A monorepo containing jupyter-blocks and jupyter-tidyblocks. Blockly extension for JupyterLab.
Merge pull request #24 from hbcarlos/niryo
Adds a dropdown to select a toolbox
authored by
Carlos Herrero
and committed by
GitHub
24b2db39
a6b5f4fa
+2054
-11
+16
-1
src/index.ts
+16
-1
src/index.ts
···
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}
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};
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export default plugin;
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import BlocklyNiryo from './niryo/niryo_one_python_generators';
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+
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/**
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* Initialization data for the jupyterlab-blocky extension.
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*/
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const niryo: JupyterFrontEndPlugin<void> = {
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id: 'jupyterlab-blocky:niryo',
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autoStart: true,
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requires: [IBlocklyRegisty],
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activate: (app: JupyterFrontEnd, blockly: IBlocklyRegisty): void => {
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console.log('JupyterLab extension jupyterlab-blocky-niryo is activated!');
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blockly.registerToolbox('niryo', BlocklyNiryo.Toolbox);
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}
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};
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export default [plugin, niryo];
+3
src/layout.ts
+3
src/layout.ts
+31
-5
src/manager.ts
+31
-5
src/manager.ts
···
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* user wants to use on a specific document.
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*/
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export class BlocklyManager {
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private _toolbox: JSONObject;
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private _toolbox: string;
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private _generator: Blockly.Generator;
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private _registry: BlocklyRegistry;
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private _selectedKernel: KernelSpec.ISpecModel;
···
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this._sessionContext = sessionContext;
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this._mimetypeService = mimetypeService;
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this._toolbox = this._registry.toolboxes.get('default');
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this._toolbox = 'default';
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this._generator = this._registry.generators.get('python');
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this._changed = new Signal<this, BlocklyManager.Change>(this);
···
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* Returns the selected toolbox.
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*/
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get toolbox(): JSONObject {
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return this._toolbox;
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return this._registry.toolboxes.get(this._toolbox);
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}
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/**
···
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}
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/**
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* Get the selected toolbox's name.
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*
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* @returns The name of the toolbox.
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*/
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getToolbox() {
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return this._toolbox;
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}
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+
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/**
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* Set the selected toolbox.
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*
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* @argument name The name of the toolbox.
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*/
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setToolbox(name: string) {
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this._toolbox = this._registry.toolboxes.get(name);
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if (this._toolbox !== name) {
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const toolbox = this._registry.toolboxes.get(name);
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this._toolbox = toolbox ? name : 'default';
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this._changed.emit('toolbox');
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}
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}
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+
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/**
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* List the available toolboxes.
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*
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* @returns the list of available toolboxes for Blockly
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*/
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listToolboxes(): { label: string; value: string }[] {
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const list: { label: string; value: string }[] = [];
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this._registry.toolboxes.forEach((toolbox, name) => {
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list.push({ label: name, value: name });
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});
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return list;
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}
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/**
···
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}
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/**
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* Set the selected toolbox.
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* List the available kernels.
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*
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* @returns the list of available kernels for Blockly
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*/
+1939
src/niryo/niryo_one_python_generators.js
+1939
src/niryo/niryo_one_python_generators.js
···
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/*
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niryo_one_python_generators.js
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Copyright (C) 2017 Niryo
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All rights reserved.
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This program is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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+
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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+
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You should have received a copy of the GNU General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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// adds Custom Niryo One blocks + Python generators
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+
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import * as Blockly from 'blockly';
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+
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var niryo_one_color = '#3D4D9A';
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+
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// Interface color
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var logic_color = '#00876d';
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var loop_color = '#49a563';
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var math_color = '#5769a1';
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var list_color = '#765da1';
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var variable_color = '#ad5a7e';
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var function_color = '#9f5ca1';
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var movement_color = '#4f87c0';
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var io_color = '#c05150';
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var tool_color = '#bf964b';
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var utility_color = '#bead76';
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var vision_color = '#546e7a';
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var conveyor_color = '#00838f';
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+
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// Color object for vision
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//TODO Should be in a class
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const g_color_values = {
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COLOR_RED: 'RED',
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COLOR_GREEN: 'GREEN',
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COLOR_BLUE: 'BLUE',
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COLOR_ANY: 'ANY'
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};
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+
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// Shape object for vision
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//TODO Should be in a class
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const g_shape_values = {
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SHAPE_SQUARE: 'SQUARE',
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SHAPE_CIRCLE: 'CIRCLE',
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SHAPE_ANY: 'ANY'
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};
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+
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/*
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* Blocks definition
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*/
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+
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// Movement
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+
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Blockly.Blocks['niryo_one_move_joints'] = {
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init: function () {
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this.appendDummyInput().appendField('Move Joints');
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this.appendDummyInput()
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.appendField('j1')
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.appendField(
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new Blockly.FieldNumber(0, -Infinity, Infinity, 0.001),
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'JOINTS_1'
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)
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.appendField('j2')
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.appendField(
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new Blockly.FieldNumber(0, -Infinity, Infinity, 0.001),
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'JOINTS_2'
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)
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.appendField('j3')
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.appendField(
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new Blockly.FieldNumber(0, -Infinity, Infinity, 0.001),
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'JOINTS_3'
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)
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.appendField('j4')
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.appendField(
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new Blockly.FieldNumber(0, -Infinity, Infinity, 0.001),
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'JOINTS_4'
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)
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.appendField('j5')
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.appendField(
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new Blockly.FieldNumber(0, -Infinity, Infinity, 0.001),
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'JOINTS_5'
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)
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.appendField('j6')
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.appendField(
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new Blockly.FieldNumber(0, -Infinity, Infinity, 0.001),
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'JOINTS_6'
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);
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this.setInputsInline(true);
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this.setPreviousStatement(true, null);
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this.setNextStatement(true, null);
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this.setColour(movement_color);
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this.setTooltip('Give all 6 joints to move the robot');
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this.setHelpUrl('');
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}
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};
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+
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Blockly.Blocks['niryo_one_move_pose'] = {
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init: function () {
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this.appendDummyInput().appendField('Move Pose');
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this.appendDummyInput()
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.appendField('x')
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.appendField(
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new Blockly.FieldNumber(0, -Infinity, Infinity, 0.001),
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'POSE_X'
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)
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.appendField('y')
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.appendField(
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new Blockly.FieldNumber(0, -Infinity, Infinity, 0.001),
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'POSE_Y'
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)
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.appendField('z')
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.appendField(
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new Blockly.FieldNumber(0, -Infinity, Infinity, 0.001),
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'POSE_Z'
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)
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.appendField('roll')
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.appendField(
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new Blockly.FieldNumber(0, -Infinity, Infinity, 0.001),
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'POSE_ROLL'
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)
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.appendField('pitch')
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.appendField(
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new Blockly.FieldNumber(0, -Infinity, Infinity, 0.001),
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'POSE_PITCH'
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)
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.appendField('yaw')
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.appendField(
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new Blockly.FieldNumber(0, -Infinity, Infinity, 0.001),
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'POSE_YAW'
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);
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this.setInputsInline(true);
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this.setPreviousStatement(true, null);
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this.setNextStatement(true, null);
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this.setColour(movement_color);
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this.setTooltip('');
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this.setHelpUrl('');
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}
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};
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+
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Blockly.Blocks['niryo_one_shift_pose'] = {
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init: function () {
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this.appendDummyInput().appendField('Shift');
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this.appendDummyInput()
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.appendField(
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new Blockly.FieldDropdown([
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['pos. x', '0'],
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['pos. y', '1'],
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['pos. z', '2'],
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['rot. x', '3'],
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['rot. y', '4'],
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['rot. z', '5']
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]),
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'SHIFT_POSE_AXIS'
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)
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.appendField('by')
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.appendField(
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new Blockly.FieldNumber(0, -Infinity, Infinity, 0.001),
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'SHIFT_POSE_VALUE'
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);
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this.setInputsInline(true);
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this.setPreviousStatement(true, null);
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this.setNextStatement(true, null);
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this.setColour(movement_color);
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this.setTooltip('');
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this.setHelpUrl('');
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}
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};
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+
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Blockly.Blocks['niryo_one_set_arm_max_speed'] = {
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init: function () {
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this.appendValueInput('SET_ARM_MAX_SPEED')
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.setCheck('Number')
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.appendField('Set Arm max. speed to');
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this.appendDummyInput().appendField('%');
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this.setInputsInline(true);
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this.setPreviousStatement(true, null);
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this.setNextStatement(true, null);
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this.setColour(movement_color);
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this.setTooltip('');
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this.setHelpUrl('');
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}
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};
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+
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Blockly.Blocks['niryo_one_calibrate_auto'] = {
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init: function () {
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this.appendDummyInput().appendField('Calibrate motors (auto)');
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this.setPreviousStatement(true, null);
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this.setNextStatement(true, null);
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this.setColour(movement_color);
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this.setTooltip(
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'Will auto calibrate motors. If already calibrated, will do nothing.'
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);
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this.setHelpUrl('');
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}
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};
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+
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Blockly.Blocks['niryo_one_calibrate_manual'] = {
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init: function () {
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this.appendDummyInput().appendField('Calibrate motors (manual)');
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this.setPreviousStatement(true, null);
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this.setNextStatement(true, null);
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this.setColour(movement_color);
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this.setTooltip(
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'Will manually calibrate motors (robot needs to be in home position). If already calibrated, will do nothing.'
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);
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this.setHelpUrl('');
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}
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};
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+
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Blockly.Blocks['niryo_one_activate_learning_mode'] = {
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init: function () {
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this.appendDummyInput()
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.appendField(
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new Blockly.FieldDropdown([
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['Activate', '1'],
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['Deactivate', '0']
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]),
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'LEARNING_MODE_VALUE'
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)
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.appendField('learning mode');
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this.setPreviousStatement(true, null);
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this.setNextStatement(true, null);
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this.setColour(movement_color);
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this.setTooltip('');
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this.setHelpUrl('');
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}
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};
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+
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Blockly.Blocks['niryo_one_joint'] = {
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init: function () {
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this.appendDummyInput().appendField('Joints');
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this.appendValueInput('j1').setCheck('Number').appendField('j1');
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this.appendValueInput('j2').setCheck('Number').appendField('j2');
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+
this.appendValueInput('j3').setCheck('Number').appendField('j3');
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+
this.appendValueInput('j4').setCheck('Number').appendField('j4');
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+
this.appendValueInput('j5').setCheck('Number').appendField('j5');
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this.appendValueInput('j6').setCheck('Number').appendField('j6');
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this.setInputsInline(true);
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this.setOutput(true, null);
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this.setColour(movement_color);
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this.setTooltip('Represents an object pose');
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this.setHelpUrl('');
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}
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};
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+
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+
Blockly.Blocks['niryo_one_move_joint_from_joint'] = {
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init: function () {
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this.appendValueInput('JOINT')
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.setCheck('niryo_one_joint')
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.appendField('Move joint');
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this.setTooltip('Move joint with an object pose given');
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this.setPreviousStatement(true, null);
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+
this.setNextStatement(true, null);
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+
this.setColour(movement_color);
264
+
this.setHelpUrl('');
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+
}
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+
};
267
+
268
+
Blockly.Blocks['niryo_one_move_pose_from_pose'] = {
269
+
init: function () {
270
+
this.appendValueInput('POSE')
271
+
.setCheck('niryo_one_pose')
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.appendField('Move pose');
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this.setPreviousStatement(true, null);
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+
this.setNextStatement(true, null);
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this.setColour(movement_color);
276
+
this.setTooltip('Move pose with an object pose given');
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this.setHelpUrl('');
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}
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};
280
+
281
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Blockly.Blocks['niryo_one_pose'] = {
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+
init: function () {
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this.appendDummyInput().appendField('Pose');
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this.appendValueInput('x').setCheck('Number').appendField('x');
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+
this.appendValueInput('y').setCheck('Number').appendField('y');
286
+
this.appendValueInput('z').setCheck('Number').appendField('z');
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+
this.appendValueInput('roll').setCheck('Number').appendField('roll');
288
+
this.appendValueInput('pitch').setCheck('Number').appendField('pitch');
289
+
this.appendValueInput('yaw').setCheck('Number').appendField('yaw');
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this.setInputsInline(true);
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this.setOutput(true, null);
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+
this.setColour(movement_color);
293
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this.setTooltip('Represents an object pose');
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this.setHelpUrl('');
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+
}
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};
297
+
298
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Blockly.Blocks['niryo_one_move_pose_from_pose'] = {
299
+
init: function () {
300
+
this.appendValueInput('POSE')
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+
.setCheck('niryo_one_pose')
302
+
.appendField('Move pose');
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+
this.setPreviousStatement(true, null);
304
+
this.setNextStatement(true, null);
305
+
this.setColour(movement_color);
306
+
this.setTooltip('Move pose with an object pose given');
307
+
this.setHelpUrl('');
308
+
}
309
+
};
310
+
311
+
Blockly.Blocks['niryo_one_pick_from_pose'] = {
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+
init: function () {
313
+
this.appendValueInput('POSE')
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+
.setCheck('niryo_one_pose')
315
+
.appendField('Pick from pose');
316
+
this.setPreviousStatement(true, null);
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+
this.setNextStatement(true, null);
318
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this.setColour(movement_color);
319
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this.setTooltip('Pick an object at a pose given');
320
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this.setHelpUrl('');
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}
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};
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+
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Blockly.Blocks['niryo_one_place_from_pose'] = {
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+
init: function () {
326
+
this.appendValueInput('POSE')
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+
.setCheck('niryo_one_pose')
328
+
.appendField('Place from pose');
329
+
this.setPreviousStatement(true, null);
330
+
this.setNextStatement(true, null);
331
+
this.setColour(movement_color);
332
+
this.setTooltip('Place an object at a pose given');
333
+
this.setHelpUrl('');
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+
}
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+
};
336
+
337
+
// I/O
338
+
339
+
Blockly.Blocks['niryo_one_gpio_select'] = {
340
+
init: function () {
341
+
this.appendDummyInput().appendField(
342
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new Blockly.FieldDropdown([
343
+
['1A', 'GPIO_1A'],
344
+
['1B', 'GPIO_1B'],
345
+
['1C', 'GPIO_1C'],
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+
['2A', 'GPIO_2A'],
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+
['2B', 'GPIO_2B'],
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+
['2C', 'GPIO_2C']
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]),
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+
'GPIO_SELECT'
351
+
);
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+
this.setOutput(true, 'niryo_one_gpio_select');
353
+
this.setColour(io_color);
354
+
this.setTooltip('');
355
+
this.setHelpUrl('');
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+
}
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+
};
358
+
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+
Blockly.Blocks['niryo_one_set_pin_mode'] = {
360
+
init: function () {
361
+
this.appendValueInput('SET_PIN_MODE_PIN')
362
+
.setCheck('niryo_one_gpio_select')
363
+
.setAlign(Blockly.ALIGN_RIGHT)
364
+
.appendField('Set Pin');
365
+
this.appendDummyInput()
366
+
.appendField('to mode')
367
+
.appendField(
368
+
new Blockly.FieldDropdown([
369
+
['INPUT', 'PIN_MODE_INPUT'],
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+
['OUTPUT', 'PIN_MODE_OUTPUT']
371
+
]),
372
+
'PIN_MODE_SELECT'
373
+
);
374
+
this.setInputsInline(true);
375
+
this.setPreviousStatement(true, null);
376
+
this.setNextStatement(true, null);
377
+
this.setColour(io_color);
378
+
this.setTooltip('');
379
+
this.setHelpUrl('');
380
+
}
381
+
};
382
+
383
+
Blockly.Blocks['niryo_one_digital_write'] = {
384
+
init: function () {
385
+
this.appendValueInput('DIGITAL_WRITE_PIN')
386
+
.setCheck('niryo_one_gpio_select')
387
+
.appendField('Set Pin');
388
+
this.appendDummyInput()
389
+
.appendField('to state')
390
+
.appendField(
391
+
new Blockly.FieldDropdown([
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+
['HIGH', 'PIN_HIGH'],
393
+
['LOW', 'PIN_LOW']
394
+
]),
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+
'PIN_WRITE_SELECT'
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+
);
397
+
this.setInputsInline(true);
398
+
this.setPreviousStatement(true, null);
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+
this.setNextStatement(true, null);
400
+
this.setColour(io_color);
401
+
this.setTooltip('');
402
+
this.setHelpUrl('');
403
+
}
404
+
};
405
+
406
+
Blockly.Blocks['niryo_one_digital_read'] = {
407
+
init: function () {
408
+
this.appendValueInput('DIGITAL_READ_PIN')
409
+
.setCheck('niryo_one_gpio_select')
410
+
.appendField('Get Pin');
411
+
this.appendDummyInput().appendField('state');
412
+
this.setInputsInline(true);
413
+
this.setOutput(true, 'niryo_one_gpio_state');
414
+
this.setColour(io_color);
415
+
this.setTooltip('');
416
+
this.setHelpUrl('');
417
+
}
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+
};
419
+
420
+
Blockly.Blocks['niryo_one_gpio_state'] = {
421
+
init: function () {
422
+
this.appendDummyInput()
423
+
.appendField('state')
424
+
.appendField(
425
+
new Blockly.FieldDropdown([
426
+
['HIGH', 'PIN_HIGH'],
427
+
['LOW', 'PIN_LOW']
428
+
]),
429
+
'GPIO_STATE_SELECT'
430
+
);
431
+
this.setOutput(true, 'niryo_one_gpio_state');
432
+
this.setColour(io_color);
433
+
this.setTooltip('');
434
+
this.setHelpUrl('');
435
+
}
436
+
};
437
+
438
+
Blockly.Blocks['niryo_one_sw_select'] = {
439
+
init: function () {
440
+
this.appendDummyInput().appendField(
441
+
new Blockly.FieldDropdown([
442
+
['SW1', 'SW_1'],
443
+
['SW2', 'SW_2']
444
+
]),
445
+
'SW_SELECT'
446
+
);
447
+
this.setOutput(true, 'niryo_one_sw_select');
448
+
this.setColour(io_color);
449
+
this.setTooltip('');
450
+
this.setHelpUrl('');
451
+
}
452
+
};
453
+
454
+
Blockly.Blocks['niryo_one_set_12v_switch'] = {
455
+
init: function () {
456
+
this.appendValueInput('SET_12V_SWITCH')
457
+
.setCheck('niryo_one_sw_select')
458
+
.appendField('Set 12V Switch');
459
+
this.appendDummyInput()
460
+
.appendField('to state')
461
+
.appendField(
462
+
new Blockly.FieldDropdown([
463
+
['HIGH', 'PIN_HIGH'],
464
+
['LOW', 'PIN_LOW']
465
+
]),
466
+
'SET_12V_SWITCH_SELECT'
467
+
);
468
+
this.setPreviousStatement(true, null);
469
+
this.setNextStatement(true, null);
470
+
this.setColour(io_color);
471
+
this.setTooltip('');
472
+
this.setHelpUrl('');
473
+
}
474
+
};
475
+
476
+
// Tool
477
+
478
+
Blockly.Blocks['niryo_one_tool_select'] = {
479
+
init: function () {
480
+
this.appendDummyInput().appendField(
481
+
new Blockly.FieldDropdown([
482
+
['Standard gripper', 'TOOL_GRIPPER_1_ID'],
483
+
['Large gripper', 'TOOL_GRIPPER_2_ID'],
484
+
['Adaptive gripper ', 'TOOL_GRIPPER_3_ID'],
485
+
['electromagnet 1', 'TOOL_ELECTROMAGNET_1_ID'],
486
+
['vacuum pump 1', 'TOOL_VACUUM_PUMP_1_ID']
487
+
]),
488
+
'TOOL_SELECT'
489
+
);
490
+
this.setOutput(true, 'niryo_one_tool_select');
491
+
this.setColour(tool_color);
492
+
this.setTooltip('');
493
+
this.setHelpUrl('');
494
+
}
495
+
};
496
+
497
+
Blockly.Blocks['niryo_one_change_tool'] = {
498
+
init: function () {
499
+
this.appendValueInput('NEW_TOOL_ID')
500
+
.setCheck('niryo_one_tool_select')
501
+
.appendField('Change tool to');
502
+
this.setInputsInline(true);
503
+
this.setPreviousStatement(true, null);
504
+
this.setNextStatement(true, null);
505
+
this.setColour(tool_color);
506
+
this.setTooltip('');
507
+
this.setHelpUrl('');
508
+
}
509
+
};
510
+
511
+
Blockly.Blocks['niryo_one_detach_tool'] = {
512
+
init: function () {
513
+
this.appendDummyInput().appendField('Detach current tool');
514
+
this.setPreviousStatement(true, null);
515
+
this.setNextStatement(true, null);
516
+
this.setColour(tool_color);
517
+
this.setTooltip('');
518
+
this.setHelpUrl('');
519
+
}
520
+
};
521
+
522
+
Blockly.Blocks['niryo_one_open_gripper'] = {
523
+
init: function () {
524
+
this.appendValueInput('OPEN_GRIPPER_ID')
525
+
.setCheck('niryo_one_tool_select')
526
+
.appendField('Open Gripper');
527
+
this.appendDummyInput()
528
+
.appendField('at speed')
529
+
.appendField(
530
+
new Blockly.FieldDropdown([
531
+
['1/5', '100'],
532
+
['2/5', '250'],
533
+
['3/5', '500'],
534
+
['4/5', '750'],
535
+
['5/5', '1000']
536
+
]),
537
+
'OPEN_SPEED'
538
+
);
539
+
this.setInputsInline(true);
540
+
this.setPreviousStatement(true, null);
541
+
this.setNextStatement(true, null);
542
+
this.setColour(tool_color);
543
+
this.setTooltip('');
544
+
this.setHelpUrl('');
545
+
}
546
+
};
547
+
548
+
Blockly.Blocks['niryo_one_close_gripper'] = {
549
+
init: function () {
550
+
this.appendValueInput('CLOSE_GRIPPER_ID')
551
+
.setCheck('niryo_one_tool_select')
552
+
.appendField('Close Gripper');
553
+
this.appendDummyInput()
554
+
.appendField('at speed')
555
+
.appendField(
556
+
new Blockly.FieldDropdown([
557
+
['1/5', '100'],
558
+
['2/5', '250'],
559
+
['3/5', '500'],
560
+
['4/5', '750'],
561
+
['5/5', '1000']
562
+
]),
563
+
'CLOSE_SPEED'
564
+
);
565
+
this.setInputsInline(true);
566
+
this.setPreviousStatement(true, null);
567
+
this.setNextStatement(true, null);
568
+
this.setColour(tool_color);
569
+
this.setTooltip('');
570
+
this.setHelpUrl('');
571
+
}
572
+
};
573
+
574
+
Blockly.Blocks['niryo_one_pull_air_vacuum_pump'] = {
575
+
init: function () {
576
+
this.appendValueInput('PULL_AIR_VACUUM_PUMP_ID')
577
+
.setCheck('niryo_one_tool_select')
578
+
.appendField('Pull air with Vacuum Pump');
579
+
this.setInputsInline(true);
580
+
this.setPreviousStatement(true, null);
581
+
this.setNextStatement(true, null);
582
+
this.setColour(tool_color);
583
+
this.setTooltip('');
584
+
this.setHelpUrl('');
585
+
}
586
+
};
587
+
588
+
Blockly.Blocks['niryo_one_push_air_vacuum_pump'] = {
589
+
init: function () {
590
+
this.appendValueInput('PUSH_AIR_VACUUM_PUMP_ID')
591
+
.setCheck('niryo_one_tool_select')
592
+
.appendField('Push air with Vacuum Pump');
593
+
this.setInputsInline(true);
594
+
this.setPreviousStatement(true, null);
595
+
this.setNextStatement(true, null);
596
+
this.setColour(tool_color);
597
+
this.setTooltip('');
598
+
this.setHelpUrl('');
599
+
}
600
+
};
601
+
602
+
Blockly.Blocks['niryo_one_setup_electromagnet'] = {
603
+
init: function () {
604
+
this.appendValueInput('SETUP_ELECTROMAGNET_ID')
605
+
.setCheck('niryo_one_tool_select')
606
+
.appendField('Setup Electromagnet');
607
+
this.appendValueInput('SETUP_ELECTROMAGNET_PIN')
608
+
.setCheck('niryo_one_gpio_select')
609
+
.setAlign(Blockly.ALIGN_RIGHT)
610
+
.appendField('with pin');
611
+
this.setInputsInline(true);
612
+
this.setPreviousStatement(true, null);
613
+
this.setNextStatement(true, null);
614
+
this.setColour(tool_color);
615
+
this.setTooltip('');
616
+
this.setHelpUrl('');
617
+
}
618
+
};
619
+
620
+
Blockly.Blocks['niryo_one_activate_electromagnet'] = {
621
+
init: function () {
622
+
this.appendValueInput('ACTIVATE_ELECTROMAGNET_ID')
623
+
.setCheck('niryo_one_tool_select')
624
+
.appendField('Activate Electromagnet');
625
+
this.appendValueInput('ACTIVATE_ELECTROMAGNET_PIN')
626
+
.setCheck('niryo_one_gpio_select')
627
+
.setAlign(Blockly.ALIGN_RIGHT)
628
+
.appendField('with pin');
629
+
this.setInputsInline(true);
630
+
this.setPreviousStatement(true, null);
631
+
this.setNextStatement(true, null);
632
+
this.setColour(tool_color);
633
+
this.setTooltip('');
634
+
this.setHelpUrl('');
635
+
}
636
+
};
637
+
638
+
Blockly.Blocks['niryo_one_deactivate_electromagnet'] = {
639
+
init: function () {
640
+
this.appendValueInput('DEACTIVATE_ELECTROMAGNET_ID')
641
+
.setCheck('niryo_one_tool_select')
642
+
.appendField('Deactivate Electromagnet');
643
+
this.appendValueInput('DEACTIVATE_ELECTROMAGNET_PIN')
644
+
.setCheck('niryo_one_gpio_select')
645
+
.setAlign(Blockly.ALIGN_RIGHT)
646
+
.appendField('with pin');
647
+
this.setInputsInline(true);
648
+
this.setPreviousStatement(true, null);
649
+
this.setNextStatement(true, null);
650
+
this.setColour(tool_color);
651
+
this.setTooltip('');
652
+
this.setHelpUrl('');
653
+
}
654
+
};
655
+
656
+
// Utility
657
+
658
+
Blockly.Blocks['niryo_one_sleep'] = {
659
+
init: function () {
660
+
this.appendValueInput('SLEEP_TIME')
661
+
.setCheck('Number')
662
+
.appendField('Wait for ');
663
+
this.appendDummyInput().appendField('seconds');
664
+
this.setInputsInline(true);
665
+
this.setPreviousStatement(true, null);
666
+
this.setNextStatement(true, null);
667
+
this.setColour(utility_color);
668
+
this.setTooltip('');
669
+
this.setHelpUrl('');
670
+
}
671
+
};
672
+
673
+
Blockly.Blocks['niryo_one_comment'] = {
674
+
init: function () {
675
+
this.appendDummyInput()
676
+
.appendField('Comment :')
677
+
.appendField(new Blockly.FieldTextInput(''), 'COMMENT_TEXT');
678
+
this.setPreviousStatement(true, null);
679
+
this.setNextStatement(true, null);
680
+
this.setColour(utility_color);
681
+
this.setTooltip('This block will not be executed.');
682
+
this.setHelpUrl('');
683
+
}
684
+
};
685
+
686
+
Blockly.Blocks['niryo_one_break_point'] = {
687
+
init: function () {
688
+
this.appendDummyInput().appendField('Break Point');
689
+
this.setPreviousStatement(true, null);
690
+
this.setNextStatement(true, null);
691
+
this.setColour(utility_color);
692
+
this.setTooltip(
693
+
"Stop the execution of the program. Press 'Play' to resume."
694
+
);
695
+
this.setHelpUrl('');
696
+
}
697
+
};
698
+
699
+
// Vision
700
+
701
+
Blockly.Blocks['niryo_one_vision_color'] = {
702
+
init: function () {
703
+
this.appendDummyInput()
704
+
.appendField('Color')
705
+
.appendField(
706
+
new Blockly.FieldDropdown([
707
+
['RED', 'COLOR_RED'],
708
+
['GREEN', 'COLOR_GREEN'],
709
+
['BLUE', 'COLOR_BLUE'],
710
+
['ANY', 'COLOR_ANY']
711
+
]),
712
+
'COLOR_SELECT'
713
+
);
714
+
this.setOutput(true, 'niryo_one_vision_color');
715
+
this.setColour(vision_color);
716
+
this.setTooltip("Color object (must be used with Vision's blocks)");
717
+
}
718
+
};
719
+
720
+
Blockly.Blocks['niryo_one_vision_shape'] = {
721
+
init: function () {
722
+
this.appendDummyInput()
723
+
.appendField('Shape')
724
+
.appendField(
725
+
new Blockly.FieldDropdown([
726
+
['SQUARE', 'SHAPE_SQUARE'],
727
+
['CIRCLE', 'SHAPE_CIRCLE'],
728
+
['OBJECT', 'SHAPE_ANY']
729
+
]),
730
+
'SHAPE_SELECT'
731
+
);
732
+
this.setOutput(true, 'niryo_one_vision_shape');
733
+
this.setColour(vision_color);
734
+
this.setTooltip("Shape object (must be used with Vision's blocks)");
735
+
}
736
+
};
737
+
738
+
Blockly.Blocks['niryo_one_vision_pick'] = {
739
+
init: function () {
740
+
this.appendValueInput('COLOR_SWITCH')
741
+
.setCheck('niryo_one_vision_color')
742
+
.appendField('Vision pick');
743
+
744
+
this.appendValueInput('SHAPE_SWITCH').setCheck('niryo_one_vision_shape');
745
+
this.appendDummyInput().appendField('in workspace');
746
+
747
+
this.appendValueInput('WORKSPACE_NAME').setCheck('String');
748
+
749
+
this.appendValueInput('HEIGHT_OFFSET')
750
+
.setCheck('Number')
751
+
.appendField('with height offset (mm)');
752
+
753
+
this.setOutput(true, 'Boolean');
754
+
this.setColour(vision_color);
755
+
this.setHelpUrl('');
756
+
this.setTooltip(
757
+
'Pick an object of SHAPE / COLOR given, with gripper close position at HEIGHT_OFFSET cm.'
758
+
);
759
+
this.setInputsInline(false);
760
+
}
761
+
};
762
+
763
+
Blockly.Blocks['niryo_one_vision_is_object_detected'] = {
764
+
init: function () {
765
+
this.appendValueInput('COLOR_SWITCH')
766
+
.setCheck('niryo_one_vision_color')
767
+
.appendField('Is object detected');
768
+
769
+
this.appendValueInput('SHAPE_SWITCH').setCheck('niryo_one_vision_shape');
770
+
this.appendDummyInput().appendField('in workspace');
771
+
772
+
this.appendValueInput('WORKSPACE_NAME').setCheck('String');
773
+
774
+
this.setOutput(true, 'Boolean');
775
+
this.setColour(vision_color);
776
+
this.setHelpUrl('');
777
+
this.setTooltip(
778
+
'Detect is there is an object of SHAPE / COLOR in the WORKSPACE given.'
779
+
);
780
+
this.setInputsInline(false);
781
+
}
782
+
};
783
+
784
+
// Conveyor
785
+
786
+
Blockly.Blocks['niryo_one_conveyor_models'] = {
787
+
init: function () {
788
+
this.appendDummyInput().appendField(
789
+
new Blockly.FieldDropdown([
790
+
['Conveyor 1', 'CONVEYOR_1'],
791
+
['Conveyor 2', 'CONVEYOR_2']
792
+
]),
793
+
'CONVEYOR_SELECT'
794
+
);
795
+
this.setOutput(true, 'niryo_one_conveyor_models');
796
+
797
+
this.setColour(conveyor_color);
798
+
this.setHelpUrl('');
799
+
this.setTooltip('Conveyors available with Niryo One.');
800
+
}
801
+
};
802
+
803
+
Blockly.Blocks['niryo_one_conveyor_use'] = {
804
+
init: function () {
805
+
this.appendValueInput('CONVEYOR_SWITCH')
806
+
.setCheck('niryo_one_conveyor_models')
807
+
.appendField('Use conveyor:');
808
+
809
+
this.setColour(conveyor_color);
810
+
this.setHelpUrl('');
811
+
this.setTooltip('Allow the conveyor to be controlled via Niryo One.');
812
+
this.setPreviousStatement(true, null);
813
+
this.setNextStatement(true, null);
814
+
}
815
+
};
816
+
817
+
Blockly.Blocks['niryo_one_conveyor_control'] = {
818
+
init: function () {
819
+
this.appendValueInput('CONVEYOR_SWITCH')
820
+
.setCheck('niryo_one_conveyor_models')
821
+
.appendField('Control conveyor:');
822
+
823
+
this.appendValueInput('SPEED_PERCENT')
824
+
.setCheck('Number')
825
+
.appendField('with speed (%):');
826
+
827
+
this.appendDummyInput()
828
+
.appendField('in direction:')
829
+
.appendField(
830
+
new Blockly.FieldDropdown([
831
+
['FORWARD', '1'],
832
+
['BACKWARD', '-1']
833
+
]),
834
+
'DIRECTION_SELECT'
835
+
);
836
+
837
+
this.setColour(conveyor_color);
838
+
this.setHelpUrl('');
839
+
this.setTooltip('Control the conveyor given.');
840
+
this.setPreviousStatement(true, null);
841
+
this.setNextStatement(true, null);
842
+
this.setInputsInline(false);
843
+
}
844
+
};
845
+
846
+
Blockly.Blocks['niryo_one_conveyor_stop'] = {
847
+
init: function () {
848
+
this.appendValueInput('CONVEYOR_SWITCH')
849
+
.setCheck('niryo_one_conveyor_models')
850
+
.appendField('Stop conveyor');
851
+
852
+
this.setColour(conveyor_color);
853
+
this.setHelpUrl('');
854
+
this.setTooltip('Stop the conveyor given.');
855
+
this.setPreviousStatement(true, null);
856
+
this.setNextStatement(true, null);
857
+
}
858
+
};
859
+
860
+
/*
861
+
* Generators
862
+
*/
863
+
864
+
// Movement
865
+
866
+
Blockly.Python['niryo_one_move_joints'] = function (block) {
867
+
var number_joints_1 = block.getFieldValue('JOINTS_1');
868
+
var number_joints_2 = block.getFieldValue('JOINTS_2');
869
+
var number_joints_3 = block.getFieldValue('JOINTS_3');
870
+
var number_joints_4 = block.getFieldValue('JOINTS_4');
871
+
var number_joints_5 = block.getFieldValue('JOINTS_5');
872
+
var number_joints_6 = block.getFieldValue('JOINTS_6');
873
+
874
+
var code =
875
+
'n.move_joints([' +
876
+
number_joints_1 +
877
+
', ' +
878
+
number_joints_2 +
879
+
', ' +
880
+
number_joints_3 +
881
+
', ' +
882
+
number_joints_4 +
883
+
', ' +
884
+
number_joints_5 +
885
+
', ' +
886
+
number_joints_6 +
887
+
'])\n';
888
+
return code;
889
+
};
890
+
891
+
Blockly.Python['niryo_one_move_pose'] = function (block) {
892
+
var number_pose_x = block.getFieldValue('POSE_X');
893
+
var number_pose_y = block.getFieldValue('POSE_Y');
894
+
var number_pose_z = block.getFieldValue('POSE_Z');
895
+
var number_pose_roll = block.getFieldValue('POSE_ROLL');
896
+
var number_pose_pitch = block.getFieldValue('POSE_PITCH');
897
+
var number_pose_yaw = block.getFieldValue('POSE_YAW');
898
+
899
+
var code =
900
+
'n.move_pose(' +
901
+
number_pose_x +
902
+
', ' +
903
+
number_pose_y +
904
+
', ' +
905
+
number_pose_z +
906
+
', ' +
907
+
number_pose_roll +
908
+
', ' +
909
+
number_pose_pitch +
910
+
', ' +
911
+
number_pose_yaw +
912
+
')\n';
913
+
return code;
914
+
};
915
+
916
+
Blockly.Python['niryo_one_shift_pose'] = function (block) {
917
+
var dropdown_shift_pose_axis = block.getFieldValue('SHIFT_POSE_AXIS');
918
+
var number_shift_pose_value = block.getFieldValue('SHIFT_POSE_VALUE');
919
+
920
+
var code =
921
+
'n.shift_pose(' +
922
+
dropdown_shift_pose_axis +
923
+
', ' +
924
+
number_shift_pose_value +
925
+
')\n';
926
+
return code;
927
+
};
928
+
929
+
Blockly.Python['niryo_one_set_arm_max_speed'] = function (block) {
930
+
var value_set_arm_max_speed =
931
+
Blockly.Python.valueToCode(
932
+
block,
933
+
'SET_ARM_MAX_SPEED',
934
+
Blockly.Python.ORDER_ATOMIC
935
+
) || '0';
936
+
value_set_arm_max_speed = value_set_arm_max_speed
937
+
.replace('(', '')
938
+
.replace(')', '');
939
+
var code = 'n.set_arm_max_velocity(' + value_set_arm_max_speed + ')\n';
940
+
return code;
941
+
};
942
+
943
+
Blockly.Python['niryo_one_calibrate_auto'] = function (block) {
944
+
var code = 'n.calibrate_auto()\n';
945
+
return code;
946
+
};
947
+
948
+
Blockly.Python['niryo_one_calibrate_manual'] = function (block) {
949
+
var code = 'n.calibrate_manual()\n';
950
+
return code;
951
+
};
952
+
953
+
Blockly.Python['niryo_one_activate_learning_mode'] = function (block) {
954
+
var dropdown_learning_mode_value = block.getFieldValue('LEARNING_MODE_VALUE');
955
+
var code = 'n.activate_learning_mode(' + dropdown_learning_mode_value + ')\n';
956
+
return code;
957
+
};
958
+
959
+
Blockly.Python['niryo_one_joint'] = function (block) {
960
+
var value_j1 = Blockly.Python.valueToCode(
961
+
block,
962
+
'j1',
963
+
Blockly.Python.ORDER_ATOMIC
964
+
)
965
+
.replace('(', '')
966
+
.replace(')', '');
967
+
var value_j2 = Blockly.Python.valueToCode(
968
+
block,
969
+
'j2',
970
+
Blockly.Python.ORDER_ATOMIC
971
+
)
972
+
.replace('(', '')
973
+
.replace(')', '');
974
+
var value_j3 = Blockly.Python.valueToCode(
975
+
block,
976
+
'j3',
977
+
Blockly.Python.ORDER_ATOMIC
978
+
)
979
+
.replace('(', '')
980
+
.replace(')', '');
981
+
var value_j4 = Blockly.Python.valueToCode(
982
+
block,
983
+
'j4',
984
+
Blockly.Python.ORDER_ATOMIC
985
+
)
986
+
.replace('(', '')
987
+
.replace(')', '');
988
+
var value_j5 = Blockly.Python.valueToCode(
989
+
block,
990
+
'j5',
991
+
Blockly.Python.ORDER_ATOMIC
992
+
)
993
+
.replace('(', '')
994
+
.replace(')', '');
995
+
var value_j6 = Blockly.Python.valueToCode(
996
+
block,
997
+
'j6',
998
+
Blockly.Python.ORDER_ATOMIC
999
+
)
1000
+
.replace('(', '')
1001
+
.replace(')', '');
1002
+
1003
+
var code =
1004
+
'[' +
1005
+
value_j1 +
1006
+
', ' +
1007
+
value_j2 +
1008
+
', ' +
1009
+
value_j3 +
1010
+
', ' +
1011
+
value_j4 +
1012
+
', ' +
1013
+
value_j5 +
1014
+
', ' +
1015
+
value_j6 +
1016
+
']';
1017
+
return [code, Blockly.Python.ORDER_NONE];
1018
+
};
1019
+
1020
+
Blockly.Python['niryo_one_move_joint_from_joint'] = function (block) {
1021
+
// Position object
1022
+
var value_joint = Blockly.Python.valueToCode(
1023
+
block,
1024
+
'JOINT',
1025
+
Blockly.Python.ORDER_ATOMIC
1026
+
);
1027
+
value_joint = value_joint.replace('(', '').replace(')', '');
1028
+
1029
+
var code = 'n.move_joints(' + value_joint + ')\n';
1030
+
return code;
1031
+
};
1032
+
1033
+
Blockly.Python['niryo_one_pose'] = function (block) {
1034
+
var value_x = Blockly.Python.valueToCode(
1035
+
block,
1036
+
'x',
1037
+
Blockly.Python.ORDER_ATOMIC
1038
+
)
1039
+
.replace('(', '')
1040
+
.replace(')', '');
1041
+
var value_y = Blockly.Python.valueToCode(
1042
+
block,
1043
+
'y',
1044
+
Blockly.Python.ORDER_ATOMIC
1045
+
)
1046
+
.replace('(', '')
1047
+
.replace(')', '');
1048
+
var value_z = Blockly.Python.valueToCode(
1049
+
block,
1050
+
'z',
1051
+
Blockly.Python.ORDER_ATOMIC
1052
+
)
1053
+
.replace('(', '')
1054
+
.replace(')', '');
1055
+
var value_roll = Blockly.Python.valueToCode(
1056
+
block,
1057
+
'roll',
1058
+
Blockly.Python.ORDER_ATOMIC
1059
+
)
1060
+
.replace('(', '')
1061
+
.replace(')', '');
1062
+
var value_pitch = Blockly.Python.valueToCode(
1063
+
block,
1064
+
'pitch',
1065
+
Blockly.Python.ORDER_ATOMIC
1066
+
)
1067
+
.replace('(', '')
1068
+
.replace(')', '');
1069
+
var value_yaw = Blockly.Python.valueToCode(
1070
+
block,
1071
+
'yaw',
1072
+
Blockly.Python.ORDER_ATOMIC
1073
+
)
1074
+
.replace('(', '')
1075
+
.replace(')', '');
1076
+
1077
+
var code =
1078
+
'[' +
1079
+
value_x +
1080
+
', ' +
1081
+
value_y +
1082
+
', ' +
1083
+
value_z +
1084
+
', ' +
1085
+
value_roll +
1086
+
', ' +
1087
+
value_pitch +
1088
+
', ' +
1089
+
value_yaw +
1090
+
']';
1091
+
return [code, Blockly.Python.ORDER_NONE];
1092
+
};
1093
+
1094
+
Blockly.Python['niryo_one_move_pose_from_pose'] = function (block) {
1095
+
// Position object
1096
+
var value_pose = Blockly.Python.valueToCode(
1097
+
block,
1098
+
'POSE',
1099
+
Blockly.Python.ORDER_ATOMIC
1100
+
);
1101
+
value_pose = value_pose.replace('(', '').replace(')', '');
1102
+
1103
+
var code = 'n.move_pose(*' + value_pose + ')\n';
1104
+
return code;
1105
+
};
1106
+
1107
+
Blockly.Python['niryo_one_pick_from_pose'] = function (block) {
1108
+
// Position object
1109
+
var value_pose = Blockly.Python.valueToCode(
1110
+
block,
1111
+
'POSE',
1112
+
Blockly.Python.ORDER_ATOMIC
1113
+
);
1114
+
value_pose = value_pose.replace('(', '').replace(')', '');
1115
+
1116
+
var code = 'n.pick_from_pose(*' + value_pose + ')\n';
1117
+
return code;
1118
+
};
1119
+
1120
+
Blockly.Python['niryo_one_place_from_pose'] = function (block) {
1121
+
// Position object
1122
+
var value_pose = Blockly.Python.valueToCode(
1123
+
block,
1124
+
'POSE',
1125
+
Blockly.Python.ORDER_ATOMIC
1126
+
);
1127
+
value_pose = value_pose.replace('(', '').replace(')', '');
1128
+
1129
+
var code = 'n.place_from_pose(*' + value_pose + ')\n';
1130
+
return code;
1131
+
};
1132
+
1133
+
// I/O
1134
+
1135
+
Blockly.Python['niryo_one_gpio_state'] = function (block) {
1136
+
var dropdown_gpio_state_select = block.getFieldValue('GPIO_STATE_SELECT');
1137
+
var code = dropdown_gpio_state_select;
1138
+
return [code, Blockly.Python.ORDER_NONE];
1139
+
};
1140
+
1141
+
Blockly.Python['niryo_one_set_pin_mode'] = function (block) {
1142
+
var value_pin =
1143
+
Blockly.Python.valueToCode(
1144
+
block,
1145
+
'SET_PIN_MODE_PIN',
1146
+
Blockly.Python.ORDER_ATOMIC
1147
+
) || '(0)';
1148
+
value_pin = value_pin.replace('(', '').replace(')', '');
1149
+
var dropdown_pin_mode_select = block.getFieldValue('PIN_MODE_SELECT');
1150
+
var code =
1151
+
'n.pin_mode(' + value_pin + ', ' + dropdown_pin_mode_select + ')\n';
1152
+
return code;
1153
+
};
1154
+
1155
+
Blockly.Python['niryo_one_digital_write'] = function (block) {
1156
+
var value_pin =
1157
+
Blockly.Python.valueToCode(
1158
+
block,
1159
+
'DIGITAL_WRITE_PIN',
1160
+
Blockly.Python.ORDER_ATOMIC
1161
+
) || '(0)';
1162
+
value_pin = value_pin.replace('(', '').replace(')', '');
1163
+
var dropdown_pin_write_select = block.getFieldValue('PIN_WRITE_SELECT');
1164
+
var code =
1165
+
'n.digital_write(' + value_pin + ', ' + dropdown_pin_write_select + ')\n';
1166
+
return code;
1167
+
};
1168
+
1169
+
Blockly.Python['niryo_one_digital_read'] = function (block) {
1170
+
var value_pin =
1171
+
Blockly.Python.valueToCode(
1172
+
block,
1173
+
'DIGITAL_READ_PIN',
1174
+
Blockly.Python.ORDER_ATOMIC
1175
+
) || '(0)';
1176
+
value_pin = value_pin.replace('(', '').replace(')', '');
1177
+
var code = 'n.digital_read(' + value_pin + ')';
1178
+
return [code, Blockly.Python.ORDER_NONE];
1179
+
};
1180
+
1181
+
Blockly.Python['niryo_one_gpio_select'] = function (block) {
1182
+
var dropdown_gpio_select = block.getFieldValue('GPIO_SELECT');
1183
+
var code = dropdown_gpio_select;
1184
+
return [code, Blockly.Python.ORDER_NONE];
1185
+
};
1186
+
1187
+
Blockly.Python['niryo_one_sw_select'] = function (block) {
1188
+
var dropdown_sw_select = block.getFieldValue('SW_SELECT');
1189
+
var code = dropdown_sw_select;
1190
+
return [code, Blockly.Python.ORDER_NONE];
1191
+
};
1192
+
1193
+
Blockly.Python['niryo_one_set_12v_switch'] = function (block) {
1194
+
var value_pin =
1195
+
Blockly.Python.valueToCode(
1196
+
block,
1197
+
'SET_12V_SWITCH',
1198
+
Blockly.Python.ORDER_ATOMIC
1199
+
) || '(0)';
1200
+
value_pin = value_pin.replace('(', '').replace(')', '');
1201
+
var dropdown_set_12v_switch_select = block.getFieldValue(
1202
+
'SET_12V_SWITCH_SELECT'
1203
+
);
1204
+
var code =
1205
+
'n.digital_write(' +
1206
+
value_pin +
1207
+
', ' +
1208
+
dropdown_set_12v_switch_select +
1209
+
')\n';
1210
+
return code;
1211
+
};
1212
+
1213
+
// Tool
1214
+
1215
+
Blockly.Python['niryo_one_tool_select'] = function (block) {
1216
+
var dropdown_tool_select = block.getFieldValue('TOOL_SELECT');
1217
+
var code = dropdown_tool_select;
1218
+
return [code, Blockly.Python.ORDER_NONE];
1219
+
};
1220
+
1221
+
Blockly.Python['niryo_one_change_tool'] = function (block) {
1222
+
var value_tool_name =
1223
+
Blockly.Python.valueToCode(
1224
+
block,
1225
+
'NEW_TOOL_ID',
1226
+
Blockly.Python.ORDER_ATOMIC
1227
+
) || '(TOOL_NONE)';
1228
+
value_tool_name = value_tool_name.replace('(', '').replace(')', '');
1229
+
var code = 'n.change_tool(' + value_tool_name + ')\n';
1230
+
return code;
1231
+
};
1232
+
1233
+
Blockly.Python['niryo_one_detach_tool'] = function (block) {
1234
+
var code = 'n.change_tool(0)\n';
1235
+
return code;
1236
+
};
1237
+
1238
+
Blockly.Python['niryo_one_open_gripper'] = function (block) {
1239
+
var value_gripper_id =
1240
+
Blockly.Python.valueToCode(
1241
+
block,
1242
+
'OPEN_GRIPPER_ID',
1243
+
Blockly.Python.ORDER_ATOMIC
1244
+
) || '(TOOL_NONE)';
1245
+
value_gripper_id = value_gripper_id.replace('(', '').replace(')', '');
1246
+
var number_open_speed = block.getFieldValue('OPEN_SPEED');
1247
+
var code =
1248
+
'n.open_gripper(' + value_gripper_id + ', ' + number_open_speed + ')\n';
1249
+
return code;
1250
+
};
1251
+
1252
+
Blockly.Python['niryo_one_close_gripper'] = function (block) {
1253
+
var value_gripper_id =
1254
+
Blockly.Python.valueToCode(
1255
+
block,
1256
+
'CLOSE_GRIPPER_ID',
1257
+
Blockly.Python.ORDER_ATOMIC
1258
+
) || '(TOOL_NONE)';
1259
+
value_gripper_id = value_gripper_id.replace('(', '').replace(')', '');
1260
+
var number_close_speed = block.getFieldValue('CLOSE_SPEED');
1261
+
var code =
1262
+
'n.close_gripper(' + value_gripper_id + ', ' + number_close_speed + ')\n';
1263
+
return code;
1264
+
};
1265
+
1266
+
Blockly.Python['niryo_one_pull_air_vacuum_pump'] = function (block) {
1267
+
var value_vacuum_pump_id =
1268
+
Blockly.Python.valueToCode(
1269
+
block,
1270
+
'PULL_AIR_VACUUM_PUMP_ID',
1271
+
Blockly.Python.ORDER_ATOMIC
1272
+
) || '(TOOL_NONE)';
1273
+
value_vacuum_pump_id = value_vacuum_pump_id.replace('(', '').replace(')', '');
1274
+
var code = 'n.pull_air_vacuum_pump(' + value_vacuum_pump_id + ')\n';
1275
+
return code;
1276
+
};
1277
+
1278
+
Blockly.Python['niryo_one_push_air_vacuum_pump'] = function (block) {
1279
+
var value_vacuum_pump_id =
1280
+
Blockly.Python.valueToCode(
1281
+
block,
1282
+
'PUSH_AIR_VACUUM_PUMP_ID',
1283
+
Blockly.Python.ORDER_ATOMIC
1284
+
) || '(TOOL_NONE)';
1285
+
value_vacuum_pump_id = value_vacuum_pump_id.replace('(', '').replace(')', '');
1286
+
var code = 'n.push_air_vacuum_pump(' + value_vacuum_pump_id + ')\n';
1287
+
return code;
1288
+
};
1289
+
1290
+
Blockly.Python['niryo_one_setup_electromagnet'] = function (block) {
1291
+
var value_electromagnet_id =
1292
+
Blockly.Python.valueToCode(
1293
+
block,
1294
+
'SETUP_ELECTROMAGNET_ID',
1295
+
Blockly.Python.ORDER_ATOMIC
1296
+
) || '(TOOL_NONE)';
1297
+
value_electromagnet_id = value_electromagnet_id
1298
+
.replace('(', '')
1299
+
.replace(')', '');
1300
+
var value_electromagnet_pin =
1301
+
Blockly.Python.valueToCode(
1302
+
block,
1303
+
'SETUP_ELECTROMAGNET_PIN',
1304
+
Blockly.Python.ORDER_ATOMIC
1305
+
) || '(0)';
1306
+
value_electromagnet_pin = value_electromagnet_pin
1307
+
.replace('(', '')
1308
+
.replace(')', '');
1309
+
var code =
1310
+
'n.setup_electromagnet(' +
1311
+
value_electromagnet_id +
1312
+
', ' +
1313
+
value_electromagnet_pin +
1314
+
')\n';
1315
+
return code;
1316
+
};
1317
+
1318
+
Blockly.Python['niryo_one_activate_electromagnet'] = function (block) {
1319
+
var value_electromagnet_id =
1320
+
Blockly.Python.valueToCode(
1321
+
block,
1322
+
'ACTIVATE_ELECTROMAGNET_ID',
1323
+
Blockly.Python.ORDER_ATOMIC
1324
+
) || '(TOOL_NONE)';
1325
+
value_electromagnet_id = value_electromagnet_id
1326
+
.replace('(', '')
1327
+
.replace(')', '');
1328
+
var value_electromagnet_pin =
1329
+
Blockly.Python.valueToCode(
1330
+
block,
1331
+
'ACTIVATE_ELECTROMAGNET_PIN',
1332
+
Blockly.Python.ORDER_ATOMIC
1333
+
) || '(0)';
1334
+
value_electromagnet_pin = value_electromagnet_pin
1335
+
.replace('(', '')
1336
+
.replace(')', '');
1337
+
var code =
1338
+
'n.activate_electromagnet(' +
1339
+
value_electromagnet_id +
1340
+
', ' +
1341
+
value_electromagnet_pin +
1342
+
')\n';
1343
+
return code;
1344
+
};
1345
+
1346
+
Blockly.Python['niryo_one_deactivate_electromagnet'] = function (block) {
1347
+
var value_electromagnet_id =
1348
+
Blockly.Python.valueToCode(
1349
+
block,
1350
+
'DEACTIVATE_ELECTROMAGNET_ID',
1351
+
Blockly.Python.ORDER_ATOMIC
1352
+
) || '(TOOL_NONE)';
1353
+
value_electromagnet_id = value_electromagnet_id
1354
+
.replace('(', '')
1355
+
.replace(')', '');
1356
+
var value_electromagnet_pin =
1357
+
Blockly.Python.valueToCode(
1358
+
block,
1359
+
'DEACTIVATE_ELECTROMAGNET_PIN',
1360
+
Blockly.Python.ORDER_ATOMIC
1361
+
) || '(0)';
1362
+
value_electromagnet_pin = value_electromagnet_pin
1363
+
.replace('(', '')
1364
+
.replace(')', '');
1365
+
var code =
1366
+
'n.deactivate_electromagnet(' +
1367
+
value_electromagnet_id +
1368
+
', ' +
1369
+
value_electromagnet_pin +
1370
+
')\n';
1371
+
return code;
1372
+
};
1373
+
1374
+
// Utility
1375
+
1376
+
Blockly.Python['niryo_one_sleep'] = function (block) {
1377
+
var value_sleep_time =
1378
+
Blockly.Python.valueToCode(
1379
+
block,
1380
+
'SLEEP_TIME',
1381
+
Blockly.Python.ORDER_ATOMIC
1382
+
) || '0';
1383
+
value_sleep_time = value_sleep_time.replace('(', '').replace(')', '');
1384
+
var code = 'n.wait(' + value_sleep_time + ')\n';
1385
+
return code;
1386
+
};
1387
+
1388
+
Blockly.Python['niryo_one_comment'] = function (block) {
1389
+
var text_comment_text = block.getFieldValue('COMMENT_TEXT');
1390
+
var code = ' #' + text_comment_text + '\n';
1391
+
return code;
1392
+
};
1393
+
1394
+
Blockly.Python['niryo_one_break_point'] = function (block) {
1395
+
var code = 'n.break_point()\n';
1396
+
return code;
1397
+
};
1398
+
1399
+
// Vision
1400
+
1401
+
Blockly.Python['niryo_one_vision_color'] = function (block) {
1402
+
var dropdown_color_select = block.getFieldValue('COLOR_SELECT');
1403
+
var code = dropdown_color_select;
1404
+
code = '"' + g_color_values[code] + '"';
1405
+
return [code, Blockly.Python.ORDER_NONE];
1406
+
};
1407
+
1408
+
Blockly.Python['niryo_one_vision_shape'] = function (block) {
1409
+
var dropdown_shape_select = block.getFieldValue('SHAPE_SELECT');
1410
+
var code = dropdown_shape_select;
1411
+
code = '"' + g_shape_values[code] + '"';
1412
+
return [code, Blockly.Python.ORDER_NONE];
1413
+
};
1414
+
1415
+
Blockly.Python['niryo_one_vision_pick'] = function (block) {
1416
+
// Color (int) value (see g_shape_values at top of this file)
1417
+
var value_color =
1418
+
Blockly.Python.valueToCode(
1419
+
block,
1420
+
'COLOR_SWITCH',
1421
+
Blockly.Python.ORDER_ATOMIC
1422
+
) || '(0)';
1423
+
value_color = value_color.replace('(', '').replace(')', '');
1424
+
1425
+
// Shape (int) value (see g_shape_values at top of this file)
1426
+
var value_shape =
1427
+
Blockly.Python.valueToCode(
1428
+
block,
1429
+
'SHAPE_SWITCH',
1430
+
Blockly.Python.ORDER_ATOMIC
1431
+
) || '(0)';
1432
+
value_shape = value_shape.replace('(', '').replace(')', '');
1433
+
1434
+
// Name of workspace
1435
+
var workspace_name =
1436
+
Blockly.Python.valueToCode(
1437
+
block,
1438
+
'WORKSPACE_NAME',
1439
+
Blockly.Python.ORDER_ATOMIC
1440
+
) || '(0)';
1441
+
workspace_name = workspace_name.replace('(', '').replace(')', '');
1442
+
1443
+
// Height in centimeter
1444
+
var height_offset =
1445
+
Blockly.Python.valueToCode(
1446
+
block,
1447
+
'HEIGHT_OFFSET',
1448
+
Blockly.Python.ORDER_ATOMIC
1449
+
) || '(0)';
1450
+
height_offset = height_offset.replace('(', '').replace(')', '');
1451
+
1452
+
var code =
1453
+
'n.vision_pick(' +
1454
+
workspace_name +
1455
+
', float(' +
1456
+
height_offset +
1457
+
')/1000, ' +
1458
+
value_shape +
1459
+
', ' +
1460
+
value_color +
1461
+
')[0]';
1462
+
return [code, Blockly.Python.ORDER_NONE];
1463
+
};
1464
+
1465
+
Blockly.Python['niryo_one_vision_is_object_detected'] = function (block) {
1466
+
// Color (int) value (see g_shape_values at top of this file)
1467
+
var value_color =
1468
+
Blockly.Python.valueToCode(
1469
+
block,
1470
+
'COLOR_SWITCH',
1471
+
Blockly.Python.ORDER_ATOMIC
1472
+
) || '(0)';
1473
+
value_color = value_color.replace('(', '').replace(')', '');
1474
+
1475
+
// Shape (int) value (see g_shape_values at top of this file)
1476
+
var value_shape =
1477
+
Blockly.Python.valueToCode(
1478
+
block,
1479
+
'SHAPE_SWITCH',
1480
+
Blockly.Python.ORDER_ATOMIC
1481
+
) || '(0)';
1482
+
value_shape = value_shape.replace('(', '').replace(')', '');
1483
+
1484
+
// Name of workspace
1485
+
var workspace_name =
1486
+
Blockly.Python.valueToCode(
1487
+
block,
1488
+
'WORKSPACE_NAME',
1489
+
Blockly.Python.ORDER_ATOMIC
1490
+
) || '(0)';
1491
+
workspace_name = workspace_name.replace('(', '').replace(')', '');
1492
+
1493
+
var code =
1494
+
'n.detect_object(' +
1495
+
workspace_name +
1496
+
', ' +
1497
+
value_shape +
1498
+
', ' +
1499
+
value_color +
1500
+
')[0]';
1501
+
return [code, Blockly.Python.ORDER_NONE];
1502
+
};
1503
+
1504
+
// Conveyor
1505
+
1506
+
Blockly.Python['niryo_one_conveyor_models'] = function (block) {
1507
+
const conveyor_id_map = {
1508
+
CONVEYOR_1: 6,
1509
+
CONVEYOR_2: 7
1510
+
};
1511
+
var conveyor_model_id = block.getFieldValue('CONVEYOR_SELECT');
1512
+
var code = conveyor_id_map[conveyor_model_id];
1513
+
return [code, Blockly.Python.ORDER_NONE];
1514
+
};
1515
+
1516
+
Blockly.Python['niryo_one_conveyor_use'] = function (block) {
1517
+
var conveyor_id =
1518
+
Blockly.Python.valueToCode(
1519
+
block,
1520
+
'CONVEYOR_SWITCH',
1521
+
Blockly.Python.ORDER_ATOMIC
1522
+
) || '(0)';
1523
+
conveyor_id = conveyor_id.replace('(', '').replace(')', '');
1524
+
var code = 'n.set_conveyor(' + conveyor_id + ', True)\n';
1525
+
return code;
1526
+
};
1527
+
1528
+
Blockly.Python['niryo_one_conveyor_control'] = function (block) {
1529
+
var conveyor_id =
1530
+
Blockly.Python.valueToCode(
1531
+
block,
1532
+
'CONVEYOR_SWITCH',
1533
+
Blockly.Python.ORDER_ATOMIC
1534
+
) || '(0)';
1535
+
conveyor_id = conveyor_id.replace('(', '').replace(')', '');
1536
+
var speed_percent =
1537
+
Blockly.Python.valueToCode(
1538
+
block,
1539
+
'SPEED_PERCENT',
1540
+
Blockly.Python.ORDER_ATOMIC
1541
+
) || '(0)';
1542
+
speed_percent = speed_percent.replace('(', '').replace(')', '');
1543
+
var direction = block.getFieldValue('DIRECTION_SELECT');
1544
+
var code =
1545
+
'n.control_conveyor(' +
1546
+
conveyor_id +
1547
+
', True, ' +
1548
+
speed_percent +
1549
+
', ' +
1550
+
direction +
1551
+
')\n';
1552
+
return code;
1553
+
};
1554
+
1555
+
Blockly.Python['niryo_one_conveyor_stop'] = function (block) {
1556
+
var conveyor_id =
1557
+
Blockly.Python.valueToCode(
1558
+
block,
1559
+
'CONVEYOR_SWITCH',
1560
+
Blockly.Python.ORDER_ATOMIC
1561
+
) || '(0)';
1562
+
conveyor_id = conveyor_id.replace('(', '').replace(')', '');
1563
+
var code = 'n.control_conveyor(' + conveyor_id + ', False, 0, 1)\n';
1564
+
return code;
1565
+
};
1566
+
1567
+
// Creating a toolbox containing all the main (default) blocks.
1568
+
const TOOLBOX = {
1569
+
kind: 'categoryToolbox',
1570
+
contents: [
1571
+
{
1572
+
kind: 'category',
1573
+
name: 'Logic',
1574
+
colour: '210',
1575
+
contents: [
1576
+
{
1577
+
kind: 'block',
1578
+
type: 'controls_if'
1579
+
},
1580
+
{
1581
+
kind: 'BLOCK',
1582
+
type: 'logic_compare'
1583
+
},
1584
+
{
1585
+
kind: 'BLOCK',
1586
+
blockxml: '<block type="logic_operation"></block>',
1587
+
type: 'logic_operation'
1588
+
},
1589
+
{
1590
+
kind: 'BLOCK',
1591
+
blockxml: '<block type="logic_negate"></block>',
1592
+
type: 'logic_negate'
1593
+
},
1594
+
{
1595
+
kind: 'BLOCK',
1596
+
blockxml: '<block type="logic_boolean"></block>',
1597
+
type: 'logic_boolean'
1598
+
},
1599
+
{
1600
+
kind: 'BLOCK',
1601
+
blockxml: '<block type="logic_null"></block>',
1602
+
type: 'logic_null'
1603
+
},
1604
+
{
1605
+
kind: 'BLOCK',
1606
+
blockxml: '<block type="logic_ternary"></block>',
1607
+
type: 'logic_ternary'
1608
+
}
1609
+
]
1610
+
},
1611
+
{
1612
+
kind: 'category',
1613
+
name: 'Loops',
1614
+
colour: '120',
1615
+
contents: [
1616
+
{
1617
+
kind: 'BLOCK',
1618
+
blockxml:
1619
+
'<block type="controls_repeat_ext">\n <value name="TIMES">\n <shadow type="math_number">\n <field name="NUM">10</field>\n </shadow>\n </value>\n </block>',
1620
+
type: 'controls_repeat_ext'
1621
+
},
1622
+
{
1623
+
kind: 'BLOCK',
1624
+
blockxml: '<block type="controls_whileUntil"></block>',
1625
+
type: 'controls_whileUntil'
1626
+
},
1627
+
{
1628
+
kind: 'BLOCK',
1629
+
blockxml:
1630
+
'<block type="controls_for">\n <value name="FROM">\n <shadow type="math_number">\n <field name="NUM">1</field>\n </shadow>\n </value>\n <value name="TO">\n <shadow type="math_number">\n <field name="NUM">10</field>\n </shadow>\n </value>\n <value name="BY">\n <shadow type="math_number">\n <field name="NUM">1</field>\n </shadow>\n </value>\n </block>',
1631
+
type: 'controls_for'
1632
+
},
1633
+
{
1634
+
kind: 'BLOCK',
1635
+
blockxml: '<block type="controls_forEach"></block>',
1636
+
type: 'controls_forEach'
1637
+
},
1638
+
{
1639
+
kind: 'BLOCK',
1640
+
blockxml: '<block type="controls_flow_statements"></block>',
1641
+
type: 'controls_flow_statements'
1642
+
}
1643
+
]
1644
+
},
1645
+
{
1646
+
kind: 'CATEGORY',
1647
+
name: 'Math',
1648
+
colour: '230',
1649
+
contents: [
1650
+
{
1651
+
kind: 'BLOCK',
1652
+
blockxml: '<block type="math_number"></block>',
1653
+
type: 'math_number'
1654
+
},
1655
+
{
1656
+
kind: 'BLOCK',
1657
+
blockxml:
1658
+
'<block type="math_arithmetic">\n <value name="A">\n <shadow type="math_number">\n <field name="NUM">1</field>\n </shadow>\n </value>\n <value name="B">\n <shadow type="math_number">\n <field name="NUM">1</field>\n </shadow>\n </value>\n </block>',
1659
+
type: 'math_arithmetic'
1660
+
},
1661
+
{
1662
+
kind: 'BLOCK',
1663
+
blockxml:
1664
+
'<block type="math_single">\n <value name="NUM">\n <shadow type="math_number">\n <field name="NUM">9</field>\n </shadow>\n </value>\n </block>',
1665
+
type: 'math_single'
1666
+
},
1667
+
{
1668
+
kind: 'BLOCK',
1669
+
blockxml:
1670
+
'<block type="math_trig">\n <value name="NUM">\n <shadow type="math_number">\n <field name="NUM">45</field>\n </shadow>\n </value>\n </block>',
1671
+
type: 'math_trig'
1672
+
},
1673
+
{
1674
+
kind: 'BLOCK',
1675
+
blockxml: '<block type="math_constant"></block>',
1676
+
type: 'math_constant'
1677
+
},
1678
+
{
1679
+
kind: 'BLOCK',
1680
+
blockxml:
1681
+
'<block type="math_number_property">\n <value name="NUMBER_TO_CHECK">\n <shadow type="math_number">\n <field name="NUM">0</field>\n </shadow>\n </value>\n </block>',
1682
+
type: 'math_number_property'
1683
+
},
1684
+
{
1685
+
kind: 'BLOCK',
1686
+
blockxml:
1687
+
'<block type="math_change">\n <value name="DELTA">\n <shadow type="math_number">\n <field name="NUM">1</field>\n </shadow>\n </value>\n </block>',
1688
+
type: 'math_change'
1689
+
},
1690
+
{
1691
+
kind: 'BLOCK',
1692
+
blockxml:
1693
+
'<block type="math_round">\n <value name="NUM">\n <shadow type="math_number">\n <field name="NUM">3.1</field>\n </shadow>\n </value>\n </block>',
1694
+
type: 'math_round'
1695
+
},
1696
+
{
1697
+
kind: 'BLOCK',
1698
+
blockxml: '<block type="math_on_list"></block>',
1699
+
type: 'math_on_list'
1700
+
},
1701
+
{
1702
+
kind: 'BLOCK',
1703
+
blockxml:
1704
+
'<block type="math_modulo">\n <value name="DIVIDEND">\n <shadow type="math_number">\n <field name="NUM">64</field>\n </shadow>\n </value>\n <value name="DIVISOR">\n <shadow type="math_number">\n <field name="NUM">10</field>\n </shadow>\n </value>\n </block>',
1705
+
type: 'math_modulo'
1706
+
},
1707
+
{
1708
+
kind: 'BLOCK',
1709
+
blockxml:
1710
+
'<block type="math_constrain">\n <value name="VALUE">\n <shadow type="math_number">\n <field name="NUM">50</field>\n </shadow>\n </value>\n <value name="LOW">\n <shadow type="math_number">\n <field name="NUM">1</field>\n </shadow>\n </value>\n <value name="HIGH">\n <shadow type="math_number">\n <field name="NUM">100</field>\n </shadow>\n </value>\n </block>',
1711
+
type: 'math_constrain'
1712
+
},
1713
+
{
1714
+
kind: 'BLOCK',
1715
+
blockxml:
1716
+
'<block type="math_random_int">\n <value name="FROM">\n <shadow type="math_number">\n <field name="NUM">1</field>\n </shadow>\n </value>\n <value name="TO">\n <shadow type="math_number">\n <field name="NUM">100</field>\n </shadow>\n </value>\n </block>',
1717
+
type: 'math_random_int'
1718
+
},
1719
+
{
1720
+
kind: 'BLOCK',
1721
+
blockxml: '<block type="math_random_float"></block>',
1722
+
type: 'math_random_float'
1723
+
}
1724
+
]
1725
+
},
1726
+
{
1727
+
kind: 'CATEGORY',
1728
+
name: 'Text',
1729
+
colour: '160',
1730
+
contents: [
1731
+
{
1732
+
kind: 'BLOCK',
1733
+
blockxml: '<block type="text"></block>',
1734
+
type: 'text'
1735
+
},
1736
+
{
1737
+
kind: 'BLOCK',
1738
+
blockxml: '<block type="text_join"></block>',
1739
+
type: 'text_join'
1740
+
},
1741
+
{
1742
+
kind: 'BLOCK',
1743
+
blockxml:
1744
+
'<block type="text_append">\n <value name="TEXT">\n <shadow type="text"></shadow>\n </value>\n </block>',
1745
+
type: 'text_append'
1746
+
},
1747
+
{
1748
+
kind: 'BLOCK',
1749
+
blockxml:
1750
+
'<block type="text_length">\n <value name="VALUE">\n <shadow type="text">\n <field name="TEXT">abc</field>\n </shadow>\n </value>\n </block>',
1751
+
type: 'text_length'
1752
+
},
1753
+
{
1754
+
kind: 'BLOCK',
1755
+
blockxml:
1756
+
'<block type="text_isEmpty">\n <value name="VALUE">\n <shadow type="text">\n <field name="TEXT"></field>\n </shadow>\n </value>\n </block>',
1757
+
type: 'text_isEmpty'
1758
+
},
1759
+
{
1760
+
kind: 'BLOCK',
1761
+
blockxml:
1762
+
'<block type="text_indexOf">\n <value name="VALUE">\n <block type="variables_get">\n <field name="VAR">text</field>\n </block>\n </value>\n <value name="FIND">\n <shadow type="text">\n <field name="TEXT">abc</field>\n </shadow>\n </value>\n </block>',
1763
+
type: 'text_indexOf'
1764
+
},
1765
+
{
1766
+
kind: 'BLOCK',
1767
+
blockxml:
1768
+
'<block type="text_charAt">\n <value name="VALUE">\n <block type="variables_get">\n <field name="VAR">text</field>\n </block>\n </value>\n </block>',
1769
+
type: 'text_charAt'
1770
+
},
1771
+
{
1772
+
kind: 'BLOCK',
1773
+
blockxml:
1774
+
'<block type="text_getSubstring">\n <value name="STRING">\n <block type="variables_get">\n <field name="VAR">text</field>\n </block>\n </value>\n </block>',
1775
+
type: 'text_getSubstring'
1776
+
},
1777
+
{
1778
+
kind: 'BLOCK',
1779
+
blockxml:
1780
+
'<block type="text_changeCase">\n <value name="TEXT">\n <shadow type="text">\n <field name="TEXT">abc</field>\n </shadow>\n </value>\n </block>',
1781
+
type: 'text_changeCase'
1782
+
},
1783
+
{
1784
+
kind: 'BLOCK',
1785
+
blockxml:
1786
+
'<block type="text_trim">\n <value name="TEXT">\n <shadow type="text">\n <field name="TEXT">abc</field>\n </shadow>\n </value>\n </block>',
1787
+
type: 'text_trim'
1788
+
},
1789
+
{
1790
+
kind: 'BLOCK',
1791
+
blockxml:
1792
+
'<block type="text_print">\n <value name="TEXT">\n <shadow type="text">\n <field name="TEXT">abc</field>\n </shadow>\n </value>\n </block>',
1793
+
type: 'text_print'
1794
+
},
1795
+
{
1796
+
kind: 'BLOCK',
1797
+
blockxml:
1798
+
'<block type="text_prompt_ext">\n <value name="TEXT">\n <shadow type="text">\n <field name="TEXT">abc</field>\n </shadow>\n </value>\n </block>',
1799
+
type: 'text_prompt_ext'
1800
+
}
1801
+
]
1802
+
},
1803
+
{
1804
+
kind: 'CATEGORY',
1805
+
name: 'Lists',
1806
+
colour: '260',
1807
+
contents: [
1808
+
{
1809
+
kind: 'BLOCK',
1810
+
blockxml:
1811
+
'<block type="lists_create_with">\n <mutation items="0"></mutation>\n </block>',
1812
+
type: 'lists_create_with'
1813
+
},
1814
+
{
1815
+
kind: 'BLOCK',
1816
+
blockxml: '<block type="lists_create_with"></block>',
1817
+
type: 'lists_create_with'
1818
+
},
1819
+
{
1820
+
kind: 'BLOCK',
1821
+
blockxml:
1822
+
'<block type="lists_repeat">\n <value name="NUM">\n <shadow type="math_number">\n <field name="NUM">5</field>\n </shadow>\n </value>\n </block>',
1823
+
type: 'lists_repeat'
1824
+
},
1825
+
{
1826
+
kind: 'BLOCK',
1827
+
blockxml: '<block type="lists_length"></block>',
1828
+
type: 'lists_length'
1829
+
},
1830
+
{
1831
+
kind: 'BLOCK',
1832
+
blockxml: '<block type="lists_isEmpty"></block>',
1833
+
type: 'lists_isEmpty'
1834
+
},
1835
+
{
1836
+
kind: 'BLOCK',
1837
+
blockxml:
1838
+
'<block type="lists_indexOf">\n <value name="VALUE">\n <block type="variables_get">\n <field name="VAR">list</field>\n </block>\n </value>\n </block>',
1839
+
type: 'lists_indexOf'
1840
+
},
1841
+
{
1842
+
kind: 'BLOCK',
1843
+
blockxml:
1844
+
'<block type="lists_getIndex">\n <value name="VALUE">\n <block type="variables_get">\n <field name="VAR">list</field>\n </block>\n </value>\n </block>',
1845
+
type: 'lists_getIndex'
1846
+
},
1847
+
{
1848
+
kind: 'BLOCK',
1849
+
blockxml:
1850
+
'<block type="lists_setIndex">\n <value name="LIST">\n <block type="variables_get">\n <field name="VAR">list</field>\n </block>\n </value>\n </block>',
1851
+
type: 'lists_setIndex'
1852
+
},
1853
+
{
1854
+
kind: 'BLOCK',
1855
+
blockxml:
1856
+
'<block type="lists_getSublist">\n <value name="LIST">\n <block type="variables_get">\n <field name="VAR">list</field>\n </block>\n </value>\n </block>',
1857
+
type: 'lists_getSublist'
1858
+
},
1859
+
{
1860
+
kind: 'BLOCK',
1861
+
blockxml:
1862
+
'<block type="lists_split">\n <value name="DELIM">\n <shadow type="text">\n <field name="TEXT">,</field>\n </shadow>\n </value>\n </block>',
1863
+
type: 'lists_split'
1864
+
},
1865
+
{
1866
+
kind: 'BLOCK',
1867
+
blockxml: '<block type="lists_sort"></block>',
1868
+
type: 'lists_sort'
1869
+
}
1870
+
]
1871
+
},
1872
+
{
1873
+
kind: 'CATEGORY',
1874
+
name: 'Color',
1875
+
colour: '20',
1876
+
contents: [
1877
+
{
1878
+
kind: 'BLOCK',
1879
+
blockxml: '<block type="colour_picker"></block>',
1880
+
type: 'colour_picker'
1881
+
},
1882
+
{
1883
+
kind: 'BLOCK',
1884
+
blockxml: '<block type="colour_random"></block>',
1885
+
type: 'colour_random'
1886
+
},
1887
+
{
1888
+
kind: 'BLOCK',
1889
+
blockxml:
1890
+
'<block type="colour_rgb">\n <value name="RED">\n <shadow type="math_number">\n <field name="NUM">100</field>\n </shadow>\n </value>\n <value name="GREEN">\n <shadow type="math_number">\n <field name="NUM">50</field>\n </shadow>\n </value>\n <value name="BLUE">\n <shadow type="math_number">\n <field name="NUM">0</field>\n </shadow>\n </value>\n </block>',
1891
+
type: 'colour_rgb'
1892
+
},
1893
+
{
1894
+
kind: 'BLOCK',
1895
+
blockxml:
1896
+
'<block type="colour_blend">\n <value name="COLOUR1">\n <shadow type="colour_picker">\n <field name="COLOUR">#ff0000</field>\n </shadow>\n </value>\n <value name="COLOUR2">\n <shadow type="colour_picker">\n <field name="COLOUR">#3333ff</field>\n </shadow>\n </value>\n <value name="RATIO">\n <shadow type="math_number">\n <field name="NUM">0.5</field>\n </shadow>\n </value>\n </block>',
1897
+
type: 'colour_blend'
1898
+
}
1899
+
]
1900
+
},
1901
+
{
1902
+
kind: 'SEP'
1903
+
},
1904
+
{
1905
+
kind: 'CATEGORY',
1906
+
colour: '330',
1907
+
custom: 'VARIABLE',
1908
+
name: 'Variables'
1909
+
},
1910
+
{
1911
+
kind: 'CATEGORY',
1912
+
colour: '290',
1913
+
custom: 'PROCEDURE',
1914
+
name: 'Functions'
1915
+
},
1916
+
{
1917
+
kind: 'SEP'
1918
+
},
1919
+
{
1920
+
kind: 'CATEGORY',
1921
+
colour: '210',
1922
+
name: 'Niryo',
1923
+
contents: [
1924
+
{
1925
+
kind: 'BLOCK',
1926
+
type: 'niryo_one_move_joints'
1927
+
}
1928
+
]
1929
+
}
1930
+
]
1931
+
};
1932
+
1933
+
const BlocklyNiryo = {
1934
+
Blocks: Blockly.Blocks,
1935
+
Generator: Blockly.Python,
1936
+
Toolbox: TOOLBOX
1937
+
};
1938
+
1939
+
export default BlocklyNiryo;
+2
-1
src/toolbar/index.ts
+2
-1
src/toolbar/index.ts
src/toolbar/selector.tsx
src/toolbar/generator.tsx
src/toolbar/selector.tsx
src/toolbar/generator.tsx
+45
src/toolbar/toolbox.tsx
+45
src/toolbar/toolbox.tsx
···
1
+
import { ToolbarButtonComponent } from '@jupyterlab/apputils';
2
+
import { HTMLSelect } from '@jupyterlab/ui-components';
3
+
4
+
import React from 'react';
5
+
6
+
import { BlocklyManager } from './../manager';
7
+
import { BlocklyButton } from './utils';
8
+
9
+
export namespace SelectToolbox {
10
+
export interface IOptions extends ToolbarButtonComponent.IProps {
11
+
manager: BlocklyManager;
12
+
}
13
+
}
14
+
15
+
export class SelectToolbox extends BlocklyButton {
16
+
private _manager: BlocklyManager;
17
+
18
+
constructor(props: SelectToolbox.IOptions) {
19
+
super(props);
20
+
this._manager = props.manager;
21
+
this._manager.changed.connect(this.update, this);
22
+
}
23
+
24
+
dispose(): void {
25
+
super.dispose();
26
+
this._manager.changed.disconnect(this.update, this);
27
+
}
28
+
29
+
private handleChange = (
30
+
event: React.ChangeEvent<HTMLSelectElement>
31
+
): void => {
32
+
this._manager.setToolbox(event.target.value);
33
+
this.update();
34
+
};
35
+
36
+
render(): JSX.Element {
37
+
return (
38
+
<HTMLSelect
39
+
onChange={this.handleChange}
40
+
value={this._manager.getToolbox()}
41
+
options={this._manager.listToolboxes()}
42
+
/>
43
+
);
44
+
}
45
+
}
+16
-3
src/widget.ts
+16
-3
src/widget.ts
···
11
11
12
12
import { BlocklyLayout } from './layout';
13
13
import { BlocklyManager } from './manager';
14
-
import { BlocklyButton, SelectGenerator, Spacer } from './toolbar';
14
+
import {
15
+
BlocklyButton,
16
+
SelectGenerator,
17
+
SelectToolbox,
18
+
Spacer
19
+
} from './toolbar';
15
20
16
21
/**
17
22
* DocumentWidget: widget that represents the view or editor for a file type.
···
35
40
this.toolbar.addItem('run', button);
36
41
this.toolbar.addItem('spacer', new Spacer());
37
42
this.toolbar.addItem(
38
-
'select',
43
+
'toolbox',
44
+
new SelectToolbox({
45
+
label: 'Toolbox',
46
+
tooltip: 'Select tollbox',
47
+
manager: options.manager
48
+
})
49
+
);
50
+
this.toolbar.addItem(
51
+
'generator',
39
52
new SelectGenerator({
40
-
label: 'Select',
53
+
label: 'Kernel',
41
54
tooltip: 'Select kernel',
42
55
manager: options.manager
43
56
})
+2
-1
tsconfig.json
+2
-1
tsconfig.json
···
2
2
"compilerOptions": {
3
3
"allowSyntheticDefaultImports": true,
4
4
"composite": true,
5
+
"allowJs": true,
5
6
"declaration": true,
6
7
"esModuleInterop": true,
7
8
"incremental": true,
···
17
18
"target": "es2017",
18
19
"types": []
19
20
},
20
-
"include": ["src/**/*.ts", "src/**/*.tsx", "style/icons"],
21
+
"include": ["src/**/*.ts", "src/**/*.js", "src/**/*.tsx", "style/icons"],
21
22
"exclude": ["node_modules"]
22
23
}