clover: Update ros3djs, THREE.js

This shebang will be ignored with newer dynamic_reconfigure packages, and its presence should allow builds to succeed when older dynamic_reconfigure is used.

.gitattributes

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

.gitignore

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

.markdownlint.json

@@ -21,7 +21,6 @@
             "ROS",
             "ROS Kinetic",
             "ROS Melodic",
-            "ROS Noetic",
             "OpenCV",
             "Gazebo",
             "GitHub",

.travis.yml

@@ -1,13 +1,12 @@
-os: linux
-dist: xenial
+sudo: required
 language: generic
 services:
   - docker
 env:
   global:
-    - DOCKER="sfalexrog/img-tool:qemu-aarch64"
+    - DOCKER="sfalexrog/img-tool:qemu-update"
     - TARGET_REPO="https://github.com/${TRAVIS_REPO_SLUG}.git"
-    - IMAGE_VERSION=${TRAVIS_TAG:-${TRAVIS_COMMIT:0:7}}
+    - if [[ -z ${TRAVIS_TAG} ]]; then IMAGE_VERSION="${TRAVIS_COMMIT}}"; else IMAGE_VERSION="${TRAVIS_TAG}"; fi
     - IMAGE_NAME="$(basename -s '.git' ${TARGET_REPO})_${IMAGE_VERSION}.img"
 git:
   depth: 50
@@ -36,16 +35,15 @@ jobs:
           fi
       before_cache:
         - cp images/*.zip imgcache
-      after_success:
-        - sudo chmod -R 777 *
-        - cd images && zip ${IMAGE_NAME}.zip ${IMAGE_NAME} && stat --printf="Compressed image size:%s\n" ${IMAGE_NAME}.zip
       before_deploy:
         # Set up git user name and tag this commit
         - git config --local user.name "goldarte"
         - git config --local user.email "goldartt@gmail.com"
+        - sudo chmod -R 777 *
+        - cd images && zip ${IMAGE_NAME}.zip ${IMAGE_NAME}
       deploy:
         provider: releases
-        token: ${GITHUB_OAUTH_TOKEN}
+        api_key: ${GITHUB_OAUTH_TOKEN}
         file: ${IMAGE_NAME}.zip
         skip_cleanup: true
         on:
@@ -68,25 +66,14 @@ jobs:
         - docker pull ${NATIVE_DOCKER}
       script:
         - docker run --rm -v $(pwd):/root/catkin_ws/src/clover ${NATIVE_DOCKER} /root/catkin_ws/src/clover/builder/standalone-install.sh
-    - stage: Build
-      name: "Native Noetic build"
-      env:
-        - NATIVE_DOCKER=ros:noetic-ros-base
-      before_script:
-        - docker pull ${NATIVE_DOCKER}
-      script:
-        - docker run --rm -v $(pwd):/root/catkin_ws/src/clover ${NATIVE_DOCKER} /root/catkin_ws/src/clover/builder/standalone-install.sh
     - stage: Build
       name: "Documentation"
       language: node_js
       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:
@@ -95,19 +82,26 @@ jobs:
         - ./check_unused_assets.py
         - gitbook install
         - gitbook build
-        - gitbook pdf ./ _book/clover.pdf
       deploy:
         provider: pages
-        local_dir: _book
-        skip_cleanup: true
-        token: ${GITHUB_OAUTH_TOKEN}
-        keep_history: true
-        target_branch: master
-        repo: CopterExpress/clover.coex.tech
-        fqdn: clover.coex.tech
+        local-dir: _book
+        skip-cleanup: true
+        github-token: ${GITHUB_OAUTH_TOKEN}
+        keep-history: true
+        target-branch: master
+        repo: CopterExpress/clever.coex.tech
+        fqdn: clever.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
@@ -115,9 +109,10 @@ jobs:
         - wget https://github.com/okalachev/editorconfig-checker/releases/download/1.2.1-disable-spaces-amount/ec-linux-amd64
         - chmod +x ec-linux-amd64
       script:
-        - ./ec-linux-amd64 -spaces-after-tabs -e "roslib.js|ros3d.js|eventemitter2.js|draw.cpp|BinUtils.swift|\.idea|apps/android/app|blockly/|clover_blocks/programs/|highlight/|python.js|Assets.xcassets|test_parser_pass.txt|test_node_failure.txt|aruco_pose/vendor|\.stl|\.dxf|\.dae"
+        - ./ec-linux-amd64 -spaces-after-tabs -e "roslib.js|ros3d.js|eventemitter2.js|draw.cpp|BinUtils.swift|\.idea|apps/android/app|Assets.xcassets|test_parser_pass.txt|test_node_failure.txt|aruco_pose/vendor|\.stl|\.dxf"
 stages:
   - Build
+  - Annotate
 # More info there
 # https://github.com/travis-ci/travis-ci/issues/6893
 # https://docs.travis-ci.com/user/customizing-the-build/

README.md

@@ -1,40 +1,103 @@
-# COEX Clover Drone Kit
+# CLEVER
 
-<img src="docs/assets/clever4-front-white.png" align="right" width="400px" alt="Clover Drone">
+<img src="docs/assets/clever4-front-white.png" align="right" width="400px" alt="CLEVER drone">
 
-Clover is an educational programmable drone kit consisting of an unassembled quadcopter, open source software and documentation. The kit includes Pixracer-compatible autopilot running PX4 firmware, Raspberry Pi 4 as companion computer, a camera for computer vision navigation as well as additional sensors and peripheral devices.
+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.
 
-The main documentation is available [on Gitbook](https://clover.coex.tech/).
+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.
 
-Official website: <a href="https://coex.tech/clover">coex.tech/clover</a>.
+**The main documentation is available [on Gitbook](https://clever.coex.tech/).**
 
-## 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.
+Use it to learn how to assemble, configure, pilot and program autonomous CLEVER drone.
 
 ## Raspberry Pi image
 
-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).
+**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).**
 
-[![Build Status](https://travis-ci.org/CopterExpress/clover.svg?branch=master)](https://travis-ci.org/CopterExpress/clover)
+[![Build Status](https://travis-ci.org/CopterExpress/clever.svg?branch=master)](https://travis-ci.org/CopterExpress/clever)
 
-Image features:
+Image includes:
 
 * Raspbian Buster
-* [ROS Noetic](http://wiki.ros.org/noetic)
+* ROS Melodic
 * Configured networking
 * OpenCV
-* [`mavros`](http://wiki.ros.org/mavros)
-* Periphery drivers for ROS ([GPIO](https://clover.coex.tech/en/gpio.html), [LED strip](https://clover.coex.tech/en/leds.html), etc)
-* `aruco_pose` package for marker-assisted navigation
-* `clover` package for autonomous drone control
+* mavros
+* Periphery drivers (`pigpiod`, `rpi_ws281x`, etc)
+* CLEVER software bundle for autonomous drone control
 
-API description for autonomous flights is available [on GitBook](https://clover.coex.tech/en/simple_offboard.html).
+API description (in Russian) for autonomous flights is available [on GitBook](https://clever.coex.tech/simple_offboard.html).
 
-For manual package installation and running see [`clover` package documentation](clover/README.md).
+## 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/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 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.
+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.

aruco_pose/CMakeLists.txt

@@ -1,6 +1,8 @@
 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)
 
@@ -22,21 +24,13 @@ find_package(catkin REQUIRED COMPONENTS
   dynamic_reconfigure
 )
 
-# Workaround for OpenCV 3/4 support
-set(_opencv_version 4)
-find_package(OpenCV ${_opencv_version} QUIET)
-if (NOT OpenCV_FOUND)
-  message(STATUS "Did not find OpenCV 4, searching for OpenCV 3")
-  set(_opencv_version 3)
-endif()
-
-find_package(OpenCV ${_opencv_version} REQUIRED COMPONENTS core imgproc calib3d)
-if ("${OpenCV_VERSION_MINOR}" LESS "9")
+find_package(OpenCV 3 REQUIRED COMPONENTS core imgproc calib3d)
+if ("${OpenCV_VERSION_MINOR}" LESS "3")
   message(STATUS "OpenCV version too low, using vendored ArUco package")
   include(vendor/VendorOpenCV.cmake)
 else()
   message(STATUS "Using system OpenCV ArUco package")
-  find_package(OpenCV ${_opencv_version} REQUIRED COMPONENTS aruco)
+  find_package(OpenCV 3 REQUIRED COMPONENTS aruco)
 endif()
 message(STATUS "OpenCV include dirs: ${OpenCV_INCLUDE_DIRS}")
 message(STATUS "OpenCV libraries: ${OpenCV_LIBRARIES}")
@@ -215,10 +209,6 @@ target_link_libraries(aruco_pose
 #   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
 # )
 
-catkin_install_python(PROGRAMS src/genmap.py
-  DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
-)
-
 #############
 ## Testing ##
 #############
@@ -239,5 +229,4 @@ 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/src/aruco_detect.cpp

@@ -58,9 +58,10 @@ using cv::Mat;
 
 class ArucoDetect : public nodelet::Nodelet {
 private:
-	std::unique_ptr<tf2_ros::TransformBroadcaster> br_;
-	std::unique_ptr<tf2_ros::Buffer> tf_buffer_;
-	std::unique_ptr<tf2_ros::TransformListener> tf_listener_;
+	ros::NodeHandle nh_, nh_priv_;
+	tf2_ros::TransformBroadcaster br_;
+	tf2_ros::Buffer tf_buffer_;
+	tf2_ros::TransformListener tf_listener_{tf_buffer_};
 	std::shared_ptr<dynamic_reconfigure::Server<aruco_pose::DetectorConfig>> dyn_srv_;
 	cv::Ptr<cv::aruco::Dictionary> dictionary_;
 	cv::Ptr<cv::aruco::DetectorParameters> parameters_;
@@ -80,32 +81,30 @@ private:
 public:
 	virtual void onInit()
 	{
-		ros::NodeHandle& nh_ = getNodeHandle();
-		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_));
+		nh_ = getNodeHandle();
+		nh_priv_ = getPrivateNodeHandle();
 
 		int dictionary;
-		dictionary = nh_priv_.param("dictionary", 2);
-		estimate_poses_ = nh_priv_.param("estimate_poses", true);
-		send_tf_ = nh_priv_.param("send_tf", true);
+		nh_priv_.param("dictionary", dictionary, 2);
+		nh_priv_.param("estimate_poses", estimate_poses_, true);
+		nh_priv_.param("send_tf", 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(nh_priv_);
+		readLengthOverride();
 
-		known_tilt_ = nh_priv_.param<std::string>("known_tilt", "");
-		auto_flip_ = nh_priv_.param("auto_flip", false);
+		nh_priv_.param<std::string>("known_tilt", known_tilt_, "");
+		nh_priv_.param("auto_flip", auto_flip_, false);
 
-		frame_id_prefix_ = nh_priv_.param<std::string>("frame_id_prefix", "aruco_");
+		nh_priv_.param<std::string>("frame_id_prefix", 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_);
@@ -171,8 +170,8 @@ private:
 
 				if (!known_tilt_.empty()) {
 					try {
-						snap_to = tf_buffer_->lookupTransform(msg->header.frame_id, known_tilt_,
-						                                      msg->header.stamp, ros::Duration(0.02));
+						snap_to = tf_buffer_.lookupTransform(msg->header.frame_id, known_tilt_,
+						                                     msg->header.stamp, ros::Duration(0.02));
 					} catch (const tf2::TransformException& e) {
 						NODELET_WARN_THROTTLE(5, "can't snap: %s", e.what());
 					}
@@ -206,7 +205,7 @@ 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);
 						}
 					}
 				}
@@ -327,10 +326,10 @@ private:
 		return frame_id_prefix_ + std::to_string(id);
 	}
 
-	void readLengthOverride(ros::NodeHandle& nh)
+	void readLengthOverride()
 	{
 		std::map<std::string, double> length_override;
-		nh.getParam("length_override", length_override);
+		nh_priv_.getParam("length_override", length_override);
 		for (auto const& item : length_override) {
 			length_override_[std::stoi(item.first)] = item.second;
 		}

aruco_pose/src/aruco_map.cpp

@@ -58,6 +58,7 @@ 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_;
@@ -82,8 +83,8 @@ private:
 public:
 	virtual void onInit()
 	{
-		ros::NodeHandle &nh_ = getNodeHandle();
-		ros::NodeHandle &nh_priv_ = getPrivateNodeHandle();
+		nh_ = getNodeHandle();
+		nh_priv_ = getPrivateNodeHandle();
 
 		image_transport::ImageTransport it_priv(nh_priv_);
 
@@ -95,18 +96,19 @@ 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;
-		type = nh_priv_.param<std::string>("type", "map");
-		transform_.child_frame_id = nh_priv_.param<std::string>("frame_id", "aruco_map");
-		known_tilt_ = nh_priv_.param<std::string>("known_tilt", "");
-		auto_flip_ = nh_priv_.param("auto_flip", false);
-		image_width_ = nh_priv_.param("image_width" , 2000);
-		image_height_ = nh_priv_.param("image_height", 2000);
-		image_margin_ = nh_priv_.param("image_margin", 200);
-		image_axis_ = nh_priv_.param("image_axis", true);
-		markers_parent_frame_ = nh_priv_.param<std::string>("markers/frame_id", transform_.child_frame_id);
-		markers_frame_ = nh_priv_.param<std::string>("markers/child_frame_id_prefix", "");
+		nh_priv_.param<std::string>("type", type, "map");
+		nh_priv_.param<std::string>("frame_id", transform_.child_frame_id, "aruco_map");
+		nh_priv_.param<std::string>("known_tilt", known_tilt_, "");
+		nh_priv_.param("auto_flip", auto_flip_, false);
+		nh_priv_.param("image_width", image_width_, 2000);
+		nh_priv_.param("image_height", image_height_, 2000);
+		nh_priv_.param("image_margin", image_margin_, 200);
+		nh_priv_.param("image_axis", image_axis_, true);
+		nh_priv_.param<std::string>("markers/frame_id", markers_parent_frame_, transform_.child_frame_id);
+		nh_priv_.param<std::string>("markers/child_frame_id_prefix", markers_frame_, "");
 
 		// createStripLine();
 
@@ -114,7 +116,7 @@ public:
 			param(nh_priv_, "map", map);
 			loadMap(map);
 		} else if (type == "gridboard") {
-			createGridBoard(nh_priv_);
+			createGridBoard();
 		} else {
 			NODELET_FATAL("unknown type: %s", type.c_str());
 			ros::shutdown();
@@ -329,7 +331,7 @@ publish_debug:
 		NODELET_INFO("loading %s complete (%d markers)", filename.c_str(), static_cast<int>(board_->ids.size()));
 	}
 
-	void createGridBoard(ros::NodeHandle& nh)
+	void createGridBoard()
 	{
 		NODELET_INFO("generate gridboard");
 		NODELET_WARN("gridboard maps are deprecated");
@@ -337,15 +339,15 @@ publish_debug:
 		int markers_x, markers_y, first_marker;
 		double markers_side, markers_sep_x, markers_sep_y;
 		std::vector<int> marker_ids;
-		markers_x = nh.param("markers_x", 10);
-		markers_y = nh.param("markers_y", 10);
-		first_marker = nh.param("first_marker", 0);
+		nh_priv_.param<int>("markers_x", markers_x, 10);
+		nh_priv_.param<int>("markers_y", markers_y, 10);
+		nh_priv_.param<int>("first_marker", first_marker, 0);
 
-		param(nh, "markers_side", markers_side);
-		param(nh, "markers_sep_x", markers_sep_x);
-		param(nh, "markers_sep_y", markers_sep_y);
+		param(nh_priv_, "markers_side", markers_side);
+		param(nh_priv_, "markers_sep_x", markers_sep_x);
+		param(nh_priv_, "markers_sep_y", markers_sep_y);
 
-		if (nh.getParam("marker_ids", marker_ids)) {
+		if (nh_priv_.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();
@@ -392,7 +394,7 @@ 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/clover/blob/master/aruco_pose/README.md#parameters for details",
+			              "Please see https://github.com/CopterExpress/clever/blob/master/aruco_pose/README.md#parameters for details",
 					  id, num_markers);
 			return;
 		}

aruco_pose/src/draw.cpp

@@ -3,11 +3,26 @@
 
 #include "draw.h"
 #include <math.h>
-#include <vector>
 
 using namespace cv;
 using namespace cv::aruco;
 
+static void _cvProjectPoints2( const CvMat* object_points, const CvMat* rotation_vector,
+                       const CvMat* translation_vector, const CvMat* camera_matrix,
+                       const CvMat* distortion_coeffs, CvMat* image_points,
+                       CvMat* dpdrot CV_DEFAULT(NULL), CvMat* dpdt CV_DEFAULT(NULL),
+                       CvMat* dpdf CV_DEFAULT(NULL), CvMat* dpdc CV_DEFAULT(NULL),
+                       CvMat* dpddist CV_DEFAULT(NULL),
+                       double aspect_ratio CV_DEFAULT(0));
+
+static void _projectPoints( InputArray objectPoints,
+                    InputArray rvec, InputArray tvec,
+                    InputArray cameraMatrix, InputArray distCoeffs,
+                    OutputArray imagePoints,
+                    OutputArray jacobian = noArray(),
+                    double aspectRatio = 0 );
+
+
 void _drawPlanarBoard(Board *_board, Size outSize, OutputArray _img, int marginSize,
                       int borderBits, bool drawAxis) {
 
@@ -127,194 +142,35 @@ void _drawPlanarBoard(Board *_board, Size outSize, OutputArray _img, int marginS
 	}
 }
 
-/**
- * @brief Convert point coordinates from world space to camera space.
- *
- * @param points A vector of points in world space.
- * @param rvec Rotation matrix or Rodrigues rotation vector.
- * @param tvec Translation vector from world to camera space.
- *
- * @return A vector of points in camera space.
- */
-template<typename CvPointType>
-static std::vector<CvPointType> worldToCamera(const std::vector<CvPointType>& points,
-                                              const cv::Mat& rvec, const cv::Mat& tvec)
+/* Draw a (potentially partially visible) line. */
+static void linePartial(InputOutputArray image, Point3f p1, Point3f p2, const Scalar& color,
+                        int thickness = 1, int lineType = LINE_8, int shift = 0)
 {
-	// We operate with CV_64F matrices internally to avoid precision loss
-	cv::Mat rvec_64f;
-	cv::Mat tvec_64f;
-	rvec.convertTo(rvec_64f, CV_64F);
-	tvec.convertTo(tvec_64f, CV_64F);
-
-	// Convert Rodrigues vector to rotation matrix
-	cv::Mat rmat;
-	if ((rvec_64f.cols == 3 && rvec_64f.rows == 1) ||
-	    (rvec_64f.cols == 1 && rvec_64f.rows == 3))
-	{
-		Rodrigues(rvec_64f, rmat);
+	// If both points are behind the screen, don't draw anything
+	if (p1.z <= 0 && p2.z <= 0) {
+		return;
 	}
-	else
-	{
-		rmat = rvec_64f.clone();
+	Point2f p1p{p1.x, p1.y};
+	Point2f p2p{p2.x, p2.y};
+	// If points are on the different sides of the plane, compute intersection point
+	if (p1.z * p2.z < 0) {
+		// Compute intersection point with the screen
+		// We denote alpha as such:
+		// xi = (1 - alpha) * x1 + alpha * x2
+		// yi = (1 - alpha) * y1 + alpha * y2
+		// zi = (1 - alpha) * z1 + alpha * z2 = 0
+		// Thus, alpha can be expressed as
+		// alpha = z1 / (z1 - z2)
+		float alpha = p1.z / (p1.z - p2.z);
+		Point2f pi{(1 - alpha) * p1.x + alpha * p2.x, (1 - alpha) * p1.y + alpha * p2.y};
+		// Now, if z1 is negative, we draw the line from (xi, yi) to (x2, y2), else we draw from (x1, y1) to (xi, yi)
+		if (p1.z < 0) {
+			p1p = pi;
+		} else {
+			p2p = pi;
+		}
 	}
-	// Make sure tvec has a size of (3, 1)
-	if (tvec_64f.rows == 1)
-	{
-		tvec_64f = tvec_64f.t();
-	}
-	std::vector<CvPointType> result;
-	result.reserve(points.size());
-	for(const auto& point : points)
-	{
-		// Calculate point coordinates in camera frame
-		// static_casts are here to silence potential narrowing conversion warnings
-		CvPointType camPoint{
-			static_cast<decltype(CvPointType::x)>(point.x * rmat.at<double>(0,0) + point.y * rmat.at<double>(0,1) + point.z * rmat.at<double>(0,2) + tvec_64f.at<double>(0)),
-			static_cast<decltype(CvPointType::y)>(point.x * rmat.at<double>(1,0) + point.y * rmat.at<double>(1,1) + point.z * rmat.at<double>(1,2) + tvec_64f.at<double>(1)),
-			static_cast<decltype(CvPointType::z)>(point.x * rmat.at<double>(2,0) + point.y * rmat.at<double>(2,1) + point.z * rmat.at<double>(2,2) + tvec_64f.at<double>(2))
-		};
-		result.push_back(camPoint);
-	}
-	return result;
-}
-
-/**
- * @brief Project points from camera space to screen space, applying distortion in the process.
- *
- * @param points A vector of points in camera space.
- * @param cameraMatrix OpenCV intrinsic camera matrix.
- * @param distCoeffs OpenCV distortion model coefficients.
- *
- * @return A vector of points in screen space.
- */
-template<typename CvPointType>
-static std::vector<CvPointType> cameraToScreen(const std::vector<CvPointType>& points,
-                                               const cv::Mat& cameraMatrix,
-                                               const cv::Mat& distCoeffs)
-{
-	// We operate with CV_64F matrices internally to avoid precision loss
-	cv::Mat cm_64f; // camera matrix, CV_64F
-	cv::Mat dc_64f; // distortion coefficients, CV_64F
-	cameraMatrix.convertTo(cm_64f, CV_64F);
-	distCoeffs.convertTo(dc_64f, CV_64F);
-
-	// Make sure distortion vector has a size of (N, 1)
-	if (dc_64f.rows == 1)
-	{
-		dc_64f = dc_64f.t();
-	}
-
-	// We will always use 12 distortion coefficients,
-	// and we can safely pad missing ones with zeroes
-	dc_64f.resize(12, 0.0);
-
-	std::vector<CvPointType> result;
-	result.reserve(points.size());
-
-	for(const auto& point : points)
-	{
-		// Apply perspective projection, preserving initial Z coordinate
-		// Always use double-precision
-		cv::Point3d camPoint{
-			point.x / point.z,
-			point.y / point.z,
-			point.z
-		};
-
-		// Apply distortion
-		// Note that we do not consider tilted sensor distortion
-		// r^2 - distance from the image center squared
-		double r2 = camPoint.x * camPoint.x + camPoint.y * camPoint.y;
-		// r^4 - same, but to the 4th power
-		double r4 = r2 * r2;
-		// r^6 - same, but to the 6th power
-		double r6 = r4 * r2;
-		// tg1 - first tangential shift factor (2 * x * y)
-		double tg1 = 2 * camPoint.x * camPoint.y;
-		// tg2 - second tangential shift factor (r^2 + 2 * x^2)
-		double tg2 = r2 + 2 * camPoint.x * camPoint.x;
-		// tg3 - third tangential shift factor (r^2 + 2 * y^2)
-		double tg3 = r2 + 2 * camPoint.y * camPoint.y;
-		// polynomial distortion factor (numerator)
-		double pndist = 1 + dc_64f.at<double>(0) * r2 + dc_64f.at<double>(1) * r4 + dc_64f.at<double>(4) * r6;
-		// polynomial distortion factror (denominator)
-		double pddist = 1.0 / (1 + dc_64f.at<double>(5) * r2 + dc_64f.at<double>(6) * r4 + dc_64f.at<double>(7) * r6);
-		// Distorted point coordinates (always double-precision)
-		cv::Point3d distortedPoint{
-			camPoint.x * pndist * pddist + dc_64f.at<double>(2) * tg1 + dc_64f.at<double>(3) * tg2 + dc_64f.at<double>(8) * r2 + dc_64f.at<double>(9) * r4,
-			camPoint.y * pndist * pddist + dc_64f.at<double>(2) * tg3 + dc_64f.at<double>(3) * tg1 + dc_64f.at<double>(10) * r2 + dc_64f.at<double>(11) * r4,
-			camPoint.z
-		};
-
-		// Convert to screen space
-		// We use static_cast here to silence potential warnings about narrowing conversions
-		// (we expect that to be the case)
-		CvPointType screenPoint{
-			static_cast<decltype(CvPointType::x)>(distortedPoint.x * cm_64f.at<double>(0, 0) + cm_64f.at<double>(0, 2)),
-			static_cast<decltype(CvPointType::y)>(distortedPoint.y * cm_64f.at<double>(1, 1) + cm_64f.at<double>(1, 2)),
-			static_cast<decltype(CvPointType::z)>(distortedPoint.z)
-		};
-
-		result.push_back(screenPoint);
-	}
-	return result;
-}
-
-/**
- * @brief Clip a line against a clip plane.
- *
- * This function "clips" a line (described by two points in *camera space*)
- * against a clip plane that is `clipPlaneDistance` meters away from the
- * camera focal point. If both points are further away from the focal point
- * than `clipPlaneDistance`, they will be returned unmodified. If one of the
- * points is behind the clipping plane, a point *on* the clipping plane will
- * be computed and returned as one of the points.
- *
- * If none of the points are visible, an empty vector will be returned.
- *
- * @param p1 First point on the line, in camera space.
- * @param p2 Second point on the line, in camera space.
- * @param clipPlaneDistance Distance from the focal point to the clipping plane.
- * @return A vector of zero or two points on the clipped line, in camera space.
- */
-static std::vector<Point3f> lineClip(Point3f p1, Point3f p2, float clipPlaneDistance = 0.1f)
-{
-	// We don't need to compute an intersection if both points are
-	// behind us
-	if (p1.z < clipPlaneDistance && p2.z < clipPlaneDistance)
-	{
-		return {};
-	}
-	// We don't need to compute an intersection if both points are
-	// in front of us
-	if (p1.z > clipPlaneDistance && p2.z > clipPlaneDistance)
-	{
-		return {p1, p2};
-	}
-	// We don't really want to compute an intersection if both Z coordinates
-	// are sufficiently close to each other
-	if (std::abs(p1.z - p2.z) < 0.0001) // The number here is chosen arbitrarily
-	{
-		return {p1, p2};
-	}
-	// We compute the intersection as such:
-	// zi = (1 - alpha) * p1.z + alpha * p2.z = clipPlaneDistance
-	// alpha = (p1.z - clipPlaneDistance) / (p1.z - p2.z)
-	double alpha = (p1.z - clipPlaneDistance) / (p1.z - p2.z);
-	Point3f clipPlanePoint{
-		static_cast<float>((1 - alpha) * p1.x + alpha * p2.x),
-		static_cast<float>((1 - alpha) * p1.y + alpha * p2.y),
-		clipPlaneDistance
-	};
-	if (p1.z < clipPlaneDistance)
-	{
-		return {clipPlanePoint, p2};
-	}
-	else
-	{
-		return {p1, clipPlanePoint};
-	}
-	// Unreachable?
+	line(image, p1p, p2p, color, thickness, lineType, shift);
 }
 
 void _drawAxis(InputOutputArray _image, InputArray _cameraMatrix, InputArray _distCoeffs,
@@ -330,23 +186,647 @@ void _drawAxis(InputOutputArray _image, InputArray _cameraMatrix, InputArray _di
 	axisPoints.push_back(Point3f(length, 0, 0));
 	axisPoints.push_back(Point3f(0, length, 0));
 	axisPoints.push_back(Point3f(0, 0, length));
-	auto camAxisPoints = worldToCamera(axisPoints, _rvec.getMat(), _tvec.getMat());
-	auto axisX = cameraToScreen(lineClip(camAxisPoints[0], camAxisPoints[1]), _cameraMatrix.getMat(), _distCoeffs.getMat());
-	auto axisY = cameraToScreen(lineClip(camAxisPoints[0], camAxisPoints[2]), _cameraMatrix.getMat(), _distCoeffs.getMat());
-	auto axisZ = cameraToScreen(lineClip(camAxisPoints[0], camAxisPoints[3]), _cameraMatrix.getMat(), _distCoeffs.getMat());
-	if (axisX.size() > 0)
-	{
-		line(_image, Point2f{axisX[0].x, axisX[0].y}, Point2f{axisX[1].x, axisX[1].y},
-			Scalar(0, 0, 255), 3);
-	}
-	if (axisY.size() > 0)
-	{
-		line(_image, Point2f{axisY[0].x, axisY[0].y}, Point2f{axisY[1].x, axisY[1].y},
-			Scalar(0, 255, 0), 3);
-	}
-	if (axisZ.size() > 0)
-	{
-		line(_image, Point2f{axisZ[0].x, axisZ[0].y}, Point2f{axisZ[1].x, axisZ[1].y},
-			Scalar(255, 0, 0), 3);
-	}
+	std::vector<Point3f> imagePointsZ;
+	_projectPoints(axisPoints, _rvec, _tvec, _cameraMatrix, _distCoeffs, imagePointsZ);
+
+	// draw axis lines
+	linePartial(_image, imagePointsZ[0], imagePointsZ[1], Scalar(0, 0, 255), 3);
+	linePartial(_image, imagePointsZ[0], imagePointsZ[2], Scalar(0, 255, 0), 3);
+	linePartial(_image, imagePointsZ[0], imagePointsZ[3], Scalar(255, 0, 0), 3);
+}
+
+static CvMat _cvMat(const cv::Mat& m)
+{
+	CvMat self;
+	CV_DbgAssert(m.dims <= 2);
+	self = cvMat(m.rows, m.dims == 1 ? 1 : m.cols, m.type(), m.data);
+	self.step = (int)m.step[0];
+	self.type = (self.type & ~cv::Mat::CONTINUOUS_FLAG) | (m.flags & cv::Mat::CONTINUOUS_FLAG);
+	return self;
+}
+
+static void _projectPoints( InputArray _opoints,
+                        InputArray _rvec,
+                        InputArray _tvec,
+                        InputArray _cameraMatrix,
+                        InputArray _distCoeffs,
+                        OutputArray _ipoints,
+                        OutputArray _jacobian,
+                        double aspectRatio )
+{
+	Mat opoints = _opoints.getMat();
+	int npoints = opoints.checkVector(3), depth = opoints.depth();
+	CV_Assert(npoints >= 0 && (depth == CV_32F || depth == CV_64F));
+
+	CvMat dpdrot, dpdt, dpdf, dpdc, dpddist;
+	CvMat *pdpdrot = 0, *pdpdt = 0, *pdpdf = 0, *pdpdc = 0, *pdpddist = 0;
+
+	CV_Assert(_ipoints.needed());
+
+	_ipoints.create(npoints, 1, CV_MAKETYPE(depth, 3), -1, true);
+	Mat imagePoints = _ipoints.getMat();
+	CvMat c_imagePoints = _cvMat(imagePoints);
+	CvMat c_objectPoints = _cvMat(opoints);
+	Mat cameraMatrix = _cameraMatrix.getMat();
+
+	Mat rvec = _rvec.getMat(), tvec = _tvec.getMat();
+	CvMat c_cameraMatrix = _cvMat(cameraMatrix);
+	CvMat c_rvec = _cvMat(rvec), c_tvec = _cvMat(tvec);
+
+	double dc0buf[5] = {0};
+	Mat dc0(5, 1, CV_64F, dc0buf);
+	Mat distCoeffs = _distCoeffs.getMat();
+	if (distCoeffs.empty())
+		distCoeffs = dc0;
+	CvMat c_distCoeffs = _cvMat(distCoeffs);
+	int ndistCoeffs = distCoeffs.rows + distCoeffs.cols - 1;
+
+	Mat jacobian;
+	if (_jacobian.needed())
+	{
+		_jacobian.create(npoints * 2, 3 + 3 + 2 + 2 + ndistCoeffs, CV_64F);
+		jacobian = _jacobian.getMat();
+		pdpdrot = &(dpdrot = _cvMat(jacobian.colRange(0, 3)));
+		pdpdt = &(dpdt = _cvMat(jacobian.colRange(3, 6)));
+		pdpdf = &(dpdf = _cvMat(jacobian.colRange(6, 8)));
+		pdpdc = &(dpdc = _cvMat(jacobian.colRange(8, 10)));
+		pdpddist = &(dpddist = _cvMat(jacobian.colRange(10, 10 + ndistCoeffs)));
+	}
+
+	_cvProjectPoints2(&c_objectPoints, &c_rvec, &c_tvec, &c_cameraMatrix, &c_distCoeffs,
+					  &c_imagePoints, pdpdrot, pdpdt, pdpdf, pdpdc, pdpddist, aspectRatio);
+}
+
+namespace _detail
+{
+    template <typename FLOAT>
+    void computeTiltProjectionMatrix(FLOAT tauX,
+                                     FLOAT tauY,
+                                     Matx<FLOAT, 3, 3>* matTilt = 0,
+                                     Matx<FLOAT, 3, 3>* dMatTiltdTauX = 0,
+                                     Matx<FLOAT, 3, 3>* dMatTiltdTauY = 0,
+                                     Matx<FLOAT, 3, 3>* invMatTilt = 0)
+    {
+        FLOAT cTauX = cos(tauX);
+        FLOAT sTauX = sin(tauX);
+        FLOAT cTauY = cos(tauY);
+        FLOAT sTauY = sin(tauY);
+        Matx<FLOAT, 3, 3> matRotX = Matx<FLOAT, 3, 3>(1,0,0,0,cTauX,sTauX,0,-sTauX,cTauX);
+        Matx<FLOAT, 3, 3> matRotY = Matx<FLOAT, 3, 3>(cTauY,0,-sTauY,0,1,0,sTauY,0,cTauY);
+        Matx<FLOAT, 3, 3> matRotXY = matRotY * matRotX;
+        Matx<FLOAT, 3, 3> matProjZ = Matx<FLOAT, 3, 3>(matRotXY(2,2),0,-matRotXY(0,2),0,matRotXY(2,2),-matRotXY(1,2),0,0,1);
+        if (matTilt)
+        {
+            // Matrix for trapezoidal distortion of tilted image sensor
+            *matTilt = matProjZ * matRotXY;
+        }
+        if (dMatTiltdTauX)
+        {
+            // Derivative with respect to tauX
+            Matx<FLOAT, 3, 3> dMatRotXYdTauX = matRotY * Matx<FLOAT, 3, 3>(0,0,0,0,-sTauX,cTauX,0,-cTauX,-sTauX);
+            Matx<FLOAT, 3, 3> dMatProjZdTauX = Matx<FLOAT, 3, 3>(dMatRotXYdTauX(2,2),0,-dMatRotXYdTauX(0,2),
+                                                                 0,dMatRotXYdTauX(2,2),-dMatRotXYdTauX(1,2),0,0,0);
+            *dMatTiltdTauX = (matProjZ * dMatRotXYdTauX) + (dMatProjZdTauX * matRotXY);
+        }
+        if (dMatTiltdTauY)
+        {
+            // Derivative with respect to tauY
+            Matx<FLOAT, 3, 3> dMatRotXYdTauY = Matx<FLOAT, 3, 3>(-sTauY,0,-cTauY,0,0,0,cTauY,0,-sTauY) * matRotX;
+            Matx<FLOAT, 3, 3> dMatProjZdTauY = Matx<FLOAT, 3, 3>(dMatRotXYdTauY(2,2),0,-dMatRotXYdTauY(0,2),
+                                                                 0,dMatRotXYdTauY(2,2),-dMatRotXYdTauY(1,2),0,0,0);
+            *dMatTiltdTauY = (matProjZ * dMatRotXYdTauY) + (dMatProjZdTauY * matRotXY);
+        }
+        if (invMatTilt)
+        {
+            FLOAT inv = 1./matRotXY(2,2);
+            Matx<FLOAT, 3, 3> invMatProjZ = Matx<FLOAT, 3, 3>(inv,0,inv*matRotXY(0,2),0,inv,inv*matRotXY(1,2),0,0,1);
+            *invMatTilt = matRotXY.t()*invMatProjZ;
+        }
+    }
+}
+
+static const char* cvDistCoeffErr = "Distortion coefficients must be 1x4, 4x1, 1x5, 5x1, 1x8, 8x1, 1x12, 12x1, 1x14 or 14x1 floating-point vector";
+
+static void _cvProjectPoints2Internal( const CvMat* objectPoints,
+                                      const CvMat* r_vec,
+                                      const CvMat* t_vec,
+                                      const CvMat* A,
+                                      const CvMat* distCoeffs,
+                                      CvMat* imagePoints, CvMat* dpdr CV_DEFAULT(NULL),
+                                      CvMat* dpdt CV_DEFAULT(NULL), CvMat* dpdf CV_DEFAULT(NULL),
+                                      CvMat* dpdc CV_DEFAULT(NULL), CvMat* dpdk CV_DEFAULT(NULL),
+                                      CvMat* dpdo CV_DEFAULT(NULL),
+                                      double aspectRatio CV_DEFAULT(0) )
+{
+    Ptr<CvMat> matM, _m;
+    Ptr<CvMat> _dpdr, _dpdt, _dpdc, _dpdf, _dpdk;
+    Ptr<CvMat> _dpdo;
+
+    int i, j, count;
+    int calc_derivatives;
+    const CvPoint3D64f* M;
+    CvPoint3D64f* m;
+    double r[3], R[9], dRdr[27], t[3], a[9], k[14] = {0,0,0,0,0,0,0,0,0,0,0,0,0,0}, fx, fy, cx, cy;
+    Matx33d matTilt = Matx33d::eye();
+    Matx33d dMatTiltdTauX(0,0,0,0,0,0,0,-1,0);
+    Matx33d dMatTiltdTauY(0,0,0,0,0,0,1,0,0);
+    CvMat _r, _t, _a = cvMat( 3, 3, CV_64F, a ), _k;
+    CvMat matR = cvMat( 3, 3, CV_64F, R ), _dRdr = cvMat( 3, 9, CV_64F, dRdr );
+    double *dpdr_p = 0, *dpdt_p = 0, *dpdk_p = 0, *dpdf_p = 0, *dpdc_p = 0;
+    double* dpdo_p = 0;
+    int dpdr_step = 0, dpdt_step = 0, dpdk_step = 0, dpdf_step = 0, dpdc_step = 0;
+    int dpdo_step = 0;
+    bool fixedAspectRatio = aspectRatio > FLT_EPSILON;
+
+    if( !CV_IS_MAT(objectPoints) || !CV_IS_MAT(r_vec) ||
+        !CV_IS_MAT(t_vec) || !CV_IS_MAT(A) ||
+        /*!CV_IS_MAT(distCoeffs) ||*/ !CV_IS_MAT(imagePoints) )
+        CV_Error( CV_StsBadArg, "One of required arguments is not a valid matrix" );
+
+    int total = objectPoints->rows * objectPoints->cols * CV_MAT_CN(objectPoints->type);
+    if(total % 3 != 0)
+    {
+        //we have stopped support of homogeneous coordinates because it cause ambiguity in interpretation of the input data
+        CV_Error( CV_StsBadArg, "Homogeneous coordinates are not supported" );
+    }
+    count = total / 3;
+
+    if( CV_IS_CONT_MAT(objectPoints->type) &&
+        (CV_MAT_DEPTH(objectPoints->type) == CV_32F || CV_MAT_DEPTH(objectPoints->type) == CV_64F)&&
+        ((objectPoints->rows == 1 && CV_MAT_CN(objectPoints->type) == 3) ||
+         (objectPoints->rows == count && CV_MAT_CN(objectPoints->type)*objectPoints->cols == 3) ||
+         (objectPoints->rows == 3 && CV_MAT_CN(objectPoints->type) == 1 && objectPoints->cols == count)))
+    {
+        matM.reset(cvCreateMat( objectPoints->rows, objectPoints->cols, CV_MAKETYPE(CV_64F,CV_MAT_CN(objectPoints->type)) ));
+        cvConvert(objectPoints, matM);
+    }
+    else
+    {
+//        matM = cvCreateMat( 1, count, CV_64FC3 );
+//        cvConvertPointsHomogeneous( objectPoints, matM );
+        CV_Error( CV_StsBadArg, "Homogeneous coordinates are not supported" );
+    }
+
+    if( CV_IS_CONT_MAT(imagePoints->type) &&
+        (CV_MAT_DEPTH(imagePoints->type) == CV_32F || CV_MAT_DEPTH(imagePoints->type) == CV_64F) &&
+        ((imagePoints->rows == 1 && CV_MAT_CN(imagePoints->type) == 3) ||
+         (imagePoints->rows == count && CV_MAT_CN(imagePoints->type)*imagePoints->cols == 3) ||
+         (imagePoints->rows == 3 && CV_MAT_CN(imagePoints->type) == 1 && imagePoints->cols == count)))
+    {
+        _m.reset(cvCreateMat( imagePoints->rows, imagePoints->cols, CV_MAKETYPE(CV_64F,CV_MAT_CN(imagePoints->type)) ));
+        cvConvert(imagePoints, _m);
+    }
+    else
+    {
+//        _m = cvCreateMat( 1, count, CV_64FC2 );
+        CV_Error( CV_StsBadArg, "Homogeneous coordinates are not supported" );
+    }
+
+    M = (CvPoint3D64f*)matM->data.db;
+    m = (CvPoint3D64f*)_m->data.db;
+
+    if( (CV_MAT_DEPTH(r_vec->type) != CV_64F && CV_MAT_DEPTH(r_vec->type) != CV_32F) ||
+        (((r_vec->rows != 1 && r_vec->cols != 1) ||
+          r_vec->rows*r_vec->cols*CV_MAT_CN(r_vec->type) != 3) &&
+         ((r_vec->rows != 3 && r_vec->cols != 3) || CV_MAT_CN(r_vec->type) != 1)))
+        CV_Error( CV_StsBadArg, "Rotation must be represented by 1x3 or 3x1 "
+                                "floating-point rotation vector, or 3x3 rotation matrix" );
+
+    if( r_vec->rows == 3 && r_vec->cols == 3 )
+    {
+        _r = cvMat( 3, 1, CV_64FC1, r );
+        cvRodrigues2( r_vec, &_r );
+        cvRodrigues2( &_r, &matR, &_dRdr );
+        cvCopy( r_vec, &matR );
+    }
+    else
+    {
+        _r = cvMat( r_vec->rows, r_vec->cols, CV_MAKETYPE(CV_64F,CV_MAT_CN(r_vec->type)), r );
+        cvConvert( r_vec, &_r );
+        cvRodrigues2( &_r, &matR, &_dRdr );
+    }
+
+    if( (CV_MAT_DEPTH(t_vec->type) != CV_64F && CV_MAT_DEPTH(t_vec->type) != CV_32F) ||
+        (t_vec->rows != 1 && t_vec->cols != 1) ||
+        t_vec->rows*t_vec->cols*CV_MAT_CN(t_vec->type) != 3 )
+        CV_Error( CV_StsBadArg,
+                  "Translation vector must be 1x3 or 3x1 floating-point vector" );
+
+    _t = cvMat( t_vec->rows, t_vec->cols, CV_MAKETYPE(CV_64F,CV_MAT_CN(t_vec->type)), t );
+    cvConvert( t_vec, &_t );
+
+    if( (CV_MAT_TYPE(A->type) != CV_64FC1 && CV_MAT_TYPE(A->type) != CV_32FC1) ||
+        A->rows != 3 || A->cols != 3 )
+        CV_Error( CV_StsBadArg, "Instrinsic parameters must be 3x3 floating-point matrix" );
+
+    cvConvert( A, &_a );
+    fx = a[0]; fy = a[4];
+    cx = a[2]; cy = a[5];
+
+    if( fixedAspectRatio )
+        fx = fy*aspectRatio;
+
+    if( distCoeffs )
+    {
+        if( !CV_IS_MAT(distCoeffs) ||
+            (CV_MAT_DEPTH(distCoeffs->type) != CV_64F &&
+             CV_MAT_DEPTH(distCoeffs->type) != CV_32F) ||
+            (distCoeffs->rows != 1 && distCoeffs->cols != 1) ||
+            (distCoeffs->rows*distCoeffs->cols*CV_MAT_CN(distCoeffs->type) != 4 &&
+             distCoeffs->rows*distCoeffs->cols*CV_MAT_CN(distCoeffs->type) != 5 &&
+             distCoeffs->rows*distCoeffs->cols*CV_MAT_CN(distCoeffs->type) != 8 &&
+             distCoeffs->rows*distCoeffs->cols*CV_MAT_CN(distCoeffs->type) != 12 &&
+             distCoeffs->rows*distCoeffs->cols*CV_MAT_CN(distCoeffs->type) != 14) )
+            CV_Error( CV_StsBadArg, cvDistCoeffErr );
+
+        _k = cvMat( distCoeffs->rows, distCoeffs->cols,
+                    CV_MAKETYPE(CV_64F,CV_MAT_CN(distCoeffs->type)), k );
+        cvConvert( distCoeffs, &_k );
+        if(k[12] != 0 || k[13] != 0)
+        {
+            _detail::computeTiltProjectionMatrix(k[12], k[13],
+                                                &matTilt, &dMatTiltdTauX, &dMatTiltdTauY);
+        }
+    }
+
+    if( dpdr )
+    {
+        if( !CV_IS_MAT(dpdr) ||
+            (CV_MAT_TYPE(dpdr->type) != CV_32FC1 &&
+             CV_MAT_TYPE(dpdr->type) != CV_64FC1) ||
+            dpdr->rows != count*2 || dpdr->cols != 3 )
+            CV_Error( CV_StsBadArg, "dp/drot must be 2Nx3 floating-point matrix" );
+
+        if( CV_MAT_TYPE(dpdr->type) == CV_64FC1 )
+        {
+            _dpdr.reset(cvCloneMat(dpdr));
+        }
+        else
+            _dpdr.reset(cvCreateMat( 2*count, 3, CV_64FC1 ));
+        dpdr_p = _dpdr->data.db;
+        dpdr_step = _dpdr->step/sizeof(dpdr_p[0]);
+    }
+
+    if( dpdt )
+    {
+        if( !CV_IS_MAT(dpdt) ||
+            (CV_MAT_TYPE(dpdt->type) != CV_32FC1 &&
+             CV_MAT_TYPE(dpdt->type) != CV_64FC1) ||
+            dpdt->rows != count*2 || dpdt->cols != 3 )
+            CV_Error( CV_StsBadArg, "dp/dT must be 2Nx3 floating-point matrix" );
+
+        if( CV_MAT_TYPE(dpdt->type) == CV_64FC1 )
+        {
+            _dpdt.reset(cvCloneMat(dpdt));
+        }
+        else
+            _dpdt.reset(cvCreateMat( 2*count, 3, CV_64FC1 ));
+        dpdt_p = _dpdt->data.db;
+        dpdt_step = _dpdt->step/sizeof(dpdt_p[0]);
+    }
+
+    if( dpdf )
+    {
+        if( !CV_IS_MAT(dpdf) ||
+            (CV_MAT_TYPE(dpdf->type) != CV_32FC1 && CV_MAT_TYPE(dpdf->type) != CV_64FC1) ||
+            dpdf->rows != count*2 || dpdf->cols != 2 )
+            CV_Error( CV_StsBadArg, "dp/df must be 2Nx2 floating-point matrix" );
+
+        if( CV_MAT_TYPE(dpdf->type) == CV_64FC1 )
+        {
+            _dpdf.reset(cvCloneMat(dpdf));
+        }
+        else
+            _dpdf.reset(cvCreateMat( 2*count, 2, CV_64FC1 ));
+        dpdf_p = _dpdf->data.db;
+        dpdf_step = _dpdf->step/sizeof(dpdf_p[0]);
+    }
+
+    if( dpdc )
+    {
+        if( !CV_IS_MAT(dpdc) ||
+            (CV_MAT_TYPE(dpdc->type) != CV_32FC1 && CV_MAT_TYPE(dpdc->type) != CV_64FC1) ||
+            dpdc->rows != count*2 || dpdc->cols != 2 )
+            CV_Error( CV_StsBadArg, "dp/dc must be 2Nx2 floating-point matrix" );
+
+        if( CV_MAT_TYPE(dpdc->type) == CV_64FC1 )
+        {
+            _dpdc.reset(cvCloneMat(dpdc));
+        }
+        else
+            _dpdc.reset(cvCreateMat( 2*count, 2, CV_64FC1 ));
+        dpdc_p = _dpdc->data.db;
+        dpdc_step = _dpdc->step/sizeof(dpdc_p[0]);
+    }
+
+    if( dpdk )
+    {
+        if( !CV_IS_MAT(dpdk) ||
+            (CV_MAT_TYPE(dpdk->type) != CV_32FC1 && CV_MAT_TYPE(dpdk->type) != CV_64FC1) ||
+            dpdk->rows != count*2 || (dpdk->cols != 14 && dpdk->cols != 12 && dpdk->cols != 8 && dpdk->cols != 5 && dpdk->cols != 4 && dpdk->cols != 2) )
+            CV_Error( CV_StsBadArg, "dp/df must be 2Nx14, 2Nx12, 2Nx8, 2Nx5, 2Nx4 or 2Nx2 floating-point matrix" );
+
+        if( !distCoeffs )
+            CV_Error( CV_StsNullPtr, "distCoeffs is NULL while dpdk is not" );
+
+        if( CV_MAT_TYPE(dpdk->type) == CV_64FC1 )
+        {
+            _dpdk.reset(cvCloneMat(dpdk));
+        }
+        else
+            _dpdk.reset(cvCreateMat( dpdk->rows, dpdk->cols, CV_64FC1 ));
+        dpdk_p = _dpdk->data.db;
+        dpdk_step = _dpdk->step/sizeof(dpdk_p[0]);
+    }
+
+    if( dpdo )
+    {
+        if( !CV_IS_MAT( dpdo ) || ( CV_MAT_TYPE( dpdo->type ) != CV_32FC1
+                                    && CV_MAT_TYPE( dpdo->type ) != CV_64FC1 )
+            || dpdo->rows != count * 2 || dpdo->cols != count * 3 )
+            CV_Error( CV_StsBadArg, "dp/do must be 2Nx3N floating-point matrix" );
+
+        if( CV_MAT_TYPE( dpdo->type ) == CV_64FC1 )
+        {
+            _dpdo.reset( cvCloneMat( dpdo ) );
+        }
+        else
+            _dpdo.reset( cvCreateMat( 2 * count, 3 * count, CV_64FC1 ) );
+        cvZero(_dpdo);
+        dpdo_p = _dpdo->data.db;
+        dpdo_step = _dpdo->step / sizeof( dpdo_p[0] );
+    }
+
+    calc_derivatives = dpdr || dpdt || dpdf || dpdc || dpdk || dpdo;
+
+    for( i = 0; i < count; i++ )
+    {
+        double X = M[i].x, Y = M[i].y, Z = M[i].z;
+        double x = R[0]*X + R[1]*Y + R[2]*Z + t[0];
+        double y = R[3]*X + R[4]*Y + R[5]*Z + t[1];
+        double z = R[6]*X + R[7]*Y + R[8]*Z + t[2];
+        double r2, r4, r6, a1, a2, a3, cdist, icdist2;
+        double xd, yd, xd0, yd0, invProj;
+        Vec3d vecTilt;
+        Vec3d dVecTilt;
+        Matx22d dMatTilt;
+        Vec2d dXdYd;
+
+        double z0 = z;
+        z = z ? 1./z : 1;
+        x *= z; y *= z;
+
+        r2 = x*x + y*y;
+        r4 = r2*r2;
+        r6 = r4*r2;
+        a1 = 2*x*y;
+        a2 = r2 + 2*x*x;
+        a3 = r2 + 2*y*y;
+        cdist = 1 + k[0]*r2 + k[1]*r4 + k[4]*r6;
+        icdist2 = 1./(1 + k[5]*r2 + k[6]*r4 + k[7]*r6);
+        xd0 = x*cdist*icdist2 + k[2]*a1 + k[3]*a2 + k[8]*r2+k[9]*r4;
+        yd0 = y*cdist*icdist2 + k[2]*a3 + k[3]*a1 + k[10]*r2+k[11]*r4;
+
+        // additional distortion by projecting onto a tilt plane
+        vecTilt = matTilt*Vec3d(xd0, yd0, 1);
+        invProj = vecTilt(2) ? 1./vecTilt(2) : 1;
+        xd = invProj * vecTilt(0);
+        yd = invProj * vecTilt(1);
+
+        m[i].x = xd*fx + cx;
+        m[i].y = yd*fy + cy;
+        m[i].z = z; // Just put the projected Z coordinate here, we mainly care about the sign
+
+        if( calc_derivatives )
+        {
+            if( dpdc_p )
+            {
+                dpdc_p[0] = 1; dpdc_p[1] = 0; // dp_xdc_x; dp_xdc_y
+                dpdc_p[dpdc_step] = 0;
+                dpdc_p[dpdc_step+1] = 1;
+                dpdc_p += dpdc_step*2;
+            }
+
+            if( dpdf_p )
+            {
+                if( fixedAspectRatio )
+                {
+                    dpdf_p[0] = 0; dpdf_p[1] = xd*aspectRatio; // dp_xdf_x; dp_xdf_y
+                    dpdf_p[dpdf_step] = 0;
+                    dpdf_p[dpdf_step+1] = yd;
+                }
+                else
+                {
+                    dpdf_p[0] = xd; dpdf_p[1] = 0;
+                    dpdf_p[dpdf_step] = 0;
+                    dpdf_p[dpdf_step+1] = yd;
+                }
+                dpdf_p += dpdf_step*2;
+            }
+            for (int row = 0; row < 2; ++row)
+                for (int col = 0; col < 2; ++col)
+                    dMatTilt(row,col) = matTilt(row,col)*vecTilt(2)
+                                        - matTilt(2,col)*vecTilt(row);
+            double invProjSquare = (invProj*invProj);
+            dMatTilt *= invProjSquare;
+            if( dpdk_p )
+            {
+                dXdYd = dMatTilt*Vec2d(x*icdist2*r2, y*icdist2*r2);
+                dpdk_p[0] = fx*dXdYd(0);
+                dpdk_p[dpdk_step] = fy*dXdYd(1);
+                dXdYd = dMatTilt*Vec2d(x*icdist2*r4, y*icdist2*r4);
+                dpdk_p[1] = fx*dXdYd(0);
+                dpdk_p[dpdk_step+1] = fy*dXdYd(1);
+                if( _dpdk->cols > 2 )
+                {
+                    dXdYd = dMatTilt*Vec2d(a1, a3);
+                    dpdk_p[2] = fx*dXdYd(0);
+                    dpdk_p[dpdk_step+2] = fy*dXdYd(1);
+                    dXdYd = dMatTilt*Vec2d(a2, a1);
+                    dpdk_p[3] = fx*dXdYd(0);
+                    dpdk_p[dpdk_step+3] = fy*dXdYd(1);
+                    if( _dpdk->cols > 4 )
+                    {
+                        dXdYd = dMatTilt*Vec2d(x*icdist2*r6, y*icdist2*r6);
+                        dpdk_p[4] = fx*dXdYd(0);
+                        dpdk_p[dpdk_step+4] = fy*dXdYd(1);
+
+                        if( _dpdk->cols > 5 )
+                        {
+                            dXdYd = dMatTilt*Vec2d(
+                                    x*cdist*(-icdist2)*icdist2*r2, y*cdist*(-icdist2)*icdist2*r2);
+                            dpdk_p[5] = fx*dXdYd(0);
+                            dpdk_p[dpdk_step+5] = fy*dXdYd(1);
+                            dXdYd = dMatTilt*Vec2d(
+                                    x*cdist*(-icdist2)*icdist2*r4, y*cdist*(-icdist2)*icdist2*r4);
+                            dpdk_p[6] = fx*dXdYd(0);
+                            dpdk_p[dpdk_step+6] = fy*dXdYd(1);
+                            dXdYd = dMatTilt*Vec2d(
+                                    x*cdist*(-icdist2)*icdist2*r6, y*cdist*(-icdist2)*icdist2*r6);
+                            dpdk_p[7] = fx*dXdYd(0);
+                            dpdk_p[dpdk_step+7] = fy*dXdYd(1);
+                            if( _dpdk->cols > 8 )
+                            {
+                                dXdYd = dMatTilt*Vec2d(r2, 0);
+                                dpdk_p[8] = fx*dXdYd(0); //s1
+                                dpdk_p[dpdk_step+8] = fy*dXdYd(1); //s1
+                                dXdYd = dMatTilt*Vec2d(r4, 0);
+                                dpdk_p[9] = fx*dXdYd(0); //s2
+                                dpdk_p[dpdk_step+9] = fy*dXdYd(1); //s2
+                                dXdYd = dMatTilt*Vec2d(0, r2);
+                                dpdk_p[10] = fx*dXdYd(0);//s3
+                                dpdk_p[dpdk_step+10] = fy*dXdYd(1); //s3
+                                dXdYd = dMatTilt*Vec2d(0, r4);
+                                dpdk_p[11] = fx*dXdYd(0);//s4
+                                dpdk_p[dpdk_step+11] = fy*dXdYd(1); //s4
+                                if( _dpdk->cols > 12 )
+                                {
+                                    dVecTilt = dMatTiltdTauX * Vec3d(xd0, yd0, 1);
+                                    dpdk_p[12] = fx * invProjSquare * (
+                                            dVecTilt(0) * vecTilt(2) - dVecTilt(2) * vecTilt(0));
+                                    dpdk_p[dpdk_step+12] = fy*invProjSquare * (
+                                            dVecTilt(1) * vecTilt(2) - dVecTilt(2) * vecTilt(1));
+                                    dVecTilt = dMatTiltdTauY * Vec3d(xd0, yd0, 1);
+                                    dpdk_p[13] = fx * invProjSquare * (
+                                            dVecTilt(0) * vecTilt(2) - dVecTilt(2) * vecTilt(0));
+                                    dpdk_p[dpdk_step+13] = fy * invProjSquare * (
+                                            dVecTilt(1) * vecTilt(2) - dVecTilt(2) * vecTilt(1));
+                                }
+                            }
+                        }
+                    }
+                }
+                dpdk_p += dpdk_step*2;
+            }
+
+            if( dpdt_p )
+            {
+                double dxdt[] = { z, 0, -x*z }, dydt[] = { 0, z, -y*z };
+                for( j = 0; j < 3; j++ )
+                {
+                    double dr2dt = 2*x*dxdt[j] + 2*y*dydt[j];
+                    double dcdist_dt = k[0]*dr2dt + 2*k[1]*r2*dr2dt + 3*k[4]*r4*dr2dt;
+                    double dicdist2_dt = -icdist2*icdist2*(k[5]*dr2dt + 2*k[6]*r2*dr2dt + 3*k[7]*r4*dr2dt);
+                    double da1dt = 2*(x*dydt[j] + y*dxdt[j]);
+                    double dmxdt = (dxdt[j]*cdist*icdist2 + x*dcdist_dt*icdist2 + x*cdist*dicdist2_dt +
+                                    k[2]*da1dt + k[3]*(dr2dt + 4*x*dxdt[j]) + k[8]*dr2dt + 2*r2*k[9]*dr2dt);
+                    double dmydt = (dydt[j]*cdist*icdist2 + y*dcdist_dt*icdist2 + y*cdist*dicdist2_dt +
+                                    k[2]*(dr2dt + 4*y*dydt[j]) + k[3]*da1dt + k[10]*dr2dt + 2*r2*k[11]*dr2dt);
+                    dXdYd = dMatTilt*Vec2d(dmxdt, dmydt);
+                    dpdt_p[j] = fx*dXdYd(0);
+                    dpdt_p[dpdt_step+j] = fy*dXdYd(1);
+                }
+                dpdt_p += dpdt_step*2;
+            }
+
+            if( dpdr_p )
+            {
+                double dx0dr[] =
+                        {
+                                X*dRdr[0] + Y*dRdr[1] + Z*dRdr[2],
+                                X*dRdr[9] + Y*dRdr[10] + Z*dRdr[11],
+                                X*dRdr[18] + Y*dRdr[19] + Z*dRdr[20]
+                        };
+                double dy0dr[] =
+                        {
+                                X*dRdr[3] + Y*dRdr[4] + Z*dRdr[5],
+                                X*dRdr[12] + Y*dRdr[13] + Z*dRdr[14],
+                                X*dRdr[21] + Y*dRdr[22] + Z*dRdr[23]
+                        };
+                double dz0dr[] =
+                        {
+                                X*dRdr[6] + Y*dRdr[7] + Z*dRdr[8],
+                                X*dRdr[15] + Y*dRdr[16] + Z*dRdr[17],
+                                X*dRdr[24] + Y*dRdr[25] + Z*dRdr[26]
+                        };
+                for( j = 0; j < 3; j++ )
+                {
+                    double dxdr = z*(dx0dr[j] - x*dz0dr[j]);
+                    double dydr = z*(dy0dr[j] - y*dz0dr[j]);
+                    double dr2dr = 2*x*dxdr + 2*y*dydr;
+                    double dcdist_dr = (k[0] + 2*k[1]*r2 + 3*k[4]*r4)*dr2dr;
+                    double dicdist2_dr = -icdist2*icdist2*(k[5] + 2*k[6]*r2 + 3*k[7]*r4)*dr2dr;
+                    double da1dr = 2*(x*dydr + y*dxdr);
+                    double dmxdr = (dxdr*cdist*icdist2 + x*dcdist_dr*icdist2 + x*cdist*dicdist2_dr +
+                                    k[2]*da1dr + k[3]*(dr2dr + 4*x*dxdr) + (k[8] + 2*r2*k[9])*dr2dr);
+                    double dmydr = (dydr*cdist*icdist2 + y*dcdist_dr*icdist2 + y*cdist*dicdist2_dr +
+                                    k[2]*(dr2dr + 4*y*dydr) + k[3]*da1dr + (k[10] + 2*r2*k[11])*dr2dr);
+                    dXdYd = dMatTilt*Vec2d(dmxdr, dmydr);
+                    dpdr_p[j] = fx*dXdYd(0);
+                    dpdr_p[dpdr_step+j] = fy*dXdYd(1);
+                }
+                dpdr_p += dpdr_step*2;
+            }
+
+            if( dpdo_p )
+            {
+                double dxdo[] = { z * ( R[0] - x * z * z0 * R[6] ),
+                                  z * ( R[1] - x * z * z0 * R[7] ),
+                                  z * ( R[2] - x * z * z0 * R[8] ) };
+                double dydo[] = { z * ( R[3] - y * z * z0 * R[6] ),
+                                  z * ( R[4] - y * z * z0 * R[7] ),
+                                  z * ( R[5] - y * z * z0 * R[8] ) };
+                for( j = 0; j < 3; j++ )
+                {
+                    double dr2do = 2 * x * dxdo[j] + 2 * y * dydo[j];
+                    double dr4do = 2 * r2 * dr2do;
+                    double dr6do = 3 * r4 * dr2do;
+                    double da1do = 2 * y * dxdo[j] + 2 * x * dydo[j];
+                    double da2do = dr2do + 4 * x * dxdo[j];
+                    double da3do = dr2do + 4 * y * dydo[j];
+                    double dcdist_do
+                            = k[0] * dr2do + k[1] * dr4do + k[4] * dr6do;
+                    double dicdist2_do = -icdist2 * icdist2
+                                         * ( k[5] * dr2do + k[6] * dr4do + k[7] * dr6do );
+                    double dxd0_do = cdist * icdist2 * dxdo[j]
+                                     + x * icdist2 * dcdist_do + x * cdist * dicdist2_do
+                                     + k[2] * da1do + k[3] * da2do + k[8] * dr2do
+                                     + k[9] * dr4do;
+                    double dyd0_do = cdist * icdist2 * dydo[j]
+                                     + y * icdist2 * dcdist_do + y * cdist * dicdist2_do
+                                     + k[2] * da3do + k[3] * da1do + k[10] * dr2do
+                                     + k[11] * dr4do;
+                    dXdYd = dMatTilt * Vec2d( dxd0_do, dyd0_do );
+                    dpdo_p[i * 3 + j] = fx * dXdYd( 0 );
+                    dpdo_p[dpdo_step + i * 3 + j] = fy * dXdYd( 1 );
+                }
+                dpdo_p += dpdo_step * 2;
+            }
+        }
+    }
+
+    if( _m != imagePoints )
+        cvConvert( _m, imagePoints );
+
+    if( _dpdr != dpdr )
+        cvConvert( _dpdr, dpdr );
+
+    if( _dpdt != dpdt )
+        cvConvert( _dpdt, dpdt );
+
+    if( _dpdf != dpdf )
+        cvConvert( _dpdf, dpdf );
+
+    if( _dpdc != dpdc )
+        cvConvert( _dpdc, dpdc );
+
+    if( _dpdk != dpdk )
+        cvConvert( _dpdk, dpdk );
+
+    if( _dpdo != dpdo )
+        cvConvert( _dpdo, dpdo );
+}
+
+static void _cvProjectPoints2( const CvMat* objectPoints,
+                        const CvMat* r_vec,
+                        const CvMat* t_vec,
+                        const CvMat* A,
+                        const CvMat* distCoeffs,
+                        CvMat* imagePoints, CvMat* dpdr,
+                        CvMat* dpdt, CvMat* dpdf,
+                        CvMat* dpdc, CvMat* dpdk,
+                        double aspectRatio )
+{
+    _cvProjectPoints2Internal( objectPoints, r_vec, t_vec, A, distCoeffs, imagePoints, dpdr, dpdt,
+                               dpdf, dpdc, dpdk, NULL, aspectRatio );
 }

aruco_pose/src/genmap.py

@@ -1,4 +1,4 @@
-#!/usr/bin/env python
+#!/usr/bin/env python3
 
 # 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>] [<x0>] [<y0>] [--top-left | --bottom-left] [-o <filename>]
+  genmap.py <length> <x> <y> <dist_x> <dist_y> [<first>] [--top-left | --bottom-left]
   genmap.py (-h | --help)
 
 Options:
@@ -23,11 +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
-  -o <filename>  Output map file name in the 'map' subdirectory of aruco_pose package
 
 Example:
   rosrun aruco_pose genmap.py 0.33 2 4 1 1 0 > $(catkin_find aruco_pose map)/test_map.txt
@@ -35,8 +32,6 @@ Example:
 
 from __future__ import print_function
 
-import sys
-from os import path
 from docopt import docopt
 
 
@@ -44,27 +39,20 @@ 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']
 
-if arguments['-o'] is None:
-    output = sys.stdout
-else:
-    output = open(path.join(path.dirname(__file__), '..', 'map', arguments['-o']), 'w')
+max_y = (markers_y - 1) * dist_y
 
-max_y = y0 + (markers_y - 1) * dist_y
-
-output.write('# id\tlength\tx\ty\tz\trot_z\trot_y\trot_x\n')
+print('# id\tlength\tx\ty\tz\trot_z\trot_y\trot_x')
 for y in range(markers_y):
     for x in range(markers_x):
-        pos_x = x0 + x * dist_x
-        pos_y = y0 + y * dist_y
+        pos_x = x * dist_x
+        pos_y = y * dist_y
         if not bottom_left:
             pos_y = max_y - pos_y
-        output.write('{}\t{}\t{}\t{}\t{}\t{}\t{}\t{}\n'.format(first, length, pos_x, pos_y, 0, 0, 0, 0))
+        print('{}\t{}\t{}\t{}\t{}\t{}\t{}\t{}\t'.format(first, length, pos_x, pos_y, 0, 0, 0, 0))
         first += 1

aruco_pose/src/utils.h

@@ -35,7 +35,9 @@ 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

@@ -1,18 +0,0 @@
-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

@@ -1,51 +0,0 @@
-<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

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

aruco_pose/test/largemap.test

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

aruco_pose/vendor/aruco/src/aruco.cpp

@@ -924,8 +924,6 @@ 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": "Clover",
+    "title": "Clever",
     "description": "Конструктор квадрокоптера «Клевер»",
     "author": "Copter Express",
     "language": "en",
@@ -9,7 +9,6 @@
         "richquotes@https://github.com/okalachev/gitbook-plugin-richquotes.git",
         "yametrika",
         "anchors",
-        "collapsible-menu",
         "validate-links",
         "bulk-redirect@https://github.com/okalachev/gitbook-plugin-bulk-redirect.git",
         "sitemap@https://github.com/okalachev/plugin-sitemap.git",
@@ -29,7 +28,7 @@
             "blank": true
         },
         "sitemap": {
-            "hostname": "https://clover.coex.tech"
+            "hostname": "https://clever.coex.tech"
         },
         "toolbar": {
             "buttons":
@@ -38,19 +37,19 @@
                     "label": "Edit page on github",
                     "icon": "fa fa-pencil-square-o",
                     "position" : "left",
-                    "url": "https://github.com/CopterExpress/clover/edit/master/docs/{{filepath_lang}}"
+                    "url": "https://github.com/CopterExpress/clever/edit/master/docs/{{filepath_lang}}"
                 },
                 {
                     "label": "GitHub",
                     "icon": "fa fa-github",
                     "position" : "left",
-                    "url": "https://github.com/CopterExpress/clover"
+                    "url": "https://github.com/CopterExpress/clever"
                 }
             ]
         },
         "addcssjs": {
-            "css": ["../clover.css"],
-            "js": ["../clover.js"]
+            "css": ["../clever.css"],
+            "js": ["../clever.js"]
         },
         "language-picker": {
             "languages": [["ru", "Russian"], ["en", "English"]]

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

@@ -1,34 +0,0 @@
-<?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/examples/flight.py

@@ -1,4 +1,4 @@
-# Information: https://clover.coex.tech/programming
+# Information: https://clever.coex.tech/en/programming.html
 
 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)
 
-# Take off and hover 1 m above the ground
+# Takeoff 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

@@ -1,37 +0,0 @@
-# Information: https://clover.coex.tech/en/aruco.html
-
-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://clover.coex.tech/en/leds.html
+# Information: https://clever.coex.tech/en/leds.html
 
 import rospy
 from clover.srv import SetLEDEffect

builder/assets/examples/navigate_wait.py

@@ -1,41 +0,0 @@
-# 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

@@ -62,10 +62,6 @@ 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/.ros/www
+    DocumentRoot /home/pi/catkin_ws/src/clover/clover/www
 
     # Redirect:
     # ---------

builder/assets/noetic-rosdep-clover.yaml

@@ -1,18 +0,0 @@
-async_web_server_cpp:
-  debian:
-    buster: [ros-noetic-async-web-server-cpp]
-led_msgs:
-  debian:
-    buster: [ros-noetic-led-msgs]
-ros_pytest:
-  debian:
-    buster: [ros-noetic-ros-pytest]
-tf2_web_republisher:
-  debian:
-    buster: [ros-noetic-tf2-web-republisher]
-web_video_server:
-  debian:
-    buster: [ros-noetic-web-video-server]
-ws281x:
-  debian:
-    buster: [ros-noetic-ws281x]

builder/assets/python3.yaml

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

builder/assets/roscore.service

@@ -3,7 +3,7 @@ Description=Launcher for the ROS master, parameter server and rosout logging nod
 
 [Service]
 User=pi
-ExecStart=/bin/sh -c ". /opt/ros/noetic/setup.sh; ROS_HOSTNAME=`hostname`.local exec roscore"
+ExecStart=/bin/sh -c ". /opt/ros/melodic/setup.sh; ROS_HOSTNAME=`hostname`.local exec roscore"
 Restart=on-failure
 RestartSec=3
 

builder/image-build.sh

@@ -15,7 +15,7 @@
 
 set -e # Exit immidiately on non-zero result
 
-SOURCE_IMAGE="https://downloads.raspberrypi.org/raspios_lite_arm64/images/raspios_lite_arm64-2020-08-24/2020-08-20-raspios-buster-arm64-lite.zip"
+SOURCE_IMAGE="https://downloads.raspberrypi.org/raspbian_lite/images/raspbian_lite-2020-02-14/2020-02-13-raspbian-buster-lite.zip"
 
 export DEBIAN_FRONTEND=${DEBIAN_FRONTEND:='noninteractive'}
 export LANG=${LANG:='C.UTF-8'}
@@ -108,15 +108,14 @@ ${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} exec ${SCRIPTS_DIR}'/image-software
 ${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} copy ${SCRIPTS_DIR}'/assets/examples' '/home/pi/'
 # network setup
 ${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} exec ${SCRIPTS_DIR}'/image-network.sh'
-# avahi setup
-${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)
 # Clover
 ${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} copy ${SCRIPTS_DIR}'/assets/clover.service' '/lib/systemd/system/'
 ${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} copy ${SCRIPTS_DIR}'/assets/roscore.service' '/lib/systemd/system/'
-${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} copy ${SCRIPTS_DIR}'/assets/noetic-rosdep-clover.yaml' '/etc/ros/rosdep/'
+${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} copy ${SCRIPTS_DIR}'/assets/melodic-rosdep-clover.yaml' '/etc/ros/rosdep/'
+${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} copy ${SCRIPTS_DIR}'/assets/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-init.sh

@@ -55,4 +55,7 @@ echo_stamp "Set max space for syslogs"
 # https://unix.stackexchange.com/questions/139513/how-to-clear-journalctl
 sed -i 's/#SystemMaxUse=/SystemMaxUse=200M/' /etc/systemd/journald.conf
 
+echo_stamp "Move /etc/ld.so.preload out of the way"
+mv /etc/ld.so.preload /etc/ld.so.preload.disabled-for-build
+
 echo_stamp "End of init image"

builder/image-ros.sh

@@ -21,9 +21,6 @@ INSTALL_ROS_PACK_SOURCES=$3
 DISCOVER_ROS_PACK=$4
 NUMBER_THREADS=$5
 
-# Current ROS distribution
-ROS_DISTRO=noetic
-
 echo_stamp() {
   # TEMPLATE: echo_stamp <TEXT> <TYPE>
   # TYPE: SUCCESS, ERROR, INFO
@@ -71,45 +68,43 @@ my_travis_retry() {
 # TODO: 'kinetic-rosdep-clover.yaml' should add only if we use our repo?
 echo_stamp "Init rosdep"
 my_travis_retry rosdep init
-# FIXME: Re-add this after missing packages are built
-echo "yaml file:///etc/ros/rosdep/${ROS_DISTRO}-rosdep-clover.yaml" >> /etc/ros/rosdep/sources.list.d/20-default.list
+echo "yaml file:///etc/ros/rosdep/melodic-rosdep-clover.yaml" > /etc/ros/rosdep/sources.list.d/30-clover.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
 git config remote.origin.fetch "+refs/heads/*:refs/remotes/origin/*"
 
-# This is sort of a hack to force "custom" packages to be installed - the ones built by COEX, linked against OpenCV 4.2
-# I **wish** OpenCV would not be such a mess, but, well, here we are.
-echo_stamp "Installing OpenCV 4.2-compatible ROS packages"
-apt install -y --no-install-recommends \
-ros-${ROS_DISTRO}-compressed-image-transport=1.14.0-0buster \
-ros-${ROS_DISTRO}-cv-bridge=1.15.0-0buster \
-ros-${ROS_DISTRO}-cv-camera=0.5.0-0buster \
-ros-${ROS_DISTRO}-image-publisher=1.15.2-0buster \
-ros-${ROS_DISTRO}-web-video-server=0.2.1-0buster
-apt-mark hold \
-ros-${ROS_DISTRO}-compressed-image-transport \
-ros-${ROS_DISTRO}-cv-bridge \
-ros-${ROS_DISTRO}-cv-camera \
-ros-${ROS_DISTRO}-image-publisher \
-ros-${ROS_DISTRO}-web-video-server
-
 echo_stamp "Build and install Clover"
 cd /home/pi/catkin_ws
-# Don't try to install gazebo_ros
-my_travis_retry rosdep install -y --from-paths src --ignore-src --rosdistro ${ROS_DISTRO} --os=debian:buster \
-  --skip-keys=gazebo_ros --skip-keys=gazebo_plugins
+resolve_rosdep $(pwd)
 my_travis_retry pip3 install wheel
 my_travis_retry pip3 install -r /home/pi/catkin_ws/src/clover/clover/requirements.txt
-source /opt/ros/${ROS_DISTRO}/setup.bash
-# Don't build simulation plugins for actual drone
-catkin_make -j2 -DCMAKE_BUILD_TYPE=Release -DCATKIN_BLACKLIST_PACKAGES=clover_gazebo_plugins
+source /opt/ros/melodic/setup.bash
+catkin_make -j2 -DCMAKE_BUILD_TYPE=Release
+
+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
@@ -124,19 +119,24 @@ gitbook build
 touch node_modules/CATKIN_IGNORE docs/CATKIN_IGNORE _book/CATKIN_IGNORE clover/www/CATKIN_IGNORE apps/CATKIN_IGNORE # ignore documentation files by catkin
 
 echo_stamp "Installing additional ROS packages"
-my_travis_retry apt-get install -y --no-install-recommends \
-    ros-${ROS_DISTRO}-dynamic-reconfigure \
-    ros-${ROS_DISTRO}-rosbridge-suite \
-    ros-${ROS_DISTRO}-rosserial \
-    ros-${ROS_DISTRO}-usb-cam \
-    ros-${ROS_DISTRO}-vl53l1x \
-    ros-${ROS_DISTRO}-ws281x \
-    ros-${ROS_DISTRO}-rosshow
+apt-get install -y --no-install-recommends \
+    ros-melodic-dynamic-reconfigure \
+    ros-melodic-compressed-image-transport \
+    ros-melodic-rosbridge-suite \
+    ros-melodic-rosserial \
+    ros-melodic-usb-cam \
+    ros-melodic-vl53l1x \
+    ros-melodic-ws281x \
+    ros-melodic-rosshow
 
 # TODO move GeographicLib datasets to Mavros debian package
 echo_stamp "Install GeographicLib datasets (needed for mavros)" \
 && wget -qO- https://raw.githubusercontent.com/mavlink/mavros/master/mavros/scripts/install_geographiclib_datasets.sh | bash
 
+# FIXME: Buster comes with tornado==5.1.1 but we need tornado==4.2.1 for rosbridge_suite
+# (note that Python 3 will still have a more recent version)
+pip3 install tornado==4.2.1
+
 echo_stamp "Running tests"
 cd /home/pi/catkin_ws
 # FIXME: Investigate failing tests
@@ -149,8 +149,9 @@ 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/${ROS_DISTRO}/setup.bash
+source /opt/ros/melodic/setup.bash
 source /home/pi/catkin_ws/devel/setup.bash
 EOF
 

builder/image-software.sh

@@ -57,10 +57,6 @@ 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'
@@ -70,8 +66,8 @@ apt-get update \
 && apt-key adv --keyserver hkp://keyserver.ubuntu.com:80 --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654
 
 echo "deb http://packages.ros.org/ros/ubuntu buster main" > /etc/apt/sources.list.d/ros-latest.list
-echo "deb http://deb.coex.tech/opencv4 buster main" > /etc/apt/sources.list.d/opencv3.list
-echo "deb http://deb.coex.tech/ros buster main" > /etc/apt/sources.list.d/rpi-ros-melodic.list
+echo "deb http://deb.coex.tech/opencv3 buster main" > /etc/apt/sources.list.d/opencv3.list
+echo "deb http://deb.coex.tech/melodic-py3 buster main" > /etc/apt/sources.list.d/rpi-ros-melodic.list
 echo "deb http://deb.coex.tech/clover buster main" > /etc/apt/sources.list.d/clover.list
 
 echo_stamp "Update apt cache"
@@ -80,9 +76,8 @@ echo_stamp "Update apt cache"
 apt-get update
 # && apt upgrade -y
 
-# Let's retry fetching those packages several times, just in case
 echo_stamp "Software installing"
-my_travis_retry apt-get install --no-install-recommends -y \
+apt-get install --no-install-recommends -y \
 unzip \
 zip \
 ipython \
@@ -96,9 +91,10 @@ dnsmasq  \
 tmux \
 vim \
 cmake \
+libjpeg8 \
 tcpdump \
+ltrace \
 libpoco-dev \
-libzbar0 \
 python3-rosdep \
 python3-rosinstall-generator \
 python3-wstool \
@@ -108,13 +104,16 @@ libffi-dev \
 monkey \
 pigpio python-pigpio python3-pigpio \
 i2c-tools \
-espeak espeak-data python-espeak python3-espeak \
+espeak espeak-data python3-espeak \
 ntpdate \
 python-dev \
 python3-dev \
-python-systemd \
+python3-venv \
+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
@@ -134,12 +133,13 @@ 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==5.1.1
+my_travis_retry pip3 install tornado==4.2.1
 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 pip3 install --prefer-binary rpi_ws281x
 
 echo_stamp "Setup Monkey"
@@ -149,20 +149,16 @@ systemctl enable monkey.service
 
 echo_stamp "Install Node.js"
 cd /home/pi
-wget https://nodejs.org/dist/v10.15.0/node-v10.15.0-linux-arm64.tar.gz
-tar -xzf node-v10.15.0-linux-arm64.tar.gz
-cp -R node-v10.15.0-linux-arm64/* /usr/local/
-rm -rf node-v10.15.0-linux-arm64/
-rm node-v10.15.0-linux-arm64.tar.gz
+wget https://nodejs.org/dist/v10.15.0/node-v10.15.0-linux-armv6l.tar.gz
+tar -xzf node-v10.15.0-linux-armv6l.tar.gz
+cp -R node-v10.15.0-linux-armv6l/* /usr/local/
+rm -rf node-v10.15.0-linux-armv6l/
+rm node-v10.15.0-linux-armv6l.tar.gz
 
 echo_stamp "Installing ptvsd"
-my_travis_retry pip install ptvsd
+my_travis_retry pip2 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

@@ -16,13 +16,18 @@ set -ex
 
 echo "Run image tests"
 
-export ROS_DISTRO='noetic'
+export ROS_DISTRO='melodic'
 export ROS_IP='127.0.0.1'
-source /opt/ros/${ROS_DISTRO}/setup.bash
+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
-./tests_py3.py
+# Disable Python 2 tests for image - we're dropping support, right?
+# ./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"
+mv /etc/ld.so.preload.disabled-for-build /etc/ld.so.preload

builder/standalone-install.sh

@@ -1,44 +1,25 @@
 #!/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
-if [ "x${ROS_PYTHON_VERSION}" = "x3" ]; then
-  PYTHON=python3
-else
-  PYTHON=python
-fi
-
-${PYTHON} ./get-pip.py
+python ./get-pip.py
 
 # Step 1.5: Add deb.coex.tech to apt
 curl http://deb.coex.tech/aptly_repo_signing.key 2> /dev/null | apt-key add -
 echo "deb http://deb.coex.tech/ros xenial main" > /etc/apt/sources.list.d/coex.tech.list
 echo "yaml file:///etc/ros/rosdep/coex.yaml" > /etc/ros/rosdep/sources.list.d/99-coex.list
-CODENAME=$(lsb_release -sc)
-
 cat <<EOF > /etc/ros/rosdep/coex.yaml
 led_msgs:
   ubuntu:
-    ${CODENAME}: [ros-${ROS_DISTRO}-led-msgs]
-async_web_server_cpp:
-  ubuntu:
-    ${CODENAME}: [ros-${ROS_DISTRO}-async-web-server-cpp]
-ros_pytest:
-  ubuntu:
-    ${CODENAME}: [ros-${ROS_DISTRO}-ros-pytest]
-tf2_web_republisher:
-  ubuntu:
-    ${CODENAME}: [ros-${ROS_DISTRO}-tf2-web-republisher]
-web_video_server:
-  ubuntu:
-    ${CODENAME}: [ros-${ROS_DISTRO}-web-video-server]
-ws281x:
-  ubuntu:
-    ${CODENAME}: [ros-${ROS_DISTRO}-ws281x]
+    xenial: ros-kinetic-led-msgs
+    bionic: ros-melodic-led-msgs
+  debian:
+    stretch: ros-kinetic-led-msgs
+    buster: ros-melodic-led-msgs
 EOF
 apt update
 rosdep update
@@ -56,7 +37,7 @@ cd /root/catkin_ws
 catkin_make
 
 # Step 4: Run tests
-${PYTHON} -m pip install --upgrade pytest
+pip install --upgrade pytest
 cd /root/catkin_ws
 source devel/setup.bash
 catkin_make run_tests && catkin_test_results

builder/test/tests.py

@@ -17,6 +17,8 @@ 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
 
@@ -26,6 +28,5 @@ from pymavlink import mavutil
 import rpi_ws281x
 import pigpio
 from espeak import espeak
-from pyzbar import pyzbar
 
 print(cv2.getBuildInformation())

builder/test/tests_py2.py

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

builder/test/tests_py3.py

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

clover/CMakeLists.txt

@@ -30,20 +30,6 @@ list(APPEND CMAKE_MODULE_PATH "${CMAKE_CURRENT_LIST_DIR}/cmake")
 
 find_package(GeographicLib REQUIRED)
 
-# Workaround for OpenCV 3/4 support
-set(_opencv_version 4)
-find_package(OpenCV ${_opencv_version} QUIET)
-if (NOT OpenCV_FOUND)
-  message(STATUS "Did not find OpenCV 4, searching for OpenCV 3")
-  set(_opencv_version 3)
-endif()
-
-find_package(OpenCV ${_opencv_version} REQUIRED
-  COMPONENTS
-    calib3d
-    imgproc
-)
-
 ## System dependencies are found with CMake's conventions
 # find_package(Boost REQUIRED COMPONENTS system)
 
@@ -174,14 +160,13 @@ add_library(${PROJECT_NAME}
 ## The recommended prefix ensures that target names across packages don't collide
 add_executable(simple_offboard src/simple_offboard.cpp)
 
-# PX4 already has rc and led targets, so we prefix ours with clover_
-add_executable(clover_rc src/rc.cpp)
+add_executable(rc src/rc.cpp)
 
 add_executable(camera_markers src/camera_markers.cpp)
 
 add_executable(vpe_publisher src/vpe_publisher.cpp)
 
-add_executable(clover_led src/led.cpp)
+add_executable(led src/led.cpp)
 
 add_executable(shell src/shell.cpp)
 
@@ -190,24 +175,19 @@ target_link_libraries(simple_offboard
   ${GeographicLib_LIBRARIES}
 )
 
-# Don't change actual binary names
-set_target_properties(clover_rc PROPERTIES OUTPUT_NAME rc)
-
-set_target_properties(clover_led PROPERTIES OUTPUT_NAME led)
-
-target_link_libraries(clover_rc ${catkin_LIBRARIES})
+target_link_libraries(rc ${catkin_LIBRARIES})
 
 target_link_libraries(camera_markers ${catkin_LIBRARIES})
 
 target_link_libraries(vpe_publisher ${catkin_LIBRARIES})
 
-target_link_libraries(clover_led ${catkin_LIBRARIES})
+target_link_libraries(led ${catkin_LIBRARIES})
 
 target_link_libraries(shell ${catkin_LIBRARIES})
 
 add_dependencies(simple_offboard ${PROJECT_NAME}_generate_messages_cpp)
 
-add_dependencies(clover_led ${PROJECT_NAME}_generate_messages_cpp)
+add_dependencies(led ${PROJECT_NAME}_generate_messages_cpp)
 
 add_dependencies(shell ${PROJECT_NAME}_generate_messages_cpp)
 
@@ -224,7 +204,6 @@ 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}
 )
 
 #############
@@ -262,10 +241,6 @@ target_link_libraries(${PROJECT_NAME}
 #   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
 # )
 
-catkin_install_python(PROGRAMS src/selfcheck.py
-  DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
-)
-
 # Only install udev rules when building a Debian package
 # FIXME: Other operating systems may have other prefixes
 string(FIND ${CMAKE_INSTALL_PREFIX} "/opt/ros" _PREFIX_INDEX)

clover/README.md

@@ -1,59 +0,0 @@
-# `clover` ROS package
-
-A bundle for autonomous navigation and drone control.
-
-## Manual installation
-
-Install ROS Noetic according to the [documentation](http://wiki.ros.org/noetic/Installation), then [create a Catkin workspace](http://wiki.ros.org/catkin/Tutorials/create_a_workspace).
-
-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 SITL, use:
-
-```bash
-roslaunch clover sitl.launch
-```
-
-To start connection to the flight controller, use:
-
-```bash
-roslaunch clover clover.launch
-```
-
-> Note that the package is configured to connect to `/dev/px4fmu` by default (see [previous section](#manual-installation)). Install udev rules or specify path to your FCU device in `mavros.launch`.

clover/camera_info/fisheye_cam_320.yaml

@@ -0,0 +1,45 @@
+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/camera_info/fisheye_cam_640.yaml

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

clover/launch/aruco.launch

@@ -2,27 +2,19 @@
     <arg name="aruco_detect" default="true"/>
     <arg name="aruco_map" default="false"/>
     <arg name="aruco_vpe" default="false"/>
-    <arg name="placement" default="floor"/> <!-- markers placement: floor, ceiling, unknown -->
-    <arg name="length" default="0.33"/> <!-- not-in-map markers length, m -->
-    <arg name="map" default="map.txt"/> <!-- markers map file name -->
 
-    <!-- For additional help go to https://clover.coex.tech/aruco -->
+    <!-- For additional help go to https://clever.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" if="$(eval placement == 'floor')"/>
-        <param name="known_tilt" value="map_flipped" if="$(eval position == 'ceiling')"/>
-        <param name="length" value="$(arg length)"/>
-        <!-- aruco detector parameters -->
-        <param name="cornerRefinementMethod" value="2"/> <!-- contour refinement -->
-        <param name="minMarkerPerimeterRate" value="0.075"/> <!-- 0.075 for 320x240, 0.0375 for 640x480 -->
-        <!-- length override example: -->
-        <!-- <param name="length_override/3" value="0.1"/> -->
+        <param name="known_tilt" value="map"/>
+        <param name="length" value="0.33"/>
     </node>
 
     <!-- aruco_map: estimate aruco map pose -->
@@ -30,9 +22,8 @@
         <remap from="image_raw" to="main_camera/image_raw"/>
         <remap from="camera_info" to="main_camera/camera_info"/>
         <remap from="markers" to="aruco_detect/markers"/>
-        <param name="map" value="$(find aruco_pose)/map/$(arg map)"/>
-        <param name="known_tilt" value="map" if="$(eval placement == 'floor')"/>
-        <param name="known_tilt" value="map_flipped" if="$(eval placement == 'ceiling')"/>
+        <param name="map" value="$(find aruco_pose)/map/map.txt"/>
+        <param name="known_tilt" value="map"/>
         <param name="image_axis" value="true"/>
         <param name="frame_id" value="aruco_map_detected" if="$(arg aruco_vpe)"/>
         <param name="frame_id" value="aruco_map" unless="$(arg aruco_vpe)"/>

clover/launch/clover.launch

@@ -1,7 +1,6 @@
 <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"/>
@@ -10,12 +9,9 @@
     <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}"/>
 
@@ -23,7 +19,6 @@
     <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>
 
@@ -56,13 +51,10 @@
         <param name="reference_frames/body" value="map"/>
         <param name="reference_frames/base_link" value="map"/>
         <param name="reference_frames/navigate_target" value="map"/>
-        <param name="reference_frames/main_camera_optical" value="map"/>
     </node>
 
     <!-- main camera -->
-    <include file="$(find clover)/launch/main_camera.launch" if="$(arg main_camera)">
-        <arg name="simulator" value="$(arg simulator)"/>
-    </include>
+    <include file="$(find clover)/launch/main_camera.launch" if="$(arg main_camera)"/>
 
     <!-- rosbridge -->
     <include file="$(find rosbridge_server)/launch/rosbridge_websocket.launch" if="$(eval rosbridge or rc)"/>
@@ -71,19 +63,14 @@
     <node name="tf2_web_republisher" pkg="tf2_web_republisher" type="tf2_web_republisher" output="screen" if="$(arg rosbridge)"/>
 
     <!-- vl53l1x ToF rangefinder -->
-    <node name="rangefinder" pkg="vl53l1x" type="vl53l1x_node" output="screen" if="$(eval rangefinder_vl53l1x and not simulator)">
+    <node name="rangefinder" pkg="vl53l1x" type="vl53l1x_node" output="screen" if="$(arg rangefinder_vl53l1x)">
         <param name="frame_id" value="rangefinder"/>
         <param name="min_signal" value="0.4"/>
         <param name="pass_statuses" type="yaml" value="[0, 6, 7, 11]"/>
     </node>
 
     <!-- led strip -->
-    <include file="$(find clover)/launch/led.launch" if="$(arg led)">
-        <arg name="simulator" value="$(arg simulator)"/>
-    </include>
-
-    <!-- Clover Blocks -->
-    <node name="clover_blocks" pkg="clover_blocks" type="clover_blocks" output="screen" if="$(arg blocks)"/>
+    <include file="$(find clover)/launch/led.launch" if="$(arg led)"/>
 
     <!-- rc backend -->
     <node name="rc" pkg="clover" type="rc" output="screen" if="$(arg rc)" clear_params="true">
@@ -93,9 +80,4 @@
 
     <!-- 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

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

clover/launch/main_camera.launch

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

clover/launch/mavros.launch

@@ -1,7 +1,6 @@
 <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"/>
@@ -20,9 +19,6 @@
         <!-- 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/package.xml

@@ -7,7 +7,7 @@
   <maintainer email="okalachev@gmail.com">Oleg Kalachev</maintainer>
   <license>MIT</license>
 
-  <url type="website">https://clover.coex.tech/</url>
+  <url type="website">https://clever.coex.tech/</url>
   <author email="okalachev@gmail.com">Oleg Kalachev</author>
   <author email="urpylka@gmail.com">Artem Smirnov</author>
 
@@ -39,7 +39,8 @@
   <depend>tf2_web_republisher</depend>
   <depend condition="$ROS_PYTHON_VERSION == 2">python-lxml</depend>
   <depend condition="$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==1.11.0
+geopy==1.20.0
 smbus2==0.3.0
-VL53L1X==0.0.5
+VL53L1X==0.0.4

clover/src/optical_flow.cpp

@@ -34,7 +34,9 @@ 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:
@@ -50,8 +52,8 @@ private:
 	Mat hann_;
 	Mat prev_, curr_;
 	Mat camera_matrix_, dist_coeffs_;
-	std::unique_ptr<tf2_ros::Buffer> tf_buffer_;
-	std::unique_ptr<tf2_ros::TransformListener> tf_listener_;
+	tf2_ros::Buffer tf_buffer_;
+	tf2_ros::TransformListener tf_listener_;
 	bool calc_flow_gyro_;
 
 	void onInit()
@@ -61,14 +63,11 @@ private:
 		image_transport::ImageTransport it(nh);
 		image_transport::ImageTransport it_priv(nh_priv);
 
-		tf_buffer_.reset(new tf2_ros::Buffer());
-		tf_listener_.reset(new tf2_ros::TransformListener(*tf_buffer_, nh));
-
-		local_frame_id_ = nh.param<std::string>("mavros/local_position/tf/frame_id", "map");
-		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);
+		nh.param<std::string>("mavros/local_position/tf/frame_id", local_frame_id_, "map");
+		nh.param<std::string>("mavros/local_position/tf/child_frame_id", fcu_frame_id_, "base_link");
+		nh_priv.param("roi", roi_px_, 128);
+		nh_priv.param("roi_rad", roi_rad_, 0.0);
+		nh_priv.param("calc_flow_gyro", calc_flow_gyro_, false);
 
 		img_sub_ = it.subscribeCamera("image_raw", 1, &OpticalFlow::flow, this);
 		img_pub_ = it_priv.advertise("debug", 1);
@@ -92,7 +91,9 @@ private:
 				camera_matrix_.at<double>(i, j) = cinfo->K[3 * i + j];
 			}
 		}
-		dist_coeffs_ = cv::Mat(cinfo->D, true);
+		for (int k = 0; k < cinfo->D.size(); k++) {
+			dist_coeffs_.at<double>(k) = cinfo->D[k];
+		}
 	}
 
 	void drawFlow(Mat& frame, double x, double y, double quality) const
@@ -185,7 +186,7 @@ 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;
@@ -199,7 +200,7 @@ 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;
@@ -246,8 +247,8 @@ 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_, curr, ros::Duration(0.1)).transform.rotation, 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_, 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 python
+#!/usr/bin/env python3
 # coding=utf-8
 
 # Copyright (C) 2018 Copter Express Technologies
@@ -210,7 +210,7 @@ def check_fcu():
                     is_clover_firmware = True
 
         if not is_clover_firmware:
-            failure('not running Clover PX4 firmware, https://clover.coex.tech/firmware')
+            failure('not running Clover PX4 firmware, https://clever.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://clover.coex.tech/power')
+                failure('cell voltage is not available, https://clever.coex.tech/power')
             else:
                 cell = battery.cell_voltage[0]
                 if cell > 4.3 or cell < 3.0:
-                    failure('incorrect cell voltage: %.2f V, https://clover.coex.tech/power', cell)
+                    failure('incorrect cell voltage: %.2f V, https://clever.coex.tech/power', cell)
                 elif cell < 3.7:
                     failure('critically low cell voltage: %.2f V, recharge battery', cell)
         except rospy.ROSException:
@@ -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://clover.coex.tech/hostname', ros_hostname)
+            failure('not found %s in /etc/hosts, ROS will malfunction if network interfaces are down, https://clever.coex.tech/hostname', ros_hostname)
 
 
 @check('RPi health')

clover/src/simple_offboard.cpp

@@ -36,7 +36,6 @@
 #include <mavros_msgs/Thrust.h>
 #include <mavros_msgs/State.h>
 #include <mavros_msgs/StatusText.h>
-#include <mavros_msgs/ManualControl.h>
 
 #include <clover/GetTelemetry.h>
 #include <clover/Navigate.h>
@@ -47,7 +46,6 @@
 #include <clover/SetRates.h>
 
 using std::string;
-using std::isnan;
 using namespace geometry_msgs;
 using namespace sensor_msgs;
 using namespace clover;
@@ -73,10 +71,9 @@ ros::Duration state_timeout;
 ros::Duration velocity_timeout;
 ros::Duration global_position_timeout;
 ros::Duration battery_timeout;
-ros::Duration manual_control_timeout;
 float default_speed;
 bool auto_release;
-bool land_only_in_offboard, nav_from_sp, check_kill_switch;
+bool land_only_in_offboard, nav_from_sp;
 std::map<string, string> reference_frames;
 
 // Publishers
@@ -124,7 +121,6 @@ enum { YAW, YAW_RATE, TOWARDS } setpoint_yaw_type;
 // Last received telemetry messages
 mavros_msgs::State state;
 mavros_msgs::StatusText statustext;
-mavros_msgs::ManualControl manual_control;
 PoseStamped local_position;
 TwistStamped velocity;
 NavSatFix global_position;
@@ -421,9 +417,8 @@ void publish(const ros::Time stamp)
 	}
 
 	if (setpoint_type == POSITION || setpoint_type == NAVIGATE || setpoint_type == NAVIGATE_GLOBAL) {
-		position_msg.header.stamp = stamp;
-
 		if (setpoint_yaw_type == YAW || setpoint_yaw_type == TOWARDS) {
+			position_msg.header.stamp = stamp;
 			position_pub.publish(position_msg);
 
 		} else {
@@ -489,28 +484,13 @@ 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) {
-		const int KILL_SWITCH_BIT = 12; // https://github.com/PX4/Firmware/blob/c302514a0809b1765fafd13c014d705446ae1113/src/modules/mavlink/mavlink_messages.cpp#L3975
-		bool kill_switch = manual_control.buttons & (1 << KILL_SWITCH_BIT);
-
-		if (kill_switch)
-			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://clover.coex.tech/connection");
+		throw std::runtime_error("No connection to FCU, https://clever.coex.tech/connection");
 }
 
 #define ENSURE_FINITE(var) { if (!std::isfinite(var)) throw std::runtime_error(#var " argument cannot be NaN or Inf"); }
@@ -526,88 +506,25 @@ bool serve(enum setpoint_type_t sp_type, float x, float y, float z, float vx, fl
 		if (busy)
 			throw std::runtime_error("Busy");
 
+		ENSURE_FINITE(x);
+		ENSURE_FINITE(y);
+		ENSURE_FINITE(z);
+		ENSURE_FINITE(vx);
+		ENSURE_FINITE(vy);
+		ENSURE_FINITE(vz);
+		ENSURE_FINITE(pitch);
+		ENSURE_FINITE(roll);
+		ENSURE_FINITE(pitch_rate);
+		ENSURE_FINITE(roll_rate);
+		ENSURE_FINITE(lat);
+		ENSURE_FINITE(lon);
+		ENSURE_FINITE(thrust);
+
 		busy = true;
 
 		// Checks
 		checkState();
 
-		if (auto_arm) {
-			checkManualControl();
-		}
-
-		// default frame is local frame
-		if (frame_id.empty())
-			frame_id = local_frame;
-
-		// look up for reference frame
-		auto search = reference_frames.find(frame_id);
-		const string& reference_frame = search == reference_frames.end() ? frame_id : search->second;
-
-		// Serve "partial" commands
-
-		if (!auto_arm && std::isfinite(yaw) &&
-		    isnan(x) && isnan(y) && isnan(z) && isnan(vx) && isnan(vy) && isnan(vz) &&
-		    isnan(pitch) && isnan(roll) && isnan(thrust) &&
-		    isnan(lat) && isnan(lon)) {
-			// change only the yaw
-			if (setpoint_type == POSITION || setpoint_type == NAVIGATE || setpoint_type == NAVIGATE_GLOBAL || setpoint_type == VELOCITY) {
-				if (!waitTransform(setpoint_position.header.frame_id, frame_id, stamp, transform_timeout))
-					throw std::runtime_error("Can't transform from " + frame_id + " to " + setpoint_position.header.frame_id);
-
-				message = "Changing yaw only";
-
-				QuaternionStamped q;
-				q.header.frame_id = frame_id;
-				q.header.stamp = stamp;
-				q.quaternion = tf::createQuaternionMsgFromYaw(yaw); // TODO: pitch=0, roll=0 is not totally correct
-				setpoint_position.pose.orientation = tf_buffer.transform(q, setpoint_position.header.frame_id).quaternion;
-				setpoint_yaw_type = YAW;
-				goto publish_setpoint;
-			} else {
-				throw std::runtime_error("Setting yaw is possible only when position or velocity setpoints active");
-			}
-		}
-
-		if (!auto_arm && std::isfinite(yaw_rate) &&
-		    isnan(x) && isnan(y) && isnan(z) && isnan(vx) && isnan(vy) && isnan(vz) &&
-		    isnan(pitch) && isnan(roll) && isnan(yaw) && isnan(thrust) &&
-		    isnan(lat) && isnan(lon)) {
-			// change only the yaw rate
-			if (setpoint_type == POSITION || setpoint_type == NAVIGATE || setpoint_type == NAVIGATE_GLOBAL || setpoint_type == VELOCITY) {
-				message = "Changing yaw rate only";
-
-				setpoint_yaw_type = YAW_RATE;
-				setpoint_yaw_rate = yaw_rate;
-				goto publish_setpoint;
-			} else {
-				throw std::runtime_error("Setting yaw rate is possible only when position or velocity setpoints active");
-			}
-		}
-
-		// Serve normal commands
-
-		if (sp_type == NAVIGATE || sp_type == POSITION) {
-			ENSURE_FINITE(x);
-			ENSURE_FINITE(y);
-			ENSURE_FINITE(z);
-		} else if (sp_type == NAVIGATE_GLOBAL) {
-			ENSURE_FINITE(lat);
-			ENSURE_FINITE(lon);
-			ENSURE_FINITE(z);
-		} else if (sp_type == VELOCITY) {
-			ENSURE_FINITE(vx);
-			ENSURE_FINITE(vy);
-			ENSURE_FINITE(vz);
-		} else if (sp_type == ATTITUDE) {
-			ENSURE_FINITE(pitch);
-			ENSURE_FINITE(roll);
-			ENSURE_FINITE(thrust);
-		} else if (sp_type == RATES) {
-			ENSURE_FINITE(pitch_rate);
-			ENSURE_FINITE(roll_rate);
-			ENSURE_FINITE(thrust);
-		}
-
 		if (sp_type == NAVIGATE || sp_type == NAVIGATE_GLOBAL) {
 			if (TIMEOUT(local_position, local_position_timeout))
 				throw std::runtime_error("No local position, check settings");
@@ -632,6 +549,14 @@ bool serve(enum setpoint_type_t sp_type, float x, float y, float z, float vx, fl
 				throw std::runtime_error("No global position");
 		}
 
+		// default frame is local frame
+		if (frame_id.empty())
+			frame_id = local_frame;
+
+		// look up for reference frame
+		auto search = reference_frames.find(frame_id);
+		const string& reference_frame = search == reference_frames.end() ? frame_id : search->second;
+
 		if (sp_type == NAVIGATE || sp_type == NAVIGATE_GLOBAL || sp_type == POSITION || sp_type == VELOCITY || sp_type == ATTITUDE) {
 			// make sure transform from frame_id to reference frame available
 			if (!waitTransform(reference_frame, frame_id, stamp, transform_timeout))
@@ -680,13 +605,12 @@ bool serve(enum setpoint_type_t sp_type, float x, float y, float z, float vx, fl
 
 		if (sp_type == POSITION || sp_type == NAVIGATE || sp_type == NAVIGATE_GLOBAL || sp_type == VELOCITY || sp_type == ATTITUDE) {
 			// destination point and/or yaw
-			PoseStamped ps;
+			static PoseStamped ps;
 			ps.header.frame_id = frame_id;
 			ps.header.stamp = stamp;
 			ps.pose.position.x = x;
 			ps.pose.position.y = y;
 			ps.pose.position.z = z;
-			ps.pose.orientation.w = 1.0; // Ensure quaternion is always valid
 
 			if (std::isnan(yaw)) {
 				setpoint_yaw_type = YAW_RATE;
@@ -699,7 +623,7 @@ bool serve(enum setpoint_type_t sp_type, float x, float y, float z, float vx, fl
 			} else {
 				setpoint_yaw_type = YAW;
 				setpoint_yaw_rate = 0;
-				ps.pose.orientation = tf::createQuaternionMsgFromYaw(yaw);
+				ps.pose.orientation = tf::createQuaternionMsgFromRollPitchYaw(roll, pitch, yaw);
 			}
 
 			tf_buffer.transform(ps, setpoint_position, reference_frame);
@@ -727,7 +651,6 @@ bool serve(enum setpoint_type_t sp_type, float x, float y, float z, float vx, fl
 
 		wait_armed = auto_arm;
 
-publish_setpoint:
 		publish(stamp); // calculate initial transformed messages first
 		setpoint_timer.start();
 
@@ -768,27 +691,27 @@ publish_setpoint:
 }
 
 bool navigate(Navigate::Request& req, Navigate::Response& res) {
-	return serve(NAVIGATE, req.x, req.y, req.z, NAN, NAN, NAN, NAN, NAN, req.yaw, NAN, NAN, req.yaw_rate, NAN, NAN, NAN, req.speed, req.frame_id, req.auto_arm, res.success, res.message);
+	return serve(NAVIGATE, req.x, req.y, req.z, 0, 0, 0, 0, 0, req.yaw, 0, 0, req.yaw_rate, 0, 0, 0, req.speed, req.frame_id, req.auto_arm, res.success, res.message);
 }
 
 bool navigateGlobal(NavigateGlobal::Request& req, NavigateGlobal::Response& res) {
-	return serve(NAVIGATE_GLOBAL, NAN, NAN, req.z, NAN, NAN, NAN, NAN, NAN, req.yaw, NAN, NAN, req.yaw_rate, req.lat, req.lon, NAN, req.speed, req.frame_id, req.auto_arm, res.success, res.message);
+	return serve(NAVIGATE_GLOBAL, 0, 0, req.z, 0, 0, 0, 0, 0, req.yaw, 0, 0, req.yaw_rate, req.lat, req.lon, 0, req.speed, req.frame_id, req.auto_arm, res.success, res.message);
 }
 
 bool setPosition(SetPosition::Request& req, SetPosition::Response& res) {
-	return serve(POSITION, req.x, req.y, req.z, NAN, NAN, NAN, NAN, NAN, req.yaw, NAN, NAN, req.yaw_rate, NAN, NAN, NAN, NAN, req.frame_id, req.auto_arm, res.success, res.message);
+	return serve(POSITION, req.x, req.y, req.z, 0, 0, 0, 0, 0, req.yaw, 0, 0, req.yaw_rate, 0, 0, 0, 0, req.frame_id, req.auto_arm, res.success, res.message);
 }
 
 bool setVelocity(SetVelocity::Request& req, SetVelocity::Response& res) {
-	return serve(VELOCITY, NAN, NAN, NAN, req.vx, req.vy, req.vz, NAN, NAN, req.yaw, NAN, NAN, req.yaw_rate, NAN, NAN, NAN, NAN, req.frame_id, req.auto_arm, res.success, res.message);
+	return serve(VELOCITY, 0, 0, 0, req.vx, req.vy, req.vz, 0, 0, req.yaw, 0, 0, req.yaw_rate, 0, 0, 0, 0, req.frame_id, req.auto_arm, res.success, res.message);
 }
 
 bool setAttitude(SetAttitude::Request& req, SetAttitude::Response& res) {
-	return serve(ATTITUDE, NAN, NAN, NAN, NAN, NAN, NAN, req.pitch, req.roll, req.yaw, NAN, NAN, NAN, NAN, NAN, req.thrust, NAN, req.frame_id, req.auto_arm, res.success, res.message);
+	return serve(ATTITUDE, 0, 0, 0, 0, 0, 0, req.pitch, req.roll, req.yaw, 0, 0, 0, 0, 0, req.thrust, 0, req.frame_id, req.auto_arm, res.success, res.message);
 }
 
 bool setRates(SetRates::Request& req, SetRates::Response& res) {
-	return serve(RATES, NAN, NAN, NAN, NAN, NAN, NAN, NAN, NAN, NAN, req.pitch_rate, req.roll_rate, req.yaw_rate, NAN, NAN, req.thrust, NAN, "", req.auto_arm, res.success, res.message);
+	return serve(RATES, 0, 0, 0, 0, 0, 0, 0, 0, 0, req.pitch_rate, req.roll_rate, req.yaw_rate, 0, 0, req.thrust, 0, "", req.auto_arm, res.success, res.message);
 }
 
 bool land(std_srvs::Trigger::Request& req, std_srvs::Trigger::Response& res)
@@ -856,7 +779,6 @@ int main(int argc, char **argv)
 	nh_priv.param("auto_release", auto_release, true);
 	nh_priv.param("land_only_in_offboard", land_only_in_offboard, true);
 	nh_priv.param("nav_from_sp", nav_from_sp, true);
-	nh_priv.param("check_kill_switch", check_kill_switch, true);
 	nh_priv.param("default_speed", default_speed, 0.5f);
 	nh_priv.param<string>("body_frame", body.child_frame_id, "body");
 	nh_priv.getParam("reference_frames", reference_frames);
@@ -866,7 +788,6 @@ int main(int argc, char **argv)
 	velocity_timeout = ros::Duration(nh_priv.param("velocity_timeout", 2.0));
 	global_position_timeout = ros::Duration(nh_priv.param("global_position_timeout", 10.0));
 	battery_timeout = ros::Duration(nh_priv.param("battery_timeout", 2.0));
-	manual_control_timeout = ros::Duration(nh_priv.param("manual_control_timeout", 0.0));
 
 	transform_timeout = ros::Duration(nh_priv.param("transform_timeout", 0.5));
 	telemetry_transform_timeout = ros::Duration(nh_priv.param("telemetry_transform_timeout", 0.5));
@@ -884,7 +805,6 @@ int main(int argc, char **argv)
 	auto global_position_sub = nh.subscribe("mavros/global_position/global", 1, &handleMessage<NavSatFix, global_position>);
 	auto battery_sub = nh.subscribe("mavros/battery", 1, &handleMessage<BatteryState, battery>);
 	auto statustext_sub = nh.subscribe("mavros/statustext/recv", 1, &handleMessage<mavros_msgs::StatusText, statustext>);
-	auto manual_control_sub = nh.subscribe("mavros/manual_control/control", 1, &handleMessage<mavros_msgs::ManualControl, manual_control>);
 	auto local_position_sub = nh.subscribe("mavros/local_position/pose", 1, &handleLocalPosition);
 
 	// Setpoint publishers

clover/test/basic.py

@@ -1,4 +1,3 @@
-#!/usr/bin/env python
 import rospy
 import pytest
 from mavros_msgs.msg import State
@@ -26,13 +25,8 @@ def test_simple_offboard_services_available():
     rospy.wait_for_service('land', timeout=5)
 
 def test_web_video_server(node):
-    try:
-        # Python 2
-        import urllib2 as urllib
-    except ModuleNotFoundError:
-        # Python 3
-        import urllib.request as urllib
-    urllib.urlopen("http://localhost:8080").read()
+    import urllib2
+    urllib2.urlopen("http://localhost:8080").read()
 
 def test_shell(node):
     execute = rospy.ServiceProxy('exec', srv.Execute)

clover/www/index.html

@@ -1,20 +1,19 @@
 <h1>Clover Drone Kit Tools</h1>
 
 <ul>
-	<li><a href="docs">View documentation</a> (snapshot of <a href="https://clover.coex.tech">clover.coex.tech</a>)</li>
+	<li><a href="docs">View documentation</a> (snapshot of <a href="https://clever.coex.tech">clever.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.protocol + '//' + location.hostname + ':8080';
-	document.querySelector("#butterfly").href = location.protocol + '//' + location.hostname + ':57575';
+	document.querySelector("#wvs").href = location.origin + ':8080';
+	document.querySelector("#butterfly").href = location.origin + ':57575';
 
 	// Determine image version
 	var ros = new ROSLIB.Ros({ url: 'ws://' + location.hostname + ':9090' });

clover_blocks/CMakeLists.txt

@@ -1,87 +0,0 @@
-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

@@ -1,54 +0,0 @@
-# clover_blocks
-
-Blockly programming support for Clover.
-
-<img src="screenshot.png" width=700>
-
-See user documentation at the [main Clover documentation site](https://clover.coex.tech/en/blocks.html).
-
-Internal package documentation is given below.
-
-## Frontend
-
-The frontend files are located in [`www`](./www/) subdirectory. The frontend application uses [`roblib.js`](http://wiki.ros.org/roslibjs) library for communicating with backend node and other ROS resources.
-
-## `clover_blocks` node
-
-`clover_blocks` is the blocks programming backend, implementing all the services and topics needed for running Blockly-generated Python script.
-
-### Services
-
-* `~run` ([*clover_blocks/Run*](srv/Run.srv)) – run Blockly-generated program (in Python).
-* `~stop` ([*std_srvs/Trigger*](http://docs.ros.org/melodic/api/std_srvs/html/srv/Trigger.html)) – terminate the running program.
-* `~store` ([*clover_blocks/load*](srv/Store.srv)) – store a user program (to `<package_path>/programs` by default).
-* `~load` ([*clover_blocks/load*](srv/Load.srv)) – load all the stored programs.
-
-### Parameters
-
-* `~programs_dir` (*string*) – directory for user programs.
-
-Parameters read by frontend:
-
-* `~navigate_tolerance` (*float*) – distance tolerance in meters, used for navigate-like blocks (default: 0.2).
-* `~yaw_tolerance` (*float*) – yaw angle tolerance in degrees, used in set_yaw block (default: 20).
-* `~sleep_time` (*float*) – duration of sleep in loop cycles, used for navigate-like blocks (default: 0.2).
-* `~confirm_run` (*bool*) – enable confirmation to run the program (default: true).
-
-These parameters also can be set as URL GET-parameters, for example:
-
-```
-http://<hostname>/clover_blocks/?navigate_tolerance=0.5&sleep_time=0.1
-```
-
-### Topics
-
-#### Published
-
-* `~running` ([*std_msgs/Bool*](http://docs.ros.org/melodic/api/std_msgs/html/msg/Bool.html)) – indicates if the program is currently running.
-* `~block` ([*std_msgs/String*](http://docs.ros.org/melodic/api/std_msgs/html/msg/String.html)) – current executing block (maximum topic rate is limited).
-* `~error` ([*std_msgs/String*](http://docs.ros.org/melodic/api/std_msgs/html/msg/String.html)) – user program errors and exceptions.
-* `~prompt` ([*clover_blocks/Prompt*](msg/Prompt.msg)) – user input request (includes random request ID string).
-
-This topic is published from the frontend side:
-
-* `~prompt/<request_id>` ([*std_msgs/String*](http://docs.ros.org/melodic/api/std_msgs/html/msg/String.html)) – user input response.

clover_blocks/msg/Prompt.msg

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

clover_blocks/package.xml

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

clover_blocks/programs/examples/aruco-map.xml

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

clover_blocks/programs/examples/aruco-marker.xml

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

clover_blocks/programs/examples/flight-led.xml

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

clover_blocks/programs/examples/flip.xml

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

clover_blocks/programs/examples/functions.xml

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

clover_blocks/programs/examples/led-compass.xml

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

clover_blocks/programs/examples/led.xml

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

clover_blocks/programs/examples/print-range.xml

@@ -1,29 +0,0 @@
-<xml xmlns="https://developers.google.com/blockly/xml">
-  <block type="controls_whileUntil" id="^{D$=!y=ahJx0.^n?Ycr" x="88" y="137">
-    <field name="MODE">WHILE</field>
-    <value name="BOOL">
-      <block type="logic_boolean" id="a;~UtFPf9O3B)#QBJxL6">
-        <field name="BOOL">TRUE</field>
-      </block>
-    </value>
-    <statement name="DO">
-      <block type="text_print" id="doqF#i]/ulE{Z0l/{9`K">
-        <value name="TEXT">
-          <shadow type="text" id="Y$c,rIaw^bNs2wIw%[^(">
-            <field name="TEXT">abc</field>
-          </shadow>
-          <block type="rangefinder_distance" id="Pi+WekHZvZ0p}JY-^CLQ"></block>
-        </value>
-        <next>
-          <block type="wait" id="=$,8TaKwL75Pb,_tsCVU">
-            <value name="TIME">
-              <shadow type="math_number" id="/r+hzH#G0Ru#ES+}MxUl">
-                <field name="NUM">0.5</field>
-              </shadow>
-            </value>
-          </block>
-        </next>
-      </block>
-    </statement>
-  </block>
-</xml>

clover_blocks/programs/examples/rotation.xml

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

clover_blocks/programs/examples/simple-flight.xml

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

clover_blocks/programs/examples/takeoff-land.xml

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

clover_blocks/programs/examples/variables.xml

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

clover_blocks/src/clover_blocks

@@ -1,184 +0,0 @@
-#!/usr/bin/env python
-
-# Copyright (C) 2020 Copter Express Technologies
-#
-# Author: Oleg Kalachev <okalachev@gmail.com>
-#
-# Distributed under MIT License (available at https://opensource.org/licenses/MIT).
-# The above copyright notice and this permission notice shall be included in all
-# copies or substantial portions of the Software.
-
-from __future__ import print_function
-
-import rospy
-import os
-import threading
-import re
-import uuid
-from std_msgs.msg import Bool, String
-from std_srvs.srv import Trigger
-from clover_blocks.msg import Prompt
-from clover_blocks.srv import Run, Load, Store
-
-
-rospy.init_node('clover_blocks')
-
-stop = None
-block = ''
-published_block = None
-running_lock = threading.Lock()
-
-running_pub = rospy.Publisher('~running', Bool, queue_size=1, latch=True)
-block_pub = rospy.Publisher('~block', String, queue_size=1, latch=True)
-print_pub = rospy.Publisher('~print', String, queue_size=10)
-prompt_pub = rospy.Publisher('~prompt', Prompt, queue_size=10)
-error_pub = rospy.Publisher('~error', String, queue_size=10)
-
-
-running_pub.publish(False)
-
-
-class Stop(Exception):
-    pass
-
-
-def publish_block(event):
-    global published_block, block
-    if published_block != block:
-        block_pub.publish(block)
-    published_block = block
-
-
-rospy.Timer(rospy.Duration(rospy.get_param('block_rate', 0.2)), publish_block)
-
-
-def change_block(_block):
-    global block
-    block = _block
-    if stop: raise Stop
-
-
-rospy_sleep = rospy.sleep
-
-
-def sleep(duration):
-    time_start = rospy.get_time()
-
-    if isinstance(duration, rospy.Duration):
-        duration = duration.to_sec()
-
-    time_until = time_start + duration
-
-    while not rospy.is_shutdown():
-        if stop: raise Stop  # check stop condition every half-second
-        if (time_until - rospy.get_time()) > 0.5:
-            print('sleep 0.5')
-            rospy_sleep(0.5)
-        else:
-            rospy_sleep(time_until - rospy.get_time())
-            return
-
-
-rospy.sleep = sleep
-rospy.init_node = lambda *args, **kwargs: None
-
-
-def _print(s):
-    rospy.loginfo(str(s))
-    print_pub.publish(str(s))
-
-
-def _input(s):
-    rospy.loginfo('Input with message %s', s)
-    prompt_id = str(uuid.uuid4()).replace('-', '')
-    prompt_pub.publish(message=str(s), id=prompt_id)
-    return rospy.wait_for_message('~input/' + prompt_id, String, timeout=30).data;
-
-
-def run(req):
-    if not running_lock.acquire(False):
-        return {'message': 'Already running'}
-
-    try:
-        rospy.loginfo('Run program')
-        running_pub.publish(True)
-
-        def program_thread():
-            global stop
-            stop = False
-            g = {'rospy': rospy,
-                '_b': change_block,
-                'print': _print,
-                'raw_input': _input}
-            try:
-                exec(req.code, g)
-            except Stop:
-                rospy.loginfo('Program forced to stop')
-            except Exception as e:
-                rospy.logerr(str(e))
-                error_pub.publish(str(e))
-
-            rospy.loginfo('Program terminated')
-            running_lock.release()
-            running_pub.publish(False)
-            change_block('')
-
-        t = threading.Thread(target=program_thread)
-        t.start()
-
-        return {'success': True}
-
-    except Exception as e:
-        running_lock.release()
-        return {'message': str(e)}
-
-
-def stop(req):
-    global stop
-    rospy.loginfo('Stop program')
-    stop = True
-    return {'success': True}
-
-
-programs_path = rospy.get_param('~programs_dir', os.path.dirname(os.path.abspath(__file__)) + '/../programs')
-
-
-def load(req):
-    res = {'names': [], 'programs': [], 'success': True}
-    try:
-        for currentpath, folders, files in os.walk(programs_path):
-            for f in files:
-                if not f.endswith('.xml'):
-                    continue
-                filename = os.path.join(currentpath, f)
-                res['names'].append(os.path.relpath(filename, programs_path))
-                res['programs'].append(open(filename, 'r').read())
-        return res
-    except Exception as e:
-        rospy.logerr(e)
-        return {'names': [], 'programs': [], 'message': str(e)}
-
-
-name_regexp = re.compile(r'^[a-zA-Z-_.]{0,20}$')
-
-def store(req):
-    if not name_regexp.match(req.name):
-        return {'message': 'Bad program name'}
-
-    filename = os.path.abspath(os.path.join(programs_path, req.name))
-    try:
-        open(filename, 'w').write(req.program)
-        return {'success': True, 'message': 'Stored to ' + filename}
-    except Exception as e:
-        rospy.logerr(e)
-        return {'names': [], 'programs': [], 'message': str(e)}
-
-
-rospy.Service('~run', Run, run)
-rospy.Service('~stop', Trigger, stop)
-rospy.Service('~load', Load, load)
-rospy.Service('~store', Store, store)
-
-
-rospy.loginfo('Ready')
-rospy.spin()

clover_blocks/srv/Load.srv

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

clover_blocks/srv/Run.srv

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

clover_blocks/srv/Store.srv

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

clover_blocks/www/blockly/LICENSE

@@ -1,202 +0,0 @@
-
-                                 Apache License
-                           Version 2.0, January 2004
-                        http://www.apache.org/licenses/
-
-   TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION
-
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-      whether in tort (including negligence), contract, or otherwise,
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-      on Your own behalf and on Your sole responsibility, not on behalf
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-   WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-   See the License for the specific language governing permissions and
-   limitations under the License.

clover_blocks/www/blockly/README.md

@@ -1,60 +0,0 @@
-# Blockly [![Build Status]( https://travis-ci.org/google/blockly.svg?branch=master)](https://travis-ci.org/google/blockly)
-
-
-Google's Blockly is a web-based, visual programming editor.  Users can drag
-blocks together to build programs.  All code is free and open source.
-
-**The project page is https://developers.google.com/blockly/**
-
-![](https://developers.google.com/blockly/images/sample.png)
-
-Blockly has an active [developer forum](https://groups.google.com/forum/#!forum/blockly).  Please drop by and say hello. Show us your prototypes early; collectively we have a lot of experience and can offer hints which will save you time. We actively monitor the forums and typically respond to questions within 2 working days.
-
-Help us focus our development efforts by telling us [what you are doing with
-Blockly](https://developers.google.com/blockly/registration).  The questionnaire only takes
-a few minutes and will help us better support the Blockly community.
-
-Cross-browser Testing Platform and Open Source <3 Provided by [Sauce Labs](https://saucelabs.com)
-
-We support IE11 and test it using [BrowserStack](https://browserstack.com)
-
-Want to contribute? Great! First, read [our guidelines for contributors](https://developers.google.com/blockly/guides/modify/contributing).
-
-## Releases
-
-The next major release will be **June 26th, 2020**.
-
-We release by pushing the latest code to the master branch, followed by updating our [docs](https://developers.google.com/blockly) and [demo pages](https://blockly-demo.appspot.com). We typically release a new version of Blockly once a quarter (every 3 months). If there are breaking bugs, such as a crash when performing a standard action or a rendering issue that makes Blockly unusable, we will cherry-pick fixes to master between releases to fix them. The [releases page](https://github.com/google/blockly/releases) has a list of all releases.
-
-Releases are tagged by the release date (YYYYMMDD) with a leading '2.' and a trailing '.0' in case we ever need a major or minor version (such as [2.20190722.1](https://github.com/google/blockly/tree/2.20190722.1)). If you're using npm, you can install the ``blockly`` package on npm: 
-```bash
-npm install blockly
-```
-
-### New APIs
-
-Once a new API is merged into master it is considered beta until the following release. We generally try to avoid changing an API after it has been merged to master, but sometimes we need to make changes after seeing how an API is used. If an API has been around for at least two releases we'll do our best to avoid breaking it.
-
-Unreleased APIs may change radically. Anything that is in `develop` but not `master` is subject to change without warning.
-
-### Branches
-
-There are two main branches for Blockly.
-
-**[master](https://github.com/google/blockly)** - This is the (mostly) stable current release of Blockly.
-
-**[develop](https://github.com/google/blockly/tree/develop)** - This is where most of our work happens. Pull requests should always be made against develop. This branch will generally be usable, but may be less stable than the master branch. Once something is in develop we expect it to merge to master in the next release.
-
-**other branches:** - Larger changes may have their own branches until they are good enough for people to try out. These will be developed separately until we think they are almost ready for release. These branches typically get merged into develop immediately after a release to allow extra time for testing.
-
-## Issues and Milestones
-
-We typically triage all bugs within 2 working days, which includes adding any appropriate labels and assigning it to a milestone. Please keep in mind, we are a small team so even feature requests that everyone agrees on may not be prioritized.
-
-### Milestones
-
-**Upcoming release** - The upcoming release milestone is for all bugs we plan on fixing before the next release. This typically has the form of `year_quarter_release` (such as `2019_q2_release`). Some bugs will be added to this release when they are triaged, others may be added closer to a release.
-
-**Bug Bash Backlog** - These are bugs that we're still prioritizing. They haven't been added to a specific release yet, but we'll consider them for each release depending on relative priority and available time.
-
-**Icebox** - These are bugs that we do not intend to spend time on. They are either too much work or minor enough that we don't expect them to ever take priority. We are still happy to accept pull requests for these bugs.

clover_blocks/www/blockly/blocks_compressed.js

@@ -1,182 +0,0 @@
-// Do not edit this file; automatically generated by gulp.
-
-/* eslint-disable */
-;(function(root, factory) {
-  if (typeof define === 'function' && define.amd) { // AMD
-    define(['./blockly_compressed.js'], factory);
-  } else if (typeof exports === 'object') { // Node.js
-    module.exports = factory(require('./blockly_compressed.js'));
-  } else { // Browser
-    root.Blockly.Blocks = factory(root.Blockly);
-  }
-}(this, function(Blockly) {
-  'use strict';Blockly.Blocks.colour={};Blockly.Constants={};Blockly.Constants.Colour={};Blockly.Constants.Colour.HUE=20;
-Blockly.defineBlocksWithJsonArray([{type:"colour_picker",message0:"%1",args0:[{type:"field_colour",name:"COLOUR",colour:"#ff0000"}],output:"Colour",helpUrl:"%{BKY_COLOUR_PICKER_HELPURL}",style:"colour_blocks",tooltip:"%{BKY_COLOUR_PICKER_TOOLTIP}",extensions:["parent_tooltip_when_inline"]},{type:"colour_random",message0:"%{BKY_COLOUR_RANDOM_TITLE}",output:"Colour",helpUrl:"%{BKY_COLOUR_RANDOM_HELPURL}",style:"colour_blocks",tooltip:"%{BKY_COLOUR_RANDOM_TOOLTIP}"},{type:"colour_rgb",message0:"%{BKY_COLOUR_RGB_TITLE} %{BKY_COLOUR_RGB_RED} %1 %{BKY_COLOUR_RGB_GREEN} %2 %{BKY_COLOUR_RGB_BLUE} %3",
-args0:[{type:"input_value",name:"RED",check:"Number",align:"RIGHT"},{type:"input_value",name:"GREEN",check:"Number",align:"RIGHT"},{type:"input_value",name:"BLUE",check:"Number",align:"RIGHT"}],output:"Colour",helpUrl:"%{BKY_COLOUR_RGB_HELPURL}",style:"colour_blocks",tooltip:"%{BKY_COLOUR_RGB_TOOLTIP}"},{type:"colour_blend",message0:"%{BKY_COLOUR_BLEND_TITLE} %{BKY_COLOUR_BLEND_COLOUR1} %1 %{BKY_COLOUR_BLEND_COLOUR2} %2 %{BKY_COLOUR_BLEND_RATIO} %3",args0:[{type:"input_value",name:"COLOUR1",check:"Colour",
-align:"RIGHT"},{type:"input_value",name:"COLOUR2",check:"Colour",align:"RIGHT"},{type:"input_value",name:"RATIO",check:"Number",align:"RIGHT"}],output:"Colour",helpUrl:"%{BKY_COLOUR_BLEND_HELPURL}",style:"colour_blocks",tooltip:"%{BKY_COLOUR_BLEND_TOOLTIP}"}]);Blockly.Blocks.lists={};Blockly.Constants.Lists={};Blockly.Constants.Lists.HUE=260;
-Blockly.defineBlocksWithJsonArray([{type:"lists_create_empty",message0:"%{BKY_LISTS_CREATE_EMPTY_TITLE}",output:"Array",style:"list_blocks",tooltip:"%{BKY_LISTS_CREATE_EMPTY_TOOLTIP}",helpUrl:"%{BKY_LISTS_CREATE_EMPTY_HELPURL}"},{type:"lists_repeat",message0:"%{BKY_LISTS_REPEAT_TITLE}",args0:[{type:"input_value",name:"ITEM"},{type:"input_value",name:"NUM",check:"Number"}],output:"Array",style:"list_blocks",tooltip:"%{BKY_LISTS_REPEAT_TOOLTIP}",helpUrl:"%{BKY_LISTS_REPEAT_HELPURL}"},{type:"lists_reverse",
-message0:"%{BKY_LISTS_REVERSE_MESSAGE0}",args0:[{type:"input_value",name:"LIST",check:"Array"}],output:"Array",inputsInline:!0,style:"list_blocks",tooltip:"%{BKY_LISTS_REVERSE_TOOLTIP}",helpUrl:"%{BKY_LISTS_REVERSE_HELPURL}"},{type:"lists_isEmpty",message0:"%{BKY_LISTS_ISEMPTY_TITLE}",args0:[{type:"input_value",name:"VALUE",check:["String","Array"]}],output:"Boolean",style:"list_blocks",tooltip:"%{BKY_LISTS_ISEMPTY_TOOLTIP}",helpUrl:"%{BKY_LISTS_ISEMPTY_HELPURL}"},{type:"lists_length",message0:"%{BKY_LISTS_LENGTH_TITLE}",
-args0:[{type:"input_value",name:"VALUE",check:["String","Array"]}],output:"Number",style:"list_blocks",tooltip:"%{BKY_LISTS_LENGTH_TOOLTIP}",helpUrl:"%{BKY_LISTS_LENGTH_HELPURL}"}]);
-Blockly.Blocks.lists_create_with={init:function(){this.setHelpUrl(Blockly.Msg.LISTS_CREATE_WITH_HELPURL);this.setStyle("list_blocks");this.itemCount_=3;this.updateShape_();this.setOutput(!0,"Array");this.setMutator(new Blockly.Mutator(["lists_create_with_item"]));this.setTooltip(Blockly.Msg.LISTS_CREATE_WITH_TOOLTIP)},mutationToDom:function(){var a=Blockly.utils.xml.createElement("mutation");a.setAttribute("items",this.itemCount_);return a},domToMutation:function(a){this.itemCount_=parseInt(a.getAttribute("items"),
-10);this.updateShape_()},decompose:function(a){var b=a.newBlock("lists_create_with_container");b.initSvg();for(var c=b.getInput("STACK").connection,d=0;d<this.itemCount_;d++){var e=a.newBlock("lists_create_with_item");e.initSvg();c.connect(e.previousConnection);c=e.nextConnection}return b},compose:function(a){var b=a.getInputTargetBlock("STACK");for(a=[];b;)a.push(b.valueConnection_),b=b.nextConnection&&b.nextConnection.targetBlock();for(b=0;b<this.itemCount_;b++){var c=this.getInput("ADD"+b).connection.targetConnection;
-c&&-1==a.indexOf(c)&&c.disconnect()}this.itemCount_=a.length;this.updateShape_();for(b=0;b<this.itemCount_;b++)Blockly.Mutator.reconnect(a[b],this,"ADD"+b)},saveConnections:function(a){a=a.getInputTargetBlock("STACK");for(var b=0;a;){var c=this.getInput("ADD"+b);a.valueConnection_=c&&c.connection.targetConnection;b++;a=a.nextConnection&&a.nextConnection.targetBlock()}},updateShape_:function(){this.itemCount_&&this.getInput("EMPTY")?this.removeInput("EMPTY"):this.itemCount_||this.getInput("EMPTY")||
-this.appendDummyInput("EMPTY").appendField(Blockly.Msg.LISTS_CREATE_EMPTY_TITLE);for(var a=0;a<this.itemCount_;a++)if(!this.getInput("ADD"+a)){var b=this.appendValueInput("ADD"+a).setAlign(Blockly.ALIGN_RIGHT);0==a&&b.appendField(Blockly.Msg.LISTS_CREATE_WITH_INPUT_WITH)}for(;this.getInput("ADD"+a);)this.removeInput("ADD"+a),a++}};
-Blockly.Blocks.lists_create_with_container={init:function(){this.setStyle("list_blocks");this.appendDummyInput().appendField(Blockly.Msg.LISTS_CREATE_WITH_CONTAINER_TITLE_ADD);this.appendStatementInput("STACK");this.setTooltip(Blockly.Msg.LISTS_CREATE_WITH_CONTAINER_TOOLTIP);this.contextMenu=!1}};
-Blockly.Blocks.lists_create_with_item={init:function(){this.setStyle("list_blocks");this.appendDummyInput().appendField(Blockly.Msg.LISTS_CREATE_WITH_ITEM_TITLE);this.setPreviousStatement(!0);this.setNextStatement(!0);this.setTooltip(Blockly.Msg.LISTS_CREATE_WITH_ITEM_TOOLTIP);this.contextMenu=!1}};
-Blockly.Blocks.lists_indexOf={init:function(){var a=[[Blockly.Msg.LISTS_INDEX_OF_FIRST,"FIRST"],[Blockly.Msg.LISTS_INDEX_OF_LAST,"LAST"]];this.setHelpUrl(Blockly.Msg.LISTS_INDEX_OF_HELPURL);this.setStyle("list_blocks");this.setOutput(!0,"Number");this.appendValueInput("VALUE").setCheck("Array").appendField(Blockly.Msg.LISTS_INDEX_OF_INPUT_IN_LIST);this.appendValueInput("FIND").appendField(new Blockly.FieldDropdown(a),"END");this.setInputsInline(!0);var b=this;this.setTooltip(function(){return Blockly.Msg.LISTS_INDEX_OF_TOOLTIP.replace("%1",
-b.workspace.options.oneBasedIndex?"0":"-1")})}};
-Blockly.Blocks.lists_getIndex={init:function(){var a=[[Blockly.Msg.LISTS_GET_INDEX_GET,"GET"],[Blockly.Msg.LISTS_GET_INDEX_GET_REMOVE,"GET_REMOVE"],[Blockly.Msg.LISTS_GET_INDEX_REMOVE,"REMOVE"]];this.WHERE_OPTIONS=[[Blockly.Msg.LISTS_GET_INDEX_FROM_START,"FROM_START"],[Blockly.Msg.LISTS_GET_INDEX_FROM_END,"FROM_END"],[Blockly.Msg.LISTS_GET_INDEX_FIRST,"FIRST"],[Blockly.Msg.LISTS_GET_INDEX_LAST,"LAST"],[Blockly.Msg.LISTS_GET_INDEX_RANDOM,"RANDOM"]];this.setHelpUrl(Blockly.Msg.LISTS_GET_INDEX_HELPURL);this.setStyle("list_blocks");
-a=new Blockly.FieldDropdown(a,function(a){a="REMOVE"==a;this.getSourceBlock().updateStatement_(a)});this.appendValueInput("VALUE").setCheck("Array").appendField(Blockly.Msg.LISTS_GET_INDEX_INPUT_IN_LIST);this.appendDummyInput().appendField(a,"MODE").appendField("","SPACE");this.appendDummyInput("AT");Blockly.Msg.LISTS_GET_INDEX_TAIL&&this.appendDummyInput("TAIL").appendField(Blockly.Msg.LISTS_GET_INDEX_TAIL);this.setInputsInline(!0);this.setOutput(!0);this.updateAt_(!0);var b=this;this.setTooltip(function(){var a=
-b.getFieldValue("MODE"),d=b.getFieldValue("WHERE"),e="";switch(a+" "+d){case "GET FROM_START":case "GET FROM_END":e=Blockly.Msg.LISTS_GET_INDEX_TOOLTIP_GET_FROM;break;case "GET FIRST":e=Blockly.Msg.LISTS_GET_INDEX_TOOLTIP_GET_FIRST;break;case "GET LAST":e=Blockly.Msg.LISTS_GET_INDEX_TOOLTIP_GET_LAST;break;case "GET RANDOM":e=Blockly.Msg.LISTS_GET_INDEX_TOOLTIP_GET_RANDOM;break;case "GET_REMOVE FROM_START":case "GET_REMOVE FROM_END":e=Blockly.Msg.LISTS_GET_INDEX_TOOLTIP_GET_REMOVE_FROM;break;case "GET_REMOVE FIRST":e=
-Blockly.Msg.LISTS_GET_INDEX_TOOLTIP_GET_REMOVE_FIRST;break;case "GET_REMOVE LAST":e=Blockly.Msg.LISTS_GET_INDEX_TOOLTIP_GET_REMOVE_LAST;break;case "GET_REMOVE RANDOM":e=Blockly.Msg.LISTS_GET_INDEX_TOOLTIP_GET_REMOVE_RANDOM;break;case "REMOVE FROM_START":case "REMOVE FROM_END":e=Blockly.Msg.LISTS_GET_INDEX_TOOLTIP_REMOVE_FROM;break;case "REMOVE FIRST":e=Blockly.Msg.LISTS_GET_INDEX_TOOLTIP_REMOVE_FIRST;break;case "REMOVE LAST":e=Blockly.Msg.LISTS_GET_INDEX_TOOLTIP_REMOVE_LAST;break;case "REMOVE RANDOM":e=
-Blockly.Msg.LISTS_GET_INDEX_TOOLTIP_REMOVE_RANDOM}if("FROM_START"==d||"FROM_END"==d)e+="  "+("FROM_START"==d?Blockly.Msg.LISTS_INDEX_FROM_START_TOOLTIP:Blockly.Msg.LISTS_INDEX_FROM_END_TOOLTIP).replace("%1",b.workspace.options.oneBasedIndex?"#1":"#0");return e})},mutationToDom:function(){var a=Blockly.utils.xml.createElement("mutation");a.setAttribute("statement",!this.outputConnection);var b=this.getInput("AT").type==Blockly.INPUT_VALUE;a.setAttribute("at",b);return a},domToMutation:function(a){var b=
-"true"==a.getAttribute("statement");this.updateStatement_(b);a="false"!=a.getAttribute("at");this.updateAt_(a)},updateStatement_:function(a){a!=!this.outputConnection&&(this.unplug(!0,!0),a?(this.setOutput(!1),this.setPreviousStatement(!0),this.setNextStatement(!0)):(this.setPreviousStatement(!1),this.setNextStatement(!1),this.setOutput(!0)))},updateAt_:function(a){this.removeInput("AT");this.removeInput("ORDINAL",!0);a?(this.appendValueInput("AT").setCheck("Number"),Blockly.Msg.ORDINAL_NUMBER_SUFFIX&&
-this.appendDummyInput("ORDINAL").appendField(Blockly.Msg.ORDINAL_NUMBER_SUFFIX)):this.appendDummyInput("AT");var b=new Blockly.FieldDropdown(this.WHERE_OPTIONS,function(b){var c="FROM_START"==b||"FROM_END"==b;if(c!=a){var e=this.getSourceBlock();e.updateAt_(c);e.setFieldValue(b,"WHERE");return null}});this.getInput("AT").appendField(b,"WHERE");Blockly.Msg.LISTS_GET_INDEX_TAIL&&this.moveInputBefore("TAIL",null)}};
-Blockly.Blocks.lists_setIndex={init:function(){var a=[[Blockly.Msg.LISTS_SET_INDEX_SET,"SET"],[Blockly.Msg.LISTS_SET_INDEX_INSERT,"INSERT"]];this.WHERE_OPTIONS=[[Blockly.Msg.LISTS_GET_INDEX_FROM_START,"FROM_START"],[Blockly.Msg.LISTS_GET_INDEX_FROM_END,"FROM_END"],[Blockly.Msg.LISTS_GET_INDEX_FIRST,"FIRST"],[Blockly.Msg.LISTS_GET_INDEX_LAST,"LAST"],[Blockly.Msg.LISTS_GET_INDEX_RANDOM,"RANDOM"]];this.setHelpUrl(Blockly.Msg.LISTS_SET_INDEX_HELPURL);this.setStyle("list_blocks");this.appendValueInput("LIST").setCheck("Array").appendField(Blockly.Msg.LISTS_SET_INDEX_INPUT_IN_LIST);
-this.appendDummyInput().appendField(new Blockly.FieldDropdown(a),"MODE").appendField("","SPACE");this.appendDummyInput("AT");this.appendValueInput("TO").appendField(Blockly.Msg.LISTS_SET_INDEX_INPUT_TO);this.setInputsInline(!0);this.setPreviousStatement(!0);this.setNextStatement(!0);this.setTooltip(Blockly.Msg.LISTS_SET_INDEX_TOOLTIP);this.updateAt_(!0);var b=this;this.setTooltip(function(){var a=b.getFieldValue("MODE"),d=b.getFieldValue("WHERE"),e="";switch(a+" "+d){case "SET FROM_START":case "SET FROM_END":e=
-Blockly.Msg.LISTS_SET_INDEX_TOOLTIP_SET_FROM;break;case "SET FIRST":e=Blockly.Msg.LISTS_SET_INDEX_TOOLTIP_SET_FIRST;break;case "SET LAST":e=Blockly.Msg.LISTS_SET_INDEX_TOOLTIP_SET_LAST;break;case "SET RANDOM":e=Blockly.Msg.LISTS_SET_INDEX_TOOLTIP_SET_RANDOM;break;case "INSERT FROM_START":case "INSERT FROM_END":e=Blockly.Msg.LISTS_SET_INDEX_TOOLTIP_INSERT_FROM;break;case "INSERT FIRST":e=Blockly.Msg.LISTS_SET_INDEX_TOOLTIP_INSERT_FIRST;break;case "INSERT LAST":e=Blockly.Msg.LISTS_SET_INDEX_TOOLTIP_INSERT_LAST;
-break;case "INSERT RANDOM":e=Blockly.Msg.LISTS_SET_INDEX_TOOLTIP_INSERT_RANDOM}if("FROM_START"==d||"FROM_END"==d)e+="  "+Blockly.Msg.LISTS_INDEX_FROM_START_TOOLTIP.replace("%1",b.workspace.options.oneBasedIndex?"#1":"#0");return e})},mutationToDom:function(){var a=Blockly.utils.xml.createElement("mutation"),b=this.getInput("AT").type==Blockly.INPUT_VALUE;a.setAttribute("at",b);return a},domToMutation:function(a){a="false"!=a.getAttribute("at");this.updateAt_(a)},updateAt_:function(a){this.removeInput("AT");
-this.removeInput("ORDINAL",!0);a?(this.appendValueInput("AT").setCheck("Number"),Blockly.Msg.ORDINAL_NUMBER_SUFFIX&&this.appendDummyInput("ORDINAL").appendField(Blockly.Msg.ORDINAL_NUMBER_SUFFIX)):this.appendDummyInput("AT");var b=new Blockly.FieldDropdown(this.WHERE_OPTIONS,function(b){var c="FROM_START"==b||"FROM_END"==b;if(c!=a){var e=this.getSourceBlock();e.updateAt_(c);e.setFieldValue(b,"WHERE");return null}});this.moveInputBefore("AT","TO");this.getInput("ORDINAL")&&this.moveInputBefore("ORDINAL",
-"TO");this.getInput("AT").appendField(b,"WHERE")}};
-Blockly.Blocks.lists_getSublist={init:function(){this.WHERE_OPTIONS_1=[[Blockly.Msg.LISTS_GET_SUBLIST_START_FROM_START,"FROM_START"],[Blockly.Msg.LISTS_GET_SUBLIST_START_FROM_END,"FROM_END"],[Blockly.Msg.LISTS_GET_SUBLIST_START_FIRST,"FIRST"]];this.WHERE_OPTIONS_2=[[Blockly.Msg.LISTS_GET_SUBLIST_END_FROM_START,"FROM_START"],[Blockly.Msg.LISTS_GET_SUBLIST_END_FROM_END,"FROM_END"],[Blockly.Msg.LISTS_GET_SUBLIST_END_LAST,"LAST"]];this.setHelpUrl(Blockly.Msg.LISTS_GET_SUBLIST_HELPURL);this.setStyle("list_blocks");
-this.appendValueInput("LIST").setCheck("Array").appendField(Blockly.Msg.LISTS_GET_SUBLIST_INPUT_IN_LIST);this.appendDummyInput("AT1");this.appendDummyInput("AT2");Blockly.Msg.LISTS_GET_SUBLIST_TAIL&&this.appendDummyInput("TAIL").appendField(Blockly.Msg.LISTS_GET_SUBLIST_TAIL);this.setInputsInline(!0);this.setOutput(!0,"Array");this.updateAt_(1,!0);this.updateAt_(2,!0);this.setTooltip(Blockly.Msg.LISTS_GET_SUBLIST_TOOLTIP)},mutationToDom:function(){var a=Blockly.utils.xml.createElement("mutation"),
-b=this.getInput("AT1").type==Blockly.INPUT_VALUE;a.setAttribute("at1",b);b=this.getInput("AT2").type==Blockly.INPUT_VALUE;a.setAttribute("at2",b);return a},domToMutation:function(a){var b="true"==a.getAttribute("at1");a="true"==a.getAttribute("at2");this.updateAt_(1,b);this.updateAt_(2,a)},updateAt_:function(a,b){this.removeInput("AT"+a);this.removeInput("ORDINAL"+a,!0);b?(this.appendValueInput("AT"+a).setCheck("Number"),Blockly.Msg.ORDINAL_NUMBER_SUFFIX&&this.appendDummyInput("ORDINAL"+a).appendField(Blockly.Msg.ORDINAL_NUMBER_SUFFIX)):
-this.appendDummyInput("AT"+a);var c=new Blockly.FieldDropdown(this["WHERE_OPTIONS_"+a],function(c){var e="FROM_START"==c||"FROM_END"==c;if(e!=b){var d=this.getSourceBlock();d.updateAt_(a,e);d.setFieldValue(c,"WHERE"+a);return null}});this.getInput("AT"+a).appendField(c,"WHERE"+a);1==a&&(this.moveInputBefore("AT1","AT2"),this.getInput("ORDINAL1")&&this.moveInputBefore("ORDINAL1","AT2"));Blockly.Msg.LISTS_GET_SUBLIST_TAIL&&this.moveInputBefore("TAIL",null)}};
-Blockly.Blocks.lists_sort={init:function(){this.jsonInit({message0:Blockly.Msg.LISTS_SORT_TITLE,args0:[{type:"field_dropdown",name:"TYPE",options:[[Blockly.Msg.LISTS_SORT_TYPE_NUMERIC,"NUMERIC"],[Blockly.Msg.LISTS_SORT_TYPE_TEXT,"TEXT"],[Blockly.Msg.LISTS_SORT_TYPE_IGNORECASE,"IGNORE_CASE"]]},{type:"field_dropdown",name:"DIRECTION",options:[[Blockly.Msg.LISTS_SORT_ORDER_ASCENDING,"1"],[Blockly.Msg.LISTS_SORT_ORDER_DESCENDING,"-1"]]},{type:"input_value",name:"LIST",check:"Array"}],output:"Array",style:"list_blocks",
-tooltip:Blockly.Msg.LISTS_SORT_TOOLTIP,helpUrl:Blockly.Msg.LISTS_SORT_HELPURL})}};
-Blockly.Blocks.lists_split={init:function(){var a=this,b=new Blockly.FieldDropdown([[Blockly.Msg.LISTS_SPLIT_LIST_FROM_TEXT,"SPLIT"],[Blockly.Msg.LISTS_SPLIT_TEXT_FROM_LIST,"JOIN"]],function(b){a.updateType_(b)});this.setHelpUrl(Blockly.Msg.LISTS_SPLIT_HELPURL);this.setStyle("list_blocks");this.appendValueInput("INPUT").setCheck("String").appendField(b,"MODE");this.appendValueInput("DELIM").setCheck("String").appendField(Blockly.Msg.LISTS_SPLIT_WITH_DELIMITER);this.setInputsInline(!0);this.setOutput(!0,
-"Array");this.setTooltip(function(){var b=a.getFieldValue("MODE");if("SPLIT"==b)return Blockly.Msg.LISTS_SPLIT_TOOLTIP_SPLIT;if("JOIN"==b)return Blockly.Msg.LISTS_SPLIT_TOOLTIP_JOIN;throw Error("Unknown mode: "+b);})},updateType_:function(a){if(this.getFieldValue("MODE")!=a){var b=this.getInput("INPUT").connection;b.setShadowDom(null);var c=b.targetBlock();c&&(b.disconnect(),c.isShadow()?c.dispose():this.bumpNeighbours())}"SPLIT"==a?(this.outputConnection.setCheck("Array"),this.getInput("INPUT").setCheck("String")):
-(this.outputConnection.setCheck("String"),this.getInput("INPUT").setCheck("Array"))},mutationToDom:function(){var a=Blockly.utils.xml.createElement("mutation");a.setAttribute("mode",this.getFieldValue("MODE"));return a},domToMutation:function(a){this.updateType_(a.getAttribute("mode"))}};Blockly.Blocks.logic={};Blockly.Constants.Logic={};Blockly.Constants.Logic.HUE=210;
-Blockly.defineBlocksWithJsonArray([{type:"logic_boolean",message0:"%1",args0:[{type:"field_dropdown",name:"BOOL",options:[["%{BKY_LOGIC_BOOLEAN_TRUE}","TRUE"],["%{BKY_LOGIC_BOOLEAN_FALSE}","FALSE"]]}],output:"Boolean",style:"logic_blocks",tooltip:"%{BKY_LOGIC_BOOLEAN_TOOLTIP}",helpUrl:"%{BKY_LOGIC_BOOLEAN_HELPURL}"},{type:"controls_if",message0:"%{BKY_CONTROLS_IF_MSG_IF} %1",args0:[{type:"input_value",name:"IF0",check:"Boolean"}],message1:"%{BKY_CONTROLS_IF_MSG_THEN} %1",args1:[{type:"input_statement",
-name:"DO0"}],previousStatement:null,nextStatement:null,style:"logic_blocks",helpUrl:"%{BKY_CONTROLS_IF_HELPURL}",mutator:"controls_if_mutator",extensions:["controls_if_tooltip"]},{type:"controls_ifelse",message0:"%{BKY_CONTROLS_IF_MSG_IF} %1",args0:[{type:"input_value",name:"IF0",check:"Boolean"}],message1:"%{BKY_CONTROLS_IF_MSG_THEN} %1",args1:[{type:"input_statement",name:"DO0"}],message2:"%{BKY_CONTROLS_IF_MSG_ELSE} %1",args2:[{type:"input_statement",name:"ELSE"}],previousStatement:null,nextStatement:null,
-style:"logic_blocks",tooltip:"%{BKYCONTROLS_IF_TOOLTIP_2}",helpUrl:"%{BKY_CONTROLS_IF_HELPURL}",extensions:["controls_if_tooltip"]},{type:"logic_compare",message0:"%1 %2 %3",args0:[{type:"input_value",name:"A"},{type:"field_dropdown",name:"OP",options:[["=","EQ"],["\u2260","NEQ"],["\u200f<","LT"],["\u200f\u2264","LTE"],["\u200f>","GT"],["\u200f\u2265","GTE"]]},{type:"input_value",name:"B"}],inputsInline:!0,output:"Boolean",style:"logic_blocks",helpUrl:"%{BKY_LOGIC_COMPARE_HELPURL}",extensions:["logic_compare",
-"logic_op_tooltip"]},{type:"logic_operation",message0:"%1 %2 %3",args0:[{type:"input_value",name:"A",check:"Boolean"},{type:"field_dropdown",name:"OP",options:[["%{BKY_LOGIC_OPERATION_AND}","AND"],["%{BKY_LOGIC_OPERATION_OR}","OR"]]},{type:"input_value",name:"B",check:"Boolean"}],inputsInline:!0,output:"Boolean",style:"logic_blocks",helpUrl:"%{BKY_LOGIC_OPERATION_HELPURL}",extensions:["logic_op_tooltip"]},{type:"logic_negate",message0:"%{BKY_LOGIC_NEGATE_TITLE}",args0:[{type:"input_value",name:"BOOL",
-check:"Boolean"}],output:"Boolean",style:"logic_blocks",tooltip:"%{BKY_LOGIC_NEGATE_TOOLTIP}",helpUrl:"%{BKY_LOGIC_NEGATE_HELPURL}"},{type:"logic_null",message0:"%{BKY_LOGIC_NULL}",output:null,style:"logic_blocks",tooltip:"%{BKY_LOGIC_NULL_TOOLTIP}",helpUrl:"%{BKY_LOGIC_NULL_HELPURL}"},{type:"logic_ternary",message0:"%{BKY_LOGIC_TERNARY_CONDITION} %1",args0:[{type:"input_value",name:"IF",check:"Boolean"}],message1:"%{BKY_LOGIC_TERNARY_IF_TRUE} %1",args1:[{type:"input_value",name:"THEN"}],message2:"%{BKY_LOGIC_TERNARY_IF_FALSE} %1",
-args2:[{type:"input_value",name:"ELSE"}],output:null,style:"logic_blocks",tooltip:"%{BKY_LOGIC_TERNARY_TOOLTIP}",helpUrl:"%{BKY_LOGIC_TERNARY_HELPURL}",extensions:["logic_ternary"]}]);
-Blockly.defineBlocksWithJsonArray([{type:"controls_if_if",message0:"%{BKY_CONTROLS_IF_IF_TITLE_IF}",nextStatement:null,enableContextMenu:!1,style:"logic_blocks",tooltip:"%{BKY_CONTROLS_IF_IF_TOOLTIP}"},{type:"controls_if_elseif",message0:"%{BKY_CONTROLS_IF_ELSEIF_TITLE_ELSEIF}",previousStatement:null,nextStatement:null,enableContextMenu:!1,style:"logic_blocks",tooltip:"%{BKY_CONTROLS_IF_ELSEIF_TOOLTIP}"},{type:"controls_if_else",message0:"%{BKY_CONTROLS_IF_ELSE_TITLE_ELSE}",previousStatement:null,
-enableContextMenu:!1,style:"logic_blocks",tooltip:"%{BKY_CONTROLS_IF_ELSE_TOOLTIP}"}]);Blockly.Constants.Logic.TOOLTIPS_BY_OP={EQ:"%{BKY_LOGIC_COMPARE_TOOLTIP_EQ}",NEQ:"%{BKY_LOGIC_COMPARE_TOOLTIP_NEQ}",LT:"%{BKY_LOGIC_COMPARE_TOOLTIP_LT}",LTE:"%{BKY_LOGIC_COMPARE_TOOLTIP_LTE}",GT:"%{BKY_LOGIC_COMPARE_TOOLTIP_GT}",GTE:"%{BKY_LOGIC_COMPARE_TOOLTIP_GTE}",AND:"%{BKY_LOGIC_OPERATION_TOOLTIP_AND}",OR:"%{BKY_LOGIC_OPERATION_TOOLTIP_OR}"};
-Blockly.Extensions.register("logic_op_tooltip",Blockly.Extensions.buildTooltipForDropdown("OP",Blockly.Constants.Logic.TOOLTIPS_BY_OP));
-Blockly.Constants.Logic.CONTROLS_IF_MUTATOR_MIXIN={elseifCount_:0,elseCount_:0,suppressPrefixSuffix:!0,mutationToDom:function(){if(!this.elseifCount_&&!this.elseCount_)return null;var a=Blockly.utils.xml.createElement("mutation");this.elseifCount_&&a.setAttribute("elseif",this.elseifCount_);this.elseCount_&&a.setAttribute("else",1);return a},domToMutation:function(a){this.elseifCount_=parseInt(a.getAttribute("elseif"),10)||0;this.elseCount_=parseInt(a.getAttribute("else"),10)||0;this.rebuildShape_()},
-decompose:function(a){var b=a.newBlock("controls_if_if");b.initSvg();for(var c=b.nextConnection,d=1;d<=this.elseifCount_;d++){var e=a.newBlock("controls_if_elseif");e.initSvg();c.connect(e.previousConnection);c=e.nextConnection}this.elseCount_&&(a=a.newBlock("controls_if_else"),a.initSvg(),c.connect(a.previousConnection));return b},compose:function(a){a=a.nextConnection.targetBlock();this.elseCount_=this.elseifCount_=0;for(var b=[null],c=[null],d=null;a;){switch(a.type){case "controls_if_elseif":this.elseifCount_++;
-b.push(a.valueConnection_);c.push(a.statementConnection_);break;case "controls_if_else":this.elseCount_++;d=a.statementConnection_;break;default:throw TypeError("Unknown block type: "+a.type);}a=a.nextConnection&&a.nextConnection.targetBlock()}this.updateShape_();this.reconnectChildBlocks_(b,c,d)},saveConnections:function(a){a=a.nextConnection.targetBlock();for(var b=1;a;){switch(a.type){case "controls_if_elseif":var c=this.getInput("IF"+b),d=this.getInput("DO"+b);a.valueConnection_=c&&c.connection.targetConnection;
-a.statementConnection_=d&&d.connection.targetConnection;b++;break;case "controls_if_else":d=this.getInput("ELSE");a.statementConnection_=d&&d.connection.targetConnection;break;default:throw TypeError("Unknown block type: "+a.type);}a=a.nextConnection&&a.nextConnection.targetBlock()}},rebuildShape_:function(){var a=[null],b=[null],c=null;this.getInput("ELSE")&&(c=this.getInput("ELSE").connection.targetConnection);for(var d=1;this.getInput("IF"+d);){var e=this.getInput("IF"+d),f=this.getInput("DO"+
-d);a.push(e.connection.targetConnection);b.push(f.connection.targetConnection);d++}this.updateShape_();this.reconnectChildBlocks_(a,b,c)},updateShape_:function(){this.getInput("ELSE")&&this.removeInput("ELSE");for(var a=1;this.getInput("IF"+a);)this.removeInput("IF"+a),this.removeInput("DO"+a),a++;for(a=1;a<=this.elseifCount_;a++)this.appendValueInput("IF"+a).setCheck("Boolean").appendField(Blockly.Msg.CONTROLS_IF_MSG_ELSEIF),this.appendStatementInput("DO"+a).appendField(Blockly.Msg.CONTROLS_IF_MSG_THEN);
-this.elseCount_&&this.appendStatementInput("ELSE").appendField(Blockly.Msg.CONTROLS_IF_MSG_ELSE)},reconnectChildBlocks_:function(a,b,c){for(var d=1;d<=this.elseifCount_;d++)Blockly.Mutator.reconnect(a[d],this,"IF"+d),Blockly.Mutator.reconnect(b[d],this,"DO"+d);Blockly.Mutator.reconnect(c,this,"ELSE")}};Blockly.Extensions.registerMutator("controls_if_mutator",Blockly.Constants.Logic.CONTROLS_IF_MUTATOR_MIXIN,null,["controls_if_elseif","controls_if_else"]);
-Blockly.Constants.Logic.CONTROLS_IF_TOOLTIP_EXTENSION=function(){this.setTooltip(function(){if(this.elseifCount_||this.elseCount_){if(!this.elseifCount_&&this.elseCount_)return Blockly.Msg.CONTROLS_IF_TOOLTIP_2;if(this.elseifCount_&&!this.elseCount_)return Blockly.Msg.CONTROLS_IF_TOOLTIP_3;if(this.elseifCount_&&this.elseCount_)return Blockly.Msg.CONTROLS_IF_TOOLTIP_4}else return Blockly.Msg.CONTROLS_IF_TOOLTIP_1;return""}.bind(this))};Blockly.Extensions.register("controls_if_tooltip",Blockly.Constants.Logic.CONTROLS_IF_TOOLTIP_EXTENSION);
-Blockly.Constants.Logic.LOGIC_COMPARE_ONCHANGE_MIXIN={onchange:function(a){this.prevBlocks_||(this.prevBlocks_=[null,null]);var b=this.getInputTargetBlock("A"),c=this.getInputTargetBlock("B");b&&c&&!b.outputConnection.checkType(c.outputConnection)&&(Blockly.Events.setGroup(a.group),a=this.prevBlocks_[0],a!==b&&(b.unplug(),!a||a.isDisposed()||a.isShadow()||this.getInput("A").connection.connect(a.outputConnection)),b=this.prevBlocks_[1],b!==c&&(c.unplug(),!b||b.isDisposed()||b.isShadow()||this.getInput("B").connection.connect(b.outputConnection)),
-this.bumpNeighbours(),Blockly.Events.setGroup(!1));this.prevBlocks_[0]=this.getInputTargetBlock("A");this.prevBlocks_[1]=this.getInputTargetBlock("B")}};Blockly.Constants.Logic.LOGIC_COMPARE_EXTENSION=function(){this.mixin(Blockly.Constants.Logic.LOGIC_COMPARE_ONCHANGE_MIXIN)};Blockly.Extensions.register("logic_compare",Blockly.Constants.Logic.LOGIC_COMPARE_EXTENSION);
-Blockly.Constants.Logic.LOGIC_TERNARY_ONCHANGE_MIXIN={prevParentConnection_:null,onchange:function(a){var b=this.getInputTargetBlock("THEN"),c=this.getInputTargetBlock("ELSE"),d=this.outputConnection.targetConnection;if((b||c)&&d)for(var e=0;2>e;e++){var f=1==e?b:c;f&&!f.outputConnection.checkType(d)&&(Blockly.Events.setGroup(a.group),d===this.prevParentConnection_?(this.unplug(),d.getSourceBlock().bumpNeighbours()):(f.unplug(),f.bumpNeighbours()),Blockly.Events.setGroup(!1))}this.prevParentConnection_=
-d}};Blockly.Extensions.registerMixin("logic_ternary",Blockly.Constants.Logic.LOGIC_TERNARY_ONCHANGE_MIXIN);Blockly.Blocks.loops={};Blockly.Constants.Loops={};Blockly.Constants.Loops.HUE=120;
-Blockly.defineBlocksWithJsonArray([{type:"controls_repeat_ext",message0:"%{BKY_CONTROLS_REPEAT_TITLE}",args0:[{type:"input_value",name:"TIMES",check:"Number"}],message1:"%{BKY_CONTROLS_REPEAT_INPUT_DO} %1",args1:[{type:"input_statement",name:"DO"}],previousStatement:null,nextStatement:null,style:"loop_blocks",tooltip:"%{BKY_CONTROLS_REPEAT_TOOLTIP}",helpUrl:"%{BKY_CONTROLS_REPEAT_HELPURL}"},{type:"controls_repeat",message0:"%{BKY_CONTROLS_REPEAT_TITLE}",args0:[{type:"field_number",name:"TIMES",value:10,
-min:0,precision:1}],message1:"%{BKY_CONTROLS_REPEAT_INPUT_DO} %1",args1:[{type:"input_statement",name:"DO"}],previousStatement:null,nextStatement:null,style:"loop_blocks",tooltip:"%{BKY_CONTROLS_REPEAT_TOOLTIP}",helpUrl:"%{BKY_CONTROLS_REPEAT_HELPURL}"},{type:"controls_whileUntil",message0:"%1 %2",args0:[{type:"field_dropdown",name:"MODE",options:[["%{BKY_CONTROLS_WHILEUNTIL_OPERATOR_WHILE}","WHILE"],["%{BKY_CONTROLS_WHILEUNTIL_OPERATOR_UNTIL}","UNTIL"]]},{type:"input_value",name:"BOOL",check:"Boolean"}],
-message1:"%{BKY_CONTROLS_REPEAT_INPUT_DO} %1",args1:[{type:"input_statement",name:"DO"}],previousStatement:null,nextStatement:null,style:"loop_blocks",helpUrl:"%{BKY_CONTROLS_WHILEUNTIL_HELPURL}",extensions:["controls_whileUntil_tooltip"]},{type:"controls_for",message0:"%{BKY_CONTROLS_FOR_TITLE}",args0:[{type:"field_variable",name:"VAR",variable:null},{type:"input_value",name:"FROM",check:"Number",align:"RIGHT"},{type:"input_value",name:"TO",check:"Number",align:"RIGHT"},{type:"input_value",name:"BY",
-check:"Number",align:"RIGHT"}],message1:"%{BKY_CONTROLS_REPEAT_INPUT_DO} %1",args1:[{type:"input_statement",name:"DO"}],inputsInline:!0,previousStatement:null,nextStatement:null,style:"loop_blocks",helpUrl:"%{BKY_CONTROLS_FOR_HELPURL}",extensions:["contextMenu_newGetVariableBlock","controls_for_tooltip"]},{type:"controls_forEach",message0:"%{BKY_CONTROLS_FOREACH_TITLE}",args0:[{type:"field_variable",name:"VAR",variable:null},{type:"input_value",name:"LIST",check:"Array"}],message1:"%{BKY_CONTROLS_REPEAT_INPUT_DO} %1",
-args1:[{type:"input_statement",name:"DO"}],previousStatement:null,nextStatement:null,style:"loop_blocks",helpUrl:"%{BKY_CONTROLS_FOREACH_HELPURL}",extensions:["contextMenu_newGetVariableBlock","controls_forEach_tooltip"]},{type:"controls_flow_statements",message0:"%1",args0:[{type:"field_dropdown",name:"FLOW",options:[["%{BKY_CONTROLS_FLOW_STATEMENTS_OPERATOR_BREAK}","BREAK"],["%{BKY_CONTROLS_FLOW_STATEMENTS_OPERATOR_CONTINUE}","CONTINUE"]]}],previousStatement:null,style:"loop_blocks",helpUrl:"%{BKY_CONTROLS_FLOW_STATEMENTS_HELPURL}",
-extensions:["controls_flow_tooltip","controls_flow_in_loop_check"]}]);Blockly.Constants.Loops.WHILE_UNTIL_TOOLTIPS={WHILE:"%{BKY_CONTROLS_WHILEUNTIL_TOOLTIP_WHILE}",UNTIL:"%{BKY_CONTROLS_WHILEUNTIL_TOOLTIP_UNTIL}"};Blockly.Extensions.register("controls_whileUntil_tooltip",Blockly.Extensions.buildTooltipForDropdown("MODE",Blockly.Constants.Loops.WHILE_UNTIL_TOOLTIPS));Blockly.Constants.Loops.BREAK_CONTINUE_TOOLTIPS={BREAK:"%{BKY_CONTROLS_FLOW_STATEMENTS_TOOLTIP_BREAK}",CONTINUE:"%{BKY_CONTROLS_FLOW_STATEMENTS_TOOLTIP_CONTINUE}"};
-Blockly.Extensions.register("controls_flow_tooltip",Blockly.Extensions.buildTooltipForDropdown("FLOW",Blockly.Constants.Loops.BREAK_CONTINUE_TOOLTIPS));
-Blockly.Constants.Loops.CUSTOM_CONTEXT_MENU_CREATE_VARIABLES_GET_MIXIN={customContextMenu:function(a){if(!this.isInFlyout){var b=this.getField("VAR").getVariable(),c=b.name;if(!this.isCollapsed()&&null!=c){var d={enabled:!0};d.text=Blockly.Msg.VARIABLES_SET_CREATE_GET.replace("%1",c);b=Blockly.Variables.generateVariableFieldDom(b);c=Blockly.utils.xml.createElement("block");c.setAttribute("type","variables_get");c.appendChild(b);d.callback=Blockly.ContextMenu.callbackFactory(this,c);a.push(d)}}}};
-Blockly.Extensions.registerMixin("contextMenu_newGetVariableBlock",Blockly.Constants.Loops.CUSTOM_CONTEXT_MENU_CREATE_VARIABLES_GET_MIXIN);Blockly.Extensions.register("controls_for_tooltip",Blockly.Extensions.buildTooltipWithFieldText("%{BKY_CONTROLS_FOR_TOOLTIP}","VAR"));Blockly.Extensions.register("controls_forEach_tooltip",Blockly.Extensions.buildTooltipWithFieldText("%{BKY_CONTROLS_FOREACH_TOOLTIP}","VAR"));
-Blockly.Constants.Loops.CONTROL_FLOW_IN_LOOP_CHECK_MIXIN={LOOP_TYPES:["controls_repeat","controls_repeat_ext","controls_forEach","controls_for","controls_whileUntil"],suppressPrefixSuffix:!0,getSurroundLoop:function(a){do{if(-1!=Blockly.Constants.Loops.CONTROL_FLOW_IN_LOOP_CHECK_MIXIN.LOOP_TYPES.indexOf(a.type))return a;a=a.getSurroundParent()}while(a);return null},onchange:function(a){if(this.workspace.isDragging&&!this.workspace.isDragging()&&a.type==Blockly.Events.BLOCK_MOVE&&a.blockId==this.id){var b=
-Blockly.Constants.Loops.CONTROL_FLOW_IN_LOOP_CHECK_MIXIN.getSurroundLoop(this);this.setWarningText(b?null:Blockly.Msg.CONTROLS_FLOW_STATEMENTS_WARNING);if(!this.isInFlyout){var c=Blockly.Events.getGroup();Blockly.Events.setGroup(a.group);this.setEnabled(b);Blockly.Events.setGroup(c)}}}};Blockly.Extensions.registerMixin("controls_flow_in_loop_check",Blockly.Constants.Loops.CONTROL_FLOW_IN_LOOP_CHECK_MIXIN);Blockly.Blocks.math={};Blockly.Constants.Math={};Blockly.Constants.Math.HUE=230;
-Blockly.defineBlocksWithJsonArray([{type:"math_number",message0:"%1",args0:[{type:"field_number",name:"NUM",value:0}],output:"Number",helpUrl:"%{BKY_MATH_NUMBER_HELPURL}",style:"math_blocks",tooltip:"%{BKY_MATH_NUMBER_TOOLTIP}",extensions:["parent_tooltip_when_inline"]},{type:"math_arithmetic",message0:"%1 %2 %3",args0:[{type:"input_value",name:"A",check:"Number"},{type:"field_dropdown",name:"OP",options:[["%{BKY_MATH_ADDITION_SYMBOL}","ADD"],["%{BKY_MATH_SUBTRACTION_SYMBOL}","MINUS"],["%{BKY_MATH_MULTIPLICATION_SYMBOL}",
-"MULTIPLY"],["%{BKY_MATH_DIVISION_SYMBOL}","DIVIDE"],["%{BKY_MATH_POWER_SYMBOL}","POWER"]]},{type:"input_value",name:"B",check:"Number"}],inputsInline:!0,output:"Number",style:"math_blocks",helpUrl:"%{BKY_MATH_ARITHMETIC_HELPURL}",extensions:["math_op_tooltip"]},{type:"math_single",message0:"%1 %2",args0:[{type:"field_dropdown",name:"OP",options:[["%{BKY_MATH_SINGLE_OP_ROOT}","ROOT"],["%{BKY_MATH_SINGLE_OP_ABSOLUTE}","ABS"],["-","NEG"],["ln","LN"],["log10","LOG10"],["e^","EXP"],["10^","POW10"]]},
-{type:"input_value",name:"NUM",check:"Number"}],output:"Number",style:"math_blocks",helpUrl:"%{BKY_MATH_SINGLE_HELPURL}",extensions:["math_op_tooltip"]},{type:"math_trig",message0:"%1 %2",args0:[{type:"field_dropdown",name:"OP",options:[["%{BKY_MATH_TRIG_SIN}","SIN"],["%{BKY_MATH_TRIG_COS}","COS"],["%{BKY_MATH_TRIG_TAN}","TAN"],["%{BKY_MATH_TRIG_ASIN}","ASIN"],["%{BKY_MATH_TRIG_ACOS}","ACOS"],["%{BKY_MATH_TRIG_ATAN}","ATAN"]]},{type:"input_value",name:"NUM",check:"Number"}],output:"Number",style:"math_blocks",
-helpUrl:"%{BKY_MATH_TRIG_HELPURL}",extensions:["math_op_tooltip"]},{type:"math_constant",message0:"%1",args0:[{type:"field_dropdown",name:"CONSTANT",options:[["\u03c0","PI"],["e","E"],["\u03c6","GOLDEN_RATIO"],["sqrt(2)","SQRT2"],["sqrt(\u00bd)","SQRT1_2"],["\u221e","INFINITY"]]}],output:"Number",style:"math_blocks",tooltip:"%{BKY_MATH_CONSTANT_TOOLTIP}",helpUrl:"%{BKY_MATH_CONSTANT_HELPURL}"},{type:"math_number_property",message0:"%1 %2",args0:[{type:"input_value",name:"NUMBER_TO_CHECK",check:"Number"},
-{type:"field_dropdown",name:"PROPERTY",options:[["%{BKY_MATH_IS_EVEN}","EVEN"],["%{BKY_MATH_IS_ODD}","ODD"],["%{BKY_MATH_IS_PRIME}","PRIME"],["%{BKY_MATH_IS_WHOLE}","WHOLE"],["%{BKY_MATH_IS_POSITIVE}","POSITIVE"],["%{BKY_MATH_IS_NEGATIVE}","NEGATIVE"],["%{BKY_MATH_IS_DIVISIBLE_BY}","DIVISIBLE_BY"]]}],inputsInline:!0,output:"Boolean",style:"math_blocks",tooltip:"%{BKY_MATH_IS_TOOLTIP}",mutator:"math_is_divisibleby_mutator"},{type:"math_change",message0:"%{BKY_MATH_CHANGE_TITLE}",args0:[{type:"field_variable",
-name:"VAR",variable:"%{BKY_MATH_CHANGE_TITLE_ITEM}"},{type:"input_value",name:"DELTA",check:"Number"}],previousStatement:null,nextStatement:null,style:"variable_blocks",helpUrl:"%{BKY_MATH_CHANGE_HELPURL}",extensions:["math_change_tooltip"]},{type:"math_round",message0:"%1 %2",args0:[{type:"field_dropdown",name:"OP",options:[["%{BKY_MATH_ROUND_OPERATOR_ROUND}","ROUND"],["%{BKY_MATH_ROUND_OPERATOR_ROUNDUP}","ROUNDUP"],["%{BKY_MATH_ROUND_OPERATOR_ROUNDDOWN}","ROUNDDOWN"]]},{type:"input_value",name:"NUM",
-check:"Number"}],output:"Number",style:"math_blocks",helpUrl:"%{BKY_MATH_ROUND_HELPURL}",tooltip:"%{BKY_MATH_ROUND_TOOLTIP}"},{type:"math_on_list",message0:"%1 %2",args0:[{type:"field_dropdown",name:"OP",options:[["%{BKY_MATH_ONLIST_OPERATOR_SUM}","SUM"],["%{BKY_MATH_ONLIST_OPERATOR_MIN}","MIN"],["%{BKY_MATH_ONLIST_OPERATOR_MAX}","MAX"],["%{BKY_MATH_ONLIST_OPERATOR_AVERAGE}","AVERAGE"],["%{BKY_MATH_ONLIST_OPERATOR_MEDIAN}","MEDIAN"],["%{BKY_MATH_ONLIST_OPERATOR_MODE}","MODE"],["%{BKY_MATH_ONLIST_OPERATOR_STD_DEV}",
-"STD_DEV"],["%{BKY_MATH_ONLIST_OPERATOR_RANDOM}","RANDOM"]]},{type:"input_value",name:"LIST",check:"Array"}],output:"Number",style:"math_blocks",helpUrl:"%{BKY_MATH_ONLIST_HELPURL}",mutator:"math_modes_of_list_mutator",extensions:["math_op_tooltip"]},{type:"math_modulo",message0:"%{BKY_MATH_MODULO_TITLE}",args0:[{type:"input_value",name:"DIVIDEND",check:"Number"},{type:"input_value",name:"DIVISOR",check:"Number"}],inputsInline:!0,output:"Number",style:"math_blocks",tooltip:"%{BKY_MATH_MODULO_TOOLTIP}",
-helpUrl:"%{BKY_MATH_MODULO_HELPURL}"},{type:"math_constrain",message0:"%{BKY_MATH_CONSTRAIN_TITLE}",args0:[{type:"input_value",name:"VALUE",check:"Number"},{type:"input_value",name:"LOW",check:"Number"},{type:"input_value",name:"HIGH",check:"Number"}],inputsInline:!0,output:"Number",style:"math_blocks",tooltip:"%{BKY_MATH_CONSTRAIN_TOOLTIP}",helpUrl:"%{BKY_MATH_CONSTRAIN_HELPURL}"},{type:"math_random_int",message0:"%{BKY_MATH_RANDOM_INT_TITLE}",args0:[{type:"input_value",name:"FROM",check:"Number"},
-{type:"input_value",name:"TO",check:"Number"}],inputsInline:!0,output:"Number",style:"math_blocks",tooltip:"%{BKY_MATH_RANDOM_INT_TOOLTIP}",helpUrl:"%{BKY_MATH_RANDOM_INT_HELPURL}"},{type:"math_random_float",message0:"%{BKY_MATH_RANDOM_FLOAT_TITLE_RANDOM}",output:"Number",style:"math_blocks",tooltip:"%{BKY_MATH_RANDOM_FLOAT_TOOLTIP}",helpUrl:"%{BKY_MATH_RANDOM_FLOAT_HELPURL}"},{type:"math_atan2",message0:"%{BKY_MATH_ATAN2_TITLE}",args0:[{type:"input_value",name:"X",check:"Number"},{type:"input_value",
-name:"Y",check:"Number"}],inputsInline:!0,output:"Number",style:"math_blocks",tooltip:"%{BKY_MATH_ATAN2_TOOLTIP}",helpUrl:"%{BKY_MATH_ATAN2_HELPURL}"}]);
-Blockly.Constants.Math.TOOLTIPS_BY_OP={ADD:"%{BKY_MATH_ARITHMETIC_TOOLTIP_ADD}",MINUS:"%{BKY_MATH_ARITHMETIC_TOOLTIP_MINUS}",MULTIPLY:"%{BKY_MATH_ARITHMETIC_TOOLTIP_MULTIPLY}",DIVIDE:"%{BKY_MATH_ARITHMETIC_TOOLTIP_DIVIDE}",POWER:"%{BKY_MATH_ARITHMETIC_TOOLTIP_POWER}",ROOT:"%{BKY_MATH_SINGLE_TOOLTIP_ROOT}",ABS:"%{BKY_MATH_SINGLE_TOOLTIP_ABS}",NEG:"%{BKY_MATH_SINGLE_TOOLTIP_NEG}",LN:"%{BKY_MATH_SINGLE_TOOLTIP_LN}",LOG10:"%{BKY_MATH_SINGLE_TOOLTIP_LOG10}",EXP:"%{BKY_MATH_SINGLE_TOOLTIP_EXP}",POW10:"%{BKY_MATH_SINGLE_TOOLTIP_POW10}",
-SIN:"%{BKY_MATH_TRIG_TOOLTIP_SIN}",COS:"%{BKY_MATH_TRIG_TOOLTIP_COS}",TAN:"%{BKY_MATH_TRIG_TOOLTIP_TAN}",ASIN:"%{BKY_MATH_TRIG_TOOLTIP_ASIN}",ACOS:"%{BKY_MATH_TRIG_TOOLTIP_ACOS}",ATAN:"%{BKY_MATH_TRIG_TOOLTIP_ATAN}",SUM:"%{BKY_MATH_ONLIST_TOOLTIP_SUM}",MIN:"%{BKY_MATH_ONLIST_TOOLTIP_MIN}",MAX:"%{BKY_MATH_ONLIST_TOOLTIP_MAX}",AVERAGE:"%{BKY_MATH_ONLIST_TOOLTIP_AVERAGE}",MEDIAN:"%{BKY_MATH_ONLIST_TOOLTIP_MEDIAN}",MODE:"%{BKY_MATH_ONLIST_TOOLTIP_MODE}",STD_DEV:"%{BKY_MATH_ONLIST_TOOLTIP_STD_DEV}",RANDOM:"%{BKY_MATH_ONLIST_TOOLTIP_RANDOM}"};
-Blockly.Extensions.register("math_op_tooltip",Blockly.Extensions.buildTooltipForDropdown("OP",Blockly.Constants.Math.TOOLTIPS_BY_OP));
-Blockly.Constants.Math.IS_DIVISIBLEBY_MUTATOR_MIXIN={mutationToDom:function(){var a=Blockly.utils.xml.createElement("mutation"),b="DIVISIBLE_BY"==this.getFieldValue("PROPERTY");a.setAttribute("divisor_input",b);return a},domToMutation:function(a){a="true"==a.getAttribute("divisor_input");this.updateShape_(a)},updateShape_:function(a){var b=this.getInput("DIVISOR");a?b||this.appendValueInput("DIVISOR").setCheck("Number"):b&&this.removeInput("DIVISOR")}};
-Blockly.Constants.Math.IS_DIVISIBLE_MUTATOR_EXTENSION=function(){this.getField("PROPERTY").setValidator(function(a){a="DIVISIBLE_BY"==a;this.getSourceBlock().updateShape_(a)})};Blockly.Extensions.registerMutator("math_is_divisibleby_mutator",Blockly.Constants.Math.IS_DIVISIBLEBY_MUTATOR_MIXIN,Blockly.Constants.Math.IS_DIVISIBLE_MUTATOR_EXTENSION);Blockly.Extensions.register("math_change_tooltip",Blockly.Extensions.buildTooltipWithFieldText("%{BKY_MATH_CHANGE_TOOLTIP}","VAR"));
-Blockly.Constants.Math.LIST_MODES_MUTATOR_MIXIN={updateType_:function(a){"MODE"==a?this.outputConnection.setCheck("Array"):this.outputConnection.setCheck("Number")},mutationToDom:function(){var a=Blockly.utils.xml.createElement("mutation");a.setAttribute("op",this.getFieldValue("OP"));return a},domToMutation:function(a){this.updateType_(a.getAttribute("op"))}};Blockly.Constants.Math.LIST_MODES_MUTATOR_EXTENSION=function(){this.getField("OP").setValidator(function(a){this.updateType_(a)}.bind(this))};
-Blockly.Extensions.registerMutator("math_modes_of_list_mutator",Blockly.Constants.Math.LIST_MODES_MUTATOR_MIXIN,Blockly.Constants.Math.LIST_MODES_MUTATOR_EXTENSION);Blockly.Blocks.procedures={};
-Blockly.Blocks.procedures_defnoreturn={init:function(){var a=new Blockly.FieldTextInput("",Blockly.Procedures.rename);a.setSpellcheck(!1);this.appendDummyInput().appendField(Blockly.Msg.PROCEDURES_DEFNORETURN_TITLE).appendField(a,"NAME").appendField("","PARAMS");this.setMutator(new Blockly.Mutator(["procedures_mutatorarg"]));(this.workspace.options.comments||this.workspace.options.parentWorkspace&&this.workspace.options.parentWorkspace.options.comments)&&Blockly.Msg.PROCEDURES_DEFNORETURN_COMMENT&&this.setCommentText(Blockly.Msg.PROCEDURES_DEFNORETURN_COMMENT);
-this.setStyle("procedure_blocks");this.setTooltip(Blockly.Msg.PROCEDURES_DEFNORETURN_TOOLTIP);this.setHelpUrl(Blockly.Msg.PROCEDURES_DEFNORETURN_HELPURL);this.arguments_=[];this.argumentVarModels_=[];this.setStatements_(!0);this.statementConnection_=null},setStatements_:function(a){this.hasStatements_!==a&&(a?(this.appendStatementInput("STACK").appendField(Blockly.Msg.PROCEDURES_DEFNORETURN_DO),this.getInput("RETURN")&&this.moveInputBefore("STACK","RETURN")):this.removeInput("STACK",!0),this.hasStatements_=
-a)},updateParams_:function(){var a="";this.arguments_.length&&(a=Blockly.Msg.PROCEDURES_BEFORE_PARAMS+" "+this.arguments_.join(", "));Blockly.Events.disable();try{this.setFieldValue(a,"PARAMS")}finally{Blockly.Events.enable()}},mutationToDom:function(a){var b=Blockly.utils.xml.createElement("mutation");a&&b.setAttribute("name",this.getFieldValue("NAME"));for(var c=0;c<this.argumentVarModels_.length;c++){var d=Blockly.utils.xml.createElement("arg"),e=this.argumentVarModels_[c];d.setAttribute("name",
-e.name);d.setAttribute("varid",e.getId());a&&this.paramIds_&&d.setAttribute("paramId",this.paramIds_[c]);b.appendChild(d)}this.hasStatements_||b.setAttribute("statements","false");return b},domToMutation:function(a){this.arguments_=[];this.argumentVarModels_=[];for(var b=0,c;c=a.childNodes[b];b++)if("arg"==c.nodeName.toLowerCase()){var d=c.getAttribute("name");c=c.getAttribute("varid")||c.getAttribute("varId");this.arguments_.push(d);c=Blockly.Variables.getOrCreateVariablePackage(this.workspace,c,
-d,"");null!=c?this.argumentVarModels_.push(c):console.log("Failed to create a variable with name "+d+", ignoring.")}this.updateParams_();Blockly.Procedures.mutateCallers(this);this.setStatements_("false"!==a.getAttribute("statements"))},decompose:function(a){var b=Blockly.utils.xml.createElement("block");b.setAttribute("type","procedures_mutatorcontainer");var c=Blockly.utils.xml.createElement("statement");c.setAttribute("name","STACK");b.appendChild(c);for(var d=0;d<this.arguments_.length;d++){var e=
-Blockly.utils.xml.createElement("block");e.setAttribute("type","procedures_mutatorarg");var f=Blockly.utils.xml.createElement("field");f.setAttribute("name","NAME");var g=Blockly.utils.xml.createTextNode(this.arguments_[d]);f.appendChild(g);e.appendChild(f);f=Blockly.utils.xml.createElement("next");e.appendChild(f);c.appendChild(e);c=f}a=Blockly.Xml.domToBlock(b,a);"procedures_defreturn"==this.type?a.setFieldValue(this.hasStatements_,"STATEMENTS"):a.removeInput("STATEMENT_INPUT");Blockly.Procedures.mutateCallers(this);
-return a},compose:function(a){this.arguments_=[];this.paramIds_=[];this.argumentVarModels_=[];for(var b=a.getInputTargetBlock("STACK");b;){var c=b.getFieldValue("NAME");this.arguments_.push(c);c=this.workspace.getVariable(c,"");this.argumentVarModels_.push(c);this.paramIds_.push(b.id);b=b.nextConnection&&b.nextConnection.targetBlock()}this.updateParams_();Blockly.Procedures.mutateCallers(this);a=a.getFieldValue("STATEMENTS");if(null!==a&&(a="TRUE"==a,this.hasStatements_!=a))if(a)this.setStatements_(!0),
-Blockly.Mutator.reconnect(this.statementConnection_,this,"STACK"),this.statementConnection_=null;else{a=this.getInput("STACK").connection;if(this.statementConnection_=a.targetConnection)a=a.targetBlock(),a.unplug(),a.bumpNeighbours();this.setStatements_(!1)}},getProcedureDef:function(){return[this.getFieldValue("NAME"),this.arguments_,!1]},getVars:function(){return this.arguments_},getVarModels:function(){return this.argumentVarModels_},renameVarById:function(a,b){var c=this.workspace.getVariableById(a);
-if(""==c.type){c=c.name;b=this.workspace.getVariableById(b);for(var d=!1,e=0;e<this.argumentVarModels_.length;e++)this.argumentVarModels_[e].getId()==a&&(this.arguments_[e]=b.name,this.argumentVarModels_[e]=b,d=!0);d&&(this.displayRenamedVar_(c,b.name),Blockly.Procedures.mutateCallers(this))}},updateVarName:function(a){for(var b=a.name,c=!1,d=0;d<this.argumentVarModels_.length;d++)if(this.argumentVarModels_[d].getId()==a.getId()){var e=this.arguments_[d];this.arguments_[d]=b;c=!0}c&&(this.displayRenamedVar_(e,
-b),Blockly.Procedures.mutateCallers(this))},displayRenamedVar_:function(a,b){this.updateParams_();if(this.mutator&&this.mutator.isVisible())for(var c=this.mutator.workspace_.getAllBlocks(!1),d=0,e;e=c[d];d++)"procedures_mutatorarg"==e.type&&Blockly.Names.equals(a,e.getFieldValue("NAME"))&&e.setFieldValue(b,"NAME")},customContextMenu:function(a){if(!this.isInFlyout){var b={enabled:!0},c=this.getFieldValue("NAME");b.text=Blockly.Msg.PROCEDURES_CREATE_DO.replace("%1",c);var d=Blockly.utils.xml.createElement("mutation");
-d.setAttribute("name",c);for(c=0;c<this.arguments_.length;c++){var e=Blockly.utils.xml.createElement("arg");e.setAttribute("name",this.arguments_[c]);d.appendChild(e)}c=Blockly.utils.xml.createElement("block");c.setAttribute("type",this.callType_);c.appendChild(d);b.callback=Blockly.ContextMenu.callbackFactory(this,c);a.push(b);if(!this.isCollapsed())for(c=0;c<this.argumentVarModels_.length;c++)b={enabled:!0},d=this.argumentVarModels_[c],b.text=Blockly.Msg.VARIABLES_SET_CREATE_GET.replace("%1",d.name),
-d=Blockly.Variables.generateVariableFieldDom(d),e=Blockly.utils.xml.createElement("block"),e.setAttribute("type","variables_get"),e.appendChild(d),b.callback=Blockly.ContextMenu.callbackFactory(this,e),a.push(b)}},callType_:"procedures_callnoreturn"};
-Blockly.Blocks.procedures_defreturn={init:function(){var a=new Blockly.FieldTextInput("",Blockly.Procedures.rename);a.setSpellcheck(!1);this.appendDummyInput().appendField(Blockly.Msg.PROCEDURES_DEFRETURN_TITLE).appendField(a,"NAME").appendField("","PARAMS");this.appendValueInput("RETURN").setAlign(Blockly.ALIGN_RIGHT).appendField(Blockly.Msg.PROCEDURES_DEFRETURN_RETURN);this.setMutator(new Blockly.Mutator(["procedures_mutatorarg"]));(this.workspace.options.comments||this.workspace.options.parentWorkspace&&
-this.workspace.options.parentWorkspace.options.comments)&&Blockly.Msg.PROCEDURES_DEFRETURN_COMMENT&&this.setCommentText(Blockly.Msg.PROCEDURES_DEFRETURN_COMMENT);this.setStyle("procedure_blocks");this.setTooltip(Blockly.Msg.PROCEDURES_DEFRETURN_TOOLTIP);this.setHelpUrl(Blockly.Msg.PROCEDURES_DEFRETURN_HELPURL);this.arguments_=[];this.argumentVarModels_=[];this.setStatements_(!0);this.statementConnection_=null},setStatements_:Blockly.Blocks.procedures_defnoreturn.setStatements_,updateParams_:Blockly.Blocks.procedures_defnoreturn.updateParams_,
-mutationToDom:Blockly.Blocks.procedures_defnoreturn.mutationToDom,domToMutation:Blockly.Blocks.procedures_defnoreturn.domToMutation,decompose:Blockly.Blocks.procedures_defnoreturn.decompose,compose:Blockly.Blocks.procedures_defnoreturn.compose,getProcedureDef:function(){return[this.getFieldValue("NAME"),this.arguments_,!0]},getVars:Blockly.Blocks.procedures_defnoreturn.getVars,getVarModels:Blockly.Blocks.procedures_defnoreturn.getVarModels,renameVarById:Blockly.Blocks.procedures_defnoreturn.renameVarById,
-updateVarName:Blockly.Blocks.procedures_defnoreturn.updateVarName,displayRenamedVar_:Blockly.Blocks.procedures_defnoreturn.displayRenamedVar_,customContextMenu:Blockly.Blocks.procedures_defnoreturn.customContextMenu,callType_:"procedures_callreturn"};
-Blockly.Blocks.procedures_mutatorcontainer={init:function(){this.appendDummyInput().appendField(Blockly.Msg.PROCEDURES_MUTATORCONTAINER_TITLE);this.appendStatementInput("STACK");this.appendDummyInput("STATEMENT_INPUT").appendField(Blockly.Msg.PROCEDURES_ALLOW_STATEMENTS).appendField(new Blockly.FieldCheckbox("TRUE"),"STATEMENTS");this.setStyle("procedure_blocks");this.setTooltip(Blockly.Msg.PROCEDURES_MUTATORCONTAINER_TOOLTIP);this.contextMenu=!1}};
-Blockly.Blocks.procedures_mutatorarg={init:function(){var a=new Blockly.FieldTextInput(Blockly.Procedures.DEFAULT_ARG,this.validator_);a.oldShowEditorFn_=a.showEditor_;a.showEditor_=function(){this.createdVariables_=[];this.oldShowEditorFn_()};this.appendDummyInput().appendField(Blockly.Msg.PROCEDURES_MUTATORARG_TITLE).appendField(a,"NAME");this.setPreviousStatement(!0);this.setNextStatement(!0);this.setStyle("procedure_blocks");this.setTooltip(Blockly.Msg.PROCEDURES_MUTATORARG_TOOLTIP);this.contextMenu=
-!1;a.onFinishEditing_=this.deleteIntermediateVars_;a.createdVariables_=[];a.onFinishEditing_("x")},validator_:function(a){var b=this.getSourceBlock(),c=Blockly.Mutator.findParentWs(b.workspace);a=a.replace(/[\s\xa0]+/g," ").replace(/^ | $/g,"");if(!a)return null;for(var d=(b.workspace.targetWorkspace||b.workspace).getAllBlocks(!1),e=a.toLowerCase(),f=0;f<d.length;f++)if(d[f].id!=this.getSourceBlock().id){var g=d[f].getFieldValue("NAME");if(g&&g.toLowerCase()==e)return null}if(b.isInFlyout)return a;
-(b=c.getVariable(a,""))&&b.name!=a&&c.renameVariableById(b.getId(),a);b||(b=c.createVariable(a,""))&&this.createdVariables_&&this.createdVariables_.push(b);return a},deleteIntermediateVars_:function(a){var b=Blockly.Mutator.findParentWs(this.getSourceBlock().workspace);if(b)for(var c=0;c<this.createdVariables_.length;c++){var d=this.createdVariables_[c];d.name!=a&&b.deleteVariableById(d.getId())}}};
-Blockly.Blocks.procedures_callnoreturn={init:function(){this.appendDummyInput("TOPROW").appendField(this.id,"NAME");this.setPreviousStatement(!0);this.setNextStatement(!0);this.setStyle("procedure_blocks");this.setHelpUrl(Blockly.Msg.PROCEDURES_CALLNORETURN_HELPURL);this.arguments_=[];this.argumentVarModels_=[];this.quarkConnections_={};this.quarkIds_=null;this.previousEnabledState_=!0},getProcedureCall:function(){return this.getFieldValue("NAME")},renameProcedure:function(a,b){Blockly.Names.equals(a,
-this.getProcedureCall())&&(this.setFieldValue(b,"NAME"),this.setTooltip((this.outputConnection?Blockly.Msg.PROCEDURES_CALLRETURN_TOOLTIP:Blockly.Msg.PROCEDURES_CALLNORETURN_TOOLTIP).replace("%1",b)))},setProcedureParameters_:function(a,b){var c=Blockly.Procedures.getDefinition(this.getProcedureCall(),this.workspace),d=c&&c.mutator&&c.mutator.isVisible();d||(this.quarkConnections_={},this.quarkIds_=null);if(b)if(a.join("\n")==this.arguments_.join("\n"))this.quarkIds_=b;else{if(b.length!=a.length)throw RangeError("paramNames and paramIds must be the same length.");
-this.setCollapsed(!1);this.quarkIds_||(this.quarkConnections_={},this.quarkIds_=[]);c=this.rendered;this.rendered=!1;for(var e=0;e<this.arguments_.length;e++){var f=this.getInput("ARG"+e);f&&(f=f.connection.targetConnection,this.quarkConnections_[this.quarkIds_[e]]=f,d&&f&&-1==b.indexOf(this.quarkIds_[e])&&(f.disconnect(),f.getSourceBlock().bumpNeighbours()))}this.arguments_=[].concat(a);this.argumentVarModels_=[];for(e=0;e<this.arguments_.length;e++)a=Blockly.Variables.getOrCreateVariablePackage(this.workspace,
-null,this.arguments_[e],""),this.argumentVarModels_.push(a);this.updateShape_();if(this.quarkIds_=b)for(e=0;e<this.arguments_.length;e++)b=this.quarkIds_[e],b in this.quarkConnections_&&(f=this.quarkConnections_[b],Blockly.Mutator.reconnect(f,this,"ARG"+e)||delete this.quarkConnections_[b]);(this.rendered=c)&&this.render()}},updateShape_:function(){for(var a=0;a<this.arguments_.length;a++){var b=this.getField("ARGNAME"+a);if(b){Blockly.Events.disable();try{b.setValue(this.arguments_[a])}finally{Blockly.Events.enable()}}else b=
-new Blockly.FieldLabel(this.arguments_[a]),this.appendValueInput("ARG"+a).setAlign(Blockly.ALIGN_RIGHT).appendField(b,"ARGNAME"+a).init()}for(;this.getInput("ARG"+a);)this.removeInput("ARG"+a),a++;if(a=this.getInput("TOPROW"))this.arguments_.length?this.getField("WITH")||(a.appendField(Blockly.Msg.PROCEDURES_CALL_BEFORE_PARAMS,"WITH"),a.init()):this.getField("WITH")&&a.removeField("WITH")},mutationToDom:function(){var a=Blockly.utils.xml.createElement("mutation");a.setAttribute("name",this.getProcedureCall());
-for(var b=0;b<this.arguments_.length;b++){var c=Blockly.utils.xml.createElement("arg");c.setAttribute("name",this.arguments_[b]);a.appendChild(c)}return a},domToMutation:function(a){var b=a.getAttribute("name");this.renameProcedure(this.getProcedureCall(),b);b=[];for(var c=[],d=0,e;e=a.childNodes[d];d++)"arg"==e.nodeName.toLowerCase()&&(b.push(e.getAttribute("name")),c.push(e.getAttribute("paramId")));this.setProcedureParameters_(b,c)},getVars:function(){return this.arguments_},getVarModels:function(){return this.argumentVarModels_},
-onchange:function(a){if(this.workspace&&!this.workspace.isFlyout&&a.recordUndo)if(a.type==Blockly.Events.BLOCK_CREATE&&-1!=a.ids.indexOf(this.id)){var b=this.getProcedureCall();b=Blockly.Procedures.getDefinition(b,this.workspace);!b||b.type==this.defType_&&JSON.stringify(b.getVars())==JSON.stringify(this.arguments_)||(b=null);if(!b){Blockly.Events.setGroup(a.group);a=Blockly.utils.xml.createElement("xml");b=Blockly.utils.xml.createElement("block");b.setAttribute("type",this.defType_);var c=this.getRelativeToSurfaceXY(),
-d=c.y+2*Blockly.SNAP_RADIUS;b.setAttribute("x",c.x+Blockly.SNAP_RADIUS*(this.RTL?-1:1));b.setAttribute("y",d);c=this.mutationToDom();b.appendChild(c);c=Blockly.utils.xml.createElement("field");c.setAttribute("name","NAME");c.appendChild(Blockly.utils.xml.createTextNode(this.getProcedureCall()));b.appendChild(c);a.appendChild(b);Blockly.Xml.domToWorkspace(a,this.workspace);Blockly.Events.setGroup(!1)}}else a.type==Blockly.Events.BLOCK_DELETE?(b=this.getProcedureCall(),b=Blockly.Procedures.getDefinition(b,
-this.workspace),b||(Blockly.Events.setGroup(a.group),this.dispose(!0),Blockly.Events.setGroup(!1))):a.type==Blockly.Events.CHANGE&&"disabled"==a.element&&(b=this.getProcedureCall(),(b=Blockly.Procedures.getDefinition(b,this.workspace))&&b.id==a.blockId&&((b=Blockly.Events.getGroup())&&console.log("Saw an existing group while responding to a definition change"),Blockly.Events.setGroup(a.group),a.newValue?(this.previousEnabledState_=this.isEnabled(),this.setEnabled(!1)):this.setEnabled(this.previousEnabledState_),
-Blockly.Events.setGroup(b)))},customContextMenu:function(a){if(this.workspace.isMovable()){var b={enabled:!0};b.text=Blockly.Msg.PROCEDURES_HIGHLIGHT_DEF;var c=this.getProcedureCall(),d=this.workspace;b.callback=function(){var a=Blockly.Procedures.getDefinition(c,d);a&&(d.centerOnBlock(a.id),a.select())};a.push(b)}},defType_:"procedures_defnoreturn"};
-Blockly.Blocks.procedures_callreturn={init:function(){this.appendDummyInput("TOPROW").appendField("","NAME");this.setOutput(!0);this.setStyle("procedure_blocks");this.setHelpUrl(Blockly.Msg.PROCEDURES_CALLRETURN_HELPURL);this.arguments_=[];this.quarkConnections_={};this.quarkIds_=null;this.previousEnabledState_=!0},getProcedureCall:Blockly.Blocks.procedures_callnoreturn.getProcedureCall,renameProcedure:Blockly.Blocks.procedures_callnoreturn.renameProcedure,setProcedureParameters_:Blockly.Blocks.procedures_callnoreturn.setProcedureParameters_,
-updateShape_:Blockly.Blocks.procedures_callnoreturn.updateShape_,mutationToDom:Blockly.Blocks.procedures_callnoreturn.mutationToDom,domToMutation:Blockly.Blocks.procedures_callnoreturn.domToMutation,getVars:Blockly.Blocks.procedures_callnoreturn.getVars,getVarModels:Blockly.Blocks.procedures_callnoreturn.getVarModels,onchange:Blockly.Blocks.procedures_callnoreturn.onchange,customContextMenu:Blockly.Blocks.procedures_callnoreturn.customContextMenu,defType_:"procedures_defreturn"};
-Blockly.Blocks.procedures_ifreturn={init:function(){this.appendValueInput("CONDITION").setCheck("Boolean").appendField(Blockly.Msg.CONTROLS_IF_MSG_IF);this.appendValueInput("VALUE").appendField(Blockly.Msg.PROCEDURES_DEFRETURN_RETURN);this.setInputsInline(!0);this.setPreviousStatement(!0);this.setNextStatement(!0);this.setStyle("procedure_blocks");this.setTooltip(Blockly.Msg.PROCEDURES_IFRETURN_TOOLTIP);this.setHelpUrl(Blockly.Msg.PROCEDURES_IFRETURN_HELPURL);this.hasReturnValue_=!0},mutationToDom:function(){var a=
-Blockly.utils.xml.createElement("mutation");a.setAttribute("value",Number(this.hasReturnValue_));return a},domToMutation:function(a){this.hasReturnValue_=1==a.getAttribute("value");this.hasReturnValue_||(this.removeInput("VALUE"),this.appendDummyInput("VALUE").appendField(Blockly.Msg.PROCEDURES_DEFRETURN_RETURN))},onchange:function(a){if(this.workspace.isDragging&&!this.workspace.isDragging()){a=!1;var b=this;do{if(-1!=this.FUNCTION_TYPES.indexOf(b.type)){a=!0;break}b=b.getSurroundParent()}while(b);
-a?("procedures_defnoreturn"==b.type&&this.hasReturnValue_?(this.removeInput("VALUE"),this.appendDummyInput("VALUE").appendField(Blockly.Msg.PROCEDURES_DEFRETURN_RETURN),this.hasReturnValue_=!1):"procedures_defreturn"!=b.type||this.hasReturnValue_||(this.removeInput("VALUE"),this.appendValueInput("VALUE").appendField(Blockly.Msg.PROCEDURES_DEFRETURN_RETURN),this.hasReturnValue_=!0),this.setWarningText(null),this.isInFlyout||this.setEnabled(!0)):(this.setWarningText(Blockly.Msg.PROCEDURES_IFRETURN_WARNING),
-this.isInFlyout||this.getInheritedDisabled()||this.setEnabled(!1))}},FUNCTION_TYPES:["procedures_defnoreturn","procedures_defreturn"]};Blockly.Blocks.texts={};Blockly.Constants.Text={};Blockly.Constants.Text.HUE=160;
-Blockly.defineBlocksWithJsonArray([{type:"text",message0:"%1",args0:[{type:"field_input",name:"TEXT",text:""}],output:"String",style:"text_blocks",helpUrl:"%{BKY_TEXT_TEXT_HELPURL}",tooltip:"%{BKY_TEXT_TEXT_TOOLTIP}",extensions:["text_quotes","parent_tooltip_when_inline"]},{type:"text_multiline",message0:"%1 %2",args0:[{type:"field_image",src:"data:image/png;base64,iVBORw0KGgoAAAANSUhEUgAAAAwAAAARCAYAAADpPU2iAAAABGdBTUEAALGPC/xhBQAAAAlwSFlzAAAdhgAAHYYBXaITgQAAABh0RVh0U29mdHdhcmUAcGFpbnQubmV0IDQuMS42/U4J6AAAAP1JREFUOE+Vks0KQUEYhjmRIja4ABtZ2dm5A3t3Ia6AUm7CylYuQRaUhZSlLZJiQbFAyRnPN33y01HOW08z8873zpwzM4F3GWOCruvGIE4/rLaV+Nq1hVGMBqzhqlxgCys4wJA65xnogMHsQ5lujnYHTejBBCK2mE4abjCgMGhNxHgDFWjDSG07kdfVa2pZMf4ZyMAdWmpZMfYOsLiDMYMjlMB+K613QISRhTnITnsYg5yUd0DETmEoMlkFOeIT/A58iyK5E18BuTBfgYXfwNJv4P9/oEBerLylOnRhygmGdPpTTBZAPkde61lbQe4moWUvYUZYLfUNftIY4zwA5X2Z9AYnQrEAAAAASUVORK5CYII=",width:12,
-height:17,alt:"\u00b6"},{type:"field_multilinetext",name:"TEXT",text:""}],output:"String",style:"text_blocks",helpUrl:"%{BKY_TEXT_TEXT_HELPURL}",tooltip:"%{BKY_TEXT_TEXT_TOOLTIP}",extensions:["parent_tooltip_when_inline"]},{type:"text_join",message0:"",output:"String",style:"text_blocks",helpUrl:"%{BKY_TEXT_JOIN_HELPURL}",tooltip:"%{BKY_TEXT_JOIN_TOOLTIP}",mutator:"text_join_mutator"},{type:"text_create_join_container",message0:"%{BKY_TEXT_CREATE_JOIN_TITLE_JOIN} %1 %2",args0:[{type:"input_dummy"},
-{type:"input_statement",name:"STACK"}],style:"text_blocks",tooltip:"%{BKY_TEXT_CREATE_JOIN_TOOLTIP}",enableContextMenu:!1},{type:"text_create_join_item",message0:"%{BKY_TEXT_CREATE_JOIN_ITEM_TITLE_ITEM}",previousStatement:null,nextStatement:null,style:"text_blocks",tooltip:"%{BKY_TEXT_CREATE_JOIN_ITEM_TOOLTIP}",enableContextMenu:!1},{type:"text_append",message0:"%{BKY_TEXT_APPEND_TITLE}",args0:[{type:"field_variable",name:"VAR",variable:"%{BKY_TEXT_APPEND_VARIABLE}"},{type:"input_value",name:"TEXT"}],
-previousStatement:null,nextStatement:null,style:"text_blocks",extensions:["text_append_tooltip"]},{type:"text_length",message0:"%{BKY_TEXT_LENGTH_TITLE}",args0:[{type:"input_value",name:"VALUE",check:["String","Array"]}],output:"Number",style:"text_blocks",tooltip:"%{BKY_TEXT_LENGTH_TOOLTIP}",helpUrl:"%{BKY_TEXT_LENGTH_HELPURL}"},{type:"text_isEmpty",message0:"%{BKY_TEXT_ISEMPTY_TITLE}",args0:[{type:"input_value",name:"VALUE",check:["String","Array"]}],output:"Boolean",style:"text_blocks",tooltip:"%{BKY_TEXT_ISEMPTY_TOOLTIP}",
-helpUrl:"%{BKY_TEXT_ISEMPTY_HELPURL}"},{type:"text_indexOf",message0:"%{BKY_TEXT_INDEXOF_TITLE}",args0:[{type:"input_value",name:"VALUE",check:"String"},{type:"field_dropdown",name:"END",options:[["%{BKY_TEXT_INDEXOF_OPERATOR_FIRST}","FIRST"],["%{BKY_TEXT_INDEXOF_OPERATOR_LAST}","LAST"]]},{type:"input_value",name:"FIND",check:"String"}],output:"Number",style:"text_blocks",helpUrl:"%{BKY_TEXT_INDEXOF_HELPURL}",inputsInline:!0,extensions:["text_indexOf_tooltip"]},{type:"text_charAt",message0:"%{BKY_TEXT_CHARAT_TITLE}",
-args0:[{type:"input_value",name:"VALUE",check:"String"},{type:"field_dropdown",name:"WHERE",options:[["%{BKY_TEXT_CHARAT_FROM_START}","FROM_START"],["%{BKY_TEXT_CHARAT_FROM_END}","FROM_END"],["%{BKY_TEXT_CHARAT_FIRST}","FIRST"],["%{BKY_TEXT_CHARAT_LAST}","LAST"],["%{BKY_TEXT_CHARAT_RANDOM}","RANDOM"]]}],output:"String",style:"text_blocks",helpUrl:"%{BKY_TEXT_CHARAT_HELPURL}",inputsInline:!0,mutator:"text_charAt_mutator"}]);
-Blockly.Blocks.text_getSubstring={init:function(){this.WHERE_OPTIONS_1=[[Blockly.Msg.TEXT_GET_SUBSTRING_START_FROM_START,"FROM_START"],[Blockly.Msg.TEXT_GET_SUBSTRING_START_FROM_END,"FROM_END"],[Blockly.Msg.TEXT_GET_SUBSTRING_START_FIRST,"FIRST"]];this.WHERE_OPTIONS_2=[[Blockly.Msg.TEXT_GET_SUBSTRING_END_FROM_START,"FROM_START"],[Blockly.Msg.TEXT_GET_SUBSTRING_END_FROM_END,"FROM_END"],[Blockly.Msg.TEXT_GET_SUBSTRING_END_LAST,"LAST"]];this.setHelpUrl(Blockly.Msg.TEXT_GET_SUBSTRING_HELPURL);this.setStyle("text_blocks");
-this.appendValueInput("STRING").setCheck("String").appendField(Blockly.Msg.TEXT_GET_SUBSTRING_INPUT_IN_TEXT);this.appendDummyInput("AT1");this.appendDummyInput("AT2");Blockly.Msg.TEXT_GET_SUBSTRING_TAIL&&this.appendDummyInput("TAIL").appendField(Blockly.Msg.TEXT_GET_SUBSTRING_TAIL);this.setInputsInline(!0);this.setOutput(!0,"String");this.updateAt_(1,!0);this.updateAt_(2,!0);this.setTooltip(Blockly.Msg.TEXT_GET_SUBSTRING_TOOLTIP)},mutationToDom:function(){var a=Blockly.utils.xml.createElement("mutation"),
-b=this.getInput("AT1").type==Blockly.INPUT_VALUE;a.setAttribute("at1",b);b=this.getInput("AT2").type==Blockly.INPUT_VALUE;a.setAttribute("at2",b);return a},domToMutation:function(a){var b="true"==a.getAttribute("at1");a="true"==a.getAttribute("at2");this.updateAt_(1,b);this.updateAt_(2,a)},updateAt_:function(a,b){this.removeInput("AT"+a);this.removeInput("ORDINAL"+a,!0);b?(this.appendValueInput("AT"+a).setCheck("Number"),Blockly.Msg.ORDINAL_NUMBER_SUFFIX&&this.appendDummyInput("ORDINAL"+a).appendField(Blockly.Msg.ORDINAL_NUMBER_SUFFIX)):
-this.appendDummyInput("AT"+a);2==a&&Blockly.Msg.TEXT_GET_SUBSTRING_TAIL&&(this.removeInput("TAIL",!0),this.appendDummyInput("TAIL").appendField(Blockly.Msg.TEXT_GET_SUBSTRING_TAIL));var c=new Blockly.FieldDropdown(this["WHERE_OPTIONS_"+a],function(c){var e="FROM_START"==c||"FROM_END"==c;if(e!=b){var d=this.getSourceBlock();d.updateAt_(a,e);d.setFieldValue(c,"WHERE"+a);return null}});this.getInput("AT"+a).appendField(c,"WHERE"+a);1==a&&(this.moveInputBefore("AT1","AT2"),this.getInput("ORDINAL1")&&
-this.moveInputBefore("ORDINAL1","AT2"))}};Blockly.Blocks.text_changeCase={init:function(){var a=[[Blockly.Msg.TEXT_CHANGECASE_OPERATOR_UPPERCASE,"UPPERCASE"],[Blockly.Msg.TEXT_CHANGECASE_OPERATOR_LOWERCASE,"LOWERCASE"],[Blockly.Msg.TEXT_CHANGECASE_OPERATOR_TITLECASE,"TITLECASE"]];this.setHelpUrl(Blockly.Msg.TEXT_CHANGECASE_HELPURL);this.setStyle("text_blocks");this.appendValueInput("TEXT").setCheck("String").appendField(new Blockly.FieldDropdown(a),"CASE");this.setOutput(!0,"String");this.setTooltip(Blockly.Msg.TEXT_CHANGECASE_TOOLTIP)}};
-Blockly.Blocks.text_trim={init:function(){var a=[[Blockly.Msg.TEXT_TRIM_OPERATOR_BOTH,"BOTH"],[Blockly.Msg.TEXT_TRIM_OPERATOR_LEFT,"LEFT"],[Blockly.Msg.TEXT_TRIM_OPERATOR_RIGHT,"RIGHT"]];this.setHelpUrl(Blockly.Msg.TEXT_TRIM_HELPURL);this.setStyle("text_blocks");this.appendValueInput("TEXT").setCheck("String").appendField(new Blockly.FieldDropdown(a),"MODE");this.setOutput(!0,"String");this.setTooltip(Blockly.Msg.TEXT_TRIM_TOOLTIP)}};
-Blockly.Blocks.text_print={init:function(){this.jsonInit({message0:Blockly.Msg.TEXT_PRINT_TITLE,args0:[{type:"input_value",name:"TEXT"}],previousStatement:null,nextStatement:null,style:"text_blocks",tooltip:Blockly.Msg.TEXT_PRINT_TOOLTIP,helpUrl:Blockly.Msg.TEXT_PRINT_HELPURL})}};
-Blockly.Blocks.text_prompt_ext={init:function(){var a=[[Blockly.Msg.TEXT_PROMPT_TYPE_TEXT,"TEXT"],[Blockly.Msg.TEXT_PROMPT_TYPE_NUMBER,"NUMBER"]];this.setHelpUrl(Blockly.Msg.TEXT_PROMPT_HELPURL);this.setStyle("text_blocks");var b=this;a=new Blockly.FieldDropdown(a,function(a){b.updateType_(a)});this.appendValueInput("TEXT").appendField(a,"TYPE");this.setOutput(!0,"String");this.setTooltip(function(){return"TEXT"==b.getFieldValue("TYPE")?Blockly.Msg.TEXT_PROMPT_TOOLTIP_TEXT:Blockly.Msg.TEXT_PROMPT_TOOLTIP_NUMBER})},
-updateType_:function(a){this.outputConnection.setCheck("NUMBER"==a?"Number":"String")},mutationToDom:function(){var a=Blockly.utils.xml.createElement("mutation");a.setAttribute("type",this.getFieldValue("TYPE"));return a},domToMutation:function(a){this.updateType_(a.getAttribute("type"))}};
-Blockly.Blocks.text_prompt={init:function(){this.mixin(Blockly.Constants.Text.QUOTE_IMAGE_MIXIN);var a=[[Blockly.Msg.TEXT_PROMPT_TYPE_TEXT,"TEXT"],[Blockly.Msg.TEXT_PROMPT_TYPE_NUMBER,"NUMBER"]],b=this;this.setHelpUrl(Blockly.Msg.TEXT_PROMPT_HELPURL);this.setStyle("text_blocks");a=new Blockly.FieldDropdown(a,function(a){b.updateType_(a)});this.appendDummyInput().appendField(a,"TYPE").appendField(this.newQuote_(!0)).appendField(new Blockly.FieldTextInput(""),"TEXT").appendField(this.newQuote_(!1));
-this.setOutput(!0,"String");this.setTooltip(function(){return"TEXT"==b.getFieldValue("TYPE")?Blockly.Msg.TEXT_PROMPT_TOOLTIP_TEXT:Blockly.Msg.TEXT_PROMPT_TOOLTIP_NUMBER})},updateType_:Blockly.Blocks.text_prompt_ext.updateType_,mutationToDom:Blockly.Blocks.text_prompt_ext.mutationToDom,domToMutation:Blockly.Blocks.text_prompt_ext.domToMutation};
-Blockly.Blocks.text_count={init:function(){this.jsonInit({message0:Blockly.Msg.TEXT_COUNT_MESSAGE0,args0:[{type:"input_value",name:"SUB",check:"String"},{type:"input_value",name:"TEXT",check:"String"}],output:"Number",inputsInline:!0,style:"text_blocks",tooltip:Blockly.Msg.TEXT_COUNT_TOOLTIP,helpUrl:Blockly.Msg.TEXT_COUNT_HELPURL})}};
-Blockly.Blocks.text_replace={init:function(){this.jsonInit({message0:Blockly.Msg.TEXT_REPLACE_MESSAGE0,args0:[{type:"input_value",name:"FROM",check:"String"},{type:"input_value",name:"TO",check:"String"},{type:"input_value",name:"TEXT",check:"String"}],output:"String",inputsInline:!0,style:"text_blocks",tooltip:Blockly.Msg.TEXT_REPLACE_TOOLTIP,helpUrl:Blockly.Msg.TEXT_REPLACE_HELPURL})}};
-Blockly.Blocks.text_reverse={init:function(){this.jsonInit({message0:Blockly.Msg.TEXT_REVERSE_MESSAGE0,args0:[{type:"input_value",name:"TEXT",check:"String"}],output:"String",inputsInline:!0,style:"text_blocks",tooltip:Blockly.Msg.TEXT_REVERSE_TOOLTIP,helpUrl:Blockly.Msg.TEXT_REVERSE_HELPURL})}};
-Blockly.Constants.Text.QUOTE_IMAGE_MIXIN={QUOTE_IMAGE_LEFT_DATAURI:"data:image/png;base64,iVBORw0KGgoAAAANSUhEUgAAAAwAAAAKCAQAAAAqJXdxAAAAn0lEQVQI1z3OMa5BURSF4f/cQhAKjUQhuQmFNwGJEUi0RKN5rU7FHKhpjEH3TEMtkdBSCY1EIv8r7nFX9e29V7EBAOvu7RPjwmWGH/VuF8CyN9/OAdvqIXYLvtRaNjx9mMTDyo+NjAN1HNcl9ZQ5oQMM3dgDUqDo1l8DzvwmtZN7mnD+PkmLa+4mhrxVA9fRowBWmVBhFy5gYEjKMfz9AylsaRRgGzvZAAAAAElFTkSuQmCC",QUOTE_IMAGE_RIGHT_DATAURI:"data:image/png;base64,iVBORw0KGgoAAAANSUhEUgAAAAwAAAAKCAQAAAAqJXdxAAAAqUlEQVQI1z3KvUpCcRiA8ef9E4JNHhI0aFEacm1o0BsI0Slx8wa8gLauoDnoBhq7DcfWhggONDmJJgqCPA7neJ7p934EOOKOnM8Q7PDElo/4x4lFb2DmuUjcUzS3URnGib9qaPNbuXvBO3sGPHJDRG6fGVdMSeWDP2q99FQdFrz26Gu5Tq7dFMzUvbXy8KXeAj57cOklgA+u1B5AoslLtGIHQMaCVnwDnADZIFIrXsoXrgAAAABJRU5ErkJggg==",
-QUOTE_IMAGE_WIDTH:12,QUOTE_IMAGE_HEIGHT:12,quoteField_:function(a){for(var b=0,c;c=this.inputList[b];b++)for(var d=0,e;e=c.fieldRow[d];d++)if(a==e.name){c.insertFieldAt(d,this.newQuote_(!0));c.insertFieldAt(d+2,this.newQuote_(!1));return}console.warn('field named "'+a+'" not found in '+this.toDevString())},newQuote_:function(a){a=this.RTL?!a:a;return new Blockly.FieldImage(a?this.QUOTE_IMAGE_LEFT_DATAURI:this.QUOTE_IMAGE_RIGHT_DATAURI,this.QUOTE_IMAGE_WIDTH,this.QUOTE_IMAGE_HEIGHT,a?"\u201c":"\u201d")}};
-Blockly.Constants.Text.TEXT_QUOTES_EXTENSION=function(){this.mixin(Blockly.Constants.Text.QUOTE_IMAGE_MIXIN);this.quoteField_("TEXT")};
-Blockly.Constants.Text.TEXT_JOIN_MUTATOR_MIXIN={mutationToDom:function(){var a=Blockly.utils.xml.createElement("mutation");a.setAttribute("items",this.itemCount_);return a},domToMutation:function(a){this.itemCount_=parseInt(a.getAttribute("items"),10);this.updateShape_()},decompose:function(a){var b=a.newBlock("text_create_join_container");b.initSvg();for(var c=b.getInput("STACK").connection,d=0;d<this.itemCount_;d++){var e=a.newBlock("text_create_join_item");e.initSvg();c.connect(e.previousConnection);
-c=e.nextConnection}return b},compose:function(a){var b=a.getInputTargetBlock("STACK");for(a=[];b;)a.push(b.valueConnection_),b=b.nextConnection&&b.nextConnection.targetBlock();for(b=0;b<this.itemCount_;b++){var c=this.getInput("ADD"+b).connection.targetConnection;c&&-1==a.indexOf(c)&&c.disconnect()}this.itemCount_=a.length;this.updateShape_();for(b=0;b<this.itemCount_;b++)Blockly.Mutator.reconnect(a[b],this,"ADD"+b)},saveConnections:function(a){a=a.getInputTargetBlock("STACK");for(var b=0;a;){var c=
-this.getInput("ADD"+b);a.valueConnection_=c&&c.connection.targetConnection;b++;a=a.nextConnection&&a.nextConnection.targetBlock()}},updateShape_:function(){this.itemCount_&&this.getInput("EMPTY")?this.removeInput("EMPTY"):this.itemCount_||this.getInput("EMPTY")||this.appendDummyInput("EMPTY").appendField(this.newQuote_(!0)).appendField(this.newQuote_(!1));for(var a=0;a<this.itemCount_;a++)if(!this.getInput("ADD"+a)){var b=this.appendValueInput("ADD"+a).setAlign(Blockly.ALIGN_RIGHT);0==a&&b.appendField(Blockly.Msg.TEXT_JOIN_TITLE_CREATEWITH)}for(;this.getInput("ADD"+
-a);)this.removeInput("ADD"+a),a++}};Blockly.Constants.Text.TEXT_JOIN_EXTENSION=function(){this.mixin(Blockly.Constants.Text.QUOTE_IMAGE_MIXIN);this.itemCount_=2;this.updateShape_();this.setMutator(new Blockly.Mutator(["text_create_join_item"]))};Blockly.Extensions.register("text_append_tooltip",Blockly.Extensions.buildTooltipWithFieldText("%{BKY_TEXT_APPEND_TOOLTIP}","VAR"));
-Blockly.Constants.Text.TEXT_INDEXOF_TOOLTIP_EXTENSION=function(){var a=this;this.setTooltip(function(){return Blockly.Msg.TEXT_INDEXOF_TOOLTIP.replace("%1",a.workspace.options.oneBasedIndex?"0":"-1")})};
-Blockly.Constants.Text.TEXT_CHARAT_MUTATOR_MIXIN={mutationToDom:function(){var a=Blockly.utils.xml.createElement("mutation");a.setAttribute("at",!!this.isAt_);return a},domToMutation:function(a){a="false"!=a.getAttribute("at");this.updateAt_(a)},updateAt_:function(a){this.removeInput("AT",!0);this.removeInput("ORDINAL",!0);a&&(this.appendValueInput("AT").setCheck("Number"),Blockly.Msg.ORDINAL_NUMBER_SUFFIX&&this.appendDummyInput("ORDINAL").appendField(Blockly.Msg.ORDINAL_NUMBER_SUFFIX));Blockly.Msg.TEXT_CHARAT_TAIL&&
-(this.removeInput("TAIL",!0),this.appendDummyInput("TAIL").appendField(Blockly.Msg.TEXT_CHARAT_TAIL));this.isAt_=a}};
-Blockly.Constants.Text.TEXT_CHARAT_EXTENSION=function(){this.getField("WHERE").setValidator(function(a){a="FROM_START"==a||"FROM_END"==a;a!=this.isAt_&&this.getSourceBlock().updateAt_(a)});this.updateAt_(!0);var a=this;this.setTooltip(function(){var b=a.getFieldValue("WHERE"),c=Blockly.Msg.TEXT_CHARAT_TOOLTIP;("FROM_START"==b||"FROM_END"==b)&&(b="FROM_START"==b?Blockly.Msg.LISTS_INDEX_FROM_START_TOOLTIP:Blockly.Msg.LISTS_INDEX_FROM_END_TOOLTIP)&&(c+="  "+b.replace("%1",a.workspace.options.oneBasedIndex?
-"#1":"#0"));return c})};Blockly.Extensions.register("text_indexOf_tooltip",Blockly.Constants.Text.TEXT_INDEXOF_TOOLTIP_EXTENSION);Blockly.Extensions.register("text_quotes",Blockly.Constants.Text.TEXT_QUOTES_EXTENSION);Blockly.Extensions.registerMutator("text_join_mutator",Blockly.Constants.Text.TEXT_JOIN_MUTATOR_MIXIN,Blockly.Constants.Text.TEXT_JOIN_EXTENSION);Blockly.Extensions.registerMutator("text_charAt_mutator",Blockly.Constants.Text.TEXT_CHARAT_MUTATOR_MIXIN,Blockly.Constants.Text.TEXT_CHARAT_EXTENSION);Blockly.Blocks.variables={};Blockly.Constants.Variables={};Blockly.Constants.Variables.HUE=330;
-Blockly.defineBlocksWithJsonArray([{type:"variables_get",message0:"%1",args0:[{type:"field_variable",name:"VAR",variable:"%{BKY_VARIABLES_DEFAULT_NAME}"}],output:null,style:"variable_blocks",helpUrl:"%{BKY_VARIABLES_GET_HELPURL}",tooltip:"%{BKY_VARIABLES_GET_TOOLTIP}",extensions:["contextMenu_variableSetterGetter"]},{type:"variables_set",message0:"%{BKY_VARIABLES_SET}",args0:[{type:"field_variable",name:"VAR",variable:"%{BKY_VARIABLES_DEFAULT_NAME}"},{type:"input_value",name:"VALUE"}],previousStatement:null,
-nextStatement:null,style:"variable_blocks",tooltip:"%{BKY_VARIABLES_SET_TOOLTIP}",helpUrl:"%{BKY_VARIABLES_SET_HELPURL}",extensions:["contextMenu_variableSetterGetter"]}]);
-Blockly.Constants.Variables.CUSTOM_CONTEXT_MENU_VARIABLE_GETTER_SETTER_MIXIN={customContextMenu:function(a){if(!this.isInFlyout){if("variables_get"==this.type)var b="variables_set",c=Blockly.Msg.VARIABLES_GET_CREATE_SET;else b="variables_get",c=Blockly.Msg.VARIABLES_SET_CREATE_GET;var d={enabled:0<this.workspace.remainingCapacity()},e=this.getField("VAR").getText();d.text=c.replace("%1",e);c=Blockly.utils.xml.createElement("field");c.setAttribute("name","VAR");c.appendChild(Blockly.utils.xml.createTextNode(e));
-e=Blockly.utils.xml.createElement("block");e.setAttribute("type",b);e.appendChild(c);d.callback=Blockly.ContextMenu.callbackFactory(this,e);a.push(d)}else if("variables_get"==this.type||"variables_get_reporter"==this.type)b={text:Blockly.Msg.RENAME_VARIABLE,enabled:!0,callback:Blockly.Constants.Variables.RENAME_OPTION_CALLBACK_FACTORY(this)},e=this.getField("VAR").getText(),d={text:Blockly.Msg.DELETE_VARIABLE.replace("%1",e),enabled:!0,callback:Blockly.Constants.Variables.DELETE_OPTION_CALLBACK_FACTORY(this)},
-a.unshift(b),a.unshift(d)}};Blockly.Constants.Variables.RENAME_OPTION_CALLBACK_FACTORY=function(a){return function(){var b=a.workspace,c=a.getField("VAR").getVariable();Blockly.Variables.renameVariable(b,c)}};Blockly.Constants.Variables.DELETE_OPTION_CALLBACK_FACTORY=function(a){return function(){var b=a.workspace,c=a.getField("VAR").getVariable();b.deleteVariableById(c.getId());b.refreshToolboxSelection()}};Blockly.Extensions.registerMixin("contextMenu_variableSetterGetter",Blockly.Constants.Variables.CUSTOM_CONTEXT_MENU_VARIABLE_GETTER_SETTER_MIXIN);Blockly.Constants.VariablesDynamic={};Blockly.Constants.VariablesDynamic.HUE=310;
-Blockly.defineBlocksWithJsonArray([{type:"variables_get_dynamic",message0:"%1",args0:[{type:"field_variable",name:"VAR",variable:"%{BKY_VARIABLES_DEFAULT_NAME}"}],output:null,style:"variable_dynamic_blocks",helpUrl:"%{BKY_VARIABLES_GET_HELPURL}",tooltip:"%{BKY_VARIABLES_GET_TOOLTIP}",extensions:["contextMenu_variableDynamicSetterGetter"]},{type:"variables_set_dynamic",message0:"%{BKY_VARIABLES_SET}",args0:[{type:"field_variable",name:"VAR",variable:"%{BKY_VARIABLES_DEFAULT_NAME}"},{type:"input_value",
-name:"VALUE"}],previousStatement:null,nextStatement:null,style:"variable_dynamic_blocks",tooltip:"%{BKY_VARIABLES_SET_TOOLTIP}",helpUrl:"%{BKY_VARIABLES_SET_HELPURL}",extensions:["contextMenu_variableDynamicSetterGetter"]}]);
-Blockly.Constants.VariablesDynamic.CUSTOM_CONTEXT_MENU_VARIABLE_GETTER_SETTER_MIXIN={customContextMenu:function(a){if(!this.isInFlyout){var b=this.getFieldValue("VAR");var c=this.workspace.getVariableById(b).type;if("variables_get_dynamic"==this.type){b="variables_set_dynamic";var d=Blockly.Msg.VARIABLES_GET_CREATE_SET}else b="variables_get_dynamic",d=Blockly.Msg.VARIABLES_SET_CREATE_GET;var e={enabled:0<this.workspace.remainingCapacity()},f=this.getField("VAR").getText();e.text=d.replace("%1",f);
-d=Blockly.utils.xml.createElement("field");d.setAttribute("name","VAR");d.setAttribute("variabletype",c);d.appendChild(Blockly.utils.xml.createTextNode(f));f=Blockly.utils.xml.createElement("block");f.setAttribute("type",b);f.appendChild(d);e.callback=Blockly.ContextMenu.callbackFactory(this,f);a.push(e)}else if("variables_get_dynamic"==this.type||"variables_get_reporter_dynamic"==this.type)b={text:Blockly.Msg.RENAME_VARIABLE,enabled:!0,callback:Blockly.Constants.Variables.RENAME_OPTION_CALLBACK_FACTORY(this)},
-f=this.getField("VAR").getText(),e={text:Blockly.Msg.DELETE_VARIABLE.replace("%1",f),enabled:!0,callback:Blockly.Constants.Variables.DELETE_OPTION_CALLBACK_FACTORY(this)},a.unshift(b),a.unshift(e)},onchange:function(a){a=this.getFieldValue("VAR");a=Blockly.Variables.getVariable(this.workspace,a);"variables_get_dynamic"==this.type?this.outputConnection.setCheck(a.type):this.getInput("VALUE").connection.setCheck(a.type)}};
-Blockly.Constants.VariablesDynamic.RENAME_OPTION_CALLBACK_FACTORY=function(a){return function(){var b=a.workspace,c=a.getField("VAR").getVariable();Blockly.Variables.renameVariable(b,c)}};Blockly.Constants.VariablesDynamic.DELETE_OPTION_CALLBACK_FACTORY=function(a){return function(){var b=a.workspace,c=a.getField("VAR").getVariable();b.deleteVariableById(c.getId());b.refreshToolboxSelection()}};Blockly.Extensions.registerMixin("contextMenu_variableDynamicSetterGetter",Blockly.Constants.VariablesDynamic.CUSTOM_CONTEXT_MENU_VARIABLE_GETTER_SETTER_MIXIN);
-return Blockly.Blocks;
-}));
-
-
-//# sourceMappingURL=blocks_compressed.js.map

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

@@ -1 +0,0 @@
-<svg id="Layer_1" data-name="Layer 1" xmlns="http://www.w3.org/2000/svg" width="12.71" height="8.79" viewBox="0 0 12.71 8.79"><title>dropdown-arrow</title><g opacity="0.1"><path d="M12.71,2.44A2.41,2.41,0,0,1,12,4.16L8.08,8.08a2.45,2.45,0,0,1-3.45,0L0.72,4.16A2.42,2.42,0,0,1,0,2.44,2.48,2.48,0,0,1,.71.71C1,0.47,1.43,0,6.36,0S11.75,0.46,12,.71A2.44,2.44,0,0,1,12.71,2.44Z" fill="#231f20"/></g><path d="M6.36,7.79a1.43,1.43,0,0,1-1-.42L1.42,3.45a1.44,1.44,0,0,1,0-2c0.56-.56,9.31-0.56,9.87,0a1.44,1.44,0,0,1,0,2L7.37,7.37A1.43,1.43,0,0,1,6.36,7.79Z" fill="#fff"/></svg>