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622 lines
18 KiB
JavaScript
622 lines
18 KiB
JavaScript
/*
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* Copyright (C) 2020 Copter Express Technologies
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*
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* Author: Oleg Kalachev <okalachev@gmail.com>
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*
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* Distributed under MIT License (available at https://opensource.org/licenses/MIT).
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* The above copyright notice and this permission notice shall be included in all
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* copies or substantial portions of the Software.
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*/
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const COLOR_FLIGHT = 293;
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const COLOR_STATE = 36;
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const COLOR_LED = 143;
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const COLOR_GPIO = 200;
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const DOCS_URL = 'https://clover.coex.tech/en/blocks.html';
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var frameIds = [["body", "BODY"], ["markers map", "ARUCO_MAP"], ["marker", "ARUCO"], ["last navigate target", "NAVIGATE_TARGET"], ["map", "MAP"]];
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function considerFrameId(e) {
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if (!(e instanceof Blockly.Events.Change || e instanceof Blockly.Events.Create)) return;
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var frameId = this.getFieldValue('FRAME_ID');
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// set appropriate coordinates labels
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if (this.getInput('X')) { // block has x-y-z fields
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if (frameId == 'BODY' || frameId == 'NAVIGATE_TARGET' || frameId == 'BASE_LINK') {
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this.getInput('X').fieldRow[0].setValue('forward');
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this.getInput('Y').fieldRow[0].setValue('left');
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this.getInput('Z').fieldRow[0].setValue('up');
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} else {
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this.getInput('X').fieldRow[0].setValue('x');
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this.getInput('Y').fieldRow[0].setValue('y');
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this.getInput('Z').fieldRow[0].setValue('z');
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}
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if (this.getInput('LAT')) { // block has global coordinates
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let global = frameId.startsWith('GLOBAL');
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this.getInput('LAT').setVisible(global);
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this.getInput('LON').setVisible(global);
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this.getInput('X').setVisible(!global);
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this.getInput('Y').setVisible(!global);
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this.getInput('Z').fieldRow[0].setValue(frameId == 'GLOBAL' ? 'altitude' : 'z');
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}
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}
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if (this.getInput('ID')) { // block has marker id field
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this.getInput('ID').setVisible(frameId == 'ARUCO'); // toggle id field
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}
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this.render();
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}
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function updateSetpointBlock(e) {
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if (!(e instanceof Blockly.Events.Change || e instanceof Blockly.Events.Create)) return;
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considerFrameId.apply(this, arguments);
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var type = this.getFieldValue('TYPE');
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var velocity = type == 'VELOCITY';
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var attitude = type == 'ATTITUDE' || type == 'RATES';
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this.getInput('VX').setVisible(velocity);
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this.getInput('VY').setVisible(velocity);
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this.getInput('VZ').setVisible(velocity);
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this.getInput('YAW').setVisible(attitude);
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this.getInput('PITCH').setVisible(attitude);
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this.getInput('ROLL').setVisible(attitude);
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this.getInput('THRUST').setVisible(attitude);
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this.getInput('RELATIVE_TO').setVisible(type != 'RATES');
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if (type == 'RATES') {
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this.getInput('ID').setVisible(false);
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}
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this.render();
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}
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Blockly.Blocks['navigate'] = {
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init: function () {
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let navFrameId = frameIds.slice();
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navFrameId.push(['global', 'GLOBAL_LOCAL'])
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navFrameId.push(['global, WGS 84 alt.', 'GLOBAL'])
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this.appendDummyInput()
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.appendField("navigate to point");
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this.appendValueInput("X")
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.setCheck("Number")
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.appendField("forward");
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this.appendValueInput("Y")
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.setCheck("Number")
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.appendField("left");
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this.appendValueInput("LAT")
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.setCheck("Number")
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.appendField("latitude")
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.setVisible(false);
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this.appendValueInput("LON")
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.setCheck("Number")
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.appendField("longitude")
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.setVisible(false)
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this.appendValueInput("Z")
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.setCheck("Number")
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.appendField("up");
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this.appendDummyInput()
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.appendField("relative to")
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.appendField(new Blockly.FieldDropdown(navFrameId), "FRAME_ID");
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this.appendValueInput("ID")
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.setCheck("Number")
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.appendField("with ID")
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.setVisible(false)
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this.appendValueInput("SPEED")
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.setCheck("Number")
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.appendField("with speed");
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this.appendDummyInput()
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.appendField("wait")
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.appendField(new Blockly.FieldCheckbox("TRUE"), "WAIT");
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this.setInputsInline(false);
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this.setPreviousStatement(true, null);
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this.setNextStatement(true, null);
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this.setColour(COLOR_FLIGHT);
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this.setTooltip("Navigate to the specified point, coordinates are in meters.");
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this.setHelpUrl(DOCS_URL + '#' + this.type);
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this.setOnChange(considerFrameId);
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}
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};
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Blockly.Blocks['set_velocity'] = {
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init: function () {
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this.appendDummyInput()
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.appendField("set velocity");
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this.appendValueInput("X")
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.setCheck("Number")
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.appendField("forward");
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this.appendValueInput("Y")
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.setCheck("Number")
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.appendField("left");
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this.appendValueInput("Z")
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.setCheck("Number")
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.appendField("up");
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this.appendDummyInput()
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.appendField("relative to")
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.appendField(new Blockly.FieldDropdown(frameIds), "FRAME_ID");
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this.appendValueInput("ID")
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.setCheck("Number")
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.appendField("with ID")
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.setVisible(false)
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this.setInputsInline(false);
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this.setPreviousStatement(true, null);
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this.setNextStatement(true, null);
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this.setColour(COLOR_FLIGHT);
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this.setTooltip("Set the drone velocity in meters per second (cancels navigation requests).");
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this.setHelpUrl(DOCS_URL + '#' + this.type);
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this.setOnChange(considerFrameId);
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}
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};
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Blockly.Blocks['setpoint'] = {
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init: function () {
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this.appendDummyInput()
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.appendField("set");
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this.appendDummyInput()
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.appendField(new Blockly.FieldDropdown([["velocity", "VELOCITY"], ["attitude", "ATTITUDE"], ["angular rates", "RATES"]]), "TYPE");
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this.appendValueInput("VX")
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.setCheck("Number")
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.appendField("vx");
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this.appendValueInput("VY")
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.setCheck("Number")
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.appendField("vy");
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this.appendValueInput("VZ")
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.setCheck("Number")
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.appendField("vz");
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this.appendValueInput("PITCH")
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.setCheck("Number")
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.appendField("pitch")
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.setVisible(false);
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this.appendValueInput("ROLL")
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.setCheck("Number")
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.appendField("roll")
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.setVisible(false);
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this.appendValueInput("YAW")
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.setCheck("Number")
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.appendField("yaw")
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.setVisible(false);
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this.appendValueInput("THRUST")
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.setCheck("Number")
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.appendField("thrust")
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.setVisible(false);
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this.appendDummyInput('RELATIVE_TO')
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.appendField("relative to")
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.appendField(new Blockly.FieldDropdown(frameIds), "FRAME_ID");
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this.appendValueInput("ID")
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.setCheck("Number")
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.appendField("with ID")
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.setVisible(false);
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this.setInputsInline(false);
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this.setPreviousStatement(true, null);
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this.setNextStatement(true, null);
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this.setColour(COLOR_FLIGHT);
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this.setTooltip("Set the drone's setpoints of different types (cancels navigation requests).");
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this.setHelpUrl(DOCS_URL + '#' + this.type);
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this.setOnChange(updateSetpointBlock);
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}
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};
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Blockly.Blocks['rangefinder_distance'] = {
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init: function () {
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this.appendDummyInput()
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.appendField("current rangefinder distance");
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this.setOutput(true, "Number");
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this.setColour(COLOR_STATE);
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this.setTooltip("");
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this.setHelpUrl(DOCS_URL + '#' + this.type);
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}
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};
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Blockly.Blocks['get_position'] = {
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init: function () {
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this.appendDummyInput()
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.appendField("current")
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.appendField(new Blockly.FieldDropdown([["x", "X"], ["y", "Y"], ["z", "Z"], ["vx", "VX"], ["vy", "VY"], ["vz", "VZ"]]), "FIELD")
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.appendField("relative to")
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.appendField(new Blockly.FieldDropdown(frameIds), "FRAME_ID");
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this.appendValueInput("ID")
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.setCheck("Number")
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.appendField("with ID")
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.setVisible(false)
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this.setOutput(true, "Number");
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this.setColour(COLOR_STATE);
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this.setTooltip("Returns current position or velocity in meters or meters per second.");
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this.setHelpUrl(DOCS_URL + '#' + this.type);
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this.setOnChange(considerFrameId);
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}
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};
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Blockly.Blocks['get_yaw'] = {
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init: function () {
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this.appendDummyInput()
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.appendField("current yaw relative to")
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.appendField(new Blockly.FieldDropdown(frameIds), "FRAME_ID");
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this.appendValueInput("ID")
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.setCheck("Number")
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.appendField("with ID")
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.setVisible(false)
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this.setOutput(true, "Number");
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this.setColour(COLOR_STATE);
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this.setTooltip("Returns current yaw in degree (not radian).");
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this.setHelpUrl(DOCS_URL + '#' + this.type);
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this.setOnChange(considerFrameId);
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}
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};
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Blockly.Blocks['get_attitude'] = {
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init: function () {
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this.appendDummyInput()
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.appendField("current")
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.appendField(new Blockly.FieldDropdown([["pitch", "PITCH"], ["roll", "ROLL"], ["pitch rate", "PITCH_RATE"], ["roll rate", "ROLL_RATE"], ["yaw rate", "YAW_RATE"]]), "FIELD");
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this.setOutput(true, "Number");
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this.setColour(COLOR_STATE);
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this.setTooltip("Returns current orientation or angle rates in degree or degree per second (not radian).");
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this.setHelpUrl(DOCS_URL + '#' + this.type);
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}
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};
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Blockly.Blocks['voltage'] = {
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init: function () {
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this.appendDummyInput()
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.appendField("current")
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.appendField(new Blockly.FieldDropdown([["total", "VOLTAGE"], ["cell", "CELL_VOLTAGE"]]), "TYPE")
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.appendField("voltage");
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this.setOutput(true, "Number");
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this.setColour(COLOR_STATE);
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this.setTooltip("Returns current battery voltage in volts.");
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this.setHelpUrl(DOCS_URL + '#' + this.type);
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}
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};
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Blockly.Blocks['armed'] = {
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init: function () {
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this.appendDummyInput()
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.appendField("armed?");
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this.setOutput(true, "Boolean");
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this.setColour(COLOR_STATE);
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this.setTooltip("Returns if the drone armed.");
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this.setHelpUrl(DOCS_URL + '#' + this.type);
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}
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};
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Blockly.Blocks['mode'] = {
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init: function () {
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this.appendDummyInput()
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.appendField("current flight mode");
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this.setOutput(true, "String");
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this.setColour(COLOR_STATE);
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this.setTooltip("Returns current flight mode (POSCTL, OFFBOARD, etc).");
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this.setHelpUrl(DOCS_URL + '#' + this.type);
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}
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};
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Blockly.Blocks['wait_arrival'] = {
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init: function () {
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this.appendDummyInput()
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.appendField("wait arrival");
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this.setPreviousStatement(true, null);
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this.setNextStatement(true, null);
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this.setColour(COLOR_FLIGHT);
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this.setTooltip("Wait until the drone arrives to the navigation target.");
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this.setHelpUrl(DOCS_URL + '#' + this.type);
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}
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};
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Blockly.Blocks['get_time'] = {
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init: function () {
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this.appendDummyInput()
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.appendField("time");
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this.setOutput(true, "Number");
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this.setColour(COLOR_STATE);
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this.setTooltip("Returns current timestamp in seconds.");
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this.setHelpUrl(DOCS_URL + '#' + this.type);
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}
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};
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Blockly.Blocks['arrived'] = {
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init: function () {
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this.appendDummyInput()
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.appendField("arrived?");
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this.setOutput(true, "Boolean");
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this.setColour(COLOR_STATE);
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this.setTooltip("Returns if the drone arrived to the navigation target.");
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this.setHelpUrl(DOCS_URL + '#' + this.type);
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}
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};
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Blockly.Blocks['set_led'] = {
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init: function () {
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this.appendDummyInput()
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.appendField("set LED");
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this.appendValueInput("INDEX")
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.setCheck("Number");
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this.appendValueInput("COLOR")
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.setCheck("Colour")
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.appendField("to color");
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this.setInputsInline(true);
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this.setPreviousStatement(true, null);
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this.setNextStatement(true, null);
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this.setColour(COLOR_LED);
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this.setTooltip("Set an individual LED to specified color.");
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this.setHelpUrl(DOCS_URL + '#' + this.type);
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}
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};
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Blockly.Blocks['set_effect'] = {
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init: function () {
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this.appendDummyInput()
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.appendField("set LED effect")
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.appendField(new Blockly.FieldDropdown([["fill", "FILL"], ["blink", "BLINK"], ["fast blink", "BLINK_FAST"], ["fade", "FADE"], ["wipe", "WIPE"], ["flash", "FLASH"], ["rainbow", "RAINBOW"], ["rainbow fill", "RAINBOW_FILL"]]), "EFFECT");
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this.appendValueInput("COLOR")
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.setCheck("Colour")
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.appendField("with color");
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this.setInputsInline(true);
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this.setPreviousStatement(true, null);
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this.setNextStatement(true, null);
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this.setColour(COLOR_LED);
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this.setTooltip("Set desired LED strip effect.");
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this.setHelpUrl(DOCS_URL + '#' + this.type);
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this.setOnChange(function(e) {
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if (!(e instanceof Blockly.Events.Change || e instanceof Blockly.Events.Create)) return;
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// Hide color field on some effects
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var effect = this.getFieldValue('EFFECT');
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var hideColor = effect == 'RAINBOW' || effect == 'RAINBOW_FILL';
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this.inputList[1].setVisible(!hideColor);
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this.render();
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});
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}
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};
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Blockly.Blocks['led_count'] = {
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init: function () {
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this.appendDummyInput()
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.appendField("LED count");
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this.setOutput(true, "Number");
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this.setColour(COLOR_LED);
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this.setTooltip("Returns the number of LEDs (configured in led.launch).");
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this.setHelpUrl(DOCS_URL + '#' + this.type);
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}
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};
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Blockly.Blocks['take_off'] = {
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init: function () {
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this.appendValueInput("ALT")
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.setCheck("Number")
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.appendField("take off to");
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this.appendDummyInput()
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.appendField("wait")
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.appendField(new Blockly.FieldCheckbox("TRUE"), "WAIT");
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this.setPreviousStatement(true, null);
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this.setNextStatement(true, null);
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this.setColour(COLOR_FLIGHT);
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this.setTooltip("Take off on desired altitude in meters.");
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this.setHelpUrl(DOCS_URL + '#' + this.type);
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}
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};
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Blockly.Blocks['land'] = {
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init: function () {
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this.appendDummyInput()
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.appendField("land");
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this.appendDummyInput()
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.appendField("wait")
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.appendField(new Blockly.FieldCheckbox("TRUE"), "WAIT");
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this.setInputsInline(true);
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this.setPreviousStatement(true, null);
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this.setNextStatement(true, null);
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this.setColour(COLOR_FLIGHT);
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this.setTooltip("Land the drone.");
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this.setHelpUrl(DOCS_URL + '#' + this.type);
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}
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};
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Blockly.Blocks['global_position'] = {
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init: function () {
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this.appendDummyInput()
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.appendField("current")
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.appendField(new Blockly.FieldDropdown([["latitude", "LAT"], ["longitude", "LON"], ["altitude", "ALT"]]), "FIELD");
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this.setOutput(true, "Number");
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this.setColour(COLOR_STATE);
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this.setTooltip("Returns current global position (latitude, longitude, altitude above the WGS 84 ellipsoid).");
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this.setHelpUrl(DOCS_URL + '#' + this.type);
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}
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};
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Blockly.Blocks['on_take_off'] = {
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init: function () {
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this.appendStatementInput("TAKE_OFF")
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.setCheck(null)
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.appendField("When took off");
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this.setColour(230);
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this.setTooltip("");
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this.setHelpUrl(DOCS_URL + '#' + this.type);
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}
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};
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Blockly.Blocks['on_landing'] = {
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init: function () {
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this.appendStatementInput("LAND")
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.setCheck(null)
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.appendField("When landed");
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this.setColour(230);
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this.setTooltip("");
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this.setHelpUrl(DOCS_URL + '#' + this.type);
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}
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};
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Blockly.Blocks['on_armed'] = {
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init: function () {
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this.appendStatementInput("ARMED")
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.setCheck(null)
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.appendField("when armed");
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this.setColour(230);
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this.setTooltip("");
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this.setHelpUrl(DOCS_URL + '#' + this.type);
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}
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};
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Blockly.FieldAngle.WRAP = 180;
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Blockly.FieldAngle.ROUND = 10;
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Blockly.Blocks['angle'] = {
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init: function () {
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this.appendDummyInput()
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.appendField(new Blockly.FieldAngle(90), "ANGLE");
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this.setOutput(true, "Number");
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this.setColour(230);
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this.setTooltip("");
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this.setHelpUrl(DOCS_URL + '#' + this.type);
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}
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};
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Blockly.Blocks['set_yaw'] = {
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init: function () {
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this.appendValueInput("YAW")
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.setCheck("Number")
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.appendField("rotate by");
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this.appendDummyInput()
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.appendField("relative to")
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.appendField(new Blockly.FieldDropdown([["body", "body"], ["markers map", "aruco_map"], ["last navigate target", "navigate_target"]]), "FRAME_ID");
|
||
this.appendDummyInput()
|
||
.appendField("wait")
|
||
.appendField(new Blockly.FieldCheckbox("TRUE"), "WAIT");
|
||
this.setInputsInline(true);
|
||
this.setPreviousStatement(true, null);
|
||
this.setNextStatement(true, null);
|
||
this.setColour(COLOR_FLIGHT);
|
||
this.setTooltip("Rotate the drone to the specified angle in degree (not radian).");
|
||
this.setHelpUrl(DOCS_URL + '#' + this.type);
|
||
}
|
||
};
|
||
|
||
Blockly.Blocks['distance'] = {
|
||
init: function () {
|
||
this.appendDummyInput()
|
||
.appendField("distance to point");
|
||
this.appendValueInput("X")
|
||
.setCheck("Number")
|
||
.appendField("x");
|
||
this.appendValueInput("Y")
|
||
.setCheck("Number")
|
||
.appendField("y");
|
||
this.appendValueInput("Z")
|
||
.setCheck("Number")
|
||
.appendField("z");
|
||
this.appendDummyInput()
|
||
.appendField("relative to")
|
||
.appendField(new Blockly.FieldDropdown([["markers map", "ARUCO_MAP"], ["marker", "ARUCO"], ["last navigate target", "NAVIGATE_TARGET"]]), "FRAME_ID");
|
||
this.appendValueInput("ID")
|
||
.setCheck("Number")
|
||
.appendField("with ID")
|
||
.setVisible(false);
|
||
this.setInputsInline(false);
|
||
this.setOutput(true, "Number");
|
||
this.setColour(COLOR_STATE);
|
||
this.setTooltip("Returns the distance to the given point in meters.");
|
||
this.setHelpUrl(DOCS_URL + '#' + this.type);
|
||
this.setOnChange(considerFrameId);
|
||
}
|
||
};
|
||
|
||
Blockly.Blocks['wait'] = {
|
||
init: function () {
|
||
this.appendDummyInput()
|
||
.appendField("wait");
|
||
this.appendValueInput("TIME")
|
||
.setCheck("Number");
|
||
this.appendDummyInput()
|
||
.appendField("seconds");
|
||
this.setPreviousStatement(true, null);
|
||
this.setNextStatement(true, null);
|
||
this.setColour(COLOR_FLIGHT);
|
||
this.setTooltip("");
|
||
this.setHelpUrl(DOCS_URL + '#' + this.type);
|
||
}
|
||
};
|
||
|
||
var keys = [['up', 'UP'], ['down', 'DOWN'], ['left', 'LEFT'], ['right', 'RIGHT'], ['space', 'SPACE']];
|
||
|
||
Blockly.Blocks['key_pressed'] = {
|
||
init: function () {
|
||
this.appendDummyInput()
|
||
.appendField("key")
|
||
.appendField(new Blockly.FieldDropdown(keys, "NAME"))
|
||
.appendField("pressed");
|
||
this.appendStatementInput("PRESSED")
|
||
.setCheck(null);
|
||
this.setPreviousStatement(true, null);
|
||
this.setNextStatement(true, null);
|
||
this.setColour(230);
|
||
this.setTooltip("");
|
||
this.setHelpUrl(DOCS_URL + '#' + this.type);
|
||
}
|
||
};
|
||
|
||
Blockly.Blocks['gpio_read'] = {
|
||
init: function () {
|
||
this.appendValueInput("PIN")
|
||
.setCheck("Number")
|
||
.appendField("read GPIO pin");
|
||
this.setOutput(true, "Boolean");
|
||
this.setColour(COLOR_GPIO);
|
||
this.setTooltip("Returns if there is voltage on a GPIO pin.");
|
||
this.setHelpUrl(DOCS_URL + '#GPIO');
|
||
}
|
||
};
|
||
|
||
Blockly.Blocks['gpio_write'] = {
|
||
init: function () {
|
||
this.appendValueInput("PIN")
|
||
.setCheck("Number")
|
||
.appendField("set GPIO pin");
|
||
this.appendValueInput("LEVEL")
|
||
.setCheck("Boolean")
|
||
.appendField("to");
|
||
this.setInputsInline(true);
|
||
this.setColour(COLOR_GPIO);
|
||
this.setPreviousStatement(true, null);
|
||
this.setNextStatement(true, null);
|
||
this.setTooltip("Set GPIO pin level.");
|
||
this.setHelpUrl(DOCS_URL + '#GPIO');
|
||
}
|
||
};
|
||
|
||
Blockly.Blocks['set_servo'] = {
|
||
init: function () {
|
||
this.appendValueInput("PIN")
|
||
.setCheck("Number")
|
||
.appendField("set GPIO pin");
|
||
this.appendValueInput("PWM")
|
||
.setCheck("Number")
|
||
.appendField("to PWM");
|
||
this.setInputsInline(true);
|
||
this.setColour(COLOR_GPIO);
|
||
this.setPreviousStatement(true, null);
|
||
this.setNextStatement(true, null);
|
||
this.setTooltip("Set PWM on a GPIO pin to control servo. PWM is specified in range of 500–2500 μs.");
|
||
this.setHelpUrl(DOCS_URL + '#GPIO');
|
||
}
|
||
};
|
||
|
||
Blockly.Blocks['set_duty_cycle'] = {
|
||
init: function () {
|
||
this.appendValueInput("PIN")
|
||
.setCheck("Number")
|
||
.appendField("set GPIO pin");
|
||
this.appendValueInput("DUTY_CYCLE")
|
||
.setCheck("Number")
|
||
.appendField("to duty cycle");
|
||
this.setInputsInline(true);
|
||
this.setColour(COLOR_GPIO);
|
||
this.setPreviousStatement(true, null);
|
||
this.setNextStatement(true, null);
|
||
this.setTooltip("Set PWM duty cycle on a GPIO pin (better to control LEDs, etc). Duty cycle is set in range of 0–1.");
|
||
this.setHelpUrl(DOCS_URL + '#GPIO');
|
||
}
|
||
};
|