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* @override\n * 自定义积木，要采用统一样式，必须在定义积木样式，\n * 设置output:'String/Number/Boolean/...'\n *\n */\nimport Blockly from 'blockly'\n\n// 默认的机器人robot\nBlockly.Blocks['gta_robot'] = {\n  init: function() {\n    this.appendDummyInput().appendField('robot')\n    this.setOutput(true)\n    this.setStyle('event_blocks')\n    this.setTooltip('')\n    this.setInputsInline(true)\n    this.setHelpUrl(Blockly.Msg['gta_robot'])\n  },\n}\nBlockly.Python['gta_robot'] = function(block) {\n  var code = 'robot'\n  return [code, Blockly.Python.ORDER_NONE]\n}\n\n// define a robot\nBlockly.Blocks['gta_define_robot_B'] = {\n  init: function() {\n    this.appendValueInput('ROBOT')\n      .setCheck(null)\n      .setAlign(Blockly.ALIGN_RIGHT)\n    this.appendDummyInput()\n      .appendField('请连接一个robot ID')\n      .appendField(new Blockly.FieldTextInput(''), 'NAME')\n    this.setStyle('event_blocks')\n    this.setPreviousStatement(true, null)\n    this.setNextStatement(true, null)\n    this.setTooltip(\n      '在同个局域网内，搜寻STA模式下的机器设备，并建立连接。参数：string类型，指代机器设备的名称（ID）默认值为 \"robot\"。返回无。'\n    )\n    this.setHelpUrl(Blockly.Msg['gta_define_robot_B'])\n  },\n}\n\nBlockly.Python['gta_define_robot_B'] = function(block) {\n  var robot = Blockly.Python.valueToCode(\n    block,\n    'ROBOT',\n    Blockly.Python.ORDER_NONE\n  )\n  var name = block.getFieldValue('NAME')\n  var code = `${robot} = RobotX('${name}')\\n`\n  return code\n}\n\n// 断开机器人连接\nBlockly.Blocks['gta_robot_B_close'] = {\n  init: function() {\n    this.appendValueInput('ROBOT')\n      .setCheck(null)\n      .setAlign(Blockly.ALIGN_RIGHT)\n    this.appendDummyInput().appendField('断开连接')\n    this.setStyle('event_blocks')\n    this.setPreviousStatement(true, null)\n    this.setNextStatement(true, null)\n    this.setTooltip('断开机器人连接。无参数。无返回。')\n    this.setHelpUrl(Blockly.Msg['gta_robot_B_close'])\n  },\n}\nBlockly.Python['gta_robot_B_close'] = function(block) {\n  var robot = Blockly.Python.valueToCode(\n    block,\n    'ROBOT',\n    Blockly.Python.ORDER_NONE\n  )\n  var name = block.getFieldValue('NAME')\n  var code = `${robot}.close()\\n`\n  return code\n}\n\n// 获取机器人电量\nBlockly.Blocks['gta_robot_B_get_battery'] = {\n  init: function() {\n    this.appendValueInput('ROBOT')\n      .setCheck(null)\n      .setAlign(Blockly.ALIGN_RIGHT)\n    this.appendDummyInput().appendField(' 获取电量')\n    this.setStyle('event_blocks')\n    this.setOutput(true)\n    this.setTooltip('获取机器人电量。无参数。返回：0~100;返回剩余电量百分比。')\n    this.setHelpUrl(Blockly.Msg['gta_robot_B_get_battery'])\n  },\n}\nBlockly.Python['gta_robot_B_get_battery'] = function(block) {\n  var robot = Blockly.Python.valueToCode(\n    block,\n    'ROBOT',\n    Blockly.Python.ORDER_NONE\n  )\n  var name = block.getFieldValue('NAME')\n  var code = `${robot}.get_battery()`\n  return [code, Blockly.Python.ORDER_FUNCTION_CALL]\n}\n\n// 获取机器人序列号\nBlockly.Blocks['gta_robot_B_get_sn'] = {\n  init: function() {\n    this.appendValueInput('ROBOT')\n      .setCheck(null)\n      .setAlign(Blockly.ALIGN_RIGHT)\n    this.appendDummyInput().appendField(' 获取序列号')\n    this.setStyle('event_blocks')\n    this.setOutput(true)\n    this.setTooltip('获取机器人序列号。无参数。返回：SN字符串。')\n    this.setHelpUrl(Blockly.Msg['gta_robot_B_get_sn'])\n  },\n}\nBlockly.Python['gta_robot_B_get_sn'] = function(block) {\n  var robot = Blockly.Python.valueToCode(\n    block,\n    'ROBOT',\n    Blockly.Python.ORDER_NONE\n  )\n  var name = block.getFieldValue('NAME')\n  var code = `${robot}.get_sn()`\n  return [code, Blockly.Python.ORDER_FUNCTION_CALL]\n}\n\n// 获取机器人固件版本号\nBlockly.Blocks['gta_robot_B_get_version'] = {\n  init: function() {\n    this.appendValueInput('ROBOT')\n      .setCheck(null)\n      .setAlign(Blockly.ALIGN_RIGHT)\n    this.appendDummyInput().appendField(' 获取固件版本号')\n    this.setStyle('event_blocks')\n    this.setOutput(true)\n    this.setTooltip('获取机器人固件版本号。无参数。返回：固件版本号。')\n    this.setHelpUrl(Blockly.Msg['gta_robot_B_get_version'])\n  },\n}\n\nBlockly.Python['gta_robot_B_get_version'] = function(block) {\n  var robot = Blockly.Python.valueToCode(\n    block,\n    'ROBOT',\n    Blockly.Python.ORDER_NONE\n  )\n  var code = `${robot}.get_version()`\n  return [code, Blockly.Python.ORDER_FUNCTION_CALL]\n}\n\n/**\n * 轮Chassis模块\n * */\n\n//  设置麦轮速度\nBlockly.Blocks['gta_robot_B_drive_wheels'] = {\n  init: function() {\n    this.appendDummyInput()\n    this.appendValueInput('ROBOT')\n      .setCheck(null)\n      .setAlign(Blockly.ALIGN_RIGHT)\n    this.appendDummyInput()\n      .appendField(' 麦轮速度：')\n      .appendField(' 左前轮 ')\n      .appendField(new Blockly.FieldNumber(0, -100, 100, 1), 'lf')\n      .appendField(' 左后轮 ')\n      .appendField(new Blockly.FieldNumber(0, -100, 100, 1), 'lb')\n      .appendField(' 右前轮 ')\n      .appendField(new Blockly.FieldNumber(0, -100, 100, 1), 'rf')\n      .appendField(' 右后轮 ')\n      .appendField(new Blockly.FieldNumber(0, -100, 100, 1), 'rb')\n      .appendField('  ')\n      .appendField(new Blockly.FieldNumber(10), 'timeout')\n      .appendField('秒停止运动')\n    this.setInputsInline(true)\n    this.setPreviousStatement(true, null)\n    this.setNextStatement(true, null)\n    this.setStyle('drive_blocks')\n    this.setTooltip(\n      '设置不同速度可以实现前进、后退、旋转、平移等运动。参数：左前轮速度、左后轮速度、右前轮速度、右后轮速度、几秒后停止运动。返回：设置成功返回True，失败返回False。'\n    )\n    this.setHelpUrl(Blockly.Msg['gta_robot_B_drive_wheels'])\n  },\n}\n\nBlockly.Python['gta_robot_B_drive_wheels'] = function(block) {\n  let robot = Blockly.Python.valueToCode(\n    block,\n    'ROBOT',\n    Blockly.Python.ORDER_NONE\n  )\n  let lf = block.getFieldValue('lf')\n  let lb = block.getFieldValue('lb')\n  let rf = block.getFieldValue('rf')\n  let rb = block.getFieldValue('rb')\n  let timeout = block.getFieldValue('timeout')\n\n  var code = `${robot}.chassis.drive_wheels(lf=${lf}, lb=${lb}, rf=${rf}, rb=${rb}, timeout=${timeout})\\n`\n  return code\n}\n\n// 设置路径规划。\nBlockly.Blocks['gta_robot_B_chassis_move'] = {\n  init: function() {\n    this.appendDummyInput()\n    this.appendValueInput('ROBOT')\n      .setCheck(null)\n      .setAlign(Blockly.ALIGN_RIGHT)\n    this.appendDummyInput()\n      .appendField('运动路径：')\n      .appendField('  向X轴运动')\n      .appendField(new Blockly.FieldNumber(0, -160, 160, 1), 'axiosX')\n      .appendField('厘米  向Y轴运动')\n      .appendField(new Blockly.FieldNumber(0, -160, 160, 1), 'axiosY')\n      .appendField('厘米  旋转')\n      .appendField(new Blockly.FieldNumber(0, -180, 180, 1), 'angle')\n      .appendField('角度')\n    this.setInputsInline(true)\n    this.setPreviousStatement(true, null)\n    this.setNextStatement(true, null)\n    this.setStyle('drive_blocks')\n    this.setTooltip(\n      '设置路径规划。当前位置为原点，向X轴运动（0）厘米，向Y轴运动（0）厘米，然后旋转（0）角度。参数：1.向X轴运动（0）厘米,整数类型,-160~160;2.向Y轴运动厘米,整数类型,-160~160;3.旋转（）角度,整数类型,-180~180。无返回。'\n    )\n    this.setHelpUrl(Blockly.Msg['gta_robot_B_chassis_move'])\n  },\n}\n\nBlockly.Python['gta_robot_B_chassis_move'] = function(block) {\n  let robot = Blockly.Python.valueToCode(\n    block,\n    'ROBOT',\n    Blockly.Python.ORDER_NONE\n  )\n  let axiosX = block.getFieldValue('axiosX')\n  let axiosY = block.getFieldValue('axiosY')\n  let angle = block.getFieldValue('angle')\n\n  var code = `${robot}.chassis.move(x=${axiosX},y=${axiosY}, a=${angle})\\n`\n  return code\n}\n\n/**\n * 臂Arm模块\n * */\n\n// 机械臂回到初始位置\nBlockly.Blocks['gta_robot_B_arm_recenter'] = {\n  init: function() {\n    this.appendDummyInput()\n    this.appendValueInput('ROBOT')\n      .setCheck(null)\n      .setAlign(Blockly.ALIGN_RIGHT)\n    this.appendDummyInput().appendField(' 机械臂回到初始位置')\n    this.setInputsInline(true)\n    this.setPreviousStatement(true, null)\n    this.setNextStatement(true, null)\n    this.setStyle('posture_blocks')\n    this.setTooltip(\n      '机械臂回到初始位置;bool ：回中完成返回True，否则返回False;初始位置坐标点为（12，15）。'\n    )\n    this.setHelpUrl(Blockly.Msg['gta_robot_B_arm_recenter'])\n  },\n}\n\nBlockly.Python['gta_robot_B_arm_recenter'] = function(block) {\n  let robot = Blockly.Python.valueToCode(\n    block,\n    'ROBOT',\n    Blockly.Python.ORDER_NONE\n  )\n  var code = `${robot}.arm.recenter()\\n`\n  return code\n}\n// 移动机械臂到绝对位置：X（）Y（）\nBlockly.Blocks['gta_robot_B_arm_move_to'] = {\n  init: function() {\n    this.appendDummyInput()\n    this.appendValueInput('ROBOT')\n      .setCheck(null)\n      .setAlign(Blockly.ALIGN_RIGHT)\n    this.appendDummyInput()\n      .appendField(' 机械臂移动到  x')\n      .appendField(new Blockly.FieldNumber(12, 12, 18, 1), 'axiosX')\n      .appendField('  y')\n      .appendField(new Blockly.FieldNumber(15, 3, 19, 1), 'axiosY')\n    this.setInputsInline(true)\n    this.setPreviousStatement(true, null)\n    this.setNextStatement(true, null)\n    this.setStyle('posture_blocks')\n    this.setTooltip(\n      '移动机械臂到绝对位置：X（）Y（）。X轴取值范围为12~18的整数值；Y轴取值范围为3~19的整数值；但是由于机器臂的动作的局限，机械臂移动不到在X、Y活动区间的一些的位置，比如机器臂可能移动不到（13,18）位置。'\n    )\n    this.setHelpUrl(Blockly.Msg['gta_robot_B_arm_move_to'])\n  },\n}\n\nBlockly.Python['gta_robot_B_arm_move_to'] = function(block) {\n  let robot = Blockly.Python.valueToCode(\n    block,\n    'ROBOT',\n    Blockly.Python.ORDER_NONE\n  )\n  let axiosX = block.getFieldValue('axiosX')\n  let axiosY = block.getFieldValue('axiosY')\n\n  var code = `${robot}.arm.move_to(x=${axiosX},y=${axiosY})\\n`\n  return code\n}\n\n/**\n * 夹Gripper模块\n * */\n\n//  获取机械手状态\nBlockly.Blocks['gta_robot_B_gripper_get_status'] = {\n  init: function() {\n    this.appendDummyInput()\n    this.appendValueInput('ROBOT')\n      .setCheck(null)\n      .setAlign(Blockly.ALIGN_RIGHT)\n    this.appendDummyInput().appendField(' 获取机械手状态')\n    this.setInputsInline(true)\n    this.setOutput(true)\n    this.setStyle('posture_blocks')\n    this.setTooltip(\n      '获取机械手状态。返回：a.int ：0:完全张开, 1:完全闭合, 2:中间状态;b. bool ：False：异常。'\n    )\n    this.setHelpUrl(Blockly.Msg['gta_robot_B_gripper_get_status'])\n  },\n}\n\nBlockly.Python['gta_robot_B_gripper_get_status'] = function(block) {\n  let robot = Blockly.Python.valueToCode(\n    block,\n    'ROBOT',\n    Blockly.Python.ORDER_NONE\n  )\n\n  var code = `${robot}.gripper.get_status()`\n  return [code, Blockly.Python.ORDER_NONE]\n}\n\n// 机械手闭合\nBlockly.Blocks['gta_robot_B_gripper_close'] = {\n  init: function() {\n    this.appendDummyInput()\n    this.appendValueInput('ROBOT')\n      .setCheck(null)\n      .setAlign(Blockly.ALIGN_RIGHT)\n    this.appendDummyInput().appendField(' 机械手闭合')\n\n    this.setInputsInline(true)\n    this.setPreviousStatement(true, null)\n    this.setNextStatement(true, null)\n    this.setStyle('posture_blocks')\n    this.setTooltip(\n      '机械手闭合。参数：无。返回bool ：机械手关闭为True，否则为False'\n    )\n    this.setHelpUrl(Blockly.Msg['gta_robot_B_gripper_close'])\n  },\n}\n\nBlockly.Python['gta_robot_B_gripper_close'] = function(block) {\n  let robot = Blockly.Python.valueToCode(\n    block,\n    'ROBOT',\n    Blockly.Python.ORDER_NONE\n  )\n\n  var code = `${robot}.gripper.close()\\n`\n  return code\n}\n\n// 机械手打开\nBlockly.Blocks['gta_robot_B_gripper_open'] = {\n  init: function() {\n    this.appendDummyInput()\n    this.appendValueInput('ROBOT')\n      .setCheck(null)\n      .setAlign(Blockly.ALIGN_RIGHT)\n    this.appendDummyInput().appendField(' 机械手打开')\n\n    this.setInputsInline(true)\n    this.setPreviousStatement(true, null)\n    this.setNextStatement(true, null)\n    this.setStyle('posture_blocks')\n    this.setTooltip(\n      '机械手打开。参数：无。返回bool ：机械手打开为True，否则为False'\n    )\n    this.setHelpUrl(Blockly.Msg['gta_robot_B_gripper_open'])\n  },\n}\n\nBlockly.Python['gta_robot_B_gripper_open'] = function(block) {\n  let robot = Blockly.Python.valueToCode(\n    block,\n    'ROBOT',\n    Blockly.Python.ORDER_NONE\n  )\n\n  var code = `${robot}.gripper.open()\\n`\n  return code\n}\n\n/**\n * 舵机Servo模块\n * */\n\n//  获取舵机角度值\nBlockly.Blocks['gta_robot_B_servo_get_angle'] = {\n  init: function() {\n    this.appendDummyInput()\n    this.appendValueInput('ROBOT')\n      .setCheck(null)\n      .setAlign(Blockly.ALIGN_RIGHT)\n    this.appendDummyInput()\n      .appendField(' 获取舵机角度值')\n      .appendField(\n        new Blockly.FieldDropdown([\n          ['左舵机', '0'],\n          ['右舵机', '1'],\n        ]),\n        'angle'\n      )\n    this.setInputsInline(true)\n    this.setPreviousStatement(true, null)\n    this.setNextStatement(true, null)\n    this.setStyle('posture_blocks')\n    this.setTooltip('获取舵机角度值。返回： int ：舵机角度')\n    this.setHelpUrl(Blockly.Msg['gta_robot_B_servo_get_angle'])\n  },\n}\n\nBlockly.Python['gta_robot_B_servo_get_angle'] = function(block) {\n  let robot = Blockly.Python.valueToCode(\n    block,\n    'ROBOT',\n    Blockly.Python.ORDER_NONE\n  )\n  var angle = block.getFieldValue('angle')\n  var code = `${robot}.servo.get_angle(id=${angle})`\n  return code\n}\n\n//  舵机旋转\nBlockly.Blocks['gta_robot_B_servo_move_to'] = {\n  init: function() {\n    this.appendValueInput('ROBOT')\n      .setCheck(null)\n      .setAlign(Blockly.ALIGN_RIGHT)\n    this.appendDummyInput()\n      .appendField(' 舵机旋转')\n      .appendField(\n        new Blockly.FieldDropdown([\n          ['左舵机：(85,180]', '0'],\n          ['右舵机：[0,100)', '1'],\n        ]),\n        'servo'\n      )\n      .appendField(' 旋转')\n      .appendField(new Blockly.FieldNumber(0, 0, 180, 1), 'angle')\n      .appendField(' °')\n    this.setInputsInline(true)\n    this.setPreviousStatement(true, null)\n    this.setNextStatement(true, null)\n    this.setStyle('posture_blocks')\n    this.setTooltip(\n      '旋转舵机。参数：a.左舵机：旋转范围范围(85,180];b.右舵机，范围0~110； 返回bool ：移动成功返回 True, 否则返回 False'\n    )\n    this.setHelpUrl(Blockly.Msg['gta_robot_B_servo_move_to'])\n  },\n}\n\nBlockly.Python['gta_robot_B_servo_move_to'] = function(block) {\n  let robot = Blockly.Python.valueToCode(\n    block,\n    'ROBOT',\n    Blockly.Python.ORDER_NONE\n  )\n  var servo = block.getFieldValue('servo')\n  var angle = block.getFieldValue('angle')\n  var code = `${robot}.servo.move_to(id=${servo},angle=${angle})\\n`\n  return code\n}\n\n/**\n * 灯LED模块 -舍弃\n * */\n\n//  开启RGB灯光\nBlockly.Blocks['gta_robot_B_led_set_led'] = {\n  init: function() {\n    this.appendValueInput('ROBOT')\n      .setCheck(null)\n      .setAlign(Blockly.ALIGN_RIGHT)\n    this.appendDummyInput()\n      .appendField('开启RGB灯光：')\n      .appendField(new Blockly.FieldNumber(0, 0, 255, 1), 'RED')\n      .appendField(new Blockly.FieldNumber(0, 0, 255, 1), 'GREEN')\n      .appendField(new Blockly.FieldNumber(0, 0, 255, 1), 'BLUE')\n    this.setStyle('light_blocks')\n    this.setPreviousStatement(true, null)\n    this.setNextStatement(true, null)\n    this.setTooltip(\n      '开启RGB灯光。返回bool ： 设置成功返回 True, 设置失败返回 False'\n    )\n    this.setHelpUrl(Blockly.Msg['gta_robot_B_led_set_led'])\n  },\n}\n\nBlockly.Python['gta_robot_B_led_set_led'] = function(block) {\n  let robot = Blockly.Python.valueToCode(\n    block,\n    'ROBOT',\n    Blockly.Python.ORDER_NONE\n  )\n  var number_red = block.getFieldValue('RED')\n  var number_green = block.getFieldValue('GREEN')\n  var number_blue = block.getFieldValue('BLUE')\n  var code = `${robot}.led.set_led(color=(${number_red},${number_green},${number_blue}))\\n`\n  return code\n}\n\n/**\n * 摄像头Camera模块\n * */\n\n// 打开摄像头-功能：在主程序运行过程中开启服务，并持续显示图像\nBlockly.Blocks['gta_robot_B_display_video'] = {\n  init: function() {\n    this.appendValueInput('ROBOT')\n      .setCheck(null)\n      .setAlign(Blockly.ALIGN_RIGHT)\n    this.appendDummyInput().appendField('打开摄像头')\n    this.setStyle('robot_B_camera')\n    this.setPreviousStatement(true, null)\n    this.setNextStatement(true, null)\n    this.setTooltip('主程序运行过程中开启服务，持续显示图像。')\n    this.setHelpUrl(Blockly.Msg['gta_robot_B_display_video'])\n  },\n}\n\nBlockly.Python['gta_robot_B_display_video'] = function(block) {\n  let robot = Blockly.Python.valueToCode(\n    block,\n    'ROBOT',\n    Blockly.Python.ORDER_NONE\n  )\n  var code = `${robot}.display_video()\\n`\n  return code\n}\n\n// 获取摄像头图像\nBlockly.Blocks['gta_robot_B_get_camera_image'] = {\n  init: function() {\n    this.appendValueInput('ROBOT')\n      .setCheck(null)\n      .setAlign(Blockly.ALIGN_RIGHT)\n    this.appendDummyInput().appendField('获取摄像头图像')\n    this.setStyle('robot_B_camera')\n    // this.setPreviousStatement(true, null)\n    // this.setNextStatement(true, null)\n    this.setOutput(true)\n    this.setTooltip(\n      '获取当前摄像头的图像，返回网络图片地址。参数：无。返回：网络地址URL'\n    )\n    this.setHelpUrl(Blockly.Msg['gta_robot_B_get_camera_image'])\n  },\n}\n\nBlockly.Python['gta_robot_B_get_camera_image'] = function(block) {\n  let robot = Blockly.Python.valueToCode(\n    block,\n    'ROBOT',\n    Blockly.Python.ORDER_NONE\n  )\n  var code = `${robot}.get_camera_image()`\n  return [code, Blockly.Python.ORDER_NONE]\n}\n\n/**\n * 技能Skill模块\n * */\n// 检测色块：\nBlockly.Blocks['gta_robot_B_detect_color_blob'] = {\n  init: function() {\n    this.appendValueInput('ROBOT')\n      .setCheck(null)\n      .setAlign(Blockly.ALIGN_RIGHT)\n    this.appendDummyInput().appendField('检测色块:  下边界')\n    this.appendValueInput('LOW')\n      .setCheck(null)\n      .setAlign(Blockly.ALIGN_RIGHT)\n    this.appendDummyInput().appendField(' 上边界')\n    this.appendValueInput('HIGH')\n      .setCheck(null)\n      .setAlign(Blockly.ALIGN_RIGHT)\n    this.appendDummyInput()\n      .appendField(' 停止时间')\n      .appendField(new Blockly.FieldNumber(0, 1), 'timeout')\n    this.setStyle('robot_B_skill')\n    // this.setPreviousStatement(true, null)\n    // this.setNextStatement(true, null)\n    this.setOutput(true)\n    this.setTooltip(\n      '检测图像中是否有指定HSV范围内的色块的线段，如有则返回True 和数组[X1,Y1,X2,Y2]（指代线段起点坐标与终点坐标）。参数：下边界：HSV颜色值，上边界：HSV颜色值，停止：几秒后停止'\n    )\n    this.setHelpUrl(Blockly.Msg['gta_robot_B_detect_color_blob'])\n  },\n}\n\nBlockly.Python['gta_robot_B_detect_color_blob'] = function(block) {\n  let robot = Blockly.Python.valueToCode(\n    block,\n    'ROBOT',\n    Blockly.Python.ORDER_NONE\n  )\n  let lowColor = Blockly.Python.valueToCode(\n    block,\n    'LOW',\n    Blockly.Python.ORDER_NONE\n  ).trim()\n  let highColor = Blockly.Python.valueToCode(\n    block,\n    'HIGH',\n    Blockly.Python.ORDER_NONE\n  )\n\n  let lowH, lowS, lowV, highH, highS, highV\n  lowH = lowS = lowV = highH = highS = highV = 0\n\n  if (lowColor && typeof lowColor == 'string' && lowColor != '...') {\n    lowColor = JSON.parse(lowColor)\n    lowH = lowColor.h\n    lowS = lowColor.s\n    lowV = lowColor.v\n  }\n  if (highColor && typeof highColor == 'string' && highColor != '...') {\n    highColor = JSON.parse(highColor)\n    highH = highColor.h\n    highS = highColor.s\n    highV = highColor.v\n  }\n  var timeout = block.getFieldValue('timeout')\n  var code = `${robot}.skill.detect_color_blob(hsv_low=(${lowH}, ${lowS}, ${lowV}),hsv_high=(${highH}, ${highS}, ${highV}),timeout=${timeout})\\n`\n  return [code, Blockly.Python.ORDER_NONE]\n\n}\n\n// HSV色块：\nBlockly.Blocks['gta_robot_hsv'] = {\n  init: function() {\n    this.appendDummyInput()\n      .appendField('HSV色块:  H')\n      .appendField(new Blockly.FieldNumber(0, 0, 360, 1), 'h')\n      .appendField(' S')\n      .appendField(new Blockly.FieldNumber(0, 0, 100, 1), 's')\n      .appendField(' V')\n      .appendField(new Blockly.FieldNumber(0, 0, 100, 1), 'v')\n    this.setInputsInline(true)\n    this.setStyle('robot_B_skill')\n    this.setOutput(true)\n    this.setTooltip(\n      'HSV色块,输出hsv颜色值。参数H色调、S饱和度、V明度。输出HSV值'\n    )\n    this.setHelpUrl(Blockly.Msg['gta_robot_hsv'])\n  },\n}\n\nBlockly.Python['gta_robot_hsv'] = function(block) {\n  var h = block.getFieldValue('h')\n  var s = block.getFieldValue('s')\n  var v = block.getFieldValue('v')\n  var code = `{\"h\":${h},\"s\":${s},\"v\":${v}}`\n  return [code, Blockly.Python.ORDER_NONE]\n}\n\n// 自动巡线\nBlockly.Blocks['gta_robot_B_move_along_line'] = {\n  init: function() {\n    this.appendValueInput('ROBOT')\n      .setCheck(null)\n      .setAlign(Blockly.ALIGN_RIGHT)\n    this.appendDummyInput().appendField('自动巡线')\n    this.setStyle('robot_B_skill')\n    this.setPreviousStatement(true, null)\n    this.setNextStatement(true, null)\n    this.setTooltip(\n      '自动巡线。参数：无。返回bool :巡线结束返回True，异常返回False'\n    )\n    this.setHelpUrl(Blockly.Msg['gta_robot_B_move_along_line'])\n  },\n}\n\nBlockly.Python['gta_robot_B_move_along_line'] = function(block) {\n  let robot = Blockly.Python.valueToCode(\n    block,\n    'ROBOT',\n    Blockly.Python.ORDER_NONE\n  )\n  var code = `${robot}.skill.move_along_line()\\n`\n  return code\n}\n\n// 检测图案\nBlockly.Blocks['gta_robot_B_detect_pattern'] = {\n  init: function() {\n    this.appendValueInput('ROBOT')\n      .setCheck(null)\n      .setAlign(Blockly.ALIGN_RIGHT)\n    this.appendDummyInput()\n      .appendField('检测图案 ')\n      .appendField(' 图案')\n      .appendField(new Blockly.FieldTextInput('A'), 'pattern')\n      .appendField('  ')\n      .appendField(new Blockly.FieldNumber(0), 'timeout')\n      .appendField('秒后停止')\n    this.setStyle('robot_B_skill')\n    // this.setPreviousStatement(true, null)\n    // this.setNextStatement(true, null)\n    this.setOutput(true)\n    this.setTooltip(\n      \"检测图案。参数：a.图案:支持图案'A'-'Z'，'0'~'9',b.几秒后停止。返回bool :检测到指定图案返回True，未检测到返回False\"\n    )\n    this.setHelpUrl(Blockly.Msg['gta_robot_B_detect_pattern'])\n  },\n}\n\nBlockly.Python['gta_robot_B_detect_pattern'] = function(block) {\n  let robot = Blockly.Python.valueToCode(\n    block,\n    'ROBOT',\n    Blockly.Python.ORDER_NONE\n  )\n  let pattern = block.getFieldValue('pattern')\n  let timeout = block.getFieldValue('timeout')\n  var code = `${robot}.skill.detect_pattern(id='${pattern}', timeout=${timeout})`\n  return [code, Blockly.Python.ORDER_NONE]\n}\n\n// 移动至图案（A）前方指定位置X（0）Y（13）\nBlockly.Blocks['gta_robot_B_move_to_pattern'] = {\n  init: function() {\n    this.appendValueInput('ROBOT')\n      .setCheck(null)\n      .setAlign(Blockly.ALIGN_RIGHT)\n    this.appendDummyInput()\n      .appendField('移动至图案前指定位置 ')\n      .appendField(' 图案')\n      .appendField(new Blockly.FieldTextInput('A'), 'pattern')\n      .appendField('  X')\n      .appendField(new Blockly.FieldNumber(30, -30, 30, 1), 'X')\n      .appendField('  Y')\n      .appendField(new Blockly.FieldNumber(0, -13, 60, 1), 'Y')\n    this.setStyle('robot_B_skill')\n    this.setPreviousStatement(true, null)\n    this.setNextStatement(true, null)\n    this.setTooltip(\n      \"移动至图案前指定位置。参数：a.图案:支持图案'A'-'Z'，'0'~'9',b. X:停止时，图案中心线与机器人中心线左右距离，单位cm,-30~30,整数值；c. Y:停止时，图案处于机器人摄像头平面前方距离,单位cm,-13~60,整数值；d.几秒后停止；返回bool ：成功移动到图案前指定位置返回True，失败返回False\"\n    )\n    this.setHelpUrl(Blockly.Msg['gta_robot_B_move_to_pattern'])\n  },\n}\n\nBlockly.Python['gta_robot_B_move_to_pattern'] = function(block) {\n  let robot = Blockly.Python.valueToCode(\n    block,\n    'ROBOT',\n    Blockly.Python.ORDER_NONE\n  )\n  let pattern = block.getFieldValue('pattern')\n  let X = block.getFieldValue('X')\n  let Y = block.getFieldValue('Y')\n  var code = `${robot}.skill.move_to_pattern(id='${pattern}',x=${X},y=${Y})\\n`\n  return code\n}\n\n// 检测人脸\nBlockly.Blocks['gta_robot_B_detect_face'] = {\n  init: function() {\n    this.appendValueInput('ROBOT')\n      .setCheck(null)\n      .setAlign(Blockly.ALIGN_RIGHT)\n    this.appendDummyInput()\n      .appendField('检测人脸  ')\n      .appendField(new Blockly.FieldNumber(0), 'timeout')\n      .appendField('秒后停止')\n    this.setStyle('robot_B_skill')\n    // this.setPreviousStatement(true, null)\n    // this.setNextStatement(true, null)\n    this.setOutput(true)\n    this.setTooltip('检测人脸。参数：几秒后停止。')\n    this.setHelpUrl(Blockly.Msg['gta_robot_B_detect_face'])\n  },\n}\n\nBlockly.Python['gta_robot_B_detect_face'] = function(block) {\n  let robot = Blockly.Python.valueToCode(\n    block,\n    'ROBOT',\n    Blockly.Python.ORDER_NONE\n  )\n  let timeout = block.getFieldValue('timeout')\n  var code = `${robot}.skill.detect_face(timeout=${timeout})`\n  return [code, Blockly.Python.ORDER_NONE]\n}\n\n// 检测二维码，（1）秒后停止\nBlockly.Blocks['gta_robot_B_detect_qrcode'] = {\n  init: function() {\n    this.appendValueInput('ROBOT')\n      .setCheck(null)\n      .setAlign(Blockly.ALIGN_RIGHT)\n    this.appendDummyInput()\n      .appendField('检测二维码  ')\n      .appendField(new Blockly.FieldNumber(0, 0), 'timeout')\n      .appendField('秒后停止')\n    this.setStyle('robot_B_skill')\n    // this.setPreviousStatement(true, null)\n    // this.setNextStatement(true, null)\n    this.setOutput(true)\n    this.setTooltip('检测二维码。参数：几秒后停止。')\n    this.setHelpUrl(Blockly.Msg['gta_robot_B_detect_qrcode'])\n  },\n}\n\nBlockly.Python['gta_robot_B_detect_qrcode'] = function(block) {\n  let robot = Blockly.Python.valueToCode(\n    block,\n    'ROBOT',\n    Blockly.Python.ORDER_NONE\n  )\n  let timeout = block.getFieldValue('timeout')\n  var code = `${robot}.skill.detect_qrcode(timeout=${timeout})`\n  return [code, Blockly.Python.ORDER_NONE]\n}\n","// `SameValue` abstract operation\n// https://tc39.github.io/ecma262/#sec-samevalue\nmodule.exports = Object.is || function is(x, y) {\n  // eslint-disable-next-line no-self-compare\n  return x === y ? x !== 0 || 1 / x === 1 / y : x != x && y != y;\n};\n","'use strict';\nvar fixRegExpWellKnownSymbolLogic = require('../internals/fix-regexp-well-known-symbol-logic');\nvar anObject = require('../internals/an-object');\nvar requireObjectCoercible = require('../internals/require-object-coercible');\nvar sameValue = require('../internals/same-value');\nvar regExpExec = require('../internals/regexp-exec-abstract');\n\n// @@search logic\nfixRegExpWellKnownSymbolLogic('search', 1, function (SEARCH, nativeSearch, maybeCallNative) {\n  return [\n    // `String.prototype.search` method\n    // https://tc39.github.io/ecma262/#sec-string.prototype.search\n    function search(regexp) {\n      var O = requireObjectCoercible(this);\n      var searcher = regexp == undefined ? undefined : regexp[SEARCH];\n      return searcher !== undefined ? searcher.call(regexp, O) : new RegExp(regexp)[SEARCH](String(O));\n    },\n    // `RegExp.prototype[@@search]` method\n    // https://tc39.github.io/ecma262/#sec-regexp.prototype-@@search\n    function (regexp) {\n      var res = maybeCallNative(nativeSearch, regexp, this);\n      if (res.done) return res.value;\n\n      var rx = anObject(regexp);\n      var S = String(this);\n\n      var previousLastIndex = rx.lastIndex;\n      if (!sameValue(previousLastIndex, 0)) rx.lastIndex = 0;\n      var result = regExpExec(rx, S);\n      if (!sameValue(rx.lastIndex, previousLastIndex)) rx.lastIndex = previousLastIndex;\n      return result === null ? -1 : result.index;\n    }\n  ];\n});\n","/**\n * @override\n * 自定义积木，要采用统一样式，必须在定义积木样式，\n * 设置output:'String/Number/Boolean/...'\n *\n */\nimport Blockly from 'blockly'\n// define a robot\nBlockly.Blocks['gta_define_robot'] = {\n  init: function() {\n    this.appendDummyInput()\n      .appendField('请连接一个robot ID')\n      .appendField(new Blockly.FieldTextInput('robot'), 'NAME')\n    this.setStyle('event_blocks')\n    this.setPreviousStatement(true, null)\n    this.setNextStatement(true, null)\n    this.setTooltip('在同个局域网内，搜寻STA模式下的机器设备，并建立连接。参数：string类型，指代机器设备的名称（ID）默认值为 \"robot\"。返回无。')\n    this.setHelpUrl(Blockly.Msg['gta_define_robot'])\n  },\n}\n\nBlockly.Python['gta_define_robot'] = function(block) {\n  var name = block.getFieldValue('NAME')\n  var code = `robot = Robot('${name}')\\n`\n  return code\n}\n\n\n//   设置灯光的rgb颜色\nBlockly.Blocks['gta_set_light_color'] = {\n  init: function() {\n    this.appendDummyInput()\n      .appendField('设置rgb颜色： r')\n      .appendField(new Blockly.FieldNumber(0, 0, 255, 1), 'RED')\n      .appendField(' g')\n      .appendField(new Blockly.FieldNumber(0, 0, 255, 1), 'GREEN')\n      .appendField(' b')\n      .appendField(new Blockly.FieldNumber(0, 0, 255, 1), 'BLUE')\n    this.setStyle('light_blocks')\n    this.setPreviousStatement(true, null)\n    this.setNextStatement(true, null)\n    this.setTooltip('设置灯光颜色。参数：rgb颜色数值，值范围0~255。无返回。')\n    this.setHelpUrl(Blockly.Msg['gta_set_light_color'])\n  },\n}\n\nBlockly.Python['gta_set_light_color'] = function(block) {\n  var number_red = block.getFieldValue('RED')\n  var number_green = block.getFieldValue('GREEN')\n  var number_blue = block.getFieldValue('BLUE')\n  var code = `robot.set_light_color(r=${number_red},g=${number_green},b=${number_blue})\\n`\n  return code\n}\n\n//   灯光配置：常亮模式\nBlockly.Blocks['gta_set_light_mode_on'] = {\n  init: function() {\n    this.appendDummyInput()\n      .appendField('常亮模式：')\n      .appendField(' 持续时间')\n      .appendField(new Blockly.FieldNumber(0, 0, 30000, 1), 'duration')\n      .appendField('ms')\n    this.setInputsInline(true)\n    this.setPreviousStatement(true, null)\n    this.setNextStatement(true, null)\n    this.setStyle('light_blocks')\n    this.setTooltip('配置灯光的闪烁方式和持续时间。常亮状态持续指定时间。无参数。无返回。')\n    this.setHelpUrl(Blockly.Msg['gta_set_light_mode_on'])\n  },\n}\n\nBlockly.Python['gta_set_light_mode_on'] = function(block) {\n  // var dropdown_name = block.getFieldValue('NAME')\n  var number_duration = block.getFieldValue('duration')\n  var code = `robot.set_light_mode(mode='on', duration=${number_duration})\\n`\n  return code\n}\n\n//   灯光配置：闪烁模式\nBlockly.Blocks['gta_set_light_mode_blink'] = {\n  init: function() {\n    this.appendDummyInput()\n      .appendField('闪烁模式：')\n      .appendField(' 持续时间')\n      .appendField(new Blockly.FieldNumber(0, 0, 30000, 1), 'duration')\n      .appendField('ms')\n      .appendField(' 亮灯间隔')\n      .appendField(new Blockly.FieldNumber(0, 0, 10000, 1), 'on_time')\n      .appendField('ms')\n      .appendField(' 熄灭间隔')\n      .appendField(new Blockly.FieldNumber(0, 0, 10000, 1), 'off_time')\n      .appendField('ms')\n    this.setInputsInline(true)\n    this.setPreviousStatement(true, null)\n    this.setNextStatement(true, null)\n    this.setStyle('light_blocks')\n    this.setTooltip('配置灯光的闪烁方式和持续时间。闪烁状态持续指定时间，点亮指定时间，熄灭指定时间。参数：持续时间（0）ms，0~30000; 默认值：0。亮灯间隔（0）ms,0~30000; 默认值：0。熄灭间隔（0）ms,0~30000; 默认值：0；。')\n    this.setHelpUrl(Blockly.Msg['gta_set_light_mode_blink'])\n  },\n}\n\nBlockly.Python['gta_set_light_mode_blink'] = function(block) {\n  var number_duration = block.getFieldValue('duration')\n  var number_on_time = block.getFieldValue('on_time')\n  var number_off_time = block.getFieldValue('off_time')\n\n  var code = `robot.set_light_mode(mode='blink', duration=${number_duration}, on_time=${number_on_time}, off_time=${number_off_time})\\n`\n  return code\n}\n//   灯光配置：闪烁模式\nBlockly.Blocks['gta_set_light_mode_breathe'] = {\n  init: function() {\n    this.appendDummyInput()\n      .appendField('渐变模式：')\n      .appendField(' 持续时间')\n      .appendField(new Blockly.FieldNumber(0, 0, 30000, 1), 'duration')\n      .appendField('ms')\n    this.setInputsInline(true)\n    this.setPreviousStatement(true, null)\n    this.setNextStatement(true, null)\n    this.setStyle('light_blocks')\n    this.setTooltip('配置灯光的闪烁方式和持续时间。渐变呼吸状态持续指定时间。参数：持续时间（0）ms。;0~30000; 默认值：0。无返回。')\n    this.setHelpUrl(Blockly.Msg['gta_set_light_mode_breathe'])\n  },\n}\n\nBlockly.Python['gta_set_light_mode_breathe'] = function(block) {\n  var number_duration = block.getFieldValue('duration')\n  var code = `robot.set_light_mode(mode='breathe', duration=${number_duration})\\n`\n  return code\n}\n\n// 启动灯光 或 熄灭灯光。\nBlockly.Blocks['gta_light_on_of'] = {\n  init: function() {\n    this.appendDummyInput()\n      .appendField('灯光')\n      .appendField(\n        new Blockly.FieldDropdown([\n          ['启动', 'on'],\n          ['关闭', 'off'],\n        ]),\n        'ON'\n      )\n    this.setInputsInline(true)\n    this.setPreviousStatement(true, null)\n    this.setNextStatement(true, null)\n    this.setStyle('light_blocks')\n    this.setTooltip('启动灯光 或 熄灭灯光。选项：灯光（启动）、灯光（关闭）。无返回。')\n    this.setHelpUrl(Blockly.Msg['gta_light_on_of'])\n  },\n}\n\nBlockly.Python['gta_light_on_of'] = function(block) {\n  var dropdown_on = block.getFieldValue('ON')\n  var code = dropdown_on == 'on' ? `robot.light_on()\\n` : `robot.light_off()\\n`\n  return code\n}\n\n/**\n * motions组件\n * */\n\n// 定向运动\nBlockly.Blocks['gta_move_in_open_loop'] = {\n  init: function() {\n    this.appendDummyInput()\n      .appendField('定向运动：')\n      .appendField('速度')\n      .appendField(\n        new Blockly.FieldDropdown([\n          ['前进2挡', '-2'],\n          ['前进1挡', '-1'],\n          ['后退1挡', '1'],\n          ['后退2挡', '2'],\n        ]),\n        'SPEED'\n      )\n      .appendField('  停止时间')\n      .appendField(new Blockly.FieldNumber(0, 0, 10000, 1), 'timeout ')\n      .appendField('ms')\n      .appendField('是否阻塞')\n      .appendField(\n        new Blockly.FieldDropdown([\n          ['auto', 'auto'],\n          ['never', 'never'],\n          ['all', 'all'],\n        ]),\n        'block'\n      )\n    this.setInputsInline(true)\n    this.setPreviousStatement(true, null)\n    this.setNextStatement(true, null)\n    this.setStyle('drive_blocks')\n    this.setTooltip('控制机器车轮运行。开环方式，以规定速度运行，指定时间后停止。参数：速度前进挡、速度后退档。')\n    this.setHelpUrl(Blockly.Msg['gta_move_in_open_loop'])\n  },\n}\n\nBlockly.Python['gta_move_in_open_loop'] = function(block) {\n  var dropdown_speed = block.getFieldValue('SPEED')\n  var number_timeout_ = block.getFieldValue('timeout ')\n  var dropdown_block = block.getFieldValue('block')\n\n  // TODO: Assemble Python into code variable.\n  var code = `robot.move_in_open_loop(speed=${dropdown_speed}, timeout=${number_timeout_}, block='${dropdown_block}')\\n`\n  return code\n}\n\n//   定距运动\nBlockly.Blocks['gta_straight_move'] = {\n  init: function() {\n    this.appendDummyInput()\n      .appendField('定距运动：')\n      .appendField(\n        new Blockly.FieldDropdown([\n          ['慢速', '1'],\n          ['常速', '2'],\n          ['快速', '3'],\n        ]),\n        'SPEED'\n      )\n      .appendField('  距离')\n      .appendField(new Blockly.FieldNumber(0, -1000, 1000, 1), 'distance')\n      .appendField('mm')\n      .appendField('  停止时间')\n      .appendField(new Blockly.FieldNumber(0, 0, 10000, 1), 'timeout')\n      .appendField('ms')\n      .appendField('是否阻塞')\n      .appendField(\n        new Blockly.FieldDropdown([\n          ['auto', 'auto'],\n          ['never', 'never'],\n          ['all', 'all'],\n        ]),\n        'block'\n      )\n    this.setInputsInline(true)\n    this.setPreviousStatement(true, null)\n    this.setNextStatement(true, null)\n    this.setStyle('drive_blocks')\n    this.setTooltip('控制机器车轮运行。开环方式，以规定速度运行指定距离，超过指定时间后停止。参数：速度（慢速、常速、快速）；距离；停止时间、是否阻塞(auto/never/all)。无返回。')\n    this.setHelpUrl(Blockly.Msg['gta_straight_move'])\n  },\n}\n\nBlockly.Python['gta_straight_move'] = function(block) {\n  var dropdown_speed = block.getFieldValue('SPEED')\n  var number_distance_ = block.getFieldValue('distance')\n  var number_timeout_ = block.getFieldValue('timeout')\n  var dropdown_block = block.getFieldValue('block')\n  // TODO: Assemble Python into code variable.\n  var code = `robot.straight_move(speed=${dropdown_speed},distance=${number_distance_}, timeout=${number_timeout_}, block='${dropdown_block}')\\n`\n  return code\n}\n\n// 闭环车轮运动 -转角运动\nBlockly.Blocks['gta_robot_turn'] = {\n  init: function() {\n    this.appendDummyInput()\n      .appendField('转角运动：')\n      .appendField('速度挡')\n      .appendField(\n        new Blockly.FieldDropdown([\n          ['1', '1'],\n          ['2', '2'],\n          ['3', '3'],\n        ]),\n        'SPEED'\n      )\n      .appendField('  转弯')\n      .appendField(new Blockly.FieldNumber(0, -360, 360, 1), 'angle')\n      .appendField('°')\n      .appendField('  停止时间')\n      .appendField(new Blockly.FieldNumber(0, 0, 10000, 1), 'timeout')\n      .appendField('ms')\n      .appendField('是否阻塞')\n      .appendField(\n        new Blockly.FieldDropdown([\n          ['auto', 'auto'],\n          ['never', 'never'],\n          ['all', 'all'],\n        ]),\n        'block'\n      )\n    this.setInputsInline(true)\n    this.setPreviousStatement(true, null)\n    this.setNextStatement(true, null)\n    this.setStyle('drive_blocks')\n    this.setTooltip('控制机器车轮转弯。闭环控制，以规定速度精确转动指定角度，超过指定时间后停止。参数：速度挡(1挡、2挡、3挡)；转弯， -360°~360°;停止时间ms，0~10000ms;是否阻塞(auto/never/all)。无返回。')\n    this.setHelpUrl(Blockly.Msg['gta_robot_turn'])\n  },\n}\n\nBlockly.Python['gta_robot_turn'] = function(block) {\n  var dropdown_speed = block.getFieldValue('SPEED')\n  var number_angle_ = block.getFieldValue('angle')\n  var number_timeout_ = block.getFieldValue('timeout')\n  var dropdown_block = block.getFieldValue('block')\n  // TODO: Assemble Python into code variable.\n  var code = `robot.turn(speed=${dropdown_speed},angle=${number_angle_}, timeout=${number_timeout_}, block='${dropdown_block}')\\n`\n  return code\n}\n\n// 小臂运动 开环方式，以时间为停止标志。\nBlockly.Blocks['gta_forearm_move_in_open_loop'] = {\n  init: function() {\n    this.appendDummyInput()\n      .appendField('小臂运动： ')\n      .appendField('速度')\n      .appendField(\n        new Blockly.FieldDropdown([\n          ['向外伸展2挡', '2'],\n          ['向外伸展1挡', '1'],\n          ['向内收缩2挡', '-2'],\n          ['向内收缩1挡', '-1'],\n        ]),\n        'SPEED'\n      )\n      .appendField('  停止时间')\n      .appendField(new Blockly.FieldNumber(0, 0, 10000, 1), 'timeout')\n      .appendField('ms')\n      .appendField('是否阻塞')\n      .appendField(\n        new Blockly.FieldDropdown([\n          ['auto', 'auto'],\n          ['never', 'never'],\n          ['all', 'all'],\n        ]),\n        'block'\n      )\n    this.setInputsInline(true)\n    this.setPreviousStatement(true, null)\n    this.setNextStatement(true, null)\n    this.setStyle('posture_blocks')\n    this.setTooltip('控制小臂运行。开环方式，以规定速度运行，指定时间后停止。参数：速度（向外伸展2挡、1挡、向内收缩2挡、1挡）；停止时间（0）ms，0~10000;是否阻塞(auto/never/all)。无返回。')\n    this.setHelpUrl(Blockly.Msg['gta_forearm_move_in_open_loop'])\n  },\n}\n\nBlockly.Python['gta_forearm_move_in_open_loop'] = function(block) {\n  var dropdown_speed = block.getFieldValue('SPEED')\n  var number_timeout_ = block.getFieldValue('timeout')\n  var dropdown_block = block.getFieldValue('block')\n  // TODO: Assemble Python into code variable.\n  var code = `robot.forearm_move_in_open_loop(speed=${dropdown_speed},timeout=${number_timeout_}, block='${dropdown_block}')\\n`\n  return code\n}\n\n//小臂运行角度\nBlockly.Blocks['gta_forearm_move'] = {\n  init: function() {\n    this.appendDummyInput()\n      .appendField('小臂运行角度：')\n      .appendField(\n        new Blockly.FieldDropdown([\n          ['慢速', '1'],\n          ['常速', '2'],\n          ['快速', '3'],\n        ]),\n        'SPEED'\n      )\n      .appendField('  运行角度')\n      .appendField(new Blockly.FieldNumber(0, 0, 210, 0), 'angle')\n      .appendField('°')\n      .appendField('  停止时间')\n      .appendField(new Blockly.FieldNumber(5000, 0, 10000, 1), 'timeout')\n      .appendField('ms')\n      .appendField('是否阻塞')\n      .appendField(\n        new Blockly.FieldDropdown([\n          ['auto', 'auto'],\n          ['never', 'never'],\n          ['all', 'all'],\n        ]),\n        'block'\n      )\n    this.setInputsInline(true)\n    this.setPreviousStatement(true, null)\n    this.setNextStatement(true, null)\n    this.setStyle('posture_blocks')\n    this.setTooltip('控制小臂运行。开环方式，以规定速度运行规定角度，指定时间后停止。参数：速度（慢速、常速、快速）；停止时间（0）ms，0~10000;是否阻塞(auto/never/all)。无返回。')\n    this.setHelpUrl(Blockly.Msg['gta_forearm_move'])\n  },\n}\n\nBlockly.Python['gta_forearm_move'] = function(block) {\n  var dropdown_speed = block.getFieldValue('SPEED')\n  var number_angle_ = block.getFieldValue('angle')\n  var number_timeout_ = block.getFieldValue('timeout')\n  var dropdown_block = block.getFieldValue('block')\n  // TODO: Assemble Python into code variable.\n  var code = `robot.forearm_move(speed=${dropdown_speed},angle=${number_angle_}, timeout=${number_timeout_}, block='${dropdown_block}')\\n`\n  return code\n}\n\n// 大臂运动 开环方式，以时间为停止标志。\nBlockly.Blocks['gta_arm_move_in_open_loop'] = {\n  init: function() {\n    this.appendDummyInput()\n      .appendField('大臂运动： ')\n      .appendField('速度挡')\n      .appendField(\n        new Blockly.FieldDropdown([\n          ['向前伸展2挡', '2'],\n          ['向前伸展1挡', '1'],\n          ['向后伸展2挡', '-2'],\n          ['向后伸展1挡', '-1'],\n        ]),\n        'SPEED'\n      )\n      .appendField('  停止时间')\n      .appendField(new Blockly.FieldNumber(0, 0, 10000, 1), 'timeout')\n      .appendField('ms')\n      .appendField('是否阻塞')\n      .appendField(\n        new Blockly.FieldDropdown([\n          ['auto', 'auto'],\n          ['never', 'never'],\n          ['all', 'all'],\n        ]),\n        'block'\n      )\n    this.setInputsInline(true)\n    this.setPreviousStatement(true, null)\n    this.setNextStatement(true, null)\n    this.setStyle('posture_blocks')\n    this.setTooltip('控制大臂运行。开环方式，以规定速度运行，指定时间后停止。参数：速度（向前伸展2挡、向前伸展1挡、向前伸展2挡、向前伸展1挡）；停止时间（0）ms，0~10000;是否阻塞(auto/never/all)。无返回。')\n    this.setHelpUrl(Blockly.Msg['gta_arm_move_in_open_loop'])\n  },\n}\n\nBlockly.Python['gta_arm_move_in_open_loop'] = function(block) {\n  var dropdown_speed = block.getFieldValue('SPEED')\n  var number_timeout_ = block.getFieldValue('timeout')\n  var dropdown_block = block.getFieldValue('block')\n  // TODO: Assemble Python into code variable.\n  var code = `robot.arm_move_in_open_loop(speed=${dropdown_speed},timeout=${number_timeout_}, block='${dropdown_block}')\\n`\n  return code\n}\n\n//大臂运行角度\nBlockly.Blocks['gta_arm_move'] = {\n  init: function() {\n    this.appendDummyInput()\n      .appendField('大臂运行角度：')\n      .appendField(\n        new Blockly.FieldDropdown([\n          ['慢速', '1'],\n          ['常速', '2'],\n          ['快速', '3'],\n        ]),\n        'SPEED'\n      )\n      .appendField('  运行角度')\n      .appendField(new Blockly.FieldNumber(0, 0, 160, 1), 'angle')\n      .appendField('°')\n      .appendField('  停止时间')\n      .appendField(new Blockly.FieldNumber(5000, 0, 10000, 1), 'timeout')\n      .appendField('ms')\n      .appendField('是否阻塞')\n      .appendField(\n        new Blockly.FieldDropdown([\n          ['auto', 'auto'],\n          ['never', 'never'],\n          ['all', 'all'],\n        ]),\n        'block'\n      )\n    this.setInputsInline(true)\n    this.setPreviousStatement(true, null)\n    this.setNextStatement(true, null)\n    this.setStyle('posture_blocks')\n    this.setTooltip('控制大臂运行。开环方式，以规定速度运行规定角度，指定时间后停止。参数：速度（慢速、常速、快速）；运行角度（0）°， 0～160°；停止时间（0）ms，0~10000;是否阻塞(auto/never/all)。无返回。')\n    this.setHelpUrl(Blockly.Msg['gta_arm_move'])\n  },\n}\n\nBlockly.Python['gta_arm_move'] = function(block) {\n  var dropdown_speed = block.getFieldValue('SPEED')\n  var number_angle_ = block.getFieldValue('angle')\n  var number_timeout_ = block.getFieldValue('timeout')\n  var dropdown_block = block.getFieldValue('block')\n  // TODO: Assemble Python into code variable.\n  var code = `robot.arm_move(speed=${dropdown_speed},angle=${number_angle_}, timeout=${number_timeout_}, block='${dropdown_block}')\\n`\n  return code\n}\n\n// 头部运动 开环方式，以时间为停止标志。\nBlockly.Blocks['gta_head_move_in_open_loop'] = {\n  init: function() {\n    this.appendDummyInput()\n      .appendField('头部运动： ')\n      .appendField('速度挡')\n      .appendField(\n        new Blockly.FieldDropdown([\n          ['向下伸展2挡', '-2'],\n          ['向下伸展1挡', '-1'],\n          ['向上伸展2挡', '2'],\n          ['向上伸展1挡', '1'],\n        ]),\n        'SPEED'\n      )\n      .appendField('  停止时间')\n      .appendField(new Blockly.FieldNumber(0, 0, 10000, 1), 'timeout')\n      .appendField('ms')\n      .appendField('是否阻塞')\n      .appendField(\n        new Blockly.FieldDropdown([\n          ['auto', 'auto'],\n          ['never', 'never'],\n          ['all', 'all'],\n        ]),\n        'block'\n      )\n    this.setInputsInline(true)\n    this.setPreviousStatement(true, null)\n    this.setNextStatement(true, null)\n    this.setStyle('posture_blocks')\n    this.setTooltip('控制头部运行。开环方式，以规定速度运行，指定时间后停止。参数：速度（向下伸展2挡、向下伸展1挡、向上伸展2挡、向上伸展1挡）；停止时间（0）ms，0~10000;是否阻塞(auto/never/all)。无返回。')\n    this.setHelpUrl(Blockly.Msg['gta_head_move_in_open_loop'])\n  },\n}\n\nBlockly.Python['gta_head_move_in_open_loop'] = function(block) {\n  var dropdown_speed = block.getFieldValue('SPEED')\n  var number_timeout_ = block.getFieldValue('timeout')\n  var dropdown_block = block.getFieldValue('block')\n  // TODO: Assemble Python into code variable.\n  var code = `robot.head_move_in_open_loop(speed=${dropdown_speed},timeout=${number_timeout_}, block='${dropdown_block}')\\n`\n  return code\n}\n\n//头部运行角度\nBlockly.Blocks['gta_head_move'] = {\n  init: function() {\n    this.appendDummyInput()\n      .appendField('头部运行角度：')\n      .appendField(\n        new Blockly.FieldDropdown([\n          ['慢速', '1'],\n          ['常速', '2'],\n          ['快速', '3'],\n        ]),\n        'SPEED'\n      )\n      .appendField('  运行角度')\n      .appendField(new Blockly.FieldNumber(0, -15, 65, 1), 'angle')\n      .appendField('°')\n      .appendField('  停止时间')\n      .appendField(new Blockly.FieldNumber(2000, 0, 10000, 1), 'timeout')\n      .appendField('ms')\n      .appendField('是否阻塞')\n      .appendField(\n        new Blockly.FieldDropdown([\n          ['auto', 'auto'],\n          ['never', 'never'],\n          ['all', 'all'],\n        ]),\n        'block'\n      )\n    this.setInputsInline(true)\n    this.setPreviousStatement(true, null)\n    this.setNextStatement(true, null)\n    this.setStyle('posture_blocks')\n    this.setTooltip('控制头部运行。开环方式，以规定速度运行规定角度，指定时间后停止。参数：速度（慢速、常速、快速）；运行角度（0）°， 0～160°；停止时间（0）ms，0~10000;是否阻塞(auto/never/all)。无返回。')\n    this.setHelpUrl(Blockly.Msg['gta_head_move'])\n  },\n}\n\nBlockly.Python['gta_head_move'] = function(block) {\n  var dropdown_speed = block.getFieldValue('SPEED')\n  var number_angle_ = block.getFieldValue('angle')\n  var number_timeout_ = block.getFieldValue('timeout')\n  var dropdown_block = block.getFieldValue('block')\n  // TODO: Assemble Python into code variable.\n  var code = `robot.head_move(speed=${dropdown_speed},angle=${number_angle_}, timeout=${number_timeout_}, block='${dropdown_block}')\\n`\n  return code\n}\n\n// 手抓运动 开环方式，以时间为停止标志。\nBlockly.Blocks['gta_paw_move_in_open_loop'] = {\n  init: function() {\n    this.appendDummyInput()\n      .appendField('手抓运动： ')\n      .appendField('速度挡')\n      .appendField(\n        new Blockly.FieldDropdown([\n          ['向外张开2挡', '-2'],\n          ['向外张开1挡', '-1'],\n          ['向内收缩2挡', '2'],\n          ['向内收缩1挡', '1'],\n        ]),\n        'SPEED'\n      )\n      .appendField('  停止时间')\n      .appendField(new Blockly.FieldNumber(0, 0, 10000, 1), 'timeout')\n      .appendField('ms')\n      .appendField('是否阻塞')\n      .appendField(\n        new Blockly.FieldDropdown([\n          ['auto', 'auto'],\n          ['never', 'never'],\n          ['all', 'all'],\n        ]),\n        'block'\n      )\n    this.setInputsInline(true)\n    this.setPreviousStatement(true, null)\n    this.setNextStatement(true, null)\n    this.setStyle('posture_blocks')\n    this.setTooltip('控制手抓运行。开环方式，以规定速度运行，指定时间后停止。参数：速度（向外张开2挡、向外张开1挡、向内收缩2挡、向内收缩1挡）；停止时间（0）ms，0~10000ms;是否阻塞(auto/never/all)。无返回。')\n    this.setHelpUrl(Blockly.Msg['gta_paw_move_in_open_loop'])\n  },\n}\n\nBlockly.Python['gta_paw_move_in_open_loop'] = function(block) {\n  var dropdown_speed = block.getFieldValue('SPEED')\n  var number_timeout_ = block.getFieldValue('timeout')\n  var dropdown_block = block.getFieldValue('block')\n  // TODO: Assemble Python into code variable.\n  var code = `robot.paw_move_in_open_loop(speed=${dropdown_speed},timeout=${number_timeout_}, block='${dropdown_block}')\\n`\n  return code\n}\n\n//手抓运行角度：\nBlockly.Blocks['gta_paw_move'] = {\n  init: function() {\n    this.appendDummyInput()\n      .appendField('手抓运行角度：')\n      .appendField(\n        new Blockly.FieldDropdown([\n          ['慢速', '1'],\n          ['常速', '2'],\n          ['快速', '3'],\n        ]),\n        'SPEED'\n      )\n      .appendField('  运行角度')\n      .appendField(new Blockly.FieldNumber(0, 0, 100, 1), 'angle')\n      .appendField('°')\n      .appendField('  停止时间')\n      .appendField(new Blockly.FieldNumber(2000, 0, 10000, 1), 'timeout')\n      .appendField('ms')\n      .appendField('是否阻塞')\n      .appendField(\n        new Blockly.FieldDropdown([\n          ['auto', 'auto'],\n          ['never', 'never'],\n          ['all', 'all'],\n        ]),\n        'block'\n      )\n    this.setInputsInline(true)\n    this.setPreviousStatement(true, null)\n    this.setNextStatement(true, null)\n    this.setStyle('posture_blocks')\n    this.setTooltip('控制手抓运行。开环方式，以规定速度运行规定角度，指定时间后停止。参数：速度（慢速、常速、快速）；运行角度（0）°， 0～160°；停止时间（0）ms，0~10000 ms;是否阻塞(auto/never/all)。无返回。')\n    this.setHelpUrl(Blockly.Msg['gta_paw_move'])\n  },\n}\n\nBlockly.Python['gta_paw_move'] = function(block) {\n  var dropdown_speed = block.getFieldValue('SPEED')\n  var number_angle_ = block.getFieldValue('angle')\n  var number_timeout_ = block.getFieldValue('timeout')\n  var dropdown_block = block.getFieldValue('block')\n  // TODO: Assemble Python into code variable.\n  var code = `robot.paw_move(speed=${dropdown_speed},angle=${number_angle_}, timeout=${number_timeout_}, block='${dropdown_block}')\\n`\n  return code\n}\n\n/**\n * player 组件\n * */\n Blockly.Blocks['gta_robot_display_audio'] = {\n  init: function() {\n    this.appendDummyInput().appendField('设备播放音频：')\n    this.appendValueInput('NAME').setCheck(null)\n    this.setInputsInline(true)\n    this.setPreviousStatement(true, null)\n    this.setNextStatement(true, null)\n    this.setStyle('robot_print')\n    this.setTooltip('上传一个音频文件至服务器，使用积木调用接口，最终在果小聪播放音频。参数：音频url。无返回。')\n    this.setHelpUrl(Blockly.Msg['gta_robot_display_audio'])\n  },\n}\n\n\nBlockly.Python['gta_robot_display_audio'] = function(block) {\n  var value_name = Blockly.Python.valueToCode(\n    block,\n    'NAME',\n    Blockly.Python.ORDER_NONE\n  )\n  console.log('value_name',value_name)\n  // TODO: Assemble Python into code variable.\n  var code = `robot.display_audio(${value_name})\\n`\n  return code\n}\n\n\n\nBlockly.Blocks['gta_robot_tts'] = {\n  init: function() {\n    this.appendDummyInput()\n      .appendField('转语音：')\n      .appendField(' 文本')\n      .appendField(new Blockly.FieldTextInput('default'), 'TEXT')\n      .appendField('  文本名：')\n      .appendField(new Blockly.FieldTextInput('default'), 'fileName')\n    this.setInputsInline(true)\n    this.setPreviousStatement(true, null)\n    this.setNextStatement(true, null)\n    this.setStyle('voice_blocks')\n    this.setTooltip('实现文字转语音功能，存储再指定文本名的文件内，最终可通过机器人播放。参数：文本（default），内容长度不大于100个；文本名（default），长度不能大于10个。无返回。')\n    this.setHelpUrl(Blockly.Msg['gta_robot_tts'])\n  },\n}\n\nBlockly.Python['gta_robot_tts'] = function(block) {\n  var text_text = block.getFieldValue('TEXT')\n  var text_filename = block.getFieldValue('fileName')\n\n  if (text_text.length > 100) {\n    console.error('文字/容不能大于100')\n  }\n\n  if (text_filename.length > 100) {\n    console.error('文本名字符不能大于10')\n  }\n  var code = `robot.tts('${text_text}','${text_filename}')\\n`\n  return code\n}\n\nBlockly.Blocks['gta_robot_play'] = {\n  init: function() {\n    this.appendDummyInput()\n      .appendField('播放转语音的文本名：')\n      .appendField(new Blockly.FieldTextInput('default'), 'fileName')\n    this.setInputsInline(true)\n    this.setPreviousStatement(true, null)\n    this.setNextStatement(true, null)\n    this.setStyle('voice_blocks')\n    this.setTooltip('通过机器人播放指定文本名的文件。参数：文本名（default），长度不能大于10个。无返回。')\n    this.setHelpUrl(Blockly.Msg['gta_robot_play'])\n  },\n}\n\nBlockly.Python['gta_robot_play'] = function(block) {\n  var text_filename = block.getFieldValue('fileName')\n  if (text_filename.length > 100) {\n    console.error('文本名符不能大于10')\n  }\n  var code = `robot.play('${text_filename}')\\n`\n  return code\n}\n\n// 播放状态\nBlockly.Blocks['gta_get_play_status'] = {\n  init: function() {\n    this.appendDummyInput().appendField('获取文本转语音播放状态')\n    this.setInputsInline(true)\n    this.setOutput(true, null);\n    this.setStyle('voice_blocks')\n    this.setTooltip('获取文本转语音播放状态。返回值为布尔值。')\n    this.setHelpUrl(Blockly.Msg['gta_get_play_status'])\n  },\n}\n\nBlockly.Python['gta_get_play_status'] = function(block) {\n  var code = 'robot.get_play_status()'\n  return [code, Blockly.Python.ORDER_FUNCTION_CALL]\n}\n\n// 播放音量\nBlockly.Blocks['gta_set_volume'] = {\n  init: function() {\n    this.appendDummyInput()\n      .appendField('设置播放音量')\n      .appendField(\n        new Blockly.FieldDropdown([\n          ['1', '1'],\n          ['2', '2'],\n          ['3', '3'],\n          ['4', '4'],\n          ['5', '5'],\n        ]),\n        'volume'\n      )\n    this.setInputsInline(true)\n    this.setPreviousStatement(true, null)\n    this.setNextStatement(true, null)\n    this.setStyle('voice_blocks')\n    this.setTooltip('设置音频播放音量。参数：音量。无返回。')\n    this.setHelpUrl(Blockly.Msg['gta_set_volume'])\n  },\n}\n\nBlockly.Python['gta_set_volume'] = function(block) {\n  var dropdown_volume = block.getFieldValue('volume')\n  var code = `robot.set_volume(${dropdown_volume})\\n`\n  return code\n  // return [code, Blockly.Python.ORDER_FUNCTION_CALL]\n}\n\n// 播放状态\nBlockly.Blocks['gta_get_volume'] = {  \n  init: function() {\n    this.appendDummyInput().appendField('获取播放音量')\n    this.setInputsInline(true)\n    // this.setPreviousStatement(true, null)\n    // this.setNextStatement(true, null)\n    this.setOutput(true)\n    this.setStyle('voice_blocks')\n    this.setTooltip('获取播放音量。无参数。无返回')\n    this.setHelpUrl(Blockly.Msg['gta_get_volume'])\n  },\n}\n\nBlockly.Python['gta_get_volume'] = function(block) {\n  var code = 'robot.get_volume()'\n  return [code, Blockly.Python.ORDER_FUNCTION_CALL]\n  // return code\n}\n\n/**\n * file 组件\n * */\n\n// //  上传图片\n// Blockly.Blocks['gta_robot_upload'] = {\n//   init: function() {\n//     this.appendDummyInput().appendField('上传图片到机器人')\n//     this.appendValueInput('NAME').setCheck(null)\n//     this.setInputsInline(true)\n//     this.setPreviousStatement(true, null)\n//     this.setNextStatement(true, null)\n//     this.setStyle('event_blocks')\n//     this.setTooltip('')\n//     this.setHelpUrl('')\n//   },\n// }\n\n\n// Blockly.Python['gta_robot_upload'] = function(block) {\n//   var value_name = Blockly.Python.valueToCode(\n//     block,\n//     'NAME',\n//     Blockly.Python.ORDER_ATOMIC\n//   )\n//   // TODO: Assemble Python into code variable.\n//   var code = `robot.upload('${value_name}')\\n`\n//   return code\n// }\n\n\n//屏幕显示（图片）\nBlockly.Blocks['gta_robot_display_image'] = {\n  init: function() {\n    this.appendDummyInput().appendField('设备屏幕显示图片：')\n    this.appendValueInput('NAME').setCheck(null)\n    this.setInputsInline(true)\n    this.setPreviousStatement(true, null)\n    this.setNextStatement(true, null)\n    this.setStyle('robot_print')\n    this.setTooltip('上传一张本地图片至服务器，使用积木调用接口，最终在果小聪屏幕显示图片。参数：图片路径。无返回。')\n    this.setHelpUrl(Blockly.Msg['gta_robot_display_image'])\n  },\n}\n\n\nBlockly.Python['gta_robot_display_image'] = function(block) {\n  var value_name = Blockly.Python.valueToCode(\n    block,\n    'NAME',\n    Blockly.Python.ORDER_NONE\n  )\n  // TODO: Assemble Python into code variable.\n  var code = `robot.display_image(${value_name})\\n`\n  return code\n}\n\n\n/**\n * screen 组件\n * */\n\n//  显示摄像头画面\nBlockly.Blocks['gta_robot_show_camera'] = {\n  init: function() {\n    this.appendDummyInput().appendField('设备显示摄像头画面')\n    this.setInputsInline(true)\n    this.setPreviousStatement(true, null)\n    this.setNextStatement(true, null)\n    this.setStyle('robot_print')\n    this.setTooltip('打开机器的摄像头显示画面。无参数。无返回。')\n    this.setHelpUrl(Blockly.Msg['gta_robot_show_camera'])\n  },\n}\nBlockly.Python['gta_robot_show_camera'] = function(block) {\n  var code = `robot.show_camera()\\n`\n  return code\n}\n\n// //  停止摄像头画面\n// Blockly.Blocks['gta_stop_showing'] = {\n//   init: function() {\n//     this.appendDummyInput().appendField('停止robot摄像头')\n//     this.setInputsInline(true)\n//     this.setPreviousStatement(true, null)\n//     this.setNextStatement(true, null)\n//     this.setStyle('robot_print')\n//     this.setTooltip('停止机器屏幕的画面显示。无参数。无返回。')\n//     this.setHelpUrl('gta_stop_showing')\n//   },\n// }\n// Blockly.Python['gta_stop_showing'] = function(block) {\n//   var code = `robot.stop_showing()\\n`\n//   return code\n// }\n\n/**\n * emotion 表情组件\n * */\n\n\nBlockly.Blocks.gta_robot_play_emotion_1 = {\n  init: function() {\n    this.appendDummyInput()\n      .appendField('播放：')\n      .appendField(\n        new Blockly.FieldDropdown([\n          ['apple苹果', 'a_apl'],\n          ['dog狗', 'dog_a'],\n          ['cat猫', 'c_cat'],\n          ['block积木', 'b_blk'],\n        ]),\n        'emotion'\n      )\n    this.setInputsInline(true)\n    this.setPreviousStatement(true, null)\n    this.setNextStatement(true, null)\n    this.setStyle('emotion_blocks')\n    this.setTooltip('设备播放定制情绪有：apple苹果、dog狗、cat猫、block积木。无返回。')\n    this.setHelpUrl(Blockly.Msg['gta_robot_play_emotion_1'])\n  }\n}\nBlockly.Python.gta_robot_play_emotion_1 = function(block) {\n  var dropdown_emotion = block.getFieldValue('emotion')\n  var code = \"robot.play_emotion('\"+dropdown_emotion+\"')\\n\"\n  return code\n}\n\n\nBlockly.Blocks.gta_robot_play_emotion_2 = {\n  init: function() {\n    this.appendDummyInput()\n      .appendField('表情：')\n      .appendField(\n        new Blockly.FieldDropdown([\n          ['生气', 'agy_a'],\n          ['开心a', 'hpy_a'],\n          ['开心b', 'hpy_b'],\n          ['带羞涩的开心', 'hpy_sl'],//happy with shy\n          ['害怕a', 'scr_a'],\n          ['害怕b', 'scr_b'],\n          ['难过a', 'sd_a'],\n          ['难过b', 'sd_e'],\n          ['叹气', 'sgh_a'],\n          ['害羞', 'shy_a'],\n       \n        ]),\n        'emotion'\n      )\n    this.setInputsInline(true)\n    this.setPreviousStatement(true, null)\n    this.setNextStatement(true, null)\n    this.setStyle('emotion_blocks')\n    this.setTooltip('设备播放定制表情有：生气、开心a、开心b、带羞涩的开心、害怕a、害怕b、难过a、难过b、叹气、害羞a。无返回。')\n    this.setHelpUrl(Blockly.Msg['gta_robot_play_emotion_2'])\n  }\n}\nBlockly.Python.gta_robot_play_emotion_2 = function(block) {\n  var dropdown_emotion = block.getFieldValue('emotion')\n  var code = \"robot.play_emotion('\"+dropdown_emotion+\"')\\n\"\n  return code\n}\n\nBlockly.Blocks.gta_robot_play_emotion_3 = {\n  init: function() {\n    this.appendDummyInput()\n      .appendField('表情：')\n      .appendField(\n        new Blockly.FieldDropdown([\n          ['睡觉', 'slp_a'],\n          ['打喷嚏', 'snz_a'],\n          ['震惊a', 'sok_a'],\n          ['震惊b', 'sok_wt'],\n          ['满怀希望', 'st_a'],\n          ['激动的tada', 'td_a'],//exciting tada\n          ['慢慢醒来', 'wgl_a'],\n          ['伸展a', 'ywn_a'],\n          ['伸展b', 'ywn_b'],\n        ]),\n        'emotion'\n      )\n    this.setInputsInline(true)\n    this.setPreviousStatement(true, null)\n    this.setNextStatement(true, null)\n    this.setStyle('emotion_blocks')\n    this.setTooltip('设备播放定制表情有：睡觉、打喷嚏、震惊a、震惊b、满怀希望、激动的tada、慢慢醒来、伸展a、伸展b。无返回。')\n    this.setHelpUrl(Blockly.Msg['gta_robot_play_emotion_3'])\n  }\n}\nBlockly.Python.gta_robot_play_emotion_3 = function(block) {\n  var dropdown_emotion = block.getFieldValue('emotion')\n  var code = \"robot.play_emotion('\"+dropdown_emotion+\"')\\n\"\n  return code\n}\n\nBlockly.Blocks.gta_robot_play_emotion_4 = {\n  init: function() {\n    this.appendDummyInput()\n      .appendField('表情：')\n      .appendField(\n        new Blockly.FieldDropdown([\n          ['爱心', 'hrt_a'],\n          ['喵喵', 'cat_a'],//see a cat\n          ['喜欢炫耀', 'hpy_swl'],\n          ['打盹a', 'nap_a'],\n          ['打盹b', 'nap_b'],\n          ['怀疑', 'dbt_a'],\n          ['头晕', 'dizy'],\n          ['蒙眼睛a', 'obt_a'],\n          ['蒙眼睛b', 'obt_b'],\n          ['蒙眼睛c', 'obt_c'],\n          ['转身跳舞', 'dns_a'],\n        ]),\n        'emotion'\n      )\n    this.setInputsInline(true)\n    this.setPreviousStatement(true, null)\n    this.setNextStatement(true, null)\n    this.setStyle('emotion_blocks')\n    this.setTooltip('设备播放定制表情有：爱心、喵喵、喜欢炫耀、打盹a、打盹b、怀疑、头晕、蒙眼睛a、蒙眼睛b、蒙眼睛c、转身跳舞。无返回。')\n    this.setHelpUrl(Blockly.Msg['gta_robot_play_emotion_4'])\n  }\n}\nBlockly.Python.gta_robot_play_emotion_4 = function(block) {\n  var dropdown_emotion = block.getFieldValue('emotion')\n  var code = \"robot.play_emotion('\"+dropdown_emotion+\"')\\n\"\n  return code\n}\n\nBlockly.Blocks.gta_robot_play_emotion_5 = {\n  init: function() {\n    this.appendDummyInput()\n      .appendField('说：')\n      .appendField(\n        new Blockly.FieldDropdown([\n          ['你好a', 'hi_a'],\n          ['你好b', 'hi_b'],\n          ['你好c', 'hll_a'],\n          ['你好吗', 'hry'],\n          ['很高兴见到你', 'ntsy'],\n        ]),\n        'emotion'\n      )\n    this.setInputsInline(true)\n    this.setPreviousStatement(true, null)\n    this.setNextStatement(true, null)\n    this.setStyle('emotion_blocks')\n    this.setTooltip('设备播放说的语言表情：你好a、你好b、你好c、你好吗、很高兴见到你。无返回。')\n    this.setHelpUrl(Blockly.Msg['gta_robot_play_emotion_5'])\n  }\n}\nBlockly.Python.gta_robot_play_emotion_5 = function(block) {\n  var dropdown_emotion = block.getFieldValue('emotion')\n  var code = \"robot.play_emotion('\"+dropdown_emotion+\"')\\n\"\n  return code\n}\n\nBlockly.Blocks.gta_robot_play_emotion_6 = {\n  init: function() {\n    this.appendDummyInput()\n      .appendField('唱：')\n      .appendField(\n        new Blockly.FieldDropdown([\n          ['《little star》', 'song_a'],\n          ['《jingle bell》', 'song_b'],\n          ['《ten little fingers》', 'song_c'],\n        ]),\n        'emotion'\n      )\n    this.setInputsInline(true)\n    this.setPreviousStatement(true, null)\n    this.setNextStatement(true, null)\n    this.setStyle('emotion_blocks')\n    this.setTooltip('设备播放唱歌曲目：《little star》、《jingle bell》、《ten little fingers》。无返回。')\n    this.setHelpUrl(Blockly.Msg['gta_robot_play_emotion_6'])\n  }\n}\nBlockly.Python.gta_robot_play_emotion_6 = function(block) {\n  var dropdown_emotion = block.getFieldValue('emotion')\n  var code = \"robot.play_emotion('\"+dropdown_emotion+\"')\\n\"\n  return code\n}\n\n\n// 打开表情\nBlockly.Blocks['gta_turn_on_expression'] = {\n  init: function() {\n    this.appendDummyInput().appendField('打开屏幕表情')\n    this.setInputsInline(true)\n    this.setPreviousStatement(true, null)\n    this.setNextStatement(true, null)\n    this.setStyle('emotion_blocks')\n    this.setTooltip('打开屏幕的表情（默认打开）。无参数。无返回。')\n    this.setHelpUrl(Blockly.Msg['gta_turn_on_expression'])\n  },\n}\nBlockly.Python['gta_turn_on_expression'] = function(block) {\n  var code = `robot.turn_on_expression()\\n`\n  return code\n}\n\n// 关闭表情\nBlockly.Blocks['gta_turn_off_expression'] = {\n  init: function() {\n    this.appendDummyInput().appendField('关闭屏幕表情')\n    this.setInputsInline(true)\n    this.setPreviousStatement(true, null)\n    this.setNextStatement(true, null)\n    this.setStyle('emotion_blocks')\n    this.setTooltip('关闭屏幕表情。无参数。无返回。')\n    this.setHelpUrl(Blockly.Msg['gta_turn_off_expression'])\n  },\n}\nBlockly.Python['gta_turn_off_expression'] = function(block) {\n  var code = `robot.turn_off_expression()\\n`\n  return code\n}\n// 开启运动-通过这个接口可打开一个运行（轮子或手臂）\nBlockly.Blocks['gta_turn_on_motion'] = {\n  init: function() {\n    this.appendDummyInput().appendField('开启运动')\n    this.setInputsInline(true)\n    this.setPreviousStatement(true, null)\n    this.setNextStatement(true, null)\n    this.setStyle('event_blocks')\n    this.setTooltip('开启一个运动（轮子或手臂）。无参数。无返回。')\n    this.setHelpUrl(Blockly.Msg['gta_turn_on_motion'])\n  },\n}\nBlockly.Python['gta_turn_on_motion'] = function(block) {\n  var code = `robot.turn_on_motion()\\n`\n  return code\n}\n// 关闭运动-通过这个接口可关闭一个运行（轮子或手臂）\nBlockly.Blocks['gta_turn_off_motion'] = {\n  init: function() {\n    this.appendDummyInput().appendField('关闭运动')\n    this.setInputsInline(true)\n    this.setPreviousStatement(true, null)\n    this.setNextStatement(true, null)\n    this.setStyle('event_blocks')\n    this.setTooltip('关闭一个运动（轮子或手臂）。无参数。无返回。')\n    this.setHelpUrl(Blockly.Msg['gta_turn_off_motion'])\n  },\n}\nBlockly.Python['gta_turn_off_motion'] = function(block) {\n  var code = `robot.turn_off_motion()\\n`\n  return code\n}\n\n/**\n * face-detection 组件\n * */\n\n//   检测人脸\nBlockly.Blocks['gta_detect_face'] = {\n  init: function() {\n    this.appendDummyInput()\n      .appendField('检测人脸：')\n      .appendField(' 最小尺寸')\n      .appendField(new Blockly.FieldNumber(50, 10, 300,1), 'min_size')\n      .appendField(' 最大尺寸')\n      .appendField(new Blockly.FieldNumber(300, 10, 300,1), 'max_size')\n    this.setStyle('detect_blocks')\n    this.setPreviousStatement(true, null)\n    this.setNextStatement(true, null)\n    this.setTooltip('在屏幕显示检测到的人脸区域。参数：检测人脸区域的最小尺寸、最大尺寸。返回数组。备注：最多可以侦测5个；最大尺寸过小（约47）会触发错误且程序不继续执行，建议更改默认值为50到300。')\n    this.setHelpUrl(Blockly.Msg['gta_detect_face'])\n  },\n}\n\nBlockly.Python['gta_detect_face'] = function(block) {\n  var number_min_size = block.getFieldValue('min_size')\n  var number_max_size = block.getFieldValue('max_size')\n  var code = `robot.detect_face(min_size=${number_min_size},max_size=${number_max_size})\\n`\n  return code\n}\n\n\n//打开地面检测\nBlockly.Blocks['gta_turn_on_cliff_detection'] = {\n  init: function() {\n    this.appendDummyInput()\n      .appendField('打开地面检测')\n    this.setStyle('detect_blocks')\n    this.setPreviousStatement(true, null)\n    this.setNextStatement(true, null)\n    this.setTooltip('打开地面检测。无参数。无返回。')\n    this.setHelpUrl(Blockly.Msg['gta_turn_on_cliff_detection'])\n  },\n}\n\nBlockly.Python['gta_turn_on_cliff_detection'] = function(block) {\n  var code = `robot.turn_on_cliff_detection()\\n`\n  return code\n}\n\n\n//关闭地面检测\nBlockly.Blocks['gta_turn_off_cliff_detection'] = {\n  init: function() {\n    this.appendDummyInput()\n      .appendField('关闭地面检测')\n    this.setStyle('detect_blocks')\n    this.setPreviousStatement(true, null)\n    this.setNextStatement(true, null)\n    this.setTooltip('关闭地面检测。无参数。无返回。')\n    this.setHelpUrl(Blockly.Msg['gta_turn_off_cliff_detection'])\n  },\n}\n\nBlockly.Python['gta_turn_off_cliff_detection'] = function(block) {\n  var code = `robot.turn_off_cliff_detection()\\n`\n  return code\n}\n\n\n// 查看（前）红外状态\nBlockly.Blocks['gta_robot_read_infrared'] = {\n  init: function() {\n    this.appendDummyInput()\n      .appendField('查看 ')\n      .appendField(\n        new Blockly.FieldDropdown([\n          ['前', 'front'],\n          ['后', 'end'],\n        ]),\n        'group'\n      )\n      .appendField(' 红外状态')\n    this.setInputsInline(true)\n    // this.setPreviousStatement(true, null)\n    // this.setNextStatement(true, null)\n    this.setOutput(true)\n    this.setStyle('detect_blocks')\n    this.setTooltip('查看机器人身体底部装置的红外。用于测距避障，检测前后是否有障碍。参数：选项为前进或后退。返回数组，需要可赋值给变量.')\n    this.setHelpUrl(Blockly.Msg['gta_robot_read_infrared'])\n  },\n}\n\nBlockly.Python['gta_robot_read_infrared'] = function(block) {\n  var dropdown_group = block.getFieldValue('group')\n  var code = `robot.read_infrared(location='${dropdown_group}')`\n  return [code, Blockly.Python.ORDER_FUNCTION_CALL]\n}\n\n\n\n//读取陀螺仪数据1\nBlockly.Blocks['gta_read_gyroscope'] = {\n  init: function() {\n    this.appendDummyInput()\n      .appendField('读取陀螺仪数据1')\n    this.setStyle('detect_blocks')\n    // this.setPreviousStatement(true, null)\n    // this.setNextStatement(true, null)\n    this.setOutput(true)\n    this.setTooltip('读取陀螺仪的W, X, Y, Z四元数。返回数组，需要可赋值给变量')\n    this.setHelpUrl(Blockly.Msg['gta_read_gyroscope'])\n  },\n}\n\nBlockly.Python['gta_read_gyroscope'] = function(block) {\n  var code = `robot.read_gyroscope()`\n  return [code, Blockly.Python.ORDER_FUNCTION_CALL]\n}\n\n\n//读取陀螺仪数据2\nBlockly.Blocks['gta_read_gyroscope2'] = {\n  init: function() {\n    this.appendDummyInput()\n      .appendField('读取陀螺仪数据2')\n    this.setStyle('detect_blocks')\n    this.setOutput(true)\n    this.setTooltip('读取陀螺仪的 pitch， roll， yaw数据。返回数组，需要可赋值给变量')\n    this.setHelpUrl(Blockly.Msg['gta_read_gyroscope2'])\n  },\n}\n\nBlockly.Python['gta_read_gyroscope2'] = function(block) {\n  var code = `robot.read_gyroscope2()`\n  return [code, Blockly.Python.ORDER_FUNCTION_CALL]\n}\n\n\n// 获取人脸特征\nBlockly.Blocks['gta_get_face_feature'] = {\n  init: function() {\n    this.appendDummyInput()\n      .appendField('获取人脸特征：')\n      .appendField(new Blockly.FieldNumber(0, 0, 100,1), 'index')\n    this.setStyle('detect_blocks')\n    // this.setPreviousStatement(true, null)\n    // this.setNextStatement(true, null)\n    this.setOutput(true);\n    this.setTooltip('在屏幕显示指定索引值的人脸的五个关键点。无参数。返回数组')\n    this.setHelpUrl(Blockly.Msg['gta_get_face_feature'])\n  },\n}\n\nBlockly.Python['gta_get_face_feature'] = function(block) {\n  var number_index = block.getFieldValue('index')\n  var code = `robot.get_face_feature(index=${number_index})`\n  return [code, Blockly.Python.ORDER_FUNCTION_CALL]\n}\n\n/**\n * pattern detection  组件 \n * */\n\n//  检测图案\nBlockly.Blocks['gta_detect_pattern'] = {\n  init: function() {\n    this.appendDummyInput()\n      .appendField('检测图案类别')\n      .appendField(\n        new Blockly.FieldDropdown([\n          ['数字', 'number'],\n          ['字母', 'letter'],\n          ['动物', 'animal'],\n        ]),\n        'group'\n      )\n    this.setInputsInline(true)\n    this.setPreviousStatement(true, null)\n    this.setNextStatement(true, null)\n    this.setStyle('detect_blocks')\n    this.setTooltip('在屏幕显示检测到的指定类别的图案。参数选项为：数字、字母、动物。无返回。')\n    this.setHelpUrl(Blockly.Msg['gta_detect_pattern'])\n  },\n}\n\nBlockly.Python['gta_detect_pattern'] = function(block) {\n  var dropdown_group = block.getFieldValue('group')\n  var code = `robot.detect_pattern(group='${dropdown_group}', min_size=10, max_size=300)\\n`\n  return code\n}\n\n// 获取图片路径\nBlockly.Blocks['gta_get_pattern_location'] = {\n  init: function() {\n    this.appendDummyInput()\n      .appendField('通过索引')\n      .appendField(new Blockly.FieldNumber(0, 0, 100,1), 'index')\n      .appendField('获得图片路径')\n    this.setInputsInline(true)\n    // this.setPreviousStatement(true, null)\n    // this.setNextStatement(true, null)\n    this.setOutput(true);\n    this.setStyle('detect_blocks')\n    this.setTooltip('返回指定索引的位置参数。参数：索引值。返回：图片路径。')\n    this.setHelpUrl(Blockly.Msg['gta_get_pattern_location'])\n  },\n}\n\nBlockly.Python['gta_get_pattern_location'] = function(block) {\n  var dropdown_index = block.getFieldValue('index')\n  var code = `robot.get_pattern_location(index=${dropdown_index})`\n  return [code, Blockly.Python.ORDER_FUNCTION_CALL]\n}\n\n/**\n * video 组件\n * */\n\n// 打开摄像头-功能：在主程序运行过程中开启服务，并持续显示图像\nBlockly.Blocks['gta_display_video'] = {\n  init: function() {\n    this.appendDummyInput().appendField('打开摄像头')\n    this.setStyle('robot_B_camera')\n    this.setPreviousStatement(true, null)\n    this.setNextStatement(true, null)\n    this.setTooltip('在主程序运行过程中开启服务，并持续显示图像。无参数。无返回。')\n    this.setHelpUrl(Blockly.Msg['gta_display_video'])\n  },\n}\n\nBlockly.Python['gta_display_video'] = function(block) {\n  var code = `robot.display_video()\\n`\n  return code\n}\n\n\n// 获取摄像头图像\nBlockly.Blocks['gta_robot_get_camera_image'] = {\n  init: function() {\n    this.appendDummyInput().appendField('获取摄像头图像')\n    this.setStyle('robot_B_camera')\n    this.setOutput(true)\n    this.setTooltip(\n      '获取当前摄像头的图像，返回网络图片地址。参数：无。返回：网络地址URL'\n    )\n    this.setHelpUrl(Blockly.Msg['gta_robot_get_camera_image'])\n  },\n}\n\nBlockly.Python['gta_robot_get_camera_image'] = function(block) {\n  var code = `robot.get_camera_image()`\n  return [code, Blockly.Python.ORDER_FUNCTION_CALL]\n}\n\n\n\n\n// 关闭录像\n// Blockly.Blocks['gta_close_video'] = {\n//   init: function() {\n//     this.appendDummyInput().appendField('关闭录像')\n//     this.setStyle('detect_blocks')\n//     this.setPreviousStatement(true, null)\n//     this.setNextStatement(true, null)\n//     this.setTooltip('')\n//     this.setHelpUrl(Blockly.Msg['gta_close_video'])\n//   },\n// }\n\n// Blockly.Python['gta_close_video'] = function(block) {\n//   var code = `robot.close_video()\\n`\n//   return code\n// }\n\n// 设备关闭摄像头画面\nBlockly.Blocks['gta_robot_stop_showing'] = {\n  init: function() {\n    this.appendDummyInput().appendField('设备关闭摄像头画面')\n    this.setStyle('robot_print')\n    this.setPreviousStatement(true, null)\n    this.setNextStatement(true, null)\n    this.setTooltip('停止机器屏幕的画面显示。无参数。无返回。')\n    this.setHelpUrl(Blockly.Msg['gta_robot_stop_showing'])\n  },\n}\n\nBlockly.Python['gta_robot_stop_showing'] = function(block) {\n  var code = `robot.stop_showing()\\n`\n  return code\n}\n\n\n// // 打开视频数据流\n// Blockly.Blocks['gta_open_video_data'] = {\n//   init: function() {\n//     this.appendDummyInput().appendField('打开视频数据流')\n//     this.setStyle('detect_blocks')\n//     this.setPreviousStatement(true, null)\n//     this.setNextStatement(true, null)\n//     this.setTooltip('')\n//     this.setHelpUrl(Blockly.Msg['gta_open_video_data'])\n//   },\n// }\n\n// Blockly.Python['gta_open_video_data'] = function(block) {\n//   var code = `robot.open_video_data()\\n`\n//   return code\n// }\n// 关闭视频数据流\n// Blockly.Blocks['gta_close_video_data'] = {\n//   init: function() {\n//     this.appendDummyInput().appendField('关闭视频数据流')\n//     this.setStyle('detect_blocks')\n//     this.setPreviousStatement(true, null)\n//     this.setNextStatement(true, null)\n//     this.setTooltip('')\n//     this.setHelpUrl(Blockly.Msg['gta_close_video_data'])\n//   },\n// }\n\n// Blockly.Python['gta_close_video_data'] = function(block) {\n//   var code = `robot.close_video_data()\\n`\n//   return code\n// }\n// 获取录像中的图片\n// Blockly.Blocks['gta_get_image_from_video'] = {\n//   init: function() {\n//     this.appendDummyInput().appendField('获取录像中的图片')\n//     this.setStyle('detect_blocks')\n//     this.setPreviousStatement(true, null)\n//     this.setNextStatement(true, null)\n//     this.setTooltip('')\n//     this.setHelpUrl(Blockly.Msg['gta_get_image_from_video'])\n//   },\n// }\n\n// Blockly.Python['gta_get_image_from_video'] = function(block) {\n//   var code = `robot.get_image_from_video()\\n`\n//   return code\n// }\n"],"sourceRoot":""}