Blockly vision updates for the 2021 vision system (#35)

Thank you @casheww very clean :) * update marker blocks * update for vision syntax changes * update resolution blocks * remove redundant import * build blockly changes * use consts for block colours * change cam res block type * build vision block changes
systemetric · Nov 25, 2021 · dd87e49 · dd87e49
1 parent fa8beb8
commit dd87e49
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Showing 4 changed files with 140 additions and 72 deletions.
diff --git a/sheepsrc/app/components/editor/blockly/Blockly.vue b/sheepsrc/app/components/editor/blockly/Blockly.vue
@@ -73,8 +73,7 @@ export default Vue.extend({
     // noinspection TypeScriptUnresolvedFunction
     this.workspace.addChangeListener(() => {
       // noinspection TypeScriptUnresolvedFunction
-      this.code = `from __future__ import print_function
-from robot import *
+      this.code = `from robot import *
 import time
 
 R = Robot()

diff --git a/sheepsrc/app/components/editor/blockly/blocks.js b/sheepsrc/app/components/editor/blockly/blocks.js
@@ -1,3 +1,10 @@
+
+// Block colours use HSL. setColor takes the hue value (0 to 255). 
+const movementHue = 0;
+const gpioHue = 210;
+const visionHue = 90;
+const markerTypeHue = 70;
+
 function loadMovementBlocks(Blockly) {
   Blockly.Blocks["motors_set_power"] = {
     init: function() {
@@ -11,7 +18,7 @@ function loadMovementBlocks(Blockly) {
       this.setInputsInline(true);
       this.setPreviousStatement(true, null);
       this.setNextStatement(true, null);
-      this.setColour(0);
+      this.setColour(movementHue);
       this.setTooltip("");
       this.setHelpUrl("");
     }
@@ -38,7 +45,7 @@ function loadMovementBlocks(Blockly) {
       this.setInputsInline(true);
       this.setPreviousStatement(true, null);
       this.setNextStatement(true, null);
-      this.setColour(0);
+      this.setColour(movementHue);
       this.setTooltip("");
       this.setHelpUrl("");
     }
@@ -65,7 +72,7 @@ function loadMovementBlocks(Blockly) {
       this.setInputsInline(true);
       this.setPreviousStatement(true, null);
       this.setNextStatement(true, null);
-      this.setColour(0);
+      this.setColour(movementHue);
       this.setTooltip("");
       this.setHelpUrl("");
     }
@@ -76,7 +83,7 @@ function loadMovementBlocks(Blockly) {
       this.appendDummyInput().appendField("Stop both motors");
       this.setPreviousStatement(true, null);
       this.setNextStatement(true, null);
-      this.setColour(0);
+      this.setColour(movementHue);
       this.setTooltip("");
       this.setHelpUrl("");
     }
@@ -105,7 +112,7 @@ function loadMovementBlocks(Blockly) {
       this.setInputsInline(true);
       this.setPreviousStatement(true, null);
       this.setNextStatement(true, null);
-      this.setColour(0);
+      this.setColour(movementHue);
       this.setTooltip("");
       this.setHelpUrl("");
     }
@@ -115,7 +122,7 @@ function loadMovementBlocks(Blockly) {
     init: function() {
       this.appendDummyInput().appendField("Zone");
       this.setOutput(true, null);
-      this.setColour(0);
+      this.setColour(movementHue);
       this.setTooltip("");
       this.setHelpUrl("");
     }
@@ -221,7 +228,7 @@ function loadGPIOBlocks(Blockly) {
       this.setInputsInline(true);
       this.setPreviousStatement(true, null);
       this.setNextStatement(true, null);
-      this.setColour(210);
+      this.setColour(gpioHue);
       this.setTooltip("");
       this.setHelpUrl("");
     }
@@ -237,7 +244,7 @@ function loadGPIOBlocks(Blockly) {
       this.setInputsInline(true);
       this.setPreviousStatement(true, null);
       this.setNextStatement(true, null);
-      this.setColour(210);
+      this.setColour(gpioHue);
       this.setTooltip("");
       this.setHelpUrl("");
     }
@@ -249,7 +256,7 @@ function loadGPIOBlocks(Blockly) {
         .appendField("Digital value of GPIO")
         .appendField(new Blockly.FieldNumber(1, 1, 4, 1), "GPIO_INDEX");
       this.setOutput(true, "Boolean");
-      this.setColour(210);
+      this.setColour(gpioHue);
       this.setTooltip("");
       this.setHelpUrl("");
     }
@@ -261,7 +268,7 @@ function loadGPIOBlocks(Blockly) {
         .appendField("Analog value of GPIO")
         .appendField(new Blockly.FieldNumber(1, 1, 4, 1), "GPIO_INDEX");
       this.setOutput(true, "Number");
-      this.setColour(210);
+      this.setColour(gpioHue);
       this.setTooltip("");
       this.setHelpUrl("");
     }
@@ -296,24 +303,109 @@ function loadGPIOBlocks(Blockly) {
   };
 }
 
+function loadVisionMarkerBlocks(Blockly) {
+  /* Year dependent marker blocks (2022) */
+
+  Blockly.Blocks["vision_marker_type_arena"] = {
+    init: function() {
+      this.appendDummyInput().appendField("Arena");
+      this.setOutput(true, "MarkerType");
+      this.setColour(markerTypeHue);
+      this.setTooltip("");
+      this.setHelpUrl("");
+    }
+  };
+  Blockly.Blocks["vision_marker_type_winkie"] = {
+    init: function() {
+      this.appendDummyInput().appendField("Winkie");
+      this.setOutput(true, "MarkerType");
+      this.setColour(markerTypeHue);
+      this.setTooltip("");
+      this.setHelpUrl("");
+    }
+  };
+  Blockly.Blocks["vision_marker_type_gillikin"] = {
+    init: function() {
+      this.appendDummyInput().appendField("Gillikin");
+      this.setOutput(true, "MarkerType");
+      this.setColour(markerTypeHue);
+      this.setTooltip("");
+      this.setHelpUrl("");
+    }
+  };
+  Blockly.Blocks["vision_marker_type_quadling"] = {
+    init: function() {
+      this.appendDummyInput().appendField("Quadling");
+      this.setOutput(true, "MarkerType");
+      this.setColour(markerTypeHue);
+      this.setTooltip("");
+      this.setHelpUrl("");
+    }
+  };
+  Blockly.Blocks["vision_marker_type_munchkin"] = {
+    init: function() {
+      this.appendDummyInput().appendField("Munchkin");
+      this.setOutput(true, "MarkerType");
+      this.setColour(markerTypeHue);
+      this.setTooltip("");
+      this.setHelpUrl("");
+    }
+  };
+
+  Blockly.Python["vision_marker_type_arena"] = function() {
+    const code = "MARKER_ARENA";
+    return [code, Blockly.Python.ORDER_NONE];
+  };
+  Blockly.Python["vision_marker_type_winkie"] = function() {
+    const code = "MARKER_CUBE_WINKIE";
+    return [code, Blockly.Python.ORDER_NONE];
+  };
+  Blockly.Python["vision_marker_type_gillikin"] = function() {
+    const code = "MARKER_CUBE_GILLIKIN";
+    return [code, Blockly.Python.ORDER_NONE];
+  };
+  Blockly.Python["vision_marker_type_quadling"] = function() {
+    const code = "MARKER_CUBE_QUADLING";
+    return [code, Blockly.Python.ORDER_NONE];
+  };
+  Blockly.Python["vision_marker_type_munchkin"] = function() {
+    const code = "MARKER_CUBE_MUNCHKIN";
+    return [code, Blockly.Python.ORDER_NONE];
+  };
+}
+
 function loadVisionBlocks(Blockly) {
+  /* Loads blocks for vision code that are not dependent on the current year's game.
+   * Marker blocks (year depentent) are loaded in loadVisionMarkerBlocks. */
+
   Blockly.Blocks["vision_see"] = {
     init: function() {
       this.appendDummyInput()
-        .appendField("Visible markers at")
-        .appendField(
-          new Blockly.FieldDropdown([
-            ["640x480", "(640, 480)"],
-            ["1296x736", "(1296, 736)"],
-            ["1296x976", "(1296, 976)"],
-            ["1920x1088", "(1920, 1088)"],
-            ["1920x1440", "(1920, 1440)"]
-          ]),
-          "VISION_RESOLUTION"
-        )
-        .appendField("px");
+        .appendField("Visible markers")
       this.setOutput(true, "Array");
-      this.setColour(90);
+      this.setColour(visionHue);
+      this.setTooltip("");
+      this.setHelpUrl("");
+    }
+  };
+
+  Blockly.Blocks["vision_camera_res"] = {
+    init: function() {
+      this.appendDummyInput()
+      .appendField("Set camera resolution to")
+      .appendField(
+        new Blockly.FieldDropdown([
+          ["640x480", "(640, 480)"],
+          ["1296x736", "(1296, 736)"],
+          ["1296x976", "(1296, 976)"],
+          ["1920x1088", "(1920, 1088)"],
+          ["1920x1440", "(1920, 1440)"]
+        ]),
+        "VISION_RESOLUTION"
+      );
+      this.setPreviousStatement(true, null);
+      this.setNextStatement(true, null);
+      this.setColour(visionHue);
       this.setTooltip("");
       this.setHelpUrl("");
     }
@@ -326,7 +418,7 @@ function loadVisionBlocks(Blockly) {
         .appendField("Distance to");
       this.setInputsInline(false);
       this.setOutput(true, "Number");
-      this.setColour(90);
+      this.setColour(visionHue);
       this.setTooltip("");
       this.setHelpUrl("");
     }
@@ -339,7 +431,7 @@ function loadVisionBlocks(Blockly) {
         .appendField("Angle to");
       this.setInputsInline(false);
       this.setOutput(true, "Number");
-      this.setColour(90);
+      this.setColour(visionHue);
       this.setTooltip("");
       this.setHelpUrl("");
     }
@@ -352,36 +444,20 @@ function loadVisionBlocks(Blockly) {
         .appendField("Marker type of");
       this.setInputsInline(false);
       this.setOutput(true, "MarkerType");
-      this.setColour(90);
+      this.setColour(markerTypeHue);
       this.setTooltip("");
       this.setHelpUrl("");
     }
   };
 
-  Blockly.Blocks["vision_marker_type_arena"] = {
-    init: function() {
-      this.appendDummyInput().appendField("Arena");
-      this.setOutput(true, "MarkerType");
-      this.setColour(90);
-      this.setTooltip("");
-      this.setHelpUrl("");
-    }
-  };
-
-  Blockly.Blocks["vision_marker_type_basket"] = {
-    init: function() {
-      this.appendDummyInput().appendField("Basket");
-      this.setOutput(true, "MarkerType");
-      this.setColour(90);
-      this.setTooltip("");
-      this.setHelpUrl("");
-    }
+  Blockly.Python["vision_see"] = function(block) {
+    const code = `R.see()`;
+    return [code, Blockly.Python.ORDER_NONE];
   };
 
-  Blockly.Python["vision_see"] = function(block) {
+  Blockly.Python["vision_camera_res"] = function(block) {
     const dropdown_vision_resolution = block.getFieldValue("VISION_RESOLUTION");
-    const code = `R.see(res=${dropdown_vision_resolution})`;
-    return [code, Blockly.Python.ORDER_NONE];
+    return `R.camera.res = ${dropdown_vision_resolution}\n`;
   };
 
   Blockly.Python["vision_distance_to"] = function(block) {
@@ -400,7 +476,7 @@ function loadVisionBlocks(Blockly) {
       "MARKER",
       Blockly.Python.ORDER_ATOMIC
     );
-    const code = `${value_marker}.rot_y`;
+    const code = `${value_marker}.bearing.y`;
     return [code, Blockly.Python.ORDER_NONE];
   };
 
@@ -410,19 +486,12 @@ function loadVisionBlocks(Blockly) {
       "MARKER",
       Blockly.Python.ORDER_ATOMIC
     );
-    const code = `${value_marker}.info.marker_type`;
+    const code = `${value_marker}.info.type`;
     return [code, Blockly.Python.ORDER_NONE];
   };
 
-  Blockly.Python["vision_marker_type_arena"] = function() {
-    const code = "MARKER_TYPE_ARENA";
-    return [code, Blockly.Python.ORDER_NONE];
-  };
-
-  Blockly.Python["vision_marker_type_basket"] = function() {
-    const code = "MARKER_TYPE_BASKET";
-    return [code, Blockly.Python.ORDER_NONE];
-  };
+  // Load marker blocks. These may change for different competitions. 
+  loadVisionMarkerBlocks(Blockly);
 }
 
 export default function loadBlocks(Blockly) {

diff --git a/sheepsrc/app/components/editor/blockly/toolbox.xml b/sheepsrc/app/components/editor/blockly/toolbox.xml
@@ -378,6 +378,7 @@
   </category>
   <category name="Vision" colour="#80a55b">
     <block type="vision_see"></block>
+    <block type="vision_camera_res"></block>
     <block type="vision_distance_to">
       <value name="MARKER">
         <block type="variables_get">
@@ -392,15 +393,19 @@
         </block>
       </value>
     </block>
-       <block type="vision_marker_type">
+    <block type="vision_marker_type">
       <value name="MARKER">
         <block type="variables_get">
           <field name="VAR" id=";)moF_=/[]v+i@k*^`Aq" variabletype="">marker</field>
         </block>
       </value>
     </block>
     <block type="vision_marker_type_arena"></block>
-    <block type="vision_marker_type_basket"></block>
+    <block type="vision_marker_type_winkie"></block>
+    <block type="vision_marker_type_gillikin"></block>
+    <block type="vision_marker_type_quadling"></block>
+    <block type="vision_marker_type_munchkin"></block>
+
     <block type="controls_forEach">
       <field name="VAR" id=";)moF_=/[]v+i@k*^`Aq" variabletype="">i</field>
       <value name="LIST">

diff --git a/shepherd/blueprints/staticroutes/editor/bundle.js b/shepherd/blueprints/staticroutes/editor/bundle.js