create separate sumorobot class
This commit is contained in:
Silver Kuusik
GitHub
parent
b03e7374a5
commit
93972a3972
|
|
@ -1,595 +1,101 @@
|
|||
/* disable enable hotkeys */
|
||||
var hotkeys = true;
|
||||
/* enable disable remote control */
|
||||
var remoteControl = false;
|
||||
/* the local/remote server URL */
|
||||
//var robotServer = "10.42.0.1";
|
||||
var robotServer = "ws.achex.ca:4010";
|
||||
|
||||
/* ace editor object */
|
||||
var codingEditor = null;
|
||||
/* read only ace editor object */
|
||||
var readOnlyCodingEditor = null;
|
||||
|
||||
// sumorobot ID
|
||||
var robotId = "";
|
||||
/* the sumorobot code */
|
||||
var sumocode = "";
|
||||
/* the sumorobot object */
|
||||
var sumorobot = null;
|
||||
/* Blockly workspace */
|
||||
var workspace = null;
|
||||
/* the sumorobot state */
|
||||
var sumostart = false;
|
||||
/* disable / enable coding mode */
|
||||
var codingEnabled = false;
|
||||
/* disable / enable live stream */
|
||||
var liveStreamVisible = false;
|
||||
|
||||
/* connection watchdog counter */
|
||||
var watchdogCounter = 0;
|
||||
/* control_if block id */
|
||||
var controlBlockId = "";
|
||||
/* last hightlighted block id */
|
||||
var lastHighlighted = "";
|
||||
/* block highlight WebSocket */
|
||||
var blockHighlight = null;
|
||||
|
||||
var Sumorobot = function(wsUri) {
|
||||
/* assign the WebSocket URI */
|
||||
// Sumorobot constructor
|
||||
var Sumorobot = function(wsUri, robotId) {
|
||||
// Assign the WebSocket URI
|
||||
this.wsUri = wsUri;
|
||||
/* start connecting to the WebSocket */
|
||||
this.connect();
|
||||
/* to ping the robot */
|
||||
// Assign the SumoRobot ID
|
||||
this.robotId = robotId;
|
||||
// To keep track of the WebSocket connection
|
||||
this.watchdogTimer = 0;
|
||||
// Timer to ping the SumoRobot
|
||||
this.watchdogTimer = null;
|
||||
// To store Blockly code
|
||||
this.blocklyCode = "";
|
||||
// Start connecting to the WebSocket
|
||||
this.connect();
|
||||
};
|
||||
|
||||
// Function to initiate the WebSocket connection
|
||||
Sumorobot.prototype.connect = function() {
|
||||
/* to have access to this object */
|
||||
// To have access to this object inside events
|
||||
var self = this;
|
||||
this.websocket = new WebSocket(this.wsUri);
|
||||
/* setup connection watchdog interval */
|
||||
// Setup connection watchdog interval
|
||||
setInterval(function() {
|
||||
if (watchdogCounter == 0) {
|
||||
if (self.watchdogCounter == 0) {
|
||||
$("#battery").removeClass("connected");
|
||||
$("#battery").html("Disconnected");
|
||||
}
|
||||
/* reset watchdog counter */
|
||||
watchdogCounter = 0;
|
||||
// Reset watchdog counter
|
||||
self.watchdogCounter = 0;
|
||||
}, 3000);
|
||||
/* when the WebSocket gets connected */
|
||||
// When the WebSocket gets connected
|
||||
this.websocket.onopen = function(evt) {
|
||||
console.log("INFO websocket connected");
|
||||
// send authentication message
|
||||
sumorobot.send('{"setID": "browser-' + robotId + '@00000514", "passwd": "salakala"}');
|
||||
/* setup a timer to ping the robot */
|
||||
// Send authentication packet
|
||||
self.websocket.send(`{"setID": "browser-${self.robotId}@00000514", "passwd": "salakala"}`);
|
||||
// Setup a timer to ping the robot
|
||||
self.watchdogTimer = setInterval(function() {
|
||||
/* send a ping to the robot */
|
||||
//console.log("ping the robot")
|
||||
self.send('{"to": "sumo-' + robotId + '@00000514", "cmd": "ping"}');
|
||||
// Send a ping to the robot
|
||||
self.send(self.robotId, "ping");
|
||||
}, 500);
|
||||
};
|
||||
/* when the WebSocket closes */
|
||||
// When the WebSocket closes
|
||||
this.websocket.onclose = function(evt) {
|
||||
console.log("INFO websocket disconnected");
|
||||
/* clear the pinging */
|
||||
// Clear the pinging
|
||||
clearInterval(self.watchdogTimer);
|
||||
/* Try to recnnect to the sumorobot */
|
||||
// Try to recnnect to the sumorobot
|
||||
self.connect();
|
||||
};
|
||||
/* when there is a message from the WebSocket */
|
||||
// When there is a message from the WebSocket
|
||||
this.websocket.onmessage = function(evt) {
|
||||
/* when scope is received */
|
||||
// When scope is received
|
||||
var data = evt.data.replace(/'/g, '"').toLowerCase();
|
||||
console.log(data);
|
||||
// Get SumoRobot battery voltage
|
||||
var battery = JSON.parse(data)["battery_voltage"];
|
||||
$("#battery").html(battery + "V");
|
||||
$("#battery").addClass("connected");
|
||||
/* keep track of data packets */
|
||||
/* to see if we have a connection to the robot */
|
||||
watchdogCounter += 1;
|
||||
// When sensor data received
|
||||
if (battery) {
|
||||
$("#battery").html(battery + "V");
|
||||
$("#battery").addClass("connected");
|
||||
}
|
||||
// Count data received packets
|
||||
self.watchdogCounter += 1;
|
||||
};
|
||||
/* when there is an WebSocket error */
|
||||
// When there is an WebSocket error
|
||||
this.websocket.onerror = function(err) {
|
||||
console.log("ERROR websocket error: " + err);
|
||||
};
|
||||
};
|
||||
|
||||
Sumorobot.prototype.send = function(msg) {
|
||||
/* ready state constants: CONNECTING 0, OPEN 1, CLOSING 2, CLOSED 3 */
|
||||
/* https://developer.mozilla.org/en-US/docs/Web/API/WebSocket */
|
||||
// Function to send WebSocket data
|
||||
Sumorobot.prototype.send = function(msg, val) {
|
||||
// Ready state constants: CONNECTING 0, OPEN 1, CLOSING 2, CLOSED 3
|
||||
// https://developer.mozilla.org/en-US/docs/Web/API/WebSocket
|
||||
if (this.websocket.readyState == 1) {
|
||||
this.websocket.send(msg);
|
||||
if (val === 'undefined') {
|
||||
console.log("no val")
|
||||
this.websocket.send(`{"to": "sumo-${this.robotId}@00000514", "cmd": "${msg}"}`);
|
||||
} else {
|
||||
console.log("val")
|
||||
this.websocket.send(`{"to": "sumo-${this.robotId}@00000514", "cmd": "${msg}", "val": "${val}"}`);
|
||||
}
|
||||
}
|
||||
};
|
||||
|
||||
// Function to close the WebSocket connection
|
||||
Sumorobot.prototype.close = function() {
|
||||
/* close the WebSocket connection */
|
||||
this.websocket.close();
|
||||
// When a WebSocket connection exists
|
||||
if (this.websocket !== 'undefined') {
|
||||
// Close the WebSocket connection
|
||||
this.websocket.close();
|
||||
}
|
||||
};
|
||||
|
||||
/* 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 get SumoRobot Blockly code
|
||||
Sumorobot.prototype.getBlocklyCode = function() {
|
||||
return this.blocklyCode;
|
||||
};
|
||||
|
||||
/* 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)
|
||||
}
|
||||
|
||||
window.onload = function() {
|
||||
$("#robot-id").val(getLocalStorageItem("sumorobot.robotId"));
|
||||
/* load read only ace editor */
|
||||
readOnlyCodingEditor = ace.edit("readOnlyBlocklyCode");
|
||||
/* set the style */
|
||||
readOnlyCodingEditor.setTheme("ace/theme/textmate");
|
||||
readOnlyCodingEditor.session.setMode("ace/mode/python");
|
||||
readOnlyCodingEditor.session.setTabSize(2);
|
||||
/* make as read only */
|
||||
readOnlyCodingEditor.setReadOnly(true);
|
||||
/* disable scrolling warning */
|
||||
readOnlyCodingEditor.$blockScrolling = Infinity;
|
||||
|
||||
/* load ace editor */
|
||||
codingEditor = ace.edit("blocklyCode");
|
||||
/* set the style */
|
||||
codingEditor.setTheme("ace/theme/textmate");
|
||||
codingEditor.session.setMode("ace/mode/python");
|
||||
codingEditor.session.setTabSize(2);
|
||||
/* disable scrolling warning */
|
||||
codingEditor.$blockScrolling = Infinity;
|
||||
/* enable autocomplete */
|
||||
ace.require("ace/ext/language_tools");
|
||||
codingEditor.setOptions({
|
||||
enableSnippets: true,
|
||||
enableLiveAutocompletion: true,
|
||||
enableBasicAutocompletion: true
|
||||
});
|
||||
/* add autocomplete keywords */
|
||||
codingEditor.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: "SEARCH", 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"},
|
||||
{value: "sleep", score: 1000, meta: "sumorobot"},
|
||||
{value: "set_led", score: 1000, meta: "sumorobot"},
|
||||
{value: "is_line", score: 1000, meta: "sumorobot"},
|
||||
{value: "get_line", score: 1000, meta: "sumorobot"},
|
||||
{value: "set_servo", score: 1000, meta: "sumorobot"},
|
||||
{value: "is_opponent", score: 1000, meta: "sumorobot"},
|
||||
{value: "calibrate_line", score: 1000, meta: "sumorobot"},
|
||||
{value: "get_battery_voltage", score: 1000, meta: "sumorobot"},
|
||||
{value: "get_opponent_distance", score: 1000, meta: "sumorobot"}
|
||||
]);
|
||||
}
|
||||
});
|
||||
/* set the code to the saved code from local storage or empty */
|
||||
codingEditor.setValue(getLocalStorageItem("sumorobot.code") || "");
|
||||
/* clear the selection after setting the value */
|
||||
codingEditor.clearSelection();
|
||||
/* add an change listener for the code editor */
|
||||
codingEditor.on("change", function() {
|
||||
/* when change occurs, save the new code to the localstorage */
|
||||
setLocalStorageItem("sumorobot.code", codingEditor.getValue())
|
||||
});
|
||||
|
||||
/* change the if block to be more cheerful */
|
||||
Blockly.Msg.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 */
|
||||
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;
|
||||
};
|
||||
|
||||
/* 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);
|
||||
}
|
||||
}
|
||||
}
|
||||
/* disable right click on Blockly workspace */
|
||||
return false;
|
||||
};
|
||||
|
||||
Blockly.Blocks['sumorobot_sleep'] = {
|
||||
init: function() {
|
||||
this.setColour("#E64C00");
|
||||
this.appendDummyInput()
|
||||
.appendField("sleep")
|
||||
.appendField(new Blockly.FieldTextInput('1000',
|
||||
Blockly.FieldNumber.numberValidator), 'SLEEP');
|
||||
this.setPreviousStatement(true);
|
||||
this.setNextStatement(true);
|
||||
}
|
||||
};
|
||||
|
||||
Blockly.Blocks['sumorobot_move'] = {
|
||||
init: function() {
|
||||
var OPERATORS = [
|
||||
['move stop', 'STOP'],
|
||||
['move left', 'LEFT'],
|
||||
['move right', 'RIGHT'],
|
||||
['move search', 'SEARCH'],
|
||||
['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');
|
||||
}
|
||||
};
|
||||
|
||||
Blockly.Python['sumorobot_sleep'] = function(block) {
|
||||
var code = 'sumorobot.sleep(' + parseFloat(block.getFieldValue('SLEEP')) + ', "' + block.id + '")\n';
|
||||
return code;
|
||||
};
|
||||
|
||||
Blockly.Python['sumorobot_move'] = function(block) {
|
||||
var code = 'sumorobot.move(' + block.getFieldValue('MOVE') + ', "' + block.id + '")\n';
|
||||
return code;
|
||||
};
|
||||
|
||||
Blockly.Python['sumorobot_opponent'] = function(block) {
|
||||
var code = 'sumorobot.is_opponent("' + block.id + '")';
|
||||
return [code, Blockly.Python.ORDER_ATOMIC];
|
||||
};
|
||||
|
||||
Blockly.Python['sumorobot_line'] = function(block) {
|
||||
var code = 'sumorobot.is_line(' + block.getFieldValue('LINE') + ', "' + block.id + '")';
|
||||
return [code, Blockly.Python.ORDER_ATOMIC];
|
||||
};
|
||||
|
||||
/* inject Blockly */
|
||||
var blocklyArea = document.getElementById('blocklyArea');
|
||||
var blocklyDiv = document.getElementById('blocklyDiv');
|
||||
workspace = Blockly.inject(blocklyDiv, {
|
||||
scrollbars: false,
|
||||
media: 'assets/blockly/media/',
|
||||
trashcan: true,
|
||||
sounds: true,
|
||||
zoom: {
|
||||
wheel: true,
|
||||
controls: true,
|
||||
startScale: 1.2
|
||||
},
|
||||
toolbox: document.getElementById('toolbox')
|
||||
});
|
||||
|
||||
/* on Blockly resize */
|
||||
var onresize = function(e) {
|
||||
// compute the absolute coordinates and dimensions of blocklyArea.
|
||||
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);
|
||||
|
||||
/* retrieve the blocks */
|
||||
var xml = Blockly.Xml.textToDom(getLocalStorageItem("sumorobot.blockly"));
|
||||
/* resume the blocks */
|
||||
Blockly.Xml.domToWorkspace(xml, workspace);
|
||||
|
||||
/* on Blockly code change */
|
||||
function onCodeChanged(event) {
|
||||
/* if the if condition block was created */
|
||||
if (event.type == Blockly.Events.CREATE && event.xml.getAttributeNode("type").nodeValue == "controls_if") {
|
||||
/* remember the control_if block id */
|
||||
controlBlockId = event.blockId;
|
||||
/* get the control_if block object */
|
||||
var block = workspace.getBlockById(event.blockId);
|
||||
/* 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") {
|
||||
/* remove the control_if block id */
|
||||
controlBlockId = "";
|
||||
/* enable the if condition block */
|
||||
workspace.updateToolbox(document.getElementById("toolbox"));
|
||||
}
|
||||
|
||||
/* only process change and move commands */
|
||||
if (event.type != Blockly.Events.CHANGE && event.type != Blockly.Events.MOVE) return;
|
||||
/* generate code from the used blocks */
|
||||
sumocode = Blockly.Python.workspaceToCode(workspace);
|
||||
|
||||
/* show the code in the ace editor, filter out block IDs */
|
||||
readOnlyCodingEditor.setValue("\n" + sumocode.replace(/[,]?[ ]?"(.*?)"/g, ""));
|
||||
readOnlyCodingEditor.clearSelection();
|
||||
|
||||
/* save the code to the local storage */
|
||||
var xml = Blockly.Xml.workspaceToDom(workspace);
|
||||
localStorage.setItem("sumorobot.blockly", Blockly.Xml.domToText(xml));
|
||||
|
||||
/* if control_if block is used */
|
||||
if (controlBlockId != "") {
|
||||
/* disable the if condition block */
|
||||
workspace.updateToolbox(document.getElementById("toolbox_no_if"));
|
||||
}
|
||||
}
|
||||
|
||||
/* 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();
|
||||
|
||||
/* 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 67: // c
|
||||
$("#panel").toggle();
|
||||
break;
|
||||
case 76: // l
|
||||
/* load the Mixer stream */
|
||||
if ($("#stream").is(':empty')) {
|
||||
$("#stream").html('<iframe src="https://mixer.com/embed/player/14551694"></iframe>');
|
||||
}
|
||||
$("#stream").toggle();
|
||||
/* toggle live steam visible */
|
||||
liveStreamVisible = !liveStreamVisible;
|
||||
/* if not in coding mode */
|
||||
if (codingEnabled == false) {
|
||||
$("#readOnlyBlocklyCode").toggle();
|
||||
}
|
||||
break;
|
||||
case 80: // p
|
||||
$("#blocklyDiv").toggle();
|
||||
$("#blocklyArea").toggle();
|
||||
$("#blocklyCode").toggle();
|
||||
if (liveStreamVisible == false) {
|
||||
$("#readOnlyBlocklyCode").toggle();
|
||||
}
|
||||
/* toggle coding enabled */
|
||||
codingEnabled = !codingEnabled;
|
||||
if (codingEnabled) {
|
||||
/* resize the coding editor */
|
||||
codingEditor.resize();
|
||||
/* focus, so the user can start coding */
|
||||
codingEditor.focus();
|
||||
}
|
||||
break;
|
||||
case 82: // r
|
||||
/* toggle remote control */
|
||||
remoteControl = !remoteControl;
|
||||
break;
|
||||
case 83: // s
|
||||
$(".btn-stop").addClass("hover");
|
||||
$(".btn-stop").click();
|
||||
break;
|
||||
case 84: // t
|
||||
sumorobot.send("calibrate_line");
|
||||
break;
|
||||
case 87: // w
|
||||
$(".btn-start").addClass("hover");
|
||||
$(".btn-start").click();
|
||||
break;
|
||||
}
|
||||
});
|
||||
|
||||
/* key up event */
|
||||
$(document).keyup(function(e) {
|
||||
/* 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;
|
||||
/* 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");
|
||||
}
|
||||
});
|
||||
|
||||
/* start button listener */
|
||||
$(".btn-start").click(function() {
|
||||
sumostart = true;
|
||||
/* if we are in coding mode */
|
||||
if (codingEnabled) {
|
||||
/* send the code from the textarea to the SumoRobot */
|
||||
sumorobot.send('{"to": "sumo-' + robotId + '@00000514", "cmd": "code", "val": "' + codingEditor.getValue() + '"}');
|
||||
/* otherwise when we are in Blockly mode */
|
||||
} else {
|
||||
/* send the code from the blocks to the SumoRobot */
|
||||
sumorobot.send('{"to": "sumo-' + robotId + '@00000514", "cmd": "code", "val": "' + sumocode + '"}');
|
||||
}
|
||||
});
|
||||
|
||||
/* stop button listener */
|
||||
$(".btn-stop").click(function() {
|
||||
sumostart = false;
|
||||
sumorobot.send('{"to": "sumo-' + robotId + '@00000514", "cmd": "stop"}');
|
||||
workspace.highlightBlock(lastHighlighted, false);
|
||||
});
|
||||
|
||||
/* enter listener on robot ID field */
|
||||
$("#robot-id").keypress(function(e) {
|
||||
if (e.which == 13) {
|
||||
/* simulate robot GO button click */
|
||||
$(".btn-robot-go").click();
|
||||
}
|
||||
});
|
||||
|
||||
/* robot number button listener */
|
||||
$(".btn-robot-go").click(function() {
|
||||
/* extract and validate the selected robot ID */
|
||||
robotId = $("#robot-id").val().trim();
|
||||
if (robotId === "" || /^([a-f0-9]{6})$/.test(robotId) == false) {
|
||||
$("#robot-id, #robot-label").addClass("has-error");
|
||||
return;
|
||||
} else {
|
||||
$("#robot-id, #robot-label").removeClass("has-error");
|
||||
}
|
||||
/* update robot IDs in local storage */
|
||||
setLocalStorageItem("sumorobot.robotId", robotId);
|
||||
/* in case there is a open connection */
|
||||
if (sumorobot/* && blockHighlight*/) {
|
||||
/* close the connections */
|
||||
sumorobot.close();
|
||||
//blockHighlight.close();
|
||||
}
|
||||
/* connect to the selected robots WebSocket */
|
||||
sumorobot = new Sumorobot("ws://" + robotServer);
|
||||
/* connect to the other block highlight WebSocket */
|
||||
/*blockHighlight = new WebSocket("ws://" + robotServer + ":80/p2p/browser/" + robotId + "-highlight/");
|
||||
// when there is a message from the WebSocket
|
||||
blockHighlight.onmessage = function(evt) {
|
||||
// when scope is received
|
||||
if (evt.data.length == 20 && sumostart) {
|
||||
workspace.highlightBlock(evt.data);
|
||||
lastHighlighted = evt.data;
|
||||
}
|
||||
};*/
|
||||
/* hide the configuration panel */
|
||||
$("#panel").hide();
|
||||
});
|
||||
|
||||
/* set a click listener on the document */
|
||||
$(document).click(function(e) {
|
||||
var target = e.target;
|
||||
|
||||
/* when control_if block is in use */
|
||||
if (controlBlockId != "") {
|
||||
/* when the user clicks anywhere outside the mutator and not on the mutator icon */
|
||||
if (!$(target).is('.blocklyBubbleCanvas') && !$(target).parents().is('.blocklyBubbleCanvas')) {
|
||||
if (!$(target).is('.blocklyIconGroup') && !$(target).parents().is('.blocklyIconGroup')) {
|
||||
/* hide the mutator */
|
||||
workspace.getBlockById(controlBlockId).mutator.setVisible(false);
|
||||
}
|
||||
}
|
||||
}
|
||||
});
|
||||
}
|
||||
// Function to set SumoRobot Blockly code
|
||||
Sumorobot.prototype.setBlocklyCode = function(blocklyCode) {
|
||||
this.blocklyCode = blocklyCode;
|
||||
};
|
||||
|
|
|
|||
Loading…
Reference in New Issue