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