>
+				</value>
+			</block>
+			<block type="math_random_int">
+				<value name="FROM">
+					<shadow type="math_number">
+						<field name="NUM">1</field>
+					</shadow>
+				</value>
+				<value name="TO">
+					<shadow type="math_number">
+						<field name="NUM">100</field>
+					</shadow>
+				</value>
+			</block>
+			<block type="math_random_float"></block>
+		</category>
+		<category name="Text" colour="#5ba58c">
+			<block type="text">
+				<field name="TEXT"></field>
+			</block>
+			<block type="text_join">
+				<mutation items="2"></mutation>
+			</block>
+			<block type="text_append">
+				<field name="VAR" id="SmwB.@#2p5}McHySTA:V">item</field>
+				<value name="TEXT">
+					<shadow type="text">
+						<field name="TEXT"></field>
+					</shadow>
+				</value>
+			</block>
+			<block type="text_length">
+				<value name="VALUE">
+					<shadow type="text">
+						<field name="TEXT">abc</field>
+					</shadow>
+				</value>
+			</block>
+			<block type="text_isEmpty">
+				<value name="VALUE">
+					<shadow type="text">
+						<field name="TEXT"></field>
+					</shadow>
+				</value>
+			</block>
+			<block type="text_indexOf">
+				<field name="END">FIRST</field>
+				<value name="VALUE">
+					<block type="variables_get">
+						<field name="VAR" id="C^Ay41*aH0(G-jwM$x4w">text</field>
+					</block>
+				</value>
+				<value name="FIND">
+					<shadow type="text">
+						<field name="TEXT">abc</field>
+					</shadow>
+				</value>
+			</block>
+			<block type="text_charAt">
+				<mutation at="true"></mutation>
+				<field name="WHERE">FROM_START</field>
+				<value name="VALUE">
+					<block type="variables_get">
+						<field name="VAR" id="C^Ay41*aH0(G-jwM$x4w">text</field>
+					</block>
+				</value>
+			</block>
+			<block type="text_getSubstring">
+				<mutation at1="true" at2="true"></mutation>
+				<field name="WHERE1">FROM_START</field>
+				<field name="WHERE2">FROM_START</field>
+				<value name="STRING">
+					<block type="variables_get">
+						<field name="VAR" id="C^Ay41*aH0(G-jwM$x4w">text</field>
+					</block>
+				</value>
+			</block>
+			<block type="text_changeCase">
+				<field name="CASE">UPPERCASE</field>
+				<value name="TEXT">
+					<shadow type="text">
+						<field name="TEXT">abc</field>
+					</shadow>
+				</value>
+			</block>
+			<block type="text_trim">
+				<field name="MODE">BOTH</field>
+				<value name="TEXT">
+					<shadow type="text">
+						<field name="TEXT">abc</field>
+					</shadow>
+				</value>
+			</block>
+			<block type="text_print">
+				<value name="TEXT">
+					<shadow type="text">
+						<field name="TEXT">abc</field>
+					</shadow>
+				</value>
+			</block>
+			<block type="text_prompt_ext">
+				<mutation type="TEXT"></mutation>
+				<field name="TYPE">TEXT</field>
+				<value name="TEXT">
+					<shadow type="text">
+						<field name="TEXT">abc</field>
+					</shadow>
+				</value>
+			</block>
+		</category>
+		<category name="Lists" colour="#745ba5">
+			<block type="lists_create_with">
+				<mutation items="0"></mutation>
+			</block>
+			<block type="lists_create_with">
+				<mutation items="3"></mutation>
+			</block>
+			<block type="lists_repeat">
+				<value name="NUM">
+					<shadow type="math_number">
+						<field name="NUM">5</field>
+					</shadow>
+				</value>
+			</block>
+			<block type="lists_length"></block>
+			<block type="lists_isEmpty"></block>
+			<block type="lists_indexOf">
+				<field name="END">FIRST</field>
+				<value name="VALUE">
+					<block type="variables_get">
+						<field name="VAR" id="+/w.~s(u:tRiXNBG5eR#">list</field>
+					</block>
+				</value>
+			</block>
+			<block type="lists_getIndex">
+				<mutation statement="false" at="true"></mutation>
+				<field name="MODE">GET</field>
+				<field name="WHERE">FROM_START</field>
+				<value name="VALUE">
+					<block type="variables_get">
+						<field name="VAR" id="+/w.~s(u:tRiXNBG5eR#">list</field>
+					</block>
+				</value>
+			</block>
+			<block type="lists_setIndex">
+				<mutation at="true"></mutation>
+				<field name="MODE">SET</field>
+				<field name="WHERE">FROM_START</field>
+				<value name="LIST">
+					<block type="variables_get">
+						<field name="VAR" id="+/w.~s(u:tRiXNBG5eR#">list</field>
+					</block>
+				</value>
+			</block>
+			<block type="lists_getSublist">
+				<mutation at1="true" at2="true"></mutation>
+				<field name="WHERE1">FROM_START</field>
+				<field name="WHERE2">FROM_START</field>
+				<value name="LIST">
+					<block type="variables_get">
+						<field name="VAR" id="+/w.~s(u:tRiXNBG5eR#">list</field>
+					</block>
+				</value>
+			</block>
+			<block type="lists_split">
+				<mutation mode="SPLIT"></mutation>
+				<field name="MODE">SPLIT</field>
+				<value name="DELIM">
+					<shadow type="text">
+						<field name="TEXT">,</field>
+					</shadow>
+				</value>
+			</block>
+			<block type="lists_sort">
+				<field name="TYPE">NUMERIC</field>
+				<field name="DIRECTION">1</field>
+			</block>
+		</category>
+		<category name="Colour" colour="#a5745b">
+			<block type="colour_picker">
+				<field name="COLOUR">#ff0000</field>
+			</block>
+			<block type="colour_random"></block>
+			<block type="colour_rgb">
+				<value name="RED">
+					<shadow type="math_number">
+						<field name="NUM">100</field>
+					</shadow>
+				</value>
+				<value name="GREEN">
+					<shadow type="math_number">
+						<field name="NUM">50</field>
+					</shadow>
+				</value>
+				<value name="BLUE">
+					<shadow type="math_number">
+						<field name="NUM">0</field>
+					</shadow>
+				</value>
+			</block>
+			<block type="colour_blend">
+				<value name="COLOUR1">
+					<shadow type="colour_picker">
+						<field name="COLOUR">#ff0000</field>
+					</shadow>
+				</value>
+				<value name="COLOUR2">
+					<shadow type="colour_picker">
+						<field name="COLOUR">#3333ff</field>
+					</shadow>
+				</value>
+				<value name="RATIO">
+					<shadow type="math_number">
+						<field name="NUM">0.5</field>
+					</shadow>
+				</value>
+			</block>
+		</category>
+		<sep></sep>
+		<category name="Variables" colour="#a55b80" custom="VARIABLE"></category>
+		<category name="Functions" colour="#995ba5" custom="PROCEDURE"></category>
+	</xml>
+</body>
+
+</html>

clover_blocks/www/main.css

@@ -0,0 +1,136 @@
+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 */
+}

clover_blocks/www/main.js

@@ -0,0 +1,313 @@
+import * as ros from './ros.js';
+import './blocks.js';
+import {generateCode, generateUserCode} from './python.js';
+
+// Tabs
+document.getElementById('tabs').addEventListener('click', function(e) {
+	var tab = e.target.getAttribute('data-tab');
+	if (tab) {
+		for (let elem of e.target.parentElement.querySelectorAll('[data-tab]')) {
+			elem.classList.remove('selected');
+		}
+		e.target.classList.add('selected');
+		document.body.setAttribute('data-tab', tab);
+	}
+});
+
+var workspace = Blockly.inject('blockly', {
+	toolbox: document.getElementById('toolbox'),
+	grid: {
+		spacing: 25,
+		length: 3,
+		colour: '#ccc',
+		snap: true
+	},
+	zoom: { controls: true, wheel: true },
+	media: 'blockly/media/',
+});
+
+function readParams() {
+	return Promise.all([
+		ros.readParam('navigate_tolerance', true, 0.2),
+		ros.readParam('sleep_time', true, 0.2)
+	]);
+}
+
+var ready = readParams(); // initialization complete promise
+
+var pythonArea = document.getElementById('python');
+
+// update Python code
+workspace.addChangeListener(function(e) {
+	ready.then(function() {
+		pythonArea.innerHTML = generateUserCode(workspace);
+		hljs.highlightBlock(pythonArea);
+	});
+});
+
+var running = false;
+var runRequest = false;
+
+new ROSLIB.Topic({ ros: ros.ros, name: ros.priv + 'block', messageType: 'std_msgs/String' }).subscribe(function(msg) {
+	workspace.highlightBlock(msg.data);
+	runRequest = false;
+	update();
+});
+
+new ROSLIB.Topic({ ros: ros.ros, name: ros.priv + 'running' }).subscribe(function(msg) {
+	running = msg.data;
+	runRequest = false;
+	if (!running) {
+		workspace.highlightBlock('');
+	}
+	update();
+});
+
+var notifElem = document.getElementById('notifications');
+
+function z(n) { return (n < 10 ? '0' : '') + n; } // add leading zero
+
+new ROSLIB.Topic({ ros: ros.ros, name: ros.priv + 'print', messageType: 'std_msgs/String'}).subscribe(function(msg) {
+	var d = new Date(); // TODO: use rosgraph_msgs/Log?
+	var timestamp = `${z(d.getHours())}:${z(d.getMinutes())}:${z(d.getSeconds())}`;
+	notifElem.innerHTML += `${timestamp}: ${msg.data}\n`;
+	notifElem.scrollTop = notifElem.scrollHeight;
+});
+
+new ROSLIB.Topic({ ros: ros.ros, name: ros.priv + 'error', messageType: 'std_msgs/String'}).subscribe(function(msg) {
+	alert('Error: ' + msg.data);
+});
+
+var runButton = document.getElementById('run');
+
+function update() {
+	document.body.classList.toggle('running', running);
+	runButton.disabled = !ros.ros.isConnected || runRequest || running;
+}
+
+var shownPrompts = new Set();
+
+new ROSLIB.Topic({ ros: ros.ros, name: ros.priv + 'prompt', messageType: 'clover_blocks/Prompt'}).subscribe(function(msg) {
+	if (shownPrompts.has(msg.id)) return;
+	shownPrompts.add(msg.id);
+
+	var response = prompt(msg.message);
+	new ROSLIB.Topic({
+		ros: ros.ros,
+		name: ros.priv + 'input/' + msg.id,
+		messageType: 'std_msgs/String',
+		latch: true
+	}).publish(new ROSLIB.Message({ data: response }));
+});
+
+window.stopProgram = function() {
+	ros.stopService.callService(new ROSLIB.ServiceRequest(), function(res) {
+		if (!res.success) alert(res.message);
+	}, err => alert(err))
+}
+
+ros.ros.on('connection', update);
+
+ros.ros.on('close', update);
+
+ready.then(() => runButton.disabled = false);
+
+window.runProgram = function() {
+	if (!confirm('Run program?')) return;
+
+	runRequest = true;
+	update();
+	var code = generateCode(workspace);
+	console.log(code);
+	ros.runService.callService(new ROSLIB.ServiceRequest({ code: code } ), function(res) {
+		if (!res.success) {
+			runRequest = false;
+			update();
+			alert(res.message);
+		}
+	}, function(err) {
+		runRequest = false;
+		update();
+		alert(err);
+	})
+}
+
+window.land = function() {
+	window.stopProgram();
+	ros.landService.callService(new ROSLIB.ServiceRequest(), function(result) {
+	}, function(err) {
+		alert('Unable to land: ' + err);
+	});
+}
+
+function getProgramXml() {
+	var xmlDom = Blockly.Xml.workspaceToDom(workspace);
+	return Blockly.Xml.domToPrettyText(xmlDom);
+}
+
+function setProgramXml(xml) {
+	workspace.clear();
+	if (xml) {
+		let xmlDom = Blockly.Xml.textToDom(xml);
+		Blockly.Xml.domToWorkspace(xmlDom, workspace);
+	}
+}
+
+workspace.addChangeListener(function(e) {
+	localStorage.setItem('xml', getProgramXml());
+});
+
+var programSelect = document.querySelector('#program-name');
+var userPrograms = programSelect.querySelector('optgroup[data-type=user]');
+var examplePrograms = programSelect.querySelector('optgroup[data-type=example]');
+
+var programs = {};
+var program = '';
+
+function loadWorkspace() {
+	var xml = localStorage.getItem('xml');
+	if (xml) {
+		setProgramXml(xml);
+	}
+	program = localStorage.getItem('program') || '';
+}
+
+loadWorkspace();
+
+function loadPrograms() {
+	ros.loadService.callService(new ROSLIB.ServiceRequest(), function(res) {
+		if (!res.success) alert(res.message);
+
+		for (let i = 0; i < res.names.length; i++) {
+			let name = res.names[i];
+			let program = res.programs[i];
+			let option = document.createElement('option');
+			option.innerHTML = res.names[i];
+			if (name.startsWith('examples/')) {
+				examplePrograms.appendChild(option);
+			} else {
+				userPrograms.appendChild(option);
+			}
+
+			programs[name] = program;
+		}
+
+		if (program) {
+			programSelect.value = program;
+		}
+		updateChanged();
+	}, function(err) {
+		document.querySelector('.backend-fail').style.display = 'inline';
+		alert(`Error loading programs list.\n\nHave you enabled clover_blocks in clover.launch?`);
+		runButton.disabled = true;
+	})
+}
+
+loadPrograms();
+
+function getProgramName() {
+	if (programSelect.value.startsWith('@')) {
+		return ''
+	}
+	return programSelect.value;
+}
+
+function updateChanged() {
+	var name = program;
+	document.body.classList.toggle('changed', name in programs && (programs[name].trim() != getProgramXml().trim()));
+}
+
+workspace.addChangeListener(function(e) {
+	if (e instanceof Blockly.Events.Change || e instanceof Blockly.Events.Create || e instanceof Blockly.Events.Delete) {
+		updateChanged();
+	}
+});
+
+function saveProgram() {
+	var name = getProgramName();
+
+	if (!name) {
+		name = prompt('Enter new program name:');
+		if (!name) {
+			programSelect.value = program;
+			return;
+		}
+		if (!name.endsWith('.xml')) {
+			name += '.xml';
+		}
+		let option = document.createElement('option');
+		option.innerHTML = name;
+		userPrograms.appendChild(option);
+	}
+
+	let xml = getProgramXml();
+	ros.storeService.callService(new ROSLIB.ServiceRequest({
+		name: name,
+		program: xml
+	}), function(result) {
+		if (!result.success) {
+			alert(result.message);
+			return;
+		}
+		console.log(result.message);
+		programSelect.blur();
+		program = name;
+		localStorage.setItem('program', name);
+		programs[name] = xml;
+		programSelect.value = program;
+		updateChanged();
+	}, function(err) {
+		// TODO: restore previous state correctly
+		alert('Unable to store: ' + err);
+		programSelect.blur();
+		programSelect.value = program;
+	});
+}
+
+window.addEventListener('keydown', function(e) {
+	if ((e.metaKey || e.ctrlKey) && e.key == 's') { // ctrl+s/cmd+s
+		e.preventDefault();
+		if (!document.body.classList.contains('changed')) { // if not changed, ignore
+			return;
+		}
+		saveProgram();
+	}
+});
+
+programSelect.addEventListener('change', function(e) {
+	if (programSelect.value == '@clear') {
+		if (!confirm('Clear workspace?')) {
+			programSelect.value = program;
+			return;
+		}
+		localStorage.removeItem('program');
+		program = '';
+		setProgramXml('');
+		programSelect.value = program;
+		programSelect.blur();
+	} else if (programSelect.value == '@save') {
+		saveProgram();
+	} else {
+		// load program
+		if (program == '' || document.body.classList.contains('changed')) {
+			if (!confirm('Discard changes?')) {
+				programSelect.value = program;
+				return;
+			}
+		}
+		let name = programSelect.value;
+		let lastProgram = getProgramXml();
+		programSelect.blur();
+		try {
+			setProgramXml(programs[name]);
+			program = name;
+			localStorage.setItem('program', name);
+		} catch(e) {
+			alert(e);
+			setProgramXml(lastProgram);
+			program = ''
+			programSelect.value = program;
+		}
+		updateChanged();
+	}
+});

clover_blocks/www/python.js

@@ -0,0 +1,434 @@
+import {params} from './ros.js';
+
+// If any new block imports any library, add that library name here.
+Blockly.Python.addReservedWords('_b,_print');
+Blockly.Python.addReservedWords('rospy,srv,Trigger,get_telemetry,navigate,set_velocity,land');
+Blockly.Python.addReservedWords('navigate_wait,land_wait,wait_arrival,wait_yaw,get_distance');
+Blockly.Python.addReservedWords('pigpio,pi,Range');
+Blockly.Python.addReservedWords('SetLEDEffect,set_effect');
+Blockly.Python.addReservedWords('SetLEDs,LEDState,set_leds');
+
+// TODO: parametrize
+const navigate_tolerance = 0.2;
+const sleep_time = 0.2;
+
+const IMPORT_SRV = `from clover import srv
+from std_srvs.srv import Trigger`;
+
+// TODO: tolerance to parameters
+const NAVIGATE_WAIT = () => `\ndef navigate_wait(x=0, y=0, z=0, speed=0.5, frame_id='body', auto_arm=False):
+    res = navigate(x=x, y=y, z=z, yaw=float('nan'), speed=speed, frame_id=frame_id, auto_arm=auto_arm)
+
+    if not res.success:
+        raise Exception(res.message)
+
+    while not rospy.is_shutdown():
+        telem = get_telemetry(frame_id='navigate_target')
+        if math.sqrt(telem.x ** 2 + telem.y ** 2 + telem.z ** 2) < ${params.navigate_tolerance}:
+            return
+        rospy.sleep(${params.sleep_time})\n`;
+
+const LAND_WAIT = () => `\ndef land_wait():
+    land()
+    while get_telemetry().armed:
+        rospy.sleep(${params.sleep_time})\n`;
+
+// TODO: tolerance to parameters
+const WAIT_YAW = () => `\ndef wait_yaw():
+    while not rospy.is_shutdown():
+        telem = get_telemetry(frame_id='navigate_target')
+        if abs(telem.yaw) < math.radians(20):
+            return
+        rospy.sleep(${params.sleep_time})\n`;
+
+// TODO: tolerance to parameters
+const WAIT_ARRIVAL = () => `\ndef wait_arrival():
+    while not rospy.is_shutdown():
+        telem = get_telemetry(frame_id='navigate_target')
+        if math.sqrt(telem.x ** 2 + telem.y ** 2 + telem.z ** 2) < ${params.navigate_tolerance}:
+            return
+        rospy.sleep(${params.sleep_time})\n`;
+
+// TODO: tolerance to parameters
+const ARRIVED = () => `\ndef arrived():
+    telem = get_telemetry(frame_id='navigate_target')
+    return math.sqrt(telem.x ** 2 + telem.y ** 2 + telem.z ** 2) < ${params.navigate_tolerance}\n`
+
+const GET_DISTANCE = `\ndef get_distance(x, y, z, frame_id):
+    telem = get_telemetry(frame_id)
+    return math.sqrt((x - telem.x) ** 2 + (y - telem.y) ** 2 + (z - telem.z) ** 2)\n`;
+
+var rosDefinitions = {};
+
+function generateROSDefinitions() {
+	// order for ROS definitions is significant, so generate all ROS definitions as one
+	var code = `rospy.init_node('flight')\n\n`;
+	if (rosDefinitions.offboard) {
+		code += `get_telemetry = rospy.ServiceProxy('get_telemetry', srv.GetTelemetry)\n`;
+		code += `navigate = rospy.ServiceProxy('navigate', srv.Navigate)\n`;
+		if (rosDefinitions.setVelocity) {
+			code += `set_velocity = rospy.ServiceProxy('set_velocity', srv.SetVelocity)\n`;
+		}
+		if (rosDefinitions.setAttitude) {
+			code += `set_attitude = rospy.ServiceProxy('set_attitude', srv.SetAttitude)\n`;
+		}
+		if (rosDefinitions.setRates) {
+			code += `set_rates = rospy.ServiceProxy('set_rates', srv.SetRates)\n`;
+		}
+		code += `land = rospy.ServiceProxy('land', Trigger)\n`;
+	}
+	if (rosDefinitions.setEffect) {
+		Blockly.Python.definitions_['import_led_effect'] = 'from clover.srv import SetLEDEffect';
+		code += `set_effect = rospy.ServiceProxy('led/set_effect', SetLEDEffect, persistent=True)\n`;
+	}
+	if (rosDefinitions.setLeds) {
+		Blockly.Python.definitions_['import_set_led'] = 'from led_msgs.srv import SetLEDs\nfrom led_msgs.msg import LEDState';
+		code += `set_leds = rospy.ServiceProxy('led/set_leds', SetLEDs, persistent=True)\n`;
+	}
+	if (rosDefinitions.navigateWait) {
+		Blockly.Python.definitions_['import_math'] = 'import math';
+		code += NAVIGATE_WAIT();
+	}
+	if (rosDefinitions.landWait) {
+		code += LAND_WAIT();
+	}
+	if (rosDefinitions.waitArrival) {
+		Blockly.Python.definitions_['import_math'] = 'import math';
+		code += WAIT_ARRIVAL();
+	}
+	if (rosDefinitions.arrived) {
+		Blockly.Python.definitions_['import_math'] = 'import math';
+		code += ARRIVED();
+	}
+	if (rosDefinitions.waitYaw) {
+		Blockly.Python.definitions_['import_math'] = 'import math';
+		code += WAIT_YAW();
+	}
+	if (rosDefinitions.distance) {
+		Blockly.Python.definitions_['import_math'] = 'import math';
+		code += GET_DISTANCE;
+	}
+	Blockly.Python.definitions_['ros'] = code;
+}
+
+function initNode() {
+	Blockly.Python.definitions_['import_rospy'] = 'import rospy';
+	generateROSDefinitions();
+}
+
+function simpleOffboard() {
+	rosDefinitions.offboard = true;
+	Blockly.Python.definitions_['import_srv'] = IMPORT_SRV;
+	initNode();
+}
+
+// Adjust indentation
+Blockly.Python.INDENT = '    ';
+
+export function generateUserCode(workspace) {
+	rosDefinitions = {};
+	Blockly.Python.STATEMENT_PREFIX = null;
+	return Blockly.Python.workspaceToCode(workspace);
+}
+
+export function generateCode(workspace) {
+	rosDefinitions = {};
+	Blockly.Python.STATEMENT_PREFIX = '_b(%1)\n';
+	var code = Blockly.Python.workspaceToCode(workspace);
+	return code;
+}
+
+function buildFrameId(block) {
+	let frame = block.getFieldValue('FRAME_ID').toLowerCase();
+	let id = Blockly.Python.valueToCode(block, 'ID', Blockly.Python.ORDER_NONE);
+	if (frame == 'aruco') { // aruco marker frame
+		if (id.match(/^[0-9]+$/)) { // id is positive integer
+			return `'${frame}_${id}'`;
+		} else { // something else...
+			return `'${frame}_' + str(int(${id}))`;
+		}
+	} else {
+		return `'${frame}'`;
+	}
+}
+
+Blockly.Python.navigate = function(block) {
+	let x = Blockly.Python.valueToCode(block, 'X', Blockly.Python.ORDER_NONE);
+	let y = Blockly.Python.valueToCode(block, 'Y', Blockly.Python.ORDER_NONE);
+	let z = Blockly.Python.valueToCode(block, 'Z', Blockly.Python.ORDER_NONE);
+	let frameId = buildFrameId(block);
+	let speed = Blockly.Python.valueToCode(block, 'SPEED', Blockly.Python.ORDER_NONE);
+
+	let params = [`x=${x}`, `y=${y}`, `z=${z}`, `frame_id=${frameId}`, `speed=${speed}`];
+
+	simpleOffboard();
+
+	if (block.getFieldValue('WAIT') == 'TRUE') {
+		rosDefinitions.navigateWait = true;
+		simpleOffboard();
+
+		return `navigate_wait(${params.join(', ')})\n`;
+
+	} else {
+		if (frameId != 'body') {
+			params.push(`yaw=float('nan')`);
+		}
+		return `navigate(${params.join(', ')})\n`;
+	}
+}
+
+Blockly.Python.set_velocity = function(block) {
+	let x = Blockly.Python.valueToCode(block, 'X', Blockly.Python.ORDER_NONE);
+	let y = Blockly.Python.valueToCode(block, 'Y', Blockly.Python.ORDER_NONE);
+	let z = Blockly.Python.valueToCode(block, 'Z', Blockly.Python.ORDER_NONE);
+	let frameId = buildFrameId(block);
+
+	simpleOffboard();
+
+	if (frameId == `'body'`) {
+		return `set_velocity(vx=${x}, vy=${y}, vz=${z}, frame_id=${frameId})\n`;
+	} else {
+		return `set_velocity(vx=${x}, vy=${y}, vz=${z}, yaw=float('nan'), frame_id=${frameId})\n`;
+	}
+}
+
+Blockly.Python.take_off = function(block) {
+	simpleOffboard();
+
+	let z = Blockly.Python.valueToCode(block, 'ALT', Blockly.Python.ORDER_NONE);
+
+	if (block.getFieldValue('WAIT') == 'TRUE') {
+		rosDefinitions.navigateWait = true;
+		simpleOffboard();
+
+		return `navigate_wait(z=${z}, frame_id='body', auto_arm=True)\n`;
+	} else {
+		return `navigate(z=${z}, frame_id='body', auto_arm=True)\n`;
+	}
+}
+
+Blockly.Python.land = function(block) {
+	simpleOffboard();
+
+	if (block.getFieldValue('WAIT') == 'TRUE') {
+		rosDefinitions.landWait = true;
+		simpleOffboard();
+
+		return `land_wait()\n`;
+	} else {
+		return 'land()\n';
+	}
+}
+
+Blockly.Python.angle = function(block) {
+	// return [block.getFieldValue('ANGLE'), Blockly.Python.ORDER_UNARY_SIGN];
+	Blockly.Python.definitions_['import_math'] = 'import math';
+	return [`math.radians(${block.getFieldValue('ANGLE')})`, Blockly.Python.ORDER_FUNCTION_CALL];
+
+}
+
+Blockly.Python.set_yaw = function(block) {
+	simpleOffboard();
+	let yaw = Blockly.Python.valueToCode(block, 'YAW', Blockly.Python.ORDER_NONE);
+	let frameId = buildFrameId(block);
+	let code = `navigate(x=float('nan'), y=float('nan'), z=float('nan'), yaw=${yaw}, frame_id=${frameId})\n`;
+	if (block.getFieldValue('WAIT') == 'TRUE') {
+		rosDefinitions.waitYaw = true;
+		simpleOffboard();
+		code += 'wait_yaw()\n';
+	}
+	return code;
+}
+
+Blockly.Python.wait_arrival = function(block) {
+	rosDefinitions.waitArrival = true;
+	simpleOffboard();
+	return 'wait_arrival()\n';
+}
+
+Blockly.Python.get_time = function(block) {
+	initNode();
+	return ['rospy.get_time()', Blockly.Python.ORDER_FUNCTION_CALL];
+}
+
+Blockly.Python.arrived = function(block) {
+	rosDefinitions.arrived = true;
+	simpleOffboard();
+	return ['arrived()', Blockly.Python.ORDER_FUNCTION_CALL];
+}
+
+Blockly.Python.wait = function(block) {
+	initNode();
+	return `rospy.sleep(${Blockly.Python.valueToCode(block, 'TIME', Blockly.Python.ORDER_NONE)})\n`;
+}
+
+Blockly.Python.setpoint = function(block) {
+	var type = block.getFieldValue('TYPE');
+	let frameId = buildFrameId(block);
+	let vx = Blockly.Python.valueToCode(block, 'VX', Blockly.Python.ORDER_NONE);
+	let vy = Blockly.Python.valueToCode(block, 'VY', Blockly.Python.ORDER_NONE);
+	let vz = Blockly.Python.valueToCode(block, 'VZ', Blockly.Python.ORDER_NONE);
+	let yaw = Blockly.Python.valueToCode(block, 'YAW', Blockly.Python.ORDER_NONE);
+	let pitch = Blockly.Python.valueToCode(block, 'PITCH', Blockly.Python.ORDER_NONE);
+	let roll = Blockly.Python.valueToCode(block, 'ROLL', Blockly.Python.ORDER_NONE);
+	let thrust = Blockly.Python.valueToCode(block, 'THRUST', Blockly.Python.ORDER_NONE);
+
+	if (type == 'VELOCITY') {
+		rosDefinitions.setVelocity = true;
+		simpleOffboard();
+		return `set_velocity(vx=${vx}, vy=${vy}, vz=${vz}, frame_id=${frameId}, yaw=float('nan'))\n`;
+	} else if (type == 'ATTITUDE') {
+		rosDefinitions.setAttitude = true;
+		simpleOffboard();
+		return `set_attitude(pitch=${pitch}, roll=${roll}, yaw=${yaw}, thrust=${thrust}, frame_id=${frameId})\n`;
+	} else if (type == 'RATES') {
+		rosDefinitions.setRates = true;
+		simpleOffboard();
+		return `set_rates(pitch_rate=${pitch}, roll_rate=${roll}, yaw_rate=${yaw}, thrust=${thrust})\n`;
+	}
+}
+
+Blockly.Python.get_position = function(block) {
+	simpleOffboard();
+	let frameId = buildFrameId(block);
+	var code = `get_telemetry(${frameId}).${block.getFieldValue('FIELD').toLowerCase()}`;
+	return [code, Blockly.Python.ORDER_FUNCTION_CALL];
+}
+
+Blockly.Python.get_yaw = function(block) {
+	simpleOffboard();
+	Blockly.Python.definitions_['import_math'] = 'import math';
+	let frameId = buildFrameId(block);
+	var code = `math.degrees(get_telemetry(${frameId}).yaw)`;
+	return [code, Blockly.Python.ORDER_FUNCTION_CALL];
+}
+
+Blockly.Python.get_attitude = function(block) {
+	simpleOffboard();
+	Blockly.Python.definitions_['import_math'] = 'import math';
+	var code = `math.degrees(get_telemetry().${block.getFieldValue('FIELD').toLowerCase()})`;
+	return [code, Blockly.Python.ORDER_FUNCTION_CALL];
+}
+
+Blockly.Python.distance = function(block) {
+	rosDefinitions.distance = true;
+	simpleOffboard();
+
+	let x = Blockly.Python.valueToCode(block, 'X', Blockly.Python.ORDER_NONE);
+	let y = Blockly.Python.valueToCode(block, 'Y', Blockly.Python.ORDER_NONE);
+	let z = Blockly.Python.valueToCode(block, 'Z', Blockly.Python.ORDER_NONE);
+	let frameId = buildFrameId(block);
+
+	return [`get_distance(${x}, ${y}, ${z}, ${frameId})`, Blockly.Python.ORDER_FUNCTION_CALL]
+}
+
+Blockly.Python.rangefinder_distance = function(block) {
+	initNode();
+	Blockly.Python.definitions_['import_range'] = 'from sensor_msgs.msg import Range';
+	return [`rospy.wait_for_message('rangefinder/range', Range).range`, Blockly.Python.ORDER_FUNCTION_CALL]
+}
+
+Blockly.Python.mode = function(block) {
+	simpleOffboard();
+	return [`get_telemetry().mode`, Blockly.Python.ORDER_FUNCTION_CALL]
+}
+
+Blockly.Python.armed = function(block) {
+	simpleOffboard();
+	return [`get_telemetry().armed`, Blockly.Python.ORDER_FUNCTION_CALL]
+}
+
+Blockly.Python.voltage = function(block) {
+	simpleOffboard();
+	var code = `get_telemetry().${block.getFieldValue('TYPE').toLowerCase()}`;
+	return [code, Blockly.Python.ORDER_FUNCTION_CALL];
+}
+
+function parseColor(color) {
+	return {
+		r: parseInt(color.substr(2, 2), 16),
+		g: parseInt(color.substr(4, 2), 16),
+		b: parseInt(color.substr(6, 2), 16)
+	}
+}
+
+const PARSE_COLOR = `def ${Blockly.Python.FUNCTION_NAME_PLACEHOLDER_}(color):
+  return {'r': int(color[1:3], 16), 'g': int(color[3:5], 16), 'b': int(color[5:7], 16)}`;
+
+// TODO: weird code with colour_rgb block
+Blockly.Python.set_effect = function(block) {
+	rosDefinitions.setEffect = true;
+	initNode();
+
+	var effect = block.getFieldValue('EFFECT').toLowerCase();
+
+	if (effect == 'rainbow' || effect == 'rainbow_fill') {
+		return `set_effect(effect='${effect}')\n`;
+	} else {
+		let colorCode = Blockly.Python.valueToCode(block, 'COLOR', Blockly.Python.ORDER_NONE);
+
+		if (/^'(.*)'$/.test(colorCode)) { // is simple string
+			let color = parseColor(colorCode);
+			return `set_effect(effect='${effect}', r=${color.r}, g=${color.g}, b=${color.b})\n`;
+		} else {
+			let parseColor = Blockly.Python.provideFunction_('parse_color', [PARSE_COLOR]);
+			return `set_effect(effect='${effect}', **${parseColor}(${colorCode}))\n`;
+		}
+	}
+}
+
+Blockly.Python.set_led = function(block) {
+	rosDefinitions.setLeds = true;
+	initNode();
+
+	var index = Blockly.Python.valueToCode(block, 'INDEX', Blockly.Python.ORDER_NONE);
+	var colorCode = Blockly.Python.valueToCode(block, 'COLOR', Blockly.Python.ORDER_NONE);
+
+	if (/^'(.*)'$/.test(colorCode)) { // is simple string
+		let color = parseColor(colorCode);
+		return `set_leds([LEDState(index=${index}, r=${color.r}, g=${color.g}, b=${color.b})])\n`;
+	} else {
+		let parseColor = Blockly.Python.provideFunction_('parse_color', [PARSE_COLOR]);
+		return `set_leds([LEDState(index=${index}, **${parseColor}(${colorCode})])\n`;
+	}
+}
+
+function pigpio() {
+	Blockly.Python.definitions_['import_pigpio'] = 'import pigpio';
+	Blockly.Python.definitions_['init_pigpio'] = 'pi = pigpio.pi()';
+}
+
+const GPIO_READ = `\ndef gpio_read(pin):
+	pi.set_mode(pin, pigpio.INPUT)
+	return pi.read(pin)\n`;
+
+const GPIO_WRITE = `\ndef gpio_write(pin, level):
+	pi.set_mode(pin, pigpio.OUTPUT)
+	pi.write(pin, level)\n`;
+
+const SET_SERVO = `\ndef set_servo(pin, pwm):
+	pi.set_mode(pin, pigpio.OUTPUT)
+	pi.set_servo_pulsewidth(pin, pwm)\n`;
+
+Blockly.Python.gpio_read = function(block) {
+	pigpio();
+	Blockly.Python.definitions_['gpio_read'] = GPIO_READ;
+	var pin = Blockly.Python.valueToCode(block, 'PIN', Blockly.Python.ORDER_NONE);
+	return [`gpio_read(${pin})`, Blockly.Python.ORDER_FUNCTION_CALL];
+}
+
+Blockly.Python.gpio_write = function(block) {
+	pigpio();
+	Blockly.Python.definitions_['gpio_write'] = GPIO_WRITE;
+	var pin = Blockly.Python.valueToCode(block, 'PIN', Blockly.Python.ORDER_NONE);
+	var level = Blockly.Python.valueToCode(block, 'LEVEL', Blockly.Python.ORDER_NONE);
+	return `gpio_write(${pin}, ${level})\n`;
+}
+
+Blockly.Python.set_servo = function(block) {
+	pigpio();
+	Blockly.Python.definitions_['set_servo'] = SET_SERVO;
+	var pin = Blockly.Python.valueToCode(block, 'PIN', Blockly.Python.ORDER_NONE);
+	var pwm = Blockly.Python.valueToCode(block, 'PWM', Blockly.Python.ORDER_NONE);
+	return `set_servo(${pin}, ${pwm})\n`;
+}

clover_blocks/www/ros.js

@@ -0,0 +1,59 @@
+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' });

clover_simulation/resources/worlds/clover.world

@@ -7,6 +7,7 @@
     </include>
     <include>
       <uri>model://parquet_plane</uri>
+      <pose>0 0 -0.01 0 0 0</pose>
     </include>
 
     <scene>

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docs/clover.css

@@ -65,3 +65,15 @@ footer img {
 .type_table tr td {
 	padding: 14px 20px;
 }
+
+table.versions td {
+	text-align: center;
+	background: white;
+
+.circle {
+	width: 0.8em;
+	height: 0.8em;
+	border-radius: 50%;
+	display: inline-block;
+	margin-right: 0.5em;
+}

docs/en/SUMMARY.md

@@ -1,23 +1,24 @@
 # Summary
 
 * [Introduction](README.md)
-* [Glossary](gloss.md)
+* [Glossary](glossary.md)
 * [Safety tips](safety.md)
-* Assembly
+* [Assembly](assembly.md)
   * [Clover 4.2 assembly](assemble_4_2.md)
   * [Clover 4 assembly](assemble_4.md)
   * [Clover 3 assembly](assemble_3.md)
   * [Clover 2 assembly](assemble_2.md)
-* Configuration
-  * [Initial setup](setup.md)
+* [Configuration](setup.md)
   * [Sensor calibration](calibration.md)
   * [RC setup](radio.md)
     * [Using FS-A8S](rc_flysky_a8s.md)
   * [Flight modes](modes.md)
   * [Power setup](power.md)
   * [Failsafe configuration](failsafe.md)
-* Working with Raspberry Pi
-  * [Raspberry Pi](raspberry.md)
+* [Manual flight](flight.md)
+  * [Basics](flight.md)
+  * [Exercises](flight_exercises.md)
+* [Working with Raspberry Pi](raspberry.md)
   * [RPi Image](image.md)
   * [Wi-Fi connection](wifi.md)
   * [Connection to the Pixracer](connection.md)
@@ -26,11 +27,9 @@
   * [Command line interface](cli.md)
   * [Automated self-checks](selfcheck.md)
   * [Viewing images from cameras](web_video_server.md)
-* Programming
-  * [Overview](programming.md)
+* [Programming](programming.md)
   * [Camera setup](camera_setup.md)
-  * Fiducial markers (ArUco)
-    * [Overview](aruco.md)
+  * [Fiducial markers (ArUco)](aruco.md)
     * [Marker detection](aruco_marker.md)
     * [Map-based navigation](aruco_map.md)
   * [Optical Flow](optical_flow.md)
@@ -45,14 +44,14 @@
   * [Using rviz and rqt](rviz.md)
   * [Software autorun](autolaunch.md)
   * [Using JavaScript](javascript.md)
-  * [ROS](ros.md)
-  * [MAVROS](mavros.md)
-  * Simulation
-    * [Overview](simulation.md)
+  * [Blocks programming](blocks.md)
+  * [Simulation](simulation.md)
     * [Native setup](simulation_native.md)
     * [VM setup](simulation_vm.md)
     * [Usage](simulation_usage.md)
-* Supplementary materials
+  * [ROS](ros.md)
+  * [MAVROS](mavros.md)
+* [Supplementary materials](supplementary.md)
   * [COEX Pix](coex_pix.md)
   * [Guide on autonomous flight](auto_setup.md)
   * [Hostname](hostname.md)
@@ -85,7 +84,7 @@
   * [LED strip (legacy)](leds_old.md)
   * [Contribution Guidelines](contributing.md)
   * [Migration to v0.20](migrate20.md)
-* Clover-based projects
+* [Clover-based projects](projects.md)
   * [Drone show](clever-show.md)
   * [Innopolis Open 2020 (L22_ÆRO)](innopolis_open_L22_AERO.md)
   * [Copter spheric guard](shield.md)

docs/en/assemble_4.md

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

docs/en/assemble_4_2.md

@@ -1,4 +1,4 @@
-# Clover 4 assembly
+# Clover 4.2 assembly
 
 ## Fasteners size
 
@@ -74,7 +74,7 @@
 
     <img src="../assets/assembling_clever4_2/frame_6.png" width=300 class="zoom border center">
 
-6. Install 4 6mm nylon posts and fix them with the M3x8 screws.
+6. Install 4 6mm nylon posts and fix them with the M3x5 screws.
 
     <img src="../assets/assembling_clever4_2/frame_7.png" width=300 class="zoom border center">
 
@@ -200,7 +200,7 @@ Install the damper struts, fix *COEX Pix* on them with nylon nuts.
 
     <img src="../assets/assembling_clever4_2/raspberry_11.png" width=300 class="zoom border center">
 
-## Installing LED strip
+## Installing LED strip and legs
 
 1. Assemble the hoop for the LED strip by combining the lock on the ends.
 

docs/en/assembly.md

@@ -0,0 +1,27 @@
+# Clover drone assembly
+
+This section contains articles describing the assembly of each version of Clover.
+
+<table class=versions>
+     <tr><th>Version</th><th>Image</th></tr>
+     <tr>
+          <td><a href="assemble_4_2.md">Clover&nbsp;4.2</a></td>
+          <td><img src="../assets/versions/clover_4.jpg" width=200></td>
+     </tr>
+     <tr>
+          <td><a href="assemble_4_2.md">Clover&nbsp;4.1</a></td>
+          <td><img src="../assets/versions/clover_4.jpg" width=200></td>
+     </tr>
+     <tr>
+          <td><a href="assemble_4_2.md">Clover&nbsp;4</a></td>
+          <td><img src="../assets/versions/clover_4.jpg" width=200></td>
+     </tr>
+     <tr>
+          <td><a href="assemble_4_2.md">Clover&nbsp;3</a></td>
+          <td><img src="../assets/versions/clover_3.jpg" width=200></td>
+     </tr>
+     <tr>
+          <td><a href="assemble_4_2.md">Clover&nbsp;2</a></td>
+          <td><img src="../assets/versions/clover_2.jpg" width=200></td>
+     </tr>
+</table>

docs/en/blocks.md

@@ -0,0 +1,110 @@
+# Blocks programming for Clover
+
+<img src="../assets/blocks/blockly.svg" width=200 align="right">
+
+Visual blocks programming feature has been added to the [RPi image](image.md), starting with the version **0.21**. Blocks programming is implemented using [Google Blockly](https://developers.google.com/blockly) platform. Blocks programming integration can lower the entry barrier to a minimum.
+
+## Configuration
+
+For correct work of the blocks programming, `blocks` argument in the Clover launch-file (`~/catkin_ws/src/clover/clover/launch/clover.launch`) [should be equal to](cli.md#editing) `true`:
+
+```xml
+<arg name="blocks" default="true"/>
+```
+
+## Running
+
+To run Clover's blocks programming interface, [connect to Clover's Wi-Fi](wifi.md) and go to web-page http://192.168.11.1:8080/clover_blocks/ or click the link *Blocks programming* at the [main page](wifi.md#web-interface).
+
+The page looks as follows:
+
+<img src="../assets/blocks/blocks.png" width=600>
+
+Assemble your program using blocks in the menu at the left and then click *Run* button for running. You can also view generated Python-code, switching to *Python* tab.
+
+The *Stop* button stops the program. Clicking *Land* button also stops the program and lands the drone.
+
+## Storing and loading
+
+<img src="../assets/blocks/save.png" width=300 align=right>
+
+To store the program, open the menu at the top right, select *Save* item and input your program's name. The name should contain only Latin characters, hyphen, underline and dot characters. All your stored programs are available at the same menu.
+
+Your programs are stored as XML-files in the `/catkin_ws/src/clover/clover_blocks/programs/` directory of the SD-card.
+
+> **Note** Note also example programs, available at the same menu.
+
+## Blocks
+
+The set of blocks is somewhat similar to the set of ROS-services of [Clover's autonomous flights API](simple_offboard.md). This section contains descriptions of some of them.
+
+Clover's blocks are separated into 4 categories:
+
+* <span style="padding:2px;color:white;background:#9d5ca6">Flight</span> – autonomous flight related commands.
+* <span style="padding:2px;color:white;background:#ff9b00">State</span> – blocks for obtaining the drone state parameters.
+* <span style="padding:2px;color:white;background:#01d754">LED</span> – blocks for controlling [LED strip](leds.md).
+* <span style="padding:2px;color:white;background:#5b97cc">GPIO</span> – blocks for working with [GPIO pins](gpio.md).
+
+The rest of categories contains standard Blockly's blocks.
+
+### take_off
+
+<img src="../assets/blocks/take-off.png" srcset="../assets/blocks/take-off.png 2x">
+
+Take off to specified altitude in meters. The altitude may be an arbitrary block, that returns a number.
+
+The `wait` flag specifies, if the drone should wait until take off is complete, before executing the next block.
+
+### navigate
+
+<img src="../assets/blocks/navigate.png" srcset="../assets/blocks/navigate.png 2x">
+
+Navigate to specified point. Coordinates are specified in meters.
+
+The `wait` flag specifies, if the drone should wait until navigation is complete, before executing the next block.
+
+#### *Relative to* field {#relative_to}
+
+This block allows to specify the [coordinate frame](frames.md) of the target point:
+
+* *body* – coordinates, relative to the drone: *forward*, *left*, *up*.
+* *markers map* – coordinates, relative to the [map of ArUco-markers](aruco_map.md).
+* *marker* – coordinates, relative to an [ArUco-marker](aruco_marker.md); marker's ID input fields appears.
+* *last navigate target* – coordinates, relative to the last specified navigate point.
+* *map* – drone's local coordinate system, linked with the point of its initialization.
+
+### land
+
+<img src="../assets/blocks/land.png" srcset="../assets/blocks/land.png 2x">
+
+Land the drone.
+
+The `wait` flag specifies, if the drone should wait until landing is complete, before executing the next block.
+
+### wait
+
+<img src="../assets/blocks/wait.png" srcset="../assets/blocks/wait.png 2x">
+
+Wait specified time period in seconds. The time period may be an arbitrary block, that returns a number.
+
+### wait_arrival
+
+<img src="../assets/blocks/wait-arrival.png" srcset="../assets/blocks/wait-arrival.png 2x">
+
+Wait, until the drone reaches [navigate](#navigate)-block's target point.
+
+### get_position
+
+<img src="../assets/blocks/get-position.png" srcset="../assets/blocks/get-position.png 2x">
+
+The block returns current position, velocity or yaw angle of the drone relative to the specified [coordinate frame](#relative_to).
+
+### set_effect
+
+<img src="../assets/blocks/set-effect.png" srcset="../assets/blocks/set-effect.png 2x">
+
+The block allows to set animations to LED strip, similarly to [`set_effect`](leds.md#set_effect) ROS-service.
+
+Example of using the block with a random color (colors-related blocks are located in *Colour* category):
+
+<img src="../assets/blocks/random-color.png" srcset="../assets/blocks/random-color.png 2x">

docs/en/book.json

@@ -1,4 +1,5 @@
 {
     "language": "en",
-    "root": "."
+    "root": ".",
+    "structure": {"glossary": "_GLOSSARY.md" }
 }

docs/en/flight.md

@@ -0,0 +1,110 @@
+# Flight
+
+> **Info** See also official PX4 flying guide: https://docs.px4.io/v1.9.0/en/flying/.
+
+This section explains the basics of manual controlling the quadcopter in different modes using radio remote control (for autonomous flying see "[Programming](programming.md)") section.
+
+## Main features of radio remote control
+
+Before you can launch your drone, you need to understand how the radio remote control works.
+
+The drone is controlled using two sticks on the remote control. By default, the left stick controls throttle and yaw, and the right stick controls roll and pitch. These terms are used for all aircraft, from airplanes to quadcopters.
+
+<img src="../assets/flight/rc_basic_commands.svg" width=400 class="zoom center">
+
+* Throttle – is responsible for rotation speed of the motors.
+* Yaw – is responsible for rotation around the vertical axis (Z), clockwise (when tilted to the right) and counterclockwise (when tilted to the left).
+* Pitch – is responsible for tilting or moving forward / backward.
+* Roll – is responsible for tilting or moving left / right.
+
+These descriptions assume the aircraft is turned with its back to the pilot.
+
+<img src="../assets/flight/basic_movements_multicopter.svg" width=400 class="zoom center">
+
+## Flight Modes
+
+Manual flight using the PX4 flight controller can be performed in different flight modes. They determine the radio controller stick assignments and other flight characteristics. For the complete list of flight modes, see the article "[Flight modes](modes.md)".
+
+The main manual modes are described below.
+
+**STABILIZED** - horizontal angle stabilization mode. In this mode, the aircraft will hold the horizon if not controlled. Functions of sticks:
+
+* Throttle – the average speed of rotation of the motors.
+* Yaw – angular velocity around the vertical axis.
+* Pitch – the angle of inclination around the transverse axis (forward / backward).
+* Roll – the angle of inclination around the longitudinal axis (left / right).
+
+**POSCTL** - position holding mode (requires positioning system enabled). Functions of sticks:
+
+* Throttle – vertical flight speed.
+* Yaw – angular velocity around the vertical axis.
+* Pitch – linear speed of the drone (forward / backward).
+* Roll – linear speed of the drone (left / right).
+
+**ACRO** - controlling the average rotational speed of the motors and angular speeds of the drone. This mode is the most difficult to fly and is most often used by drone racers and 3D piloting shows to perform tricks. Functions of sticks:
+
+* Throttle – the average speed of rotation of the motors.
+* Yaw – angular velocity around the vertical axis.
+* Pitch – angular velocity around the transverse axis (forward / backward).
+* Roll – angular velocity around the longitudinal axis (left / right).
+
+> **Info** Other flight controllers may have different names for similar flight modes.
+
+## Preparing to fly
+
+### Installing propellers and batteries
+
+1. Install the battery strap.
+
+    <img src="../assets/assembling_clever4_2/final_1.png" width=300 class="zoom border center">
+
+2. Set the propellers according to the [motor direction pattern](#prop_rotation).
+
+    <img src="../assets/assembling_clever4_2/final_3.png" width=300 class="zoom border center">
+
+3. Attach the buzzer and install the battery.
+
+    <div class="image-group">
+        <img src="../assets/flight/buzzer_acb.jpg" width=200 class="zoom border">
+        <img src="../assets/assembling_clever4_2/final_4.png" width=300 class="zoom border">
+    </div>
+
+### Setting the buzzer
+
+In order not to over-discharge or damage the battery, it is recommended to use a voltage indicator (*buzzer*).
+
+To configure the buzzer, connect it to the balance connector of your battery. By pressing the button, change the minimum voltage on the cells. The optimal value for the minimum voltage is *3.5-3.6 V*.
+
+<div class="image-group">
+    <img src="../assets/flight/buzzer_connection.jpg" width=300 class="zoom border">
+    <img src="../assets/flight/buzzer.jpg" width=300 class="zoom border">
+</div>
+
+### Flight readiness states
+
+Before starting the flight, the aircraft must be in the *Armed* state.
+
+* *Armed* state – motors rotate according to throttle stick position, copter is ready to fly.
+* *Disarmed* state – motors do not rotate, copter does not respond to throttle stick.
+
+By default, the aircraft is in the *Disarmed* state and switches to it automatically if you do not take off for a long time.
+
+There are several ways to change the copter's state to *Armed*:
+
+* Using the stick – move the left stick down to the right and wait a couple of seconds.
+
+  <img src="../assets/flight/controller_arm.jpg" width=300 class="zoom center">
+
+* Using the toggle switch – the Armed / Disarmed states can be set to one of the toggle switches. For more information on setting up, see the article on [flight modes](modes.md).
+* With QGC – you can arm your drone programmatically. To do this, click on the *Disarmed* label in the header and select another state.
+* In the [user program](programming.md) – the copter can switch to *Armed* state if the `auto_arm=True` argument is specified in the navigation command, such as `navigate`, `set_position`, etc.
+
+### Kill switch
+
+When the *Kill Switch* is activated, no control signals are sent to the motors and the motors stop rotating. This function is used in extreme cases, for example, if you lose control of the aircraft.
+
+> **Caution** Be careful, *Kill Switch* does not put the copter into *Disarmed* state!
+
+Before disabling the *Kill Switch*, make sure the throttle stick is its down position and the aircraft is in *Disarmed* state. If the throttle stick is not in the lower position, when the *Kill Switch* is turned off, a signal corresponding to the stick position will be sent to the motors, which will lead your copter to jerk.
+
+**Next**: [Drone control exercises](flight_exercises.md).

docs/en/flight_exercises.md

@@ -0,0 +1,149 @@
+# Drone control exercises
+
+The following are the recommended exercises for novice pilots. Repeat each exercise as many times as necessary until you feel confident in it.
+
+> **Hint** In case there is a person nearby who can control a copter, use [trainer mode](trainer_mode.md).
+
+<!---->
+
+> **Hint** The first flights are strongly recommended to be performed behind a protective grid. In the absence of such, the flight area must be at least 6x6&nbsp;m.
+
+## Turning on/off motors, changing flight modes
+
+> **Hint** For convenience, connect to the aircraft using [QGC over Wi-Fi](gcs_bridge.md) and turn on the sound. This will allow you to monitor the change in flight modes. If you cannot connect via Wi-Fi, connect via USB to check flight modes.
+
+Be sure to set the flight mode to one of the toggle switches. To do this, switch the toggle to different positions and make sure that the mode change.
+
+It is recommended to configure *Kill Switch*. To check it, follow these steps:
+
+* Turn on *Kill Switch*, make sure QGC has a notification.
+* Put the aircraft in *Armed* state and then enable *Kill Switch*. Make sure the motors stop. Then switch the *Kill Switch* to its original position. If the aircraft haven't automatically entered the *Disarmed* state due to inactivity, the motors will start rotating again.
+
+> **Caution** Set the aircraft to *Armed* state on the flight zone only.
+
+Make sure modes switching is assigned to toggle switch that is convenient for you. Otherwise, change it according to the [article on setting flight modes](modes.md). Repeat the above steps several times in order to remember which toggle switches are responsible for what.
+
+## Working with throttle
+
+The first step is to feel the responsiveness of the copter to the movement of the throttle stick and learn how to control it. Each drone has slightly different power reserves and therefore lifts off the ground at different stick positions.
+
+For this exercise, only the throttle stick should be used. It is recommended not to use the rest of the sticks during the exercise.
+
+The main tasks of the exercise:
+
+1. Drift of the copter on the ground without taking off the ground.
+
+### Preflight checks
+
+Do the following before takeoff:
+
+1. Check the integrity of the aircraft and the propellers are clear to rotate.
+2. Make sure the aircraft is with its back toward you.
+3. Turn on the aircraft by connecting the battery.
+4. Move back to a safe distance. It is recommended to maintain a minimum distance of 4-5 m to the aircraft.
+5. Make sure the aircraft is in *Stabilized* mode.
+
+Do not try to lift the copter off the ground right away, find the lowest possible stick position for the copter to start drifting on the ground. Failure to do so may result in damage or injury.
+
+> **Caution** If you lose control of the aircraft, you must immediately turn on *Kill Switch*.
+
+**Exercise №1**. Slowly lift the throttle stick up until the aircraft starts to move. At this point, it will begin to slowly drift on the ground. Leave the throttle stick in this position and wait a couple of seconds, then move the throttle stick to its original position to land the aircraft. After landing the aircraft, turn off the motors by switching to *Disarmed* state. Repeat the exercise 5–10 times to get better feel for the copter's throttle stick response.
+
+**Exercise №2**. Slowly lift the throttle stick up until the aircraft starts to lift slightly off the ground. Leave the throttle stick in this position and wait a couple of seconds, then land the aircraft as in Exercise №1. Repeat the exercise 5–10 times.
+
+**Exercise №3**. Raise the throttle stick until the aircraft starts to drift on the ground, wait a second and continue increasing the throttle until the aircraft starts to lift off the ground, wait a second and land the aircraft. To consolidate, repeat the exercises 5–10 times, increasing the number of repetitions if necessary.
+
+## Working with roll and pitch
+
+After mastering the throttle control of the copter, it is necessary to learn how to control its horizontal position. The right stick on the remote control is responsible for this.
+
+Manipulating these axes is intuitive:
+
+* Stick tilted forward (up) - aircraft moves forward.
+* Stick tilted back (down) - aircraft moves backward.
+* Stick tilted to the right - aircraft moves to the right.
+* Stick tilted to the left - aircraft moves to the left.
+
+The more the stick is tilted to the side, the more the aircraft will tilt to the side and the faster it moves.
+
+The main tasks of the exercise:
+
+1. Flying along the X axis, forward / backward.
+2. Flying along the Y axis, left / right.
+3. Stabilization of the copter in one place.
+4. Flying in a square clockwise and counterclockwise.
+
+> **Hint** Always stay behind the aircraft with the rear facing towards you, otherwise you may lose control over it by mixing sides.
+
+As with throttle control, perform [the following steps](#preflight-checks) before flying.
+
+> **Hint** If the aircraft is spinning strongly around its axis, land it and recalibrate the magnetometer and gyroscope.
+
+**Exercise №1**. Similar to throttle exercises, raise the throttle stick until the aircraft starts to drift on the ground or bounce a little, then release the throttle stick, leaving it in that position, and raise the pitch stick, first up for a second, then down. The copter will gradually move away from you and then towards you. Repeat the exercise 5–10 times until you feel the copter's responsiveness to the stick movement.
+
+**Exercise №2**. Raise the throttle stick until the aircraft starts to drift, then leave it and move the roll stick first to the right for a second, then to the left. The aircraft will gradually move first to the right and then to the left. Repeat the exercise 5–10 times until you feel the copter's responsiveness to the stick movement.
+
+**Exercise №3**. Raise the throttle stick until the aircraft starts to drift, then leave it. Combine the first and second exercises and try to stabilize the aircraft at one point, compensating for its drift with the stick. Hold the aircraft for 50–60 seconds.
+
+**Exercise №4**. Raise the throttle stick until the aircraft starts to drift, then leave it. When you feel the copter's responsiveness to stick changes, make a "square" shape with a side of 1 m, first clockwise and then counterclockwise. Perform the figures 2–3 times.
+
+## Air cushion and control in it
+
+The concept of *air cushion* is very important for all flying vehicles. The air cushion itself is a zone of increased pressure created by the air being forced through the propellers. This area is characterized by turbulence and air currents affecting the flight of the copter.
+
+Pilots try to avoid flying in an air cushion, but there is a stable area at the boundary where the aircraft can hover at minimum throttle. In this case, it feels like the copter has "sat down" on an air cushion.
+
+The main feature and advantage of such a flight is that the copter will not change altitude with one throttle value.
+
+Main tasks:
+
+1. Stabilization of the copter in one place.
+2. Flying in a square.
+3. Flying in a circle.
+
+Similarly to the previous exercises, perform [the following steps](#pre-flight-checks) before take off.
+
+**Exercise №1**. Raise the throttle stick until the copter flies over the air cushion and is above it (height from floor ~ 25-30 cm, for Clover 4 copter). The aircraft should not climb up or fall down, the flight altitude should stabilize. As in the previous exercise, adjust the X and Y position of the aircraft using the roll and pitch sticks. As a result, the copter should hover at one point with slight wiggle to the sides. Hold the aircraft for 30–40 seconds.
+
+**Exercise №2**. Raise the aircraft on the air cushion and stabilize it at one point. Next, fly over a square with a side of 1 m, first clockwise, then counterclockwise. Repeat the path 2–3 times in each direction.
+
+**Exercise №3**. Raise the aircraft on the air cushion and stabilize it at one point. Try to fly a circle with the copter around 1 m in diameter, clockwise and counterclockwise. Repeat the path 2–3 times in each direction.
+
+## Working with yaw
+
+In the visual control of multicopter devices, yaw does not play as important role as with fixed wing vehicles, since the copter can move in any direction regardless of where it is directed.
+
+> **Info** The term *yaw* refers to the rotation of the aircraft around the vertical axis.
+
+Main tasks:
+
+1. Rotate the copter, orienting the rear of the copter towards you.
+2. Turning around the copter, orienting the rear part towards you.
+
+It is recommended that you find plenty of free space for the exercises presented.
+
+Similarly to previous exercises, perform [preflight checks](#preflight-checks) before takeoff.
+
+**Exercise №1**. Raise the aircraft on the air cushion and stabilize it at one point. Fly a circle around you with the copter, at a distance of 2–3 m, while rotating it so that the back of the copter is always directed towards you. Do the exercise clockwise and counterclockwise. Repeat the exercise 4–5 times.
+
+**Exercise №2**. Raise the aircraft on the air cushion and stabilize it at one point. Walk around the aircraft while turning it so that the rear is facing you. Walk around the aircraft clockwise and counterclockwise. Repeat the exercise 4–5 times.
+
+> **Caution** Additional exercises are much more difficult than usual and are not required. Only proceed with them if you are already confidently flying the copter.
+
+**Additional exercise №1**. Raise the aircraft on the air cushion and stabilize it at one point. Face the aircraft with its front facing you and try to fly it backwards.
+
+**Additional exercise №2**. Raise the aircraft on the air cushion and stabilize it at one point. Fly so that the front of the aircraft is always facing the direction of the aircraft.
+
+## Free flight
+
+If you can complete each of the exercises described above, chances are you already know how to freely take off and fly the aircraft. Some exercises will be presented below to consolidate the acquired skills.
+
+Exercises:
+
+* Flying in a vertical square.
+* Flying along the sides of the cube.
+* Flying in a vertical circle.
+* Flight of the eight.
+* Ascent of the copter in a spiral.
+
+Strengthen the acquired skills as many times as necessary for you.

docs/en/frames.md

@@ -8,7 +8,7 @@ Main frames in the `clover` package:
 * `map` has its origin at the flight controller initialization point and may be considered stationary. It is shown as a white grid on the image above;
 * `base_link` is rigidly bound to the drone. It is shown by the simplified drone model on the image above;
 * `body` is bound to the drone, but its Z axis points up regardless of the drone's pitch and roll. It is shown by the red, blue and green lines in the illustration;
-* `navigate_target` is bound to the current navigation target (as set by the [navigate](simple_offboard.md#navigate) service);
+* <a name="navigate_target"></a>`navigate_target` is bound to the current navigation target (as set by the [navigate](simple_offboard.md#navigate) service);
 * `setpoint` is current position setpoint.
 
 Additional frames become available when [ArUco positioning system](aruco.md) is active: