diff --git a/Arduino/BROBOT_EVO2/BROBOT_EVO2.ino b/Arduino/BROBOT_EVO2/BROBOT_EVO2.ino index ed9beed..bf3a870 100644 --- a/Arduino/BROBOT_EVO2/BROBOT_EVO2.ino +++ b/Arduino/BROBOT_EVO2/BROBOT_EVO2.ino @@ -1,23 +1,23 @@ // BROBOT EVO 2 by JJROBOTS -// SELF BALANCE ARDUINO ROBOT WITH STEPPER MOTORS +// SELF BALANCE ARDUINO ROBOT WITH STEPPER MOTORS CONTROLLED WITH YOUR SMARTPHONE // JJROBOTS BROBOT KIT: (Arduino Leonardo + BROBOT ELECTRONIC BRAIN SHIELD + STEPPER MOTOR drivers) // This code is prepared for new BROBOT shield with ESP8266 Wifi module -// This code doesn´t need external libraries // Author: JJROBOTS.COM // Date: 02/09/2014 -// Updated: 06/05/2017 -// Version: 2.81 +// Updated: 25/06/2017 +// Version: 2.82 // License: GPL v2 -// Project URL: http://jjrobots.com/b-robot (Features,documentation,build instructions,how it works, SHOP,...) +// Compiled and tested with Arduino 1.6.8. This new version of code does not need external libraries (only Arduino standard libraries) +// Project URL: http://jjrobots.com/b-robot-evo-2-much-more-than-a-self-balancing-robot (Features,documentation,build instructions,how it works, SHOP,...) // New updates: -// - New default parameters specially tuned for BROBOT EVO 2 version -// - New Move mode with position control (for externally programming the robot) +// - New default parameters specially tuned for BROBOT EVO 2 version (More agile, more stable...) +// - New Move mode with position control (for externally programming the robot with a Blockly or pyhton programming interfaces) // - New telemtry packets send to TELEMETRY IP for monitoring Battery, Angle, ... (old battery packets for touch osc not working now) // - Default telemetry server is 192.168.4.2 (first client connected to the robot) // Get the free android app (jjrobots) from google play. For IOS users you need to use TouchOSC App + special template (info on jjrobots page) // Thanks to our users on the forum for the new ideas. Specially sasa999, KomX, ... -// The board needs at least 10-15 seconds with no motion (robot steady) at beginning to give good values... +// The board needs at least 10-15 seconds with no motion (robot steady) at beginning to give good values... Robot move slightly when it´s ready! // MPU6050 IMU connected via I2C bus. Angle estimation using complementary filter (fusion between gyro and accel) // Angle calculations and control part is running at 100Hz @@ -61,14 +61,14 @@ #define MAX_TARGET_ANGLE 14 // PRO MODE = MORE AGGRESSIVE (MAXIMUN SETTINGS) -#define MAX_THROTTLE_PRO 860 -#define MAX_STEERING_PRO 280 -#define MAX_TARGET_ANGLE_PRO 32 +#define MAX_THROTTLE_PRO 780 // Max recommended value: 860 +#define MAX_STEERING_PRO 260 // Max recommended value: 280 +#define MAX_TARGET_ANGLE_PRO 26 // Max recommended value: 32 // Default control terms for EVO 2 #define KP 0.32 #define KD 0.050 -#define KP_THROTTLE 0.075 +#define KP_THROTTLE 0.080 #define KI_THROTTLE 0.1 #define KP_POSITION 0.06 #define KD_POSITION 0.45 @@ -84,20 +84,23 @@ #define ITERM_MAX_ERROR 30 // Iterm windup constants for PI control #define ITERM_MAX 10000 -#define ANGLE_OFFSET -1.0 // Offset angle for balance (to compensate robot own weitght distribution) +#define ANGLE_OFFSET 0.0 // Offset angle for balance (to compensate robot own weight distribution) // Servo definitions #define SERVO_AUX_NEUTRO 1500 // Servo neutral position #define SERVO_MIN_PULSEWIDTH 700 #define SERVO_MAX_PULSEWIDTH 2500 +#define SERVO2_NEUTRO 1500 +#define SERVO2_RANGE 1400 + // Telemetry #define TELEMETRY_BATTERY 1 #define TELEMETRY_ANGLE 1 //#define TELEMETRY_DEBUG 1 // Dont use TELEMETRY_ANGLE and TELEMETRY_DEBUG at the same time! #define ZERO_SPEED 65535 -#define MAX_ACCEL 15 // Maximun motor acceleration (MAX RECOMMENDED VALUE: 20) (default:15) +#define MAX_ACCEL 14 // Maximun motor acceleration (MAX RECOMMENDED VALUE: 20) (default:14) #define MICROSTEPPING 16 // 8 or 16 for 1/8 or 1/16 driver microstepping (default:16) @@ -125,6 +128,7 @@ float dt; // Angle of the robot (used for stability control) float angle_adjusted; float angle_adjusted_Old; +float angle_adjusted_filtered=0.0; // Default control values from constant definitions float Kp = KP; @@ -152,6 +156,7 @@ float max_throttle = MAX_THROTTLE; float max_steering = MAX_STEERING; float max_target_angle = MAX_TARGET_ANGLE; float control_output; +float angle_offset = ANGLE_OFFSET; boolean positionControlMode = false; uint8_t mode; // mode = 0 Normal mode, mode = 1 Pro mode (More agressive) @@ -311,20 +316,23 @@ void setup() setMotorSpeedM1(5); setMotorSpeedM2(5); BROBOT_moveServo1(SERVO_AUX_NEUTRO + 100); + BROBOT_moveServo2(SERVO2_NEUTRO + 100); delay(200); setMotorSpeedM1(-5); setMotorSpeedM2(-5); BROBOT_moveServo1(SERVO_AUX_NEUTRO - 100); + BROBOT_moveServo2(SERVO2_NEUTRO - 100); delay(200); } BROBOT_moveServo1(SERVO_AUX_NEUTRO); + BROBOT_moveServo2(SERVO2_NEUTRO); #if TELEMETRY_BATTERY==1 BatteryValue = BROBOT_readBattery(true); Serial.print("BATT:"); Serial.println(BatteryValue); #endif - Serial.println("BROBOT by JJROBOTS v2.81"); + Serial.println("BROBOT by JJROBOTS v2.82"); Serial.println("Start..."); timer_old = micros(); } @@ -414,12 +422,19 @@ void loop() angle_adjusted_Old = angle_adjusted; // Get new orientation angle from IMU (MPU6050) - angle_adjusted = MPU6050_getAngle(dt) + ANGLE_OFFSET; - + float MPU_sensor_angle = MPU6050_getAngle(dt); + angle_adjusted = MPU_sensor_angle + angle_offset; + if ((MPU_sensor_angle>-15)&&(MPU_sensor_angle<15)) + angle_adjusted_filtered = angle_adjusted_filtered*0.99 + MPU_sensor_angle*0.01; + #if DEBUG==1 Serial.print(dt); Serial.print(" "); - Serial.println(angle_adjusted); + Serial.print(angle_offset); + Serial.print(" "); + Serial.print(angle_adjusted); + Serial.print(","); + Serial.println(angle_adjusted_filtered); #endif //Serial.print("\t"); @@ -480,7 +495,7 @@ void loop() int angle_ready; if (OSCpush[0]) // If we press the SERVO button we start to move - angle_ready = 80; + angle_ready = 82; else angle_ready = 74; // Default angle if ((angle_adjusted < angle_ready) && (angle_adjusted > -angle_ready)) // Is robot ready (upright?) @@ -504,6 +519,10 @@ void loop() // RESET steps steps1 = 0; steps2 = 0; + positionControlMode = false; + OSCmove_mode = false; + throttle = 0; + steering = 0; } // Push1 Move servo arm @@ -517,6 +536,9 @@ void loop() else BROBOT_moveServo1(SERVO_AUX_NEUTRO); + // Servo2 + BROBOT_moveServo2(SERVO2_NEUTRO + (OSCfader[2] - 0.5) * SERVO2_RANGE); + // Normal condition? if ((angle_adjusted < 56) && (angle_adjusted > -56)) { diff --git a/Arduino/BROBOT_EVO2/Network.ino b/Arduino/BROBOT_EVO2/Network.ino index 7af4c32..37639ed 100644 --- a/Arduino/BROBOT_EVO2/Network.ino +++ b/Arduino/BROBOT_EVO2/Network.ino @@ -39,6 +39,14 @@ void readControlParameters() Serial.println(Ki_thr_user); #endif + // Calibration mode?? + if (OSCpush[2]==1) + { + Serial.print("Calibration MODE "); + angle_offset = angle_adjusted_filtered; + Serial.println(angle_offset); + } + // Kill robot => Sleep while (OSCtoggle[0] == 1) { diff --git a/Arduino/BROBOT_EVO2/OSC.ino b/Arduino/BROBOT_EVO2/OSC.ino index acf737c..0f75fae 100644 --- a/Arduino/BROBOT_EVO2/OSC.ino +++ b/Arduino/BROBOT_EVO2/OSC.ino @@ -98,8 +98,6 @@ void OSC_MsgRead() // New bytes available to process? if (Serial1.available() > 0) { - //Serial.print("B:"); - //Serial.println(Serial1_available()); // We rotate the Buffer (we could implement a ring buffer in future) for (i = 7; i > 0; i--) { UDPBuffer[i] = UDPBuffer[i - 1]; @@ -211,7 +209,7 @@ void OSC_MsgRead() } #ifdef OSCDEBUG Serial.print("$F1:"); - Serial.println(OSCfadder[0]); + Serial.println(OSCfader[0]); #endif break; case 2: @@ -224,21 +222,21 @@ void OSC_MsgRead() } #ifdef OSCDEBUG Serial.print("$F2:"); - Serial.println(OSCfadder[1]); + Serial.println(OSCfader[1]); #endif break; case 3: OSCfader[2] = OSC_extractParamFloat(0); #ifdef OSCDEBUG Serial.print("$F3:"); - Serial.println(OSCfadder[2]); + Serial.println(OSCfader[2]); #endif break; case 4: OSCfader[3] = OSC_extractParamFloat(0); #ifdef OSCDEBUG Serial.print("$F4:"); - Serial.println(OSCfadder[3]); + Serial.println(OSCfader[3]); #endif break; case 11: diff --git a/Arduino/BROBOT_EVO2/Servos.ino b/Arduino/BROBOT_EVO2/Servos.ino index a12a145..1ce8a1f 100644 --- a/Arduino/BROBOT_EVO2/Servos.ino +++ b/Arduino/BROBOT_EVO2/Servos.ino @@ -70,8 +70,8 @@ void BROBOT_moveServo2(int pwm) pwm = constrain(pwm,SERVO2_MIN_PULSEWIDTH,SERVO2_MAX_PULSEWIDTH)>>3; // Check max values and Resolution: 8us // 11 bits => 3 MSB bits on TC4H, LSB bits on OCR4B TC4H = pwm>>8; - OCR4A = pwm & 0xFF; // Old 2.0 boards servo2 output - OCR4D = pwm & 0xFF; // New 2.1 boards servo2 output + OCR4A = pwm & 0xFF; // 2.0 or 2.3 boards servo2 output + OCR4D = pwm & 0xFF; // 2.1 or 2.4 boards servo2 output } // output : Battery voltage*10 (aprox) and noise filtered diff --git a/Blockly/BROBOT_Blockly.exe b/Blockly/BROBOT_Blockly.exe new file mode 100644 index 0000000..115167d Binary files /dev/null and b/Blockly/BROBOT_Blockly.exe differ diff --git a/Blockly/CRYPT32.dll b/Blockly/CRYPT32.dll new file mode 100644 index 0000000..88609b4 Binary files /dev/null and b/Blockly/CRYPT32.dll differ diff --git a/Blockly/_hashlib.pyd b/Blockly/_hashlib.pyd new file mode 100644 index 0000000..9673825 Binary files /dev/null and b/Blockly/_hashlib.pyd differ diff --git a/Blockly/_socket.pyd b/Blockly/_socket.pyd new file mode 100644 index 0000000..5487198 Binary files /dev/null and b/Blockly/_socket.pyd differ diff --git a/Blockly/_ssl.pyd b/Blockly/_ssl.pyd new file mode 100644 index 0000000..ff6216c Binary files /dev/null and b/Blockly/_ssl.pyd differ diff --git a/Blockly/brobot/Brobot2.jpg b/Blockly/brobot/Brobot2.jpg new file mode 100644 index 0000000..d515044 Binary files /dev/null and b/Blockly/brobot/Brobot2.jpg differ diff --git a/Blockly/brobot/Brobot2_old.jpg b/Blockly/brobot/Brobot2_old.jpg new file mode 100644 index 0000000..b790f6f Binary files /dev/null and b/Blockly/brobot/Brobot2_old.jpg differ diff --git a/Blockly/brobot/LICENSE b/Blockly/brobot/LICENSE new file mode 100644 index 0000000..6a19929 --- /dev/null +++ b/Blockly/brobot/LICENSE @@ -0,0 +1,177 @@ + + Apache License + Version 2.0, January 2011 + http://www.apache.org/licenses/ + + TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION + + 1. 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All code is free and open source. + +**The project page is https://developers.google.com/blockly/** + +![](https://developers.google.com/blockly/images/sample.png) diff --git a/Blockly/brobot/blockly_compressed.js b/Blockly/brobot/blockly_compressed.js new file mode 100644 index 0000000..dd378c0 --- /dev/null +++ b/Blockly/brobot/blockly_compressed.js @@ -0,0 +1,1467 @@ +// Do not edit this file; automatically generated by build.py. +'use strict'; + +var COMPILED=!0,goog=goog||{};goog.global=this;goog.isDef=function(a){return void 0!==a};goog.exportPath_=function(a,b,c){a=a.split(".");c=c||goog.global;a[0]in c||!c.execScript||c.execScript("var "+a[0]);for(var d;a.length&&(d=a.shift());)!a.length&&goog.isDef(b)?c[d]=b:c=c[d]?c[d]:c[d]={}}; +goog.define=function(a,b){var c=b;COMPILED||(goog.global.CLOSURE_UNCOMPILED_DEFINES&&Object.prototype.hasOwnProperty.call(goog.global.CLOSURE_UNCOMPILED_DEFINES,a)?c=goog.global.CLOSURE_UNCOMPILED_DEFINES[a]:goog.global.CLOSURE_DEFINES&&Object.prototype.hasOwnProperty.call(goog.global.CLOSURE_DEFINES,a)&&(c=goog.global.CLOSURE_DEFINES[a]));goog.exportPath_(a,c)};goog.DEBUG=!1;goog.LOCALE="en";goog.TRUSTED_SITE=!0;goog.STRICT_MODE_COMPATIBLE=!1;goog.DISALLOW_TEST_ONLY_CODE=COMPILED&&!goog.DEBUG; 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+ +/** + * Switch the visible pane when a tab is clicked. + * @param {string} clickedName Name of tab clicked. + */ +Code.tabClick = function(clickedName) { + // If the XML tab was open, save and render the content. + if (document.getElementById('tab_xml').className == 'tabon') { + var xmlTextarea = document.getElementById('content_xml'); + var xmlText = xmlTextarea.value; + var xmlDom = null; + try { + xmlDom = Blockly.Xml.textToDom(xmlText); + } catch (e) { + var q = + window.confirm(MSG['badXml'].replace('%1', e)); + if (!q) { + // Leave the user on the XML tab. + return; + } + } + if (xmlDom) { + Code.workspace.clear(); + Blockly.Xml.domToWorkspace(xmlDom, Code.workspace); + } + } + + if (document.getElementById('tab_blocks').className == 'tabon') { + Code.workspace.setVisible(false); + } + // Deselect all tabs and hide all panes. + for (var i = 0; i < Code.TABS_.length; i++) { + var name = Code.TABS_[i]; + document.getElementById('tab_' + name).className = 'taboff'; + document.getElementById('content_' + name).style.visibility = 'hidden'; 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";b=b.firstChild;g&&J(b,g,!0);K({h:d,j:g,c:b,i:1}); +return b.innerHTML},prettyPrint:D.prettyPrint=function(a,d){function g(){for(var b=D.PR_SHOULD_USE_CONTINUATION?c.now()+250:Infinity;i> >>> +Blockly.JavaScript.ORDER_RELATIONAL = 8; // < <= > >= +Blockly.JavaScript.ORDER_IN = 8; // in +Blockly.JavaScript.ORDER_INSTANCEOF = 8; // instanceof +Blockly.JavaScript.ORDER_EQUALITY = 9; // == != === !== +Blockly.JavaScript.ORDER_BITWISE_AND = 10; // & +Blockly.JavaScript.ORDER_BITWISE_XOR = 11; // ^ +Blockly.JavaScript.ORDER_BITWISE_OR = 12; // | +Blockly.JavaScript.ORDER_LOGICAL_AND = 13; // && +Blockly.JavaScript.ORDER_LOGICAL_OR = 14; // || +Blockly.JavaScript.ORDER_CONDITIONAL = 15; // ?: +Blockly.JavaScript.ORDER_ASSIGNMENT = 16; // = += -= *= /= %= <<= >>= ... +Blockly.JavaScript.ORDER_COMMA = 17; // , +Blockly.JavaScript.ORDER_NONE = 99; // (...) + +/** + * List of outer-inner pairings that do NOT require parentheses. + * @type {!Array.>} + */ +Blockly.JavaScript.ORDER_OVERRIDES = [ + // (foo()).bar -> foo().bar + // (foo())[0] -> foo()[0] + [Blockly.JavaScript.ORDER_FUNCTION_CALL, Blockly.JavaScript.ORDER_MEMBER], + // (foo())() -> foo()() + [Blockly.JavaScript.ORDER_FUNCTION_CALL, Blockly.JavaScript.ORDER_FUNCTION_CALL], + // (foo.bar).baz -> foo.bar.baz + // (foo.bar)[0] -> foo.bar[0] + // (foo[0]).bar -> foo[0].bar + // (foo[0])[1] -> foo[0][1] + [Blockly.JavaScript.ORDER_MEMBER, Blockly.JavaScript.ORDER_MEMBER], + // (foo.bar)() -> foo.bar() + // (foo[0])() -> foo[0]() + [Blockly.JavaScript.ORDER_MEMBER, Blockly.JavaScript.ORDER_FUNCTION_CALL], + + // !(!foo) -> !!foo + [Blockly.JavaScript.ORDER_LOGICAL_NOT, Blockly.JavaScript.ORDER_LOGICAL_NOT], + // a * (b * c) -> a * b * c + [Blockly.JavaScript.ORDER_MULTIPLICATION, Blockly.JavaScript.ORDER_MULTIPLICATION], + // a + (b + c) -> a + b + c + [Blockly.JavaScript.ORDER_ADDITION, Blockly.JavaScript.ORDER_ADDITION], + // a && (b && c) -> a && b && c + [Blockly.JavaScript.ORDER_LOGICAL_AND, Blockly.JavaScript.ORDER_LOGICAL_AND], + // a || (b || c) -> a || b || c + [Blockly.JavaScript.ORDER_LOGICAL_OR, Blockly.JavaScript.ORDER_LOGICAL_OR] +]; + +/** + * Initialise the database of variable names. + * @param {!Blockly.Workspace} workspace Workspace to generate code from. + */ +Blockly.JavaScript.init = function(workspace) { + // Create a dictionary of definitions to be printed before the code. + Blockly.JavaScript.definitions_ = Object.create(null); + // Create a dictionary mapping desired function names in definitions_ + // to actual function names (to avoid collisions with user functions). + Blockly.JavaScript.functionNames_ = Object.create(null); + + if (!Blockly.JavaScript.variableDB_) { + Blockly.JavaScript.variableDB_ = + new Blockly.Names(Blockly.JavaScript.RESERVED_WORDS_); + } else { + Blockly.JavaScript.variableDB_.reset(); + } + + var defvars = []; + var variables = workspace.variableList; + if (variables.length) { + for (var i = 0; i < variables.length; i++) { + defvars[i] = Blockly.JavaScript.variableDB_.getName(variables[i], + Blockly.Variables.NAME_TYPE); + } + Blockly.JavaScript.definitions_['variables'] = + 'var ' + defvars.join(', ') + ';'; + } +}; + +/** + * Prepend the generated code with the variable definitions. + * @param {string} code Generated code. + * @return {string} Completed code. + */ +Blockly.JavaScript.finish = function(code) { + // Convert the definitions dictionary into a list. + var definitions = []; + for (var name in Blockly.JavaScript.definitions_) { + definitions.push(Blockly.JavaScript.definitions_[name]); + } + // Clean up temporary data. + delete Blockly.JavaScript.definitions_; + delete Blockly.JavaScript.functionNames_; + Blockly.JavaScript.variableDB_.reset(); + return definitions.join('\n\n') + '\n\n\n' + code; +}; + +/** + * Naked values are top-level blocks with outputs that aren't plugged into + * anything. A trailing semicolon is needed to make this legal. + * @param {string} line Line of generated code. + * @return {string} Legal line of code. + */ +Blockly.JavaScript.scrubNakedValue = function(line) { + return line + ';\n'; +}; + +/** + * Encode a string as a properly escaped JavaScript string, complete with + * quotes. + * @param {string} string Text to encode. + * @return {string} JavaScript string. + * @private + */ +Blockly.JavaScript.quote_ = function(string) { + // Can't use goog.string.quote since Google's style guide recommends + // JS string literals use single quotes. + string = string.replace(/\\/g, '\\\\') + .replace(/\n/g, '\\\n') + .replace(/'/g, '\\\''); + return '\'' + string + '\''; +}; + +/** + * Common tasks for generating JavaScript from blocks. + * Handles comments for the specified block and any connected value blocks. + * Calls any statements following this block. + * @param {!Blockly.Block} block The current block. + * @param {string} code The JavaScript code created for this block. + * @return {string} JavaScript code with comments and subsequent blocks added. + * @private + */ +Blockly.JavaScript.scrub_ = function(block, code) { + var commentCode = ''; + // Only collect comments for blocks that aren't inline. + if (!block.outputConnection || !block.outputConnection.targetConnection) { + // Collect comment for this block. + var comment = block.getCommentText(); + comment = Blockly.utils.wrap(comment, Blockly.JavaScript.COMMENT_WRAP - 3); + if (comment) { + if (block.getProcedureDef) { + // Use a comment block for function comments. + commentCode += '/**\n' + + Blockly.JavaScript.prefixLines(comment + '\n', ' * ') + + ' */\n'; + } else { + commentCode += Blockly.JavaScript.prefixLines(comment + '\n', '// '); + } + } + // Collect comments for all value arguments. + // Don't collect comments for nested statements. + for (var i = 0; i < block.inputList.length; i++) { + if (block.inputList[i].type == Blockly.INPUT_VALUE) { + var childBlock = block.inputList[i].connection.targetBlock(); + if (childBlock) { + var comment = Blockly.JavaScript.allNestedComments(childBlock); + if (comment) { + commentCode += Blockly.JavaScript.prefixLines(comment, '// '); + } + } + } + } + } + var nextBlock = block.nextConnection && block.nextConnection.targetBlock(); + var nextCode = Blockly.JavaScript.blockToCode(nextBlock); + return commentCode + code + nextCode; +}; + +/** + * Gets a property and adjusts the value while taking into account indexing. + * @param {!Blockly.Block} block The block. + * @param {string} atId The property ID of the element to get. + * @param {number=} opt_delta Value to add. + * @param {boolean=} opt_negate Whether to negate the value. + * @param {number=} opt_order The highest order acting on this value. + * @return {string|number} + */ +Blockly.JavaScript.getAdjusted = function(block, atId, opt_delta, opt_negate, + opt_order) { + var delta = opt_delta || 0; + var order = opt_order || Blockly.JavaScript.ORDER_NONE; + if (block.workspace.options.oneBasedIndex) { + delta--; + } + var defaultAtIndex = block.workspace.options.oneBasedIndex ? '1' : '0'; + if (delta > 0) { + var at = Blockly.JavaScript.valueToCode(block, atId, + Blockly.JavaScript.ORDER_ADDITION) || defaultAtIndex; + } else if (delta < 0) { + var at = Blockly.JavaScript.valueToCode(block, atId, + Blockly.JavaScript.ORDER_SUBTRACTION) || defaultAtIndex; + } else if (opt_negate) { + var at = Blockly.JavaScript.valueToCode(block, atId, + Blockly.JavaScript.ORDER_UNARY_NEGATION) || defaultAtIndex; + } else { + var at = Blockly.JavaScript.valueToCode(block, atId, order) || + defaultAtIndex; + } + + if (Blockly.isNumber(at)) { + // If the index is a naked number, adjust it right now. + at = parseFloat(at) + delta; + if (opt_negate) { + at = -at; + } + } else { + // If the index is dynamic, adjust it in code. + if (delta > 0) { + at = at + ' + ' + delta; + var innerOrder = Blockly.JavaScript.ORDER_ADDITION; + } else if (delta < 0) { + at = at + ' - ' + -delta; + var innerOrder = Blockly.JavaScript.ORDER_SUBTRACTION; + } + if (opt_negate) { + if (delta) { + at = '-(' + at + ')'; + } else { + at = '-' + at; + } + var innerOrder = Blockly.JavaScript.ORDER_UNARY_NEGATION; + } + innerOrder = Math.floor(innerOrder); + order = Math.floor(order); + if (innerOrder && order >= innerOrder) { + at = '(' + at + ')'; + } + } + return at; +}; diff --git a/Blockly/brobot/generators/javascript/brobot.js b/Blockly/brobot/generators/javascript/brobot.js new file mode 100644 index 0000000..4236a5b --- /dev/null +++ b/Blockly/brobot/generators/javascript/brobot.js @@ -0,0 +1,161 @@ +/** + * @license + * Visual Blocks Language + * + * Copyright 2012 Google Inc. + * https://developers.google.com/blockly/ + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * 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. + */ + +/** + * @fileoverview Generating JavaScript for colour blocks. + * @author fraser@google.com (Neil Fraser) + */ +'use strict'; + +goog.provide('Blockly.JavaScript.brobot'); + +goog.require('Blockly.JavaScript'); + + +Blockly.JavaScript['moveforward'] = function(block) { + var code = "var datavalue='MV=50,'+(Math.round(STEPSMETER*0.4))+','+(Math.round(STEPSMETER*0.4));\n"; + code += "$.ajax({url:'http://127.0.0.1:8008', data: datavalue});\n"; + code += 'var dt = new Date();while ((new Date()) - dt <= 3700) {};\n'; // delay + return code; +}; + +Blockly.JavaScript['movebackward'] = function(block) { + var code = "var datavalue='MV=50,'+(-Math.round(STEPSMETER*0.4))+','+(-Math.round(STEPSMETER*0.4));\n"; + code += "$.ajax({url:'http://127.0.0.1:8008', data: datavalue});\n"; + code += 'var dt = new Date();while ((new Date()) - dt <= 3700) {};\n'; // delay + return code; +}; + +Blockly.JavaScript['turnleft'] = function(block) { + var code = "var datavalue='MV=50,'+(-Math.round(STEPSTURN/4))+','+(Math.round(STEPSTURN/4));\n"; + code += "$.ajax({url:'http://127.0.0.1:8008', data: datavalue});\n"; + code += 'var dt = new Date();while ((new Date()) - dt <= 2200) {};\n'; // delay + return code; +}; + +Blockly.JavaScript['turnright'] = function(block) { + var code = "var datavalue='MV=50,'+(Math.round(STEPSTURN/4))+','+(-Math.round(STEPSTURN/4));\n"; + code += "$.ajax({url:'http://127.0.0.1:8008', data: datavalue});\n"; + code += 'var dt = new Date();while ((new Date()) - dt <= 2200) {};\n'; // delay + return code; +}; + +Blockly.JavaScript['turn180'] = function(block) { + var value = block.getFieldValue('turn'); + var code; + if (value==1) + code = "var datavalue='MV=50,'+(-Math.round(STEPSTURN/2))+','+(Math.round(STEPSTURN/2));\n"; + else + code = "var datavalue='MV=50,'+(Math.round(STEPSTURN/2))+','+(-Math.round(STEPSTURN/2));\n"; + code += "$.ajax({url:'http://127.0.0.1:8008', data: datavalue});\n"; + code += 'var dt = new Date();while ((new Date()) - dt <= 3600) {};\n'; // delay + return code; +}; + +Blockly.JavaScript['spin360'] = function(block) { + var value = block.getFieldValue('spin'); + var code; + if (value==1) + code = "var datavalue='MV=50,'+(-Math.round(STEPSTURN))+','+(Math.round(STEPSTURN));\n"; + else + code = "var datavalue='MV=50,'+(Math.round(STEPSTURN))+','+(-Math.round(STEPSTURN));\n"; + code += "$.ajax({url:'http://127.0.0.1:8008', data: datavalue});\n"; + code += 'var dt = new Date();while ((new Date()) - dt <= 5400) {};\n'; // delay + return code; +}; + +Blockly.JavaScript['movesimple'] = function(block) { + var value = Blockly.JavaScript.valueToCode(block, 'cm', Blockly.JavaScript.ORDER_ATOMIC); + var value2 = block.getFieldValue('move'); + var code; + if (value2 == 0) + code = "var datavalue='MV=50,"+(Math.round(value*STEPSMETER/100))+","+(Math.round(value*STEPSMETER/100))+"';\n"; + else + code = "var datavalue='MV=50,"+(-Math.round(value*STEPSMETER/100))+","+(-Math.round(value*STEPSMETER/100))+"';\n"; + code += "$.ajax({url:'http://127.0.0.1:8008', data: datavalue});\n"; + var delay = 51*Math.abs(value) + 1200; + code += 'var dt = new Date();while ((new Date()) - dt <= '+delay+') {};\n'; // delay + return code; +}; + +Blockly.JavaScript['turndegrees'] = function(block) { + var value = Blockly.JavaScript.valueToCode(block, 'degrees', Blockly.JavaScript.ORDER_ATOMIC); + var value2 = block.getFieldValue('turn'); + var code; + if (value2 == 1) + code = "var datavalue='MV=50,"+(-Math.round(value*STEPSTURN/360))+","+(Math.round(value*STEPSTURN/360))+"';\n"; + else + code = "var datavalue='MV=50,"+(Math.round(value*STEPSTURN/360))+","+(-Math.round(value*STEPSTURN/360))+"';\n"; + code += "$.ajax({url:'http://127.0.0.1:8008', data: datavalue});\n"; + var delay = 16*Math.abs(value)+700; + code += 'var dt = new Date();while ((new Date()) - dt <= '+delay+') {};\n'; // delay + return code; +}; + +Blockly.JavaScript['robotconfig'] = function(block) { + var IPvalue = Blockly.JavaScript.valueToCode(block, 'IPvalue', Blockly.JavaScript.ORDER_ATOMIC).replace(/'/g, ""); + //var PORTvalue = Blockly.JavaScript.valueToCode(block, 'PORTvalue', Blockly.JavaScript.ORDER_ATOMIC).replace(/'/g, ""); + var PORTvalue = "2222" + var code = '//Robot Initialization\n\n'; + code += "$.ajax({url:'http://127.0.0.1:8008', data:\"IP="+ IPvalue+"&PORT="+PORTvalue+"\"});\n"; + return code; +} + +Blockly.JavaScript['throttle'] = function(block) { + var value = Blockly.JavaScript.valueToCode(block, 'TValue', Blockly.JavaScript.ORDER_ATOMIC); + var code = "var datavalue='TH='+"+value+";\n"; + code += "$.ajax({url:'http://127.0.0.1:8008', data: datavalue});\n"; + return code; +}; + +Blockly.JavaScript['steering'] = function(block) { + var value = Blockly.JavaScript.valueToCode(block, 'SValue', Blockly.JavaScript.ORDER_ATOMIC); + var code = "var datavalue='ST='+"+value+";\n"; + code += "$.ajax({url:'http://127.0.0.1:8008', data: datavalue});\n"; + return code; +}; + +Blockly.JavaScript['servo'] = function(block) { + //var value = Blockly.JavaScript.valueToCode(block, 'SValue', Blockly.JavaScript.ORDER_ATOMIC);// + var value = block.getFieldValue('Servo'); + // TODO: Assemble JavaScript into code variable. + var code = "$.ajax({url:'http://127.0.0.1:8008', data:'SE="+ value+"'});\n"; + return code; +}; + +Blockly.JavaScript['mode'] = function(block) { + //var value = Blockly.JavaScript.valueToCode(block, 'SValue', Blockly.JavaScript.ORDER_ATOMIC);// + var value = block.getFieldValue('Mode'); + // TODO: Assemble JavaScript into code variable. + var code = "$.ajax({url:'http://127.0.0.1:8008', data:'MO="+ value+"'});\n"; + return code; +}; + +Blockly.JavaScript['delay'] = function(block) { + //var value = Blockly.JavaScript.valueToCode(block, 'SValue', Blockly.JavaScript.ORDER_ATOMIC);// + var value = block.getFieldValue('DValue')*1000; + // TODO: Assemble JavaScript into code variable. + //var code = 'window.alert(delay'+value+');\n'; + var end = 0; + var code = 'var dt = new Date();while ((new Date()) - dt <= '+value+') {};\n'; + return code; +}; + + diff --git a/Blockly/brobot/generators/python.js b/Blockly/brobot/generators/python.js new file mode 100644 index 0000000..3b7aa57 --- /dev/null +++ b/Blockly/brobot/generators/python.js @@ -0,0 +1,283 @@ +/** + * @license + * Visual Blocks Language + * + * Copyright 2012 Google Inc. + * https://developers.google.com/blockly/ + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * 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. + */ + +/** + * @fileoverview Helper functions for generating Python for blocks. + * @author fraser@google.com (Neil Fraser) + */ +'use strict'; + +goog.provide('Blockly.Python'); + +goog.require('Blockly.Generator'); + + +/** + * Python code generator. + * @type {!Blockly.Generator} + */ +Blockly.Python = new Blockly.Generator('Python'); + +/** + * List of illegal variable names. + * This is not intended to be a security feature. Blockly is 100% client-side, + * so bypassing this list is trivial. This is intended to prevent users from + * accidentally clobbering a built-in object or function. + * @private + */ +Blockly.Python.addReservedWords( + // import keyword + // print ','.join(keyword.kwlist) + // http://docs.python.org/reference/lexical_analysis.html#keywords + 'and,as,assert,break,class,continue,def,del,elif,else,except,exec,' + + 'finally,for,from,global,if,import,in,is,lambda,not,or,pass,print,raise,' + + 'return,try,while,with,yield,' + + //http://docs.python.org/library/constants.html + 'True,False,None,NotImplemented,Ellipsis,__debug__,quit,exit,copyright,' + + 'license,credits,' + + // http://docs.python.org/library/functions.html + 'abs,divmod,input,open,staticmethod,all,enumerate,int,ord,str,any,eval,' + + 'isinstance,pow,sum,basestring,execfile,issubclass,print,super,bin,file,' + + 'iter,property,tuple,bool,filter,len,range,type,bytearray,float,list,' + + 'raw_input,unichr,callable,format,locals,reduce,unicode,chr,frozenset,' + + 'long,reload,vars,classmethod,getattr,map,repr,xrange,cmp,globals,max,' + + 'reversed,zip,compile,hasattr,memoryview,round,__import__,complex,hash,' + + 'min,set,apply,delattr,help,next,setattr,buffer,dict,hex,object,slice,' + + 'coerce,dir,id,oct,sorted,intern' +); + +/** + * Order of operation ENUMs. + * http://docs.python.org/reference/expressions.html#summary + */ +Blockly.Python.ORDER_ATOMIC = 0; // 0 "" ... +Blockly.Python.ORDER_COLLECTION = 1; // tuples, lists, dictionaries +Blockly.Python.ORDER_STRING_CONVERSION = 1; // `expression...` +Blockly.Python.ORDER_MEMBER = 2.1; // . [] +Blockly.Python.ORDER_FUNCTION_CALL = 2.2; // () +Blockly.Python.ORDER_EXPONENTIATION = 3; // ** +Blockly.Python.ORDER_UNARY_SIGN = 4; // + - +Blockly.Python.ORDER_BITWISE_NOT = 4; // ~ +Blockly.Python.ORDER_MULTIPLICATIVE = 5; // * / // % +Blockly.Python.ORDER_ADDITIVE = 6; // + - +Blockly.Python.ORDER_BITWISE_SHIFT = 7; // << >> +Blockly.Python.ORDER_BITWISE_AND = 8; // & +Blockly.Python.ORDER_BITWISE_XOR = 9; // ^ +Blockly.Python.ORDER_BITWISE_OR = 10; // | +Blockly.Python.ORDER_RELATIONAL = 11; // in, not in, is, is not, + // <, <=, >, >=, <>, !=, == +Blockly.Python.ORDER_LOGICAL_NOT = 12; // not +Blockly.Python.ORDER_LOGICAL_AND = 13; // and +Blockly.Python.ORDER_LOGICAL_OR = 14; // or +Blockly.Python.ORDER_CONDITIONAL = 15; // if else +Blockly.Python.ORDER_LAMBDA = 16; // lambda +Blockly.Python.ORDER_NONE = 99; // (...) + +/** + * List of outer-inner pairings that do NOT require parentheses. + * @type {!Array.>} + */ +Blockly.Python.ORDER_OVERRIDES = [ + // (foo()).bar -> foo().bar + // (foo())[0] -> foo()[0] + [Blockly.Python.ORDER_FUNCTION_CALL, Blockly.Python.ORDER_MEMBER], + // (foo())() -> foo()() + [Blockly.Python.ORDER_FUNCTION_CALL, Blockly.Python.ORDER_FUNCTION_CALL], + // (foo.bar).baz -> foo.bar.baz + // (foo.bar)[0] -> foo.bar[0] + // (foo[0]).bar -> foo[0].bar + // (foo[0])[1] -> foo[0][1] + [Blockly.Python.ORDER_MEMBER, Blockly.Python.ORDER_MEMBER], + // (foo.bar)() -> foo.bar() + // (foo[0])() -> foo[0]() + [Blockly.Python.ORDER_MEMBER, Blockly.Python.ORDER_FUNCTION_CALL], + + // not (not foo) -> not not foo + [Blockly.Python.ORDER_LOGICAL_NOT, Blockly.Python.ORDER_LOGICAL_NOT], + // a and (b and c) -> a and b and c + [Blockly.Python.ORDER_LOGICAL_AND, Blockly.Python.ORDER_LOGICAL_AND], + // a or (b or c) -> a or b or c + [Blockly.Python.ORDER_LOGICAL_OR, Blockly.Python.ORDER_LOGICAL_OR] +]; + +/** + * Initialise the database of variable names. + * @param {!Blockly.Workspace} workspace Workspace to generate code from. + */ +Blockly.Python.init = function(workspace) { + /** + * Empty loops or conditionals are not allowed in Python. + */ + Blockly.Python.PASS = this.INDENT + 'pass\n'; + // Create a dictionary of definitions to be printed before the code. + Blockly.Python.definitions_ = Object.create(null); + // Create a dictionary mapping desired function names in definitions_ + // to actual function names (to avoid collisions with user functions). + Blockly.Python.functionNames_ = Object.create(null); + + if (!Blockly.Python.variableDB_) { + Blockly.Python.variableDB_ = + new Blockly.Names(Blockly.Python.RESERVED_WORDS_); + } else { + Blockly.Python.variableDB_.reset(); + } + + var defvars = []; + var variables = workspace.variableList; + for (var i = 0; i < variables.length; i++) { + defvars[i] = Blockly.Python.variableDB_.getName(variables[i], + Blockly.Variables.NAME_TYPE) + ' = None'; + } + Blockly.Python.definitions_['variables'] = defvars.join('\n'); +}; + +/** + * Prepend the generated code with the variable definitions. + * @param {string} code Generated code. + * @return {string} Completed code. + */ +Blockly.Python.finish = function(code) { + // Convert the definitions dictionary into a list. + var imports = []; + var definitions = []; + for (var name in Blockly.Python.definitions_) { + var def = Blockly.Python.definitions_[name]; + if (def.match(/^(from\s+\S+\s+)?import\s+\S+/)) { + imports.push(def); + } else { + definitions.push(def); + } + } + // Clean up temporary data. + delete Blockly.Python.definitions_; + delete Blockly.Python.functionNames_; + Blockly.Python.variableDB_.reset(); + var allDefs = imports.join('\n') + '\n\n' + definitions.join('\n\n'); + return allDefs.replace(/\n\n+/g, '\n\n').replace(/\n*$/, '\n\n\n') + code; +}; + +/** + * Naked values are top-level blocks with outputs that aren't plugged into + * anything. + * @param {string} line Line of generated code. + * @return {string} Legal line of code. + */ +Blockly.Python.scrubNakedValue = function(line) { + return line + '\n'; +}; + +/** + * Encode a string as a properly escaped Python string, complete with quotes. + * @param {string} string Text to encode. + * @return {string} Python string. + * @private + */ +Blockly.Python.quote_ = function(string) { + // Can't use goog.string.quote since % must also be escaped. + string = string.replace(/\\/g, '\\\\') + .replace(/\n/g, '\\\n') + .replace(/\%/g, '\\%') + .replace(/'/g, '\\\''); + return '\'' + string + '\''; +}; + +/** + * Common tasks for generating Python from blocks. + * Handles comments for the specified block and any connected value blocks. + * Calls any statements following this block. + * @param {!Blockly.Block} block The current block. + * @param {string} code The Python code created for this block. + * @return {string} Python code with comments and subsequent blocks added. + * @private + */ +Blockly.Python.scrub_ = function(block, code) { + var commentCode = ''; + // Only collect comments for blocks that aren't inline. + if (!block.outputConnection || !block.outputConnection.targetConnection) { + // Collect comment for this block. + var comment = block.getCommentText(); + comment = Blockly.utils.wrap(comment, Blockly.Python.COMMENT_WRAP - 3); + if (comment) { + if (block.getProcedureDef) { + // Use a comment block for function comments. + commentCode += '"""' + comment + '\n"""\n'; + } else { + commentCode += Blockly.Python.prefixLines(comment + '\n', '# '); + } + } + // Collect comments for all value arguments. + // Don't collect comments for nested statements. + for (var i = 0; i < block.inputList.length; i++) { + if (block.inputList[i].type == Blockly.INPUT_VALUE) { + var childBlock = block.inputList[i].connection.targetBlock(); + if (childBlock) { + var comment = Blockly.Python.allNestedComments(childBlock); + if (comment) { + commentCode += Blockly.Python.prefixLines(comment, '# '); + } + } + } + } + } + var nextBlock = block.nextConnection && block.nextConnection.targetBlock(); + var nextCode = Blockly.Python.blockToCode(nextBlock); + return commentCode + code + nextCode; +}; + +/** + * Gets a property and adjusts the value, taking into account indexing, and + * casts to an integer. + * @param {!Blockly.Block} block The block. + * @param {string} atId The property ID of the element to get. + * @param {number=} opt_delta Value to add. + * @param {boolean=} opt_negate Whether to negate the value. + * @return {string|number} + */ +Blockly.Python.getAdjustedInt = function(block, atId, opt_delta, opt_negate) { + var delta = opt_delta || 0; + if (block.workspace.options.oneBasedIndex) { + delta--; + } + var defaultAtIndex = block.workspace.options.oneBasedIndex ? '1' : '0'; + var atOrder = delta ? Blockly.Python.ORDER_ADDITIVE : + Blockly.Python.ORDER_NONE; + var at = Blockly.Python.valueToCode(block, atId, atOrder) || defaultAtIndex; + + if (Blockly.isNumber(at)) { + // If the index is a naked number, adjust it right now. + at = parseInt(at, 10) + delta; + if (opt_negate) { + at = -at; + } + } else { + // If the index is dynamic, adjust it in code. + if (delta > 0) { + at = 'int(' + at + ' + ' + delta + ')'; + } else if (delta < 0) { + at = 'int(' + at + ' - ' + -delta + ')'; + } else { + at = 'int(' + at + ')'; + } + if (opt_negate) { + at = '-' + at; + } + } + return at; +}; diff --git a/Blockly/brobot/generators/python/brobot.js b/Blockly/brobot/generators/python/brobot.js new file mode 100644 index 0000000..b429210 --- /dev/null +++ b/Blockly/brobot/generators/python/brobot.js @@ -0,0 +1,83 @@ +/** + * @license + * Visual Blocks Language + * + * Copyright 2012 Google Inc. + * https://developers.google.com/blockly/ + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * 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. + */ + +/** + * @fileoverview Generating JavaScript for colour blocks. + * @author fraser@google.com (Neil Fraser) + */ +'use strict'; + +goog.provide('Blockly.Python.brobot'); + +goog.require('Blockly.Python'); + +Blockly.Python['robotconfig'] = function(block) { + var IPvalue = Blockly.JavaScript.valueToCode(block, 'IPvalue', Blockly.JavaScript.ORDER_ATOMIC).replace(/'/g, ""); + var PORTvalue = Blockly.JavaScript.valueToCode(block, 'PORTvalue', Blockly.JavaScript.ORDER_ATOMIC).replace(/'/g, ""); + var code = 'myRobot.UDP_IP=\"'+IPvalue+'\"\n'; + code += 'myRobot.UDP_PORT=\"'+PORTvalue+'\"\n'; + //var code = ''; + return code; +}; + +Blockly.Python['throttle'] = function(block) { + var value = Blockly.JavaScript.valueToCode(block, 'TValue', Blockly.JavaScript.ORDER_ATOMIC);// + //var value = block.getFieldValue('TValue'); + // TODO: Assemble JavaScript into code variable. + //var code = 'window.alert("T'+value+'");\n'; + // Create the Socket + var code = 'myRobot.throttle('+value+')\n'; + return code; +}; + +Blockly.Python['steering'] = function(block) { + var value = Blockly.JavaScript.valueToCode(block, 'SValue', Blockly.JavaScript.ORDER_ATOMIC);// + //var value = block.getFieldValue('SValue'); + // TODO: Assemble JavaScript into code variable. + var code = 'myRobot.steering('+value+')\n'; + return code; +}; + +Blockly.Python['servo'] = function(block) { + //var value = Blockly.JavaScript.valueToCode(block, 'SValue', Blockly.JavaScript.ORDER_ATOMIC);// + var value = block.getFieldValue('Servo'); + // TODO: Assemble JavaScript into code variable. + var code = 'myRobot.servo('+value+')\n'; + return code; +}; + +Blockly.Python['mode'] = function(block) { + //var value = Blockly.JavaScript.valueToCode(block, 'SValue', Blockly.JavaScript.ORDER_ATOMIC);// + var value = block.getFieldValue('Mode'); + // TODO: Assemble JavaScript into code variable. + var code = 'myRobot.mode('+value+')\n'; + return code; +}; + +Blockly.Python['delay'] = function(block) { + //var value = Blockly.JavaScript.valueToCode(block, 'SValue', Blockly.JavaScript.ORDER_ATOMIC);// + var value = block.getFieldValue('DValue'); + // TODO: Assemble JavaScript into code variable. + //var code = 'window.alert(delay'+value+');\n'; + var code = 'time.sleep('+value+')\n'; + return code; +}; + + diff --git a/Blockly/brobot/generators/python/colour.js b/Blockly/brobot/generators/python/colour.js new file mode 100644 index 0000000..68666a8 --- /dev/null +++ b/Blockly/brobot/generators/python/colour.js @@ -0,0 +1,86 @@ +/** + * @license + * Visual Blocks Language + * + * Copyright 2012 Google Inc. + * https://developers.google.com/blockly/ + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * 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. + */ + +/** + * @fileoverview Generating Python for colour blocks. + * @author fraser@google.com (Neil Fraser) + */ +'use strict'; + +goog.provide('Blockly.Python.colour'); + +goog.require('Blockly.Python'); + + +Blockly.Python['colour_picker'] = function(block) { + // Colour picker. + var code = '\'' + block.getFieldValue('COLOUR') + '\''; + return [code, Blockly.Python.ORDER_ATOMIC]; +}; + +Blockly.Python['colour_random'] = function(block) { + // Generate a random colour. + Blockly.Python.definitions_['import_random'] = 'import random'; + var code = '\'#%06x\' % random.randint(0, 2**24 - 1)'; + return [code, Blockly.Python.ORDER_FUNCTION_CALL]; +}; + +Blockly.Python['colour_rgb'] = function(block) { + // Compose a colour from RGB components expressed as percentages. + var functionName = Blockly.Python.provideFunction_( + 'colour_rgb', + ['def ' + Blockly.Python.FUNCTION_NAME_PLACEHOLDER_ + '(r, g, b):', + ' r = round(min(100, max(0, r)) * 2.55)', + ' g = round(min(100, max(0, g)) * 2.55)', + ' b = round(min(100, max(0, b)) * 2.55)', + ' return \'#%02x%02x%02x\' % (r, g, b)']); + var r = Blockly.Python.valueToCode(block, 'RED', + Blockly.Python.ORDER_NONE) || 0; + var g = Blockly.Python.valueToCode(block, 'GREEN', + Blockly.Python.ORDER_NONE) || 0; + var b = Blockly.Python.valueToCode(block, 'BLUE', + Blockly.Python.ORDER_NONE) || 0; + var code = functionName + '(' + r + ', ' + g + ', ' + b + ')'; + return [code, Blockly.Python.ORDER_FUNCTION_CALL]; +}; + +Blockly.Python['colour_blend'] = function(block) { + // Blend two colours together. + var functionName = Blockly.Python.provideFunction_( + 'colour_blend', + ['def ' + Blockly.Python.FUNCTION_NAME_PLACEHOLDER_ + + '(colour1, colour2, ratio):', + ' r1, r2 = int(colour1[1:3], 16), int(colour2[1:3], 16)', + ' g1, g2 = int(colour1[3:5], 16), int(colour2[3:5], 16)', + ' b1, b2 = int(colour1[5:7], 16), int(colour2[5:7], 16)', + ' ratio = min(1, max(0, ratio))', + ' r = round(r1 * (1 - ratio) + r2 * ratio)', + ' g = round(g1 * (1 - ratio) + g2 * ratio)', + ' b = round(b1 * (1 - ratio) + b2 * ratio)', + ' return \'#%02x%02x%02x\' % (r, g, b)']); + var colour1 = Blockly.Python.valueToCode(block, 'COLOUR1', + Blockly.Python.ORDER_NONE) || '\'#000000\''; + var colour2 = Blockly.Python.valueToCode(block, 'COLOUR2', + Blockly.Python.ORDER_NONE) || '\'#000000\''; + var ratio = Blockly.Python.valueToCode(block, 'RATIO', + Blockly.Python.ORDER_NONE) || 0; + var code = functionName + '(' + colour1 + ', ' + colour2 + ', ' + ratio + ')'; + return [code, Blockly.Python.ORDER_FUNCTION_CALL]; +}; diff --git a/Blockly/brobot/generators/python/lists.js b/Blockly/brobot/generators/python/lists.js new file mode 100644 index 0000000..84618f8 --- /dev/null +++ b/Blockly/brobot/generators/python/lists.js @@ -0,0 +1,355 @@ +/** + * @license + * Visual Blocks Language + * + * Copyright 2012 Google Inc. + * https://developers.google.com/blockly/ + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * 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. + */ + +/** + * @fileoverview Generating Python for list blocks. + * @author q.neutron@gmail.com (Quynh Neutron) + */ +'use strict'; + +goog.provide('Blockly.Python.lists'); + +goog.require('Blockly.Python'); + + +Blockly.Python['lists_create_empty'] = function(block) { + // Create an empty list. + return ['[]', Blockly.Python.ORDER_ATOMIC]; +}; + +Blockly.Python['lists_create_with'] = function(block) { + // Create a list with any number of elements of any type. + var elements = new Array(block.itemCount_); + for (var i = 0; i < block.itemCount_; i++) { + elements[i] = Blockly.Python.valueToCode(block, 'ADD' + i, + Blockly.Python.ORDER_NONE) || 'None'; + } + var code = '[' + elements.join(', ') + ']'; + return [code, Blockly.Python.ORDER_ATOMIC]; +}; + +Blockly.Python['lists_repeat'] = function(block) { + // Create a list with one element repeated. + var item = Blockly.Python.valueToCode(block, 'ITEM', + Blockly.Python.ORDER_NONE) || 'None'; + var times = Blockly.Python.valueToCode(block, 'NUM', + Blockly.Python.ORDER_MULTIPLICATIVE) || '0'; + var code = '[' + item + '] * ' + times; + return [code, Blockly.Python.ORDER_MULTIPLICATIVE]; +}; + +Blockly.Python['lists_length'] = function(block) { + // String or array length. + var list = Blockly.Python.valueToCode(block, 'VALUE', + Blockly.Python.ORDER_NONE) || '[]'; + return ['len(' + list + ')', Blockly.Python.ORDER_FUNCTION_CALL]; +}; + +Blockly.Python['lists_isEmpty'] = function(block) { + // Is the string null or array empty? + var list = Blockly.Python.valueToCode(block, 'VALUE', + Blockly.Python.ORDER_NONE) || '[]'; + var code = 'not len(' + list + ')'; + return [code, Blockly.Python.ORDER_LOGICAL_NOT]; +}; + +Blockly.Python['lists_indexOf'] = function(block) { + // Find an item in the list. + var item = Blockly.Python.valueToCode(block, 'FIND', + Blockly.Python.ORDER_NONE) || '[]'; + var list = Blockly.Python.valueToCode(block, 'VALUE', + Blockly.Python.ORDER_NONE) || '\'\''; + if (block.workspace.options.oneBasedIndex) { + var errorIndex = ' 0'; + var firstIndexAdjustment = ' + 1'; + var lastIndexAdjustment = ''; + } else { + var errorIndex = ' -1'; + var firstIndexAdjustment = ''; + var lastIndexAdjustment = ' - 1'; + } + if (block.getFieldValue('END') == 'FIRST') { + var functionName = Blockly.Python.provideFunction_( + 'first_index', + ['def ' + Blockly.Python.FUNCTION_NAME_PLACEHOLDER_ + + '(my_list, elem):', + ' try: index = my_list.index(elem)' + firstIndexAdjustment, + ' except: index =' + errorIndex, + ' return index']); + var code = functionName + '(' + list + ', ' + item + ')'; + return [code, Blockly.Python.ORDER_FUNCTION_CALL]; + } + var functionName = Blockly.Python.provideFunction_( + 'last_index', + ['def ' + Blockly.Python.FUNCTION_NAME_PLACEHOLDER_ + '(my_list, elem):', + ' try: index = len(my_list) - my_list[::-1].index(elem)' + + lastIndexAdjustment, + ' except: index =' + errorIndex, + ' return index']); + var code = functionName + '(' + list + ', ' + item + ')'; + return [code, Blockly.Python.ORDER_FUNCTION_CALL]; +}; + +Blockly.Python['lists_getIndex'] = function(block) { + // Get element at index. + // Note: Until January 2013 this block did not have MODE or WHERE inputs. + var mode = block.getFieldValue('MODE') || 'GET'; + var where = block.getFieldValue('WHERE') || 'FROM_START'; + var listOrder = (where == 'RANDOM') ? Blockly.Python.ORDER_NONE : + Blockly.Python.ORDER_MEMBER; + var list = Blockly.Python.valueToCode(block, 'VALUE', listOrder) || '[]'; + + switch (where) { + case 'FIRST': + if (mode == 'GET') { + var code = list + '[0]'; + return [code, Blockly.Python.ORDER_MEMBER]; + } else if (mode == 'GET_REMOVE') { + var code = list + '.pop(0)'; + return [code, Blockly.Python.ORDER_FUNCTION_CALL]; + } else if (mode == 'REMOVE') { + return list + '.pop(0)\n'; + } + break; + case 'LAST': + if (mode == 'GET') { + var code = list + '[-1]'; + return [code, Blockly.Python.ORDER_MEMBER]; + } else if (mode == 'GET_REMOVE') { + var code = list + '.pop()'; + return [code, Blockly.Python.ORDER_FUNCTION_CALL]; + } else if (mode == 'REMOVE') { + return list + '.pop()\n'; + } + break; + case 'FROM_START': + var at = Blockly.Python.getAdjustedInt(block, 'AT'); + if (mode == 'GET') { + var code = list + '[' + at + ']'; + return [code, Blockly.Python.ORDER_MEMBER]; + } else if (mode == 'GET_REMOVE') { + var code = list + '.pop(' + at + ')'; + return [code, Blockly.Python.ORDER_FUNCTION_CALL]; + } else if (mode == 'REMOVE') { + return list + '.pop(' + at + ')\n'; + } + break; + case'FROM_END': + var at = Blockly.Python.getAdjustedInt(block, 'AT', 1, true); + if (mode == 'GET') { + var code = list + '[' + at + ']'; + return [code, Blockly.Python.ORDER_MEMBER]; + } else if (mode == 'GET_REMOVE') { + var code = list + '.pop(' + at + ')'; + return [code, Blockly.Python.ORDER_FUNCTION_CALL]; + } else if (mode == 'REMOVE') { + return list + '.pop(' + at + ')\n'; + } + break; + case 'RANDOM': + Blockly.Python.definitions_['import_random'] = 'import random'; + if (mode == 'GET') { + code = 'random.choice(' + list + ')'; + return [code, Blockly.Python.ORDER_FUNCTION_CALL]; + } else { + var functionName = Blockly.Python.provideFunction_( + 'lists_remove_random_item', + ['def ' + Blockly.Python.FUNCTION_NAME_PLACEHOLDER_ + '(myList):', + ' x = int(random.random() * len(myList))', + ' return myList.pop(x)']); + code = functionName + '(' + list + ')'; + if (mode == 'GET_REMOVE') { + return [code, Blockly.Python.ORDER_FUNCTION_CALL]; + } else if (mode == 'REMOVE') { + return code + '\n'; + } + } + break; + } + throw 'Unhandled combination (lists_getIndex).'; +}; + +Blockly.Python['lists_setIndex'] = function(block) { + // Set element at index. + // Note: Until February 2013 this block did not have MODE or WHERE inputs. + var list = Blockly.Python.valueToCode(block, 'LIST', + Blockly.Python.ORDER_MEMBER) || '[]'; + var mode = block.getFieldValue('MODE') || 'GET'; + var where = block.getFieldValue('WHERE') || 'FROM_START'; + var value = Blockly.Python.valueToCode(block, 'TO', + Blockly.Python.ORDER_NONE) || 'None'; + // Cache non-trivial values to variables to prevent repeated look-ups. + // Closure, which accesses and modifies 'list'. + function cacheList() { + if (list.match(/^\w+$/)) { + return ''; + } + var listVar = Blockly.Python.variableDB_.getDistinctName( + 'tmp_list', Blockly.Variables.NAME_TYPE); + var code = listVar + ' = ' + list + '\n'; + list = listVar; + return code; + } + + switch (where) { + case 'FIRST': + if (mode == 'SET') { + return list + '[0] = ' + value + '\n'; + } else if (mode == 'INSERT') { + return list + '.insert(0, ' + value + ')\n'; + } + break; + case 'LAST': + if (mode == 'SET') { + return list + '[-1] = ' + value + '\n'; + } else if (mode == 'INSERT') { + return list + '.append(' + value + ')\n'; + } + break; + case 'FROM_START': + var at = Blockly.Python.getAdjustedInt(block, 'AT'); + if (mode == 'SET') { + return list + '[' + at + '] = ' + value + '\n'; + } else if (mode == 'INSERT') { + return list + '.insert(' + at + ', ' + value + ')\n'; + } + break; + case 'FROM_END': + var at = Blockly.Python.getAdjustedInt(block, 'AT', 1, true); + if (mode == 'SET') { + return list + '[' + at + '] = ' + value + '\n'; + } else if (mode == 'INSERT') { + return list + '.insert(' + at + ', ' + value + ')\n'; + } + break; + case 'RANDOM': + Blockly.Python.definitions_['import_random'] = 'import random'; + var code = cacheList(); + var xVar = Blockly.Python.variableDB_.getDistinctName( + 'tmp_x', Blockly.Variables.NAME_TYPE); + code += xVar + ' = int(random.random() * len(' + list + '))\n'; + if (mode == 'SET') { + code += list + '[' + xVar + '] = ' + value + '\n'; + return code; + } else if (mode == 'INSERT') { + code += list + '.insert(' + xVar + ', ' + value + ')\n'; + return code; + } + break; + } + throw 'Unhandled combination (lists_setIndex).'; +}; + +Blockly.Python['lists_getSublist'] = function(block) { + // Get sublist. + var list = Blockly.Python.valueToCode(block, 'LIST', + Blockly.Python.ORDER_MEMBER) || '[]'; + var where1 = block.getFieldValue('WHERE1'); + var where2 = block.getFieldValue('WHERE2'); + switch (where1) { + case 'FROM_START': + var at1 = Blockly.Python.getAdjustedInt(block, 'AT1'); + if (at1 == '0') { + at1 = ''; + } + break; + case 'FROM_END': + var at1 = Blockly.Python.getAdjustedInt(block, 'AT1', 1, true); + break; + case 'FIRST': + var at1 = ''; + break; + default: + throw 'Unhandled option (lists_getSublist)'; + } + switch (where2) { + case 'FROM_START': + var at2 = Blockly.Python.getAdjustedInt(block, 'AT2', 1); + break; + case 'FROM_END': + var at2 = Blockly.Python.getAdjustedInt(block, 'AT2', 0, true); + // Ensure that if the result calculated is 0 that sub-sequence will + // include all elements as expected. + if (!Blockly.isNumber(String(at2))) { + Blockly.Python.definitions_['import_sys'] = 'import sys'; + at2 += ' or sys.maxsize'; + } else if (at2 == '0') { + at2 = ''; + } + break; + case 'LAST': + var at2 = ''; + break; + default: + throw 'Unhandled option (lists_getSublist)'; + } + var code = list + '[' + at1 + ' : ' + at2 + ']'; + return [code, Blockly.Python.ORDER_MEMBER]; +}; + +Blockly.Python['lists_sort'] = function(block) { + // Block for sorting a list. + var list = (Blockly.Python.valueToCode(block, 'LIST', + Blockly.Python.ORDER_NONE) || '[]'); + var type = block.getFieldValue('TYPE'); + var reverse = block.getFieldValue('DIRECTION') === '1' ? 'False' : 'True'; + var sortFunctionName = Blockly.Python.provideFunction_('lists_sort', + ['def ' + Blockly.Python.FUNCTION_NAME_PLACEHOLDER_ + + '(my_list, type, reverse):', + ' def try_float(s):', + ' try:', + ' return float(s)', + ' except:', + ' return 0', + ' key_funcs = {', + ' "NUMERIC": try_float,', + ' "TEXT": str,', + ' "IGNORE_CASE": lambda s: str(s).lower()', + ' }', + ' key_func = key_funcs[type]', + ' list_cpy = list(my_list)', // Clone the list. + ' return sorted(list_cpy, key=key_func, reverse=reverse)' + ]); + + var code = sortFunctionName + + '(' + list + ', "' + type + '", ' + reverse + ')'; + return [code, Blockly.Python.ORDER_FUNCTION_CALL]; +}; + +Blockly.Python['lists_split'] = function(block) { + // Block for splitting text into a list, or joining a list into text. + var mode = block.getFieldValue('MODE'); + if (mode == 'SPLIT') { + var value_input = Blockly.Python.valueToCode(block, 'INPUT', + Blockly.Python.ORDER_MEMBER) || '\'\''; + var value_delim = Blockly.Python.valueToCode(block, 'DELIM', + Blockly.Python.ORDER_NONE); + var code = value_input + '.split(' + value_delim + ')'; + } else if (mode == 'JOIN') { + var value_input = Blockly.Python.valueToCode(block, 'INPUT', + Blockly.Python.ORDER_NONE) || '[]'; + var value_delim = Blockly.Python.valueToCode(block, 'DELIM', + Blockly.Python.ORDER_MEMBER) || '\'\''; + var code = value_delim + '.join(' + value_input + ')'; + } else { + throw 'Unknown mode: ' + mode; + } + return [code, Blockly.Python.ORDER_FUNCTION_CALL]; +}; diff --git a/Blockly/brobot/generators/python/logic.js b/Blockly/brobot/generators/python/logic.js new file mode 100644 index 0000000..a485e5c --- /dev/null +++ b/Blockly/brobot/generators/python/logic.js @@ -0,0 +1,127 @@ +/** + * @license + * Visual Blocks Language + * + * Copyright 2012 Google Inc. + * https://developers.google.com/blockly/ + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * 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. + */ + +/** + * @fileoverview Generating Python for logic blocks. + * @author q.neutron@gmail.com (Quynh Neutron) + */ +'use strict'; + +goog.provide('Blockly.Python.logic'); + +goog.require('Blockly.Python'); + + +Blockly.Python['controls_if'] = function(block) { + // If/elseif/else condition. + var n = 0; + var argument = Blockly.Python.valueToCode(block, 'IF' + n, + Blockly.Python.ORDER_NONE) || 'False'; + var branch = Blockly.Python.statementToCode(block, 'DO' + n) || + Blockly.Python.PASS; + var code = 'if ' + argument + ':\n' + branch; + for (n = 1; n <= block.elseifCount_; n++) { + argument = Blockly.Python.valueToCode(block, 'IF' + n, + Blockly.Python.ORDER_NONE) || 'False'; + branch = Blockly.Python.statementToCode(block, 'DO' + n) || + Blockly.Python.PASS; + code += 'elif ' + argument + ':\n' + branch; + } + if (block.elseCount_) { + branch = Blockly.Python.statementToCode(block, 'ELSE') || + Blockly.Python.PASS; + code += 'else:\n' + branch; + } + return code; +}; + +Blockly.Python['logic_compare'] = function(block) { + // Comparison operator. + var OPERATORS = { + 'EQ': '==', + 'NEQ': '!=', + 'LT': '<', + 'LTE': '<=', + 'GT': '>', + 'GTE': '>=' + }; + var operator = OPERATORS[block.getFieldValue('OP')]; + var order = Blockly.Python.ORDER_RELATIONAL; + var argument0 = Blockly.Python.valueToCode(block, 'A', order) || '0'; + var argument1 = Blockly.Python.valueToCode(block, 'B', order) || '0'; + var code = argument0 + ' ' + operator + ' ' + argument1; + return [code, order]; +}; + +Blockly.Python['logic_operation'] = function(block) { + // Operations 'and', 'or'. + var operator = (block.getFieldValue('OP') == 'AND') ? 'and' : 'or'; + var order = (operator == 'and') ? Blockly.Python.ORDER_LOGICAL_AND : + Blockly.Python.ORDER_LOGICAL_OR; + var argument0 = Blockly.Python.valueToCode(block, 'A', order); + var argument1 = Blockly.Python.valueToCode(block, 'B', order); + if (!argument0 && !argument1) { + // If there are no arguments, then the return value is false. + argument0 = 'False'; + argument1 = 'False'; + } else { + // Single missing arguments have no effect on the return value. + var defaultArgument = (operator == 'and') ? 'True' : 'False'; + if (!argument0) { + argument0 = defaultArgument; + } + if (!argument1) { + argument1 = defaultArgument; + } + } + var code = argument0 + ' ' + operator + ' ' + argument1; + return [code, order]; +}; + +Blockly.Python['logic_negate'] = function(block) { + // Negation. + var argument0 = Blockly.Python.valueToCode(block, 'BOOL', + Blockly.Python.ORDER_LOGICAL_NOT) || 'True'; + var code = 'not ' + argument0; + return [code, Blockly.Python.ORDER_LOGICAL_NOT]; +}; + +Blockly.Python['logic_boolean'] = function(block) { + // Boolean values true and false. + var code = (block.getFieldValue('BOOL') == 'TRUE') ? 'True' : 'False'; + return [code, Blockly.Python.ORDER_ATOMIC]; +}; + +Blockly.Python['logic_null'] = function(block) { + // Null data type. + return ['None', Blockly.Python.ORDER_ATOMIC]; +}; + +Blockly.Python['logic_ternary'] = function(block) { + // Ternary operator. + var value_if = Blockly.Python.valueToCode(block, 'IF', + Blockly.Python.ORDER_CONDITIONAL) || 'False'; + var value_then = Blockly.Python.valueToCode(block, 'THEN', + Blockly.Python.ORDER_CONDITIONAL) || 'None'; + var value_else = Blockly.Python.valueToCode(block, 'ELSE', + Blockly.Python.ORDER_CONDITIONAL) || 'None'; + var code = value_then + ' if ' + value_if + ' else ' + value_else; + return [code, Blockly.Python.ORDER_CONDITIONAL]; +}; diff --git a/Blockly/brobot/generators/python/loops.js b/Blockly/brobot/generators/python/loops.js new file mode 100644 index 0000000..3cb1ab9 --- /dev/null +++ b/Blockly/brobot/generators/python/loops.js @@ -0,0 +1,211 @@ +/** + * @license + * Visual Blocks Language + * + * Copyright 2012 Google Inc. + * https://developers.google.com/blockly/ + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * 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. + */ + +/** + * @fileoverview Generating Python for loop blocks. + * @author q.neutron@gmail.com (Quynh Neutron) + */ +'use strict'; + +goog.provide('Blockly.Python.loops'); + +goog.require('Blockly.Python'); + + +Blockly.Python['controls_repeat_ext'] = function(block) { + // Repeat n times. + if (block.getField('TIMES')) { + // Internal number. + var repeats = String(parseInt(block.getFieldValue('TIMES'), 10)); + } else { + // External number. + var repeats = Blockly.Python.valueToCode(block, 'TIMES', + Blockly.Python.ORDER_NONE) || '0'; + } + if (Blockly.isNumber(repeats)) { + repeats = parseInt(repeats, 10); + } else { + repeats = 'int(' + repeats + ')'; + } + var branch = Blockly.Python.statementToCode(block, 'DO'); + branch = Blockly.Python.addLoopTrap(branch, block.id) || + Blockly.Python.PASS; + var loopVar = Blockly.Python.variableDB_.getDistinctName( + 'count', Blockly.Variables.NAME_TYPE); + var code = 'for ' + loopVar + ' in range(' + repeats + '):\n' + branch; + return code; +}; + +Blockly.Python['controls_repeat'] = Blockly.Python['controls_repeat_ext']; + +Blockly.Python['controls_whileUntil'] = function(block) { + // Do while/until loop. + var until = block.getFieldValue('MODE') == 'UNTIL'; + var argument0 = Blockly.Python.valueToCode(block, 'BOOL', + until ? Blockly.Python.ORDER_LOGICAL_NOT : + Blockly.Python.ORDER_NONE) || 'False'; + var branch = Blockly.Python.statementToCode(block, 'DO'); + branch = Blockly.Python.addLoopTrap(branch, block.id) || + Blockly.Python.PASS; + if (until) { + argument0 = 'not ' + argument0; + } + return 'while ' + argument0 + ':\n' + branch; +}; + +Blockly.Python['controls_for'] = function(block) { + // For loop. + var variable0 = Blockly.Python.variableDB_.getName( + block.getFieldValue('VAR'), Blockly.Variables.NAME_TYPE); + var argument0 = Blockly.Python.valueToCode(block, 'FROM', + Blockly.Python.ORDER_NONE) || '0'; + var argument1 = Blockly.Python.valueToCode(block, 'TO', + Blockly.Python.ORDER_NONE) || '0'; + var increment = Blockly.Python.valueToCode(block, 'BY', + Blockly.Python.ORDER_NONE) || '1'; + var branch = Blockly.Python.statementToCode(block, 'DO'); + branch = Blockly.Python.addLoopTrap(branch, block.id) || + Blockly.Python.PASS; + + var code = ''; + var range; + + // Helper functions. + var defineUpRange = function() { + return Blockly.Python.provideFunction_( + 'upRange', + ['def ' + Blockly.Python.FUNCTION_NAME_PLACEHOLDER_ + + '(start, stop, step):', + ' while start <= stop:', + ' yield start', + ' start += abs(step)']); + }; + var defineDownRange = function() { + return Blockly.Python.provideFunction_( + 'downRange', + ['def ' + Blockly.Python.FUNCTION_NAME_PLACEHOLDER_ + + '(start, stop, step):', + ' while start >= stop:', + ' yield start', + ' start -= abs(step)']); + }; + // Arguments are legal Python code (numbers or strings returned by scrub()). + var generateUpDownRange = function(start, end, inc) { + return '(' + start + ' <= ' + end + ') and ' + + defineUpRange() + '(' + start + ', ' + end + ', ' + inc + ') or ' + + defineDownRange() + '(' + start + ', ' + end + ', ' + inc + ')'; + }; + + if (Blockly.isNumber(argument0) && Blockly.isNumber(argument1) && + Blockly.isNumber(increment)) { + // All parameters are simple numbers. + argument0 = parseFloat(argument0); + argument1 = parseFloat(argument1); + increment = Math.abs(parseFloat(increment)); + if (argument0 % 1 === 0 && argument1 % 1 === 0 && increment % 1 === 0) { + // All parameters are integers. + if (argument0 <= argument1) { + // Count up. + argument1++; + if (argument0 == 0 && increment == 1) { + // If starting index is 0, omit it. + range = argument1; + } else { + range = argument0 + ', ' + argument1; + } + // If increment isn't 1, it must be explicit. + if (increment != 1) { + range += ', ' + increment; + } + } else { + // Count down. + argument1--; + range = argument0 + ', ' + argument1 + ', -' + increment; + } + range = 'range(' + range + ')'; + } else { + // At least one of the parameters is not an integer. + if (argument0 < argument1) { + range = defineUpRange(); + } else { + range = defineDownRange(); + } + range += '(' + argument0 + ', ' + argument1 + ', ' + increment + ')'; + } + } else { + // Cache non-trivial values to variables to prevent repeated look-ups. + var scrub = function(arg, suffix) { + if (Blockly.isNumber(arg)) { + // Simple number. + arg = parseFloat(arg); + } else if (arg.match(/^\w+$/)) { + // Variable. + arg = 'float(' + arg + ')'; + } else { + // It's complicated. + var varName = Blockly.Python.variableDB_.getDistinctName( + variable0 + suffix, Blockly.Variables.NAME_TYPE); + code += varName + ' = float(' + arg + ')\n'; + arg = varName; + } + return arg; + }; + var startVar = scrub(argument0, '_start'); + var endVar = scrub(argument1, '_end'); + var incVar = scrub(increment, '_inc'); + + if (typeof startVar == 'number' && typeof endVar == 'number') { + if (startVar < endVar) { + range = defineUpRange(startVar, endVar, increment); + } else { + range = defineDownRange(startVar, endVar, increment); + } + } else { + // We cannot determine direction statically. + range = generateUpDownRange(startVar, endVar, increment); + } + } + code += 'for ' + variable0 + ' in ' + range + ':\n' + branch; + return code; +}; + +Blockly.Python['controls_forEach'] = function(block) { + // For each loop. + var variable0 = Blockly.Python.variableDB_.getName( + block.getFieldValue('VAR'), Blockly.Variables.NAME_TYPE); + var argument0 = Blockly.Python.valueToCode(block, 'LIST', + Blockly.Python.ORDER_RELATIONAL) || '[]'; + var branch = Blockly.Python.statementToCode(block, 'DO'); + branch = Blockly.Python.addLoopTrap(branch, block.id) || + Blockly.Python.PASS; + var code = 'for ' + variable0 + ' in ' + argument0 + ':\n' + branch; + return code; +}; + +Blockly.Python['controls_flow_statements'] = function(block) { + // Flow statements: continue, break. + switch (block.getFieldValue('FLOW')) { + case 'BREAK': + return 'break\n'; + case 'CONTINUE': + return 'continue\n'; + } + throw 'Unknown flow statement.'; +}; diff --git a/Blockly/brobot/generators/python/math.js b/Blockly/brobot/generators/python/math.js new file mode 100644 index 0000000..a2595e0 --- /dev/null +++ b/Blockly/brobot/generators/python/math.js @@ -0,0 +1,388 @@ +/** + * @license + * Visual Blocks Language + * + * Copyright 2012 Google Inc. + * https://developers.google.com/blockly/ + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * 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. + */ + +/** + * @fileoverview Generating Python for math blocks. + * @author q.neutron@gmail.com (Quynh Neutron) + */ +'use strict'; + +goog.provide('Blockly.Python.math'); + +goog.require('Blockly.Python'); + + +// If any new block imports any library, add that library name here. +Blockly.Python.addReservedWords('math,random,Number'); + +Blockly.Python['math_number'] = function(block) { + // Numeric value. + var code = parseFloat(block.getFieldValue('NUM')); + var order; + if (code == Infinity) { + code = 'float("inf")'; + order = Blockly.Python.ORDER_FUNCTION_CALL; + } else if (code == -Infinity) { + code = '-float("inf")'; + order = Blockly.Python.ORDER_UNARY_SIGN; + } else { + order = code < 0 ? Blockly.Python.ORDER_UNARY_SIGN : + Blockly.Python.ORDER_ATOMIC; + } + return [code, order]; +}; + +Blockly.Python['math_arithmetic'] = function(block) { + // Basic arithmetic operators, and power. + var OPERATORS = { + 'ADD': [' + ', Blockly.Python.ORDER_ADDITIVE], + 'MINUS': [' - ', Blockly.Python.ORDER_ADDITIVE], + 'MULTIPLY': [' * ', Blockly.Python.ORDER_MULTIPLICATIVE], + 'DIVIDE': [' / ', Blockly.Python.ORDER_MULTIPLICATIVE], + 'POWER': [' ** ', Blockly.Python.ORDER_EXPONENTIATION] + }; + var tuple = OPERATORS[block.getFieldValue('OP')]; + var operator = tuple[0]; + var order = tuple[1]; + var argument0 = Blockly.Python.valueToCode(block, 'A', order) || '0'; + var argument1 = Blockly.Python.valueToCode(block, 'B', order) || '0'; + var code = argument0 + operator + argument1; + return [code, order]; + // In case of 'DIVIDE', division between integers returns different results + // in Python 2 and 3. However, is not an issue since Blockly does not + // guarantee identical results in all languages. To do otherwise would + // require every operator to be wrapped in a function call. This would kill + // legibility of the generated code. +}; + +Blockly.Python['math_single'] = function(block) { + // Math operators with single operand. + var operator = block.getFieldValue('OP'); + var code; + var arg; + if (operator == 'NEG') { + // Negation is a special case given its different operator precedence. + var code = Blockly.Python.valueToCode(block, 'NUM', + Blockly.Python.ORDER_UNARY_SIGN) || '0'; + return ['-' + code, Blockly.Python.ORDER_UNARY_SIGN]; + } + Blockly.Python.definitions_['import_math'] = 'import math'; + if (operator == 'SIN' || operator == 'COS' || operator == 'TAN') { + arg = Blockly.Python.valueToCode(block, 'NUM', + Blockly.Python.ORDER_MULTIPLICATIVE) || '0'; + } else { + arg = Blockly.Python.valueToCode(block, 'NUM', + Blockly.Python.ORDER_NONE) || '0'; + } + // First, handle cases which generate values that don't need parentheses + // wrapping the code. + switch (operator) { + case 'ABS': + code = 'math.fabs(' + arg + ')'; + break; + case 'ROOT': + code = 'math.sqrt(' + arg + ')'; + break; + case 'LN': + code = 'math.log(' + arg + ')'; + break; + case 'LOG10': + code = 'math.log10(' + arg + ')'; + break; + case 'EXP': + code = 'math.exp(' + arg + ')'; + break; + case 'POW10': + code = 'math.pow(10,' + arg + ')'; + break; + case 'ROUND': + code = 'round(' + arg + ')'; + break; + case 'ROUNDUP': + code = 'math.ceil(' + arg + ')'; + break; + case 'ROUNDDOWN': + code = 'math.floor(' + arg + ')'; + break; + case 'SIN': + code = 'math.sin(' + arg + ' / 180.0 * math.pi)'; + break; + case 'COS': + code = 'math.cos(' + arg + ' / 180.0 * math.pi)'; + break; + case 'TAN': + code = 'math.tan(' + arg + ' / 180.0 * math.pi)'; + break; + } + if (code) { + return [code, Blockly.Python.ORDER_FUNCTION_CALL]; + } + // Second, handle cases which generate values that may need parentheses + // wrapping the code. + switch (operator) { + case 'ASIN': + code = 'math.asin(' + arg + ') / math.pi * 180'; + break; + case 'ACOS': + code = 'math.acos(' + arg + ') / math.pi * 180'; + break; + case 'ATAN': + code = 'math.atan(' + arg + ') / math.pi * 180'; + break; + default: + throw 'Unknown math operator: ' + operator; + } + return [code, Blockly.Python.ORDER_MULTIPLICATIVE]; +}; + +Blockly.Python['math_constant'] = function(block) { + // Constants: PI, E, the Golden Ratio, sqrt(2), 1/sqrt(2), INFINITY. + var CONSTANTS = { + 'PI': ['math.pi', Blockly.Python.ORDER_MEMBER], + 'E': ['math.e', Blockly.Python.ORDER_MEMBER], + 'GOLDEN_RATIO': ['(1 + math.sqrt(5)) / 2', + Blockly.Python.ORDER_MULTIPLICATIVE], + 'SQRT2': ['math.sqrt(2)', Blockly.Python.ORDER_MEMBER], + 'SQRT1_2': ['math.sqrt(1.0 / 2)', Blockly.Python.ORDER_MEMBER], + 'INFINITY': ['float(\'inf\')', Blockly.Python.ORDER_ATOMIC] + }; + var constant = block.getFieldValue('CONSTANT'); + if (constant != 'INFINITY') { + Blockly.Python.definitions_['import_math'] = 'import math'; + } + return CONSTANTS[constant]; +}; + +Blockly.Python['math_number_property'] = function(block) { + // Check if a number is even, odd, prime, whole, positive, or negative + // or if it is divisible by certain number. Returns true or false. + var number_to_check = Blockly.Python.valueToCode(block, 'NUMBER_TO_CHECK', + Blockly.Python.ORDER_MULTIPLICATIVE) || '0'; + var dropdown_property = block.getFieldValue('PROPERTY'); + var code; + if (dropdown_property == 'PRIME') { + Blockly.Python.definitions_['import_math'] = 'import math'; + Blockly.Python.definitions_['from_numbers_import_Number'] = + 'from numbers import Number'; + var functionName = Blockly.Python.provideFunction_( + 'math_isPrime', + ['def ' + Blockly.Python.FUNCTION_NAME_PLACEHOLDER_ + '(n):', + ' # https://en.wikipedia.org/wiki/Primality_test#Naive_methods', + ' # If n is not a number but a string, try parsing it.', + ' if not isinstance(n, Number):', + ' try:', + ' n = float(n)', + ' except:', + ' return False', + ' if n == 2 or n == 3:', + ' return True', + ' # False if n is negative, is 1, or not whole,' + + ' or if n is divisible by 2 or 3.', + ' if n <= 1 or n % 1 != 0 or n % 2 == 0 or n % 3 == 0:', + ' return False', + ' # Check all the numbers of form 6k +/- 1, up to sqrt(n).', + ' for x in range(6, int(math.sqrt(n)) + 2, 6):', + ' if n % (x - 1) == 0 or n % (x + 1) == 0:', + ' return False', + ' return True']); + code = functionName + '(' + number_to_check + ')'; + return [code, Blockly.Python.ORDER_FUNCTION_CALL]; + } + switch (dropdown_property) { + case 'EVEN': + code = number_to_check + ' % 2 == 0'; + break; + case 'ODD': + code = number_to_check + ' % 2 == 1'; + break; + case 'WHOLE': + code = number_to_check + ' % 1 == 0'; + break; + case 'POSITIVE': + code = number_to_check + ' > 0'; + break; + case 'NEGATIVE': + code = number_to_check + ' < 0'; + break; + case 'DIVISIBLE_BY': + var divisor = Blockly.Python.valueToCode(block, 'DIVISOR', + Blockly.Python.ORDER_MULTIPLICATIVE); + // If 'divisor' is some code that evals to 0, Python will raise an error. + if (!divisor || divisor == '0') { + return ['False', Blockly.Python.ORDER_ATOMIC]; + } + code = number_to_check + ' % ' + divisor + ' == 0'; + break; + } + return [code, Blockly.Python.ORDER_RELATIONAL]; +}; + +Blockly.Python['math_change'] = function(block) { + // Add to a variable in place. + Blockly.Python.definitions_['from_numbers_import_Number'] = + 'from numbers import Number'; + var argument0 = Blockly.Python.valueToCode(block, 'DELTA', + Blockly.Python.ORDER_ADDITIVE) || '0'; + var varName = Blockly.Python.variableDB_.getName(block.getFieldValue('VAR'), + Blockly.Variables.NAME_TYPE); + return varName + ' = (' + varName + ' if isinstance(' + varName + + ', Number) else 0) + ' + argument0 + '\n'; +}; + +// Rounding functions have a single operand. +Blockly.Python['math_round'] = Blockly.Python['math_single']; +// Trigonometry functions have a single operand. +Blockly.Python['math_trig'] = Blockly.Python['math_single']; + +Blockly.Python['math_on_list'] = function(block) { + // Math functions for lists. + var func = block.getFieldValue('OP'); + var list = Blockly.Python.valueToCode(block, 'LIST', + Blockly.Python.ORDER_NONE) || '[]'; + var code; + switch (func) { + case 'SUM': + code = 'sum(' + list + ')'; + break; + case 'MIN': + code = 'min(' + list + ')'; + break; + case 'MAX': + code = 'max(' + list + ')'; + break; + case 'AVERAGE': + Blockly.Python.definitions_['from_numbers_import_Number'] = + 'from numbers import Number'; + var functionName = Blockly.Python.provideFunction_( + 'math_mean', + // This operation excludes null and values that aren't int or float:', + // math_mean([null, null, "aString", 1, 9]) == 5.0.', + ['def ' + Blockly.Python.FUNCTION_NAME_PLACEHOLDER_ + '(myList):', + ' localList = [e for e in myList if isinstance(e, Number)]', + ' if not localList: return', + ' return float(sum(localList)) / len(localList)']); + code = functionName + '(' + list + ')'; + break; + case 'MEDIAN': + Blockly.Python.definitions_['from_numbers_import_Number'] = + 'from numbers import Number'; + var functionName = Blockly.Python.provideFunction_( + 'math_median', + // This operation excludes null values: + // math_median([null, null, 1, 3]) == 2.0. + ['def ' + Blockly.Python.FUNCTION_NAME_PLACEHOLDER_ + '(myList):', + ' localList = sorted([e for e in myList if isinstance(e, Number)])', + ' if not localList: return', + ' if len(localList) % 2 == 0:', + ' return (localList[len(localList) // 2 - 1] + ' + + 'localList[len(localList) // 2]) / 2.0', + ' else:', + ' return localList[(len(localList) - 1) // 2]']); + code = functionName + '(' + list + ')'; + break; + case 'MODE': + var functionName = Blockly.Python.provideFunction_( + 'math_modes', + // As a list of numbers can contain more than one mode, + // the returned result is provided as an array. + // Mode of [3, 'x', 'x', 1, 1, 2, '3'] -> ['x', 1]. + ['def ' + Blockly.Python.FUNCTION_NAME_PLACEHOLDER_ + '(some_list):', + ' modes = []', + ' # Using a lists of [item, count] to keep count rather than dict', + ' # to avoid "unhashable" errors when the counted item is ' + + 'itself a list or dict.', + ' counts = []', + ' maxCount = 1', + ' for item in some_list:', + ' found = False', + ' for count in counts:', + ' if count[0] == item:', + ' count[1] += 1', + ' maxCount = max(maxCount, count[1])', + ' found = True', + ' if not found:', + ' counts.append([item, 1])', + ' for counted_item, item_count in counts:', + ' if item_count == maxCount:', + ' modes.append(counted_item)', + ' return modes']); + code = functionName + '(' + list + ')'; + break; + case 'STD_DEV': + Blockly.Python.definitions_['import_math'] = 'import math'; + var functionName = Blockly.Python.provideFunction_( + 'math_standard_deviation', + ['def ' + Blockly.Python.FUNCTION_NAME_PLACEHOLDER_ + '(numbers):', + ' n = len(numbers)', + ' if n == 0: return', + ' mean = float(sum(numbers)) / n', + ' variance = sum((x - mean) ** 2 for x in numbers) / n', + ' return math.sqrt(variance)']); + code = functionName + '(' + list + ')'; + break; + case 'RANDOM': + Blockly.Python.definitions_['import_random'] = 'import random'; + code = 'random.choice(' + list + ')'; + break; + default: + throw 'Unknown operator: ' + func; + } + return [code, Blockly.Python.ORDER_FUNCTION_CALL]; +}; + +Blockly.Python['math_modulo'] = function(block) { + // Remainder computation. + var argument0 = Blockly.Python.valueToCode(block, 'DIVIDEND', + Blockly.Python.ORDER_MULTIPLICATIVE) || '0'; + var argument1 = Blockly.Python.valueToCode(block, 'DIVISOR', + Blockly.Python.ORDER_MULTIPLICATIVE) || '0'; + var code = argument0 + ' % ' + argument1; + return [code, Blockly.Python.ORDER_MULTIPLICATIVE]; +}; + +Blockly.Python['math_constrain'] = function(block) { + // Constrain a number between two limits. + var argument0 = Blockly.Python.valueToCode(block, 'VALUE', + Blockly.Python.ORDER_NONE) || '0'; + var argument1 = Blockly.Python.valueToCode(block, 'LOW', + Blockly.Python.ORDER_NONE) || '0'; + var argument2 = Blockly.Python.valueToCode(block, 'HIGH', + Blockly.Python.ORDER_NONE) || 'float(\'inf\')'; + var code = 'min(max(' + argument0 + ', ' + argument1 + '), ' + + argument2 + ')'; + return [code, Blockly.Python.ORDER_FUNCTION_CALL]; +}; + +Blockly.Python['math_random_int'] = function(block) { + // Random integer between [X] and [Y]. + Blockly.Python.definitions_['import_random'] = 'import random'; + var argument0 = Blockly.Python.valueToCode(block, 'FROM', + Blockly.Python.ORDER_NONE) || '0'; + var argument1 = Blockly.Python.valueToCode(block, 'TO', + Blockly.Python.ORDER_NONE) || '0'; + var code = 'random.randint(' + argument0 + ', ' + argument1 + ')'; + return [code, Blockly.Python.ORDER_FUNCTION_CALL]; +}; + +Blockly.Python['math_random_float'] = function(block) { + // Random fraction between 0 and 1. + Blockly.Python.definitions_['import_random'] = 'import random'; + return ['random.random()', Blockly.Python.ORDER_FUNCTION_CALL]; +}; diff --git a/Blockly/brobot/generators/python/procedures.js b/Blockly/brobot/generators/python/procedures.js new file mode 100644 index 0000000..6af1448 --- /dev/null +++ b/Blockly/brobot/generators/python/procedures.js @@ -0,0 +1,120 @@ +/** + * @license + * Visual Blocks Language + * + * Copyright 2012 Google Inc. + * https://developers.google.com/blockly/ + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * 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. + */ + +/** + * @fileoverview Generating Python for procedure blocks. + * @author fraser@google.com (Neil Fraser) + */ +'use strict'; + +goog.provide('Blockly.Python.procedures'); + +goog.require('Blockly.Python'); + + +Blockly.Python['procedures_defreturn'] = function(block) { + // Define a procedure with a return value. + // First, add a 'global' statement for every variable that is not shadowed by + // a local parameter. + var globals = []; + for (var i = 0, varName; varName = block.workspace.variableList[i]; i++) { + if (block.arguments_.indexOf(varName) == -1) { + globals.push(Blockly.Python.variableDB_.getName(varName, + Blockly.Variables.NAME_TYPE)); + } + } + globals = globals.length ? ' global ' + globals.join(', ') + '\n' : ''; + var funcName = Blockly.Python.variableDB_.getName(block.getFieldValue('NAME'), + Blockly.Procedures.NAME_TYPE); + var branch = Blockly.Python.statementToCode(block, 'STACK'); + if (Blockly.Python.STATEMENT_PREFIX) { + branch = Blockly.Python.prefixLines( + Blockly.Python.STATEMENT_PREFIX.replace(/%1/g, + '\'' + block.id + '\''), Blockly.Python.INDENT) + branch; + } + if (Blockly.Python.INFINITE_LOOP_TRAP) { + branch = Blockly.Python.INFINITE_LOOP_TRAP.replace(/%1/g, + '"' + block.id + '"') + branch; + } + var returnValue = Blockly.Python.valueToCode(block, 'RETURN', + Blockly.Python.ORDER_NONE) || ''; + if (returnValue) { + returnValue = ' return ' + returnValue + '\n'; + } else if (!branch) { + branch = Blockly.Python.PASS; + } + var args = []; + for (var i = 0; i < block.arguments_.length; i++) { + args[i] = Blockly.Python.variableDB_.getName(block.arguments_[i], + Blockly.Variables.NAME_TYPE); + } + var code = 'def ' + funcName + '(' + args.join(', ') + '):\n' + + globals + branch + returnValue; + code = Blockly.Python.scrub_(block, code); + // Add % so as not to collide with helper functions in definitions list. + Blockly.Python.definitions_['%' + funcName] = code; + return null; +}; + +// Defining a procedure without a return value uses the same generator as +// a procedure with a return value. +Blockly.Python['procedures_defnoreturn'] = + Blockly.Python['procedures_defreturn']; + +Blockly.Python['procedures_callreturn'] = function(block) { + // Call a procedure with a return value. + var funcName = Blockly.Python.variableDB_.getName(block.getFieldValue('NAME'), + Blockly.Procedures.NAME_TYPE); + var args = []; + for (var i = 0; i < block.arguments_.length; i++) { + args[i] = Blockly.Python.valueToCode(block, 'ARG' + i, + Blockly.Python.ORDER_NONE) || 'None'; + } + var code = funcName + '(' + args.join(', ') + ')'; + return [code, Blockly.Python.ORDER_FUNCTION_CALL]; +}; + +Blockly.Python['procedures_callnoreturn'] = function(block) { + // Call a procedure with no return value. + var funcName = Blockly.Python.variableDB_.getName(block.getFieldValue('NAME'), + Blockly.Procedures.NAME_TYPE); + var args = []; + for (var i = 0; i < block.arguments_.length; i++) { + args[i] = Blockly.Python.valueToCode(block, 'ARG' + i, + Blockly.Python.ORDER_NONE) || 'None'; + } + var code = funcName + '(' + args.join(', ') + ')\n'; + return code; +}; + +Blockly.Python['procedures_ifreturn'] = function(block) { + // Conditionally return value from a procedure. + var condition = Blockly.Python.valueToCode(block, 'CONDITION', + Blockly.Python.ORDER_NONE) || 'False'; + var code = 'if ' + condition + ':\n'; + if (block.hasReturnValue_) { + var value = Blockly.Python.valueToCode(block, 'VALUE', + Blockly.Python.ORDER_NONE) || 'None'; + code += ' return ' + value + '\n'; + } else { + code += ' return\n'; + } + return code; +}; diff --git a/Blockly/brobot/generators/python/text.js b/Blockly/brobot/generators/python/text.js new file mode 100644 index 0000000..cd6e35d --- /dev/null +++ b/Blockly/brobot/generators/python/text.js @@ -0,0 +1,253 @@ +/** + * @license + * Visual Blocks Language + * + * Copyright 2012 Google Inc. + * https://developers.google.com/blockly/ + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * 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. + */ + +/** + * @fileoverview Generating Python for text blocks. + * @author q.neutron@gmail.com (Quynh Neutron) + */ +'use strict'; + +goog.provide('Blockly.Python.texts'); + +goog.require('Blockly.Python'); + + +Blockly.Python['text'] = function(block) { + // Text value. + var code = Blockly.Python.quote_(block.getFieldValue('TEXT')); + return [code, Blockly.Python.ORDER_ATOMIC]; +}; + +Blockly.Python['text_join'] = function(block) { + // Create a string made up of any number of elements of any type. + //Should we allow joining by '-' or ',' or any other characters? + switch (block.itemCount_) { + case 0: + return ['\'\'', Blockly.Python.ORDER_ATOMIC]; + break; + case 1: + var element = Blockly.Python.valueToCode(block, 'ADD0', + Blockly.Python.ORDER_NONE) || '\'\''; + var code = 'str(' + element + ')'; + return [code, Blockly.Python.ORDER_FUNCTION_CALL]; + break; + case 2: + var element0 = Blockly.Python.valueToCode(block, 'ADD0', + Blockly.Python.ORDER_NONE) || '\'\''; + var element1 = Blockly.Python.valueToCode(block, 'ADD1', + Blockly.Python.ORDER_NONE) || '\'\''; + var code = 'str(' + element0 + ') + str(' + element1 + ')'; + return [code, Blockly.Python.ORDER_ADDITIVE]; + break; + default: + var elements = []; + for (var i = 0; i < block.itemCount_; i++) { + elements[i] = Blockly.Python.valueToCode(block, 'ADD' + i, + Blockly.Python.ORDER_NONE) || '\'\''; + } + var tempVar = Blockly.Python.variableDB_.getDistinctName('x', + Blockly.Variables.NAME_TYPE); + var code = '\'\'.join([str(' + tempVar + ') for ' + tempVar + ' in [' + + elements.join(', ') + ']])'; + return [code, Blockly.Python.ORDER_FUNCTION_CALL]; + } +}; + +Blockly.Python['text_append'] = function(block) { + // Append to a variable in place. + var varName = Blockly.Python.variableDB_.getName(block.getFieldValue('VAR'), + Blockly.Variables.NAME_TYPE); + var value = Blockly.Python.valueToCode(block, 'TEXT', + Blockly.Python.ORDER_NONE) || '\'\''; + return varName + ' = str(' + varName + ') + str(' + value + ')\n'; +}; + +Blockly.Python['text_length'] = function(block) { + // Is the string null or array empty? + var text = Blockly.Python.valueToCode(block, 'VALUE', + Blockly.Python.ORDER_NONE) || '\'\''; + return ['len(' + text + ')', Blockly.Python.ORDER_FUNCTION_CALL]; +}; + +Blockly.Python['text_isEmpty'] = function(block) { + // Is the string null or array empty? + var text = Blockly.Python.valueToCode(block, 'VALUE', + Blockly.Python.ORDER_NONE) || '\'\''; + var code = 'not len(' + text + ')'; + return [code, Blockly.Python.ORDER_LOGICAL_NOT]; +}; + +Blockly.Python['text_indexOf'] = function(block) { + // Search the text for a substring. + // Should we allow for non-case sensitive??? + var operator = block.getFieldValue('END') == 'FIRST' ? 'find' : 'rfind'; + var substring = Blockly.Python.valueToCode(block, 'FIND', + Blockly.Python.ORDER_NONE) || '\'\''; + var text = Blockly.Python.valueToCode(block, 'VALUE', + Blockly.Python.ORDER_MEMBER) || '\'\''; + var code = text + '.' + operator + '(' + substring + ')'; + if (block.workspace.options.oneBasedIndex) { + return [code + ' + 1', Blockly.Python.ORDER_ADDITIVE]; + } + return [code, Blockly.Python.ORDER_FUNCTION_CALL]; +}; + +Blockly.Python['text_charAt'] = function(block) { + // Get letter at index. + // Note: Until January 2013 this block did not have the WHERE input. + var where = block.getFieldValue('WHERE') || 'FROM_START'; + var text = Blockly.Python.valueToCode(block, 'VALUE', + Blockly.Python.ORDER_MEMBER) || '\'\''; + switch (where) { + case 'FIRST': + var code = text + '[0]'; + return [code, Blockly.Python.ORDER_MEMBER]; + case 'LAST': + var code = text + '[-1]'; + return [code, Blockly.Python.ORDER_MEMBER]; + case 'FROM_START': + var at = Blockly.Python.getAdjustedInt(block, 'AT'); + var code = text + '[' + at + ']'; + return [code, Blockly.Python.ORDER_MEMBER]; + case 'FROM_END': + var at = Blockly.Python.getAdjustedInt(block, 'AT', 1, true); + var code = text + '[' + at + ']'; + return [code, Blockly.Python.ORDER_MEMBER]; + case 'RANDOM': + Blockly.Python.definitions_['import_random'] = 'import random'; + var functionName = Blockly.Python.provideFunction_( + 'text_random_letter', + ['def ' + Blockly.Python.FUNCTION_NAME_PLACEHOLDER_ + '(text):', + ' x = int(random.random() * len(text))', + ' return text[x];']); + code = functionName + '(' + text + ')'; + return [code, Blockly.Python.ORDER_FUNCTION_CALL]; + } + throw 'Unhandled option (text_charAt).'; +}; + +Blockly.Python['text_getSubstring'] = function(block) { + // Get substring. + var where1 = block.getFieldValue('WHERE1'); + var where2 = block.getFieldValue('WHERE2'); + var text = Blockly.Python.valueToCode(block, 'STRING', + Blockly.Python.ORDER_MEMBER) || '\'\''; + switch (where1) { + case 'FROM_START': + var at1 = Blockly.Python.getAdjustedInt(block, 'AT1'); + if (at1 == '0') { + at1 = ''; + } + break; + case 'FROM_END': + var at1 = Blockly.Python.getAdjustedInt(block, 'AT1', 1, true); + break; + case 'FIRST': + var at1 = ''; + break; + default: + throw 'Unhandled option (text_getSubstring)'; + } + switch (where2) { + case 'FROM_START': + var at2 = Blockly.Python.getAdjustedInt(block, 'AT2', 1); + break; + case 'FROM_END': + var at2 = Blockly.Python.getAdjustedInt(block, 'AT2', 0, true); + // Ensure that if the result calculated is 0 that sub-sequence will + // include all elements as expected. + if (!Blockly.isNumber(String(at2))) { + Blockly.Python.definitions_['import_sys'] = 'import sys'; + at2 += ' or sys.maxsize'; + } else if (at2 == '0') { + at2 = ''; + } + break; + case 'LAST': + var at2 = ''; + break; + default: + throw 'Unhandled option (text_getSubstring)'; + } + var code = text + '[' + at1 + ' : ' + at2 + ']'; + return [code, Blockly.Python.ORDER_MEMBER]; +}; + +Blockly.Python['text_changeCase'] = function(block) { + // Change capitalization. + var OPERATORS = { + 'UPPERCASE': '.upper()', + 'LOWERCASE': '.lower()', + 'TITLECASE': '.title()' + }; + var operator = OPERATORS[block.getFieldValue('CASE')]; + var text = Blockly.Python.valueToCode(block, 'TEXT', + Blockly.Python.ORDER_MEMBER) || '\'\''; + var code = text + operator; + return [code, Blockly.Python.ORDER_FUNCTION_CALL]; +}; + +Blockly.Python['text_trim'] = function(block) { + // Trim spaces. + var OPERATORS = { + 'LEFT': '.lstrip()', + 'RIGHT': '.rstrip()', + 'BOTH': '.strip()' + }; + var operator = OPERATORS[block.getFieldValue('MODE')]; + var text = Blockly.Python.valueToCode(block, 'TEXT', + Blockly.Python.ORDER_MEMBER) || '\'\''; + var code = text + operator; + return [code, Blockly.Python.ORDER_FUNCTION_CALL]; +}; + +Blockly.Python['text_print'] = function(block) { + // Print statement. + var msg = Blockly.Python.valueToCode(block, 'TEXT', + Blockly.Python.ORDER_NONE) || '\'\''; + return 'print(' + msg + ')\n'; +}; + +Blockly.Python['text_prompt_ext'] = function(block) { + // Prompt function. + var functionName = Blockly.Python.provideFunction_( + 'text_prompt', + ['def ' + Blockly.Python.FUNCTION_NAME_PLACEHOLDER_ + '(msg):', + ' try:', + ' return raw_input(msg)', + ' except NameError:', + ' return input(msg)']); + if (block.getField('TEXT')) { + // Internal message. + var msg = Blockly.Python.quote_(block.getFieldValue('TEXT')); + } else { + // External message. + var msg = Blockly.Python.valueToCode(block, 'TEXT', + Blockly.Python.ORDER_NONE) || '\'\''; + } + var code = functionName + '(' + msg + ')'; + var toNumber = block.getFieldValue('TYPE') == 'NUMBER'; + if (toNumber) { + code = 'float(' + code + ')'; + } + return [code, Blockly.Python.ORDER_FUNCTION_CALL]; +}; + +Blockly.Python['text_prompt'] = Blockly.Python['text_prompt_ext']; diff --git a/Blockly/brobot/generators/python/variables.js b/Blockly/brobot/generators/python/variables.js new file mode 100644 index 0000000..00d9971 --- /dev/null +++ b/Blockly/brobot/generators/python/variables.js @@ -0,0 +1,46 @@ +/** + * @license + * Visual Blocks Language + * + * Copyright 2012 Google Inc. + * https://developers.google.com/blockly/ + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * 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. + */ + +/** + * @fileoverview Generating Python for variable blocks. + * @author q.neutron@gmail.com (Quynh Neutron) + */ +'use strict'; + +goog.provide('Blockly.Python.variables'); + +goog.require('Blockly.Python'); + + +Blockly.Python['variables_get'] = function(block) { + // Variable getter. + var code = Blockly.Python.variableDB_.getName(block.getFieldValue('VAR'), + Blockly.Variables.NAME_TYPE); + return [code, Blockly.Python.ORDER_ATOMIC]; +}; + +Blockly.Python['variables_set'] = function(block) { + // Variable setter. + var argument0 = Blockly.Python.valueToCode(block, 'VALUE', + Blockly.Python.ORDER_NONE) || '0'; + var varName = Blockly.Python.variableDB_.getName(block.getFieldValue('VAR'), + Blockly.Variables.NAME_TYPE); + return varName + ' = ' + argument0 + '\n'; +}; diff --git a/Blockly/brobot/icons.png b/Blockly/brobot/icons.png new file mode 100644 index 0000000..7cced7a Binary files /dev/null and b/Blockly/brobot/icons.png differ diff --git a/Blockly/brobot/index.html b/Blockly/brobot/index.html new file mode 100644 index 0000000..02cfa12 --- /dev/null +++ b/Blockly/brobot/index.html @@ -0,0 +1,216 @@ + + + + + + BROBOT Block programming + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
+ + + +

BROBOT Block Programming v0.8

+ + +
+ + + + + + + + + + + +
... JavaScript Python XML + + + +
+
+
+
+ 

+  

+  
+
+  
+
+  

+  
Remember to connect your PC/laptop to to your B-Robot Wifi network! (JJROBOTS_xx, password:87654321)

+  

+  
+
+
diff --git a/Blockly/brobot/javascript_compressed.js b/Blockly/brobot/javascript_compressed.js
new file mode 100644
index 0000000..5507d7e
--- /dev/null
+++ b/Blockly/brobot/javascript_compressed.js
@@ -0,0 +1,91 @@
+// Do not edit this file; automatically generated by build.py.
+'use strict';
+
+
+// Copyright 2012 Google Inc.  Apache License 2.0
+Blockly.JavaScript=new Blockly.Generator("JavaScript");Blockly.JavaScript.addReservedWords("Blockly,break,case,catch,continue,debugger,default,delete,do,else,finally,for,function,if,in,instanceof,new,return,switch,this,throw,try,typeof,var,void,while,with,class,enum,export,extends,import,super,implements,interface,let,package,private,protected,public,static,yield,const,null,true,false,Array,ArrayBuffer,Boolean,Date,decodeURI,decodeURIComponent,encodeURI,encodeURIComponent,Error,eval,EvalError,Float32Array,Float64Array,Function,Infinity,Int16Array,Int32Array,Int8Array,isFinite,isNaN,Iterator,JSON,Math,NaN,Number,Object,parseFloat,parseInt,RangeError,ReferenceError,RegExp,StopIteration,String,SyntaxError,TypeError,Uint16Array,Uint32Array,Uint8Array,Uint8ClampedArray,undefined,uneval,URIError,applicationCache,closed,Components,content,_content,controllers,crypto,defaultStatus,dialogArguments,directories,document,frameElement,frames,fullScreen,globalStorage,history,innerHeight,innerWidth,length,location,locationbar,localStorage,menubar,messageManager,mozAnimationStartTime,mozInnerScreenX,mozInnerScreenY,mozPaintCount,name,navigator,opener,outerHeight,outerWidth,pageXOffset,pageYOffset,parent,performance,personalbar,pkcs11,returnValue,screen,screenX,screenY,scrollbars,scrollMaxX,scrollMaxY,scrollX,scrollY,self,sessionStorage,sidebar,status,statusbar,toolbar,top,URL,window,addEventListener,alert,atob,back,blur,btoa,captureEvents,clearImmediate,clearInterval,clearTimeout,close,confirm,disableExternalCapture,dispatchEvent,dump,enableExternalCapture,escape,find,focus,forward,GeckoActiveXObject,getAttention,getAttentionWithCycleCount,getComputedStyle,getSelection,home,matchMedia,maximize,minimize,moveBy,moveTo,mozRequestAnimationFrame,open,openDialog,postMessage,print,prompt,QueryInterface,releaseEvents,removeEventListener,resizeBy,resizeTo,restore,routeEvent,scroll,scrollBy,scrollByLines,scrollByPages,scrollTo,setCursor,setImmediate,setInterval,setResizable,setTimeout,showModalDialog,sizeToContent,stop,unescape,updateCommands,XPCNativeWrapper,XPCSafeJSObjectWrapper,onabort,onbeforeunload,onblur,onchange,onclick,onclose,oncontextmenu,ondevicemotion,ondeviceorientation,ondragdrop,onerror,onfocus,onhashchange,onkeydown,onkeypress,onkeyup,onload,onmousedown,onmousemove,onmouseout,onmouseover,onmouseup,onmozbeforepaint,onpaint,onpopstate,onreset,onresize,onscroll,onselect,onsubmit,onunload,onpageshow,onpagehide,Image,Option,Worker,Event,Range,File,FileReader,Blob,BlobBuilder,Attr,CDATASection,CharacterData,Comment,console,DocumentFragment,DocumentType,DomConfiguration,DOMError,DOMErrorHandler,DOMException,DOMImplementation,DOMImplementationList,DOMImplementationRegistry,DOMImplementationSource,DOMLocator,DOMObject,DOMString,DOMStringList,DOMTimeStamp,DOMUserData,Entity,EntityReference,MediaQueryList,MediaQueryListListener,NameList,NamedNodeMap,Node,NodeFilter,NodeIterator,NodeList,Notation,Plugin,PluginArray,ProcessingInstruction,SharedWorker,Text,TimeRanges,Treewalker,TypeInfo,UserDataHandler,Worker,WorkerGlobalScope,HTMLDocument,HTMLElement,HTMLAnchorElement,HTMLAppletElement,HTMLAudioElement,HTMLAreaElement,HTMLBaseElement,HTMLBaseFontElement,HTMLBodyElement,HTMLBRElement,HTMLButtonElement,HTMLCanvasElement,HTMLDirectoryElement,HTMLDivElement,HTMLDListElement,HTMLEmbedElement,HTMLFieldSetElement,HTMLFontElement,HTMLFormElement,HTMLFrameElement,HTMLFrameSetElement,HTMLHeadElement,HTMLHeadingElement,HTMLHtmlElement,HTMLHRElement,HTMLIFrameElement,HTMLImageElement,HTMLInputElement,HTMLKeygenElement,HTMLLabelElement,HTMLLIElement,HTMLLinkElement,HTMLMapElement,HTMLMenuElement,HTMLMetaElement,HTMLModElement,HTMLObjectElement,HTMLOListElement,HTMLOptGroupElement,HTMLOptionElement,HTMLOutputElement,HTMLParagraphElement,HTMLParamElement,HTMLPreElement,HTMLQuoteElement,HTMLScriptElement,HTMLSelectElement,HTMLSourceElement,HTMLSpanElement,HTMLStyleElement,HTMLTableElement,HTMLTableCaptionElement,HTMLTableCellElement,HTMLTableDataCellElement,HTMLTableHeaderCellElement,HTMLTableColElement,HTMLTableRowElement,HTMLTableSectionElement,HTMLTextAreaElement,HTMLTimeElement,HTMLTitleElement,HTMLTrackElement,HTMLUListElement,HTMLUnknownElement,HTMLVideoElement,HTMLCanvasElement,CanvasRenderingContext2D,CanvasGradient,CanvasPattern,TextMetrics,ImageData,CanvasPixelArray,HTMLAudioElement,HTMLVideoElement,NotifyAudioAvailableEvent,HTMLCollection,HTMLAllCollection,HTMLFormControlsCollection,HTMLOptionsCollection,HTMLPropertiesCollection,DOMTokenList,DOMSettableTokenList,DOMStringMap,RadioNodeList,SVGDocument,SVGElement,SVGAElement,SVGAltGlyphElement,SVGAltGlyphDefElement,SVGAltGlyphItemElement,SVGAnimationElement,SVGAnimateElement,SVGAnimateColorElement,SVGAnimateMotionElement,SVGAnimateTransformElement,SVGSetElement,SVGCircleElement,SVGClipPathElement,SVGColorProfileElement,SVGCursorElement,SVGDefsElement,SVGDescElement,SVGEllipseElement,SVGFilterElement,SVGFilterPrimitiveStandardAttributes,SVGFEBlendElement,SVGFEColorMatrixElement,SVGFEComponentTransferElement,SVGFECompositeElement,SVGFEConvolveMatrixElement,SVGFEDiffuseLightingElement,SVGFEDisplacementMapElement,SVGFEDistantLightElement,SVGFEFloodElement,SVGFEGaussianBlurElement,SVGFEImageElement,SVGFEMergeElement,SVGFEMergeNodeElement,SVGFEMorphologyElement,SVGFEOffsetElement,SVGFEPointLightElement,SVGFESpecularLightingElement,SVGFESpotLightElement,SVGFETileElement,SVGFETurbulenceElement,SVGComponentTransferFunctionElement,SVGFEFuncRElement,SVGFEFuncGElement,SVGFEFuncBElement,SVGFEFuncAElement,SVGFontElement,SVGFontFaceElement,SVGFontFaceFormatElement,SVGFontFaceNameElement,SVGFontFaceSrcElement,SVGFontFaceUriElement,SVGForeignObjectElement,SVGGElement,SVGGlyphElement,SVGGlyphRefElement,SVGGradientElement,SVGLinearGradientElement,SVGRadialGradientElement,SVGHKernElement,SVGImageElement,SVGLineElement,SVGMarkerElement,SVGMaskElement,SVGMetadataElement,SVGMissingGlyphElement,SVGMPathElement,SVGPathElement,SVGPatternElement,SVGPolylineElement,SVGPolygonElement,SVGRectElement,SVGScriptElement,SVGStopElement,SVGStyleElement,SVGSVGElement,SVGSwitchElement,SVGSymbolElement,SVGTextElement,SVGTextPathElement,SVGTitleElement,SVGTRefElement,SVGTSpanElement,SVGUseElement,SVGViewElement,SVGVKernElement,SVGAngle,SVGColor,SVGICCColor,SVGElementInstance,SVGElementInstanceList,SVGLength,SVGLengthList,SVGMatrix,SVGNumber,SVGNumberList,SVGPaint,SVGPoint,SVGPointList,SVGPreserveAspectRatio,SVGRect,SVGStringList,SVGTransform,SVGTransformList,SVGAnimatedAngle,SVGAnimatedBoolean,SVGAnimatedEnumeration,SVGAnimatedInteger,SVGAnimatedLength,SVGAnimatedLengthList,SVGAnimatedNumber,SVGAnimatedNumberList,SVGAnimatedPreserveAspectRatio,SVGAnimatedRect,SVGAnimatedString,SVGAnimatedTransformList,SVGPathSegList,SVGPathSeg,SVGPathSegArcAbs,SVGPathSegArcRel,SVGPathSegClosePath,SVGPathSegCurvetoCubicAbs,SVGPathSegCurvetoCubicRel,SVGPathSegCurvetoCubicSmoothAbs,SVGPathSegCurvetoCubicSmoothRel,SVGPathSegCurvetoQuadraticAbs,SVGPathSegCurvetoQuadraticRel,SVGPathSegCurvetoQuadraticSmoothAbs,SVGPathSegCurvetoQuadraticSmoothRel,SVGPathSegLinetoAbs,SVGPathSegLinetoHorizontalAbs,SVGPathSegLinetoHorizontalRel,SVGPathSegLinetoRel,SVGPathSegLinetoVerticalAbs,SVGPathSegLinetoVerticalRel,SVGPathSegMovetoAbs,SVGPathSegMovetoRel,ElementTimeControl,TimeEvent,SVGAnimatedPathData,SVGAnimatedPoints,SVGColorProfileRule,SVGCSSRule,SVGExternalResourcesRequired,SVGFitToViewBox,SVGLangSpace,SVGLocatable,SVGRenderingIntent,SVGStylable,SVGTests,SVGTextContentElement,SVGTextPositioningElement,SVGTransformable,SVGUnitTypes,SVGURIReference,SVGViewSpec,SVGZoomAndPan");
+Blockly.JavaScript.ORDER_ATOMIC=0;Blockly.JavaScript.ORDER_NEW=1.1;Blockly.JavaScript.ORDER_MEMBER=1.2;Blockly.JavaScript.ORDER_FUNCTION_CALL=2;Blockly.JavaScript.ORDER_INCREMENT=3;Blockly.JavaScript.ORDER_DECREMENT=3;Blockly.JavaScript.ORDER_BITWISE_NOT=4.1;Blockly.JavaScript.ORDER_UNARY_PLUS=4.2;Blockly.JavaScript.ORDER_UNARY_NEGATION=4.3;Blockly.JavaScript.ORDER_LOGICAL_NOT=4.4;Blockly.JavaScript.ORDER_TYPEOF=4.5;Blockly.JavaScript.ORDER_VOID=4.6;Blockly.JavaScript.ORDER_DELETE=4.7;
+Blockly.JavaScript.ORDER_DIVISION=5.1;Blockly.JavaScript.ORDER_MULTIPLICATION=5.2;Blockly.JavaScript.ORDER_MODULUS=5.3;Blockly.JavaScript.ORDER_SUBTRACTION=6.1;Blockly.JavaScript.ORDER_ADDITION=6.2;Blockly.JavaScript.ORDER_BITWISE_SHIFT=7;Blockly.JavaScript.ORDER_RELATIONAL=8;Blockly.JavaScript.ORDER_IN=8;Blockly.JavaScript.ORDER_INSTANCEOF=8;Blockly.JavaScript.ORDER_EQUALITY=9;Blockly.JavaScript.ORDER_BITWISE_AND=10;Blockly.JavaScript.ORDER_BITWISE_XOR=11;Blockly.JavaScript.ORDER_BITWISE_OR=12;
+Blockly.JavaScript.ORDER_LOGICAL_AND=13;Blockly.JavaScript.ORDER_LOGICAL_OR=14;Blockly.JavaScript.ORDER_CONDITIONAL=15;Blockly.JavaScript.ORDER_ASSIGNMENT=16;Blockly.JavaScript.ORDER_COMMA=17;Blockly.JavaScript.ORDER_NONE=99;
+Blockly.JavaScript.ORDER_OVERRIDES=[[Blockly.JavaScript.ORDER_FUNCTION_CALL,Blockly.JavaScript.ORDER_MEMBER],[Blockly.JavaScript.ORDER_FUNCTION_CALL,Blockly.JavaScript.ORDER_FUNCTION_CALL],[Blockly.JavaScript.ORDER_MEMBER,Blockly.JavaScript.ORDER_MEMBER],[Blockly.JavaScript.ORDER_MEMBER,Blockly.JavaScript.ORDER_FUNCTION_CALL],[Blockly.JavaScript.ORDER_LOGICAL_NOT,Blockly.JavaScript.ORDER_LOGICAL_NOT],[Blockly.JavaScript.ORDER_MULTIPLICATION,Blockly.JavaScript.ORDER_MULTIPLICATION],[Blockly.JavaScript.ORDER_ADDITION,
+Blockly.JavaScript.ORDER_ADDITION],[Blockly.JavaScript.ORDER_LOGICAL_AND,Blockly.JavaScript.ORDER_LOGICAL_AND],[Blockly.JavaScript.ORDER_LOGICAL_OR,Blockly.JavaScript.ORDER_LOGICAL_OR]];
+Blockly.JavaScript.init=function(a){Blockly.JavaScript.definitions_=Object.create(null);Blockly.JavaScript.functionNames_=Object.create(null);Blockly.JavaScript.variableDB_?Blockly.JavaScript.variableDB_.reset():Blockly.JavaScript.variableDB_=new Blockly.Names(Blockly.JavaScript.RESERVED_WORDS_);var b=[];a=a.variableList;if(a.length){for(var c=0;cc?Blockly.JavaScript.valueToCode(a,b,Blockly.JavaScript.ORDER_SUBTRACTION)||f:d?Blockly.JavaScript.valueToCode(a,b,Blockly.JavaScript.ORDER_UNARY_NEGATION)||f:Blockly.JavaScript.valueToCode(a,b,e)||f;if(Blockly.isNumber(a))a=parseFloat(a)+c,
+d&&(a=-a);else{if(0c&&(a=a+" - "+-c,g=Blockly.JavaScript.ORDER_SUBTRACTION);d&&(a=c?"-("+a+")":"-"+a,g=Blockly.JavaScript.ORDER_UNARY_NEGATION);g=Math.floor(g);e=Math.floor(e);g&&e>=g&&(a="("+a+")")}return a};Blockly.JavaScript.lists={};Blockly.JavaScript.lists_create_empty=function(a){return["[]",Blockly.JavaScript.ORDER_ATOMIC]};Blockly.JavaScript.lists_create_with=function(a){for(var b=Array(a.itemCount_),c=0;c b.toString() ? 1 : -1; },",
+'    "IGNORE_CASE": function(a, b) {',"        return a.toString().toLowerCase() > b.toString().toLowerCase() ? 1 : -1; },","  };","  var compare = compareFuncs[type];","  return function(a, b) { return compare(a, b) * direction; }","}"]);return[b+".slice().sort("+d+'("'+a+'", '+c+"))",Blockly.JavaScript.ORDER_FUNCTION_CALL]};
+Blockly.JavaScript.lists_split=function(a){var b=Blockly.JavaScript.valueToCode(a,"INPUT",Blockly.JavaScript.ORDER_MEMBER),c=Blockly.JavaScript.valueToCode(a,"DELIM",Blockly.JavaScript.ORDER_NONE)||"''";a=a.getFieldValue("MODE");if("SPLIT"==a)b||(b="''"),a="split";else if("JOIN"==a)b||(b="[]"),a="join";else throw"Unknown mode: "+a;return[b+"."+a+"("+c+")",Blockly.JavaScript.ORDER_FUNCTION_CALL]};Blockly.JavaScript.math={};Blockly.JavaScript.math_number=function(a){return[parseFloat(a.getFieldValue("NUM")),Blockly.JavaScript.ORDER_ATOMIC]};
+Blockly.JavaScript.math_arithmetic=function(a){var b={ADD:[" + ",Blockly.JavaScript.ORDER_ADDITION],MINUS:[" - ",Blockly.JavaScript.ORDER_SUBTRACTION],MULTIPLY:[" * ",Blockly.JavaScript.ORDER_MULTIPLICATION],DIVIDE:[" / ",Blockly.JavaScript.ORDER_DIVISION],POWER:[null,Blockly.JavaScript.ORDER_COMMA]}[a.getFieldValue("OP")],c=b[0],b=b[1],d=Blockly.JavaScript.valueToCode(a,"A",b)||"0";a=Blockly.JavaScript.valueToCode(a,"B",b)||"0";return c?[d+c+a,b]:["Math.pow("+d+", "+a+")",Blockly.JavaScript.ORDER_FUNCTION_CALL]};
+Blockly.JavaScript.math_single=function(a){var b=a.getFieldValue("OP"),c;if("NEG"==b)return a=Blockly.JavaScript.valueToCode(a,"NUM",Blockly.JavaScript.ORDER_UNARY_NEGATION)||"0","-"==a[0]&&(a=" "+a),["-"+a,Blockly.JavaScript.ORDER_UNARY_NEGATION];a="SIN"==b||"COS"==b||"TAN"==b?Blockly.JavaScript.valueToCode(a,"NUM",Blockly.JavaScript.ORDER_DIVISION)||"0":Blockly.JavaScript.valueToCode(a,"NUM",Blockly.JavaScript.ORDER_NONE)||"0";switch(b){case "ABS":c="Math.abs("+a+")";break;case "ROOT":c="Math.sqrt("+
+a+")";break;case "LN":c="Math.log("+a+")";break;case "EXP":c="Math.exp("+a+")";break;case "POW10":c="Math.pow(10,"+a+")";break;case "ROUND":c="Math.round("+a+")";break;case "ROUNDUP":c="Math.ceil("+a+")";break;case "ROUNDDOWN":c="Math.floor("+a+")";break;case "SIN":c="Math.sin("+a+" / 180 * Math.PI)";break;case "COS":c="Math.cos("+a+" / 180 * Math.PI)";break;case "TAN":c="Math.tan("+a+" / 180 * Math.PI)"}if(c)return[c,Blockly.JavaScript.ORDER_FUNCTION_CALL];switch(b){case "LOG10":c="Math.log("+a+
+") / Math.log(10)";break;case "ASIN":c="Math.asin("+a+") / Math.PI * 180";break;case "ACOS":c="Math.acos("+a+") / Math.PI * 180";break;case "ATAN":c="Math.atan("+a+") / Math.PI * 180";break;default:throw"Unknown math operator: "+b;}return[c,Blockly.JavaScript.ORDER_DIVISION]};
+Blockly.JavaScript.math_constant=function(a){return{PI:["Math.PI",Blockly.JavaScript.ORDER_MEMBER],E:["Math.E",Blockly.JavaScript.ORDER_MEMBER],GOLDEN_RATIO:["(1 + Math.sqrt(5)) / 2",Blockly.JavaScript.ORDER_DIVISION],SQRT2:["Math.SQRT2",Blockly.JavaScript.ORDER_MEMBER],SQRT1_2:["Math.SQRT1_2",Blockly.JavaScript.ORDER_MEMBER],INFINITY:["Infinity",Blockly.JavaScript.ORDER_ATOMIC]}[a.getFieldValue("CONSTANT")]};
+Blockly.JavaScript.math_number_property=function(a){var b=Blockly.JavaScript.valueToCode(a,"NUMBER_TO_CHECK",Blockly.JavaScript.ORDER_MODULUS)||"0",c=a.getFieldValue("PROPERTY"),d;if("PRIME"==c)return[Blockly.JavaScript.provideFunction_("mathIsPrime",["function "+Blockly.JavaScript.FUNCTION_NAME_PLACEHOLDER_+"(n) {","  // https://en.wikipedia.org/wiki/Primality_test#Naive_methods","  if (n == 2 || n == 3) {","    return true;","  }","  // False if n is NaN, negative, is 1, or not whole.","  // And false if n is divisible by 2 or 3.",
+"  if (isNaN(n) || n <= 1 || n % 1 != 0 || n % 2 == 0 || n % 3 == 0) {","    return false;","  }","  // Check all the numbers of form 6k +/- 1, up to sqrt(n).","  for (var x = 6; x <= Math.sqrt(n) + 1; x += 6) {","    if (n % (x - 1) == 0 || n % (x + 1) == 0) {","      return false;","    }","  }","  return true;","}"])+"("+b+")",Blockly.JavaScript.ORDER_FUNCTION_CALL];switch(c){case "EVEN":d=b+" % 2 == 0";break;case "ODD":d=b+" % 2 == 1";break;case "WHOLE":d=b+" % 1 == 0";break;case "POSITIVE":d=
+b+" > 0";break;case "NEGATIVE":d=b+" < 0";break;case "DIVISIBLE_BY":a=Blockly.JavaScript.valueToCode(a,"DIVISOR",Blockly.JavaScript.ORDER_MODULUS)||"0",d=b+" % "+a+" == 0"}return[d,Blockly.JavaScript.ORDER_EQUALITY]};Blockly.JavaScript.math_change=function(a){var b=Blockly.JavaScript.valueToCode(a,"DELTA",Blockly.JavaScript.ORDER_ADDITION)||"0";a=Blockly.JavaScript.variableDB_.getName(a.getFieldValue("VAR"),Blockly.Variables.NAME_TYPE);return a+" = (typeof "+a+" == 'number' ? "+a+" : 0) + "+b+";\n"};
+Blockly.JavaScript.math_round=Blockly.JavaScript.math_single;Blockly.JavaScript.math_trig=Blockly.JavaScript.math_single;
+Blockly.JavaScript.math_on_list=function(a){var b=a.getFieldValue("OP");switch(b){case "SUM":a=Blockly.JavaScript.valueToCode(a,"LIST",Blockly.JavaScript.ORDER_MEMBER)||"[]";a+=".reduce(function(x, y) {return x + y;})";break;case "MIN":a=Blockly.JavaScript.valueToCode(a,"LIST",Blockly.JavaScript.ORDER_COMMA)||"[]";a="Math.min.apply(null, "+a+")";break;case "MAX":a=Blockly.JavaScript.valueToCode(a,"LIST",Blockly.JavaScript.ORDER_COMMA)||"[]";a="Math.max.apply(null, "+a+")";break;case "AVERAGE":b=Blockly.JavaScript.provideFunction_("mathMean",
+["function "+Blockly.JavaScript.FUNCTION_NAME_PLACEHOLDER_+"(myList) {","  return myList.reduce(function(x, y) {return x + y;}) / myList.length;","}"]);a=Blockly.JavaScript.valueToCode(a,"LIST",Blockly.JavaScript.ORDER_NONE)||"[]";a=b+"("+a+")";break;case "MEDIAN":b=Blockly.JavaScript.provideFunction_("mathMedian",["function "+Blockly.JavaScript.FUNCTION_NAME_PLACEHOLDER_+"(myList) {","  var localList = myList.filter(function (x) {return typeof x == 'number';});","  if (!localList.length) return null;",
+"  localList.sort(function(a, b) {return b - a;});","  if (localList.length % 2 == 0) {","    return (localList[localList.length / 2 - 1] + localList[localList.length / 2]) / 2;","  } else {","    return localList[(localList.length - 1) / 2];","  }","}"]);a=Blockly.JavaScript.valueToCode(a,"LIST",Blockly.JavaScript.ORDER_NONE)||"[]";a=b+"("+a+")";break;case "MODE":b=Blockly.JavaScript.provideFunction_("mathModes",["function "+Blockly.JavaScript.FUNCTION_NAME_PLACEHOLDER_+"(values) {","  var modes = [];",
+"  var counts = [];","  var maxCount = 0;","  for (var i = 0; i < values.length; i++) {","    var value = values[i];","    var found = false;","    var thisCount;","    for (var j = 0; j < counts.length; j++) {","      if (counts[j][0] === value) {","        thisCount = ++counts[j][1];","        found = true;","        break;","      }","    }","    if (!found) {","      counts.push([value, 1]);","      thisCount = 1;","    }","    maxCount = Math.max(thisCount, maxCount);","  }","  for (var j = 0; j < counts.length; j++) {",
+"    if (counts[j][1] == maxCount) {","        modes.push(counts[j][0]);","    }","  }","  return modes;","}"]);a=Blockly.JavaScript.valueToCode(a,"LIST",Blockly.JavaScript.ORDER_NONE)||"[]";a=b+"("+a+")";break;case "STD_DEV":b=Blockly.JavaScript.provideFunction_("mathStandardDeviation",["function "+Blockly.JavaScript.FUNCTION_NAME_PLACEHOLDER_+"(numbers) {","  var n = numbers.length;","  if (!n) return null;","  var mean = numbers.reduce(function(x, y) {return x + y;}) / n;","  var variance = 0;",
+"  for (var j = 0; j < n; j++) {","    variance += Math.pow(numbers[j] - mean, 2);","  }","  variance = variance / n;","  return Math.sqrt(variance);","}"]);a=Blockly.JavaScript.valueToCode(a,"LIST",Blockly.JavaScript.ORDER_NONE)||"[]";a=b+"("+a+")";break;case "RANDOM":b=Blockly.JavaScript.provideFunction_("mathRandomList",["function "+Blockly.JavaScript.FUNCTION_NAME_PLACEHOLDER_+"(list) {","  var x = Math.floor(Math.random() * list.length);","  return list[x];","}"]);a=Blockly.JavaScript.valueToCode(a,
+"LIST",Blockly.JavaScript.ORDER_NONE)||"[]";a=b+"("+a+")";break;default:throw"Unknown operator: "+b;}return[a,Blockly.JavaScript.ORDER_FUNCTION_CALL]};Blockly.JavaScript.math_modulo=function(a){var b=Blockly.JavaScript.valueToCode(a,"DIVIDEND",Blockly.JavaScript.ORDER_MODULUS)||"0";a=Blockly.JavaScript.valueToCode(a,"DIVISOR",Blockly.JavaScript.ORDER_MODULUS)||"0";return[b+" % "+a,Blockly.JavaScript.ORDER_MODULUS]};
+Blockly.JavaScript.math_constrain=function(a){var b=Blockly.JavaScript.valueToCode(a,"VALUE",Blockly.JavaScript.ORDER_COMMA)||"0",c=Blockly.JavaScript.valueToCode(a,"LOW",Blockly.JavaScript.ORDER_COMMA)||"0";a=Blockly.JavaScript.valueToCode(a,"HIGH",Blockly.JavaScript.ORDER_COMMA)||"Infinity";return["Math.min(Math.max("+b+", "+c+"), "+a+")",Blockly.JavaScript.ORDER_FUNCTION_CALL]};
+Blockly.JavaScript.math_random_int=function(a){var b=Blockly.JavaScript.valueToCode(a,"FROM",Blockly.JavaScript.ORDER_COMMA)||"0";a=Blockly.JavaScript.valueToCode(a,"TO",Blockly.JavaScript.ORDER_COMMA)||"0";return[Blockly.JavaScript.provideFunction_("mathRandomInt",["function "+Blockly.JavaScript.FUNCTION_NAME_PLACEHOLDER_+"(a, b) {","  if (a > b) {","    // Swap a and b to ensure a is smaller.","    var c = a;","    a = b;","    b = c;","  }","  return Math.floor(Math.random() * (b - a + 1) + a);",
+"}"])+"("+b+", "+a+")",Blockly.JavaScript.ORDER_FUNCTION_CALL]};Blockly.JavaScript.math_random_float=function(a){return["Math.random()",Blockly.JavaScript.ORDER_FUNCTION_CALL]};Blockly.JavaScript.variables={};Blockly.JavaScript.variables_get=function(a){return[Blockly.JavaScript.variableDB_.getName(a.getFieldValue("VAR"),Blockly.Variables.NAME_TYPE),Blockly.JavaScript.ORDER_ATOMIC]};Blockly.JavaScript.variables_set=function(a){var b=Blockly.JavaScript.valueToCode(a,"VALUE",Blockly.JavaScript.ORDER_ASSIGNMENT)||"0";return Blockly.JavaScript.variableDB_.getName(a.getFieldValue("VAR"),Blockly.Variables.NAME_TYPE)+" = "+b+";\n"};Blockly.JavaScript.colour={};Blockly.JavaScript.colour_picker=function(a){return["'"+a.getFieldValue("COLOUR")+"'",Blockly.JavaScript.ORDER_ATOMIC]};Blockly.JavaScript.colour_random=function(a){return[Blockly.JavaScript.provideFunction_("colourRandom",["function "+Blockly.JavaScript.FUNCTION_NAME_PLACEHOLDER_+"() {","  var num = Math.floor(Math.random() * Math.pow(2, 24));","  return '#' + ('00000' + num.toString(16)).substr(-6);","}"])+"()",Blockly.JavaScript.ORDER_FUNCTION_CALL]};
+Blockly.JavaScript.colour_rgb=function(a){var b=Blockly.JavaScript.valueToCode(a,"RED",Blockly.JavaScript.ORDER_COMMA)||0,c=Blockly.JavaScript.valueToCode(a,"GREEN",Blockly.JavaScript.ORDER_COMMA)||0;a=Blockly.JavaScript.valueToCode(a,"BLUE",Blockly.JavaScript.ORDER_COMMA)||0;return[Blockly.JavaScript.provideFunction_("colourRgb",["function "+Blockly.JavaScript.FUNCTION_NAME_PLACEHOLDER_+"(r, g, b) {","  r = Math.max(Math.min(Number(r), 100), 0) * 2.55;","  g = Math.max(Math.min(Number(g), 100), 0) * 2.55;",
+"  b = Math.max(Math.min(Number(b), 100), 0) * 2.55;","  r = ('0' + (Math.round(r) || 0).toString(16)).slice(-2);","  g = ('0' + (Math.round(g) || 0).toString(16)).slice(-2);","  b = ('0' + (Math.round(b) || 0).toString(16)).slice(-2);","  return '#' + r + g + b;","}"])+"("+b+", "+c+", "+a+")",Blockly.JavaScript.ORDER_FUNCTION_CALL]};
+Blockly.JavaScript.colour_blend=function(a){var b=Blockly.JavaScript.valueToCode(a,"COLOUR1",Blockly.JavaScript.ORDER_COMMA)||"'#000000'",c=Blockly.JavaScript.valueToCode(a,"COLOUR2",Blockly.JavaScript.ORDER_COMMA)||"'#000000'";a=Blockly.JavaScript.valueToCode(a,"RATIO",Blockly.JavaScript.ORDER_COMMA)||.5;return[Blockly.JavaScript.provideFunction_("colourBlend",["function "+Blockly.JavaScript.FUNCTION_NAME_PLACEHOLDER_+"(c1, c2, ratio) {","  ratio = Math.max(Math.min(Number(ratio), 1), 0);","  var r1 = parseInt(c1.substring(1, 3), 16);",
+"  var g1 = parseInt(c1.substring(3, 5), 16);","  var b1 = parseInt(c1.substring(5, 7), 16);","  var r2 = parseInt(c2.substring(1, 3), 16);","  var g2 = parseInt(c2.substring(3, 5), 16);","  var b2 = parseInt(c2.substring(5, 7), 16);","  var r = Math.round(r1 * (1 - ratio) + r2 * ratio);","  var g = Math.round(g1 * (1 - ratio) + g2 * ratio);","  var b = Math.round(b1 * (1 - ratio) + b2 * ratio);","  r = ('0' + (r || 0).toString(16)).slice(-2);","  g = ('0' + (g || 0).toString(16)).slice(-2);","  b = ('0' + (b || 0).toString(16)).slice(-2);",
+"  return '#' + r + g + b;","}"])+"("+b+", "+c+", "+a+")",Blockly.JavaScript.ORDER_FUNCTION_CALL]};Blockly.JavaScript.procedures={};
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