Try to fix

This reverts commit f25816f2d5.

.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/*

.markdownlint.json

@@ -22,6 +22,7 @@
             "ROS Kinetic",
             "ROS Melodic",
             "OpenCV",
+            "OpenVPN",
             "Gazebo",
             "GitHub",
             "FPV",
@@ -106,7 +107,9 @@
             "UDP",
             "QR",
             "Li-ion",
-            "Nvidia"
+            "Nvidia",
+            "VirtualBox",
+            "VMware"
         ],
         "code_blocks": false
     },

.travis.yml

@@ -1,4 +1,5 @@
-sudo: required
+os: linux
+dist: xenial
 language: generic
 services:
   - docker
@@ -6,10 +7,10 @@ env:
   global:
     - DOCKER="sfalexrog/img-tool:qemu-update"
     - TARGET_REPO="https://github.com/${TRAVIS_REPO_SLUG}.git"
-    - if [[ -z ${TRAVIS_TAG} ]]; then IMAGE_VERSION="${TRAVIS_COMMIT}}"; else IMAGE_VERSION="${TRAVIS_TAG}"; fi
+    - IMAGE_VERSION=${TRAVIS_TAG:-${TRAVIS_COMMIT:0:7}}
     - IMAGE_NAME="$(basename -s '.git' ${TARGET_REPO})_${IMAGE_VERSION}.img"
 git:
-  depth: 50
+  depth: 1
 jobs:
   fast_finish: true
   include:
@@ -35,15 +36,16 @@ jobs:
           fi
       before_cache:
         - cp images/*.zip imgcache
+      after_success:
+        - sudo chmod -R 777 *
+        - cd images && zip -9 ${IMAGE_NAME}.zip ${IMAGE_NAME} && stat --printf="Compressed image size:%s\n" ${IMAGE_NAME}.zip
       before_deploy:
         # Set up git user name and tag this commit
         - git config --local user.name "goldarte"
         - git config --local user.email "goldartt@gmail.com"
-        - sudo chmod -R 777 *
-        - cd images && zip ${IMAGE_NAME}.zip ${IMAGE_NAME}
       deploy:
         provider: releases
-        api_key: ${GITHUB_OAUTH_TOKEN}
+        token: ${GITHUB_OAUTH_TOKEN}
         file: ${IMAGE_NAME}.zip
         skip_cleanup: true
         on:
@@ -72,8 +74,11 @@ jobs:
       node_js:
         - "10"
       before_script:
+        - sudo sh -c "echo ttf-mscorefonts-installer msttcorefonts/accepted-mscorefonts-eula select true | debconf-set-selections"
+        - sudo apt update && sudo apt install -y calibre msttcorefonts
         - npm install gitbook-cli -g
         - npm install markdownlint-cli -g
+        - npm install svgexport -g
         - gitbook -V
         - markdownlint -V
       script:
@@ -82,26 +87,19 @@ jobs:
         - ./check_unused_assets.py
         - gitbook install
         - gitbook build
+        - gitbook pdf ./ _book/clover.pdf
       deploy:
         provider: pages
-        local-dir: _book
+        local_dir: _book
-        skip-cleanup: true
+        skip_cleanup: true
-        github-token: ${GITHUB_OAUTH_TOKEN}
+        token: ${GITHUB_OAUTH_TOKEN}
-        keep-history: true
+        keep_history: true
-        target-branch: master
+        target_branch: master
-        repo: CopterExpress/clever.coex.tech
+        repo: CopterExpress/clover.coex.tech
-        fqdn: clever.coex.tech
+        fqdn: clover.coex.tech
         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
@@ -109,10 +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"
+        - ./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/

README.md

@@ -1,103 +1,42 @@
-# CLEVER
+# clover🍀: create autonomous drones easily
 
-<img src="docs/assets/clever4-front-white.png" align="right" width="400px" alt="CLEVER drone">
+<img src="docs/assets/clover42-main.png" align="right" width="400px" alt="COEX Clover Drone">
 
-CLEVER (Russian: *"Клевер"*, meaning *"Clover"*) is an educational programmable drone kit consisting of an unassembled quadcopter, open source software and documentation. The kit includes Pixhawk/Pixracer autopilot running PX4 firmware, Raspberry Pi 3 as companion computer, a camera for computer vision navigation as well as additional sensors and peripheral devices.
+Clover is an open source [ROS](https://www.ros.org)-based framework, providing user-friendly tools to control [PX4](https://px4.io)-powered drones. Clover is available as a ROS package, but is shipped mainly as a preconfigured image for Raspberry Pi. Once you've installed Raspberry Pi on your drone and flashed the image to its microSD card, taking the drone up in the air is a matter of minutes.
 
-Copter Express has implemented a large number of different autonomous drone projects using exactly the same platform: [automated pizza delivery](https://www.youtube.com/watch?v=hmkAoZOtF58) in Samara and Kazan, coffee delivery in Skolkovo Innovation Center, [autonomous quadcopter with charging station](https://www.youtube.com/watch?v=RjX6nUqw1mI) for site monitoring and security, winning drones on [Robocross-2016](https://www.youtube.com/watch?v=dGbDaz_VmYU) and [Robocross-2017](https://youtu.be/AQnd2CRczbQ) competitions and many others.
+COEX Clover Drone is an educational programmable drone kit, suited perfectly for running clover software. The kit is shipped unassembled and includes Pixracer-compatible autopilot running PX4 firmware, Raspberry Pi 4 as a companion computer, a camera for computer vision navigation as well as additional sensors and peripheral devices. Batteries included.
 
-**The main documentation is available [on Gitbook](https://clever.coex.tech/).**
+The main documentation is available at [https://clover.coex.tech](https://clover.coex.tech/). Official website: [coex.tech/clover](https://coex.tech/clover).
 
-Use it to learn how to assemble, configure, pilot and program autonomous CLEVER drone.
+[__Support us on Kickstarter!__](https://www.kickstarter.com/projects/copterexpress/cloverdrone)
+
+## Video compilation
+
+[![Clover Drone Kit autonomy compilation](http://img.youtube.com/vi/u3omgsYC4Fk/hqdefault.jpg)](https://youtu.be/u3omgsYC4Fk)
+
+Clover drone is used on a wide range of educational events, including [Copter Hack](https://www.youtube.com/watch?v=xgXheg3TTs4), WorldSkills Drone Operation competition, [Autonomous Vehicles Track of NTI Olympics 2016–2020](https://www.youtube.com/watch?v=E1_ehvJRKxg), Quadro Hack 2019 (National University of Science and Technology MISiS), Russian Robot Olympiad (autonomous flights), and others.
 
 ## Raspberry Pi image
 
-**Preconfigured image for Raspberry Pi 3 with installed and configured software, ready to fly, is available [in the Releases section](https://github.com/CopterExpress/clever/releases).**
+Preconfigured image for Raspberry Pi with installed and configured software, ready to fly, is available [in the Releases section](https://github.com/CopterExpress/clover/releases).
 
-[![Build Status](https://travis-ci.org/CopterExpress/clever.svg?branch=master)](https://travis-ci.org/CopterExpress/clever)
+[![Build Status](https://travis-ci.org/CopterExpress/clover.svg?branch=master)](https://travis-ci.org/CopterExpress/clover)
 
-Image includes:
+Image features:
 
 * Raspbian Buster
-* ROS Melodic
+* [ROS Melodic](http://wiki.ros.org/melodic)
 * Configured networking
 * OpenCV
-* mavros
+* [`mavros`](http://wiki.ros.org/mavros)
-* Periphery drivers (`pigpiod`, `rpi_ws281x`, etc)
+* Periphery drivers for ROS ([GPIO](https://clover.coex.tech/en/gpio.html), [LED strip](https://clover.coex.tech/en/leds.html), etc)
-* CLEVER software bundle for autonomous drone control
+* `aruco_pose` package for marker-assisted navigation
+* `clover` package for autonomous drone control
 
-API description (in Russian) for autonomous flights is available [on GitBook](https://clever.coex.tech/simple_offboard.html).
+API description for autonomous flights is available [on GitBook](https://clover.coex.tech/en/simple_offboard.html).
 
-## Manual installation
+For manual package installation and running see [`clover` package documentation](clover/README.md).
-
-Install ROS Melodic according to the [documentation](http://wiki.ros.org/melodic/Installation), then [create a Catkin workspace](http://wiki.ros.org/catkin/Tutorials/create_a_workspace).
-
-Clone this repo to directory `~/catkin_ws/src/clever`:
-
-```bash
-cd ~/catkin_ws/src
-git clone https://github.com/CopterExpress/clever.git clever
-```
-
-All the required ROS packages (including `mavros` and `opencv`) can be installed using `rosdep`:
-
-```bash
-cd ~/catkin_ws/
-rosdep install -y --from-paths src --ignore-src
-```
-
-Build ROS packages (on memory constrained platforms you might be going to need to use `-j1` key):
-
-```bash
-cd ~/catkin_ws
-catkin_make -j1
-```
-
-To complete `mavros` install you'll need to install `geographiclib` datasets:
-
-```bash
-curl https://raw.githubusercontent.com/mavlink/mavros/master/mavros/scripts/install_geographiclib_datasets.sh | sudo bash
-```
-
-You may optionally install udev rules to provide `/dev/px4fmu` symlink to your PX4-based flight controller connected over USB. Copy `99-px4fmu.rules` to your `/lib/udev/rules.d` folder:
-
-```bash
-cd ~/catkin_ws/src/clever/clever/config
-sudo cp 99-px4fmu.rules /lib/udev/rules.d
-```
-
-Alternatively you may change the `fcu_url` property in `mavros.launch` file to point to your flight controller device.
-
-## Running
-
-Enable systemd service `roscore` (if not running):
-
-```bash
-sudo systemctl enable /home/<username>/catkin_ws/src/clever/builder/assets/roscore.service
-sudo systemctl start roscore
-```
-
-To start connection to SITL, use:
-
-```bash
-roslaunch clever sitl.launch
-```
-
-To start connection to the flight controller, use:
-
-```bash
-roslaunch clever clever.launch
-```
-
-> Note that the package is configured to connect to `/dev/px4fmu` by default (see [previous section](#manual-installation)). Install udev rules or specify path to your FCU device in `mavros.launch`.
-
-Also, you can enable and start the systemd service:
-
-```bash
-sudo systemctl enable /home/<username>/catkin_ws/src/clever/deploy/clever.service
-sudo systemctl start clever
-```
 
 ## License
 
-While the Clever platform source code is available under the MIT License, note, that the [documentation](docs/) is licensed under the Creative Commons Attribution-NonCommercial-ShareAlike 4.0 International License.
+While the Clover platform source code is available under the MIT License, note, that the [documentation](docs/) is licensed under the Creative Commons Attribution-NonCommercial-ShareAlike 4.0 International License.

aruco_pose/CHANGELOG.rst

@@ -0,0 +1,8 @@
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+Changelog for package aruco_pose
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+0.21.1 (2020-11-17)
+-------------------
+* First release of aruco_pose package to ROS
+* Contributors: Alamoris, Alexey Rogachevskiy, Arthur Golubtsov, Ilya Petrov, Oleg Kalachev

aruco_pose/CMakeLists.txt

@@ -1,8 +1,6 @@
 cmake_minimum_required(VERSION 3.0)
 project(aruco_pose)
 
-add_definitions(-std=c++11 -Wall -g)
-
 ## Compile as C++11, supported in ROS Kinetic and newer
 add_compile_options(-std=c++11)
 
@@ -25,7 +23,7 @@ find_package(catkin REQUIRED COMPONENTS
 )
 
 find_package(OpenCV 3 REQUIRED COMPONENTS core imgproc calib3d)
-if ("${OpenCV_VERSION_MINOR}" LESS "3")
+if ("${OpenCV_VERSION_MINOR}" LESS "9")
   message(STATUS "OpenCV version too low, using vendored ArUco package")
   include(vendor/VendorOpenCV.cmake)
 else()
@@ -229,4 +227,5 @@ if (CATKIN_ENABLE_TESTING)
   add_rostest(test/test_parser_empty_map.test)
   add_rostest(test/test_node_failure.test)
   add_rostest(test/largemap.test)
+  add_rostest(test/crash_opencv.test)
 endif()

aruco_pose/cfg/DetectorParams.cfg

@@ -8,6 +8,8 @@ p = cv2.aruco.DetectorParameters_create()
 
 gen = ParameterGenerator()
 
+gen.add("enabled", bool_t, 0, "if detection enabled", True)
+
 gen.add("adaptiveThreshConstant",                 double_t, 0,
         "Constant for adaptive thresholding before finding contours",
          p.adaptiveThreshConstant, 0, 100)

aruco_pose/package.xml

@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="2">
   <name>aruco_pose</name>
-  <version>0.0.1</version>
+  <version>0.21.1</version>
   <description>Positioning with ArUco markers</description>
 
   <maintainer email="okalachev@gmail.com">Oleg Kalachev</maintainer>

aruco_pose/src/aruco_detect.cpp

@@ -58,11 +58,11 @@ using cv::Mat;
 
 class ArucoDetect : public nodelet::Nodelet {
 private:
-	ros::NodeHandle nh_, nh_priv_;
+	std::unique_ptr<tf2_ros::TransformBroadcaster> br_;
-	tf2_ros::TransformBroadcaster br_;
+	std::unique_ptr<tf2_ros::Buffer> tf_buffer_;
-	tf2_ros::Buffer tf_buffer_;
+	std::unique_ptr<tf2_ros::TransformListener> tf_listener_;
-	tf2_ros::TransformListener tf_listener_{tf_buffer_};
 	std::shared_ptr<dynamic_reconfigure::Server<aruco_pose::DetectorConfig>> dyn_srv_;
+	bool enabled_ = true;
 	cv::Ptr<cv::aruco::Dictionary> dictionary_;
 	cv::Ptr<cv::aruco::DetectorParameters> parameters_;
 	image_transport::Publisher debug_pub_;
@@ -81,30 +81,32 @@ private:
 public:
 	virtual void onInit()
 	{
-		nh_ = getNodeHandle();
+		ros::NodeHandle& nh_ = getNodeHandle();
-		nh_priv_ = getPrivateNodeHandle();
+		ros::NodeHandle& nh_priv_ = getPrivateNodeHandle();
+
+		br_.reset(new tf2_ros::TransformBroadcaster());
+		tf_buffer_.reset(new tf2_ros::Buffer());
+		tf_listener_.reset(new tf2_ros::TransformListener(*tf_buffer_, nh_));
 
 		int dictionary;
-		nh_priv_.param("dictionary", dictionary, 2);
+		dictionary = nh_priv_.param("dictionary", 2);
-		nh_priv_.param("estimate_poses", estimate_poses_, true);
+		estimate_poses_ = nh_priv_.param("estimate_poses", true);
-		nh_priv_.param("send_tf", send_tf_, true);
+		send_tf_ = nh_priv_.param("send_tf", true);
 		if (estimate_poses_ && !nh_priv_.getParam("length", length_)) {
 			NODELET_FATAL("can't estimate marker's poses as ~length parameter is not defined");
 			ros::shutdown();
 		}
-		readLengthOverride();
+		readLengthOverride(nh_priv_);
 
-		nh_priv_.param<std::string>("known_tilt", known_tilt_, "");
+		known_tilt_ = nh_priv_.param<std::string>("known_tilt", "");
-		nh_priv_.param("auto_flip", auto_flip_, false);
+		auto_flip_ = nh_priv_.param("auto_flip", false);
 
-		nh_priv_.param<std::string>("frame_id_prefix", frame_id_prefix_, "aruco_");
+		frame_id_prefix_ = nh_priv_.param<std::string>("frame_id_prefix", "aruco_");
 
 		camera_matrix_ = cv::Mat::zeros(3, 3, CV_64F);
-		dist_coeffs_ = cv::Mat::zeros(8, 1, CV_64F);
 
 		dictionary_ = cv::aruco::getPredefinedDictionary(static_cast<cv::aruco::PREDEFINED_DICTIONARY_NAME>(dictionary));
 		parameters_ = cv::aruco::DetectorParameters::create();
-		parameters_->cornerRefinementMethod = cv::aruco::CORNER_REFINE_SUBPIX;
 
 		image_transport::ImageTransport it(nh_);
 		image_transport::ImageTransport it_priv(nh_priv_);
@@ -127,6 +129,8 @@ public:
 private:
 	void imageCallback(const sensor_msgs::ImageConstPtr& msg, const sensor_msgs::CameraInfoConstPtr &cinfo)
 	{
+		if (!enabled_) return;
+
 		Mat image = cv_bridge::toCvShare(msg, "bgr8")->image;
 
 		vector<int> ids;
@@ -170,8 +174,8 @@ private:
 
 				if (!known_tilt_.empty()) {
 					try {
-						snap_to = tf_buffer_.lookupTransform(msg->header.frame_id, known_tilt_,
+						snap_to = tf_buffer_->lookupTransform(msg->header.frame_id, known_tilt_,
-						                                     msg->header.stamp, ros::Duration(0.02));
+						                                      msg->header.stamp, ros::Duration(0.02));
 					} catch (const tf2::TransformException& e) {
 						NODELET_WARN_THROTTLE(5, "can't snap: %s", e.what());
 					}
@@ -205,7 +209,7 @@ private:
 						if (map_markers_ids_.find(ids[i]) == map_markers_ids_.end()) {
 							transform.transform.rotation = marker.pose.orientation;
 							fillTranslation(transform.transform.translation, tvecs[i]);
-							br_.sendTransform(transform);
+							br_->sendTransform(transform);
 						}
 					}
 				}
@@ -326,10 +330,10 @@ private:
 		return frame_id_prefix_ + std::to_string(id);
 	}
 
-	void readLengthOverride()
+	void readLengthOverride(ros::NodeHandle& nh)
 	{
 		std::map<std::string, double> length_override;
-		nh_priv_.getParam("length_override", length_override);
+		nh.getParam("length_override", length_override);
 		for (auto const& item : length_override) {
 			length_override_[std::stoi(item.first)] = item.second;
 		}
@@ -355,6 +359,7 @@ private:
 
 	void paramCallback(aruco_pose::DetectorConfig &config, uint32_t level)
 	{
+		enabled_ = config.enabled;
 		parameters_->adaptiveThreshConstant = config.adaptiveThreshConstant;
 		parameters_->adaptiveThreshWinSizeMin = config.adaptiveThreshWinSizeMin;
 		parameters_->adaptiveThreshWinSizeMax = config.adaptiveThreshWinSizeMax;

aruco_pose/src/aruco_map.cpp

@@ -58,7 +58,6 @@ typedef message_filters::sync_policies::ExactTime<Image, CameraInfo, MarkerArray
 
 class ArucoMap : public nodelet::Nodelet {
 private:
-	ros::NodeHandle nh_, nh_priv_;
 	ros::Publisher img_pub_, pose_pub_, markers_pub_, vis_markers_pub_;
 	image_transport::Publisher debug_pub_;
 	message_filters::Subscriber<Image> image_sub_;
@@ -83,8 +82,8 @@ private:
 public:
 	virtual void onInit()
 	{
-		nh_ = getNodeHandle();
+		ros::NodeHandle &nh_ = getNodeHandle();
-		nh_priv_ = getPrivateNodeHandle();
+		ros::NodeHandle &nh_priv_ = getPrivateNodeHandle();
 
 		image_transport::ImageTransport it_priv(nh_priv_);
 
@@ -96,19 +95,18 @@ public:
 		board_->dictionary = cv::aruco::getPredefinedDictionary(
 			                 static_cast<cv::aruco::PREDEFINED_DICTIONARY_NAME>(nh_priv_.param("dictionary", 2)));
 		camera_matrix_ = cv::Mat::zeros(3, 3, CV_64F);
-		dist_coeffs_ = cv::Mat::zeros(8, 1, CV_64F);
 
 		std::string type, map;
-		nh_priv_.param<std::string>("type", type, "map");
+		type = nh_priv_.param<std::string>("type", "map");
-		nh_priv_.param<std::string>("frame_id", transform_.child_frame_id, "aruco_map");
+		transform_.child_frame_id = nh_priv_.param<std::string>("frame_id", "aruco_map");
-		nh_priv_.param<std::string>("known_tilt", known_tilt_, "");
+		known_tilt_ = nh_priv_.param<std::string>("known_tilt", "");
-		nh_priv_.param("auto_flip", auto_flip_, false);
+		auto_flip_ = nh_priv_.param("auto_flip", false);
-		nh_priv_.param("image_width", image_width_, 2000);
+		image_width_ = nh_priv_.param("image_width" , 2000);
-		nh_priv_.param("image_height", image_height_, 2000);
+		image_height_ = nh_priv_.param("image_height", 2000);
-		nh_priv_.param("image_margin", image_margin_, 200);
+		image_margin_ = nh_priv_.param("image_margin", 200);
-		nh_priv_.param("image_axis", image_axis_, true);
+		image_axis_ = nh_priv_.param("image_axis", true);
-		nh_priv_.param<std::string>("markers/frame_id", markers_parent_frame_, transform_.child_frame_id);
+		markers_parent_frame_ = nh_priv_.param<std::string>("markers/frame_id", transform_.child_frame_id);
-		nh_priv_.param<std::string>("markers/child_frame_id_prefix", markers_frame_, "");
+		markers_frame_ = nh_priv_.param<std::string>("markers/child_frame_id_prefix", "");
 
 		// createStripLine();
 
@@ -116,7 +114,7 @@ public:
 			param(nh_priv_, "map", map);
 			loadMap(map);
 		} else if (type == "gridboard") {
-			createGridBoard();
+			createGridBoard(nh_priv_);
 		} else {
 			NODELET_FATAL("unknown type: %s", type.c_str());
 			ros::shutdown();
@@ -331,7 +329,7 @@ publish_debug:
 		NODELET_INFO("loading %s complete (%d markers)", filename.c_str(), static_cast<int>(board_->ids.size()));
 	}
 
-	void createGridBoard()
+	void createGridBoard(ros::NodeHandle& nh)
 	{
 		NODELET_INFO("generate gridboard");
 		NODELET_WARN("gridboard maps are deprecated");
@@ -339,15 +337,15 @@ publish_debug:
 		int markers_x, markers_y, first_marker;
 		double markers_side, markers_sep_x, markers_sep_y;
 		std::vector<int> marker_ids;
-		nh_priv_.param<int>("markers_x", markers_x, 10);
+		markers_x = nh.param("markers_x", 10);
-		nh_priv_.param<int>("markers_y", markers_y, 10);
+		markers_y = nh.param("markers_y", 10);
-		nh_priv_.param<int>("first_marker", first_marker, 0);
+		first_marker = nh.param("first_marker", 0);
 
-		param(nh_priv_, "markers_side", markers_side);
+		param(nh, "markers_side", markers_side);
-		param(nh_priv_, "markers_sep_x", markers_sep_x);
+		param(nh, "markers_sep_x", markers_sep_x);
-		param(nh_priv_, "markers_sep_y", markers_sep_y);
+		param(nh, "markers_sep_y", markers_sep_y);
 
-		if (nh_priv_.getParam("marker_ids", marker_ids)) {
+		if (nh.getParam("marker_ids", marker_ids)) {
 			if ((unsigned int)(markers_x * markers_y) != marker_ids.size()) {
 				NODELET_FATAL("~marker_ids length should be equal to ~markers_x * ~markers_y");
 				ros::shutdown();
@@ -394,7 +392,7 @@ publish_debug:
 		int num_markers = board_->dictionary->bytesList.rows;
 		if (num_markers <= id) {
 			NODELET_ERROR("Marker id %d is not in dictionary; current dictionary contains %d markers. "
-			              "Please see https://github.com/CopterExpress/clever/blob/master/aruco_pose/README.md#parameters for details",
+			              "Please see https://github.com/CopterExpress/clover/blob/master/aruco_pose/README.md#parameters for details",
 					  id, num_markers);
 			return;
 		}

aruco_pose/src/genmap.py

@@ -1,4 +1,4 @@
-#!/usr/bin/env python3
+#!/usr/bin/env python
 
 # Copyright (C) 2018 Copter Express Technologies
 #
@@ -13,7 +13,7 @@
 Generate map file for aruco_map nodelet.
 
 Usage:
-  genmap.py <length> <x> <y> <dist_x> <dist_y> [<first>] [--top-left | --bottom-left]
+  genmap.py <length> <x> <y> <dist_x> <dist_y> [<first>] [<x0>] [<y0>] [--top-left | --bottom-left]
   genmap.py (-h | --help)
 
 Options:
@@ -23,6 +23,8 @@ Options:
   <dist_x>       Distance between markers along X axis
   <dist_y>       Distance between markers along Y axis
   <first>        First marker ID [default: 0]
+  <x0>           X coordinate for the first marker [default: 0]
+  <y0>           Y coordinate for the first marker [default: 0]
   --top-left     First marker is on top-left (default)
   --bottom-left  First marker is on bottom-left
 
@@ -39,20 +41,22 @@ arguments = docopt(__doc__)
 
 length = float(arguments['<length>'])
 first = int(arguments['<first>'] if arguments['<first>'] is not None else 0)
+x0 = float(arguments['<x0>'] if arguments['<x0>'] is not None else 0)
+y0 = float(arguments['<y0>'] if arguments['<y0>'] is not None else 0)
 markers_x = int(arguments['<x>'])
 markers_y = int(arguments['<y>'])
 dist_x = float(arguments['<dist_x>'])
 dist_y = float(arguments['<dist_y>'])
 bottom_left = arguments['--bottom-left']
 
-max_y = (markers_y - 1) * dist_y
+max_y = y0 + (markers_y - 1) * dist_y
 
 print('# id\tlength\tx\ty\tz\trot_z\trot_y\trot_x')
 for y in range(markers_y):
     for x in range(markers_x):
-        pos_x = x * dist_x
+        pos_x = x0 + x * dist_x
-        pos_y = y * dist_y
+        pos_y = y0 + y * dist_y
         if not bottom_left:
             pos_y = max_y - pos_y
-        print('{}\t{}\t{}\t{}\t{}\t{}\t{}\t{}\t'.format(first, length, pos_x, pos_y, 0, 0, 0, 0))
+        print('{}\t{}\t{}\t{}\t{}\t{}\t{}\t{}'.format(first, length, pos_x, pos_y, 0, 0, 0, 0))
         first += 1

aruco_pose/src/utils.h

@@ -35,9 +35,7 @@ static void parseCameraInfo(const sensor_msgs::CameraInfoConstPtr& cinfo, cv::Ma
 	for (unsigned int i = 0; i < 3; ++i)
 		for (unsigned int j = 0; j < 3; ++j)
 			matrix.at<double>(i, j) = cinfo->K[3 * i + j];
-
+	dist = cv::Mat(cinfo->D, true);
-	for (unsigned int k = 0; k < cinfo->D.size(); k++)
-		dist.at<double>(k) = cinfo->D[k];
 }
 
 inline void rotatePoint(cv::Point3f& p, cv::Point3f origin, float angle)

aruco_pose/test/crash_opencv.py

@@ -0,0 +1,18 @@
+import rospy
+import pytest
+
+from visualization_msgs.msg import MarkerArray as VisMarkerArray
+
+
+@pytest.fixture
+def node():
+    return rospy.init_node('aruco_pose_opencv_crash', anonymous=True)
+
+def test_opencv_crashes_img01(node):
+    rospy.wait_for_message('aruco_detect_01/visualization', VisMarkerArray, timeout=5)
+
+def test_opencv_crashes_img02(node):
+    rospy.wait_for_message('aruco_detect_02/visualization', VisMarkerArray, timeout=5)
+
+def test_opencv_crashes_img03(node):
+    rospy.wait_for_message('aruco_detect_03/visualization', VisMarkerArray, timeout=5)

aruco_pose/test/crash_opencv.test

@@ -0,0 +1,51 @@
+<launch>
+    <arg name="corner_method" default="2"/>
+
+    <node pkg="image_publisher" type="image_publisher" name="imgpub_01" args="$(find aruco_pose)/test/crash_image_01.png">
+        <param name="frame_id" value="main_camera_optical"/>
+        <param name="publish_rate" value="10"/>
+        <param name="camera_info_url" value="file://$(find aruco_pose)/test/camera_info.yaml" />
+    </node>
+
+    <node pkg="image_publisher" type="image_publisher" name="imgpub_02" args="$(find aruco_pose)/test/crash_image_02.png">
+        <param name="frame_id" value="main_camera_optical"/>
+        <param name="publish_rate" value="10"/>
+        <param name="camera_info_url" value="file://$(find aruco_pose)/test/camera_info.yaml" />
+    </node>
+
+    <node pkg="image_publisher" type="image_publisher" name="imgpub_03" args="$(find aruco_pose)/test/crash_image_03.png">
+        <param name="frame_id" value="main_camera_optical"/>
+        <param name="publish_rate" value="10"/>
+        <param name="camera_info_url" value="file://$(find aruco_pose)/test/camera_info.yaml" />
+    </node>
+
+    <node pkg="nodelet" type="nodelet" name="nodelet_manager_01" args="manager"/>
+
+    <node pkg="nodelet" clear_params="true" type="nodelet" name="aruco_detect_01" args="load aruco_pose/aruco_detect nodelet_manager_01">
+        <remap from="image_raw" to="imgpub_01/image_raw"/>
+        <remap from="camera_info" to="imgpub_01/camera_info"/>
+        <param name="length" value="0.33"/>
+        <param name="cornerRefinementMethod" value="$(arg corner_method)"/>
+    </node>
+
+    <node pkg="nodelet" type="nodelet" name="nodelet_manager_02" args="manager"/>
+
+    <node pkg="nodelet" clear_params="true" type="nodelet" name="aruco_detect_02" args="load aruco_pose/aruco_detect nodelet_manager_02">
+        <remap from="image_raw" to="imgpub_02/image_raw"/>
+        <remap from="camera_info" to="imgpub_02/camera_info"/>
+        <param name="length" value="0.33"/>
+        <param name="cornerRefinementMethod" value="$(arg corner_method)"/>
+    </node>
+
+    <node pkg="nodelet" type="nodelet" name="nodelet_manager_03" args="manager"/>
+
+    <node pkg="nodelet" clear_params="true" type="nodelet" name="aruco_detect_03" args="load aruco_pose/aruco_detect nodelet_manager_03">
+        <remap from="image_raw" to="imgpub_03/image_raw"/>
+        <remap from="camera_info" to="imgpub_03/camera_info"/>
+        <param name="length" value="0.33"/>
+        <param name="cornerRefinementMethod" value="$(arg corner_method)"/>
+    </node>
+
+    <param name="test_module" value="$(find aruco_pose)/test/crash_opencv.py"/>
+    <test test-name="crash_opencv" pkg="ros_pytest" type="ros_pytest_runner"/>
+</launch>

aruco_pose/test/largemap.py

@@ -1,19 +1,26 @@
+#!/usr/bin/env python
+import sys
+import unittest
+import json
 import rospy
-import pytest
+import rostest
 
 from sensor_msgs.msg import Image
 from visualization_msgs.msg import MarkerArray as VisMarkerArray
 
-@pytest.fixture
-def node():
-    return rospy.init_node('test_aruco_largemap', anonymous=True)
 
-def test_large_map_image(node):
+class TestArucoPose(unittest.TestCase):
-    img = rospy.wait_for_message('aruco_map/image', Image, timeout=5)
+    def setUp(self):
-    assert img.width == 2000
+        rospy.init_node('test_aruco_largemap', anonymous=True)
-    assert img.height == 2000
-    assert img.encoding in ('mono8', 'rgb8')
 
-def test_large_map_visualization(node):
+    def test_map_image(self):
-    vis = rospy.wait_for_message('aruco_map/visualization', VisMarkerArray, timeout=5)
+        img = rospy.wait_for_message('aruco_map/image', Image, timeout=5)
-    assert len(vis.markers) == 11
+        self.assertEqual(img.width, 2000)
+        self.assertEqual(img.height, 2000)
+        self.assertIn(img.encoding, ('mono8', 'rgb8'))
+
+    def test_map_visualization(self):
+        vis = rospy.wait_for_message('aruco_map/visualization', VisMarkerArray, timeout=5)
+
+
+rostest.rosrun('aruco_pose', 'test_aruco_largemap', TestArucoPose, sys.argv)

aruco_pose/test/largemap.test

@@ -9,6 +9,5 @@
         <param name="map" value="$(find aruco_pose)/test/largemap.txt"/>
     </node>
 
-    <param name="test_module" value="$(find aruco_pose)/test/largemap.py"/>
+    <test test-name="test_aruco_pose_largemap" pkg="aruco_pose" type="largemap.py"/>
-    <test test-name="test_node_pass" pkg="ros_pytest" type="ros_pytest_runner"/>
 </launch>

aruco_pose/vendor/aruco/src/aruco.cpp

@@ -924,6 +924,8 @@ static void _refineCandidateLines(std::vector<Point>& nContours, std::vector<Poi
 	// calculate the line :: who passes through the grouped points
 	Point3f lines[4];
 	for(int i=0; i<4; i++){
+		// Don't try to "interpolate" single points
+		if (cntPts[i].size() < 2) return;
 		lines[i]=_interpolate2Dline(cntPts[i]);
 	}
 

book.json

@@ -1,5 +1,5 @@
 {
-    "title": "Clever",
+    "title": "Clover",
     "description": "Конструктор квадрокоптера «Клевер»",
     "author": "Copter Express",
     "language": "en",
@@ -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",
@@ -28,7 +29,7 @@
             "blank": true
         },
         "sitemap": {
-            "hostname": "https://clever.coex.tech"
+            "hostname": "https://clover.coex.tech"
         },
         "toolbar": {
             "buttons":
@@ -37,19 +38,19 @@
                     "label": "Edit page on github",
                     "icon": "fa fa-pencil-square-o",
                     "position" : "left",
-                    "url": "https://github.com/CopterExpress/clever/edit/master/docs/{{filepath_lang}}"
+                    "url": "https://github.com/CopterExpress/clover/edit/master/docs/{{filepath_lang}}"
                 },
                 {
                     "label": "GitHub",
                     "icon": "fa fa-github",
                     "position" : "left",
-                    "url": "https://github.com/CopterExpress/clever"
+                    "url": "https://github.com/CopterExpress/clover"
                 }
             ]
         },
         "addcssjs": {
-            "css": ["../clever.css"],
+            "css": ["../clover.css"],
-            "js": ["../clever.js"]
+            "js": ["../clover.js"]
         },
         "language-picker": {
             "languages": [["ru", "Russian"], ["en", "English"]]

builder/assets/avahi-services/sftp-ssh.service

@@ -0,0 +1,34 @@
+<?xml version="1.0" standalone='no'?><!--*-nxml-*-->
+<!DOCTYPE service-group SYSTEM "avahi-service.dtd">
+
+<!--
+  This file is part of avahi.
+
+  avahi is free software; you can redistribute it and/or modify it
+  under the terms of the GNU Lesser General Public License as
+  published by the Free Software Foundation; either version 2 of the
+  License, or (at your option) any later version.
+
+  avahi is distributed in the hope that it will be useful, but
+  WITHOUT ANY WARRANTY; without even the implied warranty of
+  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
+  General Public License for more details.
+
+  You should have received a copy of the GNU Lesser General Public
+  License along with avahi; if not, write to the Free Software
+  Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA
+  02111-1307 USA.
+-->
+
+<!-- See avahi.service(5) for more information about this configuration file -->
+
+<service-group>
+
+  <name replace-wildcards="yes">%h</name>
+
+  <service>
+    <type>_sftp-ssh._tcp</type>
+    <port>22</port>
+  </service>
+
+</service-group>

builder/assets/clever/setup.py

@@ -1,4 +1,4 @@
-#!/usr/bin/env python3
+#!/usr/bin/env python
 
 from distutils.core import setup
 

builder/assets/examples/flight.py

@@ -1,4 +1,4 @@
-# Information: https://clever.coex.tech/en/programming.html
+# Information: https://clover.coex.tech/programming
 
 import rospy
 from clover import srv
@@ -15,7 +15,7 @@ set_attitude = rospy.ServiceProxy('set_attitude', srv.SetAttitude)
 set_rates = rospy.ServiceProxy('set_rates', srv.SetRates)
 land = rospy.ServiceProxy('land', Trigger)
 
-# Takeoff and hover 1 m above the ground
+# Take off and hover 1 m above the ground
 navigate(x=0, y=0, z=1, frame_id='body', auto_arm=True)
 
 # Wait for 3 seconds

builder/assets/examples/flight_marker.py

@@ -0,0 +1,37 @@
+# Information: https://clover.coex.tech/aruco
+
+import rospy
+from clover import srv
+from std_srvs.srv import Trigger
+
+rospy.init_node('flight')
+
+get_telemetry = rospy.ServiceProxy('get_telemetry', srv.GetTelemetry)
+navigate = rospy.ServiceProxy('navigate', srv.Navigate)
+navigate_global = rospy.ServiceProxy('navigate_global', srv.NavigateGlobal)
+set_position = rospy.ServiceProxy('set_position', srv.SetPosition)
+set_velocity = rospy.ServiceProxy('set_velocity', srv.SetVelocity)
+set_attitude = rospy.ServiceProxy('set_attitude', srv.SetAttitude)
+set_rates = rospy.ServiceProxy('set_rates', srv.SetRates)
+land = rospy.ServiceProxy('land', Trigger)
+
+# Take off and hover 1 m above the ground
+navigate(x=0, y=0, z=1, frame_id='body', auto_arm=True)
+
+# Wait for 3 seconds
+rospy.sleep(3)
+
+# Fly 1 meter above ArUco marker 0
+navigate(x=0, y=0, z=1, frame_id='aruco_0')
+
+# Wait for 3 seconds
+rospy.sleep(3)
+
+# Fly to x=1 y=1 z=1 relative to ArUco markers map
+navigate(x=1, y=1, z=1, frame_id='aruco_map')
+
+# Wait for 3 seconds
+rospy.sleep(3)
+
+# Perform landing
+land()

builder/assets/examples/leds.py

@@ -1,4 +1,4 @@
-# Information: https://clever.coex.tech/en/leds.html
+# Information: https://clover.coex.tech/led
 
 import rospy
 from clover.srv import SetLEDEffect
@@ -7,19 +7,25 @@ rospy.init_node('leds')
 
 set_effect = rospy.ServiceProxy('led/set_effect', SetLEDEffect)  # define proxy to ROS-service
 
+print('Fill red')
 set_effect(r=255, g=0, b=0)  # fill strip with red color
 rospy.sleep(2)
 
+print('Fill green')
 set_effect(r=0, g=100, b=0)  # fill strip with green color
 rospy.sleep(2)
 
+print('Fade to blue')
 set_effect(effect='fade', r=0, g=0, b=255)  # fade to blue color
 rospy.sleep(2)
 
+print('Flash red')
 set_effect(effect='flash', r=255, g=0, b=0)  # flash twice with red color
-rospy.sleep(5)
+rospy.sleep(2)
 
+print('Blink white')
 set_effect(effect='blink', r=255, g=255, b=255)  # blink with white color
 rospy.sleep(5)
 
+print('Rainbow')
 set_effect(effect='rainbow')  # show rainbow

builder/assets/examples/navigate_wait.py

@@ -0,0 +1,41 @@
+# Information: https://clover.coex.tech/en/snippets.html#navigate_wait
+
+import math
+import rospy
+from clover import srv
+from std_srvs.srv import Trigger
+
+rospy.init_node('flight')
+
+get_telemetry = rospy.ServiceProxy('get_telemetry', srv.GetTelemetry)
+navigate = rospy.ServiceProxy('navigate', srv.Navigate)
+navigate_global = rospy.ServiceProxy('navigate_global', srv.NavigateGlobal)
+set_position = rospy.ServiceProxy('set_position', srv.SetPosition)
+set_velocity = rospy.ServiceProxy('set_velocity', srv.SetVelocity)
+set_attitude = rospy.ServiceProxy('set_attitude', srv.SetAttitude)
+set_rates = rospy.ServiceProxy('set_rates', srv.SetRates)
+land = rospy.ServiceProxy('land', Trigger)
+
+def navigate_wait(x=0, y=0, z=0, yaw=float('nan'), yaw_rate=0, speed=0.5, \
+        frame_id='body', tolerance=0.2, auto_arm=False):
+
+    res = navigate(x=x, y=y, z=z, yaw=yaw, yaw_rate=yaw_rate, speed=speed, \
+        frame_id=frame_id, auto_arm=auto_arm)
+
+    if not res.success:
+        return res
+
+    while not rospy.is_shutdown():
+        telem = get_telemetry(frame_id='navigate_target')
+        if math.sqrt(telem.x ** 2 + telem.y ** 2 + telem.z ** 2) < tolerance:
+            return res
+        rospy.sleep(0.2)
+
+# Take off 1 meter
+navigate_wait(z=1, frame_id='body', auto_arm=True)
+
+# Fly forward 1 m
+navigate_wait(x=1, frame_id='body')
+
+# Land
+land()

builder/assets/init_rpi.sh

@@ -62,6 +62,10 @@ hostnamectl set-hostname $NEW_HOSTNAME
 sed -i 's/127\.0\.1\.1.*/127.0.1.1\t'${NEW_HOSTNAME}' '${NEW_HOSTNAME}'.local/g' /etc/hosts
 # .local (mdns) hostname added to make it accesable when wlan and ethernet interfaces are down
 
+echo_stamp "Enable ROS services"
+systemctl enable roscore
+systemctl enable clover
+
 echo_stamp "Harware setup"
 /root/hardware_setup.sh
 

builder/assets/monkey

@@ -20,7 +20,7 @@
     # Example:
     #      DocumentRoot /home/krypton/htdocs
 
-    DocumentRoot /home/pi/catkin_ws/src/clover/clover/www
+    DocumentRoot /home/pi/.ros/www
 
     # Redirect:
     # ---------

builder/assets/python3.yaml

@@ -1,9 +0,0 @@
-python3-wxgtk:
-  debian:
-    buster: [python3-wxgtk4.0]
-python3-serial:
-  debian:
-    buster: [python3-serial]
-python3-requests:
-  debian:
-    buster: [python3-requests]

builder/image-build.sh

@@ -15,7 +15,7 @@
 
 set -e # Exit immidiately on non-zero result
 
-SOURCE_IMAGE="https://downloads.raspberrypi.org/raspbian_lite/images/raspbian_lite-2020-02-14/2020-02-13-raspbian-buster-lite.zip"
+SOURCE_IMAGE="https://downloads.raspberrypi.org/raspios_lite_armhf/images/raspios_lite_armhf-2021-01-12/2021-01-11-raspios-buster-armhf-lite.zip"
 
 export DEBIAN_FRONTEND=${DEBIAN_FRONTEND:='noninteractive'}
 export LANG=${LANG:='C.UTF-8'}
@@ -105,9 +105,11 @@ ${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} copy ${SCRIPTS_DIR}'/assets/monkey.
 # software install
 ${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} exec ${SCRIPTS_DIR}'/image-software.sh'
 # examples
-${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} copy ${SCRIPTS_DIR}'/assets/examples' '/home/pi/'
+${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} copy ${SCRIPTS_DIR}'/assets/examples' '/home/pi/'  # TODO: symlink?
 # network setup
 ${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} exec ${SCRIPTS_DIR}'/image-network.sh'
+# avahi setup
+${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} copy ${SCRIPTS_DIR}'/assets/avahi-services/sftp-ssh.service' '/etc/avahi/services'
 
 # If RPi then use a one thread to build a ROS package on RPi, else use all
 [[ $(arch) == 'armv7l' ]] && NUMBER_THREADS=1 || NUMBER_THREADS=$(nproc --all)
@@ -115,7 +117,6 @@ ${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} exec ${SCRIPTS_DIR}'/image-network.
 ${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} copy ${SCRIPTS_DIR}'/assets/clover.service' '/lib/systemd/system/'
 ${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} copy ${SCRIPTS_DIR}'/assets/roscore.service' '/lib/systemd/system/'
 ${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} copy ${SCRIPTS_DIR}'/assets/melodic-rosdep-clover.yaml' '/etc/ros/rosdep/'
-${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} copy ${SCRIPTS_DIR}'/assets/python3.yaml' '/etc/ros/rosdep/'
 ${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} copy ${SCRIPTS_DIR}'/assets/ros_python_paths' '/etc/sudoers.d/'
 ${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} copy ${SCRIPTS_DIR}'/assets/pigpiod.service' '/lib/systemd/system/'
 ${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} copy ${SCRIPTS_DIR}'/assets/launch.nanorc' '/usr/share/nano/'

builder/image-ros.sh

@@ -13,7 +13,7 @@
 # copies or substantial portions of the Software.
 #
 
-set -e # Exit immidiately on non-zero result
+set -ex # Exit immidiately on non-zero result
 
 REPO=$1
 REF=$2
@@ -68,27 +68,13 @@ my_travis_retry() {
 # TODO: 'kinetic-rosdep-clover.yaml' should add only if we use our repo?
 echo_stamp "Init rosdep"
 my_travis_retry rosdep init
-echo "yaml file:///etc/ros/rosdep/melodic-rosdep-clover.yaml" > /etc/ros/rosdep/sources.list.d/30-clover.list
+echo "yaml file:///etc/ros/rosdep/melodic-rosdep-clover.yaml" >> /etc/ros/rosdep/sources.list.d/20-default.list
-echo "yaml file:///etc/ros/rosdep/python3.yaml" > /etc/ros/rosdep/sources.list.d/40-python3.list
 my_travis_retry rosdep update
 
 echo_stamp "Populate rosdep for ROS user"
 my_travis_retry sudo -u pi rosdep update
 
-resolve_rosdep() {
-  # TEMPLATE: resolve_rosdep <CATKIN_PATH> <ROS_DISTRO> <OS_DISTRO> <OS_VERSION>
-  CATKIN_PATH=$1
-  ROS_DISTRO='melodic'
-  OS_DISTRO='debian'
-  OS_VERSION='buster'
-
-  echo_stamp "Installing dependencies apps with rosdep in ${CATKIN_PATH}"
-  cd ${CATKIN_PATH}
-  my_travis_retry rosdep install -y --from-paths src --ignore-src --rosdistro ${ROS_DISTRO} --os=${OS_DISTRO}:${OS_VERSION}
-}
-
 export ROS_IP='127.0.0.1' # needed for running tests
-export ROS_PYTHON_VERSION=3
 
 echo_stamp "Reconfiguring Clover repository for simplier unshallowing"
 cd /home/pi/catkin_ws/src/clover
@@ -96,15 +82,14 @@ git config remote.origin.fetch "+refs/heads/*:refs/remotes/origin/*"
 
 echo_stamp "Build and install Clover"
 cd /home/pi/catkin_ws
-resolve_rosdep $(pwd)
+# Don't try to install gazebo_ros
-my_travis_retry pip3 install wheel
+my_travis_retry rosdep install -y --from-paths src --ignore-src --rosdistro melodic --os=debian:buster \
-my_travis_retry pip3 install -r /home/pi/catkin_ws/src/clover/clover/requirements.txt
+  --skip-keys=gazebo_ros --skip-keys=gazebo_plugins
+my_travis_retry pip install wheel
+my_travis_retry pip install -r /home/pi/catkin_ws/src/clover/clover/requirements.txt
 source /opt/ros/melodic/setup.bash
-catkin_make -j2 -DCMAKE_BUILD_TYPE=Release
+# Don't build simulation plugins for actual drone
-
+catkin_make -j2 -DCMAKE_BUILD_TYPE=Release -DCATKIN_BLACKLIST_PACKAGES=clover_gazebo_plugins
-echo_stamp "Enable ROS services"
-systemctl enable roscore
-systemctl enable clover
 
 echo_stamp "Install clever package (for backwards compatibility)"
 cd /home/pi/catkin_ws/src/clover/builder/assets/clever
@@ -119,7 +104,7 @@ gitbook build
 touch node_modules/CATKIN_IGNORE docs/CATKIN_IGNORE _book/CATKIN_IGNORE clover/www/CATKIN_IGNORE apps/CATKIN_IGNORE # ignore documentation files by catkin
 
 echo_stamp "Installing additional ROS packages"
-apt-get install -y --no-install-recommends \
+my_travis_retry apt-get install -y --no-install-recommends \
     ros-melodic-dynamic-reconfigure \
     ros-melodic-compressed-image-transport \
     ros-melodic-rosbridge-suite \
@@ -135,7 +120,7 @@ echo_stamp "Install GeographicLib datasets (needed for mavros)" \
 
 # FIXME: Buster comes with tornado==5.1.1 but we need tornado==4.2.1 for rosbridge_suite
 # (note that Python 3 will still have a more recent version)
-pip3 install tornado==4.2.1
+pip install tornado==4.2.1
 
 echo_stamp "Running tests"
 cd /home/pi/catkin_ws
@@ -145,11 +130,13 @@ catkin_make run_tests #&& catkin_test_results
 echo_stamp "Change permissions for catkin_ws"
 chown -Rf pi:pi /home/pi/catkin_ws
 
+echo_stamp "Change permissions for examples"
+chown -Rf pi:pi /home/pi/examples
+
 echo_stamp "Setup ROS environment"
 cat << EOF >> /home/pi/.bashrc
 LANG='C.UTF-8'
 LC_ALL='C.UTF-8'
-ROS_DISTRO='melodic'
 export ROS_HOSTNAME=\`hostname\`.local
 source /opt/ros/melodic/setup.bash
 source /home/pi/catkin_ws/devel/setup.bash

builder/image-software.sh

@@ -57,6 +57,10 @@ my_travis_retry() {
   return $result
 }
 
+echo_stamp "Increase apt retries"
+
+echo "APT::Acquire::Retries \"3\";" > /etc/apt/apt.conf.d/80-retries
+
 echo_stamp "Install apt keys & repos"
 
 # TODO: This STDOUT consist 'OK'
@@ -67,7 +71,7 @@ apt-get update \
 
 echo "deb http://packages.ros.org/ros/ubuntu buster main" > /etc/apt/sources.list.d/ros-latest.list
 echo "deb http://deb.coex.tech/opencv3 buster main" > /etc/apt/sources.list.d/opencv3.list
-echo "deb http://deb.coex.tech/melodic-py3 buster main" > /etc/apt/sources.list.d/rpi-ros-melodic.list
+echo "deb http://deb.coex.tech/rpi-ros-melodic buster main" > /etc/apt/sources.list.d/rpi-ros-melodic.list
 echo "deb http://deb.coex.tech/clover buster main" > /etc/apt/sources.list.d/clover.list
 
 echo_stamp "Update apt cache"
@@ -76,8 +80,12 @@ echo_stamp "Update apt cache"
 apt-get update
 # && apt upgrade -y
 
+# Let's retry fetching those packages several times, just in case
 echo_stamp "Software installing"
-apt-get install --no-install-recommends -y \
+apt-cache policy cmake
+apt-cache policy cmake-data
+my_travis_retry apt-get install --no-install-recommends -y cmake-data=3.13.4-1 cmake=3.13.4-1
+my_travis_retry apt-get install --no-install-recommends -y \
 unzip \
 zip \
 ipython \
@@ -90,30 +98,26 @@ git \
 dnsmasq  \
 tmux \
 vim \
-cmake \
 libjpeg8 \
 tcpdump \
 ltrace \
 libpoco-dev \
-python3-rosdep \
+libzbar0 \
-python3-rosinstall-generator \
+python-rosdep \
-python3-wstool \
+python-rosinstall-generator \
-python3-rosinstall \
+python-wstool \
+python-rosinstall \
 build-essential \
 libffi-dev \
 monkey \
 pigpio python-pigpio python3-pigpio \
 i2c-tools \
-espeak espeak-data python3-espeak \
 ntpdate \
 python-dev \
 python3-dev \
-python3-venv \
+python-systemd \
-python3-systemd \
 mjpg-streamer \
-python3-opencv \
+python3-opencv
-&& echo_stamp "Everything was installed!" "SUCCESS" \
-|| (echo_stamp "Some packages wasn't installed!" "ERROR"; exit 1)
 
 # Deny byobu to check available updates
 sed -i "s/updates_available//" /usr/share/byobu/status/status
@@ -121,10 +125,11 @@ sed -i "s/updates_available//" /usr/share/byobu/status/status
 
 echo_stamp "Installing pip"
 curl https://bootstrap.pypa.io/get-pip.py -o get-pip.py
+curl https://bootstrap.pypa.io/pip/2.7/get-pip.py -o get-pip2.py
 python3 get-pip.py
-python get-pip.py
+python get-pip2.py
-rm get-pip.py
+rm get-pip.py get-pip2.py
-#my_travis_retry pip install --upgrade pip
+my_travis_retry pip install --upgrade pip
 #my_travis_retry pip3 install --upgrade pip
 
 echo_stamp "Make sure both pip and pip3 are installed"
@@ -133,14 +138,14 @@ pip3 --version
 
 echo_stamp "Install and enable Butterfly (web terminal)"
 echo_stamp "Workaround for tornado >= 6.0 breaking butterfly"
-my_travis_retry pip3 install tornado==4.2.1
+export CRYPTOGRAPHY_DONT_BUILD_RUST=1
+my_travis_retry pip3 install tornado==5.1.1
 my_travis_retry pip3 install butterfly
 my_travis_retry pip3 install butterfly[systemd]
 systemctl enable butterfly.socket
 
 echo_stamp "Install ws281x library"
-my_travis_retry pip2 install --prefer-binary rpi_ws281x
+my_travis_retry pip install --prefer-binary rpi_ws281x
-my_travis_retry pip3 install --prefer-binary rpi_ws281x
 
 echo_stamp "Setup Monkey"
 mv /etc/monkey/sites/default /etc/monkey/sites/default.orig
@@ -156,9 +161,13 @@ rm -rf node-v10.15.0-linux-armv6l/
 rm node-v10.15.0-linux-armv6l.tar.gz
 
 echo_stamp "Installing ptvsd"
-my_travis_retry pip2 install ptvsd
+my_travis_retry pip install ptvsd
 my_travis_retry pip3 install ptvsd
 
+echo_stamp "Installing pyzbar"
+my_travis_retry pip install pyzbar
+my_travis_retry pip3 install pyzbar
+
 echo_stamp "Add .vimrc"
 cat << EOF > /home/pi/.vimrc
 set mouse-=a

builder/image-validate.sh

@@ -18,15 +18,13 @@ echo "Run image tests"
 
 export ROS_DISTRO='melodic'
 export ROS_IP='127.0.0.1'
-export ROS_PYTHON_VERSION=3
 source /opt/ros/melodic/setup.bash
 source /home/pi/catkin_ws/devel/setup.bash
 
 cd /home/pi/catkin_ws/src/clover/builder/test/
 ./tests.sh
 ./tests.py
-# Disable Python 2 tests for image - we're dropping support, right?
+./tests_py3.py
-# ./tests_py2.py
 [[ $(./tests_clever.py) == "Warning: clever package is renamed to clover" ]]  # test backwards compatibility
 
 echo "Move /etc/ld.so.preload back to its original position"

builder/standalone-install.sh

@@ -1,11 +1,11 @@
 #!/bin/bash
 
 # Perform a "standalone install" in a Docker container
-
+set -e
 # Step 1: Install pip
 apt update
 apt install -y curl
-curl https://bootstrap.pypa.io/get-pip.py -o get-pip.py
+curl https://bootstrap.pypa.io/pip/2.7/get-pip.py -o get-pip.py
 python ./get-pip.py
 
 # Step 1.5: Add deb.coex.tech to apt

builder/test/tests.py

@@ -1,4 +1,4 @@
-#!/usr/bin/env python3
+#!/usr/bin/env python
 
 # validate all required modules installed
 
@@ -17,8 +17,6 @@ from std_srvs.srv import Trigger
 from clover.srv import GetTelemetry, Navigate, NavigateGlobal, SetPosition, SetVelocity, \
     SetAttitude, SetRates, SetLEDEffect
 
-get_telemetry = rospy.ServiceProxy('get_telemetry', GetTelemetry)
-
 import tf2_ros
 import tf2_geometry_msgs
 
@@ -27,6 +25,7 @@ import pymavlink
 from pymavlink import mavutil
 import rpi_ws281x
 import pigpio
-from espeak import espeak
+# from espeak import espeak
+from pyzbar import pyzbar
 
-print(cv2.getBuildInformation())
+print cv2.getBuildInformation()

builder/test/tests.sh

@@ -32,7 +32,7 @@ monkey --version
 pigpiod -v
 i2cdetect -V
 butterfly -h
-espeak --version
+# espeak --version
 mjpg_streamer --version
 
 # ros stuff

builder/test/tests_clever.py

@@ -1,4 +1,4 @@
-#!/usr/bin/env python3
+#!/usr/bin/env python
 
 # test backwards compatibility
 

builder/test/tests_py2.py

@@ -1,7 +0,0 @@
-#!/usr/bin/env python
-
-# Make sure our Python 2 software is installed
-
-import cv2
-
-print(cv2.getBuildInformation())

builder/test/tests_py3.py

@@ -0,0 +1,8 @@
+#!/usr/bin/env python3
+
+# Make sure our Python 3 software is installed
+
+import cv2
+from pyzbar import pyzbar
+
+print(cv2.getBuildInformation())

check_unused_assets.py

@@ -4,7 +4,9 @@ import os
 import sys
 import subprocess
 
-EXCLUDE = ('clever4-front-white.png', '.DS_Store', 'clever4-front-black-large.png')
+EXCLUDE = ('clever4-front-white.png', 'clever4-front-white-large.png', '.DS_Store',
+    'clever4-front-black-large.png','clover42-black.png')
+
 code = 0
 
 os.chdir('./docs')

clover/CHANGELOG.rst

@@ -0,0 +1,8 @@
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+Changelog for package clover
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+0.21.1 (2020-11-17)
+-------------------
+* First release of clover package to ROS
+* Contributors: Alexey Rogachevskiy, Arthur Golubtsov, Oleg Kalachev

clover/CMakeLists.txt

@@ -30,6 +30,12 @@ list(APPEND CMAKE_MODULE_PATH "${CMAKE_CURRENT_LIST_DIR}/cmake")
 
 find_package(GeographicLib REQUIRED)
 
+find_package(OpenCV 3 REQUIRED
+  COMPONENTS
+    calib3d
+    imgproc
+)
+
 ## System dependencies are found with CMake's conventions
 # find_package(Boost REQUIRED COMPONENTS system)
 
@@ -160,13 +166,14 @@ add_library(${PROJECT_NAME}
 ## The recommended prefix ensures that target names across packages don't collide
 add_executable(simple_offboard src/simple_offboard.cpp)
 
-add_executable(rc src/rc.cpp)
+# PX4 already has rc and led targets, so we prefix ours with clover_
+add_executable(clover_rc src/rc.cpp)
 
 add_executable(camera_markers src/camera_markers.cpp)
 
 add_executable(vpe_publisher src/vpe_publisher.cpp)
 
-add_executable(led src/led.cpp)
+add_executable(clover_led src/led.cpp)
 
 add_executable(shell src/shell.cpp)
 
@@ -175,19 +182,24 @@ target_link_libraries(simple_offboard
   ${GeographicLib_LIBRARIES}
 )
 
-target_link_libraries(rc ${catkin_LIBRARIES})
+# Don't change actual binary names
+set_target_properties(clover_rc PROPERTIES OUTPUT_NAME rc)
+
+set_target_properties(clover_led PROPERTIES OUTPUT_NAME led)
+
+target_link_libraries(clover_rc ${catkin_LIBRARIES})
 
 target_link_libraries(camera_markers ${catkin_LIBRARIES})
 
 target_link_libraries(vpe_publisher ${catkin_LIBRARIES})
 
-target_link_libraries(led ${catkin_LIBRARIES})
+target_link_libraries(clover_led ${catkin_LIBRARIES})
 
 target_link_libraries(shell ${catkin_LIBRARIES})
 
 add_dependencies(simple_offboard ${PROJECT_NAME}_generate_messages_cpp)
 
-add_dependencies(led ${PROJECT_NAME}_generate_messages_cpp)
+add_dependencies(clover_led ${PROJECT_NAME}_generate_messages_cpp)
 
 add_dependencies(shell ${PROJECT_NAME}_generate_messages_cpp)
 
@@ -204,6 +216,7 @@ add_dependencies(shell ${PROJECT_NAME}_generate_messages_cpp)
 ## Specify libraries to link a library or executable target against
 target_link_libraries(${PROJECT_NAME}
   ${catkin_LIBRARIES}
+  ${OpenCV_LIBRARIES}
 )
 
 #############

clover/README.md

@@ -0,0 +1,55 @@
+# `clover` ROS package
+
+A bundle for autonomous navigation and drone control.
+
+## Manual installation
+
+Install ROS Melodic according to the [documentation](http://wiki.ros.org/melodic/Installation), then [create a Catkin workspace](http://wiki.ros.org/catkin/Tutorials/create_a_workspace).
+
+Clone this repo to directory `~/catkin_ws/src/clover`:
+
+```bash
+cd ~/catkin_ws/src
+git clone https://github.com/CopterExpress/clover.git clover
+```
+
+All the required ROS packages (including `mavros` and `opencv`) can be installed using `rosdep`:
+
+```bash
+cd ~/catkin_ws/
+rosdep install -y --from-paths src --ignore-src
+```
+
+Build ROS packages (on memory constrained platforms you might be going to need to use `-j1` key):
+
+```bash
+cd ~/catkin_ws
+catkin_make -j1
+```
+
+To complete `mavros` install you'll need to install `geographiclib` datasets:
+
+```bash
+curl https://raw.githubusercontent.com/mavlink/mavros/master/mavros/scripts/install_geographiclib_datasets.sh | sudo bash
+```
+
+You may optionally install udev rules to provide `/dev/px4fmu` symlink to your PX4-based flight controller connected over USB. Copy `99-px4fmu.rules` to your `/lib/udev/rules.d` folder:
+
+```bash
+cd ~/catkin_ws/src/clover/clover/config
+sudo cp 99-px4fmu.rules /lib/udev/rules.d
+```
+
+Alternatively you may change the `fcu_url` property in `mavros.launch` file to point to your flight controller device.
+
+## Running
+
+To start connection to the flight controller, use:
+
+```bash
+roslaunch clover clover.launch
+```
+
+For the simulation information see the [corresponding article](https://clover.coex.tech/en/simulation.html).
+
+> Note that the package is configured to connect to `/dev/px4fmu` by default (see [previous section](#manual-installation)). Install udev rules or specify path to your FCU device in `mavros.launch`.

clover/camera_info/fisheye_cam.yaml

@@ -1,17 +1,17 @@
 image_width: 640
 image_height: 480
 distortion_model: plumb_bob
-camera_name: raspicam
+camera_name: main_camera_optical
 camera_matrix:
   rows: 3
   cols: 3
   data:
   - 332.47884746146343
   - 0.
-  - 324.38022493658536
+  - 320.0
   - 0.
   - 333.1761847948052
-  - 219.6445547142857
+  - 240.0
   - 0.
   - 0.
   - 1.

clover/camera_info/fisheye_cam_320.yaml

@@ -1,45 +0,0 @@
-image_width: 320
-image_height: 240
-distortion_model: plumb_bob
-camera_name: raspicam
-camera_matrix:
-  rows: 3
-  cols: 3
-  data:
-  - 166.23942373073172
-  - 0.
-  - 162.19011246829268
-  - 0.
-  - 166.5880923974026
-  - 109.82227735714285
-  - 0.
-  - 0.
-  - 1.
-distortion_coefficients:
-  rows: 1
-  cols: 8
-  data:  [  2.15356885e-01,  -1.17472846e-01,  -3.06197672e-04,
-   -1.09444025e-04,  -4.53657258e-03,   5.73090623e-01,
-   -1.27574577e-01,  -2.86125589e-02,   0.00000000e+00,
-    0.00000000e+00,   0.00000000e+00,   0.00000000e+00,
-    0.00000000e+00,   0.00000000e+00]
-rectification_matrix:
-  rows: 3
-  cols: 3
-  data: [1, 0, 0, 0, 1, 0, 0, 0, 1]
-projection_matrix:
-  rows: 3
-  cols: 4
-  data:
-  - 166.23942373073172
-  - 0.
-  - 162.19011246829268
-  - 0.
-  - 0.
-  - 166.5880923974026
-  - 109.82227735714285
-  - 0.
-  - 0.
-  - 0.
-  - 1.
-  - 0.

clover/launch/aruco.launch

@@ -3,18 +3,20 @@
     <arg name="aruco_map" default="false"/>
     <arg name="aruco_vpe" default="false"/>
 
-    <!-- For additional help go to https://clever.coex.tech/aruco -->
+    <!-- For additional help go to https://clover.coex.tech/aruco -->
 
     <!-- aruco_detect: detect aruco markers, estimate poses -->
     <node name="aruco_detect" pkg="nodelet" if="$(arg aruco_detect)" type="nodelet" args="load aruco_pose/aruco_detect nodelet_manager" output="screen" clear_params="true">
         <remap from="image_raw" to="main_camera/image_raw"/>
         <remap from="camera_info" to="main_camera/camera_info"/>
         <remap from="map_markers" to="aruco_map/markers" if="$(arg aruco_map)"/>
-        <param name="cornerRefinementMethod" value="2"/>
         <param name="estimate_poses" value="true"/>
         <param name="send_tf" value="true"/>
         <param name="known_tilt" value="map"/>
         <param name="length" value="0.33"/>
+        <!-- aruco detector parameters -->
+        <param name="cornerRefinementMethod" value="2"/> <!-- contour refinement -->
+        <param name="minMarkerPerimeterRate" value="0.075"/> <!-- 0.075 for 320x240, 0.0375 for 640x480 -->
     </node>
 
     <!-- aruco_map: estimate aruco map pose -->

clover/launch/clover.launch

@@ -1,6 +1,7 @@
 <launch>
     <arg name="fcu_conn" default="usb"/>
     <arg name="fcu_ip" default="127.0.0.1"/>
+    <arg name="fcu_sys_id" default="1"/>
     <arg name="gcs_bridge" default="tcp"/>
     <arg name="web_video_server" default="true"/>
     <arg name="rosbridge" default="true"/>
@@ -9,9 +10,12 @@
     <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"/>
 
+    <arg name="simulator" default="false"/> <!-- flag that we are operating on a simulated drone -->
+
     <!-- log formatting -->
     <env name="ROSCONSOLE_FORMAT" value="[${severity}] [${time}]: ${logger}: ${message}"/>
 
@@ -19,6 +23,7 @@
     <include file="$(find clover)/launch/mavros.launch">
         <arg name="fcu_conn" value="$(arg fcu_conn)"/>
         <arg name="fcu_ip" value="$(arg fcu_ip)"/>
+        <arg name="fcu_sys_id" value="$(arg fcu_sys_id)"/>
         <arg name="gcs_bridge" value="$(arg gcs_bridge)"/>
     </include>
 
@@ -51,10 +56,13 @@
         <param name="reference_frames/body" value="map"/>
         <param name="reference_frames/base_link" value="map"/>
         <param name="reference_frames/navigate_target" value="map"/>
+        <param name="reference_frames/main_camera_optical" value="map"/>
     </node>
 
     <!-- main camera -->
-    <include file="$(find clover)/launch/main_camera.launch" if="$(arg main_camera)"/>
+    <include file="$(find clover)/launch/main_camera.launch" if="$(arg main_camera)">
+        <arg name="simulator" value="$(arg simulator)"/>
+    </include>
 
     <!-- rosbridge -->
     <include file="$(find rosbridge_server)/launch/rosbridge_websocket.launch" if="$(eval rosbridge or rc)"/>
@@ -63,14 +71,19 @@
     <node name="tf2_web_republisher" pkg="tf2_web_republisher" type="tf2_web_republisher" output="screen" if="$(arg rosbridge)"/>
 
     <!-- vl53l1x ToF rangefinder -->
-    <node name="rangefinder" pkg="vl53l1x" type="vl53l1x_node" output="screen" if="$(arg rangefinder_vl53l1x)">
+    <node name="rangefinder" pkg="vl53l1x" type="vl53l1x_node" output="screen" if="$(eval rangefinder_vl53l1x and not simulator)">
         <param name="frame_id" value="rangefinder"/>
         <param name="min_signal" value="0.4"/>
         <param name="pass_statuses" type="yaml" value="[0, 6, 7, 11]"/>
     </node>
 
     <!-- led strip -->
-    <include file="$(find clover)/launch/led.launch" if="$(arg led)"/>
+    <include file="$(find clover)/launch/led.launch" if="$(arg led)">
+        <arg name="simulator" value="$(arg simulator)"/>
+    </include>
+
+    <!-- Clover Blocks -->
+    <node name="clover_blocks" pkg="clover_blocks" type="clover_blocks" output="screen" if="$(arg blocks)"/>
 
     <!-- rc backend -->
     <node name="rc" pkg="clover" type="rc" output="screen" if="$(arg rc)" clear_params="true">
@@ -80,4 +93,9 @@
 
     <!-- Shell access through ROS service -->
     <node name="shell" pkg="clover" type="shell" output="screen" if="$(arg shell)"/>
+
+    <!-- Update static directory -->
+    <node pkg="roswww_static" name="roswww_static" type="main.py" clear_params="true">
+        <param name="default_package" value="clover"/>
+    </node>
 </launch>

clover/launch/led.launch

@@ -2,13 +2,17 @@
     <arg name="ws281x" default="true"/>
     <arg name="led_effect" default="true"/>
     <arg name="led_notify" default="true"/>
+    <arg name="led_count" default="72"/>
+    <arg name="gpio_pin" default="21"/>
+
+    <arg name="simulator" default="false"/>
 
     <!-- For additional help go to https://clover.coex.tech/led -->
 
     <!-- ws281x led strip driver -->
-    <node pkg="ws281x" name="led" type="ws281x_node" clear_params="true" output="screen" if="$(arg ws281x)">
+    <node pkg="ws281x" name="led" type="ws281x_node" clear_params="true" output="screen" if="$(eval ws281x and not simulator)">
-        <param name="led_count" value="58"/>
+        <param name="led_count" value="$(arg led_count)"/>
-        <param name="gpio_pin" value="21"/>
+        <param name="gpio_pin" value="$(arg gpio_pin)"/>
         <param name="brightness" value="64"/>
         <param name="strip_type" value="WS2811_STRIP_GRB"/>
         <param name="target_frequency" value="800000"/>
@@ -31,7 +35,7 @@
             altctl: { r: 255, g: 255, b: 40 }
             posctl: { r: 50, g: 100, b: 220 }
             offboard: { r: 220, g: 20, b: 250 }
-            low_battery: { threshold: 3.7, effect: blink_fast, r: 255, g: 0, b: 0 }
+            low_battery: { threshold: 3.6, effect: blink_fast, r: 255, g: 0, b: 0 }
             error: { effect: flash, r: 255, g: 0, b: 0 }
         </rosparam>
     </node>

clover/launch/main_camera.launch

@@ -1,13 +1,16 @@
 <launch>
-    <!-- article about camera setup: https://clever.coex.tech/camera_frame -->
+    <!-- article about camera setup: https://clover.coex.tech/camera_setup -->
 
     <arg name="direction_z" default="down"/> <!-- direction the camera points: down, up -->
     <arg name="direction_y" default="backward"/> <!-- direction the camera cable points: backward, forward -->
+    <arg name="simulator" default="false"/>
 
     <node if="$(eval direction_z == 'down' and direction_y == 'backward')" pkg="tf2_ros" type="static_transform_publisher" name="main_camera_frame" args="0.05 0 -0.07 -1.5707963 0 3.1415926 base_link main_camera_optical"/>
     <node if="$(eval direction_z == 'down' and direction_y == 'forward')" pkg="tf2_ros" type="static_transform_publisher" name="main_camera_frame" args="0.05 0 -0.07 1.5707963 0 3.1415926 base_link main_camera_optical"/>
     <node if="$(eval direction_z == 'up' and direction_y == 'backward')" pkg="tf2_ros" type="static_transform_publisher" name="main_camera_frame" args="0.05 0 0.07 1.5707963 0 0 base_link main_camera_optical"/>
     <node if="$(eval direction_z == 'up' and direction_y == 'forward')" pkg="tf2_ros" type="static_transform_publisher" name="main_camera_frame" args="0.05 0 0.07 -1.5707963 0 0 base_link main_camera_optical"/>
+    <node if="$(eval direction_z == 'forward')" pkg="tf2_ros" type="static_transform_publisher" name="main_camera_frame" args="0.03 0 0.05 -1.5707963 0 -1.5707963 base_link main_camera_optical"/>
+    <node if="$(eval direction_z == 'backward')" pkg="tf2_ros" type="static_transform_publisher" name="main_camera_frame" args="-0.03 0 0.05 1.5707963 0 -1.5707963 base_link main_camera_optical"/>
 
     <!-- Template for custom camera orientation -->
     <!-- Camera position and orientation are represented by base_link -> main_camera_optical transform -->
@@ -15,17 +18,17 @@
     <!-- <node pkg="tf2_ros" type="static_transform_publisher" name="main_camera_frame" args="0.05 0 -0.07 -1.5707963 0 3.1415926 base_link main_camera_optical"/> -->
 
     <!-- camera node -->
-    <node pkg="nodelet" type="nodelet" name="main_camera" args="load cv_camera/CvCameraNodelet nodelet_manager" clear_params="true">
+    <node pkg="nodelet" type="nodelet" name="main_camera" args="load cv_camera/CvCameraNodelet nodelet_manager" clear_params="true" unless="$(arg simulator)">
         <param name="device_path" value="/dev/video0"/> <!-- v4l2 device -->
         <param name="frame_id" value="main_camera_optical"/>
-        <param name="camera_info_url" value="file://$(find clover)/camera_info/fisheye_cam_320.yaml"/>
+        <param name="camera_info_url" value="file://$(find clover)/camera_info/fisheye_cam.yaml"/>
 
         <param name="rate" value="100"/> <!-- poll rate -->
         <param name="cv_cap_prop_fps" value="40"/> <!-- camera FPS -->
         <param name="capture_delay" value="0.02"/> <!-- approximate delay on frame retrieving -->
         <param name="rescale_camera_info" value="true"/> <!-- automatically rescale camera calibration info -->
 
-        <!-- camera resolution, NOTE: camera_info file should match it -->
+        <!-- camera resolution -->
         <param name="image_width" value="320"/>
         <param name="image_height" value="240"/>
     </node>

clover/launch/mavros.launch

@@ -1,6 +1,7 @@
 <launch>
     <arg name="fcu_conn" default="usb"/> <!-- options: usb, uart, tcp, udp, sitl -->
     <arg name="fcu_ip" default="127.0.0.1"/>
+    <arg name="fcu_sys_id" default="1"/>
     <arg name="gcs_bridge" default="tcp"/>
     <arg name="viz" default="true"/>
     <arg name="respawn" default="true"/>
@@ -19,6 +20,9 @@
         <!-- sitl since PX4 1.9.0 -->
         <param name="fcu_url" value="udp://@$(arg fcu_ip):14580" if="$(eval fcu_conn == 'sitl')"/>
 
+        <!-- set target_system_id -->
+        <param name="target_system_id" value="$(arg fcu_sys_id)" />
+
         <!-- gcs bridge -->
         <param name="gcs_url" value="tcp-l://0.0.0.0:5760" if="$(eval gcs_bridge == 'tcp')"/>
         <param name="gcs_url" value="udp://0.0.0.0:14550@14550" if="$(eval gcs_bridge == 'udp')"/>

clover/launch/sitl.launch

@@ -1,19 +0,0 @@
-<launch>
-    <!-- clover configuration for testing in sitl -->
-    <arg name="ip" default="127.0.0.1"/>
-    <arg name="rosbridge" default="false"/>
-
-    <include file="$(find clover)/launch/clover.launch">
-        <arg name="fcu_conn" value="udp"/>
-        <arg name="fcu_ip" value="$(arg ip)"/>
-        <arg name="gcs_bridge" value="false"/>
-        <arg name="optical_flow" value="false"/>
-        <arg name="web_video_server" default="false"/>
-        <arg name="main_camera" default="false"/>
-        <arg name="rosbridge" value="$(arg rosbridge)"/>
-        <arg name="aruco" default="false"/>
-        <arg name="rangefinder_vl53l1x" default="false"/>
-        <arg name="led" default="false"/>
-        <arg name="rc" default="false"/>
-    </include>
-</launch>

clover/package.xml

@@ -1,13 +1,13 @@
 <?xml version="1.0"?>
-<package format="3">
+<package format="2">
   <name>clover</name>
-  <version>0.0.1</version>
+  <version>0.21.1</version>
   <description>The Clover package</description>
 
   <maintainer email="okalachev@gmail.com">Oleg Kalachev</maintainer>
   <license>MIT</license>
 
-  <url type="website">https://clever.coex.tech/</url>
+  <url type="website">https://clover.coex.tech/</url>
   <author email="okalachev@gmail.com">Oleg Kalachev</author>
   <author email="urpylka@gmail.com">Artem Smirnov</author>
 
@@ -37,10 +37,8 @@
   <depend>rosbridge_server</depend>
   <depend>web_video_server</depend>
   <depend>tf2_web_republisher</depend>
-  <depend condition="$ROS_PYTHON_VERSION == 2">python-lxml</depend>
+  <depend>python-lxml</depend>
-  <depend condition="$ROS_PYTHON_VERSION == 3">python3-lxml</depend>
+  <exec_depend>python-pymavlink</exec_depend>
-  <exec_depend condition="$ROS_PYTHON_VERSION == 2">python-pymavlink</exec_depend>
-  <exec_depend condition="$ROS_PYTHON_VERSION == 3">python-pymavlink</exec_depend>
   <!-- Use test_depend for packages you need only for testing: -->
   <!--   <test_depend>gtest</test_depend> -->
 

clover/requirements.txt

@@ -1,5 +1,5 @@
 flask==1.1.1
 docopt==0.6.2
-geopy==1.20.0
+geopy==1.11.0
 smbus2==0.3.0
-VL53L1X==0.0.4
+VL53L1X==0.0.5

clover/src/optical_flow.cpp

@@ -34,9 +34,7 @@ class OpticalFlow : public nodelet::Nodelet
 {
 public:
 	OpticalFlow():
-		camera_matrix_(3, 3, CV_64F),
+		camera_matrix_(3, 3, CV_64F)
-		dist_coeffs_(8, 1, CV_64F),
-		tf_listener_(tf_buffer_)
 	{}
 
 private:
@@ -52,8 +50,8 @@ private:
 	Mat hann_;
 	Mat prev_, curr_;
 	Mat camera_matrix_, dist_coeffs_;
-	tf2_ros::Buffer tf_buffer_;
+	std::unique_ptr<tf2_ros::Buffer> tf_buffer_;
-	tf2_ros::TransformListener tf_listener_;
+	std::unique_ptr<tf2_ros::TransformListener> tf_listener_;
 	bool calc_flow_gyro_;
 
 	void onInit()
@@ -63,11 +61,14 @@ private:
 		image_transport::ImageTransport it(nh);
 		image_transport::ImageTransport it_priv(nh_priv);
 
-		nh.param<std::string>("mavros/local_position/tf/frame_id", local_frame_id_, "map");
+		tf_buffer_.reset(new tf2_ros::Buffer());
-		nh.param<std::string>("mavros/local_position/tf/child_frame_id", fcu_frame_id_, "base_link");
+		tf_listener_.reset(new tf2_ros::TransformListener(*tf_buffer_, nh));
-		nh_priv.param("roi", roi_px_, 128);
+
-		nh_priv.param("roi_rad", roi_rad_, 0.0);
+		local_frame_id_ = nh.param<std::string>("mavros/local_position/tf/frame_id", "map");
-		nh_priv.param("calc_flow_gyro", calc_flow_gyro_, false);
+		fcu_frame_id_ = nh.param<std::string>("mavros/local_position/tf/child_frame_id", "base_link");
+		roi_px_ = nh_priv.param("roi", 128);
+		roi_rad_ = nh_priv.param("roi_rad", 0.0);
+		calc_flow_gyro_ = nh_priv.param("calc_flow_gyro", false);
 
 		img_sub_ = it.subscribeCamera("image_raw", 1, &OpticalFlow::flow, this);
 		img_pub_ = it_priv.advertise("debug", 1);
@@ -91,9 +92,7 @@ private:
 				camera_matrix_.at<double>(i, j) = cinfo->K[3 * i + j];
 			}
 		}
-		for (int k = 0; k < cinfo->D.size(); k++) {
+		dist_coeffs_ = cv::Mat(cinfo->D, true);
-			dist_coeffs_.at<double>(k) = cinfo->D[k];
-		}
 	}
 
 	void drawFlow(Mat& frame, double x, double y, double quality) const
@@ -186,7 +185,7 @@ private:
 			flow_camera.vector.x = flow_y; // +y means counter-clockwise rotation around Y axis
 			flow_camera.vector.y = -flow_x; // +x means clockwise rotation around X axis
 			try {
-				tf_buffer_.transform(flow_camera, flow_fcu, fcu_frame_id_);
+				tf_buffer_->transform(flow_camera, flow_fcu, fcu_frame_id_);
 			} catch (const tf2::TransformException& e) {
 				// transform is not available yet
 				return;
@@ -200,7 +199,7 @@ private:
 				try {
 					auto flow_gyro_camera = calcFlowGyro(msg->header.frame_id, prev_stamp_, msg->header.stamp);
 					static geometry_msgs::Vector3Stamped flow_gyro_fcu;
-					tf_buffer_.transform(flow_gyro_camera, flow_gyro_fcu, fcu_frame_id_);
+					tf_buffer_->transform(flow_gyro_camera, flow_gyro_fcu, fcu_frame_id_);
 					flow_.integrated_xgyro = flow_gyro_fcu.vector.x;
 					flow_.integrated_ygyro = flow_gyro_fcu.vector.y;
 					flow_.integrated_zgyro = flow_gyro_fcu.vector.z;
@@ -247,8 +246,8 @@ private:
 	geometry_msgs::Vector3Stamped calcFlowGyro(const std::string& frame_id, const ros::Time& prev, const ros::Time& curr)
 	{
 		tf2::Quaternion prev_rot, curr_rot;
-		tf2::fromMsg(tf_buffer_.lookupTransform(frame_id, local_frame_id_, prev).transform.rotation, prev_rot);
+		tf2::fromMsg(tf_buffer_->lookupTransform(frame_id, local_frame_id_, prev).transform.rotation, prev_rot);
-		tf2::fromMsg(tf_buffer_.lookupTransform(frame_id, local_frame_id_, curr, ros::Duration(0.1)).transform.rotation, curr_rot);
+		tf2::fromMsg(tf_buffer_->lookupTransform(frame_id, local_frame_id_, curr, ros::Duration(0.1)).transform.rotation, curr_rot);
 
 		geometry_msgs::Vector3Stamped flow;
 		flow.header.frame_id = frame_id;

clover/src/selfcheck.py

@@ -1,4 +1,4 @@
-#!/usr/bin/env python3
+#!/usr/bin/env python
 # coding=utf-8
 
 # Copyright (C) 2018 Copter Express Technologies
@@ -138,7 +138,7 @@ def mavlink_exec(cmd, timeout=3.0):
         timeout=3,
         baudrate=0,
         count=len(cmd),
-        data=[ord(c) for c in cmd.ljust(70, '\0')])
+        data=map(ord, cmd.ljust(70, '\0')))
     msg.pack(link)
     ros_msg = mavlink.convert_to_rosmsg(msg)
     mavlink_pub.publish(ros_msg)
@@ -210,7 +210,7 @@ def check_fcu():
                     is_clover_firmware = True
 
         if not is_clover_firmware:
-            failure('not running Clover PX4 firmware, https://clever.coex.tech/firmware')
+            failure('not running Clover PX4 firmware, https://clover.coex.tech/firmware')
 
         est = get_param('SYS_MC_EST_GROUP')
         if est == 1:
@@ -250,11 +250,11 @@ def check_fcu():
         try:
             battery = rospy.wait_for_message('mavros/battery', BatteryState, timeout=3)
             if not battery.cell_voltage:
-                failure('cell voltage is not available, https://clever.coex.tech/power')
+                failure('cell voltage is not available, https://clover.coex.tech/power')
             else:
                 cell = battery.cell_voltage[0]
                 if cell > 4.3 or cell < 3.0:
-                    failure('incorrect cell voltage: %.2f V, https://clever.coex.tech/power', cell)
+                    failure('incorrect cell voltage: %.2f V, https://clover.coex.tech/power', cell)
                 elif cell < 3.7:
                     failure('critically low cell voltage: %.2f V, recharge battery', cell)
         except rospy.ROSException:
@@ -609,7 +609,7 @@ def check_rangefinder():
 
 @check('Boot duration')
 def check_boot_duration():
-    output = subprocess.check_output('systemd-analyze').decode()
+    output = subprocess.check_output('systemd-analyze')
     r = re.compile(r'([\d\.]+)s\s*$', flags=re.MULTILINE)
     duration = float(r.search(output).groups()[0])
     if duration > 15:
@@ -620,7 +620,7 @@ def check_boot_duration():
 def check_cpu_usage():
     WHITELIST = 'nodelet',
     CMD = "top -n 1 -b -i | tail -n +8 | awk '{ printf(\"%-8s\\t%-8s\\t%-8s\\n\", $1, $9, $12); }'"
-    output = subprocess.check_output(CMD, shell=True).decode()
+    output = subprocess.check_output(CMD, shell=True)
     processes = output.split('\n')
     for process in processes:
         if not process:
@@ -636,7 +636,7 @@ def check_cpu_usage():
 def check_clover_service():
     try:
         output = subprocess.check_output('systemctl show -p ActiveState --value clover.service'.split(),
-                                         stderr=subprocess.STDOUT).decode()
+                                         stderr=subprocess.STDOUT)
     except subprocess.CalledProcessError as e:
         failure('systemctl returned %s: %s', e.returncode, e.output)
         return
@@ -701,7 +701,7 @@ def check_preflight_status():
 
 @check('Network')
 def check_network():
-    ros_hostname = os.environ.get('ROS_HOSTNAME').strip()
+    ros_hostname = os.environ.get('ROS_HOSTNAME', '').strip()
 
     if not ros_hostname:
         failure('no ROS_HOSTNAME is set')
@@ -718,7 +718,7 @@ def check_network():
                 if ros_hostname in parts:
                     break
         else:
-            failure('not found %s in /etc/hosts, ROS will malfunction if network interfaces are down, https://clever.coex.tech/hostname', ros_hostname)
+            failure('not found %s in /etc/hosts, ROS will malfunction if network interfaces are down, https://clover.coex.tech/hostname', ros_hostname)
 
 
 @check('RPi health')
@@ -751,7 +751,7 @@ def check_rpi_health():
         # <parameter>=<value>
         # In case of `get_throttled`, <value> is a hexadecimal number
         # with some of the FLAGs OR'ed together
-        output = subprocess.check_output(['vcgencmd', 'get_throttled']).decode()
+        output = subprocess.check_output(['vcgencmd', 'get_throttled'])
     except OSError:
         failure('could not call vcgencmd binary; not a Raspberry Pi?')
         return

clover/src/simple_offboard.cpp

@@ -36,6 +36,7 @@
 #include <mavros_msgs/Thrust.h>
 #include <mavros_msgs/State.h>
 #include <mavros_msgs/StatusText.h>
+#include <mavros_msgs/ManualControl.h>
 
 #include <clover/GetTelemetry.h>
 #include <clover/Navigate.h>
@@ -46,6 +47,7 @@
 #include <clover/SetRates.h>
 
 using std::string;
+using std::isnan;
 using namespace geometry_msgs;
 using namespace sensor_msgs;
 using namespace clover;
@@ -71,9 +73,10 @@ ros::Duration state_timeout;
 ros::Duration velocity_timeout;
 ros::Duration global_position_timeout;
 ros::Duration battery_timeout;
+ros::Duration manual_control_timeout;
 float default_speed;
 bool auto_release;
-bool land_only_in_offboard, nav_from_sp;
+bool land_only_in_offboard, nav_from_sp, check_kill_switch;
 std::map<string, string> reference_frames;
 
 // Publishers
@@ -121,6 +124,7 @@ enum { YAW, YAW_RATE, TOWARDS } setpoint_yaw_type;
 // Last received telemetry messages
 mavros_msgs::State state;
 mavros_msgs::StatusText statustext;
+mavros_msgs::ManualControl manual_control;
 PoseStamped local_position;
 TwistStamped velocity;
 NavSatFix global_position;
@@ -417,8 +421,9 @@ void publish(const ros::Time stamp)
 	}
 
 	if (setpoint_type == POSITION || setpoint_type == NAVIGATE || setpoint_type == NAVIGATE_GLOBAL) {
+		position_msg.header.stamp = stamp;
+
 		if (setpoint_yaw_type == YAW || setpoint_yaw_type == TOWARDS) {
-			position_msg.header.stamp = stamp;
 			position_pub.publish(position_msg);
 
 		} else {
@@ -484,13 +489,34 @@ void publishSetpoint(const ros::TimerEvent& event)
 	publish(event.current_real);
 }
 
+inline void checkManualControl()
+{
+	if (!manual_control_timeout.isZero() && TIMEOUT(manual_control, manual_control_timeout)) {
+		throw std::runtime_error("Manual control timeout, RC is switched off?");
+	}
+
+	if (check_kill_switch) {
+		// switch values: https://github.com/PX4/PX4-Autopilot/blob/c302514a0809b1765fafd13c014d705446ae1113/msg/manual_control_setpoint.msg#L3
+		const uint8_t SWITCH_POS_NONE = 0; // switch is not mapped
+		const uint8_t SWITCH_POS_ON = 1; // switch activated
+		const uint8_t SWITCH_POS_MIDDLE = 2; // middle position
+		const uint8_t SWITCH_POS_OFF = 3; // switch not activated
+
+		const int KILL_SWITCH_BIT = 12; // https://github.com/PX4/Firmware/blob/c302514a0809b1765fafd13c014d705446ae1113/src/modules/mavlink/mavlink_messages.cpp#L3975
+		uint8_t kill_switch = (manual_control.buttons & (0b11 << KILL_SWITCH_BIT)) >> KILL_SWITCH_BIT;
+
+		if (kill_switch == SWITCH_POS_ON)
+			throw std::runtime_error("Kill switch is on");
+	}
+}
+
 inline void checkState()
 {
 	if (TIMEOUT(state, state_timeout))
 		throw std::runtime_error("State timeout, check mavros settings");
 
 	if (!state.connected)
-		throw std::runtime_error("No connection to FCU, https://clever.coex.tech/connection");
+		throw std::runtime_error("No connection to FCU, https://clover.coex.tech/connection");
 }
 
 #define ENSURE_FINITE(var) { if (!std::isfinite(var)) throw std::runtime_error(#var " argument cannot be NaN or Inf"); }
@@ -506,25 +532,88 @@ bool serve(enum setpoint_type_t sp_type, float x, float y, float z, float vx, fl
 		if (busy)
 			throw std::runtime_error("Busy");
 
-		ENSURE_FINITE(x);
-		ENSURE_FINITE(y);
-		ENSURE_FINITE(z);
-		ENSURE_FINITE(vx);
-		ENSURE_FINITE(vy);
-		ENSURE_FINITE(vz);
-		ENSURE_FINITE(pitch);
-		ENSURE_FINITE(roll);
-		ENSURE_FINITE(pitch_rate);
-		ENSURE_FINITE(roll_rate);
-		ENSURE_FINITE(lat);
-		ENSURE_FINITE(lon);
-		ENSURE_FINITE(thrust);
-
 		busy = true;
 
 		// Checks
 		checkState();
 
+		if (auto_arm) {
+			checkManualControl();
+		}
+
+		// default frame is local frame
+		if (frame_id.empty())
+			frame_id = local_frame;
+
+		// look up for reference frame
+		auto search = reference_frames.find(frame_id);
+		const string& reference_frame = search == reference_frames.end() ? frame_id : search->second;
+
+		// Serve "partial" commands
+
+		if (!auto_arm && std::isfinite(yaw) &&
+		    isnan(x) && isnan(y) && isnan(z) && isnan(vx) && isnan(vy) && isnan(vz) &&
+		    isnan(pitch) && isnan(roll) && isnan(thrust) &&
+		    isnan(lat) && isnan(lon)) {
+			// change only the yaw
+			if (setpoint_type == POSITION || setpoint_type == NAVIGATE || setpoint_type == NAVIGATE_GLOBAL || setpoint_type == VELOCITY) {
+				if (!waitTransform(setpoint_position.header.frame_id, frame_id, stamp, transform_timeout))
+					throw std::runtime_error("Can't transform from " + frame_id + " to " + setpoint_position.header.frame_id);
+
+				message = "Changing yaw only";
+
+				QuaternionStamped q;
+				q.header.frame_id = frame_id;
+				q.header.stamp = stamp;
+				q.quaternion = tf::createQuaternionMsgFromYaw(yaw); // TODO: pitch=0, roll=0 is not totally correct
+				setpoint_position.pose.orientation = tf_buffer.transform(q, setpoint_position.header.frame_id).quaternion;
+				setpoint_yaw_type = YAW;
+				goto publish_setpoint;
+			} else {
+				throw std::runtime_error("Setting yaw is possible only when position or velocity setpoints active");
+			}
+		}
+
+		if (!auto_arm && std::isfinite(yaw_rate) &&
+		    isnan(x) && isnan(y) && isnan(z) && isnan(vx) && isnan(vy) && isnan(vz) &&
+		    isnan(pitch) && isnan(roll) && isnan(yaw) && isnan(thrust) &&
+		    isnan(lat) && isnan(lon)) {
+			// change only the yaw rate
+			if (setpoint_type == POSITION || setpoint_type == NAVIGATE || setpoint_type == NAVIGATE_GLOBAL || setpoint_type == VELOCITY) {
+				message = "Changing yaw rate only";
+
+				setpoint_yaw_type = YAW_RATE;
+				setpoint_yaw_rate = yaw_rate;
+				goto publish_setpoint;
+			} else {
+				throw std::runtime_error("Setting yaw rate is possible only when position or velocity setpoints active");
+			}
+		}
+
+		// Serve normal commands
+
+		if (sp_type == NAVIGATE || sp_type == POSITION) {
+			ENSURE_FINITE(x);
+			ENSURE_FINITE(y);
+			ENSURE_FINITE(z);
+		} else if (sp_type == NAVIGATE_GLOBAL) {
+			ENSURE_FINITE(lat);
+			ENSURE_FINITE(lon);
+			ENSURE_FINITE(z);
+		} else if (sp_type == VELOCITY) {
+			ENSURE_FINITE(vx);
+			ENSURE_FINITE(vy);
+			ENSURE_FINITE(vz);
+		} else if (sp_type == ATTITUDE) {
+			ENSURE_FINITE(pitch);
+			ENSURE_FINITE(roll);
+			ENSURE_FINITE(thrust);
+		} else if (sp_type == RATES) {
+			ENSURE_FINITE(pitch_rate);
+			ENSURE_FINITE(roll_rate);
+			ENSURE_FINITE(thrust);
+		}
+
 		if (sp_type == NAVIGATE || sp_type == NAVIGATE_GLOBAL) {
 			if (TIMEOUT(local_position, local_position_timeout))
 				throw std::runtime_error("No local position, check settings");
@@ -549,14 +638,6 @@ 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))
@@ -605,12 +686,13 @@ bool serve(enum setpoint_type_t sp_type, float x, float y, float z, float vx, fl
 
 		if (sp_type == POSITION || sp_type == NAVIGATE || sp_type == NAVIGATE_GLOBAL || sp_type == VELOCITY || sp_type == ATTITUDE) {
 			// destination point and/or yaw
-			static PoseStamped ps;
+			PoseStamped ps;
 			ps.header.frame_id = frame_id;
 			ps.header.stamp = stamp;
 			ps.pose.position.x = x;
 			ps.pose.position.y = y;
 			ps.pose.position.z = z;
+			ps.pose.orientation.w = 1.0; // Ensure quaternion is always valid
 
 			if (std::isnan(yaw)) {
 				setpoint_yaw_type = YAW_RATE;
@@ -623,7 +705,7 @@ 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);
@@ -651,6 +733,7 @@ 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();
 
@@ -691,27 +774,27 @@ 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)
@@ -779,6 +862,7 @@ int main(int argc, char **argv)
 	nh_priv.param("auto_release", auto_release, true);
 	nh_priv.param("land_only_in_offboard", land_only_in_offboard, true);
 	nh_priv.param("nav_from_sp", nav_from_sp, true);
+	nh_priv.param("check_kill_switch", check_kill_switch, true);
 	nh_priv.param("default_speed", default_speed, 0.5f);
 	nh_priv.param<string>("body_frame", body.child_frame_id, "body");
 	nh_priv.getParam("reference_frames", reference_frames);
@@ -788,6 +872,7 @@ int main(int argc, char **argv)
 	velocity_timeout = ros::Duration(nh_priv.param("velocity_timeout", 2.0));
 	global_position_timeout = ros::Duration(nh_priv.param("global_position_timeout", 10.0));
 	battery_timeout = ros::Duration(nh_priv.param("battery_timeout", 2.0));
+	manual_control_timeout = ros::Duration(nh_priv.param("manual_control_timeout", 0.0));
 
 	transform_timeout = ros::Duration(nh_priv.param("transform_timeout", 0.5));
 	telemetry_transform_timeout = ros::Duration(nh_priv.param("telemetry_transform_timeout", 0.5));
@@ -805,6 +890,7 @@ int main(int argc, char **argv)
 	auto global_position_sub = nh.subscribe("mavros/global_position/global", 1, &handleMessage<NavSatFix, global_position>);
 	auto battery_sub = nh.subscribe("mavros/battery", 1, &handleMessage<BatteryState, battery>);
 	auto statustext_sub = nh.subscribe("mavros/statustext/recv", 1, &handleMessage<mavros_msgs::StatusText, statustext>);
+	auto manual_control_sub = nh.subscribe("mavros/manual_control/control", 1, &handleMessage<mavros_msgs::ManualControl, manual_control>);
 	auto local_position_sub = nh.subscribe("mavros/local_position/pose", 1, &handleLocalPosition);
 
 	// Setpoint publishers

clover/test/basic.py

@@ -1,3 +1,4 @@
+#!/usr/bin/env python
 import rospy
 import pytest
 from mavros_msgs.msg import State

clover/www/index.html

@@ -1,19 +1,22 @@
+<title>Clover Drone Kit Tools</title>
+
 <h1>Clover Drone Kit Tools</h1>
 
 <ul>
-	<li><a href="docs">View documentation</a> (snapshot of <a href="https://clever.coex.tech">clever.coex.tech</a>)</li>
+	<li><a href="docs">View documentation</a> (snapshot of <a href="https://clover.coex.tech">clover.coex.tech</a>)</li>
 	<li><a href="" id="wvs">View image topics</a> (<code>web_video_server</code>)</li>
 	<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>
 
 <script src="js/roslib.js"></script>
 <script type="text/javascript">
-	document.querySelector("#wvs").href = location.origin + ':8080';
+	document.querySelector("#wvs").href = location.protocol + '//' + location.hostname + ':8080';
-	document.querySelector("#butterfly").href = location.origin + ':57575';
+	document.querySelector("#butterfly").href = location.protocol + '//' + location.hostname + ':57575';
 
 	// Determine image version
 	var ros = new ROSLIB.Ros({ url: 'ws://' + location.hostname + ':9090' });

clover_blocks/CHANGELOG.rst

@@ -0,0 +1,8 @@
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+Changelog for package clover_blocks
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+0.21.1 (2020-11-17)
+-------------------
+* First release of clover_blocks package to ROS
+* Contributors: Oleg Kalachev

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 +1,54 @@
+# clover_blocks
+
+Blockly programming support for Clover.
+
+<img src="screenshot.png" width=700>
+
+See user documentation at the [main Clover documentation site](https://clover.coex.tech/en/blocks.html).
+
+Internal package documentation is given below.
+
+## Frontend
+
+The frontend files are located in [`www`](./www/) subdirectory. The frontend application uses [`roblib.js`](http://wiki.ros.org/roslibjs) library for communicating with backend node and other ROS resources.
+
+## `clover_blocks` node
+
+`clover_blocks` is the blocks programming backend, implementing all the services and topics needed for running Blockly-generated Python script.
+
+### Services
+
+* `~run` ([*clover_blocks/Run*](srv/Run.srv)) – run Blockly-generated program (in Python).
+* `~stop` ([*std_srvs/Trigger*](http://docs.ros.org/melodic/api/std_srvs/html/srv/Trigger.html)) – terminate the running program.
+* `~store` ([*clover_blocks/load*](srv/Store.srv)) – store a user program (to `<package_path>/programs` by default).
+* `~load` ([*clover_blocks/load*](srv/Load.srv)) – load all the stored programs.
+
+### Parameters
+
+* `~programs_dir` (*string*) – directory for user programs.
+
+Parameters read by frontend:
+
+* `~navigate_tolerance` (*float*) – distance tolerance in meters, used for navigate-like blocks (default: 0.2).
+* `~yaw_tolerance` (*float*) – yaw angle tolerance in degrees, used in set_yaw block (default: 20).
+* `~sleep_time` (*float*) – duration of sleep in loop cycles, used for navigate-like blocks (default: 0.2).
+* `~confirm_run` (*bool*) – enable confirmation to run the program (default: true).
+
+These parameters also can be set as URL GET-parameters, for example:
+
+```
+http://<hostname>/clover_blocks/?navigate_tolerance=0.5&sleep_time=0.1
+```
+
+### Topics
+
+#### Published
+
+* `~running` ([*std_msgs/Bool*](http://docs.ros.org/melodic/api/std_msgs/html/msg/Bool.html)) – indicates if the program is currently running.
+* `~block` ([*std_msgs/String*](http://docs.ros.org/melodic/api/std_msgs/html/msg/String.html)) – current executing block (maximum topic rate is limited).
+* `~error` ([*std_msgs/String*](http://docs.ros.org/melodic/api/std_msgs/html/msg/String.html)) – user program errors and exceptions.
+* `~prompt` ([*clover_blocks/Prompt*](msg/Prompt.msg)) – user input request (includes random request ID string).
+
+This topic is published from the frontend side:
+
+* `~prompt/<request_id>` ([*std_msgs/String*](http://docs.ros.org/melodic/api/std_msgs/html/msg/String.html)) – user input response.

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>0.21.1</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">1</field>
+              </shadow>
+            </value>
+            <value name="ID">
+              <shadow type="math_number" id="P4^twyJo6as#G1}^Dlq8">
+                <field name="NUM">0</field>
+              </shadow>
+              <block type="text_prompt_ext" id="ot;{twL$8`H*Wiafz3D,">
+                <mutation type="NUMBER"></mutation>
+                <field name="TYPE">NUMBER</field>
+                <value name="TEXT">
+                  <shadow type="text" id="@P[TyPj[n1*;EcUC?lwF">
+                    <field name="TEXT">Enter marker ID</field>
+                  </shadow>
+                </value>
+              </block>
+            </value>
+            <value name="SPEED">
+              <shadow type="math_number" id="WrsUXacZ2w)D]d?:@ec_">
+                <field name="NUM">0.5</field>
+              </shadow>
+            </value>
+          </block>
+        </statement>
+        <next>
+          <block type="land" id="G5+Fs.6Y4(K9Dw`wjgua">
+            <field name="WAIT">TRUE</field>
+          </block>
+        </next>
+      </block>
+    </next>
+  </block>
+</xml>

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 +1,91 @@
+<xml xmlns="https://developers.google.com/blockly/xml">
+  <block type="controls_whileUntil" id="U1it{GcGuSS:=[xiwZr1" x="113" y="113">
+    <field name="MODE">WHILE</field>
+    <value name="BOOL">
+      <block type="logic_boolean" id="]7ZDRwde}/RqjQCX}aVW">
+        <field name="BOOL">TRUE</field>
+      </block>
+    </value>
+    <statement name="DO">
+      <block type="set_effect" id="WI0zqOz/z3].cR/6UWHn">
+        <field name="EFFECT">FILL</field>
+        <value name="COLOR">
+          <shadow type="colour_picker" id="B`6;Xv{s2TFp8Yd=ZpSD">
+            <field name="COLOUR">#000000</field>
+          </shadow>
+        </value>
+        <next>
+          <block type="set_led" id="^Vcs}ki?#ctf7rAchix$">
+            <value name="INDEX">
+              <shadow type="math_number" id="U;VWW$[*LOF7Gf,~?YR7">
+                <field name="NUM">0</field>
+              </shadow>
+              <block type="math_arithmetic" id="AI6PZBd`]_Z%_~4c-%dB">
+                <field name="OP">MULTIPLY</field>
+                <value name="A">
+                  <shadow type="math_number" id="|p}X]`SedK3).F/;}NlB">
+                    <field name="NUM">1</field>
+                  </shadow>
+                  <block type="math_arithmetic" id="-haE#:,cg{-J=NZERA;F">
+                    <field name="OP">DIVIDE</field>
+                    <value name="A">
+                      <shadow type="math_number" id="::st;ot}[r]csqceURu*">
+                        <field name="NUM">1</field>
+                      </shadow>
+                      <block type="math_arithmetic" id="a%+LN)F~=Igg+,p02[qo">
+                        <field name="OP">ADD</field>
+                        <value name="A">
+                          <shadow type="math_number" id="*yIGN((y)/^z0:f5:VDw">
+                            <field name="NUM">1</field>
+                          </shadow>
+                          <block type="get_yaw" id="mf%77q30bEqNfc/3`Mtb">
+                            <field name="FRAME_ID">MAP</field>
+                            <value name="ID">
+                              <shadow type="math_number" id="xb32G.N#ip`|^Xv*MOmY">
+                                <field name="NUM">0</field>
+                              </shadow>
+                            </value>
+                          </block>
+                        </value>
+                        <value name="B">
+                          <shadow type="math_number" id="T/fTrm;j2Azgav;gI{ZW">
+                            <field name="NUM">180</field>
+                          </shadow>
+                        </value>
+                      </block>
+                    </value>
+                    <value name="B">
+                      <shadow type="math_number" id="Wo1/ZCeir,u6/.e1H+BB">
+                        <field name="NUM">360</field>
+                      </shadow>
+                    </value>
+                  </block>
+                </value>
+                <value name="B">
+                  <shadow type="math_number" id="jENTcXz0C5/=)Xpd!}LL">
+                    <field name="NUM">1</field>
+                  </shadow>
+                  <block type="led_count" id="vM@X8s!xa]v}AaK6PWF5"></block>
+                </value>
+              </block>
+            </value>
+            <value name="COLOR">
+              <shadow type="colour_picker" id="+vw3bff.5c[=_w,Xm^C(">
+                <field name="COLOUR">#3366ff</field>
+              </shadow>
+            </value>
+            <next>
+              <block type="wait" id="DT%f$bn1*1El5zsgUW8Y">
+                <value name="TIME">
+                  <shadow type="math_number" id="~Y0hNY[_^#v@aZkE-TH[">
+                    <field name="NUM">0.1</field>
+                  </shadow>
+                </value>
+              </block>
+            </next>
+          </block>
+        </next>
+      </block>
+    </statement>
+  </block>
+</xml>

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 +1,184 @@
+#!/usr/bin/env python
+
+# Copyright (C) 2020 Copter Express Technologies
+#
+# Author: Oleg Kalachev <okalachev@gmail.com>
+#
+# Distributed under MIT License (available at https://opensource.org/licenses/MIT).
+# The above copyright notice and this permission notice shall be included in all
+# copies or substantial portions of the Software.
+
+from __future__ import print_function
+
+import rospy
+import os
+import threading
+import re
+import uuid
+from std_msgs.msg import Bool, String
+from std_srvs.srv import Trigger
+from clover_blocks.msg import Prompt
+from clover_blocks.srv import Run, Load, Store
+
+
+rospy.init_node('clover_blocks')
+
+stop = None
+block = ''
+published_block = None
+running_lock = threading.Lock()
+
+running_pub = rospy.Publisher('~running', Bool, queue_size=1, latch=True)
+block_pub = rospy.Publisher('~block', String, queue_size=1, latch=True)
+print_pub = rospy.Publisher('~print', String, queue_size=10)
+prompt_pub = rospy.Publisher('~prompt', Prompt, queue_size=10)
+error_pub = rospy.Publisher('~error', String, queue_size=10)
+
+
+running_pub.publish(False)
+
+
+class Stop(Exception):
+    pass
+
+
+def publish_block(event):
+    global published_block, block
+    if published_block != block:
+        block_pub.publish(block)
+    published_block = block
+
+
+rospy.Timer(rospy.Duration(rospy.get_param('block_rate', 0.2)), publish_block)
+
+
+def change_block(_block):
+    global block
+    block = _block
+    if stop: raise Stop
+
+
+rospy_sleep = rospy.sleep
+
+
+def sleep(duration):
+    time_start = rospy.get_time()
+
+    if isinstance(duration, rospy.Duration):
+        duration = duration.to_sec()
+
+    time_until = time_start + duration
+
+    while not rospy.is_shutdown():
+        if stop: raise Stop  # check stop condition every half-second
+        if (time_until - rospy.get_time()) > 0.5:
+            print('sleep 0.5')
+            rospy_sleep(0.5)
+        else:
+            rospy_sleep(time_until - rospy.get_time())
+            return
+
+
+rospy.sleep = sleep
+rospy.init_node = lambda *args, **kwargs: None
+
+
+def _print(s):
+    rospy.loginfo(str(s))
+    print_pub.publish(str(s))
+
+
+def _input(s):
+    rospy.loginfo('Input with message %s', s)
+    prompt_id = str(uuid.uuid4()).replace('-', '')
+    prompt_pub.publish(message=str(s), id=prompt_id)
+    return rospy.wait_for_message('~input/' + prompt_id, String, timeout=30).data;
+
+
+def run(req):
+    if not running_lock.acquire(False):
+        return {'message': 'Already running'}
+
+    try:
+        rospy.loginfo('Run program')
+        running_pub.publish(True)
+
+        def program_thread():
+            global stop
+            stop = False
+            g = {'rospy': rospy,
+                '_b': change_block,
+                'print': _print,
+                'raw_input': _input}
+            try:
+                exec req.code 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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+      on Your own behalf and on Your sole responsibility, not on behalf
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+
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+
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+   See the License for the specific language governing permissions and
+   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