diff --git a/src/playground/blocks/hardware/block_robotis.js b/src/playground/blocks/hardware/block_robotis.js index e0af1d006f..4afb5cd3ac 100644 --- a/src/playground/blocks/hardware/block_robotis.js +++ b/src/playground/blocks/hardware/block_robotis.js @@ -51,9 +51,12 @@ Entry.Robotis_carCont = { this.update(); return script.callReturn(); } - // clear portData only if not RB-100 practical kit + // clear portData only if not RB-100 if (Entry.hw.hwModule.id != "7.A,7.B" && - Entry.hw.hwModule.id != "7.C" ) { + Entry.hw.hwModule.id != "7.C" && + Entry.hw.hwModule.id != "7.5,7.6" && + Entry.hw.hwModule.id != "7.7,7.8" && + Entry.hw.hwModule.id != "7.9") { Entry.hw.portData = {}; } setTimeout(function() { diff --git a/src/playground/blocks/hardware/block_robotisRBPracticalAssembly.js b/src/playground/blocks/hardware/block_robotisRBPracticalAssembly.js index ae4b82c131..153b9eb1ee 100644 --- a/src/playground/blocks/hardware/block_robotisRBPracticalAssembly.js +++ b/src/playground/blocks/hardware/block_robotisRBPracticalAssembly.js @@ -824,8 +824,8 @@ Entry.Robotis_rb_P_Assembly.setLanguage = function () { robotis_ai_camera_center_arrow_target_x: "끝점 X좌표", robotis_ai_camera_center_arrow_target_y: "끝점 Y좌표", - robotis_plant_ripe: "빨간색으로 잘 익은", - robotis_plant_unripe: "초록색으로 덜 익은", + robotis_plant_ripe: "빨간색", + robotis_plant_unripe: "초록색", robotis_harvest: "수확하고", robotis_not_harvest: "수확하지 않고", }, diff --git a/src/playground/blocks/hardware/block_smartCodingHouse.js b/src/playground/blocks/hardware/block_smartCodingHouse.js index 9536301efe..42dbd7956c 100644 --- a/src/playground/blocks/hardware/block_smartCodingHouse.js +++ b/src/playground/blocks/hardware/block_smartCodingHouse.js @@ -31,16 +31,16 @@ Entry.smartCodingHouse = { // 핀 매핑 (참고용) analogPin: { - ULTRASONIC_TRIG: 0, - ULTRASONIC_ECHO: 1, - TEMP_HUM: 2, - IR_SENSOR: 3, - LIGHT_SENSOR: 4, - RAIN_SENSOR: 5, + ULTRASONIC_TRIG: 0, // 초음파센서 trig + ULTRASONIC_ECHO: 1, // 초음파센서 echo + TEMP_HUM: 2, // 온습도센서 + IR_SENSOR: 3, // 적외선센서 + LIGHT_SENSOR: 4, // 조도센서 + RAIN_SENSOR: 5, // 레인센서서 }, digitalPin: { - SERVO_MOTOR: 2, // 서보모터 제어 (D2) - DC_MOTOR: 3, // DC모터 (D3) – 방향과 속도를 하나의 값으로 결합 + SERVO_MOTOR: 2, // 서보모터 + DC_MOTOR: 3, // DC모터 – 방향과 속도를 하나의 값으로 결합 OUTDOOR1_LED_RED: 5, // 1층 실외 빨강 LED OUTDOOR1_LED_GREEN: 6, // 1층 실외 초록 LED OUTDOOR1_LED_BLUE: 7, // 1층 실외 파란 LED @@ -122,45 +122,46 @@ function hexToRgb(hex) { let num = parseInt(hex, 16); return { r: (num >> 16) & 255, g: (num >> 8) & 255, b: num & 255 }; } + // RGB를 HSV로 변환하는 함수 function rgbToHsv(r, g, b) { // 0~255 범위의 값을 0~1 범위로 정규화 r /= 255; g /= 255; b /= 255; - + // 최대값과 최소값 찾기 let max = Math.max(r, g, b); let min = Math.min(r, g, b); let h, - s, - v = max; + s, + v = max; let d = max - min; - + // 채도(saturation) 계산: 최대값이 0이면 0, 아니면 (최대-최소)/최대 s = max === 0 ? 0 : d / max; - + // 색조(hue) 계산 if (max === min) { - // 무채색인 경우(hue는 정의할 수 없음; 0으로 지정) - h = 0; + // 무채색인 경우(hue는 정의할 수 없음; 0으로 지정) + h = 0; } else { - if (max === r) { - h = (g - b) / d + (g < b ? 6 : 0); - } else if (max === g) { - h = (b - r) / d + 2; - } else { - h = (r - g) / d + 4; - } - h /= 6; // 0~1 사이의 값으로 정규화 + if (max === r) { + h = (g - b) / d + (g < b ? 6 : 0); + } else if (max === g) { + h = (b - r) / d + 2; + } else { + h = (r - g) / d + 4; + } + h /= 6; // 0~1 사이의 값으로 정규화 } - + // 결과 객체 반환: h는 0~1, s는 0~1, v는 0~1 return { h: h, s: s, v: v }; -} - -// HSV 값을 RGB로 변환하는 함수 -function hsvToRgb(h, s, v) { + } + + // HSV 값을 RGB로 변환하는 함수 + function hsvToRgb(h, s, v) { let r, g, b; const i = Math.floor(h * 6); const f = h * 6 - i; @@ -168,45 +169,46 @@ function hsvToRgb(h, s, v) { const q = v * (1 - f * s); const t = v * (1 - (1 - f) * s); switch (i % 6) { - case 0: - (r = v), (g = t), (b = p); - break; - case 1: - (r = q), (g = v), (b = p); - break; - case 2: - (r = p), (g = v), (b = t); - break; - case 3: - (r = p), (g = q), (b = v); - break; - case 4: - (r = t), (g = p), (b = v); - break; - case 5: - (r = v), (g = p), (b = q); - break; + case 0: + (r = v), (g = t), (b = p); + break; + case 1: + (r = q), (g = v), (b = p); + break; + case 2: + (r = p), (g = v), (b = t); + break; + case 3: + (r = p), (g = q), (b = v); + break; + case 4: + (r = t), (g = p), (b = v); + break; + case 5: + (r = v), (g = p), (b = q); + break; } return { - r: Math.round(r * 255), - g: Math.round(g * 255), - b: Math.round(b * 255), + r: Math.round(r * 255), + g: Math.round(g * 255), + b: Math.round(b * 255), }; -} + } // 블록이 아니라, 일반 함수로 선언 -Entry.smartCodingHouse.modeDoor = function () { +Entry.smartCodingHouse.modeDoor = function() { let port = Entry.smartCodingHouse.digitalPin.SERVO_MOTOR; // 서보모터를 90도로 설정 Entry.hw.sendQueue[port] = 4; Entry.hw.update && Entry.hw.update(); - + setTimeout(() => { Entry.hw.sendQueue[port] = 0; Entry.hw.update && Entry.hw.update(); }, 26); }; + Entry.smartCodingHouse.getBlocks = function () { return { set_ultrasonic_input: { @@ -234,22 +236,27 @@ Entry.smartCodingHouse.getBlocks = function () { paramsKeyMap: { EXPECTED: 0, THRESHOLD: 1 }, def: { type: 'set_ultrasonic_input', - params: [null, { type: 'number', params: ['3'] }], + params: [null, { type: 'number', params: ['20'] }], }, class: 'SmartCodingHouseSensor', isNotFor: ['smartCodingHouse'], func: function (sprite, script) { var expected = script.getField('EXPECTED', script); // "near" 또는 "far" - var threshold = script.getNumberValue('THRESHOLD', script); // 임계값 (기본 3) + var threshold = script.getNumberValue('THRESHOLD', script); // 임계값 (기본 20cm) var distance = Number(Entry.hw.portData.ultrasonic); - if (isNaN(distance)) return false; + + if (isNaN(distance)) { + // 만약 ultrasonic이 NaN이면, a1 값을 대신 사용 + distance = Number(Entry.hw.portData.a1); + } + // console.log('[DEBUG] Ultrasonic sensor reading: ' + distance + ' cm'); + // 센서 값이 임계값보다 작으면 "near", 이상이면 "far" var actual = distance < threshold ? 'near' : 'far'; return actual === expected; }, }, - // ── 온습도 센서 블록 ───────────────────────────── set_temp_hum_input: { color: EntryStatic.colorSet.block.default.HARDWARE, outerLine: EntryStatic.colorSet.block.default.HARDWARE, @@ -286,24 +293,36 @@ Entry.smartCodingHouse.getBlocks = function () { func: function (sprite, script) { var sensorType = script.getField('TYPE', script); // "temperature" 또는 "humidity" var expected = script.getField('EXPECTED', script); + // a2 채널에서 수신한 결합된 값을 가져옴 + var combined = Number(Entry.hw.portData.a2); + // Arduino에서 보낸 값은 (온도×100 + 습도)를 5로 나눈 값이므로, + // 원래 값을 복원하려면 5를 곱해줌 + var value = combined * 5; + // 온도는 몫, 습도는 나머지로 분리 (예: 25°C, 50% → 25×100+50 = 2550) + var temp = Math.floor(value / 100); + var humi = value % 100; + + console.log('[DEBUG] combined: ' + combined); + console.log('[DEBUG] temp: ' + temp); + console.log('[DEBUG] humi: ' + humi); + + if (isNaN(combined)) { + combined = Number(Entry.hw.portData.a2); + } + if (sensorType === 'temperature') { - var temp = Number(Entry.hw.portData.temperature); - if (isNaN(temp)) return false; - // 25℃를 기준으로 온도가 높으면 "hot", 낮으면 "cold" var actual = temp > 25 ? 'hot' : 'cold'; - // 예상 결과가 온도 관련 옵션이 아니면 false 반환 if (expected !== 'hot' && expected !== 'cold') return false; return actual === expected; } else { - var humi = Number(Entry.hw.portData.humidity); - if (isNaN(humi)) return false; - // 50%를 기준으로 습도가 높으면 "wet", 낮으면 "dry" var actual = humi > 50 ? 'wet' : 'dry'; if (expected !== 'wet' && expected !== 'dry') return false; return actual === expected; } + }, }, + set_light_input: { color: EntryStatic.colorSet.block.default.HARDWARE, @@ -543,6 +562,7 @@ Entry.smartCodingHouse.getBlocks = function () { Entry.smartCodingHouse.modeDoor(); break; default: + console.log('Unknown mode: ' + mode); } return script.callReturn(); }, @@ -692,14 +712,10 @@ Entry.smartCodingHouse.getBlocks = function () { let location = script.getField('LOCATION', script); let color = script.getStringField('COLOR', script); if (!location) { + console.error('Error: LOCATION 값이 undefined!'); return script.callReturn(); } let rgb = hexToRgb(color); - let hsv = rgbToHsv(rgb.r, rgb.g, rgb.b); // RGB → HSV - hsv.s = 1.0; // 채도 100% - hsv.v = 1.0; // 밝기 100% - rgb = hsvToRgb(hsv.h, hsv.s, hsv.v); // HSV → RGB - let pinR, pinG, pinB; if (location === 'OUTDOOR1') { pinR = Entry.smartCodingHouse.digitalPin.OUTDOOR1_LED_RED; @@ -714,6 +730,10 @@ Entry.smartCodingHouse.getBlocks = function () { pinG = Entry.smartCodingHouse.digitalPin.TERRACE2_LED_GREEN; pinB = Entry.smartCodingHouse.digitalPin.TERRACE2_LED_BLUE; } + // 콘솔 로그로 선택된 포트 번호 확인 + // console.log('LED OFF - Location:', location); + // console.log('Port Red:', pinR, 'Port Green:', pinG, 'Port Blue:', pinB); + // LED 출력: 하드웨어 업데이트 전에 값 할당 Entry.hw.sendQueue[pinR] = rgb.r; Entry.hw.sendQueue[pinG] = rgb.g; @@ -734,7 +754,7 @@ Entry.smartCodingHouse.getBlocks = function () { { type: 'Dropdown', options: [ - ['1층 실내', 'INDOOR'], + ['실내', 'INDOOR'], ['1층 실외', 'OUTDOOR1'], ['2층 테라스', 'TERRACE2'], ], diff --git a/src/playground/blocks/hardware/block_whalesbot_eagle_1001.js b/src/playground/blocks/hardware/block_whalesbot_eagle_1001.js index 88fc415aed..2275c3beb3 100644 --- a/src/playground/blocks/hardware/block_whalesbot_eagle_1001.js +++ b/src/playground/blocks/hardware/block_whalesbot_eagle_1001.js @@ -58,11 +58,12 @@ Entry.WhalesbotEagle1001.setLanguage = function () { whalesbot_eagle_1001_openning_3d_simulator: '3D 시뮬레이터를 엽니 다', whalesbot_eagle_1001_clean: '삭제', whalesbot_eagle_1001_restart: '재시작', + whalesbot_eagle_1001_get_status: '상태 가져오기', whalesbot_eagle_1001_entering_pitch_mode: '준비모드 시작하기', whalesbot_eagle_1001_exit_pitch_mode: '준비모드 끝내기', whalesbot_eagle_1001_automatic_take_off_height: '자동 이륙 높이 %1 cm', whalesbot_eagle_1001_automatic_take_off_altitude_speed_offset: '자동 이륙 고도 %1 cm 속도 %2 X 오프셋 %3 도 Y 오프셋 %4 도 으로 이동하기', - whalesbot_eagle_1001_automatic_landing: '드로착륙', + whalesbot_eagle_1001_automatic_landing: '드론착륙', whalesbot_eagle_1001_automatic_descent_speed_offset: '자동 낙하 속도 %1 X 오프셋 %2 도 Y 오프셋 %3 도', whalesbot_eagle_1001_set_the_flight_speed: '설정된 비행 속도는 %1 cm/s', whalesbot_eagle_1001_get_setting_speed: '설정 속도 가져오기', @@ -76,7 +77,7 @@ Entry.WhalesbotEagle1001.setLanguage = function () { whalesbot_eagle_1001_turn_right: '오른쪽으로 회전 %1 °', whalesbot_eagle_1001_fly_in_the_specified_direction: '속도 %1 , 방향 %2 으로이동하기', whalesbot_eagle_1001_flight_designated: '지정된 거리를 비행합니다 x %1 cm y %2 cm z%3 cm 속도 %4 cm/s', - whalesbot_eagle_1001_set_the_four_channel_lever_quantity_of_remote_control: '리모컨 4개 채널 로드 설정 Pitch %1 Roll %2 액셀러레이터 %3 Yaw %4', + whalesbot_eagle_1001_set_the_four_channel_lever_quantity_of_remote_control: '리모컨 4개 채널 설정 Pitch %1 Roll %2 Throttle %3 Yaw %4', whalesbot_eagle_1001_stop_moving_and_hover: '호버링기능', whalesbot_eagle_1001_hover_at_specified_altitude: '지정된 높이에 서스펜션 %1 cm', whalesbot_eagle_1001_emergency_stop: '긴급정지', @@ -151,6 +152,7 @@ Entry.WhalesbotEagle1001.setLanguage = function () { whalesbot_eagle_1001_openning_3d_simulator: 'Open 3D Simulator', whalesbot_eagle_1001_clean: 'Clean', whalesbot_eagle_1001_restart: 'Restart', + whalesbot_eagle_1001_get_status: 'Get Status', whalesbot_eagle_1001_entering_pitch_mode: 'Entering Pitch Mode', whalesbot_eagle_1001_exit_pitch_mode: 'Exit Pitch Mode', whalesbot_eagle_1001_automatic_take_off_height: 'Automatic Take Off Height %1 cm', @@ -270,6 +272,7 @@ Entry.WhalesbotEagle1001.blockMenuBlocks = [ 'whalesbot_eagle_1001_execute_script', 'whalesbot_eagle_1001_clean', 'whalesbot_eagle_1001_restart', + 'whalesbot_eagle_1001_get_status', // light & speaker blocks 'whalesbot_eagle_1001_ls_debug_value', 'whalesbot_eagle_1001_ls_display_symbol', @@ -813,6 +816,38 @@ Entry.WhalesbotEagle1001.getBlocks = function () { }, syntax: { js: [], py: ['Entry.whalesbot_eagle_1001_clean()'] }, }, + whalesbot_eagle_1001_get_status: { + color: EntryStatic.colorSet.block.default.HARDWARE, + outerLine: EntryStatic.colorSet.block.darken.HARDWARE, + fontColor: '#fff', + skeleton: 'basic', + statements: [], + params: [ + { + type: 'Block', + accept: 'string', + defaultType: 'number', + }, + { + type: 'Indicator', + img: 'block_icon/moving_icon.svg', + size: 11, + }, + ], + events: {}, + def: { + type: 'whalesbot_eagle_1001_get_status', + }, + paramsKeyMap: { + VALUE: 0, + }, + class: 'whalesbot_eagle_1001', + isNotFor: ['whalesbot_eagle_1001'], + func(sprite, script) { + _this.sendCmd('get_status'); + }, + syntax: { js: [], py: ['Entry.whalesbot_eagle_1001_get_status()'] }, + }, whalesbot_eagle_1001_entering_pitch_mode: { color: EntryStatic.colorSet.block.default.HARDWARE, outerLine: EntryStatic.colorSet.block.darken.HARDWARE, @@ -2308,6 +2343,8 @@ Entry.WhalesbotEagle1001.getBlocks = function () { class: 'whalesbot_eagle_1001_ss', isNotFor: ['whalesbot_eagle_1001'], func(sprite, script) { + var posZ = Entry.hw.portData.state_position_z || '0'; + return posZ; }, syntax: { js: [], py: ['Entry.whalesbot_eagle_1001_ss_fly_state_POS_Z()'] }, }, @@ -2327,6 +2364,8 @@ Entry.WhalesbotEagle1001.getBlocks = function () { class: 'whalesbot_eagle_1001_ss', isNotFor: ['whalesbot_eagle_1001'], func(sprite, script) { + var Laser = Entry.hw.portData.LaserTof || '0'; + return Laser; }, syntax: { js: [], py: ['Entry.whalesbot_eagle_1001_ss_fly_state_LASER()'] }, }, @@ -2346,6 +2385,8 @@ Entry.WhalesbotEagle1001.getBlocks = function () { class: 'whalesbot_eagle_1001_ss', isNotFor: ['whalesbot_eagle_1001'], func(sprite, script) { + var Battery = Entry.hw.portData.Battery || '0'; + return Battery; }, syntax: { js: [], py: ['Entry.whalesbot_eagle_1001_ss_battery_voltage()'] }, }, @@ -2365,6 +2406,8 @@ Entry.WhalesbotEagle1001.getBlocks = function () { class: 'whalesbot_eagle_1001_ss', isNotFor: ['whalesbot_eagle_1001'], func(sprite, script) { + var state = Entry.hw.portData.SPL06_temp || '0'; + return state; }, syntax: { js: [], py: ['Entry.whalesbot_eagle_1001_ss_fly_state_STATE_TEMP()'] }, }, @@ -2400,6 +2443,14 @@ Entry.WhalesbotEagle1001.getBlocks = function () { class: 'whalesbot_eagle_1001_ss', isNotFor: ['whalesbot_eagle_1001'], func(sprite, script) { + var state = script.values[0]; + if (state === 'STATE_PITCH') { + return Entry.hw.portData.Pitch || '0'; + } else if (state === 'STATE_ROLL') { + return Entry.hw.portData.Roll || '0'; + } else if (state === 'STATE_YAW') { + return Entry.hw.portData.Yaw || '0'; + } }, syntax: { js: [], py: ['Entry.whalesbot_eagle_1001_ss_attitude_angle()'] }, }, @@ -2433,6 +2484,14 @@ Entry.WhalesbotEagle1001.getBlocks = function () { class: 'whalesbot_eagle_1001_ss', isNotFor: ['whalesbot_eagle_1001'], func(sprite, script) { + var state = script.values[0]; + if (state === 'GYPO_X') { + return Entry.hw.portData.Gypo_x || '0'; + } else if (state === 'GYPO_Y') { + return Entry.hw.portData.Gypo_y || '0'; + } else if (state === 'GYPO_Z') { + return Entry.hw.portData.Gypo_z || '0'; + } }, syntax: { js: [], py: ['Entry.whalesbot_eagle_1001_ss_flight_angular_velocity()'] }, }, @@ -2466,6 +2525,14 @@ Entry.WhalesbotEagle1001.getBlocks = function () { class: 'whalesbot_eagle_1001_ss', isNotFor: ['whalesbot_eagle_1001'], func(sprite, script) { + var state = script.values[0]; + if (state === 'ACC_X') { + return Entry.hw.portData.ACC_x || '0'; + } else if (state === 'ACC_Y') { + return Entry.hw.portData.ACC_y || '0'; + } else if (state === 'ACC_Z') { + return Entry.hw.portData.ACC_z || '0'; + } }, syntax: { js: [], py: ['Entry.whalesbot_eagle_1001_ss_flight_acceleration()'] }, }, diff --git a/src/playground/blocks/hardwareLite/block_robotis_robotai_lite.js b/src/playground/blocks/hardwareLite/block_robotis_robotai_lite.js index e6d15c9b76..aaa51f38c0 100644 --- a/src/playground/blocks/hardwareLite/block_robotis_robotai_lite.js +++ b/src/playground/blocks/hardwareLite/block_robotis_robotai_lite.js @@ -1170,8 +1170,8 @@ let camera_id_for_use = 0; robotis_ai_camera_center_arrow_target_x: '끝점 X좌표', robotis_ai_camera_center_arrow_target_y: '끝점 Y좌표', - robotis_plant_ripe: '빨간색으로 잘 익은', - robotis_plant_unripe: '초록색으로 덜 익은', + robotis_plant_ripe: '빨간색', + robotis_plant_unripe: '초록색', robotis_harvest: '수확하고', robotis_not_harvest: '수확하지 않고', }, diff --git a/src/playground/blocks/hardwareLite/block_whalesbot_drone_lite.js b/src/playground/blocks/hardwareLite/block_whalesbot_drone_lite.js index fdb1fd55a3..19fab0a523 100644 --- a/src/playground/blocks/hardwareLite/block_whalesbot_drone_lite.js +++ b/src/playground/blocks/hardwareLite/block_whalesbot_drone_lite.js @@ -10,7 +10,7 @@ import DataTable from '../../../class/DataTable'; import entryModuleLoader from '../../../class/entryModuleLoader'; import metadata from './metadata_whalesbot_drone_lite.json'; -(function() { +(function () { Entry.WhalesbotDroneLite = new (class WhalesbotDroneLite { constructor() { this.id = '620101'; @@ -24,33 +24,71 @@ import metadata from './metadata_whalesbot_drone_lite.json'; // duration도 미확인 this.duration = 32; this.blockMenuBlocks = [ - //'whalesbot_drone_openning_3d_simulator', - 'whalesbot_drone_entering_pitch_mode', - 'whalesbot_drone_exit_pitch_mode', - 'whalesbot_drone_automatic_take_off_height', - 'whalesbot_drone_automatic_take_off_altitude_speed_offset', - 'whalesbot_drone_automatic_landing', - 'whalesbot_drone_automatic_descent_speed_offset', - 'whalesbot_drone_set_the_flight_speed', - 'whalesbot_drone_get_setting_speed', - 'whalesbot_drone_rise', - 'whalesbot_drone_down', - 'whalesbot_drone_fly_forward', - 'whalesbot_drone_fly_backward', - 'whalesbot_drone_fly_left', - 'whalesbot_drone_fly_right', - 'whalesbot_drone_turn_left', - 'whalesbot_drone_turn_right', - 'whalesbot_drone_fly_in_the_specified_direction', - 'whalesbot_drone_flight_designated', - 'whalesbot_drone_set_the_four_channel_lever_quantity_of_remote_control', - 'whalesbot_drone_stop_moving_and_hover', - 'whalesbot_drone_hover_at_specified_altitude', - 'whalesbot_drone_emergency_stop', - 'whalesbot_drone_set_the_steering_gear', - 'whalesbot_drone_execute_script', - 'whalesbot_drone_clean', - 'whalesbot_drone_restart' + // 'whalesbot_eagle_1001_lite_openning_3d_simulator', + 'whalesbot_eagle_1001_lite_entering_pitch_mode', + 'whalesbot_eagle_1001_lite_exit_pitch_mode', + 'whalesbot_eagle_1001_lite_automatic_take_off_height', + 'whalesbot_eagle_1001_lite_automatic_take_off_altitude_speed_offset', + 'whalesbot_eagle_1001_lite_automatic_landing', + 'whalesbot_eagle_1001_lite_automatic_descent_speed_offset', + 'whalesbot_eagle_1001_lite_set_the_flight_speed', + 'whalesbot_eagle_1001_lite_get_setting_speed', + 'whalesbot_eagle_1001_lite_rise', + 'whalesbot_eagle_1001_lite_down', + 'whalesbot_eagle_1001_lite_fly_forward', + 'whalesbot_eagle_1001_lite_fly_backward', + 'whalesbot_eagle_1001_lite_fly_left', + 'whalesbot_eagle_1001_lite_fly_right', + 'whalesbot_eagle_1001_lite_turn_left', + 'whalesbot_eagle_1001_lite_turn_right', + 'whalesbot_eagle_1001_lite_fly_in_the_specified_direction', + 'whalesbot_eagle_1001_lite_flight_designated', + 'whalesbot_eagle_1001_lite_set_the_four_channel_lever_quantity_of_remote_control', + 'whalesbot_eagle_1001_lite_stop_moving_and_hover', + 'whalesbot_eagle_1001_lite_hover_at_specified_altitude', + 'whalesbot_eagle_1001_lite_emergency_stop', + 'whalesbot_eagle_1001_lite_set_the_steering_gear', + // 'whalesbot_eagle_1001_lite_execute_script', + 'whalesbot_eagle_1001_lite_clean', + 'whalesbot_eagle_1001_lite_restart', + 'whalesbot_eagle_1001_lite_get_status', + // light & speaker blocks + 'whalesbot_eagle_1001_lite_ls_debug_value', + 'whalesbot_eagle_1001_lite_ls_display_symbol', + 'whalesbot_eagle_1001_lite_ls_off_LED', + 'whalesbot_eagle_1001_lite_ls_display_digital_tube', + 'whalesbot_eagle_1001_lite_ls_display_digital_tube_score', + 'whalesbot_eagle_1001_lite_ls_off_digital_tube', + 'whalesbot_eagle_1001_lite_ls_set_RGB', + 'whalesbot_eagle_1001_lite_ls_fly_RGB', + // 'whalesbot_eagle_1001_lite_ls_set_DO', + // 'whalesbot_eagle_1001_lite_ls_execute_script', + // sensors + 'whalesbot_eagle_1001_lite_ss_fly_state_POS_Z', + 'whalesbot_eagle_1001_lite_ss_fly_state_LASER', + 'whalesbot_eagle_1001_lite_ss_battery_voltage', + 'whalesbot_eagle_1001_lite_ss_fly_state_STATE_TEMP', + 'whalesbot_eagle_1001_lite_ss_attitude_angle', + 'whalesbot_eagle_1001_lite_ss_flight_angular_velocity', + 'whalesbot_eagle_1001_lite_ss_flight_acceleration', + 'whalesbot_eagle_1001_lite_ss_optical_flow', + 'whalesbot_eagle_1001_lite_ss_get_infrared_distance', + 'whalesbot_eagle_1001_lite_ss_obstacle_infrared_detected_bool', + // 'whalesbot_eagle_1001_lite_ss_obstacle_infrared_detected_string', + // 'whalesbot_eagle_1001_lite_ss_human_infrared_value_bool', + // 'whalesbot_eagle_1001_lite_ss_human_infrared_value_string', + 'whalesbot_eagle_1001_lite_ss_AI', + // 'whalesbot_eagle_1001_lite_ss_get_ultrasonic_distance', + 'whalesbot_eagle_1001_lite_ss_get_ambient_light', + // 'whalesbot_eagle_1001_lite_ss_get_temperature', + // 'whalesbot_eagle_1001_lite_ss_get_humidity', + // 'whalesbot_eagle_1001_lite_ss_get_flame', + // 'whalesbot_eagle_1001_lite_ss_get_gesture', + // 'whalesbot_eagle_1001_lite_ss_get_tof', + // 'whalesbot_eagle_1001_lite_ss_fly_setpoint_LASER_ENABLE', + // 'whalesbot_eagle_1001_lite_ss_get_bt_remote_control', + // 'whalesbot_eagle_1001_lite_ss_seconds', + // 'whalesbot_eagle_1001_lite_ss_resettime', ]; this.portData = { baudRate: 115200, @@ -79,7 +117,7 @@ import metadata from './metadata_whalesbot_drone_lite.json'; this.countDroneConnectionAttempt = 0; this.IsPicocStop = false; this.revtmp = Buffer.alloc(this.DATAREVLEN); - this.revtemplength = 0 ; + this.revtemplength = 0; this.revtmpdata = Buffer.alloc(this.DATAREVLEN); this.revdata = Buffer.alloc(this.DATAREVLEN); this.BT_CMD_DOWNLOAD = 0x62; @@ -92,55 +130,55 @@ import metadata from './metadata_whalesbot_drone_lite.json'; 'Stop': 2, } this.runCode = [ - 0x77, 0x78, 0x66, 0x1, 0x2, 0x2, 0x3, 0x3, 0x4, 0x4, 0x5, 0x5, - 0x6, 0x6, 0x7, 0x7, 0x8, 0x8, 0x9, 0x9, 0xa, 0xa, 0xb, 0xb, 0xc, 0xc, - 0xd, 0xd, 0xe, 0xe, 0xf, 0xf, 0x10, 0x10, 0x11, 0x11, 0x12, 0x12, 0x13, - 0x13, 0x14, 0x14, 0x15, 0x15, 0x16, 0x16, 0x17, 0x17, 0x18, 0x18, - 0x19, 0x19, 0x1a, 0x1a, 0x1b, 0x1b, 0x1c, 0x1c, 0x1d, 0x1d, 0x1e, 0x1e, - 0x1f, 0x1f, 0x20, 0x20, 0x21, 0x21, 0x22, 0x22, 0x23, 0x23, 0x24, 0x24, - 0x25, 0x25, 0x26, 0x26, 0x27, 0x27, 0x28, 0x28, 0x29, 0x29, 0x2a, 0x2a, - 0x2b, 0x2b, 0x2c, 0x2c, 0x2d, 0x2d, 0x2e, 0x2e, 0x2f, 0x2f, 0x30, 0x30, - 0x31, 0x31, 0x32, 0x32, 0x33, 0x33, 0x34, 0x34, 0x35, 0x35, 0x36, 0x36, - 0x37, 0x37, 0x38, 0x38, 0x39, 0x39, 0x3a, 0x3a, 0x3b, 0x3b, 0x3c, 0x3c, - 0x3d, 0x3d, 0x3e, 0x3e, 0x3f, 0x3f, 0x40, 0x40, 0x41, 0x41, 0x42, 0x42, - 0x43, 0x43, 0x44, 0x44, 0x45, 0x45, 0x46, 0x46, 0x47, 0x47, 0x48, 0x48, - 0x49, 0x49, 0x4a, 0x4a, 0x4b, 0x4b, 0x0, 0x56 + 0x77, 0x78, 0x66, 0x1, 0x2, 0x2, 0x3, 0x3, 0x4, 0x4, 0x5, 0x5, + 0x6, 0x6, 0x7, 0x7, 0x8, 0x8, 0x9, 0x9, 0xa, 0xa, 0xb, 0xb, 0xc, 0xc, + 0xd, 0xd, 0xe, 0xe, 0xf, 0xf, 0x10, 0x10, 0x11, 0x11, 0x12, 0x12, 0x13, + 0x13, 0x14, 0x14, 0x15, 0x15, 0x16, 0x16, 0x17, 0x17, 0x18, 0x18, + 0x19, 0x19, 0x1a, 0x1a, 0x1b, 0x1b, 0x1c, 0x1c, 0x1d, 0x1d, 0x1e, 0x1e, + 0x1f, 0x1f, 0x20, 0x20, 0x21, 0x21, 0x22, 0x22, 0x23, 0x23, 0x24, 0x24, + 0x25, 0x25, 0x26, 0x26, 0x27, 0x27, 0x28, 0x28, 0x29, 0x29, 0x2a, 0x2a, + 0x2b, 0x2b, 0x2c, 0x2c, 0x2d, 0x2d, 0x2e, 0x2e, 0x2f, 0x2f, 0x30, 0x30, + 0x31, 0x31, 0x32, 0x32, 0x33, 0x33, 0x34, 0x34, 0x35, 0x35, 0x36, 0x36, + 0x37, 0x37, 0x38, 0x38, 0x39, 0x39, 0x3a, 0x3a, 0x3b, 0x3b, 0x3c, 0x3c, + 0x3d, 0x3d, 0x3e, 0x3e, 0x3f, 0x3f, 0x40, 0x40, 0x41, 0x41, 0x42, 0x42, + 0x43, 0x43, 0x44, 0x44, 0x45, 0x45, 0x46, 0x46, 0x47, 0x47, 0x48, 0x48, + 0x49, 0x49, 0x4a, 0x4a, 0x4b, 0x4b, 0x0, 0x56 ]; this.getStateCode = [ - 0x77,0x78,0x50,0x1,0x2,0x2,0x3,0x3,0x4,0x4,0x5,0x5,0x6,0x6,0x7,0x7,0x8,0x8,0x9,0x9, - 0xa,0xa,0xb,0xb,0xc,0xc,0xd,0xd,0xe,0xe,0xf,0xf,0x10,0x10,0x11,0x11,0x12,0x12 - ,0x13,0x13,0x14,0x14,0x15,0x15,0x16,0x16,0x17,0x17,0x18,0x18,0x19,0x19,0x1a,0x1a - ,0x1b,0x1b,0x1c,0x1c,0x1d,0x1d,0x1e,0x1e,0x1f,0x1f,0x20,0x20,0x21,0x21,0x22,0x22 - ,0x23,0x23,0x24,0x24,0x25,0x25,0x26,0x26,0x27,0x27,0x28,0x28,0x29,0x29,0x2a,0x2a - ,0x2b,0x2b,0x2c,0x2c,0x2d,0x2d,0x2e,0x2e,0x2f,0x2f,0x30,0x30,0x31,0x31,0x32,0x32 - ,0x33,0x33,0x34,0x34,0x35,0x35,0x36,0x36,0x37,0x37,0x38,0x38,0x39,0x39,0x3a,0x3a - ,0x3b,0x3b,0x3c,0x3c,0x3d,0x3d,0x3e,0x3e,0x3f,0x3f,0x40,0x40,0x41,0x41,0x42,0x42 - ,0x43,0x43,0x44,0x44,0x45,0x45,0x46,0x46,0x47,0x47,0x48,0x48,0x49,0x49,0x4a,0x4a - ,0x4b,0x4b,0x0,0x6c + 0x77, 0x78, 0x50, 0x1, 0x2, 0x2, 0x3, 0x3, 0x4, 0x4, 0x5, 0x5, 0x6, 0x6, 0x7, 0x7, 0x8, 0x8, 0x9, 0x9, + 0xa, 0xa, 0xb, 0xb, 0xc, 0xc, 0xd, 0xd, 0xe, 0xe, 0xf, 0xf, 0x10, 0x10, 0x11, 0x11, 0x12, 0x12 + , 0x13, 0x13, 0x14, 0x14, 0x15, 0x15, 0x16, 0x16, 0x17, 0x17, 0x18, 0x18, 0x19, 0x19, 0x1a, 0x1a + , 0x1b, 0x1b, 0x1c, 0x1c, 0x1d, 0x1d, 0x1e, 0x1e, 0x1f, 0x1f, 0x20, 0x20, 0x21, 0x21, 0x22, 0x22 + , 0x23, 0x23, 0x24, 0x24, 0x25, 0x25, 0x26, 0x26, 0x27, 0x27, 0x28, 0x28, 0x29, 0x29, 0x2a, 0x2a + , 0x2b, 0x2b, 0x2c, 0x2c, 0x2d, 0x2d, 0x2e, 0x2e, 0x2f, 0x2f, 0x30, 0x30, 0x31, 0x31, 0x32, 0x32 + , 0x33, 0x33, 0x34, 0x34, 0x35, 0x35, 0x36, 0x36, 0x37, 0x37, 0x38, 0x38, 0x39, 0x39, 0x3a, 0x3a + , 0x3b, 0x3b, 0x3c, 0x3c, 0x3d, 0x3d, 0x3e, 0x3e, 0x3f, 0x3f, 0x40, 0x40, 0x41, 0x41, 0x42, 0x42 + , 0x43, 0x43, 0x44, 0x44, 0x45, 0x45, 0x46, 0x46, 0x47, 0x47, 0x48, 0x48, 0x49, 0x49, 0x4a, 0x4a + , 0x4b, 0x4b, 0x0, 0x6c ]; this.stopCode = [ - 0x77, 0x78, 0x68, 0x1, 0x2, 0x2, 0x3, 0x3, 0x4, 0x4, 0x5, 0x5, - 0x6, 0x6, 0x7, 0x7, 0x8, 0x8, 0x9, 0x9, 0xa, 0xa, 0xb, 0xb, 0xc, - 0xc, 0xd, 0xd, 0xe, 0xe, 0xf, 0xf, 0x10, 0x10, 0x11, 0x11, 0x12, - 0x12, 0x13, 0x13, 0x14, 0x14, 0x15, 0x15, 0x16, 0x16, 0x17, 0x17, - 0x18, 0x18, 0x19, 0x19, 0x1a, 0x1a, 0x1b, 0x1b, 0x1c, 0x1c, 0x1d, - 0x1d, 0x1e, 0x1e, 0x1f, 0x1f, 0x20, 0x20, 0x21, 0x21, 0x22, 0x22, - 0x23, 0x23, 0x24, 0x24, 0x25, 0x25, 0x26, 0x26, 0x27, 0x27, 0x28, - 0x28, 0x29, 0x29, 0x2a, 0x2a, 0x2b, 0x2b, 0x2c, 0x2c, 0x2d, 0x2d, - 0x2e, 0x2e, 0x2f, 0x2f, 0x30, 0x30, 0x31, 0x31, 0x32, 0x32, 0x33, - 0x33, 0x34, 0x34, 0x35, 0x35, 0x36, 0x36, 0x37, 0x37, 0x38, 0x38, - 0x39, 0x39, 0x3a, 0x3a, 0x3b, 0x3b, 0x3c, 0x3c, 0x3d, 0x3d, 0x3e, - 0x3e, 0x3f, 0x3f, 0x40, 0x40, 0x41, 0x41, 0x42, 0x42, 0x43, 0x43, - 0x44, 0x44, 0x45, 0x45, 0x46, 0x46, 0x47, 0x47, 0x48, 0x48, 0x49, - 0x49, 0x4a, 0x4a, 0x4b, 0x4b, 0x0, 0x54 + 0x77, 0x78, 0x68, 0x1, 0x2, 0x2, 0x3, 0x3, 0x4, 0x4, 0x5, 0x5, + 0x6, 0x6, 0x7, 0x7, 0x8, 0x8, 0x9, 0x9, 0xa, 0xa, 0xb, 0xb, 0xc, + 0xc, 0xd, 0xd, 0xe, 0xe, 0xf, 0xf, 0x10, 0x10, 0x11, 0x11, 0x12, + 0x12, 0x13, 0x13, 0x14, 0x14, 0x15, 0x15, 0x16, 0x16, 0x17, 0x17, + 0x18, 0x18, 0x19, 0x19, 0x1a, 0x1a, 0x1b, 0x1b, 0x1c, 0x1c, 0x1d, + 0x1d, 0x1e, 0x1e, 0x1f, 0x1f, 0x20, 0x20, 0x21, 0x21, 0x22, 0x22, + 0x23, 0x23, 0x24, 0x24, 0x25, 0x25, 0x26, 0x26, 0x27, 0x27, 0x28, + 0x28, 0x29, 0x29, 0x2a, 0x2a, 0x2b, 0x2b, 0x2c, 0x2c, 0x2d, 0x2d, + 0x2e, 0x2e, 0x2f, 0x2f, 0x30, 0x30, 0x31, 0x31, 0x32, 0x32, 0x33, + 0x33, 0x34, 0x34, 0x35, 0x35, 0x36, 0x36, 0x37, 0x37, 0x38, 0x38, + 0x39, 0x39, 0x3a, 0x3a, 0x3b, 0x3b, 0x3c, 0x3c, 0x3d, 0x3d, 0x3e, + 0x3e, 0x3f, 0x3f, 0x40, 0x40, 0x41, 0x41, 0x42, 0x42, 0x43, 0x43, + 0x44, 0x44, 0x45, 0x45, 0x46, 0x46, 0x47, 0x47, 0x48, 0x48, 0x49, + 0x49, 0x4a, 0x4a, 0x4b, 0x4b, 0x0, 0x54 ]; this.simulatorPopup = null; this.setZero(); this.unsupportBlockExist = false; this.getStateTimeSleep = 500; - this.lock= false; + this.lock = false; this.sensor = { ACC_x: 0.0, ACC_y: 0.0, @@ -191,16 +229,18 @@ import metadata from './metadata_whalesbot_drone_lite.json'; btstick4: 0, btstick5: 0 }; - this.BIT0 =0x01; - this.BIT1 =0x02; - this.BIT2 =0x04; - this.BIT3 =0x08; - this.BIT4 =0x10; - this.BIT5 =0x20; - this.BIT6 =0x40; - this.BIT7 =0x80; + this.BIT0 = 0x01; + this.BIT1 = 0x02; + this.BIT2 = 0x04; + this.BIT3 = 0x08; + this.BIT4 = 0x10; + this.BIT5 = 0x20; + this.BIT6 = 0x40; + this.BIT7 = 0x80; this.simulatorUrl = metadata.simulator_url; + this.currentProcess = ''; + this.received_data = []; } setZero() { @@ -209,121 +249,61 @@ import metadata from './metadata_whalesbot_drone_lite.json'; } } - lockGetState(lock){ - this.lock = lock - } - - isLockGetState(){ - return this.lock; - } - - connectDrone(){ - this.getStateInterval = setInterval(()=>{ - if(this.countDroneConnectionAttempt == 0 || !this.isLockGetState()){ - this.sendPacket(this.getStateCode); - console.log("Connection Attempt",this.countDroneConnectionAttempt+1) - this.countDroneConnectionAttempt = this.countDroneConnectionAttempt +1 - if(this.isDroneConnection == false){ - if( this.countDroneConnectionAttempt == 4){ - console.log("Connection failed"); - this.countDroneConnectionAttempt = 0 ; - clearInterval(this.getStateInterval); - return - } - } - else{ - console.log("Connection succeed"); - console.log("Drone is connected") - this.isDroneConnection = true; - this.countDroneConnectionAttempt = 0 ; - clearInterval(this.getStateInterval); + // 디바이스에서 값을 읽어온다. + async handleLocalData(data) { + if (this.currentProcess == 'pingControl') { + const CMD_PING_REV_SIZE = 3; + const revtemp = Buffer.alloc(CMD_PING_REV_SIZE); + for (let i = 0; i < data.length; i++) { + revtemp[i] = data[i]; + } + if (revtemp.length == CMD_PING_REV_SIZE) { + if (revtemp[0] == 0x77 && revtemp[1] == 0x78 && revtemp[2] == 0x80) { + this.sp.close(); + this.currentProcess = 'getStatus'; } } - },this.getStateTimeSleep) - this.getStateInterval; - - } + } - waitRevData(data){ - var prevrevtemplength= this.revtemplength; - this.revtemplength += data.length; - // console.log(data.length); - console.log("prevrevtemplength: ",prevrevtemplength); - console.log("revtemplength: ",this.revtemplength); - if(this.revtemplength <= this.DATAREVLEN){ + if (this.currentProcess == 'getStatus') { for (let i = 0; i < data.length; i++) { - this.revtmpdata[prevrevtemplength +i] = data[i]; + this.received_data.push(data[i]); } - if(this.revtemplength==this.DATAREVLEN){ - console.log("revtempdata") - console.log(this.revtmpdata); - console.log(this.revtmpdata[this.BT_INDEX_REVCHECKSUM]+"=="+this.calChecksum(this.revtmpdata)); - // if(parseInt(this.revtmpdata[this.BT_INDEX_REVCHECKSUM]) === this.calChecksum(this.revtmpdata) ){ - for (let i = 0; i = this.DATAREVLEN) { + let revtmp = Buffer.from(this.received_data.slice(0, this.DATAREVLEN)); + this.received_data = this.received_data.slice(this.DATAREVLEN); + // const hexStringX = Array.from(revtmp) + // .map(byte => `0x${byte.toString(16).padStart(2, '0')}`) + // .join(','); + // console.log(`revtmp (hex): ${hexStringX}`); + // let revtmp = Buffer.alloc(this.DATAREVLEN); + // for (let i = 0; i < this.received_data.length; i++) { + // revtmp[i] = this.received_data[i]; // } + // revtmp = [0x77,0x78,0x0,0x0,0x63,0x5e,0x62,0x62,0x50,0xc3,0xd,0x3d,0xbc,0x39,0x6b,0xe0,0x3c,0xa6,0xb8,0x7f,0x3f,0x12,0xf0,0xa1,0xbd,0xac,0xe5,0x56,0x3e,0x48,0x62,0x0,0xbf,0x7b,0x87,0x23,0x42,0xe6,0xa9,0x7b,0x44,0x70,0xb,0xac,0x45,0xe6,0x2b,0x8b,0x3f,0x4f,0x3f,0xc1,0x3f,0x26,0xab,0x5d,0xc2,0x7a,0xe9,0x66,0x40,0x0,0x0,0x0,0x0,0x0,0x0,0x0,0x0,0x0,0x0,0x0,0x0,0x71,0x3d,0x21,0x43,0x0,0x0,0x0,0x0,0xba,0x5d,0x4c,0x3f,0x22,0xc,0x8e,0x38,0x74,0xb7,0x8e,0x40,0x0,0x0,0x0,0x0,0x0,0x0,0x0,0x0,0x0,0x0,0x0,0x0,0x0,0x0,0x0,0x0,0x0,0x0,0x0,0x0,0x0,0x0,0x0,0x0,0x30,0xbf,0xa2,0xbc,0x6b,0x0,0x0,0x1,0x0,0x0,0x0,0x0,0x70,0xb,0xac,0x45,0x0,0x0,0x0,0x0,0x0,0x0,0x0,0x0,0x0,0x0,0x0,0x0,0x1f,0x49,0x5a,0x3f,0x1e,0x63,0x6,0x3e,0x4e,0x24,0x92,0x3c,0x4b,0x0,0xfd] + if (revtmp[0] == 0x77 && revtmp[1] == 0x78) { + // console.log(revtmp[this.BT_INDEX_REVCHECKSUM], this.btremotecalchecksum(revtmp)); + if (revtmp[this.BT_INDEX_REVCHECKSUM] == this.btremotecalchecksum(revtmp)) { + for (let i = 0; i < revtmp.length; i++) { + this.revdata[i] = revtmp[i]; + } + this.makerevcmd(); + this.revcount = this.revcount + 1; + if (this.isConnectEagle == false) { + this.isConnectEagle = true; + this.reverrcount = 0; + } + } else { + this.reverrcount = this.reverrcount + 1; + setTimeout(() => { }, 500); + } + } else { + this.reverrcount = this.reverrcount + 1; + } + this.currentProcess = ''; } } - else{ - console.log("Download error") - this.revtemplength = 0; - this.revtmpdata = [] - } - } - checkGetState(data){ - var prevrevtemplength= this.revtemplength; - this.revtemplength += data.length - console.log("prevrevtemplength: ",prevrevtemplength); - console.log("revtemplength: ",this.revtemplength); - for (let i = 0; i < data.length; i++) { - this.revtmpdata[prevrevtemplength +i] = data[i]; - } - if (this.revtemplength <=20) { - console.log("conection checking"); - if(this.revtemplength ==20){ - clearInterval(this.getStateInterval); - this.isDroneConnection = true; - this.revtemplength = 0; - this.revtmpdata = []; - this.lockGetState(false); - console.log("Drone connect succeed") - console.log("Unlock senpacket GetState"); - } - } - else if(this.revtemplength>20){ - clearInterval(this.getStateInterval) - this.isDroneConnection = true; - console.log("Drone is already connected") - // this.waitRevData(data); - this.lockGetState(false); - console.log("Unlock senpacket GetState"); - } - } - // 디바이스에서 값을 읽어온다. - async handleLocalData(data) { - // const decoded = this.decoder.decode(data); - // console.log("Data received") - // console.log("Decoded: ", decoded); - console.log("data received: ",data); - if(this.isDroneConnection == false){ - this.lockGetState(true); - this.checkGetState(data) - return; - } - - this.waitRevData(data); - // this.monitorDownloadProgress(decoded); } retHex(bytes) { @@ -345,51 +325,330 @@ import metadata from './metadata_whalesbot_drone_lite.json'; // return this.stopCode; } - async sendPacket(packet, hex=true, callback=null) - { - if(hex){ - await Entry.hwLite.serial.writer.write(Buffer.from(packet)) + makerevcmd() { + this.IsRevPID = false; // 指示是否进行读取PID操作 + this.IsSetPID = false; // 指示是否进行设置PID操作 + this.IsDownload = false; // 指示是否进行下载操作 + this.IsPicocRun = false; // 指示飞飞控上的解释器是否开始运行脚本 + this.IsPicocStop = false; // 指示飞飞控上的解释器是否停止运行 + this.IsAutoDownload = false; // 指示飞飞控是否强制自动降落 + this.nowdwpack = 0; + this.dwmsg = ''; + this.IsNewDataRevForLog = false; + this.revcount = 0; + this.sendcount = 0; + this.sensor = {}; + this.TYPE_EG101 = 1; + this.TYPE_EG102 = 2; + if (this.revdata[this.BT_INDEX_CMD_REV] == this.BT_CMD_GETFLYSTATE1) { + // const hexStringX = Array.from(this.revdata) + // .map(byte => `0x${byte.toString(16).padStart(2, '0')}`) + // .join(','); + // console.log(`revtmp (hex): ${hexStringX}`); + + this.sensor.btkey = parseInt(this.revdata[2] + this.revdata[3] * 256, 10); + this.sensor.btstick1 = parseInt(this.revdata[4], 10); + this.sensor.btstick2 = parseInt(this.revdata[5], 10); + this.sensor.btstick3 = parseInt(this.revdata[6], 10); + this.sensor.btstick4 = parseInt(this.revdata[7], 10); + + this.sensor.ACC_x = this.byte2float(this.BT_INDEX_DATA_REV + 0 * 4); + this.sensor.ACC_y = this.byte2float(this.BT_INDEX_DATA_REV + 1 * 4); + this.sensor.ACC_z = this.byte2float(this.BT_INDEX_DATA_REV + 2 * 4); + this.sensor.Gypo_x = this.byte2float(this.BT_INDEX_DATA_REV + 3 * 4); + this.sensor.Gypo_y = this.byte2float(this.BT_INDEX_DATA_REV + 4 * 4); + this.sensor.Gypo_z = this.byte2float(this.BT_INDEX_DATA_REV + 5 * 4); + this.sensor.SPL06_temp = this.byte2float(this.BT_INDEX_DATA_REV + 6 * 4); + this.sensor.SPL06_Press = this.byte2float(this.BT_INDEX_DATA_REV + 7 * 4); + this.sensor.SPL06_asl = this.byte2float(this.BT_INDEX_DATA_REV + 8 * 4); + this.sensor.Pitch = this.byte2float(this.BT_INDEX_DATA_REV + 9 * 4); + this.sensor.Roll = this.byte2float(this.BT_INDEX_DATA_REV + 10 * 4); + this.sensor.Yaw = this.byte2float(this.BT_INDEX_DATA_REV + 11 * 4); + this.sensor.Battery = this.byte2float(this.BT_INDEX_DATA_REV + 12 * 4); + + this.sensor.LaserTof = this.byte2float(this.BT_INDEX_DATA_REV + 13 * 4); + this.sensor.GL_X = this.byte2float(this.BT_INDEX_DATA_REV + 14 * 4); + this.sensor.GL_Y = this.byte2float(this.BT_INDEX_DATA_REV + 15 * 4); + this.sensor.timertick = this.byte2float(this.BT_INDEX_DATA_REV + 16 * 4); + this.sensor.M1 = parseInt(this.revdata[this.BT_INDEX_DATA_REV + 17 * 4 + 0], 10); + this.sensor.M2 = parseInt(this.revdata[this.BT_INDEX_DATA_REV + 17 * 4 + 1], 10); + this.sensor.M3 = parseInt(this.revdata[this.BT_INDEX_DATA_REV + 17 * 4 + 2], 10); + this.sensor.M4 = parseInt(this.revdata[this.BT_INDEX_DATA_REV + 17 * 4 + 3], 10); + + this.sensor.state_velocity_x = this.byte2float(this.BT_INDEX_DATA_REV + 18 * 4); + this.sensor.state_velocity_y = this.byte2float(this.BT_INDEX_DATA_REV + 19 * 4); + this.sensor.state_velocity_z = this.byte2float(this.BT_INDEX_DATA_REV + 20 * 4); + + this.sensor.Debug_0 = this.byte2float(this.BT_INDEX_DATA_REV + 21 * 4); + this.sensor.Debug_1 = this.byte2float(this.BT_INDEX_DATA_REV + 22 * 4); + this.sensor.Debug_2 = this.byte2float(this.BT_INDEX_DATA_REV + 23 * 4); + this.sensor.Debug_3 = this.byte2float(this.BT_INDEX_DATA_REV + 24 * 4); + this.sensor.Debug_4 = this.byte2float(this.BT_INDEX_DATA_REV + 25 * 4); + this.sensor.Debug_5 = this.byte2float(this.BT_INDEX_DATA_REV + 26 * 4); + this.sensor.FusedHeight = this.byte2float(this.BT_INDEX_DATA_REV + 27 * 4); + + this.sensor.VER = parseInt(this.revdata[this.BT_INDEX_DATA_REV + 28 * 4 + 0], 10); + this.sensor.ErrFly = parseInt(this.revdata[this.BT_INDEX_DATA_REV + 28 * 4 + 1], 10); + // 飞机种类 + if (this.revdata[this.BT_INDEX_DATA_REV + 28 * 4 + 3] == 1) { + this.sensor.TYPE = this.TYPE_EG101; + } else if (this.revdata[this.BT_INDEX_DATA_REV + 28 * 4 + 3] == 2) { + this.sensor.TYPE = this.TYPE_EG102; + } else if (this.revdata[this.BT_INDEX_DATA_REV + 28 * 4 + 3] == 3) { + this.sensor.TYPE = this.TYPE_FPV101; + } else { + this.sensor.TYPE = `${this.TYPE_EGXXX}${this.revdata[this.BT_INDEX_DATA_REV + 28 * 4 + 3]}`; + } + + this.sensor.asl_dis = this.byte2float(this.BT_INDEX_DATA_REV + 29 * 4); + this.sensor.startBaroAsl = this.byte2float(this.BT_INDEX_DATA_REV + 30 * 4); + this.sensor.LineNo = parseInt(this.byte2float(this.BT_INDEX_DATA_REV + 31 * 4), 10); + this.sensor.LineError = parseInt(this.byte2float(this.BT_INDEX_DATA_REV + 32 * 4), 10); + this.sensor.ErrorCode = parseInt(this.byte2float(this.BT_INDEX_DATA_REV + 33 * 4), 10); + this.sensor.state_position_x = this.byte2float(this.BT_INDEX_DATA_REV + 34 * 4); + this.sensor.state_position_y = this.byte2float(this.BT_INDEX_DATA_REV + 35 * 4); + this.sensor.state_position_z = this.byte2float(this.BT_INDEX_DATA_REV + 36 * 4); + + console.log('this.sensor', this.sensor); + } else if (this.revdata[this.BT_INDEX_CMD_REV] == this.BT_CMD_GETFLYSTATE_SCRATCH) { + // const hexStringX = Array.from(this.revdata) + // .map(byte => `0x${byte.toString(16).padStart(2, '0')}`) + // .join(','); + // console.log(`revtmp (hex): ${hexStringX}`); + + this.sensor.btkey = parseInt(this.revdata[2] + this.revdata[3] * 256, 10); + this.sensor.btstick1 = parseInt(this.revdata[4], 10); + this.sensor.btstick2 = parseInt(this.revdata[5], 10); + this.sensor.btstick3 = parseInt(this.revdata[6], 10); + this.sensor.btstick4 = parseInt(this.revdata[7], 10); + + if (this.revdata[this.BT_INDEX_DATA_REV + 0 * 4] == 0x77) { //蓝牙名称有效 + const bytename = new Uint8Array(14); + for (let i = 0; i < 14; i++) { + if (this.revdata[this.BT_INDEX_DATA_REV + 0 * 4 + i] == '\0') { //避免\0干扰上位机解析 + break; + } + bytename[i] = this.revdata[this.BT_INDEX_DATA_REV + 0 * 4 + i]; + } + this.sensor.BTname = String.fromCharCode(...bytename); + } + this.sensor.FlyTime_h = parseInt(this.byte2float(this.BT_INDEX_DATA_REV + 4 * 4), 10); + this.sensor.FlyTime_m = parseInt(this.byte2float(this.BT_INDEX_DATA_REV + 5 * 4), 10); + this.sensor.SPL06_temp = this.byte2float(this.BT_INDEX_DATA_REV + 6 * 4); + this.sensor.FlyTime_s = parseInt(this.byte2float(this.BT_INDEX_DATA_REV + 7 * 4), 10); + this.sensor.SPL06_asl = this.byte2float(this.BT_INDEX_DATA_REV + 8 * 4); + this.sensor.Pitch = this.byte2float(this.BT_INDEX_DATA_REV + 9 * 4); + this.sensor.Roll = this.byte2float(this.BT_INDEX_DATA_REV + 10 * 4); + this.sensor.Yaw = this.byte2float(this.BT_INDEX_DATA_REV + 11 * 4); + this.sensor.Battery = this.byte2float(this.BT_INDEX_DATA_REV + 12 * 4); + + this.sensor.Debug_0 = this.byte2float(this.BT_INDEX_DATA_REV + 21 * 4); + this.sensor.Debug_1 = this.byte2float(this.BT_INDEX_DATA_REV + 22 * 4); + this.sensor.Debug_2 = this.byte2float(this.BT_INDEX_DATA_REV + 23 * 4); + this.sensor.Debug_3 = this.byte2float(this.BT_INDEX_DATA_REV + 24 * 4); + this.sensor.Debug_4 = this.byte2float(this.BT_INDEX_DATA_REV + 25 * 4); + this.sensor.Debug_5 = this.byte2float(this.BT_INDEX_DATA_REV + 26 * 4); + this.sensor.FusedHeight = this.byte2float(this.BT_INDEX_DATA_REV + 27 * 4); + + this.sensor.VER = parseInt(this.revdata[this.BT_INDEX_DATA_REV + 28 * 4 + 0], 10); + this.sensor.ErrFly = parseInt(this.revdata[this.BT_INDEX_DATA_REV + 28 * 4 + 1], 10); + //飞机种类 + if (this.revdata[this.BT_INDEX_DATA_REV + 28 * 4 + 3] == 1) { + this.sensor.TYPE = this.TYPE_EG101; + } else if (this.revdata[this.BT_INDEX_DATA_REV + 28 * 4 + 3] == 2) { + this.sensor.TYPE = this.TYPE_EG102; + } else if (this.revdata[this.BT_INDEX_DATA_REV + 28 * 4 + 3] == 3) { + this.sensor.TYPE = this.TYPE_FPV101; + } else { + this.sensor.TYPE = `${this.TYPE_EGXXX}${this.revdata[this.BT_INDEX_DATA_REV + 28 * 4 + 3]}`; + } + + this.sensor.LineNo = parseInt(this.byte2float(this.BT_INDEX_DATA_REV + 31 * 4), 10); + this.sensor.LineError = parseInt(this.byte2float(this.BT_INDEX_DATA_REV + 32 * 4), 10); + this.sensor.ErrorCode = parseInt(this.byte2float(this.BT_INDEX_DATA_REV + 33 * 4), 10); + this.sensor.state_position_x = this.byte2float(this.BT_INDEX_DATA_REV + 34 * 4); + this.sensor.state_position_y = this.byte2float(this.BT_INDEX_DATA_REV + 35 * 4); + this.sensor.state_position_z = this.byte2float(this.BT_INDEX_DATA_REV + 36 * 4); + } else if (this.revdata[this.BT_INDEX_CMD_REV] == this.BT_CMD_DOWNLOAD + || this.revdata[this.BT_INDEX_CMD_REV] == this.BT_CMD_DOWNLOAD_END) { + // const hexStringX = Array.from(this.revdata) + // .map(byte => `0x${byte.toString(16).padStart(2, '0')}`) + // .join(','); + // console.log(`revtmp (hex): ${hexStringX}`); + + let isrevsame = true; + for (let i = 0; i < this.packlen; i++) { //(int i = 0; i < packlen; i++) + if (this.senddata[i + this.BT_INDEX_CMD_SEND] != this.revdata[i + this.BT_INDEX_CMD_REV]) { + isrevsame = false; + break; + } + } + if (isrevsame == true) { + this.nowdwpack = this.nowdwpack + 1; + } + if (this.revdata[this.BT_INDEX_CMD_REV] == this.BT_CMD_DOWNLOAD_END) { + // 已经超过下载文件长度，可以停止下载 + this.IsDownload = false; + this.dwmsg = 'download success'; + this.IsPicocStop = true; + } else if (this.revdata[this.BT_INDEX_CMD_REV] == this.BT_CMD_PICOCRUN) { + this.IsPicocRun = false; + } else if (this.revdata[this.BT_INDEX_CMD_REV] == this.BT_CMD_PICOCSTOP) { + this.IsPicocStop = false; + } else if (this.revdata[this.BT_INDEX_CMD_REV] == this.BT_CMD_AUTOLAND) { + this.IsAutoDownload = false; + } + // 指示新的数据收到 + this.IsNewDataRevForLog = true; + } + } + + resetSensor() { + this.sensor.Pitch = 0; + this.sensor.Roll = 0; + this.sensor.Yaw = 0; + this.sensor.state_position_x = 0.0; + this.sensor.state_position_y = 0.0; + this.sensor.state_position_z = 0.0; + this.sensor.state_velocity_x = 0.0; + this.sensor.state_velocity_y = 0.0; + this.sensor.state_velocity_z = 0.0; + } + + makesendcmd() { + this.IsRevPID = false; + this.IsSetPID = false; + this.IsDownload = false; + this.IsPicocRun = false; + this.IsPicocStop = false; + this.IsAutoDownload = false; + this.nowdwpack = 0; + this.dwmsg = ''; + this.IsNewDataRevForLog = false; + if (this.IsDownload == true) { + this.resetSensor(); + this.senddata[this.BT_INDEX_CMD_SEND] = this.BT_CMD_DOWNLOAD; + this.senddata[this.BT_INDEX_DATA_SEND] = this.nowdwpack & 0x000000ff; + this.senddata[this.BT_INDEX_DATA_SEND + 1] = parseInt(((this.nowdwpack & 0x0000ff00) / 256), 10); + if ((this.nowdwpack * this.packlen) > this.Picocode.length) { + this.senddata[this.BT_INDEX_CMD_SEND] = this.BT_CMD_DOWNLOAD_END; + } + for (let i = 0; i < this.packlen; i++) { + if (i + (this.nowdwpack * this.packlen) >= this.Picocode.length) { + this.senddata[this.BT_INDEX_DATA_SEND + 2 + i] = 0xff; + } else { + this.senddata[this.BT_INDEX_DATA_SEND + 2 + i] = this.Picocode[i + (this.nowdwpack * this.packlen)]; + } + this.dwmsg = `正在下载: ${this.nowdwpack * this.packlen} / ${this.Picocode.length}`; + //PrintLog(5, dwmsg) + console.log(this.dwmsg); + } + } else if (this.IsPicocRun == true) { + this.senddata[this.BT_INDEX_CMD_SEND] = this.BT_CMD_PICOCRUN; + } else if (this.IsPicocStop == true) { + this.senddata[this.BT_INDEX_CMD_SEND] = this.BT_CMD_PICOCSTOP; + this.IsPicocStop = false; + } else if (this.IsAutoDownload == true) { + this.senddata[this.BT_INDEX_CMD_SEND] = this.BT_CMD_AUTOLAND; } else { - console.log(this.retHex(packet).join(",")) - await Entry.hwLite.serial.writer.write(packet) + // if (this.sensor.VER >= 109 && this.sensor.VER <= 200) { + // this.senddata[this.BT_INDEX_CMD_SEND] = this.BT_CMD_GETFLYSTATE_SCRATCH; + // } else { + // this.senddata[this.BT_INDEX_CMD_SEND] = this.BT_CMD_GETFLYSTATE1; + // } + this.senddata[this.BT_INDEX_CMD_SEND] = this.BT_CMD_GETFLYSTATE1; + for (let i = this.BT_INDEX_DATA_SEND; i < this.BT_INDEX_SENDCHECKSUM - 1; i++) { + // this.senddata[i] = parseInt((i / 2), 10) & 0x000000ff; + this.senddata[i] = Math.floor(i / 2) & 0xFF; + } + } + } + + btremotecalchecksum(data) { + let sum = 0; + const codelen = data.byteLength - 1; + for (let i = 2; i < codelen; i++) { + sum = sum + data[i]; + } + sum = (sum & 0xff); + sum = (~sum) & 0xff; + return +sum; + } + + sleep(time = 300) { + return new Promise(resolve => setTimeout(resolve, time)); + } + + async handleClean() { + let i = 0; + while (i < 2) { + await Entry.hwLite.serial.writer.write(Buffer.from(this.stopCode)); + await this.sleep(); + i++; } - await new Promise(resolve => setTimeout(resolve, 250)); } - monitorDownloadProgress(data) - { - if (data && data.search("user_main();")) - { - console.log("Call user_main();"); - this.setDownloadStatus(true); - }else{ - this.setDownloadStatus(false); + async downloadCode(sourceCode) { + // console.log("Send chunk 0"); + let byteCode = this.generateBytesCode(this.cmdType.Download, sourceCode, 0); + await Entry.hwLite.serial.writer.write(byteCode); + + await this.sleep(); + await Entry.hwLite.serial.writer.write(Buffer.from(this.getStateCode)); + let i = 0; + + await this.sleep(); + + while (true) { + // console.log("Send chunk ", i); + byteCode = this.generateBytesCode(this.cmdType.Download, sourceCode, i); + await Entry.hwLite.serial.writer.write(byteCode); + await this.sleep(); + if (this.isLatestChunk(byteCode)) { + // console.log("Latest chunk sent!"); + this.revdata = []; + break; + } + i++; } } - setDownloadStatus(status) - { - this.isDownloadDone = status; + async handleGetStatus() { + this.currentProcess = 'getStatus'; + await Entry.hwLite.serial.writer.write(Buffer.from(this.getStateCode)); + await this.sleep(); + } + + async handleRestart() { + await Entry.hwLite.serial.writer.write(Buffer.from(this.getStateCode)); + await this.sleep(); } - isDownloadSuccess() - { - return this.isDownloadDone; + async handleRun() { + await Entry.hwLite.serial.writer.write(Buffer.from(this.runCode)); + await this.sleep(); + } + + async sendPacket(packet, hex = true, callback = null) { + if (hex) { + await Entry.hwLite.serial.writer.write(Buffer.from(packet)) + } else { + // console.log(this.retHex(packet).join(",")) + await Entry.hwLite.serial.writer.write(packet) + } + await new Promise(resolve => setTimeout(resolve, 250)); } - isLatestChunk(chunkData) - { - if(chunkData[this.BT_INDEX_CMD_SEND] == 0x64) - { - for(let i=0;i<=chunkData.length-1;i++) - { - if(chunkData[i] == 0xff - && chunkData[i+1] == 0x42 - && chunkData[i+2] == 0x43 - && chunkData[i+3] == 0x43 - && chunkData[i+4] == 0x44 - && chunkData[i+5] == 0x44 - ){ + isLatestChunk(chunkData) { + if (chunkData[this.BT_INDEX_CMD_SEND] == 0x64) { + for (let i = 0; i <= chunkData.length - 1; i++) { + if (chunkData[i] == 0xff + && chunkData[i + 1] == 0x42 + && chunkData[i + 2] == 0x43 + && chunkData[i + 3] == 0x43 + && chunkData[i + 4] == 0x44 + && chunkData[i + 5] == 0x44 + ) { return true; } } @@ -398,7 +657,7 @@ import metadata from './metadata_whalesbot_drone_lite.json'; return false; } - generateBytesCode(type, Picocode="", nowdwpack=0) { + generateBytesCode(type, Picocode = "", nowdwpack = 0) { let ret = Buffer.alloc(this.DATASENDLEN); ret[0] = 0x77; @@ -409,12 +668,11 @@ import metadata from './metadata_whalesbot_drone_lite.json'; ret[i] = (Math.floor(i / 2)) & 0x000000ff; } - if (type == this.cmdType.Download) - { + if (type == this.cmdType.Download) { ret[this.BT_INDEX_CMD_SEND] = this.BT_CMD_DOWNLOAD; ret[this.BT_INDEX_DATA_SEND] = nowdwpack & 0x000000ff; ret[this.BT_INDEX_DATA_SEND + 1] = ((nowdwpack & 0x0000ff00) / 256) | 0; - + if (nowdwpack * this.packlen > Picocode.length) { ret[this.BT_INDEX_CMD_SEND] = this.BT_CMD_DOWNLOAD_END; } @@ -423,16 +681,15 @@ import metadata from './metadata_whalesbot_drone_lite.json'; if (i + nowdwpack * this.packlen >= Picocode.length) { ret[this.BT_INDEX_DATA_SEND + 2 + i] = 0xff; } else { - ret[this.BT_INDEX_DATA_SEND + 2 + i] = Picocode.charCodeAt(i + nowdwpack * this.packlen); + ret[this.BT_INDEX_DATA_SEND + 2 + i] = Picocode.charCodeAt(i + nowdwpack * this.packlen); } } - }else if(type == this.cmdType.Stop) - { + } else if (type == this.cmdType.Stop) { ret[this.BT_INDEX_CMD_SEND] = this.BT_CMD_PICOCSTOP } ret[this.BT_INDEX_SENDCHECKSUM] = this.calChecksum(ret); - console.log(ret[this.BT_INDEX_SENDCHECKSUM]); + // console.log(ret[this.BT_INDEX_SENDCHECKSUM]); return ret; } @@ -447,330 +704,330 @@ import metadata from './metadata_whalesbot_drone_lite.json'; return +sum; } - VERSTR(){ + VERSTR() { return (this.sensor.TYPE).toString() + "_" + parseInt(this.sensor.VER).toString() } - Errcode2Msg(ErrorCode){ - if (ErrorCode == 0){ - return "No Error" - } - if (ErrorCode == 1){ - return "can't assign to this" - } - if (ErrorCode == 2){ - return "NULL pointer dereference" - } - if (ErrorCode == 3){ - return "first argument to '?' should be a number" - } - if (ErrorCode == 4){ - return "can't get the address of this" - } - if (ErrorCode == 5){ - return "invalid operation" - } - if (ErrorCode == 6){ - return "invalid use of a NULL pointer" - } - if (ErrorCode == 7){ - return "not supported" - } - if (ErrorCode == 8){ - return "invalid expression" - } - if (ErrorCode == 9){ - return "array index must be an integer" - } - if (ErrorCode == 10){ - return "this Target is not an array" - } - if (ErrorCode == 11){ - return "need an structure or union member" - } - if (ErrorCode == 12){ - return "struct or union error" - } - if (ErrorCode == 13){ - return "doesn't have a member" - } - if (ErrorCode == 14){ - return "operator not expected here" - } - if (ErrorCode == 15){ - return "brackets not closed" - } - if (ErrorCode == 16){ - return "identifier not expected here" - } - if (ErrorCode == 17){ - return "macro arguments missing" - } - if (ErrorCode == 18){ - return "expression expected" - } - if (ErrorCode == 19){ - return "a void value isn't much use here" - } - if (ErrorCode == 20){ - return "value not expected here" - } - if (ErrorCode == 21){ - return "type not expected here" - } - if (ErrorCode == 22){ - return "brackets not closed" - } - if (ErrorCode == 23){ - return "ExpressionParseMacroCall out of memory" - } - if (ErrorCode == 24){ - return "too many arguments" - } - if (ErrorCode == 25){ - return "comma expected" - } - if (ErrorCode == 26){ - return "bad argument" - } - if (ErrorCode == 27){ - return "not enough arguments" - } - if (ErrorCode == 28){ - return "Macro undefined" - } - if (ErrorCode == 29){ - return "function - can't call" - } - if (ErrorCode == 30){ - return "ExpressionParseFunctionCall out of memory" - } - if (ErrorCode == 31){ - return "too many arguments" - } - if (ErrorCode == 32){ - return "comma expected" - } - if (ErrorCode == 33){ - return "bad argument" - } - if (ErrorCode == 34){ - return "not enough arguments" - } - if (ErrorCode == 35){ - return "undefined Fun name" - } - if (ErrorCode == 36){ - return "function body expected" - } - if (ErrorCode == 37){ - return "no value returned from a function returning" - } - if (ErrorCode == 38){ - return "couldn't find goto label" - } - if (ErrorCode == 39){ - return "expression expected" - } - if (ErrorCode == 40){ - return "integer value expected instead" - } - if (ErrorCode == 41){ - return "identifier expected" - } - if (ErrorCode == 42){ - return "undefined Identifier" - } - if (ErrorCode == 43){ - return "value expected" - } - if (ErrorCode == 44){ - return "#else without #if" - } - if (ErrorCode == 45){ - return "#endif without #if" - } - if (ErrorCode == 46){ - return "nested function definitions are not allowed" - } - if (ErrorCode == 47){ - return "too many parameters" - } - if (ErrorCode == 48){ - return "comma expected" - } - if (ErrorCode == 49){ - return "bad parameter" - } - if (ErrorCode == 50){ - return "main() should return an int or void" - } - if (ErrorCode == 51){ - return "bad parameters to main()" - } - if (ErrorCode == 52){ - return "bad function definition" - } - if (ErrorCode == 53){ - return "function definition expected" - } - if (ErrorCode == 54){ - return "Identifier is already defined" - } - if (ErrorCode == 55){ - return "} expected" - } - if (ErrorCode == 56){ - return "can't define a void variable" - } - if (ErrorCode == 57){ - return "close bracket expected" - } - if (ErrorCode == 58){ - return "Macro is already defined" - } - if (ErrorCode == 59){ - return "'(' expected" - } - if (ErrorCode == 60){ - return "statement expected" - } - if (ErrorCode == 61){ - return "';' expected" - } - if (ErrorCode == 62){ - return "')' expected" - } - if (ErrorCode == 63){ - return "'while' expected" - } - if (ErrorCode == 64){ - return "'{' expected" - } - if (ErrorCode == 65){ - return "filename.h expected" - } - if (ErrorCode == 66){ - return "'' expected" - } - if (ErrorCode == 67){ - return "value required in return" - } - if (ErrorCode == 68){ - return "value in return from a void function" - } - if (ErrorCode == 69){ - return "PicocParse out of memory" - } - if (ErrorCode == 70){ - return "parse error" - } - if (ErrorCode == 71){ - return "AssignFail" - } - if (ErrorCode == 72){ - return "TableSetIdentifier out of memory" - } - if (ErrorCode == 73){ - return "data type is already defined" - } - if (ErrorCode == 74){ - return "structure isn't defined" - } - if (ErrorCode == 75){ - return "struct/union definitions can only be globals" - } - if (ErrorCode == 76){ - return "invalid type in struct" - } - if (ErrorCode == 77){ - return "member already defined" - } - if (ErrorCode == 78){ - return "semicolon expected" - } - if (ErrorCode == 79){ - return "enum isn't defined" - } - if (ErrorCode == 80){ - return "enum definitions can only be globals" - } - if (ErrorCode == 81){ - return "bad type declaration" - } - if (ErrorCode == 82){ - return "']' expected" - } - if (ErrorCode == 83){ - return "Variable out of memory" - } - if (ErrorCode == 84){ - return "stack underrun" - } - if (ErrorCode == 85){ - return "VariableStack out of memory" - } - if (ErrorCode == 86){ - return "stack is empty - can't go back" - } - return "" -} - - ErrFly2String(ErrFly){ - let msg="" - const ERR_NONE =0 - const ERR_LOWBATT =this.BIT0 - const ERR_CODE =this.BIT1 - const ERR_TEMP =this.BIT3 - const ERR_SENSORS =this.BIT4 - const ERR_LOADER =this.BIT5 - const ERR_ANGLE =this.BIT6 - if (ErrFly == ERR_NONE){ - msg=msg +"NO_Error" - - } - if (ErrFly & ERR_LOWBATT == ERR_LOWBATT){ - msg= "Low_Battery" + " " - } - if (ErrFly & ERR_CODE == ERR_CODE){ - msg=msg + "Code_Error" + " " - } - if (ErrFly & ERR_TEMP == ERR_TEMP){ - msg=msg + "motherboard_temperature_is_too_high" + " " - } - if (ErrFly & ERR_SENSORS == ERR_SENSORS){ - msg=msg + "Sensor_Error" + " " - } - if (ErrFly & ERR_LOADER == ERR_LOADER){ - msg=msg + "Excessive_load" + " " - } - if (ErrFly & ERR_ANGLE == ERR_ANGLE){ - msg=msg + "Excessive_inclination_angle" + " " + Errcode2Msg(ErrorCode) { + if (ErrorCode == 0) { + return "No Error" + } + if (ErrorCode == 1) { + return "can't assign to this" + } + if (ErrorCode == 2) { + return "NULL pointer dereference" + } + if (ErrorCode == 3) { + return "first argument to '?' should be a number" + } + if (ErrorCode == 4) { + return "can't get the address of this" + } + if (ErrorCode == 5) { + return "invalid operation" + } + if (ErrorCode == 6) { + return "invalid use of a NULL pointer" + } + if (ErrorCode == 7) { + return "not supported" + } + if (ErrorCode == 8) { + return "invalid expression" + } + if (ErrorCode == 9) { + return "array index must be an integer" + } + if (ErrorCode == 10) { + return "this Target is not an array" + } + if (ErrorCode == 11) { + return "need an structure or union member" + } + if (ErrorCode == 12) { + return "struct or union error" + } + if (ErrorCode == 13) { + return "doesn't have a member" + } + if (ErrorCode == 14) { + return "operator not expected here" + } + if (ErrorCode == 15) { + return "brackets not closed" + } + if (ErrorCode == 16) { + return "identifier not expected here" + } + if (ErrorCode == 17) { + return "macro arguments missing" + } + if (ErrorCode == 18) { + return "expression expected" + } + if (ErrorCode == 19) { + return "a void value isn't much use here" + } + if (ErrorCode == 20) { + return "value not expected here" + } + if (ErrorCode == 21) { + return "type not expected here" + } + if (ErrorCode == 22) { + return "brackets not closed" + } + if (ErrorCode == 23) { + return "ExpressionParseMacroCall out of memory" + } + if (ErrorCode == 24) { + return "too many arguments" + } + if (ErrorCode == 25) { + return "comma expected" + } + if (ErrorCode == 26) { + return "bad argument" + } + if (ErrorCode == 27) { + return "not enough arguments" + } + if (ErrorCode == 28) { + return "Macro undefined" + } + if (ErrorCode == 29) { + return "function - can't call" + } + if (ErrorCode == 30) { + return "ExpressionParseFunctionCall out of memory" + } + if (ErrorCode == 31) { + return "too many arguments" + } + if (ErrorCode == 32) { + return "comma expected" + } + if (ErrorCode == 33) { + return "bad argument" + } + if (ErrorCode == 34) { + return "not enough arguments" + } + if (ErrorCode == 35) { + return "undefined Fun name" + } + if (ErrorCode == 36) { + return "function body expected" + } + if (ErrorCode == 37) { + return "no value returned from a function returning" + } + if (ErrorCode == 38) { + return "couldn't find goto label" + } + if (ErrorCode == 39) { + return "expression expected" + } + if (ErrorCode == 40) { + return "integer value expected instead" + } + if (ErrorCode == 41) { + return "identifier expected" + } + if (ErrorCode == 42) { + return "undefined Identifier" + } + if (ErrorCode == 43) { + return "value expected" + } + if (ErrorCode == 44) { + return "#else without #if" + } + if (ErrorCode == 45) { + return "#endif without #if" + } + if (ErrorCode == 46) { + return "nested function definitions are not allowed" + } + if (ErrorCode == 47) { + return "too many parameters" + } + if (ErrorCode == 48) { + return "comma expected" + } + if (ErrorCode == 49) { + return "bad parameter" + } + if (ErrorCode == 50) { + return "main() should return an int or void" + } + if (ErrorCode == 51) { + return "bad parameters to main()" + } + if (ErrorCode == 52) { + return "bad function definition" + } + if (ErrorCode == 53) { + return "function definition expected" + } + if (ErrorCode == 54) { + return "Identifier is already defined" + } + if (ErrorCode == 55) { + return "} expected" + } + if (ErrorCode == 56) { + return "can't define a void variable" + } + if (ErrorCode == 57) { + return "close bracket expected" + } + if (ErrorCode == 58) { + return "Macro is already defined" + } + if (ErrorCode == 59) { + return "'(' expected" + } + if (ErrorCode == 60) { + return "statement expected" + } + if (ErrorCode == 61) { + return "';' expected" + } + if (ErrorCode == 62) { + return "')' expected" + } + if (ErrorCode == 63) { + return "'while' expected" + } + if (ErrorCode == 64) { + return "'{' expected" + } + if (ErrorCode == 65) { + return "filename.h expected" + } + if (ErrorCode == 66) { + return "'' expected" + } + if (ErrorCode == 67) { + return "value required in return" + } + if (ErrorCode == 68) { + return "value in return from a void function" + } + if (ErrorCode == 69) { + return "PicocParse out of memory" + } + if (ErrorCode == 70) { + return "parse error" + } + if (ErrorCode == 71) { + return "AssignFail" + } + if (ErrorCode == 72) { + return "TableSetIdentifier out of memory" + } + if (ErrorCode == 73) { + return "data type is already defined" + } + if (ErrorCode == 74) { + return "structure isn't defined" + } + if (ErrorCode == 75) { + return "struct/union definitions can only be globals" + } + if (ErrorCode == 76) { + return "invalid type in struct" + } + if (ErrorCode == 77) { + return "member already defined" + } + if (ErrorCode == 78) { + return "semicolon expected" + } + if (ErrorCode == 79) { + return "enum isn't defined" + } + if (ErrorCode == 80) { + return "enum definitions can only be globals" + } + if (ErrorCode == 81) { + return "bad type declaration" + } + if (ErrorCode == 82) { + return "']' expected" + } + if (ErrorCode == 83) { + return "Variable out of memory" + } + if (ErrorCode == 84) { + return "stack underrun" + } + if (ErrorCode == 85) { + return "VariableStack out of memory" + } + if (ErrorCode == 86) { + return "stack is empty - can't go back" + } + return "" + } + + ErrFly2String(ErrFly) { + let msg = "" + const ERR_NONE = 0 + const ERR_LOWBATT = this.BIT0 + const ERR_CODE = this.BIT1 + const ERR_TEMP = this.BIT3 + const ERR_SENSORS = this.BIT4 + const ERR_LOADER = this.BIT5 + const ERR_ANGLE = this.BIT6 + if (ErrFly == ERR_NONE) { + msg = msg + "NO_Error" + + } + if (ErrFly & ERR_LOWBATT == ERR_LOWBATT) { + msg = "Low_Battery" + " " + } + if (ErrFly & ERR_CODE == ERR_CODE) { + msg = msg + "Code_Error" + " " + } + if (ErrFly & ERR_TEMP == ERR_TEMP) { + msg = msg + "motherboard_temperature_is_too_high" + " " + } + if (ErrFly & ERR_SENSORS == ERR_SENSORS) { + msg = msg + "Sensor_Error" + " " + } + if (ErrFly & ERR_LOADER == ERR_LOADER) { + msg = msg + "Excessive_load" + " " + } + if (ErrFly & ERR_ANGLE == ERR_ANGLE) { + msg = msg + "Excessive_inclination_angle" + " " } return msg } - Sensor2String(){ + Sensor2String() { let SPLIT_STRING = "------------------------------------\n" - let msg = "STATE_PITCH= " + (Math.round(this.sensor.Pitch, 3)).toString() + "\n" - msg = msg + "STATE_ROLL= " + (Math.round(this.sensor.Roll, 3)).toString() + "\n" - msg = msg + "STATE_YAW= " + (Math.round(this.sensor.Yaw, 3)).toString() + "\n" + let msg = "STATE_PITCH= " + (Math.round(this.sensor.Pitch, 3)).toString() + "\n" + msg = msg + "STATE_ROLL= " + (Math.round(this.sensor.Roll, 3)).toString() + "\n" + msg = msg + "STATE_YAW= " + (Math.round(this.sensor.Yaw, 3)).toString() + "\n" msg = msg + SPLIT_STRING - - msg = msg + "STATE_TEMP= " + (Math.round(this.sensor.SPL06_temp, 3)).toString() + "\n" - - msg = msg + "FusedHeight= " + (Math.round(this.sensor.FusedHeight, 3)).toString() + "\n" - - msg = msg + "BATTERY= " + (Math.round(this.sensor.Battery, 3)).toString() + "\n" - - msg = msg + "VER= " + this.VERSTR() + "\n" + + msg = msg + "STATE_TEMP= " + (Math.round(this.sensor.SPL06_temp, 3)).toString() + "\n" + + msg = msg + "FusedHeight= " + (Math.round(this.sensor.FusedHeight, 3)).toString() + "\n" + + msg = msg + "BATTERY= " + (Math.round(this.sensor.Battery, 3)).toString() + "\n" + + msg = msg + "VER= " + this.VERSTR() + "\n" msg = msg + SPLIT_STRING - msg = msg + "FLY_ERR= " + this.ErrFly2String(parseInt(this.sensor.ErrFly)) + "\n" - msg = msg + "LINE_NO= " + (this.sensor.LineNo) + "\n" - msg = msg + "ERROR_NO= " + (this.sensor.LineError) + "\n" - msg = msg + "ERROR_MSG= " + this.Errcode2Msg(this.sensor.ErrorCode) + "\n" - - msg = msg + "DEBUG1= " + (Math.round(this.sensor.Debug_0, 6)).toString() + "\n" + msg = msg + "FLY_ERR= " + this.ErrFly2String(parseInt(this.sensor.ErrFly)) + "\n" + msg = msg + "LINE_NO= " + (this.sensor.LineNo) + "\n" + msg = msg + "ERROR_NO= " + (this.sensor.LineError) + "\n" + msg = msg + "ERROR_MSG= " + this.Errcode2Msg(this.sensor.ErrorCode) + "\n" + + msg = msg + "DEBUG1= " + (Math.round(this.sensor.Debug_0, 6)).toString() + "\n" msg = msg + "DEBUG2= " + (Math.round(this.sensor.Debug_1, 6)).toString() + "\n" msg = msg + "DEBUG3= " + (Math.round(this.sensor.Debug_2, 6)).toString() + "\n" msg = msg + "DEBUG4= " + (Math.round(this.sensor.Debug_3, 6)).toString() + "\n" @@ -782,31 +1039,27 @@ import metadata from './metadata_whalesbot_drone_lite.json'; byte2float(offset) { let buffer = new ArrayBuffer(4); let view = new DataView(buffer); - + view.setUint8(3, this.revdata[offset + 0]); view.setUint8(2, this.revdata[offset + 1]); view.setUint8(1, this.revdata[offset + 2]); view.setUint8(0, this.revdata[offset + 3]); - - // Đọc giá trị float từ ArrayBuffer dưới dạng big-endian - return view.getFloat32(0, false); // false chỉ định big-endian + + return view.getFloat32(0, false); } getInjectStatus(revtmp) { let revdata = Buffer.alloc(this.DATAREVLEN); - if (revtmp.byteLength == this.DATAREVLEN) - { - if(revtmp[0] == 0x77 && revtmp[1] == 0x78) - { - if (revtmp[this.BT_INDEX_REVCHECKSUM] == this.calChecksum(revtmp)) - { + if (revtmp.byteLength == this.DATAREVLEN) { + if (revtmp[0] == 0x77 && revtmp[1] == 0x78) { + if (revtmp[this.BT_INDEX_REVCHECKSUM] == this.calChecksum(revtmp)) { for (let i = 0; i < revtmp.length; i++) { revdata[i] = revtmp[i]; } } } - } + } if (revdata[this.BT_INDEX_CMD_REV] === this.BT_CMD_DOWNLOAD || revdata[this.BT_INDEX_CMD_REV] === this.BT_CMD_DOWNLOAD_END) { let isrevsame = true; @@ -821,11 +1074,11 @@ import metadata from './metadata_whalesbot_drone_lite.json'; } if (revdata[this.BT_INDEX_CMD_REV] === this.BT_CMD_DOWNLOAD_END) { // IsDownload = false; - console.log("download success"); + // console.log("download success"); return true } } - else if(this.revdata[this.BT_INDEX_CMD_REV] == this.BT_CMD_GETFLYSTATE1){ + else if (this.revdata[this.BT_INDEX_CMD_REV] == this.BT_CMD_GETFLYSTATE1) { this.sensor.btkey = parseInt(revdata[2] + revdata[3] * 256) this.sensor.btstick1 = parseInt(revdata[4]) this.sensor.btstick2 = parseInt(revdata[5]) @@ -852,11 +1105,11 @@ import metadata from './metadata_whalesbot_drone_lite.json'; this.sensor.M2 = parseInt(revdata[this.BT_INDEX_DATA_REV + 17 * 4 + 1]) this.sensor.M3 = parseInt(revdata[this.BT_INDEX_DATA_REV + 17 * 4 + 2]) this.sensor.M4 = parseInt(revdata[this.BT_INDEX_DATA_REV + 17 * 4 + 3]) - + this.sensor.state_velocity_x = this.byte2float(this.BT_INDEX_DATA_REV + 18 * 4) this.sensor.state_velocity_y = this.byte2float(this.BT_INDEX_DATA_REV + 19 * 4) this.sensor.state_velocity_z = this.byte2float(this.BT_INDEX_DATA_REV + 20 * 4) - + this.sensor.Debug_0 = this.byte2float(this.BT_INDEX_DATA_REV + 21 * 4) this.sensor.Debug_1 = this.byte2float(this.BT_INDEX_DATA_REV + 22 * 4) this.sensor.Debug_2 = this.byte2float(this.BT_INDEX_DATA_REV + 23 * 4) @@ -864,13 +1117,12 @@ import metadata from './metadata_whalesbot_drone_lite.json'; this.sensor.Debug_4 = this.byte2float(this.BT_INDEX_DATA_REV + 25 * 4) this.sensor.Debug_5 = this.byte2float(this.BT_INDEX_DATA_REV + 26 * 4) this.sensor.FusedHeight = this.byte2float(this.BT_INDEX_DATA_REV + 27 * 4) - + this.sensor.VER = parseInt(revdata[this.BT_INDEX_DATA_REV + 28 * 4 + 0]) - this.sensor.ErrFly = parseInt(revdata[this.BT_INDEX_DATA_REV + 28 * 4 + 1]) + this.sensor.ErrFly = parseInt(revdata[this.BT_INDEX_DATA_REV + 28 * 4 + 1]) let msg = this.Sensor2String(); - console.log(msg); + // console.log(msg); } - return false; } @@ -905,101 +1157,213 @@ import metadata from './metadata_whalesbot_drone_lite.json'; return { ko: { template: { - whalesbot_drone_openning_3d_simulator: '3D 시뮬레이터를 엽니 다', - whalesbot_drone_clean:'삭제', - whalesbot_drone_restart: '재시작', - whalesbot_drone_entering_pitch_mode:'준비모드 시작하기', - whalesbot_drone_exit_pitch_mode:'준비모드 끝내기', - whalesbot_drone_automatic_take_off_height:'자동 이륙 높이 %1 cm', - whalesbot_drone_automatic_take_off_altitude_speed_offset:'자동 이륙 고도 %1 cm 속도 %2 X 오프셋 %3 도 Y 오프셋 %4 도 으로 이동하기', - whalesbot_drone_automatic_landing:'드로착륙', - whalesbot_drone_automatic_descent_speed_offset:'자동 낙하 속도 %1 X 오프셋 %2 도 Y 오프셋 %3 도', - whalesbot_drone_set_the_flight_speed:'설정된 비행 속도는 %1 cm/s', - whalesbot_drone_get_setting_speed:'설정 속도 가져오기', - whalesbot_drone_rise:'위로 %1 cm', - whalesbot_drone_down:'아래로 %1 cm', - whalesbot_drone_fly_forward:'앞으로 %1 cm', - whalesbot_drone_fly_backward:'뒤로 %1 cm', - whalesbot_drone_fly_left:'왼쪽으로 %1 cm', - whalesbot_drone_fly_right:'오른쪽으로 %1 cm', - whalesbot_drone_turn_left:'왼쪽으로 회전 %1 °', - whalesbot_drone_turn_right:'오른쪽으로 회전 %1 °', - - whalesbot_drone_fly_in_the_specified_direction:'속도 %1 , 방향 %2 으로이동하기', - whalesbot_drone_flight_designated:'지정된 거리를 비행합니다 x %1 cm y %2 cm z%3 cm 속도 %4 cm/s', - whalesbot_drone_set_the_four_channel_lever_quantity_of_remote_control:'리모컨 4개 채널 로드 설정 Pitch %1 Roll %2 액셀러레이터 %3 Yaw %4', - whalesbot_drone_stop_moving_and_hover:'호버링기능', - whalesbot_drone_hover_at_specified_altitude:'지정된 높이에 서스펜션 %1 cm', - whalesbot_drone_emergency_stop:'긴급정지', - whalesbot_drone_set_the_steering_gear:'스티어링기어 ID 설정 포트 %1 속도 %2 각도 %3', - whalesbot_drone_execute_script:'스크립트 실행', + whalesbot_eagle_1001_lite_openning_3d_simulator: '3D 시뮬레이터를 엽니 다', + whalesbot_eagle_1001_lite_clean: '삭제', + whalesbot_eagle_1001_lite_restart: '재시작', + whalesbot_eagle_1001_lite_get_status: '상태 가져오기', + whalesbot_eagle_1001_lite_entering_pitch_mode: '준비모드 시작하기', + whalesbot_eagle_1001_lite_exit_pitch_mode: '준비모드 끝내기', + whalesbot_eagle_1001_lite_automatic_take_off_height: '자동 이륙 높이 %1 cm', + whalesbot_eagle_1001_lite_automatic_take_off_altitude_speed_offset: '자동 이륙 고도 %1 cm 속도 %2 X 오프셋 %3 도 Y 오프셋 %4 도 으로 이동하기', + whalesbot_eagle_1001_lite_automatic_landing: '드론착륙', + whalesbot_eagle_1001_lite_automatic_descent_speed_offset: '자동 낙하 속도 %1 X 오프셋 %2 도 Y 오프셋 %3 도', + whalesbot_eagle_1001_lite_set_the_flight_speed: '설정된 비행 속도는 %1 cm/s', + whalesbot_eagle_1001_lite_get_setting_speed: '설정 속도 가져오기', + whalesbot_eagle_1001_lite_rise: '위로 %1 cm', + whalesbot_eagle_1001_lite_down: '아래로 %1 cm', + whalesbot_eagle_1001_lite_fly_forward: '앞으로 %1 cm', + whalesbot_eagle_1001_lite_fly_backward: '뒤로 %1 cm', + whalesbot_eagle_1001_lite_fly_left: '왼쪽으로 %1 cm', + whalesbot_eagle_1001_lite_fly_right: '오른쪽으로 %1 cm', + whalesbot_eagle_1001_lite_turn_left: '왼쪽으로 회전 %1 °', + whalesbot_eagle_1001_lite_turn_right: '오른쪽으로 회전 %1 °', + whalesbot_eagle_1001_lite_fly_in_the_specified_direction: '속도 %1 , 방향 %2 으로이동하기', + whalesbot_eagle_1001_lite_flight_designated: '지정된 거리를 비행합니다 x %1 cm y %2 cm z%3 cm 속도 %4 cm/s', + whalesbot_eagle_1001_lite_set_the_four_channel_lever_quantity_of_remote_control: '리모컨 4개 채널 설정 Pitch %1 Roll %2 Throttle %3 Yaw %4', + whalesbot_eagle_1001_lite_stop_moving_and_hover: '호버링기능', + whalesbot_eagle_1001_lite_hover_at_specified_altitude: '지정된 높이에 서스펜션 %1 cm', + whalesbot_eagle_1001_lite_emergency_stop: '긴급정지', + whalesbot_eagle_1001_lite_set_the_steering_gear: '스티어링기어 ID 설정 포트 %1 속도 %2 각도 %3', + whalesbot_eagle_1001_lite_execute_script: '스크립트 실행', + // light & speaker blocks + whalesbot_eagle_1001_lite_ls_debug_value: '센서 값 확인 %1 %2', + whalesbot_eagle_1001_lite_ls_display_symbol: '도트매트릭스 %1 포트 %2', + whalesbot_eagle_1001_lite_ls_off_LED: '표현스크린 닫기 포트 %1', + whalesbot_eagle_1001_lite_ls_display_digital_tube: '디지털튜브 포트 %1 %2', + whalesbot_eagle_1001_lite_ls_display_digital_tube_score: '디지털튜브에 점수 표시 포트 %1 %2 : %3', + whalesbot_eagle_1001_lite_ls_off_digital_tube: '디지털튜브 닫기 포트 %1', + whalesbot_eagle_1001_lite_ls_set_RGB: 'LED색상설정 포트 %1 색상 R %2 G %3 B %4', + whalesbot_eagle_1001_lite_ls_fly_RGB: 'Led 조명인가요? %1', + whalesbot_eagle_1001_lite_ls_set_DO: '전자석 포트 %1 %2', + whalesbot_eagle_1001_lite_ls_execute_script: '동작 없이 스크립트 실행', + // sensors + whalesbot_eagle_1001_lite_ss_fly_state_POS_Z: '비행 고도 cm', + whalesbot_eagle_1001_lite_ss_fly_state_LASER: '동체 내부 레이저 거리 측정 cm', + whalesbot_eagle_1001_lite_ss_battery_voltage: '배터리 전압 (V)', + whalesbot_eagle_1001_lite_ss_fly_state_STATE_TEMP: '메인보드 온도 (°)', + whalesbot_eagle_1001_lite_ss_attitude_angle: '자세각 %1 (°)', + whalesbot_eagle_1001_lite_ss_flight_angular_velocity: '비행각속도 %1 cm/s', + whalesbot_eagle_1001_lite_ss_flight_acceleration: '비행 가속도 %1 (1g)', + whalesbot_eagle_1001_lite_ss_optical_flow: '광류 %1 (cm)', + whalesbot_eagle_1001_lite_ss_get_infrared_distance: '적외선센 포트 %1 값', + whalesbot_eagle_1001_lite_ss_obstacle_infrared_detected_bool: '적외선센서 포트 %1 장애물 감지', + whalesbot_eagle_1001_lite_ss_obstacle_infrared_detected_string: '적외선센서 포트 %1 장애물 감지', + whalesbot_eagle_1001_lite_ss_human_infrared_value_bool: '인체 감지 센서 포트 %1 사람을 감지하다', + whalesbot_eagle_1001_lite_ss_human_infrared_value_string: '인체 감지 센서 포트 %1 사람을 감지하다', + whalesbot_eagle_1001_lite_ss_AI: '아날로그 입력 포트 %1 값', + whalesbot_eagle_1001_lite_ss_get_ultrasonic_distance: '초음파센서 포트 %1 거리 강지 cm', + whalesbot_eagle_1001_lite_ss_get_ambient_light: '조도센서 입력 포트 %1 값', + whalesbot_eagle_1001_lite_ss_get_temperature: '온도 센서 포트 %1 °C', + whalesbot_eagle_1001_lite_ss_get_humidity: '습도 센서 포트 %1 값 %', + whalesbot_eagle_1001_lite_ss_get_flame: '불꽃센서 포트 %1 값', + whalesbot_eagle_1001_lite_ss_get_gesture: '동작인식 포트 %1', + whalesbot_eagle_1001_lite_ss_get_tof: '레이저 거리 측정 포트 %1', + whalesbot_eagle_1001_lite_ss_fly_setpoint_LASER_ENABLE: '레이저 높이 %1', + whalesbot_eagle_1001_lite_ss_get_bt_remote_control: '리모콘 버튼 %1 값', + whalesbot_eagle_1001_lite_ss_seconds: '현재 타이머 값', + whalesbot_eagle_1001_lite_ss_resettime: '타이머 재설정', }, Device: { - whalesbot_drone_lite: 'whalesbot_drone_lite', + whalesbot_eagle_1001_lite_lite: 'whalesbot_eagle_1001_lite_lite', }, Menus: { - whalesbot_drone_lite: 'WhalesbotDroneLite', + whalesbot_eagle_1001_lite_lite: 'WhalesbotEagle1001Lite', }, Blocks: { - whalesbot_drone_toast_status_title: "Drone Status", - whalesbot_drone_toast_download_success: "Download code successed", - whalesbot_drone_toast_download_failed: "Download code failed", - whalesbot_drone_toast_clean_failed: "Clean code failed", - whalesbot_drone_toast_clean_success: "Clean code success", - whalesbot_drone_toast_unsupport_block_title: "Unsupport Block", - whalesbot_drone_toast_unsupport_block_msg: "There is some blocks is not supported by hardware" + light_speaker: { + electro_magnet: { absorption: '붙다', break_off: '떨어지다' }, + }, + sensor: { + attitude_angle: { pitch: 'Pitch', roll: 'Roll', yaw: 'Yaw' }, + laser_height_determination: { on: 'On', off: 'Off' }, + remote_control_button: { key: 'Key', left_rocker_x: 'Left rocker X', left_rocker_y: 'Left rocker Y', right_rocker_x: 'Right rocker X', right_rocker_y: 'Right rocker Y' }, + }, + whalesbot_eagle_1001_lite_toast_status_title: "드론 상태", + whalesbot_eagle_1001_lite_toast_prepare_download: "다운로드 준비...", + whalesbot_eagle_1001_lite_toast_downloading_code: "코드 다운로드...", + whalesbot_eagle_1001_lite_toast_download_success: "다운로드 코드가 성공했습니다", + whalesbot_eagle_1001_lite_toast_download_failed: "다운로드 코드가 실패했습니다", + whalesbot_eagle_1001_lite_toast_clean_failed: "깨끗한 코드가 실패했습니다", + whalesbot_eagle_1001_lite_toast_clean_success: "깨끗한 코드 성공", + whalesbot_eagle_1001_lite_toast_unsupport_block_title: "지원되지 않는 블록", + whalesbot_eagle_1001_lite_toast_unsupport_block_msg: "하드웨어에서는 일부 블록이 지원되지 않습니다" } }, en: { template: { - whalesbot_drone_openning_3d_simulator: 'Open 3D Simulator', - whalesbot_drone_clean:'Clean', - whalesbot_drone_restart: 'Restart', - whalesbot_drone_entering_pitch_mode:'Entering Pitch Mode', - whalesbot_drone_exit_pitch_mode:'Exit Pitch Mode', - whalesbot_drone_automatic_take_off_height:'Automatic Take Off Height %1 cm', - whalesbot_drone_automatic_take_off_altitude_speed_offset:'Automatic Take Off Altitude %1 cm, Speed %2, X offset %3 degree, Y offset %4 degree', - whalesbot_drone_automatic_landing:'Automatic Landing', - whalesbot_drone_automatic_descent_speed_offset:'Automatic Descent Speed %1, X offset %2 degree, Y offset %3 degree', - whalesbot_drone_set_the_flight_speed:'Set The Flight Speed To %1 cm/s', - whalesbot_drone_get_setting_speed:'Get Setting Speed', - whalesbot_drone_rise:'Rise %1 cm', - whalesbot_drone_down:'Down %1 cm', - whalesbot_drone_fly_forward:'Fly Forward %1 cm', - whalesbot_drone_fly_backward:'Fly Backward %1 cm', - whalesbot_drone_fly_left:'Fly Left %1 cm', - whalesbot_drone_fly_right:'Fly Right %1 cm', - whalesbot_drone_turn_left:'Turn Left %1 °', - whalesbot_drone_turn_right:'Turn Right %1 °', - whalesbot_drone_fly_in_the_specified_direction:'Fly In The Specified Direction Speed %1 cm/s Direction %2 °', - whalesbot_drone_flight_designated:'Flight Designated Distance X %1 cm Y %2 cm Z %3 cm Speed %4 cm/s', - whalesbot_drone_set_the_four_channel_lever_quantity_of_remote_control:'Set The Four Channel Lever Quantity Of Remote Control Pitch %1° Roll %2° Throttle %3° Roll %4°', - whalesbot_drone_stop_moving_and_hover:'Stop Moving And Hover', - whalesbot_drone_hover_at_specified_altitude:'Hover At a Specified Altitude %1 cm', - whalesbot_drone_emergency_stop:'Emergency Stop', - whalesbot_drone_set_the_steering_gear:'Set The Steering Gear Port %1 Speed %2 cm/s Angle %3 °', - whalesbot_drone_execute_script:'Execute Script', + whalesbot_eagle_1001_lite_openning_3d_simulator: 'Open 3D Simulator', + whalesbot_eagle_1001_lite_clean: 'Clean', + whalesbot_eagle_1001_lite_restart: 'Restart', + whalesbot_eagle_1001_lite_get_status: 'Get Status', + whalesbot_eagle_1001_lite_entering_pitch_mode: 'Entering Pitch Mode', + whalesbot_eagle_1001_lite_exit_pitch_mode: 'Exit Pitch Mode', + whalesbot_eagle_1001_lite_automatic_take_off_height: 'Automatic Take Off Height %1 cm', + whalesbot_eagle_1001_lite_automatic_take_off_altitude_speed_offset: 'Automatic Take Off Altitude %1 cm, Speed %2, X offset %3 degree, Y offset %4 degree', + whalesbot_eagle_1001_lite_automatic_landing: 'Automatic Landing', + whalesbot_eagle_1001_lite_automatic_descent_speed_offset: 'Automatic Descent Speed %1, X offset %2 degree, Y offset %3 degree', + whalesbot_eagle_1001_lite_set_the_flight_speed: 'Set The Flight Speed To %1 cm/s', + whalesbot_eagle_1001_lite_get_setting_speed: 'Get Setting Speed', + whalesbot_eagle_1001_lite_rise: 'Rise %1 cm', + whalesbot_eagle_1001_lite_down: 'Down %1 cm', + whalesbot_eagle_1001_lite_fly_forward: 'Fly Forward %1 cm', + whalesbot_eagle_1001_lite_fly_backward: 'Fly Backward %1 cm', + whalesbot_eagle_1001_lite_fly_left: 'Fly Left %1 cm', + whalesbot_eagle_1001_lite_fly_right: 'Fly Right %1 cm', + whalesbot_eagle_1001_lite_turn_left: 'Turn Left %1 °', + whalesbot_eagle_1001_lite_turn_right: 'Turn Right %1 °', + whalesbot_eagle_1001_lite_fly_in_the_specified_direction: 'Fly In The Specified Direction Speed %1 cm/s Direction %2 °', + whalesbot_eagle_1001_lite_flight_designated: 'Flight Designated Distance X %1 cm Y %2 cm Z %3 cm Speed %4 cm/s', + whalesbot_eagle_1001_lite_set_the_four_channel_lever_quantity_of_remote_control: 'Set The Four Channel Lever Quantity Of Remote Control Pitch %1° Roll %2° Throttle %3° Roll %4°', + whalesbot_eagle_1001_lite_stop_moving_and_hover: 'Stop Moving And Hover', + whalesbot_eagle_1001_lite_hover_at_specified_altitude: 'Hover At a Specified Altitude %1 cm', + whalesbot_eagle_1001_lite_emergency_stop: 'Emergency Stop', + whalesbot_eagle_1001_lite_set_the_steering_gear: 'Set The Steering Gear Port %1 Speed %2 cm/s Angle %3 °', + whalesbot_eagle_1001_lite_execute_script: 'Execute Script', + // light & speaker blocks + whalesbot_eagle_1001_lite_ls_debug_value: 'Debugging: Data %1 %2', + whalesbot_eagle_1001_lite_ls_display_symbol: 'Emotion screen symbols %1 port %2', + whalesbot_eagle_1001_lite_ls_off_LED: 'Clear emotion screen port %1', + whalesbot_eagle_1001_lite_ls_display_digital_tube: 'Digital tube port %1 %2', + whalesbot_eagle_1001_lite_ls_display_digital_tube_score: 'Digital tube score display port %1 %2 : %3', + whalesbot_eagle_1001_lite_ls_off_digital_tube: 'Clear digital tube port %1', + whalesbot_eagle_1001_lite_ls_set_RGB: 'Set LED lights port %1 color R %2 G %3 B %4', + whalesbot_eagle_1001_lite_ls_fly_RGB: 'Airborne lighting %1', + whalesbot_eagle_1001_lite_ls_set_DO: 'Electromagnet port %1 %2', + whalesbot_eagle_1001_lite_ls_execute_script: 'Execute Script Without Motion', + // sensors + whalesbot_eagle_1001_lite_ss_fly_state_POS_Z: 'Flight attitude cm', + whalesbot_eagle_1001_lite_ss_fly_state_LASER: 'Laser ranging inside the fuselage cm', + whalesbot_eagle_1001_lite_ss_battery_voltage: 'Battery voltage (V)', + whalesbot_eagle_1001_lite_ss_fly_state_STATE_TEMP: 'Main board temperature (°C)', + whalesbot_eagle_1001_lite_ss_attitude_angle: 'Attitude angle %1 (°)', + whalesbot_eagle_1001_lite_ss_flight_angular_velocity: 'Flight angular velocity %1 cm/s', + whalesbot_eagle_1001_lite_ss_flight_acceleration: 'Flight acceleration %1 (1g)', + whalesbot_eagle_1001_lite_ss_optical_flow: 'Optical flow %1 (cm)', + whalesbot_eagle_1001_lite_ss_get_infrared_distance: 'Infrared ranging sensor port %1 value', + whalesbot_eagle_1001_lite_ss_obstacle_infrared_detected_bool: 'Infrared port %1 obstacle detected', + whalesbot_eagle_1001_lite_ss_obstacle_infrared_detected_string: 'Infrared port %1 obstacle detected', + whalesbot_eagle_1001_lite_ss_human_infrared_value_bool: 'Human infrared sensor port %1 detects a person', + whalesbot_eagle_1001_lite_ss_human_infrared_value_string: 'Human infrared sensor port %1 detects a person', + whalesbot_eagle_1001_lite_ss_AI: 'Analog input port %1 value', + whalesbot_eagle_1001_lite_ss_get_ultrasonic_distance: 'Ultrasonic sensor port %1 detect distance cm', + whalesbot_eagle_1001_lite_ss_get_ambient_light: 'Ambient light port %1 value', + whalesbot_eagle_1001_lite_ss_get_temperature: 'Temperature sensor port %1 °C', + whalesbot_eagle_1001_lite_ss_get_humidity: 'Humidity sensor port %1 value %', + whalesbot_eagle_1001_lite_ss_get_flame: 'Flame sensor port %1 value', + whalesbot_eagle_1001_lite_ss_get_gesture: 'Gesture recognition port %1', + whalesbot_eagle_1001_lite_ss_get_tof: 'Laser ranging port %1', + whalesbot_eagle_1001_lite_ss_fly_setpoint_LASER_ENABLE: 'Laser height determination %1', + whalesbot_eagle_1001_lite_ss_get_bt_remote_control: 'Remote control button %1 value', + whalesbot_eagle_1001_lite_ss_seconds: 'current timer value', + whalesbot_eagle_1001_lite_ss_resettime: 'Reset timer', }, Device: { - whalesbot_drone_lite: 'whalesbot_drone_lite', + whalesbot_eagle_1001_lite_lite: 'whalesbot_eagle_1001_lite_lite', }, Menus: { - whalesbot_drone_lite: 'WhalesbotDroneLite', + whalesbot_eagle_1001_lite_lite: 'WhalesbotEagle1001Lite', }, Blocks: { - whalesbot_drone_toast_status_title: "Drone Status", - whalesbot_drone_toast_download_success: "Download code successed", - whalesbot_drone_toast_download_failed: "Download code failed", - whalesbot_drone_toast_clean_failed: "Clean code failed", - whalesbot_drone_toast_clean_success: "Clean code success", - whalesbot_drone_toast_unsupport_block_title: "Unsupport Block", - whalesbot_drone_toast_unsupport_block_msg: "There is some blocks is not supported by hardware" + light_speaker: { + electro_magnet: { absorption: 'Absorption', break_off: 'Break off' }, + }, + sensor: { + attitude_angle: { pitch: 'Pitch', roll: 'Roll', yaw: 'Yaw' }, + laser_height_determination: { on: 'On', off: 'Off' }, + remote_control_button: { key: 'Key', left_rocker_x: 'Left rocker X', left_rocker_y: 'Left rocker Y', right_rocker_x: 'Right rocker X', right_rocker_y: 'Right rocker Y' }, + }, + whalesbot_eagle_1001_lite_toast_status_title: "Drone Status", + whalesbot_eagle_1001_lite_toast_prepare_download: "Prepare Downloading...", + whalesbot_eagle_1001_lite_toast_downloading_code: "Downloading Code...", + whalesbot_eagle_1001_lite_toast_download_success: "Download Code Successed", + whalesbot_eagle_1001_lite_toast_download_failed: "Download code failed", + whalesbot_eagle_1001_lite_toast_clean_failed: "Clean code failed", + whalesbot_eagle_1001_lite_toast_clean_success: "Clean code success", + whalesbot_eagle_1001_lite_toast_unsupport_block_title: "Unsupport Block", + whalesbot_eagle_1001_lite_toast_unsupport_block_msg: "There is some blocks is not supported by hardware" } }, }; } - getBlocks() { + getBlocks() { + const blockColors = { + color: { + light_speaker: '#5b90ff', + sensor: '#8066f9' + }, + outerLine: { + light_speaker: '#2b6eff', + sensor: '#8a6bf0' + }, + } + + const notificationType = { + "SUCCESS": "success", + "UNSUPPORTED": "unsupported", + "ALERT": "alert", + } + let cFunctions = []; let _this = this; let sourceCode; @@ -1020,7 +1384,30 @@ import metadata from './metadata_whalesbot_drone_lite.json'; }; const wbVariables = { - "whalesbot_drone_get_setting_speed": "fly_state(SETSPEED)" + 'whalesbot_eagle_1001_lite_get_setting_speed': 'fly_state(SETSPEED)', + 'whalesbot_eagle_1001_lite_ss_fly_state_POS_Z': 'fly_state(POS_Z)', + 'whalesbot_eagle_1001_lite_ss_fly_state_LASER': 'fly_state(LASER)', + 'whalesbot_eagle_1001_lite_ss_battery_voltage': 'battery()', + 'whalesbot_eagle_1001_lite_ss_fly_state_STATE_TEMP': 'fly_state(STATE_TEMP)', + 'whalesbot_eagle_1001_lite_ss_attitude_angle': 'fly_state($VALUE)', + 'whalesbot_eagle_1001_lite_ss_flight_angular_velocity': 'fly_state($VALUE)', + 'whalesbot_eagle_1001_lite_ss_flight_acceleration': 'fly_state($VALUE)', + 'whalesbot_eagle_1001_lite_ss_optical_flow': 'fly_state($VALUE)', + 'whalesbot_eagle_1001_lite_ss_get_infrared_distance': 'get_infrared_distance($VALUE)', + 'whalesbot_eagle_1001_lite_ss_obstacle_infrared_detected_string': 'obstacle_infrared_detected($VALUE)', + 'whalesbot_eagle_1001_lite_ss_obstacle_infrared_detected_bool': 'obstacle_infrared_detected($VALUE)', + 'whalesbot_eagle_1001_lite_ss_human_infrared_value_string': 'human_infrared_value($VALUE)', + 'whalesbot_eagle_1001_lite_ss_human_infrared_value_bool': 'human_infrared_value($VALUE)', + 'whalesbot_eagle_1001_lite_ss_AI': 'AI($VALUE)', + 'whalesbot_eagle_1001_lite_ss_get_ultrasonic_distance': 'get_ultrasonic_distance($VALUE)', + 'whalesbot_eagle_1001_lite_ss_get_ambient_light': 'get_ambient_light($VALUE)', + 'whalesbot_eagle_1001_lite_ss_get_temperature': 'get_temperature($VALUE)', + 'whalesbot_eagle_1001_lite_ss_get_humidity': 'get_humidity($VALUE)', + 'whalesbot_eagle_1001_lite_ss_get_flame': 'get_flame($VALUE)', + 'whalesbot_eagle_1001_lite_ss_get_gesture': 'get_gesture($VALUE)', + 'whalesbot_eagle_1001_lite_ss_get_tof': 'get_tof($VALUE)', + 'whalesbot_eagle_1001_lite_ss_get_bt_remote_control': 'get_bt_remote_control($VALUE)', + 'whalesbot_eagle_1001_lite_ss_seconds': 'seconds()', } const startBlocks = [ @@ -1030,28 +1417,40 @@ import metadata from './metadata_whalesbot_drone_lite.json'; "mouse_click_cancled", "when_object_click", "when_object_click_canceled", + 'whalesbot_eagle_1001_lite_execute_script', + 'whalesbot_eagle_1001_lite_ls_debug_value', + 'whalesbot_eagle_1001_lite_ls_display_symbol', + 'whalesbot_eagle_1001_lite_ls_off_LED', + 'whalesbot_eagle_1001_lite_ls_display_digital_tube', + 'whalesbot_eagle_1001_lite_ls_display_digital_tube_score', + 'whalesbot_eagle_1001_lite_ls_off_digital_tube', + 'whalesbot_eagle_1001_lite_ls_set_RGB', + 'whalesbot_eagle_1001_lite_ls_fly_RGB', + 'whalesbot_eagle_1001_lite_ls_set_DO', + // 'whalesbot_eagle_1001_lite_ls_execute_script', ] let globlalCVariables = {} - function _getParameter (parameter) { + function _getParameter(parameter) { let param = parameter.params[0] != "" ? parameter.params[0] : "0" if (parameter.type != "text" && parameter.type != "number" && parameter.type != "get_variable") { - param = wbVariables[parameter.type] + let raw_param = wbVariables[parameter.type] + param = raw_param.includes("$VALUE") ? raw_param.replace("$VALUE", parameter.params[0]) : raw_param; } else if (parameter.type == "get_variable") { param = globlalCVariables[parameter.params[0]] } return param } - function _generateConditions (params) { + function _generateConditions(params) { let left = _getParameter(params[0]) let operator = params[1] != undefined ? wbOperators[params[1]] : "0" let right = _getParameter(params[2]) return { left, operator, right } } - function generateCCode (block) { + function generateCCode(block) { switch (block.type) { // LOOP case 'repeat_basic': @@ -1066,7 +1465,8 @@ import metadata from './metadata_whalesbot_drone_lite.json'; "type": block.params[0].type, "params": block.params[0].params, }; - return `\twhile(!(${generateCCode(rpWhileDecision)})) {\n${block.statements[0].map(generateCCode).join('')}\t}\n`; + let rpWhileMark = block.params[1] == 'until' ? '!' : ''; + return `\twhile(${rpWhileMark}(${generateCCode(rpWhileDecision)})) {\n${block.statements[0].map(generateCCode).join('')}\t}\n`; case 'wait_second': let second = _getParameter(block.params[0]); @@ -1120,7 +1520,7 @@ import metadata from './metadata_whalesbot_drone_lite.json'; // VARIABLE case 'True': - return "0"; + return "1"; case 'False': return "0"; @@ -1136,78 +1536,75 @@ import metadata from './metadata_whalesbot_drone_lite.json'; return `\t${changedVariableName} += ${changedVariableValue};\n`; // HARDWARE - case 'whalesbot_drone_entering_pitch_mode': - return '\tfly_unlock();\n'; + case 'whalesbot_eagle_1001_lite_entering_pitch_mode': + return '\tfly_unlock();\n'; - case 'whalesbot_drone_exit_pitch_mode': + case 'whalesbot_eagle_1001_lite_exit_pitch_mode': return '\tfly_lock();\n'; - case 'whalesbot_drone_automatic_take_off_height': + case 'whalesbot_eagle_1001_lite_automatic_take_off_height': let takeOffHeight = _getParameter(block.params[0]); return `\tfly_start(${takeOffHeight});\n`; - case 'whalesbot_drone_automatic_take_off_altitude_speed_offset': + case 'whalesbot_eagle_1001_lite_automatic_take_off_altitude_speed_offset': let takeOffAltitude = _getParameter(block.params[0]) != "" ? _getParameter(block.params[0]) : defaultAltitude; let takeOffSpeed = _getParameter(block.params[1]) != "" ? _getParameter(block.params[1]) : defaultSpeed; let takeOffXoffset = (-10.00 <= _getParameter(block.params[2]) || _getParameter(block.params[2]) <= 10.00) ? _getParameter(block.params[2]) : defaultOffset; let takeOffYoffset = (-10.00 <= _getParameter(block.params[3]) || _getParameter(block.params[3]) <= 10.00) ? _getParameter(block.params[3]) : defaultOffset; return `\tfly_start_2(${takeOffAltitude},${takeOffSpeed},${takeOffXoffset},${takeOffYoffset});\n` - case 'whalesbot_drone_automatic_landing': + case 'whalesbot_eagle_1001_lite_automatic_landing': return `\tfly_land();\n`; - case 'whalesbot_drone_automatic_descent_speed_offset': + case 'whalesbot_eagle_1001_lite_automatic_descent_speed_offset': let automaticSpeed = _getParameter(block.params[0]) != "" ? _getParameter(block.params[0]) : defaultSpeed; let automaticXoffset = (-10.00 <= _getParameter(block.params[1]) || _getParameter(block.params[1]) <= 10.00) ? _getParameter(block.params[1]) : defaultOffset; let automaticYoffset = (-10.00 <= _getParameter(block.params[2]) || _getParameter(block.params[2]) <= 10.00) ? _getParameter(block.params[2]) : defaultOffset; return `\tfly_land_2(${automaticSpeed},${automaticXoffset},${automaticYoffset});\n` - case 'whalesbot_drone_set_the_flight_speed': + case 'whalesbot_eagle_1001_lite_set_the_flight_speed': let speed = _getParameter(block.params[0]); return `\tfly_setspeed(${speed});\n`; - case 'whalesbot_drone_get_setting_speed': - return `\tfly_state(SETSPEED);\n`; - - case 'whalesbot_drone_rise': + case 'whalesbot_eagle_1001_lite_rise': let up = _getParameter(block.params[0]); return `\tfly_moveto(UP,${up});\n`; - case 'whalesbot_drone_down': + case 'whalesbot_eagle_1001_lite_down': let down = _getParameter(block.params[0]); return `\tfly_moveto(DOWN,${down});\n`; - case 'whalesbot_drone_fly_forward': + case 'whalesbot_eagle_1001_lite_fly_forward': let front = _getParameter(block.params[0]); return `\tfly_moveto(FRONT,${front});\n`; - case 'whalesbot_drone_fly_backward': + case 'whalesbot_eagle_1001_lite_fly_backward': let back = _getParameter(block.params[0]); return `\tfly_moveto(BACK,${back});\n`; - case 'whalesbot_drone_fly_left': + case 'whalesbot_eagle_1001_lite_fly_left': let left = _getParameter(block.params[0]); return `\tfly_moveto(LEFT,${left});\n`; - case 'whalesbot_drone_fly_right': + case 'whalesbot_eagle_1001_lite_fly_right': let right = _getParameter(block.params[0]); return `\tfly_moveto(RIGHT,${right});\n`; - case 'whalesbot_drone_turn_left': + case 'whalesbot_eagle_1001_lite_turn_left': let turnLeft = _getParameter(block.params[0]); if (0 > turnLeft || turnLeft > 360) { turnLeft = 360 } return `\tfly_turn(CCW,${turnLeft});\n`; - case 'whalesbot_drone_turn_right': + case 'whalesbot_eagle_1001_lite_turn_right': let turnRight = _getParameter(block.params[0]); if (0 > turnRight || turnRight > 360) { turnRight = 360 } return `\tfly_turn(CW,${turnRight});\n`; - case 'whalesbot_drone_fly_in_the_specified_direction': + case 'whalesbot_eagle_1001_lite_fly_in_the_specified_direction': let dirSpeed = _getParameter(block.params[0]); let dirDirection = _getParameter(block.params[1]); if (0 > dirDirection || dirDirection > 360) { @@ -1215,32 +1612,32 @@ import metadata from './metadata_whalesbot_drone_lite.json'; } return `\tfly_dir(${dirSpeed},${dirDirection});\n`; - case 'whalesbot_drone_flight_designated': + case 'whalesbot_eagle_1001_lite_flight_designated': let disX = _getParameter(block.params[0]); let disY = _getParameter(block.params[1]); let disZ = _getParameter(block.params[2]); let disSpeed = _getParameter(block.params[3]); return `\tfly_move_dis(${disX},${disY},${disZ},${disSpeed});\n`; - case 'whalesbot_drone_set_the_four_channel_lever_quantity_of_remote_control': + case 'whalesbot_eagle_1001_lite_set_the_four_channel_lever_quantity_of_remote_control': let pitch = _getParameter(block.params[0]); let roll = _getParameter(block.params[1]); let throttle = _getParameter(block.params[2]); let yaw = _getParameter(block.params[3]); return `\tfly_move(${pitch},${roll},${throttle},${yaw});\n`; - case 'whalesbot_drone_stop_moving_and_hover': + case 'whalesbot_eagle_1001_lite_stop_moving_and_hover': return `\tfly_hover();\n`; - - case 'whalesbot_drone_hover_at_specified_altitude': + + case 'whalesbot_eagle_1001_lite_hover_at_specified_altitude': let hoverSpecifiedAltitude = (_getParameter(block.params[0]) == "" || _getParameter(block.params[0]) < 20) ? "20" : _getParameter(block.params[0]); hoverSpecifiedAltitude = (_getParameter(block.params[0]) > 200) ? "200" : _getParameter(block.params[0]); return `\tfly_hover_laser(${hoverSpecifiedAltitude});\n`; - case 'whalesbot_drone_emergency_stop': + case 'whalesbot_eagle_1001_lite_emergency_stop': return `\tfly_lock();\n`; - case 'whalesbot_drone_set_the_steering_gear': + case 'whalesbot_eagle_1001_lite_set_the_steering_gear': let servoSpeed = _getParameter(block.params[1]); let servoAngle = _getParameter(block.params[2]); if (0 > servoAngle || servoAngle > 360) { @@ -1248,6 +1645,67 @@ import metadata from './metadata_whalesbot_drone_lite.json'; } return `\tSetServo(P2,${servoSpeed},${servoAngle});\n`; + // light & speaker blocks + case 'whalesbot_eagle_1001_lite_ls_debug_value': + let lsDebugValue1 = _getParameter(block.params[0]); + let lsDebugValue2 = _getParameter(block.params[1]); + return `\tDebugValue(${lsDebugValue1}, ${lsDebugValue2});\n`; + + case 'whalesbot_eagle_1001_lite_ls_display_symbol': + let lsDisplaySymbol = block.params[0]; + let lsDisplaySymbolPort = block.params[1]; + return `\tdisplay_symbol(${lsDisplaySymbolPort}, ${lsDisplaySymbol});\n`; + + case 'whalesbot_eagle_1001_lite_ls_off_LED': + let lsOffLedPort = block.params[0]; + return `\toff_LED(${lsOffLedPort});\n`; + + case 'whalesbot_eagle_1001_lite_ls_display_digital_tube': + let lsDisplayDigitalTubePort = block.params[0]; + let lsDisplayDigitalTubeValue = _getParameter(block.params[1]); + return `\tdisplay_digital_tube(${lsDisplayDigitalTubePort}, ${lsDisplayDigitalTubeValue});\n`; + + case 'whalesbot_eagle_1001_lite_ls_display_digital_tube_score': + let lsDisplayDigitalTubeScorePort = block.params[0]; + let lsDisplayDigitalTubeScoreValue1 = _getParameter(block.params[1]); + let lsDisplayDigitalTubeScoreValue2 = _getParameter(block.params[2]); + return `\tdisplay_digital_tube_score(${lsDisplayDigitalTubeScorePort}, ${lsDisplayDigitalTubeScoreValue1}, ${lsDisplayDigitalTubeScoreValue2});\n`; + + case 'whalesbot_eagle_1001_lite_ls_off_digital_tube': + let lsOffDigitalTubePort = block.params[0]; + return `\toff_digital_tube(${lsOffDigitalTubePort});\n`; + + case 'whalesbot_eagle_1001_lite_ls_set_RGB': + let lsSetRGBPort = block.params[0]; + let lsSetRGBR = _getParameter(block.params[1]); + let lsSetRGBG = _getParameter(block.params[2]); + let lsSetRGBB = _getParameter(block.params[3]); + return `\tset_RGB(${lsSetRGBPort}, ${lsSetRGBR}, ${lsSetRGBG}, ${lsSetRGBB});\n`; + + case 'whalesbot_eagle_1001_lite_ls_fly_RGB': + let lsFlyRGB = block.params[0]; + // let lsFlyRGBR = _getParameter(block.params[1]); + // let lsFlyRGBG = _getParameter(block.params[2]); + // let lsFlyRGBB = _getParameter(block.params[3]); + return `\tfly_RGB(${lsFlyRGB});\n`; + + case 'whalesbot_eagle_1001_lite_ls_set_DO': + let lsSetDOPort = block.params[0]; + let lsSetDOValue = block.params[1]; + return `\tSetDO(${lsSetDOPort}, ${lsSetDOValue});\n`; + + // sensors + case 'whalesbot_eagle_1001_lite_ss_fly_setpoint_LASER_ENABLE': + let ssFlySetpointToggle = block.params[0]; + return `\tfly_setpoint(LASER_ENABLE, ${ssFlySetpointToggle});\n`; + + case 'whalesbot_eagle_1001_lite_ss_resettime': + return `\tresettime();\n`; + + case 'whalesbot_eagle_1001_lite_ss_obstacle_infrared_detected_bool': + let ssBbstacleInfraredDetectedBool = block.params[0]; + return `obstacle_infrared_detected(${ssBbstacleInfraredDetectedBool})`; + default: if (!startBlocks.includes(block.type)) { _this.unsupportBlockExist = true; @@ -1256,7 +1714,7 @@ import metadata from './metadata_whalesbot_drone_lite.json'; } } - function setUpCVariables (variable) { + function setUpCVariables(variable) { if (variable.visible) { const varName = `var_${variable.name}` globlalCVariables[variable.id] = varName @@ -1266,16 +1724,32 @@ import metadata from './metadata_whalesbot_drone_lite.json'; return "" } - function openedSimulatorPopup () { + function openedSimulatorPopup() { if (_this.simulatorPopup == null) { return false; } return !_this.simulatorPopup.closed; } + function notify(type, msg) { + switch (type) { + case notificationType["SUCCESS"]: + Entry.toast.success( + Lang.Blocks.whalesbot_mc_102_toast_success_title, + msg + ); + break; + default: + Entry.toast.alert( + Lang.Blocks.whalesbot_mc_102_toast_alert_title, + msg + ); + } + } + return { - whalesbot_drone_openning_3d_simulator: { - color: EntryStatic.colorSet.block.default.HARDWARE, + whalesbot_eagle_1001_lite_openning_3d_simulator: { + color: EntryStatic.colorSet.block.default.HARDWARE, outerLine: EntryStatic.colorSet.block.darken.HARDWARE, fontColor: '#fff', skeleton: 'basic_without_next', @@ -1289,14 +1763,14 @@ import metadata from './metadata_whalesbot_drone_lite.json'; ], events: {}, def: { - type: 'whalesbot_drone_openning_3d_simulator', + type: 'whalesbot_eagle_1001_lite_openning_3d_simulator', }, paramsKeyMap: { VALUE: 0, }, - class: 'arduino_value', + class: 'whalesbot_eagle_1001_lite_lite', isNotFor: ['WhalesbotDroneLite'], - func (sprite, script) { + func(sprite, script) { const width = window.innerWidth * 0.8; const height = window.innerHeight * 0.8; _this.simulatorPopup = window.open( @@ -1305,10 +1779,10 @@ import metadata from './metadata_whalesbot_drone_lite.json'; `width=${width},height=${height}` ); }, - syntax: { js: [], py: ['Entry.whalesbot_drone_openning_3d_simulator()'] }, + syntax: { js: [], py: ['Entry.whalesbot_eagle_1001_lite_openning_3d_simulator()'] }, }, - whalesbot_drone_restart: { - color: EntryStatic.colorSet.block.default.HARDWARE, + whalesbot_eagle_1001_lite_restart: { + color: EntryStatic.colorSet.block.default.HARDWARE, outerLine: EntryStatic.colorSet.block.darken.HARDWARE, fontColor: '#fff', skeleton: 'basic_without_next', @@ -1327,20 +1801,20 @@ import metadata from './metadata_whalesbot_drone_lite.json'; ], events: {}, def: { - type: 'whalesbot_drone_restart', + type: 'whalesbot_eagle_1001_lite_restart', }, paramsKeyMap: { VALUE: 0, }, - class: 'arduino_value', + class: 'whalesbot_eagle_1001_lite_lite', isNotFor: ['WhalesbotDroneLite'], - async func (sprite, script) { + async func(sprite, script) { await _this.sendPacket(_this.getStateCode); }, - syntax: { js: [], py: ['Entry.whalesbot_drone_restart()'] }, + syntax: { js: [], py: ['Entry.whalesbot_eagle_1001_lite_restart()'] }, }, - whalesbot_drone_clean: { - color: EntryStatic.colorSet.block.default.HARDWARE, + whalesbot_eagle_1001_lite_clean: { + color: EntryStatic.colorSet.block.default.HARDWARE, outerLine: EntryStatic.colorSet.block.darken.HARDWARE, fontColor: '#fff', skeleton: 'basic_without_next', @@ -1359,23 +1833,23 @@ import metadata from './metadata_whalesbot_drone_lite.json'; ], events: {}, def: { - type: 'whalesbot_drone_clean', + type: 'whalesbot_eagle_1001_lite_clean', }, paramsKeyMap: { VALUE: 0, }, - class: 'arduino_value', + class: 'whalesbot_eagle_1001_lite_lite', isNotFor: ['WhalesbotDroneLite'], - async func (sprite, script) { + async func(sprite, script) { await _this.sendPacket(_this.stopCode); await _this.sendPacket(_this.stopCode); - Entry.toast.success(Lang.Blocks.whalesbot_drone_toast_status_title, - Lang.Blocks.whalesbot_drone_toast_clean_success); + Entry.toast.success(Lang.Blocks.whalesbot_eagle_1001_lite_toast_status_title, + Lang.Blocks.whalesbot_eagle_1001_lite_toast_clean_success); }, - syntax: { js: [], py: ['Entry.whalesbot_drone_clean()'] }, + syntax: { js: [], py: ['Entry.whalesbot_eagle_1001_lite_clean()'] }, }, - whalesbot_drone_entering_pitch_mode: { - color: EntryStatic.colorSet.block.default.HARDWARE, + whalesbot_eagle_1001_lite_get_status: { + color: EntryStatic.colorSet.block.default.HARDWARE, outerLine: EntryStatic.colorSet.block.darken.HARDWARE, fontColor: '#fff', skeleton: 'basic', @@ -1386,23 +1860,54 @@ import metadata from './metadata_whalesbot_drone_lite.json'; accept: 'string', defaultType: 'number', }, + { + type: 'Indicator', + img: 'block_icon/moving_icon.svg', + size: 11, + }, ], events: {}, def: { - type: 'whalesbot_drone_entering_pitch_mode', + type: 'whalesbot_eagle_1001_lite_get_status', }, - paramsKeyMap: {}, - class: 'arduino_value', + paramsKeyMap: { + VALUE: 0, + }, + class: 'whalesbot_eagle_1001_lite_lite', isNotFor: ['WhalesbotDroneLite'], - async func (sprite, script) { - console.log("whalesbot_drone_entering_pitch_mode") - await _this.sendPacket(_this.getStateCode); + async func(sprite, script) { + await _this.handleGetStatus(); + }, + syntax: { js: [], py: ['Entry.whalesbot_eagle_1001_lite_get_status()'] }, + }, + whalesbot_eagle_1001_lite_entering_pitch_mode: { + color: EntryStatic.colorSet.block.default.HARDWARE, + outerLine: EntryStatic.colorSet.block.darken.HARDWARE, + fontColor: '#fff', + skeleton: 'basic', + statements: [], + params: [ + { + type: 'Block', + accept: 'string', + defaultType: 'number', + }, + ], + events: {}, + def: { + type: 'whalesbot_eagle_1001_lite_entering_pitch_mode', + }, + paramsKeyMap: {}, + class: 'whalesbot_eagle_1001_lite_lite', + isNotFor: ['WhalesbotDroneLite'], + async func(sprite, script) { + await _this.sendPacket(_this.getStateCode); await _this.sendPacket(_this.getStateCode); cFunctions.push(`fly_unlock();`); }, - syntax: { js: [], py: ['Entry.whalesbot_drone_entering_pitch_mode()'] }, + syntax: { js: [], py: ['Entry.whalesbot_eagle_1001_lite_entering_pitch_mode()'] }, }, - whalesbot_drone_exit_pitch_mode: { + whalesbot_eagle_1001_lite_exit_pitch_mode: { color: EntryStatic.colorSet.block.default.HARDWARE, outerLine: EntryStatic.colorSet.block.darken.HARDWARE, fontColor: '#fff', @@ -1417,12 +1922,12 @@ import metadata from './metadata_whalesbot_drone_lite.json'; ], events: {}, def: { - type: 'whalesbot_drone_exit_pitch_mode', + type: 'whalesbot_eagle_1001_lite_exit_pitch_mode', }, paramsKeyMap: { VALUE: 0, }, - class: 'arduino_value', + class: 'whalesbot_eagle_1001_lite_lite', isNotFor: ['WhalesbotDroneLite'], async func(sprite, script) { const project = _this.exportProject(); @@ -1436,8 +1941,8 @@ import metadata from './metadata_whalesbot_drone_lite.json'; if (_this.unsupportBlockExist) { Entry.toast.alert( - Lang.Blocks.whalesbot_drone_toast_unsupport_block_title, - Lang.Blocks.whalesbot_drone_toast_unsupport_block_msg + Lang.Blocks.whalesbot_eagle_1001_lite_toast_unsupport_block_title, + Lang.Blocks.whalesbot_eagle_1001_lite_toast_unsupport_block_msg ) _this.unsupportBlockExist = false; Entry.engine.toggleStop(); @@ -1445,51 +1950,27 @@ import metadata from './metadata_whalesbot_drone_lite.json'; } console.log(sourceCode) - if (openedSimulatorPopup()) { - Entry.toast.success( - Lang.Blocks.whalesbot_drone_toast_status_title, - Lang.Blocks.whalesbot_drone_toast_download_success - ); - return; - } - - let i = 0; - _this.setDownloadStatus(false); - _this.isGetFlyState = false; - - // get fly state - // await _this.sendPacket(_this.getStateCode); - // await _this.sendPacket(_this.getStateCode); - // Entry.hwLite.serial.flush(); - // download - _this.connectDrone(); - // send first chunk - if(_this.isDroneConnection == true){ - console.log("Send chunk 0"); - let byteCode = _this.generateBytesCode(_this.cmdType.Download, sourceCode, 0); - await _this.sendPacket(byteCode, false); - i++; - - while(true) - { - console.log("Send chunk ", i); - byteCode = _this.generateBytesCode(_this.cmdType.Download, sourceCode, i); - await _this.sendPacket(byteCode, false); - if(_this.isLatestChunk(byteCode)) - { - console.log("Latest chunk sent!"); - this.revdata = []; - Entry.toast.success(Lang.Blocks.whalesbot_drone_toast_status_title, - Lang.Blocks.whalesbot_drone_toast_download_success); - break; - } - i++; - } - } + Entry.toast.success( + Lang.Blocks.whalesbot_eagle_1001_lite_toast_status_title, + Lang.Blocks.whalesbot_eagle_1001_lite_toast_prepare_download + ); + await _this.handleClean(); + await _this.sleep(3000); + Entry.toast.success( + Lang.Blocks.whalesbot_eagle_1001_lite_toast_status_title, + Lang.Blocks.whalesbot_eagle_1001_lite_toast_downloading_code + ); + await _this.downloadCode(sourceCode); + await _this.sleep(4000); + Entry.toast.success( + Lang.Blocks.whalesbot_eagle_1001_lite_toast_status_title, + Lang.Blocks.whalesbot_eagle_1001_lite_toast_download_success + ); + await _this.handleRun(); }, - syntax: { js: [], py: ['Entry.whalesbot_drone_exit_pitch_mode()'] }, + syntax: { js: [], py: ['Entry.whalesbot_eagle_1001_lite_exit_pitch_mode()'] }, }, - whalesbot_drone_automatic_take_off_height: { + whalesbot_eagle_1001_lite_automatic_take_off_height: { color: EntryStatic.colorSet.block.default.HARDWARE, outerLine: EntryStatic.colorSet.block.darken.HARDWARE, fontColor: '#fff', @@ -1507,24 +1988,23 @@ import metadata from './metadata_whalesbot_drone_lite.json'; params: [ { type: 'number', - params: ['50'], + params: ['100'], }, null, ], - type: 'whalesbot_drone_automatic_take_off_height', + type: 'whalesbot_eagle_1001_lite_automatic_take_off_height', }, paramsKeyMap: { VALUE: 0, }, - class: 'arduino_value', + class: 'whalesbot_eagle_1001_lite_lite', isNotFor: ['WhalesbotDroneLite'], func(sprite, script) { - console.log("whalesbot_drone_automatic_take_off_height") cFunctions.push(`fly_start(${script.getValue('VALUE')})`); }, - syntax: { js: [], py: ['Entry.whalesbot_drone_automatic_take_off_height();'] }, + syntax: { js: [], py: ['Entry.whalesbot_eagle_1001_lite_automatic_take_off_height();'] }, }, - whalesbot_drone_automatic_take_off_altitude_speed_offset: { + whalesbot_eagle_1001_lite_automatic_take_off_altitude_speed_offset: { color: EntryStatic.colorSet.block.default.HARDWARE, outerLine: EntryStatic.colorSet.block.darken.HARDWARE, fontColor: '#fff', @@ -1557,7 +2037,7 @@ import metadata from './metadata_whalesbot_drone_lite.json'; params: [ { type: 'number', - params: ['50'], + params: ['100'], }, { type: 'number', @@ -1572,7 +2052,7 @@ import metadata from './metadata_whalesbot_drone_lite.json'; params: ['0'], }, ], - type: 'whalesbot_drone_automatic_take_off_altitude_speed_offset', + type: 'whalesbot_eagle_1001_lite_automatic_take_off_altitude_speed_offset', }, paramsKeyMap: { altitude: 0, @@ -1580,15 +2060,14 @@ import metadata from './metadata_whalesbot_drone_lite.json'; x: 2, y: 3, }, - class: 'arduino_value', + class: 'whalesbot_eagle_1001_lite_lite', isNotFor: ['WhalesbotDroneLite'], func(sprite, script) { - console.log("whalesbot_drone_automatic_take_off_altitude_speed_offset") cFunctions.push(`fly_start(${script.getValue('VALUE')})`); }, - syntax: { js: [], py: ['Entry.whalesbot_drone_automatic_take_off_altitude_speed_offset();'] }, + syntax: { js: [], py: ['Entry.whalesbot_eagle_1001_lite_automatic_take_off_altitude_speed_offset();'] }, }, - whalesbot_drone_automatic_landing: { + whalesbot_eagle_1001_lite_automatic_landing: { color: EntryStatic.colorSet.block.default.HARDWARE, outerLine: EntryStatic.colorSet.block.darken.HARDWARE, fontColor: '#fff', @@ -1603,20 +2082,19 @@ import metadata from './metadata_whalesbot_drone_lite.json'; ], events: {}, def: { - type: 'whalesbot_drone_automatic_landing', + type: 'whalesbot_eagle_1001_lite_automatic_landing', }, paramsKeyMap: { VALUE: 0, }, - class: 'arduino_value', + class: 'whalesbot_eagle_1001_lite_lite', isNotFor: ['WhalesbotDroneLite'], async func(sprite, script) { - console.log("whalesbot_drone_automatic_landing") cFunctions.push(`fly_land();`); }, - syntax: { js: [], py: ['Entry.whalesbot_drone_automatic_landing()'] }, + syntax: { js: [], py: ['Entry.whalesbot_eagle_1001_lite_automatic_landing()'] }, }, - whalesbot_drone_automatic_descent_speed_offset: { + whalesbot_eagle_1001_lite_automatic_descent_speed_offset: { color: EntryStatic.colorSet.block.default.HARDWARE, outerLine: EntryStatic.colorSet.block.darken.HARDWARE, fontColor: '#fff', @@ -1641,22 +2119,35 @@ import metadata from './metadata_whalesbot_drone_lite.json'; ], events: {}, def: { - type: 'whalesbot_drone_automatic_descent_speed_offset', + params: [ + { + type: 'number', + params: ['50'], + }, + { + type: 'number', + params: ['0'], + }, + { + type: 'number', + params: ['0'], + }, + ], + type: 'whalesbot_eagle_1001_lite_automatic_descent_speed_offset', }, paramsKeyMap: { speed: 0, x: 1, y: 2, }, - class: 'arduino_value', + class: 'whalesbot_eagle_1001_lite_lite', isNotFor: ['WhalesbotDroneLite'], async func(sprite, script) { - console.log("whalesbot_drone_automatic_descent_speed_offset") cFunctions.push(`fly_land_2();`); }, - syntax: { js: [], py: ['Entry.whalesbot_drone_automatic_descent_speed_offset()'] }, + syntax: { js: [], py: ['Entry.whalesbot_eagle_1001_lite_automatic_descent_speed_offset()'] }, }, - whalesbot_drone_set_the_flight_speed: { + whalesbot_eagle_1001_lite_set_the_flight_speed: { color: EntryStatic.colorSet.block.default.HARDWARE, outerLine: EntryStatic.colorSet.block.darken.HARDWARE, fontColor: '#fff', @@ -1677,21 +2168,20 @@ import metadata from './metadata_whalesbot_drone_lite.json'; params: ['50'], }, ], - type: 'whalesbot_drone_set_the_flight_speed', + type: 'whalesbot_eagle_1001_lite_set_the_flight_speed', }, paramsKeyMap: { SPEED: 0, }, - class: 'arduino_value', + class: 'whalesbot_eagle_1001_lite_lite', isNotFor: ['WhalesbotDroneLite'], async func(sprite, script) { const speed = script.getValue('SPEED'); - console.log("whalesbot_drone_set_the_flight_speed") cFunctions.push(`fly_setspeed(${speed});`); }, - syntax: { js: [], py: ['Entry.whalesbot_drone_set_the_flight_speed()'] }, + syntax: { js: [], py: ['Entry.whalesbot_eagle_1001_lite_set_the_flight_speed()'] }, }, - whalesbot_drone_get_setting_speed: { + whalesbot_eagle_1001_lite_get_setting_speed: { color: EntryStatic.colorSet.block.default.HARDWARE, outerLine: EntryStatic.colorSet.block.darken.HARDWARE, fontColor: '#fff', @@ -1700,18 +2190,17 @@ import metadata from './metadata_whalesbot_drone_lite.json'; params: [], events: {}, def: { - type: 'whalesbot_drone_get_setting_speed', + type: 'whalesbot_eagle_1001_lite_get_setting_speed', }, paramsKeyMap: {}, - class: 'arduino_value', + class: 'whalesbot_eagle_1001_lite_lite', isNotFor: ['WhalesbotDroneLite'], async func(sprite, script) { - console.log("whalesbot_drone_get_setting_speed"); cFunctions.push(`fly_state(SETSPEED);`); }, - syntax: { js: [], py: ['Entry.whalesbot_drone_get_setting_speed()'] }, + syntax: { js: [], py: ['Entry.whalesbot_eagle_1001_lite_get_setting_speed()'] }, }, - whalesbot_drone_rise: { + whalesbot_eagle_1001_lite_rise: { color: EntryStatic.colorSet.block.default.HARDWARE, outerLine: EntryStatic.colorSet.block.darken.HARDWARE, fontColor: '#fff', @@ -1733,21 +2222,20 @@ import metadata from './metadata_whalesbot_drone_lite.json'; }, null, ], - type: 'whalesbot_drone_rise', + type: 'whalesbot_eagle_1001_lite_rise', }, paramsKeyMap: { value: 0, }, - class: 'arduino_value', + class: 'whalesbot_eagle_1001_lite_lite', isNotFor: ['WhalesbotDroneLite'], func(sprite, script) { - console.log("whalesbot_drone_rise"); const value = script.getValue('value'); cFunctions.push(`fly_moveto(UP,${value})`); }, - syntax: { js: [], py: ['Entry.whalesbot_drone_rise();'] }, + syntax: { js: [], py: ['Entry.whalesbot_eagle_1001_lite_rise();'] }, }, - whalesbot_drone_down: { + whalesbot_eagle_1001_lite_down: { color: EntryStatic.colorSet.block.default.HARDWARE, outerLine: EntryStatic.colorSet.block.darken.HARDWARE, fontColor: '#fff', @@ -1769,21 +2257,20 @@ import metadata from './metadata_whalesbot_drone_lite.json'; }, null, ], - type: 'whalesbot_drone_down', + type: 'whalesbot_eagle_1001_lite_down', }, paramsKeyMap: { value: 0, }, - class: 'arduino_value', + class: 'whalesbot_eagle_1001_lite_lite', isNotFor: ['WhalesbotDroneLite'], func(sprite, script) { - console.log("whalesbot_drone_down"); const value = script.getValue('value'); cFunctions.push(`fly_moveto(DOWN,${value})`); }, - syntax: { js: [], py: ['Entry.whalesbot_drone_down();'] }, + syntax: { js: [], py: ['Entry.whalesbot_eagle_1001_lite_down();'] }, }, - whalesbot_drone_fly_forward: { + whalesbot_eagle_1001_lite_fly_forward: { color: EntryStatic.colorSet.block.default.HARDWARE, outerLine: EntryStatic.colorSet.block.darken.HARDWARE, fontColor: '#fff', @@ -1805,21 +2292,20 @@ import metadata from './metadata_whalesbot_drone_lite.json'; }, null, ], - type: 'whalesbot_drone_fly_forward', + type: 'whalesbot_eagle_1001_lite_fly_forward', }, paramsKeyMap: { value: 0, }, - class: 'arduino_value', + class: 'whalesbot_eagle_1001_lite_lite', isNotFor: ['WhalesbotDroneLite'], func(sprite, script) { - console.log("whalesbot_drone_fly_forward"); const value = script.getValue('value'); cFunctions.push(`fly_moveto(FRONT,${value})`); }, - syntax: { js: [], py: ['Entry.whalesbot_drone_fly_forward();'] }, + syntax: { js: [], py: ['Entry.whalesbot_eagle_1001_lite_fly_forward();'] }, }, - whalesbot_drone_fly_backward: { + whalesbot_eagle_1001_lite_fly_backward: { color: EntryStatic.colorSet.block.default.HARDWARE, outerLine: EntryStatic.colorSet.block.darken.HARDWARE, fontColor: '#fff', @@ -1841,21 +2327,20 @@ import metadata from './metadata_whalesbot_drone_lite.json'; }, null, ], - type: 'whalesbot_drone_fly_backward', + type: 'whalesbot_eagle_1001_lite_fly_backward', }, paramsKeyMap: { value: 0, }, - class: 'arduino_value', + class: 'whalesbot_eagle_1001_lite_lite', isNotFor: ['WhalesbotDroneLite'], func(sprite, script) { - console.log("whalesbot_drone_fly_backward"); const value = script.getValue('value'); cFunctions.push(`fly_moveto(BACK,${value})`); }, - syntax: { js: [], py: ['Entry.whalesbot_drone_fly_backward();'] }, + syntax: { js: [], py: ['Entry.whalesbot_eagle_1001_lite_fly_backward();'] }, }, - whalesbot_drone_fly_left: { + whalesbot_eagle_1001_lite_fly_left: { color: EntryStatic.colorSet.block.default.HARDWARE, outerLine: EntryStatic.colorSet.block.darken.HARDWARE, fontColor: '#fff', @@ -1877,21 +2362,20 @@ import metadata from './metadata_whalesbot_drone_lite.json'; }, null, ], - type: 'whalesbot_drone_fly_left', + type: 'whalesbot_eagle_1001_lite_fly_left', }, paramsKeyMap: { value: 0, }, - class: 'arduino_value', + class: 'whalesbot_eagle_1001_lite_lite', isNotFor: ['WhalesbotDroneLite'], func(sprite, script) { - console.log("whalesbot_drone_fly_left"); const value = script.getValue('value'); cFunctions.push(`fly_moveto(LEFT,${value});`); }, - syntax: { js: [], py: ['Entry.whalesbot_drone_fly_left();'] }, + syntax: { js: [], py: ['Entry.whalesbot_eagle_1001_lite_fly_left();'] }, }, - whalesbot_drone_fly_right: { + whalesbot_eagle_1001_lite_fly_right: { color: EntryStatic.colorSet.block.default.HARDWARE, outerLine: EntryStatic.colorSet.block.darken.HARDWARE, fontColor: '#fff', @@ -1913,21 +2397,20 @@ import metadata from './metadata_whalesbot_drone_lite.json'; }, null, ], - type: 'whalesbot_drone_fly_right', + type: 'whalesbot_eagle_1001_lite_fly_right', }, paramsKeyMap: { value: 0, }, - class: 'arduino_value', + class: 'whalesbot_eagle_1001_lite_lite', isNotFor: ['WhalesbotDroneLite'], func(sprite, script) { - console.log("whalesbot_drone_fly_right"); const value = script.getValue('value'); cFunctions.push(`fly_moveto(RIGHT,${value});`); }, - syntax: { js: [], py: ['Entry.whalesbot_drone_fly_right();'] }, + syntax: { js: [], py: ['Entry.whalesbot_eagle_1001_lite_fly_right();'] }, }, - whalesbot_drone_turn_left: { + whalesbot_eagle_1001_lite_turn_left: { color: EntryStatic.colorSet.block.default.HARDWARE, outerLine: EntryStatic.colorSet.block.darken.HARDWARE, fontColor: '#fff', @@ -1948,24 +2431,23 @@ import metadata from './metadata_whalesbot_drone_lite.json'; params: ['90'], }, ], - type: 'whalesbot_drone_turn_left', + type: 'whalesbot_eagle_1001_lite_turn_left', }, paramsKeyMap: { value: 0, }, - class: 'arduino_value', + class: 'whalesbot_eagle_1001_lite_lite', isNotFor: ['WhalesbotDroneLite'], func(sprite, script) { - console.log("whalesbot_drone_turn_left"); const value = script.getValue('value'); if (value < 0 && value > 360) { value = 360 } cFunctions.push(`fly_turn(CCW,${value});`); }, - syntax: { js: [], py: ['Entry.whalesbot_drone_turn_left();'] }, + syntax: { js: [], py: ['Entry.whalesbot_eagle_1001_lite_turn_left();'] }, }, - whalesbot_drone_turn_right: { + whalesbot_eagle_1001_lite_turn_right: { color: EntryStatic.colorSet.block.default.HARDWARE, outerLine: EntryStatic.colorSet.block.darken.HARDWARE, fontColor: '#fff', @@ -1986,24 +2468,23 @@ import metadata from './metadata_whalesbot_drone_lite.json'; params: ['90'], }, ], - type: 'whalesbot_drone_turn_right', + type: 'whalesbot_eagle_1001_lite_turn_right', }, paramsKeyMap: { value: 0, }, - class: 'arduino_value', + class: 'whalesbot_eagle_1001_lite_lite', isNotFor: ['WhalesbotDroneLite'], func(sprite, script) { - console.log("whalesbot_drone_turn_right"); const value = script.getValue('value'); if (value < 0 && value > 360) { value = 360 } cFunctions.push(`fly_turn(CW,${value});`); }, - syntax: { js: [], py: ['Entry.whalesbot_drone_turn_right();'] }, + syntax: { js: [], py: ['Entry.whalesbot_eagle_1001_lite_turn_right();'] }, }, - whalesbot_drone_fly_in_the_specified_direction: { + whalesbot_eagle_1001_lite_fly_in_the_specified_direction: { color: EntryStatic.colorSet.block.default.HARDWARE, outerLine: EntryStatic.colorSet.block.darken.HARDWARE, fontColor: '#fff', @@ -2033,16 +2514,15 @@ import metadata from './metadata_whalesbot_drone_lite.json'; params: ['0'], }, ], - type: 'whalesbot_drone_fly_in_the_specified_direction', + type: 'whalesbot_eagle_1001_lite_fly_in_the_specified_direction', }, paramsKeyMap: { speed: 0, direction: 1, }, - class: 'arduino_value', + class: 'whalesbot_eagle_1001_lite_lite', isNotFor: ['WhalesbotDroneLite'], func(sprite, script) { - console.log("whalesbot_drone_fly_in_the_specified_direction"); const speed = script.getValue('speed'); const direction = script.getValue('direction'); if (direction < 0 && direction > 360) { @@ -2050,9 +2530,9 @@ import metadata from './metadata_whalesbot_drone_lite.json'; } cFunctions.push(`fly_dir(${speed},${direction});`); }, - syntax: { js: [], py: ['Entry.whalesbot_drone_fly_in_the_specified_direction();'] }, + syntax: { js: [], py: ['Entry.whalesbot_eagle_1001_lite_fly_in_the_specified_direction();'] }, }, - whalesbot_drone_flight_designated: { + whalesbot_eagle_1001_lite_flight_designated: { color: EntryStatic.colorSet.block.default.HARDWARE, outerLine: EntryStatic.colorSet.block.darken.HARDWARE, fontColor: '#fff', @@ -2100,7 +2580,7 @@ import metadata from './metadata_whalesbot_drone_lite.json'; params: ['30'], }, ], - type: 'whalesbot_drone_flight_designated', + type: 'whalesbot_eagle_1001_lite_flight_designated', }, paramsKeyMap: { x: 0, @@ -2108,19 +2588,18 @@ import metadata from './metadata_whalesbot_drone_lite.json'; z: 2, speed: 3, }, - class: 'arduino_value', + class: 'whalesbot_eagle_1001_lite_lite', isNotFor: ['WhalesbotDroneLite'], func(sprite, script) { - console.log("whalesbot_drone_flight_designated"); const x = script.getValue('x'); const y = script.getValue('y'); const z = script.getValue('z'); const speed = script.getValue('speed'); cFunctions.push(`fly_move_dis(${x},${y},${z},${speed})`); }, - syntax: { js: [], py: ['Entry.whalesbot_drone_flight_designated();'] }, + syntax: { js: [], py: ['Entry.whalesbot_eagle_1001_lite_flight_designated();'] }, }, - whalesbot_drone_set_the_four_channel_lever_quantity_of_remote_control: { + whalesbot_eagle_1001_lite_set_the_four_channel_lever_quantity_of_remote_control: { color: EntryStatic.colorSet.block.default.HARDWARE, outerLine: EntryStatic.colorSet.block.darken.HARDWARE, fontColor: '#fff', @@ -2168,7 +2647,7 @@ import metadata from './metadata_whalesbot_drone_lite.json'; params: ['50'], }, ], - type: 'whalesbot_drone_set_the_four_channel_lever_quantity_of_remote_control', + type: 'whalesbot_eagle_1001_lite_set_the_four_channel_lever_quantity_of_remote_control', }, paramsKeyMap: { pitch: 0, @@ -2176,19 +2655,18 @@ import metadata from './metadata_whalesbot_drone_lite.json'; throttle: 2, yaw: 3, }, - class: 'arduino_value', + class: 'whalesbot_eagle_1001_lite_lite', isNotFor: ['WhalesbotDroneLite'], func(sprite, script) { - console.log("whalesbot_drone_set_the_four_channel_lever_quantity_of_remote_control"); const pitch = script.getValue('pitch'); const roll = script.getValue('roll'); const throttle = script.getValue('throttle'); const yaw = script.getValue('yaw'); cFunctions.push(`fly_move(${pitch},${roll},${throttle},${yaw});`); }, - syntax: { js: [], py: ['Entry.whalesbot_drone_set_the_four_channel_lever_quantity_of_remote_control();'] }, + syntax: { js: [], py: ['Entry.whalesbot_eagle_1001_lite_set_the_four_channel_lever_quantity_of_remote_control();'] }, }, - whalesbot_drone_stop_moving_and_hover: { + whalesbot_eagle_1001_lite_stop_moving_and_hover: { color: EntryStatic.colorSet.block.default.HARDWARE, outerLine: EntryStatic.colorSet.block.darken.HARDWARE, fontColor: '#fff', @@ -2198,18 +2676,17 @@ import metadata from './metadata_whalesbot_drone_lite.json'; events: {}, def: { params: [], - type: 'whalesbot_drone_stop_moving_and_hover', + type: 'whalesbot_eagle_1001_lite_stop_moving_and_hover', }, paramsKeyMap: {}, - class: 'arduino_value', + class: 'whalesbot_eagle_1001_lite_lite', isNotFor: ['WhalesbotDroneLite'], func(sprite, script) { - console.log("whalesbot_drone_stop_moving_and_hover"); cFunctions.push(`fly_hover();`); }, - syntax: { js: [], py: ['Entry.whalesbot_drone_stop_moving_and_hover();'] }, + syntax: { js: [], py: ['Entry.whalesbot_eagle_1001_lite_stop_moving_and_hover();'] }, }, - whalesbot_drone_hover_at_specified_altitude: { + whalesbot_eagle_1001_lite_hover_at_specified_altitude: { color: EntryStatic.colorSet.block.default.HARDWARE, outerLine: EntryStatic.colorSet.block.darken.HARDWARE, fontColor: '#fff', @@ -2230,20 +2707,19 @@ import metadata from './metadata_whalesbot_drone_lite.json'; params: ['20'], }, ], - type: 'whalesbot_drone_hover_at_specified_altitude', + type: 'whalesbot_eagle_1001_lite_hover_at_specified_altitude', }, paramsKeyMap: { altitude: 0, }, - class: 'arduino_value', + class: 'whalesbot_eagle_1001_lite_lite', isNotFor: ['WhalesbotDroneLite'], func(sprite, script) { - console.log("whalesbot_drone_hover_at_specified_altitude"); cFunctions.push(`fly_hover_laser();`); }, - syntax: { js: [], py: ['Entry.whalesbot_drone_hover_at_specified_altitude();'] }, + syntax: { js: [], py: ['Entry.whalesbot_eagle_1001_lite_hover_at_specified_altitude();'] }, }, - whalesbot_drone_emergency_stop: { + whalesbot_eagle_1001_lite_emergency_stop: { color: EntryStatic.colorSet.block.default.HARDWARE, outerLine: EntryStatic.colorSet.block.darken.HARDWARE, fontColor: '#fff', @@ -2252,18 +2728,17 @@ import metadata from './metadata_whalesbot_drone_lite.json'; params: [], events: {}, def: { - type: 'whalesbot_drone_emergency_stop', + type: 'whalesbot_eagle_1001_lite_emergency_stop', }, paramsKeyMap: {}, - class: 'arduino_value', + class: 'whalesbot_eagle_1001_lite_lite', isNotFor: ['WhalesbotDroneLite'], async func(sprite, script) { - console.log("whalesbot_drone_emergency_stop") cFunctions.push(`fly_lock();`); }, - syntax: { js: [], py: ['Entry.whalesbot_drone_emergency_stop()'] }, + syntax: { js: [], py: ['Entry.whalesbot_eagle_1001_lite_emergency_stop()'] }, }, - whalesbot_drone_set_the_steering_gear: { + whalesbot_eagle_1001_lite_set_the_steering_gear: { color: EntryStatic.colorSet.block.default.HARDWARE, outerLine: EntryStatic.colorSet.block.darken.HARDWARE, fontColor: '#fff', @@ -2304,28 +2779,69 @@ import metadata from './metadata_whalesbot_drone_lite.json'; params: ['90'], }, ], - type: 'whalesbot_drone_set_the_steering_gear', + type: 'whalesbot_eagle_1001_lite_set_the_steering_gear', }, paramsKeyMap: { port: 0, speed: 1, angle: 2, }, - class: 'arduino_value', + class: 'whalesbot_eagle_1001_lite_lite', isNotFor: ['WhalesbotDroneLite'], func(sprite, script) { - console.log("whalesbot_drone_set_the_steering_gear"); const speed = script.getValue('speed'); const angle = script.getValue('angle'); cFunctions.push(`SetServo(P2,${speed},${angle});`); }, - syntax: { js: [], py: ['Entry.whalesbot_drone_set_the_steering_gear();'] }, + syntax: { js: [], py: ['Entry.whalesbot_eagle_1001_lite_set_the_steering_gear();'] }, }, - whalesbot_drone_execute_script: { - color: EntryStatic.colorSet.block.default.HARDWARE, - outerLine: EntryStatic.colorSet.block.darken.HARDWARE, + // whalesbot_eagle_1001_lite_execute_script: { + // color: EntryStatic.colorSet.block.default.HARDWARE, + // outerLine: EntryStatic.colorSet.block.darken.HARDWARE, + // fontColor: '#fff', + // skeleton: 'basic_without_next', + // statements: [], + // params: [ + // { + // type: 'Block', + // accept: 'string', + // defaultType: 'number', + // }, + // { + // type: 'Indicator', + // img: 'block_icon/moving_icon.svg', + // size: 11, + // }, + // ], + // events: {}, + // def: { + // type: 'whalesbot_eagle_1001_lite_execute_script', + // }, + // paramsKeyMap: { + // VALUE: 0, + // }, + // class: 'whalesbot_eagle_1001_lite_lite', + // isNotFor: ['WhalesbotDroneLite'], + // async func(sprite, script) { + // if (openedSimulatorPopup()) { + // _this.simulatorPopup.postMessage({ + // function: "enteringPitchMode", + // args: [], + // script: sourceCode + // }, '*'); + // return; + // } + // await _this.sendPacket(_this.runCode); + // }, + // syntax: { js: [], py: ['Entry.whalesbot_eagle_1001_lite_execute_script()'] }, + // }, + + // light & speaker blocks + whalesbot_eagle_1001_lite_ls_debug_value: { + color: blockColors.color.light_speaker, + outerLine: blockColors.outerLine.light_speaker, fontColor: '#fff', - skeleton: 'basic_without_next', + skeleton: 'basic', statements: [], params: [ { @@ -2334,36 +2850,1326 @@ import metadata from './metadata_whalesbot_drone_lite.json'; defaultType: 'number', }, { - type: 'Indicator', - img: 'block_icon/moving_icon.svg', - size: 11, + type: 'Block', + accept: 'string', + defaultType: 'number', + }, + ], + events: {}, + def: { + params: [ + { + type: 'number', + params: ['1'], + }, + { + type: 'number', + params: [''], + }, + ], + type: 'whalesbot_eagle_1001_lite_ls_debug_value', + }, + paramsKeyMap: { + VALUE1: 0, + VALUE2: 1, + }, + class: 'whalesbot_eagle_1001_lite_ls', + isNotFor: ['WhalesbotDroneLite'], + func(sprite, script) { + var value1 = Number(script.values[0]); + var value2 = Number(script.values[1]); + if (value1 < 1 || value1 > 6) { + notify(notificationType.ALERT, 'Debugging: Data [1 ~ 6] and [0 ~ 999999]') + _this.invalidParamValue = true; + throw new Error(); + } + if (value2 < 0 || value2 > 999999) { + notify(notificationType.ALERT, 'Debugging: Data [1 ~ 6] and [0 ~ 999999]') + _this.invalidParamValue = true; + throw new Error(); + } + }, + syntax: { js: [], py: ['Entry.whalesbot_eagle_1001_lite_ls_debug_value()'] }, + }, + + whalesbot_eagle_1001_lite_ls_display_symbol: { + color: blockColors.color.light_speaker, + outerLine: blockColors.outerLine.light_speaker, + fontColor: '#fff', + skeleton: 'basic', + statements: [], + params: [ + { + type: 'Dropdown', + options: [ + ['?', 'LED_symbol_question_mark'], ['!', 'LED_symbol_exclamation'], ['$', 'LED_symbol_dollar'], ['¥', 'LED_symbol_RMB'], + ['=', 'LED_symbol_equal'], ['+', 'LED_symbol_plus'], ['-', 'LED_symbol_minus'], ['x', 'LED_symbol_multiplied'], + ['÷', 'LED_symbol_divided'], ['0', 'LED_symbol_0'], ['1', 'LED_symbol_1'], ['2', 'LED_symbol_2'], + ['3', 'LED_symbol_3'], ['4', 'LED_symbol_4'], ['5', 'LED_symbol_5'], ['6', 'LED_symbol_6'], + ['7', 'LED_symbol_7'], ['8', 'LED_symbol_8'], ['9', 'LED_symbol_9'], ['A', 'LED_symbol_A'], + ['B', 'LED_symbol_B'], ['C', 'LED_symbol_C'], ['D', 'LED_symbol_D'], ['E', 'LED_symbol_E'], + ['F', 'LED_symbol_F'], ['G', 'LED_symbol_G'], ['H', 'LED_symbol_H'], ['I', 'LED_symbol_I'], + ['J', 'LED_symbol_J'], ['K', 'LED_symbol_K'], ['L', 'LED_symbol_L'], ['M', 'LED_symbol_M'], + ['N', 'LED_symbol_N'], ['O', 'LED_symbol_O'], ['P', 'LED_symbol_P'], ['Q', 'LED_symbol_Q'], + ['R', 'LED_symbol_R'], ['S', 'LED_symbol_S'], ['T', 'LED_symbol_T'], ['U', 'LED_symbol_U'], + ['V', 'LED_symbol_V'], ['W', 'LED_symbol_W'], ['X', 'LED_symbol_X'], ['Y', 'LED_symbol_Y'], + ['Z', 'LED_symbol_Z'], ['❤︎', 'LED_symbol_big_heart'], ['♥︎', 'LED_symbol_little_heart'], ['↑', 'LED_symbol_forward'], + ['↓', 'LED_symbol_backward'], ['←', 'LED_symbol_turnleft'], ['→', 'LED_symbol_turnright'], ['GO', 'LED_symbol_GO'], + ['⊘', 'LED_symbol_stop'], + ], + value: 'LED_symbol_question_mark', + fontSize: 10, + bgColor: EntryStatic.colorSet.block.darken.HARDWARE, + arrowColor: EntryStatic.colorSet.arrow.default.HARDWARE, + }, + { + type: 'Dropdown', + options: [ + ['P1', 'P1'], ['P2', 'P2'] + ], + value: 'P1', + fontSize: 10, + bgColor: EntryStatic.colorSet.block.darken.HARDWARE, + arrowColor: EntryStatic.colorSet.arrow.default.HARDWARE, }, ], events: {}, def: { - type: 'whalesbot_drone_execute_script', + params: [ + null, + null, + ], + type: 'whalesbot_eagle_1001_lite_ls_display_symbol', }, paramsKeyMap: { - VALUE: 0, + SYMBOLS: 0, + PORT: 1, }, - class: 'arduino_value', + class: 'whalesbot_eagle_1001_lite_ls', isNotFor: ['WhalesbotDroneLite'], - async func(sprite, script) { - if (openedSimulatorPopup()) { - _this.simulatorPopup.postMessage({ - function: "enteringPitchMode", - args: [], - script: sourceCode - }, '*'); - return; + func(sprite, script) { + }, + syntax: { js: [], py: ['Entry.whalesbot_eagle_1001_lite_ls_display_symbol()'] }, + }, + + whalesbot_eagle_1001_lite_ls_off_LED: { + color: blockColors.color.light_speaker, + outerLine: blockColors.outerLine.light_speaker, + fontColor: '#fff', + skeleton: 'basic', + statements: [], + params: [ + { + type: 'Dropdown', + options: [ + ['P1', 'P1'], ['P2', 'P2'] + ], + value: 'P1', + fontSize: 10, + bgColor: EntryStatic.colorSet.block.darken.HARDWARE, + arrowColor: EntryStatic.colorSet.arrow.default.HARDWARE, + }, + ], + events: {}, + def: { + params: [ + null, + ], + type: 'whalesbot_eagle_1001_lite_ls_off_LED', + }, + paramsKeyMap: { + PORT: 0, + }, + class: 'whalesbot_eagle_1001_lite_ls', + isNotFor: ['WhalesbotDroneLite'], + func(sprite, script) { + }, + syntax: { js: [], py: ['Entry.whalesbot_eagle_1001_lite_ls_off_LED()'] }, + }, + + whalesbot_eagle_1001_lite_ls_display_digital_tube: { + color: blockColors.color.light_speaker, + outerLine: blockColors.outerLine.light_speaker, + fontColor: '#fff', + skeleton: 'basic', + statements: [], + params: [ + { + type: 'Dropdown', + options: [ + ['P1', 'P1'], ['P2', 'P2'] + ], + value: 'P1', + fontSize: 10, + bgColor: EntryStatic.colorSet.block.darken.HARDWARE, + arrowColor: EntryStatic.colorSet.arrow.default.HARDWARE, + }, + { + type: 'Block', + accept: 'string', + defaultType: 'number', + }, + ], + events: {}, + def: { + params: [ + null, + { + type: 'number', + params: [''], + }, + ], + type: 'whalesbot_eagle_1001_lite_ls_display_digital_tube', + }, + paramsKeyMap: { + PORT: 0, + NUMBER: 1, + }, + class: 'whalesbot_eagle_1001_lite_ls', + isNotFor: ['WhalesbotDroneLite'], + func(sprite, script) { + var number = Number(script.values[1]); + if (number < 0 || number > 9999) { + notify(notificationType.ALERT, '0 ~ 9999') + _this.invalidParamValue = true; + throw new Error(); + } + }, + syntax: { js: [], py: ['Entry.whalesbot_eagle_1001_lite_ls_display_digital_tube()'] }, + }, + + whalesbot_eagle_1001_lite_ls_display_digital_tube_score: { + color: blockColors.color.light_speaker, + outerLine: blockColors.outerLine.light_speaker, + fontColor: '#fff', + skeleton: 'basic', + statements: [], + params: [ + { + type: 'Dropdown', + options: [ + ['P1', 'P1'], ['P2', 'P2'] + ], + value: 'P1', + fontSize: 10, + bgColor: EntryStatic.colorSet.block.darken.HARDWARE, + arrowColor: EntryStatic.colorSet.arrow.default.HARDWARE, + }, + { + type: 'Block', + accept: 'string', + defaultType: 'number', + }, + { + type: 'Block', + accept: 'string', + defaultType: 'number', + }, + ], + events: {}, + def: { + params: [ + null, + { + type: 'number', + params: [''], + }, + { + type: 'number', + params: [''], + }, + ], + type: 'whalesbot_eagle_1001_lite_ls_display_digital_tube_score', + }, + paramsKeyMap: { + PORT: 0, + NUMBER1: 1, + NUMBER2: 2, + }, + class: 'whalesbot_eagle_1001_lite_ls', + isNotFor: ['WhalesbotDroneLite'], + func(sprite, script) { + var number1 = Number(script.values[1]); + var number2 = Number(script.values[2]); + if (number1 < 0 || number1 > 9999 || number2 < 0 || number2 > 9999) { + notify(notificationType.ALERT, '0 ~ 9999') + _this.invalidParamValue = true; + throw new Error(); } - await _this.sendPacket(_this.runCode); }, - syntax: { js: [], py: ['Entry.whalesbot_drone_execute_script()'] }, + syntax: { js: [], py: ['Entry.whalesbot_eagle_1001_lite_ls_display_digital_tube_score()'] }, + }, + + whalesbot_eagle_1001_lite_ls_off_digital_tube: { + color: blockColors.color.light_speaker, + outerLine: blockColors.outerLine.light_speaker, + fontColor: '#fff', + skeleton: 'basic', + statements: [], + params: [ + { + type: 'Dropdown', + options: [ + ['P1', 'P1'], ['P2', 'P2'] + ], + value: 'P1', + fontSize: 10, + bgColor: EntryStatic.colorSet.block.darken.HARDWARE, + arrowColor: EntryStatic.colorSet.arrow.default.HARDWARE, + }, + ], + events: {}, + def: { + params: [ + null, + ], + type: 'whalesbot_eagle_1001_lite_ls_off_digital_tube', + }, + paramsKeyMap: { + PORT: 0, + }, + class: 'whalesbot_eagle_1001_lite_ls', + isNotFor: ['WhalesbotDroneLite'], + func(sprite, script) { + }, + syntax: { js: [], py: ['Entry.whalesbot_eagle_1001_lite_ls_off_digital_tube()'] }, + }, + + whalesbot_eagle_1001_lite_ls_set_RGB: { + color: blockColors.color.light_speaker, + outerLine: blockColors.outerLine.light_speaker, + fontColor: '#fff', + skeleton: 'basic', + statements: [], + params: [ + { + type: 'Dropdown', + options: [ + ['P1', 'P1'], ['P2', 'P2'] + ], + value: 'P1', + fontSize: 10, + bgColor: EntryStatic.colorSet.block.darken.HARDWARE, + arrowColor: EntryStatic.colorSet.arrow.default.HARDWARE, + }, + { + type: 'Block', + accept: 'string', + defaultType: 'number', + }, + { + type: 'Block', + accept: 'string', + defaultType: 'number', + }, + { + type: 'Block', + accept: 'string', + defaultType: 'number', + }, + ], + events: {}, + def: { + params: [ + null, + { + type: 'number', + params: ['255'], + }, + { + type: 'number', + params: ['255'], + }, + { + type: 'number', + params: ['255'], + }, + ], + type: 'whalesbot_eagle_1001_lite_ls_set_RGB', + }, + paramsKeyMap: { + PORT: 0, + RED: 1, + GREEN: 2, + BLUE: 3, + }, + class: 'whalesbot_eagle_1001_lite_ls', + isNotFor: ['WhalesbotDroneLite'], + func(sprite, script) { + var red = Number(script.values[1]); + var green = Number(script.values[2]); + var blue = Number(script.values[3]); + if (red < 0 || red > 255 || green < 0 || green > 255 || blue < 0 || blue > 255) { + notify(notificationType.ALERT, '0 ~ 255') + _this.invalidParamValue = true; + throw new Error(); + } + }, + syntax: { js: [], py: ['Entry.whalesbot_eagle_1001_lite_ls_set_RGB()'] }, + }, + + whalesbot_eagle_1001_lite_ls_fly_RGB: { + color: blockColors.color.light_speaker, + outerLine: blockColors.outerLine.light_speaker, + fontColor: '#fff', + skeleton: 'basic', + statements: [], + params: [ + { + type: 'Dropdown', + options: [ + ['⚪', 'color_white'], ['🟡', 'color_yellow'], + ['🟣', 'color_purple'], ['🟦', 'color_cyan'], + ['🔴', 'color_red'], ['🟢', 'color_green'], + ['🔵', 'color_blue'], ['⚫', 'color_black'], + ], + value: 'color_white', + fontSize: 10, + bgColor: EntryStatic.colorSet.block.darken.HARDWARE, + arrowColor: EntryStatic.colorSet.arrow.default.HARDWARE, + }, + ], + events: {}, + def: { + params: [ + null, + ], + type: 'whalesbot_eagle_1001_lite_ls_fly_RGB', + }, + paramsKeyMap: { + COLOR: 0, + }, + class: 'whalesbot_eagle_1001_lite_ls', + isNotFor: ['WhalesbotDroneLite'], + func(sprite, script) { + }, + syntax: { js: [], py: ['Entry.whalesbot_eagle_1001_lite_ls_fly_RGB()'] }, + }, + + whalesbot_eagle_1001_lite_ls_set_DO: { + color: blockColors.color.light_speaker, + outerLine: blockColors.outerLine.light_speaker, + fontColor: '#fff', + skeleton: 'basic', + statements: [], + params: [ + { + type: 'Dropdown', + options: [ + ['P1', 'P1'], ['P2', 'P2'] + ], + value: 'P1', + fontSize: 10, + bgColor: EntryStatic.colorSet.block.darken.HARDWARE, + arrowColor: EntryStatic.colorSet.arrow.default.HARDWARE, + }, + { + type: 'Dropdown', + options: [ + [Lang.Blocks.light_speaker.electro_magnet.absorption, 'true'], + [Lang.Blocks.light_speaker.electro_magnet.break_off, 'false'] + ], + value: 'true', + fontSize: 10, + bgColor: EntryStatic.colorSet.block.darken.HARDWARE, + arrowColor: EntryStatic.colorSet.arrow.default.HARDWARE, + }, + ], + events: {}, + def: { + params: [ + null, + null, + ], + type: 'whalesbot_eagle_1001_lite_ls_set_DO', + }, + paramsKeyMap: { + PORT: 0, + ELECTROMAGNET: 1, + }, + class: 'whalesbot_eagle_1001_lite_ls', + isNotFor: ['WhalesbotDroneLite'], + func(sprite, script) { + }, + syntax: { js: [], py: ['Entry.whalesbot_eagle_1001_lite_ls_set_DO()'] }, + }, + + whalesbot_eagle_1001_lite_ls_execute_script: { + color: blockColors.color.light_speaker, + outerLine: blockColors.outerLine.light_speaker, + fontColor: '#fff', + skeleton: 'basic_without_next', + statements: [], + params: [ + { + type: 'Block', + accept: 'string', + defaultType: 'number', + }, + { + type: 'Indicator', + img: 'block_icon/moving_icon.svg', + size: 11, + }, + ], + events: {}, + def: { + type: 'whalesbot_eagle_1001_lite_ls_execute_script', + }, + paramsKeyMap: { + VALUE: 0, + }, + class: 'whalesbot_eagle_1001_lite_ls', + isNotFor: ['WhalesbotDroneLite'], + func(sprite, script) { + const project = _this.exportProject(); + const listVariables = project.variables; + const rawScript = project.objects[0].script; + const allScript = JSON.parse(rawScript); + const droneScript = allScript.filter((arr) => arr.length > 2); + + let sourceCode = `#include "whalesbot.h"\n${listVariables.map(setUpCVariables).join('')}\nvoid user_main() {\n`; + sourceCode += `${droneScript[0].map(generateCCode).join('')}}\n\nuser_main();`; + + if (_this.unsupportBlockExist) { + Entry.toast.alert( + Lang.Blocks.whalesbot_eagle_1001_lite_toast_unsupport_block_title, + Lang.Blocks.whalesbot_eagle_1001_lite_toast_unsupport_block_msg + ) + _this.unsupportBlockExist = false; + Entry.engine.toggleStop(); + return; + } + + if (_this.invalidParamValue) { + _this.invalidParamValue = false; + return; + } + + if (openedSimulatorPopup()) { + Entry.toast.success( + Lang.Blocks.whalesbot_eagle_1001_lite_toast_status_title, + Lang.Blocks.whalesbot_eagle_1001_lite_toast_download_success + ); + return; + } + + console.log(sourceCode); + + _this.sendCmd(sourceCode); + + Entry.toast.success( + Lang.Blocks.whalesbot_eagle_1001_lite_toast_status_title, + Lang.Blocks.whalesbot_eagle_1001_lite_toast_prepare_download + ); + setTimeout(() => { + Entry.toast.success( + Lang.Blocks.whalesbot_eagle_1001_lite_toast_status_title, + Lang.Blocks.whalesbot_eagle_1001_lite_toast_downloading_code + ); + setTimeout(() => { + Entry.toast.success( + Lang.Blocks.whalesbot_eagle_1001_lite_toast_status_title, + Lang.Blocks.whalesbot_eagle_1001_lite_toast_download_success + ); + }, 3000); + }, 4000); + }, + syntax: { js: [], py: ['Entry.whalesbot_eagle_1001_lite_ls_execute_script()'] }, + }, + + // sensors + whalesbot_eagle_1001_lite_ss_fly_state_POS_Z: { + color: blockColors.color.sensor, + outerLine: blockColors.outerLine.sensor, + fontColor: '#fff', + skeleton: 'basic_string_field', + statements: [], + params: [], + events: {}, + def: { + type: 'whalesbot_eagle_1001_lite_ss_fly_state_POS_Z', + }, + paramsKeyMap: {}, + class: 'whalesbot_eagle_1001_lite_ss', + isNotFor: ['WhalesbotDroneLite'], + func(sprite, script) { + _this.sleep(); + return _this.sensor.state_position_z || '0'; + }, + syntax: { js: [], py: ['Entry.whalesbot_eagle_1001_lite_ss_fly_state_POS_Z()'] }, + }, + + whalesbot_eagle_1001_lite_ss_fly_state_LASER: { + color: blockColors.color.sensor, + outerLine: blockColors.outerLine.sensor, + fontColor: '#fff', + skeleton: 'basic_string_field', + statements: [], + params: [], + events: {}, + def: { + type: 'whalesbot_eagle_1001_lite_ss_fly_state_LASER', + }, + paramsKeyMap: {}, + class: 'whalesbot_eagle_1001_lite_ss', + isNotFor: ['WhalesbotDroneLite'], + func(sprite, script) { + _this.sleep(); + return _this.sensor.LaserTof || '0'; + }, + syntax: { js: [], py: ['Entry.whalesbot_eagle_1001_lite_ss_fly_state_LASER()'] }, + }, + + whalesbot_eagle_1001_lite_ss_battery_voltage: { + color: blockColors.color.sensor, + outerLine: blockColors.outerLine.sensor, + fontColor: '#fff', + skeleton: 'basic_string_field', + statements: [], + params: [], + events: {}, + def: { + type: 'whalesbot_eagle_1001_lite_ss_battery_voltage', + }, + paramsKeyMap: {}, + class: 'whalesbot_eagle_1001_lite_ss', + isNotFor: ['WhalesbotDroneLite'], + func(sprite, script) { + _this.sleep(); + return _this.sensor.Battery || '0'; + }, + syntax: { js: [], py: ['Entry.whalesbot_eagle_1001_lite_ss_battery_voltage()'] }, + }, + + whalesbot_eagle_1001_lite_ss_fly_state_STATE_TEMP: { + color: blockColors.color.sensor, + outerLine: blockColors.outerLine.sensor, + fontColor: '#fff', + skeleton: 'basic_string_field', + statements: [], + params: [], + events: {}, + def: { + type: 'whalesbot_eagle_1001_lite_ss_fly_state_STATE_TEMP', + }, + paramsKeyMap: {}, + class: 'whalesbot_eagle_1001_lite_ss', + isNotFor: ['WhalesbotDroneLite'], + func(sprite, script) { + _this.sleep(); + return _this.sensor.SPL06_temp || '0'; + }, + syntax: { js: [], py: ['Entry.whalesbot_eagle_1001_lite_ss_fly_state_STATE_TEMP()'] }, + }, + + whalesbot_eagle_1001_lite_ss_attitude_angle: { + color: blockColors.color.sensor, + outerLine: blockColors.outerLine.sensor, + fontColor: '#fff', + skeleton: 'basic_string_field', + statements: [], + params: [ + { + type: 'Dropdown', + options: [ + [Lang.Blocks.sensor.attitude_angle.pitch, 'STATE_PITCH'], + [Lang.Blocks.sensor.attitude_angle.roll, 'STATE_ROLL'], + [Lang.Blocks.sensor.attitude_angle.yaw, 'STATE_YAW'], + ], + value: 'STATE_PITCH', + fontSize: 10, + bgColor: EntryStatic.colorSet.block.darken.HARDWARE, + arrowColor: EntryStatic.colorSet.arrow.default.HARDWARE, + }, + ], + events: {}, + def: { + params: [ + null, + ], + type: 'whalesbot_eagle_1001_lite_ss_attitude_angle', + }, + paramsKeyMap: {}, + class: 'whalesbot_eagle_1001_lite_ss', + isNotFor: ['WhalesbotDroneLite'], + func(sprite, script) { + var state = script.values[0]; + if (state === 'STATE_PITCH') { + _this.sleep(); + return _this.sensor.Pitch || '0'; + } else if (state === 'STATE_ROLL') { + _this.sleep(); + return _this.sensor.Roll || '0'; + } else if (state === 'STATE_YAW') { + _this.sleep(); + return _this.sensor.Yaw || '0'; + } + }, + syntax: { js: [], py: ['Entry.whalesbot_eagle_1001_lite_ss_attitude_angle()'] }, + }, + + whalesbot_eagle_1001_lite_ss_flight_angular_velocity: { + color: blockColors.color.sensor, + outerLine: blockColors.outerLine.sensor, + fontColor: '#fff', + skeleton: 'basic_string_field', + statements: [], + params: [ + { + type: 'Dropdown', + options: [ + ['X', 'GYPO_X'], ['Y', 'GYPO_Y'], ['Z', 'GYPO_Z'], + ], + value: 'GYPO_X', + fontSize: 10, + bgColor: EntryStatic.colorSet.block.darken.HARDWARE, + arrowColor: EntryStatic.colorSet.arrow.default.HARDWARE, + }, + ], + events: {}, + def: { + params: [ + null, + ], + type: 'whalesbot_eagle_1001_lite_ss_flight_angular_velocity', + }, + paramsKeyMap: {}, + class: 'whalesbot_eagle_1001_lite_ss', + isNotFor: ['WhalesbotDroneLite'], + func(sprite, script) { + var state = script.values[0]; + if (state === 'GYPO_X') { + _this.sleep(); + return _this.sensor.Gypo_x || '0'; + } else if (state === 'GYPO_Y') { + _this.sleep(); + return _this.sensor.Gypo_y || '0'; + } else if (state === 'GYPO_Z') { + _this.sleep(); + return _this.sensor.Gypo_z || '0'; + } + }, + syntax: { js: [], py: ['Entry.whalesbot_eagle_1001_lite_ss_flight_angular_velocity()'] }, + }, + + whalesbot_eagle_1001_lite_ss_flight_acceleration: { + color: blockColors.color.sensor, + outerLine: blockColors.outerLine.sensor, + fontColor: '#fff', + skeleton: 'basic_string_field', + statements: [], + params: [ + { + type: 'Dropdown', + options: [ + ['X', 'ACC_X'], ['Y', 'ACC_Y'], ['Z', 'ACC_Z'], + ], + value: 'ACC_X', + fontSize: 10, + bgColor: EntryStatic.colorSet.block.darken.HARDWARE, + arrowColor: EntryStatic.colorSet.arrow.default.HARDWARE, + }, + ], + events: {}, + def: { + params: [ + null, + ], + type: 'whalesbot_eagle_1001_lite_ss_flight_acceleration', + }, + paramsKeyMap: {}, + class: 'whalesbot_eagle_1001_lite_ss', + isNotFor: ['WhalesbotDroneLite'], + func(sprite, script) { + var state = script.values[0]; + if (state === 'ACC_X') { + _this.sleep(); + return _this.sensor.ACC_x || '0'; + } else if (state === 'ACC_Y') { + _this.sleep(); + return _this.sensor.ACC_y || '0'; + } else if (state === 'ACC_Z') { + _this.sleep(); + return _this.sensor.ACC_z || '0'; + } + }, + syntax: { js: [], py: ['Entry.whalesbot_eagle_1001_lite_ss_flight_acceleration()'] }, + }, + + whalesbot_eagle_1001_lite_ss_optical_flow: { + color: blockColors.color.sensor, + outerLine: blockColors.outerLine.sensor, + fontColor: '#fff', + skeleton: 'basic_string_field', + statements: [], + params: [ + { + type: 'Dropdown', + options: [ + ['X', 'OPX'], ['Y', 'OPY'] + ], + value: 'OPX', + fontSize: 10, + bgColor: EntryStatic.colorSet.block.darken.HARDWARE, + arrowColor: EntryStatic.colorSet.arrow.default.HARDWARE, + }, + ], + events: {}, + def: { + params: [ + null, + ], + type: 'whalesbot_eagle_1001_lite_ss_optical_flow', + }, + paramsKeyMap: {}, + class: 'whalesbot_eagle_1001_lite_ss', + isNotFor: ['WhalesbotDroneLite'], + func(sprite, script) { + }, + syntax: { js: [], py: ['Entry.whalesbot_eagle_1001_lite_ss_optical_flow()'] }, + }, + + whalesbot_eagle_1001_lite_ss_get_infrared_distance: { + color: blockColors.color.sensor, + outerLine: blockColors.outerLine.sensor, + fontColor: '#fff', + skeleton: 'basic_string_field', + statements: [], + params: [ + { + type: 'Dropdown', + options: [ + ['P1', 'P1'], ['P2', 'P2'] + ], + value: 'P1', + fontSize: 10, + bgColor: EntryStatic.colorSet.block.darken.HARDWARE, + arrowColor: EntryStatic.colorSet.arrow.default.HARDWARE, + }, + ], + events: {}, + def: { + params: [ + null, + ], + type: 'whalesbot_eagle_1001_lite_ss_get_infrared_distance', + }, + paramsKeyMap: {}, + class: 'whalesbot_eagle_1001_lite_ss', + isNotFor: ['WhalesbotDroneLite'], + func(sprite, script) { + }, + syntax: { js: [], py: ['Entry.whalesbot_eagle_1001_lite_ss_get_infrared_distance()'] }, + }, + + whalesbot_eagle_1001_lite_ss_obstacle_infrared_detected_string: { + color: blockColors.color.sensor, + outerLine: blockColors.outerLine.sensor, + fontColor: '#fff', + skeleton: 'basic_string_field', + statements: [], + params: [ + { + type: 'Dropdown', + options: [ + ['P1', 'P1'], ['P2', 'P2'] + ], + value: 'P1', + fontSize: 10, + bgColor: EntryStatic.colorSet.block.darken.HARDWARE, + arrowColor: EntryStatic.colorSet.arrow.default.HARDWARE, + }, + ], + events: {}, + def: { + params: [ + null, + ], + type: 'whalesbot_eagle_1001_lite_ss_obstacle_infrared_detected_string', + }, + paramsKeyMap: {}, + class: 'whalesbot_eagle_1001_lite_ss', + isNotFor: ['WhalesbotDroneLite'], + func(sprite, script) { + }, + syntax: { js: [], py: ['Entry.whalesbot_eagle_1001_lite_ss_obstacle_infrared_detected_string()'] }, + }, + + whalesbot_eagle_1001_lite_ss_obstacle_infrared_detected_bool: { + color: blockColors.color.sensor, + outerLine: blockColors.outerLine.sensor, + fontColor: '#fff', + skeleton: 'basic_boolean_field', + statements: [], + params: [ + { + type: 'Dropdown', + options: [ + ['P1', 'P1'], ['P2', 'P2'] + ], + value: 'P1', + fontSize: 10, + bgColor: EntryStatic.colorSet.block.darken.HARDWARE, + arrowColor: EntryStatic.colorSet.arrow.default.HARDWARE, + }, + ], + events: {}, + def: { + params: [ + null, + ], + type: 'whalesbot_eagle_1001_lite_ss_obstacle_infrared_detected_bool', + }, + paramsKeyMap: {}, + class: 'whalesbot_eagle_1001_lite_ss', + isNotFor: ['WhalesbotDroneLite'], + func(sprite, script) { + }, + syntax: { js: [], py: ['Entry.whalesbot_eagle_1001_lite_ss_obstacle_infrared_detected_bool()'] }, + }, + + whalesbot_eagle_1001_lite_ss_human_infrared_value_string: { + color: blockColors.color.sensor, + outerLine: blockColors.outerLine.sensor, + fontColor: '#fff', + skeleton: 'basic_string_field', + statements: [], + params: [ + { + type: 'Dropdown', + options: [ + ['P1', 'P1'], ['P2', 'P2'] + ], + value: 'P1', + fontSize: 10, + bgColor: EntryStatic.colorSet.block.darken.HARDWARE, + arrowColor: EntryStatic.colorSet.arrow.default.HARDWARE, + }, + ], + events: {}, + def: { + params: [ + null, + ], + type: 'whalesbot_eagle_1001_lite_ss_human_infrared_value_string', + }, + paramsKeyMap: {}, + class: 'whalesbot_eagle_1001_lite_ss', + isNotFor: ['WhalesbotDroneLite'], + func(sprite, script) { + }, + syntax: { js: [], py: ['Entry.whalesbot_eagle_1001_lite_ss_human_infrared_value_string()'] }, + }, + + whalesbot_eagle_1001_lite_ss_human_infrared_value_bool: { + color: blockColors.color.sensor, + outerLine: blockColors.outerLine.sensor, + fontColor: '#fff', + skeleton: 'basic_boolean_field', + statements: [], + params: [ + { + type: 'Dropdown', + options: [ + ['P1', 'P1'], ['P2', 'P2'] + ], + value: 'P1', + fontSize: 10, + bgColor: EntryStatic.colorSet.block.darken.HARDWARE, + arrowColor: EntryStatic.colorSet.arrow.default.HARDWARE, + }, + ], + events: {}, + def: { + params: [ + null, + ], + type: 'whalesbot_eagle_1001_lite_ss_human_infrared_value_bool', + }, + paramsKeyMap: {}, + class: 'whalesbot_eagle_1001_lite_ss', + isNotFor: ['WhalesbotDroneLite'], + func(sprite, script) { + }, + syntax: { js: [], py: ['Entry.whalesbot_eagle_1001_lite_ss_human_infrared_value_bool()'] }, + }, + + whalesbot_eagle_1001_lite_ss_AI: { + color: blockColors.color.sensor, + outerLine: blockColors.outerLine.sensor, + fontColor: '#fff', + skeleton: 'basic_string_field', + statements: [], + params: [ + { + type: 'Dropdown', + options: [ + ['P1', 'P1'], ['P2', 'P2'] + ], + value: 'P1', + fontSize: 10, + bgColor: EntryStatic.colorSet.block.darken.HARDWARE, + arrowColor: EntryStatic.colorSet.arrow.default.HARDWARE, + }, + ], + events: {}, + def: { + params: [ + null, + ], + type: 'whalesbot_eagle_1001_lite_ss_AI', + }, + paramsKeyMap: {}, + class: 'whalesbot_eagle_1001_lite_ss', + isNotFor: ['WhalesbotDroneLite'], + func(sprite, script) { + }, + syntax: { js: [], py: ['Entry.whalesbot_eagle_1001_lite_ss_AI()'] }, + }, + + whalesbot_eagle_1001_lite_ss_get_ultrasonic_distance: { + color: blockColors.color.sensor, + outerLine: blockColors.outerLine.sensor, + fontColor: '#fff', + skeleton: 'basic_string_field', + statements: [], + params: [ + { + type: 'Dropdown', + options: [ + ['P1', 'P1'], ['P2', 'P2'] + ], + value: 'P1', + fontSize: 10, + bgColor: EntryStatic.colorSet.block.darken.HARDWARE, + arrowColor: EntryStatic.colorSet.arrow.default.HARDWARE, + }, + ], + events: {}, + def: { + params: [ + null, + ], + type: 'whalesbot_eagle_1001_lite_ss_get_ultrasonic_distance', + }, + paramsKeyMap: {}, + class: 'whalesbot_eagle_1001_lite_ss', + isNotFor: ['WhalesbotDroneLite'], + func(sprite, script) { + }, + syntax: { js: [], py: ['Entry.whalesbot_eagle_1001_lite_ss_get_ultrasonic_distance()'] }, + }, + + whalesbot_eagle_1001_lite_ss_get_ambient_light: { + color: blockColors.color.sensor, + outerLine: blockColors.outerLine.sensor, + fontColor: '#fff', + skeleton: 'basic_string_field', + statements: [], + params: [ + { + type: 'Dropdown', + options: [ + ['P1', 'P1'], ['P2', 'P2'] + ], + value: 'P1', + fontSize: 10, + bgColor: EntryStatic.colorSet.block.darken.HARDWARE, + arrowColor: EntryStatic.colorSet.arrow.default.HARDWARE, + }, + ], + events: {}, + def: { + params: [ + null, + ], + type: 'whalesbot_eagle_1001_lite_ss_get_ambient_light', + }, + paramsKeyMap: {}, + class: 'whalesbot_eagle_1001_lite_ss', + isNotFor: ['WhalesbotDroneLite'], + func(sprite, script) { + }, + syntax: { js: [], py: ['Entry.whalesbot_eagle_1001_lite_ss_get_ambient_light()'] }, + }, + + whalesbot_eagle_1001_lite_ss_get_temperature: { + color: blockColors.color.sensor, + outerLine: blockColors.outerLine.sensor, + fontColor: '#fff', + skeleton: 'basic_string_field', + statements: [], + params: [ + { + type: 'Dropdown', + options: [ + ['P1', 'P1'], ['P2', 'P2'] + ], + value: 'P1', + fontSize: 10, + bgColor: EntryStatic.colorSet.block.darken.HARDWARE, + arrowColor: EntryStatic.colorSet.arrow.default.HARDWARE, + }, + ], + events: {}, + def: { + params: [ + null, + ], + type: 'whalesbot_eagle_1001_lite_ss_get_temperature', + }, + paramsKeyMap: {}, + class: 'whalesbot_eagle_1001_lite_ss', + isNotFor: ['WhalesbotDroneLite'], + func(sprite, script) { + }, + syntax: { js: [], py: ['Entry.whalesbot_eagle_1001_lite_ss_get_temperature()'] }, + }, + + whalesbot_eagle_1001_lite_ss_get_humidity: { + color: blockColors.color.sensor, + outerLine: blockColors.outerLine.sensor, + fontColor: '#fff', + skeleton: 'basic_string_field', + statements: [], + params: [ + { + type: 'Dropdown', + options: [ + ['P1', 'P1'], ['P2', 'P2'] + ], + value: 'P1', + fontSize: 10, + bgColor: EntryStatic.colorSet.block.darken.HARDWARE, + arrowColor: EntryStatic.colorSet.arrow.default.HARDWARE, + }, + ], + events: {}, + def: { + params: [ + null, + ], + type: 'whalesbot_eagle_1001_lite_ss_get_humidity', + }, + paramsKeyMap: {}, + class: 'whalesbot_eagle_1001_lite_ss', + isNotFor: ['WhalesbotDroneLite'], + func(sprite, script) { + }, + syntax: { js: [], py: ['Entry.whalesbot_eagle_1001_lite_ss_get_humidity()'] }, + }, + + whalesbot_eagle_1001_lite_ss_get_flame: { + color: blockColors.color.sensor, + outerLine: blockColors.outerLine.sensor, + fontColor: '#fff', + skeleton: 'basic_string_field', + statements: [], + params: [ + { + type: 'Dropdown', + options: [ + ['P1', 'P1'], ['P2', 'P2'] + ], + value: 'P1', + fontSize: 10, + bgColor: EntryStatic.colorSet.block.darken.HARDWARE, + arrowColor: EntryStatic.colorSet.arrow.default.HARDWARE, + }, + ], + events: {}, + def: { + params: [ + null, + ], + type: 'whalesbot_eagle_1001_lite_ss_get_flame', + }, + paramsKeyMap: {}, + class: 'whalesbot_eagle_1001_lite_ss', + isNotFor: ['WhalesbotDroneLite'], + func(sprite, script) { + }, + syntax: { js: [], py: ['Entry.whalesbot_eagle_1001_lite_ss_get_flame()'] }, + }, + + whalesbot_eagle_1001_lite_ss_get_gesture: { + color: blockColors.color.sensor, + outerLine: blockColors.outerLine.sensor, + fontColor: '#fff', + skeleton: 'basic_string_field', + statements: [], + params: [ + { + type: 'Dropdown', + options: [ + ['P1', 'P1'], ['P2', 'P2'] + ], + value: 'P1', + fontSize: 10, + bgColor: EntryStatic.colorSet.block.darken.HARDWARE, + arrowColor: EntryStatic.colorSet.arrow.default.HARDWARE, + }, + ], + events: {}, + def: { + params: [ + null, + ], + type: 'whalesbot_eagle_1001_lite_ss_get_gesture', + }, + paramsKeyMap: {}, + class: 'whalesbot_eagle_1001_lite_ss', + isNotFor: ['WhalesbotDroneLite'], + func(sprite, script) { + }, + syntax: { js: [], py: ['Entry.whalesbot_eagle_1001_lite_ss_get_gesture()'] }, + }, + + whalesbot_eagle_1001_lite_ss_get_tof: { + color: blockColors.color.sensor, + outerLine: blockColors.outerLine.sensor, + fontColor: '#fff', + skeleton: 'basic_string_field', + statements: [], + params: [ + { + type: 'Dropdown', + options: [ + ['P1', 'P1'], ['P2', 'P2'] + ], + value: 'P1', + fontSize: 10, + bgColor: EntryStatic.colorSet.block.darken.HARDWARE, + arrowColor: EntryStatic.colorSet.arrow.default.HARDWARE, + }, + ], + events: {}, + def: { + params: [ + null, + ], + type: 'whalesbot_eagle_1001_lite_ss_get_tof', + }, + paramsKeyMap: {}, + class: 'whalesbot_eagle_1001_lite_ss', + isNotFor: ['WhalesbotDroneLite'], + func(sprite, script) { + }, + syntax: { js: [], py: ['Entry.whalesbot_eagle_1001_lite_ss_get_tof()'] }, + }, + + whalesbot_eagle_1001_lite_ss_fly_setpoint_LASER_ENABLE: { + color: blockColors.color.sensor, + outerLine: blockColors.outerLine.sensor, + fontColor: '#fff', + skeleton: 'basic', + statements: [], + params: [ + { + type: 'Dropdown', + options: [ + [Lang.Blocks.sensor.laser_height_determination.on, 'true'], + [Lang.Blocks.sensor.laser_height_determination.off, 'false'] + ], + value: 'true', + fontSize: 10, + bgColor: EntryStatic.colorSet.block.darken.HARDWARE, + arrowColor: EntryStatic.colorSet.arrow.default.HARDWARE, + }, + ], + events: {}, + def: { + params: [ + null, + ], + type: 'whalesbot_eagle_1001_lite_ss_fly_setpoint_LASER_ENABLE', + }, + paramsKeyMap: {}, + class: 'whalesbot_eagle_1001_lite_ss', + isNotFor: ['WhalesbotDroneLite'], + func(sprite, script) { + }, + syntax: { js: [], py: ['Entry.whalesbot_eagle_1001_lite_ss_fly_setpoint_LASER_ENABLE()'] }, + }, + + whalesbot_eagle_1001_lite_ss_get_bt_remote_control: { + color: blockColors.color.sensor, + outerLine: blockColors.outerLine.sensor, + fontColor: '#fff', + skeleton: 'basic_string_field', + statements: [], + params: [ + { + type: 'Dropdown', + options: [ + [Lang.Blocks.sensor.remote_control_button.key, 'BTKEY'], + [Lang.Blocks.sensor.remote_control_button.left_rocker_x, 'BTSTICK2'], + [Lang.Blocks.sensor.remote_control_button.left_rocker_y, 'BTSTICK1'], + [Lang.Blocks.sensor.remote_control_button.right_rocker_x, 'BTSTICK4'], + [Lang.Blocks.sensor.remote_control_button.right_rocker_y, 'BTSTICK3'], + ], + value: 'BTKEY', + fontSize: 10, + bgColor: EntryStatic.colorSet.block.darken.HARDWARE, + arrowColor: EntryStatic.colorSet.arrow.default.HARDWARE, + }, + ], + events: {}, + def: { + params: [ + null, + ], + type: 'whalesbot_eagle_1001_lite_ss_get_bt_remote_control', + }, + paramsKeyMap: {}, + class: 'whalesbot_eagle_1001_lite_ss', + isNotFor: ['WhalesbotDroneLite'], + func(sprite, script) { + }, + syntax: { js: [], py: ['Entry.whalesbot_eagle_1001_lite_ss_get_bt_remote_control()'] }, + }, + + whalesbot_eagle_1001_lite_ss_seconds: { + color: blockColors.color.sensor, + outerLine: blockColors.outerLine.sensor, + fontColor: '#fff', + skeleton: 'basic_string_field', + statements: [], + params: [], + events: {}, + def: { + type: 'whalesbot_eagle_1001_lite_ss_seconds', + }, + paramsKeyMap: {}, + class: 'whalesbot_eagle_1001_lite_ss', + isNotFor: ['WhalesbotDroneLite'], + func(sprite, script) { + }, + syntax: { js: [], py: ['Entry.whalesbot_eagle_1001_lite_ss_seconds()'] }, + }, + + whalesbot_eagle_1001_lite_ss_resettime: { + color: blockColors.color.sensor, + outerLine: blockColors.outerLine.sensor, + fontColor: '#fff', + skeleton: 'basic', + statements: [], + params: [], + events: {}, + def: { + type: 'whalesbot_eagle_1001_lite_ss_resettime', + }, + paramsKeyMap: {}, + class: 'whalesbot_eagle_1001_lite_ss', + isNotFor: ['WhalesbotDroneLite'], + func(sprite, script) { + }, + syntax: { js: [], py: ['Entry.whalesbot_eagle_1001_lite_ss_resettime()'] }, }, }; } })(); })(); -module.exports = Entry.WhalesbotDroneLite; +module.exports = Entry.WhalesbotDroneLite; \ No newline at end of file