sumorobot-web/sumorobot.js

630 lines
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/* disable enable hotkeys */
var hotkeys = true;
/* enable disable remote control */
var remoteControl = false;
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/* the local/remote server URL */
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//var robotServer = "10.42.0.1";
var robotServer = "iot.koodur.com";
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/* ace editor object */
var pythonEditor = null;
/* the sumorobot code */
var sumocode = "";
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/* the sumorobot object */
var sumorobot = null;
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/* Blockly workspace */
var workspace = null;
/* the sumorobot state */
var sumostart = false;
/* disable / enable Python code */
var pythonEnabled = false;
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/* control_if block id */
var controlBlockId = "";
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/* last hightlighted block id */
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var lastHighlighted = "";
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/* block highlight WebSocket */
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var blockHighlight = null;
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var Sumorobot = function(wsUri) {
/* assign the WebSocket URI */
this.wsUri = wsUri;
/* start connecting to the WebSocket */
this.connect();
/* to ping the robot */
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this.watchdogTimer = null;
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};
Sumorobot.prototype.connect = function() {
/* to have access to this object */
var self = this;
this.websocket = new WebSocket(this.wsUri);
/* when the WebSocket gets connected */
this.websocket.onopen = function(evt) {
console.log("INFO websocket connected");
/* setup a timer to ping the robot */
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self.watchdogTimer = setInterval(function() {
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/* send a ping to the robot */
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//console.log("ping the robot")
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self.send("ping");
}, 2000);
};
/* when the WebSocket closes */
this.websocket.onclose = function(evt) {
console.log("INFO websocket disconnected");
/* clear the pinging */
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clearInterval(self.watchdogTimer);
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/* Try to recnnect to the sumorobot */
self.connect();
};
/* when there is a message from the WebSocket */
this.websocket.onmessage = function(evt) {
/* when scope is received */
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var data = evt.data.replace(/'/g, '"').toLowerCase();
console.log(data);
var battery = JSON.parse(data)["battery_voltage"];
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$("#battery").html(battery + "V");
$("#battery").addClass("connected");
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};
/* when there is an WebSocket error */
this.websocket.onerror = function(err) {
console.log("ERROR websocket error: " + err);
};
};
Sumorobot.prototype.send = function(msg) {
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/* ready state constants: CONNECTING 0, OPEN 1, CLOSING 2, CLOSED 3 */
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/* https://developer.mozilla.org/en-US/docs/Web/API/WebSocket */
if (this.websocket.readyState == 1) {
this.websocket.send(msg);
}
};
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Sumorobot.prototype.close = function() {
/* close the WebSocket connection */
this.websocket.close();
};
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window.onload = function() {
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/* function to update the control panel */
function updateControlPanel() {
/* hide all buttons and text fields */
$(".robot-id, .robot-nr, .btn-robot-nr").hide();
/* show the first button and text field */
$(".robot-id:eq(0), .robot-nr:eq(0), .btn-robot-nr:eq(0)").show();
/* adjust the buttons and text fields to be in the middle */
$(".input-group, .btn-group-robot").css("width", "20%");
$(".input-group, .btn-group-robot").css("margin-left", "40%");
/* hide the robot add button */
$(".btn-robot-add").hide();
/* populate robots IDs and buttons */
for (var i = 0; i < 5; i++) {
var id = getLocalStorageItem("sumorobot.robotID" + i);
if (id) {
$(".robot-id:eq(" + i + ")").val(id);
$(".robot-id:eq(" + i + "), .robot-nr:eq(" + i + "), .btn-robot-nr:eq(" + i + ")").show();
$(".input-group, .btn-group-robot").css("width", 20 + (i * 20) + "%");
$(".input-group, .btn-group-robot").css("margin-left", 40 - (i * 10) + "%");
} else {
/* when no robots yet added */
if (i != 0) {
/* show the robot add button */
$(".btn-robot-add").show();
$(".btn-group-robot").css("width", 20 + (i * 20) + "%");
$(".input-group, .btn-group-robot").css("margin-left", 40 - (i * 10) + "%");
/* add click listener to the robot add button */
$(".btn-robot-add").click(function() {
$(".robot-id:eq(" + i + "), .robot-nr:eq(" + i + "), .btn-robot-nr:eq(" + i + ")").show();
$(".input-group, .btn-group-robot").css("width", 20 + (i * 20) + "%");
$(".input-group, .btn-group-robot").css("margin-left", 40 - (i * 10) + "%");
$(this).hide();
});
}
break;
}
}
}
/* load the control panel */
updateControlPanel();
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/* load ace editor */
pythonEditor = ace.edit("blocklyCode");
/* set the style */
pythonEditor.setTheme("ace/theme/textmate");
pythonEditor.session.setMode("ace/mode/python");
pythonEditor.session.setTabSize(2);
pythonEditor.setReadOnly(true);
/* disable scrolling warning */
pythonEditor.$blockScrolling = Infinity;
/* enable autocomplete */
ace.require("ace/ext/language_tools");
pythonEditor.setOptions({
enableSnippets: true,
enableLiveAutocompletion: true,
enableBasicAutocompletion: true
});
/* add autocomplete keywords */
pythonEditor.completers.push({
getCompletions: function(editor, session, pos, prefix, callback) {
callback(null, [
{value: "STOP", score: 1000, meta: "sumorobot"},
{value: "LEFT", score: 1000, meta: "sumorobot"},
{value: "RIGHT", score: 1000, meta: "sumorobot"},
{value: "FORWARD", score: 1000, meta: "sumorobot"},
{value: "BACKWARD", score: 1000, meta: "sumorobot"},
{value: "STATUS", score: 1000, meta: "sumorobot"},
{value: "LEFT_LINE", score: 1000, meta: "sumorobot"},
{value: "RIGHT_LINE", score: 1000, meta: "sumorobot"},
{value: "sumorobot", score: 1000, meta: "sumorobot"},
{value: "move", score: 1000, meta: "sumorobot"},
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{value: "sleep", score: 1000, meta: "sumorobot"},
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{value: "set_led", score: 1000, meta: "sumorobot"},
{value: "is_line", score: 1000, meta: "sumorobot"},
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{value: "get_line", score: 1000, meta: "sumorobot"},
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{value: "set_servo", score: 1000, meta: "sumorobot"},
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{value: "is_opponent", score: 1000, meta: "sumorobot"},
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{value: "calibrate_line", score: 1000, meta: "sumorobot"},
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{value: "get_battery_voltage", score: 1000, meta: "sumorobot"},
{value: "get_opponent_distance", score: 1000, meta: "sumorobot"}
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]);
}
});
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/* change the if block to be more cheerful */
Blockly.Msg.LOGIC_HUE = '#44CC00';
Blockly.Constants.Logic.HUE = '#44CC00';
/* remote previous and next statement from control_if block */
Blockly.defineBlocksWithJsonArray([
{
"type": "controls_if",
"message0": "%{BKY_CONTROLS_IF_MSG_IF} %1",
"args0": [
{
"type": "input_value",
"name": "IF0",
"check": "Boolean"
}
],
"message1": "%{BKY_CONTROLS_IF_MSG_THEN} %1",
"args1": [
{
"type": "input_statement",
"name": "DO0"
}
],
"colour": "%{BKY_LOGIC_HUE}",
"helpUrl": "%{BKY_CONTROLS_IF_HELPURL}",
"mutator": "controls_if_mutator",
"extensions": ["controls_if_tooltip"]
}
]);
/* make control_if mutator icon bigger */
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Blockly.Icon.prototype.renderIcon = function(cursorX) {
if (this.collapseHidden && this.block_.isCollapsed()) {
this.iconGroup_.setAttribute('display', 'none');
return cursorX;
}
this.iconGroup_.setAttribute('display', 'block');
var SIZE = 1.7;
var TOP_MARGIN = 2;
var LEFT_MARGIN = 5;
var width = this.SIZE;
if (this.block_.RTL) {
cursorX -= width;
}
this.iconGroup_.setAttribute('transform',
'translate(' + LEFT_MARGIN + ',' + TOP_MARGIN + ') scale(' + SIZE + ')');
this.computeIconLocation();
if (this.block_.RTL) {
cursorX -= Blockly.BlockSvg.SEP_SPACE_X;
} else {
cursorX += width + Blockly.BlockSvg.SEP_SPACE_X;
}
return cursorX;
};
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/* when mouse click occures on Blockly workspace */
Blockly.utils.isRightButton = function(e) {
var target = e.target;
/* when control_if block is in use */
if (controlBlockId != "") {
/* when the user clicks anywhere outside the mutator and not on the mutator icon */
if (!$(target).is('.blocklyBubbleCanvas') && !$(target).parents().is('.blocklyBubbleCanvas')) {
if (!$(target).is('.blocklyIconGroup') && !$(target).parents().is('.blocklyIconGroup')) {
/* hide the mutator */
workspace.getBlockById(controlBlockId).mutator.setVisible(false);
}
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}
}
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/* disable right click on Blockly workspace */
return false;
};
Blockly.Blocks['sumorobot_delay'] = {
init: function() {
this.setColour("#E64C00");
this.appendDummyInput()
.appendField("delay")
.appendField(new Blockly.FieldTextInput('1000',
Blockly.FieldNumber.numberValidator), 'DELAY');
this.setPreviousStatement(true);
this.setNextStatement(true);
}
};
Blockly.Blocks['sumorobot_move'] = {
init: function() {
var OPERATORS = [
['move stop', 'STOP'],
['move left', 'LEFT'],
['move right', 'RIGHT'],
['move forward', 'FORWARD'],
['move backward', 'BACKWARD']
];
this.setColour("#E60000");
var dropdown = new Blockly.FieldDropdown(OPERATORS);
this.appendDummyInput().appendField(dropdown, 'MOVE');
this.setPreviousStatement(true);
this.setNextStatement(true);
}
};
Blockly.Blocks['sumorobot_opponent'] = {
init: function() {
this.setColour("#0099E6");
this.appendDummyInput().appendField('opponent');
this.setOutput(true, 'Boolean');
}
};
Blockly.Blocks['sumorobot_line'] = {
init: function() {
var OPERATORS = [
['line left', 'LEFT'],
['line right', 'RIGHT']
];
this.setColour("#E6BF00");
var dropdown = new Blockly.FieldDropdown(OPERATORS);
this.appendDummyInput().appendField(dropdown, 'LINE');
this.setOutput(true, 'Boolean');
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}
};
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Blockly.Python['sumorobot_delay'] = function(block) {
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var code = 'sumorobot.sleep(' + parseFloat(block.getFieldValue('DELAY')) + ', "' + block.id + '")\n';
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return code;
};
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Blockly.Python['sumorobot_move'] = function(block) {
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var code = 'sumorobot.move(' + block.getFieldValue('MOVE') + ', "' + block.id + '")\n';
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return code;
};
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Blockly.Python['sumorobot_opponent'] = function(block) {
var code = 'sumorobot.is_opponent("' + block.id + '")';
return [code, Blockly.Python.ORDER_ATOMIC];
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};
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Blockly.Python['sumorobot_line'] = function(block) {
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var code = 'sumorobot.is_line(' + block.getFieldValue('LINE') + ', "' + block.id + '")';
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return [code, Blockly.Python.ORDER_ATOMIC];
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};
/* inject Blockly */
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var blocklyArea = document.getElementById('blocklyArea');
var blocklyDiv = document.getElementById('blocklyDiv');
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workspace = Blockly.inject(blocklyDiv, {
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scrollbars: false,
media: 'media/',
trashcan: true,
sounds: true,
zoom: {
wheel: true,
controls: true,
startScale: 1.2
},
toolbox: document.getElementById('toolbox')
});
/* on Blockly resize */
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var onresize = function(e) {
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// compute the absolute coordinates and dimensions of blocklyArea.
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var element = blocklyArea;
var x = 0;
var y = 0;
do {
x += element.offsetLeft;
y += element.offsetTop;
element = element.offsetParent;
} while (element);
/* position blocklyDiv over blocklyArea */
blocklyDiv.style.left = x + 'px';
blocklyDiv.style.top = y + 'px';
blocklyDiv.style.width = blocklyArea.offsetWidth + 'px';
blocklyDiv.style.height = blocklyArea.offsetHeight + 'px';
};
window.addEventListener('resize', onresize, false);
onresize();
Blockly.svgResize(workspace);
/* function to set local storage */
function getLocalStorageItem(item) {
/* when the local storage doesn't exist, return empty string */
if (typeof(Storage) === "undefined") return "";
/* otherwise return item from the local storage*/
return localStorage.getItem(item);
}
/* function to set local storage */
function setLocalStorageItem(item, value) {
/* when local storage doesn't exist, return */
if (typeof(Storage) === "undefined") return;
/* otherwise set the item to the local storage */
localStorage.setItem(item, value)
}
/* retrieve the blocks */
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var xml = Blockly.Xml.textToDom(getLocalStorageItem("sumorobot.blockly"));
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/* resume the blocks */
Blockly.Xml.domToWorkspace(xml, workspace);
/* on Blockly code change */
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function onCodeChanged(event) {
/* if the if condition block was created */
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if (event.type == Blockly.Events.CREATE && event.xml.getAttributeNode("type").nodeValue == "controls_if") {
/* remember the control_if block id */
controlBlockId = event.blockId;
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/* get the control_if block object */
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var block = workspace.getBlockById(event.blockId);
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/* if the control_if block doesn't already have an else */
if (block.elseCount_ == 0) {
/* automatically add the else statement input */
block.elseCount_ = 1;
block.updateShape_();
}
/* if the if condition block was removed */
} else if (event.type == Blockly.Events.DELETE && event.oldXml.getAttributeNode("type").nodeValue == "controls_if") {
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/* remove the control_if block id */
controlBlockId = "";
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/* enable the if condition block */
workspace.updateToolbox(document.getElementById("toolbox"));
}
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/* only process change and move commands */
if (event.type != Blockly.Events.CHANGE && event.type != Blockly.Events.MOVE) return;
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/* generate code from the used blocks */
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sumocode = Blockly.Python.workspaceToCode(workspace);
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/* show the code in the ace editor, filter out block IDs */
pythonEditor.setValue("\n" + sumocode.replace(/[,]?[ ]?"(.*?)"/g, ""));
pythonEditor.clearSelection();
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/* save the code to the local storage */
var xml = Blockly.Xml.workspaceToDom(workspace);
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localStorage.setItem("sumorobot.blockly", Blockly.Xml.domToText(xml));
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/* if control_if block is used */
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if (controlBlockId != "") {
/* disable the if condition block */
workspace.updateToolbox(document.getElementById("toolbox_no_if"));
}
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}
/* add a change listener to Blockly */
workspace.addChangeListener(onCodeChanged);
/* key down event */
$(document).keydown(function(e) {
/* if the hotkeys are disabled or the alt key is not pressed, don't use hotkeys */
if (hotkeys == false || e.altKey == false) return;
/* prevent typing in textfields */
e.preventDefault();
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/* select the hotkey */
switch(e.which) {
case 32: // space bar
sumostart = !sumostart;
if (sumostart) {
$(".btn-start").addClass("hover");
$(".btn-start").click();
} else {
$(".btn-stop").addClass("hover");
$(".btn-stop").click();
}
break;
case 37: // left
if (remoteControl) sumorobot.send("left");
break;
case 38: // up
if (remoteControl) sumorobot.send("forward");
break;
case 39: // right
if (remoteControl) sumorobot.send("right");
break;
case 40: // down
if (remoteControl) sumorobot.send("backward");
break;
case 49: // 1
$(".btn-robot-nr:eq(0)").click();
break;
case 50: // 2
$(".btn-robot-nr:eq(1)").click();
break;
case 51: // 3
$(".btn-robot-nr:eq(2)").click();
break;
case 52: // 4
$(".btn-robot-nr:eq(3)").click();
break;
case 53: // 5
$(".btn-robot-nr:eq(4)").click();
break;
case 67: // c
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updateControlPanel();
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$("#panel").toggle();
break;
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case 76: // l
$("#stream").toggle();
$("#blocklyCode").toggle();
break;
case 80: // p
$("#blocklyDiv").toggle();
$("#blocklyArea").toggle();
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/* disable / enable ace editor */
pythonEditor.setReadOnly(pythonEnabled);
/* toggle python enabled */
pythonEnabled = !pythonEnabled;
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if (pythonEnabled) {
/* get the saved Python code from local storage or set empty */
pythonEditor.setValue(getLocalStorageItem("sumorobot.python") || "");
/* add an input listener for the code editor */
pythonEditor.on("change", function() {
setLocalStorageItem("sumorobot.python", pythonEditor.getValue())
});
pythonEditor.clearSelection();
pythonEditor.focus();
} else {
/* remove input listener from the code editor */
pythonEditor.session.removeAllListeners("change");
/* fire CHANGE event in Blockly workspace to change the Python code */
var event = {type: Blockly.Events.CHANGE};
workspace.fireChangeListener(event);
pythonEditor.blur();
}
break;
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case 82: // r
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if (remoteControl)
$("#remote-disabled").click();
else
$("#remote-enabled").click();
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break;
case 83: // s
$(".btn-stop").addClass("hover");
$(".btn-stop").click();
break;
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case 84: // t
sumorobot.send("calibrate_line");
break;
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case 87: // w
$(".btn-start").addClass("hover");
$(".btn-start").click();
break;
}
});
/* key up event */
$(document).keyup(function(e) {
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/* if the hotkeys are disabled or the focused element is a textarea or text input, don't use hotkeys */
if (hotkeys == false || e.altKey == false) return;
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/* remove hover from buttons */
$('.btn').removeClass('hover');
/* if arrow keys */
if (e.which == 37 || e.which == 38 || e.which == 39 || e.which == 40) {
if (remoteControl) sumorobot.send("stop");
}
});
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/* start button listener */
$(".btn-close").click(function() {
$("#stream").hide();
});
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/* start button listener */
$(".btn-start").click(function() {
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sumostart = true;
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/* if we are in Python mode */
if (pythonEnabled) {
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/* send the code from the textarea to the SumoRobot */
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sumorobot.send("start:" + pythonEditor.getValue());
/* otherwise when we are in Blockly mode */
} else {
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/* send the code from the blocks to the SumoRobot */
sumorobot.send("start:" + sumocode);
}
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});
/* stop button listener */
$(".btn-stop").click(function() {
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sumostart = false;
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sumorobot.send("stop");
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workspace.highlightBlock(lastHighlighted, false);
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});
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/* remote control enable listener */
$("#remote-enabled").click(function() {
remoteControl = true;
});
/* remote control disable listener */
$("#remote-disabled").click(function() {
remoteControl = false;
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});
/* robot number button listener */
$(".btn-robot-nr").click(function() {
/* extract and validate the selected robot ID */
var index = $(".btn-robot-nr").index($(this));
var robotID = $(".robot-id:eq(" + index + ")").val();
if (robotID.trim() === "") {
$(".robot-nr:eq(" + index + "), .robot-id:eq(" + index + ")").addClass("has-error");
return;
} else {
$(".robot-nr:eq(" + index + "), .robot-id:eq(" + index + ")").removeClass("has-error");
}
/* highlight the selected robot button */
$(".btn-robot-nr").removeClass("btn-selected");
$(this).addClass("btn-selected");
/* update robot IDs in local storage */
setLocalStorageItem("sumorobot.robotID" + index, robotID);
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/* in case there is a open connection */
if (sumorobot && blockHighlight) {
/* close the connections */
sumorobot.close();
blockHighlight.close();
}
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/* connect to the selected robots WebSocket */
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sumorobot = new Sumorobot("ws://" + robotServer + ":80/p2p/browser/" + robotID + "/");
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/* connect to the other block highlight WebSocket */
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blockHighlight = new WebSocket("ws://" + robotServer + ":80/p2p/browser/" + robotID + "-highlight/");
/* when there is a message from the WebSocket */
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blockHighlight.onmessage = function(evt) {
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/* when scope is received */
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if (evt.data.length == 20 && sumostart) {
workspace.highlightBlock(evt.data);
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lastHighlighted = evt.data;
}
};
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/* hide the configuration panel */
$("#panel").hide();
});
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/* load the Mixer stream */
$("#stream").html('<iframe width="100%" height="100%" allowfullscreen="true" src="https://mixer.com/embed/player/14551694"></iframe>');
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/* set a click listener on the document */
$(document).click(function(e) {
var target = e.target;
/* when control_if block is in use */
if (controlBlockId != "") {
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/* when the user clicks anywhere outside the mutator and not on the mutator icon */
if (!$(target).is('.blocklyBubbleCanvas') && !$(target).parents().is('.blocklyBubbleCanvas')) {
if (!$(target).is('.blocklyIconGroup') && !$(target).parents().is('.blocklyIconGroup')) {
/* hide the mutator */
workspace.getBlockById(controlBlockId).mutator.setVisible(false);
}
}
}
});
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}