leaphy-robotics · sverben · Apr 23, 2024 · Apr 23, 2024 · Apr 23, 2024 · Apr 23, 2024
diff --git a/angular.json b/angular.json
@@ -171,6 +171,9 @@
     },
     "cli": {
         "analytics": "6d8c3839-2848-4328-b7fb-a10f9273fdfc",
-        "schematicCollections": ["@angular-eslint/schematics"]
+        "schematicCollections": ["@angular-eslint/schematics"],
+        "cache": {
+            "enabled": false
+        }
     }
 }
diff --git a/package.json b/package.json
@@ -35,7 +35,7 @@
         "@fortawesome/fontawesome-free": "^6.1.1",
         "@leaphy-robotics/avrdude-webassembly": "^1.6.1",
         "@leaphy-robotics/dfu-util-wasm": "1.0.2",
-        "@leaphy-robotics/leaphy-blocks": "^2.1.0",
+        "@leaphy-robotics/leaphy-blocks": "3.0.0",
         "@leaphy-robotics/picotool-wasm": "1.0.2",
         "@leaphy-robotics/webusb-ftdi": "^1.0.0",
         "@ngx-translate/core": "^14.0.0",

diff --git a/src/app/domain/blockly-fields.ts b/src/app/domain/blockly-fields.ts
@@ -0,0 +1,101 @@
+import { FieldConfig, FieldDropdown, MenuOption } from "blockly/core";
+import { PinMapping, RobotType } from "./robot.type";
+
+interface PinSelectorOptions extends FieldConfig {
+    mode: "digital" | "analog" | "pwm";
+}
+
+export default class PinSelectorField extends FieldDropdown {
+    static digitalPinOptions: MenuOption[];
+    static analogPinOptions: MenuOption[];
+    static pwmPinOptions: MenuOption[];
+
+    static processPinMappings(board: RobotType) {
+        let digitalPinRange: [number, number];
+        let analogPinRange: [number, number];
+
+        switch (board.mapping) {
+            case PinMapping.UNO: {
+                digitalPinRange = [2, 13];
+                analogPinRange = [0, 5];
+                this.pwmPinOptions = [
+                    ["3", "3"],
+                    ["5", "5"],
+                    ["6", "6"],
+                    ["9", "9"],
+                    ["10", "10"],
+                    ["11", "11"],
+                ];
+                break;
+            }
+
+            case PinMapping.NANO: {
+                digitalPinRange = [2, 13];
+                analogPinRange = [0, 7];
+                this.pwmPinOptions = [
+                    ["3", "3"],
+                    ["5", "5"],
+                    ["6", "6"],
+                    ["9", "9"],
+                    ["10", "10"],
+                    ["11", "11"],
+                ];
+                break;
+            }
+
+            case PinMapping.MEGA: {
+                digitalPinRange = [2, 53];
+                analogPinRange = [0, 15];
+                this.pwmPinOptions = [
+                    ["2", "2"],
+                    ["3", "3"],
+                    ["4", "4"],
+                    ["5", "5"],
+                    ["6", "6"],
+                    ["7", "7"],
+                    ["8", "8"],
+                    ["9", "9"],
+                    ["10", "10"],
+                    ["11", "11"],
+                    ["12", "12"],
+                    ["13", "13"],
+                ];
+                break;
+            }
+        }
+
+        this.digitalPinOptions = [];
+        for (let pin = digitalPinRange[0]; pin <= digitalPinRange[1]; pin++) {
+            this.digitalPinOptions.push([pin.toString(), pin.toString()]);
+        }
+
+        this.analogPinOptions = [];
+        for (let pin = analogPinRange[0]; pin <= analogPinRange[1]; pin++) {
+            this.analogPinOptions.push([
+                `A${pin.toString()}`,
+                `A${pin.toString()}`,
+            ]);
+        }
+    }
+
+    constructor(options: PinSelectorOptions) {
+        switch (options.mode) {
+            case "digital": {
+                super(PinSelectorField.digitalPinOptions, undefined, options);
+                break;
+            }
+            case "analog": {
+                super(PinSelectorField.analogPinOptions, undefined, options);
+                break;
+            }
+            case "pwm": {
+                super(PinSelectorField.pwmPinOptions, undefined, options);
+                break;
+            }
+        }
+    }
+
+    static fromJson(options: PinSelectorOptions) {
+        return new this(options);
+    }
+}
diff --git a/src/app/domain/robot.type.ts b/src/app/domain/robot.type.ts
@@ -24,12 +24,19 @@ interface ProtocolInformation {
     microcontroller?: string;
 }
 
+export enum PinMapping {
+    UNO,
+    NANO,
+    MEGA,
+}
+
 export class RobotType {
     public features: Features;
 
     constructor(
         public id: string,
         public protocol: ProtocolInformation,
+        public mapping: PinMapping,
         public name: string,
         public svgname: string,
         public background: string,
@@ -65,6 +72,7 @@ export class BaseUno extends RobotType {
         super(
             id,
             { protocol: Avrdude, microcontroller: "atmega328p" },
+            PinMapping.UNO,
             name,
             svgname,
             background,
@@ -88,6 +96,7 @@ export class BaseNano extends RobotType {
         super(
             id,
             { protocol: Avrdude, microcontroller: "atmega328p" },
+            PinMapping.NANO,
             name,
             svgname,
             background,
@@ -111,6 +120,7 @@ export class BaseNanoESP32 extends RobotType {
         super(
             id,
             { protocol: DFU },
+            PinMapping.NANO,
             name,
             svgname,
             background,
@@ -134,6 +144,7 @@ export class BaseNanoRP2040 extends RobotType {
         super(
             id,
             { protocol: Pico },
+            PinMapping.NANO,
             name,
             svgname,
             background,

diff --git a/src/app/domain/robots.ts b/src/app/domain/robots.ts
@@ -1,14 +1,5 @@
-import { arduino } from "@leaphy-robotics/leaphy-blocks";
 import Avrdude from "../services/arduino-uploader/protocols/avrdude";
-import {
-    BaseNano,
-    BaseNanoESP32,
-    BaseNanoRP2040,
-    BaseUno,
-    RobotType,
-} from "./robot.type";
-import DFU from "../services/arduino-uploader/protocols/dfu";
-import Pico from "../services/arduino-uploader/protocols/pico";
+import {BaseNano, BaseNanoESP32, BaseNanoRP2040, BaseUno, PinMapping, RobotType,} from "./robot.type";
 
 const defaultLibraries = [
     "Leaphy Extensions",
@@ -163,6 +154,7 @@ export const arduinoNanoRP2040RobotType = new BaseNanoRP2040(
 export const microPythonRobotType = new RobotType(
     "l_micropython",
     { protocol: Avrdude },
+    PinMapping.NANO,
     "MicroPython",
     "micropython.svg",
     null,
@@ -178,6 +170,7 @@ export const microPythonRobotType = new RobotType(
 export const arduinoMegaRobotType = new RobotType(
     "l_mega",
     { protocol: Avrdude, microcontroller: "atmega2560" },
+    PinMapping.MEGA,
     "Arduino Mega",
     "mega.svg",
     null,
@@ -211,6 +204,7 @@ export const arduinoUnoRobotTypeGeneric = new BaseUno(
 export const arduinoMegaRobotTypeGeneric = new RobotType(
     "l_mega",
     { protocol: Avrdude, microcontroller: "atmega2560" },
+    PinMapping.MEGA,
     "Arduino Mega",
     "mega.svg",
     null,
@@ -238,6 +232,7 @@ export const arduinoNanoESP32RobotTypeGeneric = new BaseNanoESP32(
 export const arduinoNanoEveryRobotTypeGeneric = new RobotType(
     "l_nano_every",
     { protocol: Avrdude, microcontroller: "megaavr" },
+    PinMapping.NANO,
     "Arduino Nano Every",
     "nano.svg",
     null,

diff --git a/src/app/effects/blockly-editor.effects.ts b/src/app/effects/blockly-editor.effects.ts
@@ -9,21 +9,25 @@ import * as Blockly from "blockly";
 import "@blockly/field-bitmap";
 
 import {
+    arduino,
+    blocks,
     CATEGORIES,
-    THEME,
     EXTENSIONS,
+    THEME,
     translations,
-    arduino,
-    getBlocks,
-    constantBlocks,
 } from "@leaphy-robotics/leaphy-blocks";
 import { LeaphyCategory } from "../services/toolbox/category";
 import { LeaphyToolbox } from "../services/toolbox/toolbox";
 import { CodeEditorState } from "../state/code-editor.state";
-import { genericRobotType, microPythonRobotType } from "../domain/robots";
+import {
+    genericRobotType,
+    leaphyFlitzNanoRobotType,
+    microPythonRobotType,
+} from "../domain/robots";
 import { RobotType } from "../domain/robot.type";
 import { WorkspaceService } from "../services/workspace.service";
 import { LocalStorageService } from "../services/localstorage.service";
+import PinSelectorField from "../domain/blockly-fields";
 
 @Injectable({
     providedIn: "root",
@@ -41,6 +45,8 @@ export class BlocklyEditorEffects {
         private workspaceService: WorkspaceService,
         private localStorage: LocalStorageService,
     ) {
+        Blockly.defineBlocksWithJsonArray(blocks);
+        Blockly.fieldRegistry.register("field_pin_selector", PinSelectorField);
         Blockly.registry.register(
             Blockly.registry.Type.TOOLBOX_ITEM,
             Blockly.ToolboxCategory.registrationName,
@@ -74,13 +80,6 @@ export class BlocklyEditorEffects {
             ["controls_if_elseif", "controls_if_else"],
         );
 
-        // When the current language is set: Find and set the blockly translations
-        this.appState.currentLanguage$
-            .pipe(filter((language) => !!language))
-            .subscribe(async (language) => {
-                Blockly.setLocale(translations[language.code]);
-            });
-
         // When the language is changed, save the workspace temporarily
         this.appState.changedLanguage$
             .pipe(filter((language) => !!language))
@@ -130,13 +129,18 @@ export class BlocklyEditorEffects {
                     leaphyToolboxXml,
                     startWorkspaceXml,
                 ]) => {
-                    let allBlocks = getBlocks(robotType.id).block;
-                    if (this.firstRun) {
-                        this.firstRun = false;
-                        allBlocks = allBlocks.concat(constantBlocks);
-                    }
+                    const translation =
+                        translations[this.appState.currentLanguageCode];
+                    if (robotType === leaphyFlitzNanoRobotType)
+                        translation.ARD_SERVO_WRITE =
+                            translation.ARD_SERVO_ARM_WRITE;
+                    else
+                        translation.ARD_SERVO_WRITE =
+                            translation.ARD_SERVO_REGULAR_WRITE;
 
-                    Blockly.defineBlocksWithJsonArray(allBlocks);
+                    Blockly.setLocale(translation);
+
+                    PinSelectorField.processPinMappings(robotType);
                     config.theme = Blockly.Theme.defineTheme("leaphy", {
                         blockStyles: THEME.defaultBlockStyles,
                         categoryStyles: THEME.categoryStyles,
@@ -205,12 +209,11 @@ export class BlocklyEditorEffects {
                     leaphyToolboxXml,
                     startWorkspaceXml,
                 ]) => {
-                    const toolboxXmlString = this.loadToolBox(
+                    this.blocklyState.toolboxXml = this.loadToolBox(
                         baseToolboxXml,
                         leaphyToolboxXml,
                         robotType,
                     );
-                    this.blocklyState.toolboxXml = toolboxXmlString;
 
                     workspace.clear();
                     const xml = Blockly.utils.xml.textToDom(startWorkspaceXml);

diff --git a/yarn.lock b/yarn.lock
@@ -1841,10 +1841,10 @@
   resolved "https://registry.yarnpkg.com/@leaphy-robotics/dfu-util-wasm/-/dfu-util-wasm-1.0.2.tgz#29afcc01266655e1c7b5da0eeceb0ead48c86fd7"
   integrity sha512-lvS+tJFO049b4ERYKX0HcoUtnQv76A1z9sZrAvbs7s3bvdMW0BObKmktZeJ7emcp3lU/+OJWsD2h0EY5rnkiNg==
 
-"@leaphy-robotics/leaphy-blocks@^2.1.0":
-  version "2.1.0"
-  resolved "https://registry.yarnpkg.com/@leaphy-robotics/leaphy-blocks/-/leaphy-blocks-2.1.0.tgz#9f24ac65322634e808f6dd1ff74e1e0553ab1965"
-  integrity sha512-u9AlHl8I8njzqM+/yG39sWgeqFHlVuPXQK59uFdyStsSBk9IpF+e7Ogo13WdXV+ORB831NvyNlSOKNZQEFY/ag==
+"@leaphy-robotics/leaphy-blocks@3.0.0":
+  version "3.0.0"
+  resolved "https://registry.yarnpkg.com/@leaphy-robotics/leaphy-blocks/-/leaphy-blocks-3.0.0.tgz#08ed2832646035686f8fc80d1c2c189f0c6e8884"
+  integrity sha512-+IcyDq3WLkbh758f+X103ysmd8D8PpPzinFHmoyEveYIUknGks5T2uSdTRKlI/7Dvv9Xp1+s5rX3/DD68CzEcg==
   dependencies:
     blockly "^10.4.3"
 
@@ -8542,7 +8542,16 @@ streamroller@^3.1.5:
     debug "^4.3.4"
     fs-extra "^8.1.0"
 
-"string-width-cjs@npm:string-width@^4.2.0", string-width@^4.1.0, string-width@^4.2.0, string-width@^4.2.3:
+"string-width-cjs@npm:string-width@^4.2.0":
+  version "4.2.3"
+  resolved "https://registry.yarnpkg.com/string-width/-/string-width-4.2.3.tgz#269c7117d27b05ad2e536830a8ec895ef9c6d010"
+  integrity sha512-wKyQRQpjJ0sIp62ErSZdGsjMJWsap5oRNihHhu6G7JVO/9jIB6UyevL+tXuOqrng8j/cxKTWyWUwvSTriiZz/g==
+  dependencies:
+    emoji-regex "^8.0.0"
+    is-fullwidth-code-point "^3.0.0"
+    strip-ansi "^6.0.1"
+
+string-width@^4.1.0, string-width@^4.2.0, string-width@^4.2.3:
   version "4.2.3"
   resolved "https://registry.yarnpkg.com/string-width/-/string-width-4.2.3.tgz#269c7117d27b05ad2e536830a8ec895ef9c6d010"
   integrity sha512-wKyQRQpjJ0sIp62ErSZdGsjMJWsap5oRNihHhu6G7JVO/9jIB6UyevL+tXuOqrng8j/cxKTWyWUwvSTriiZz/g==
@@ -8574,7 +8583,7 @@ string_decoder@~1.1.1:
   dependencies:
     safe-buffer "~5.1.0"
 
-"strip-ansi-cjs@npm:strip-ansi@^6.0.1", strip-ansi@^6.0.0, strip-ansi@^6.0.1:
+"strip-ansi-cjs@npm:strip-ansi@^6.0.1":
   version "6.0.1"
   resolved "https://registry.yarnpkg.com/strip-ansi/-/strip-ansi-6.0.1.tgz#9e26c63d30f53443e9489495b2105d37b67a85d9"
   integrity sha512-Y38VPSHcqkFrCpFnQ9vuSXmquuv5oXOKpGeT6aGrr3o3Gc9AlVa6JBfUSOCnbxGGZF+/0ooI7KrPuUSztUdU5A==
@@ -8588,6 +8597,13 @@ strip-ansi@^3.0.0:
   dependencies:
     ansi-regex "^2.0.0"
 
+strip-ansi@^6.0.0, strip-ansi@^6.0.1:
+  version "6.0.1"
+  resolved "https://registry.yarnpkg.com/strip-ansi/-/strip-ansi-6.0.1.tgz#9e26c63d30f53443e9489495b2105d37b67a85d9"
+  integrity sha512-Y38VPSHcqkFrCpFnQ9vuSXmquuv5oXOKpGeT6aGrr3o3Gc9AlVa6JBfUSOCnbxGGZF+/0ooI7KrPuUSztUdU5A==
+  dependencies:
+    ansi-regex "^5.0.1"
+
 strip-ansi@^7.0.1:
   version "7.1.0"
   resolved "https://registry.yarnpkg.com/strip-ansi/-/strip-ansi-7.1.0.tgz#d5b6568ca689d8561370b0707685d22434faff45"
@@ -9314,7 +9330,7 @@ wildcard@^2.0.0:
   resolved "https://registry.yarnpkg.com/wildcard/-/wildcard-2.0.1.tgz#5ab10d02487198954836b6349f74fff961e10f67"
   integrity sha512-CC1bOL87PIWSBhDcTrdeLo6eGT7mCFtrg0uIJtqJUFyK+eJnzl8A1niH56uu7KMa5XFrtiV+AQuHO3n7DsHnLQ==
 
-"wrap-ansi-cjs@npm:wrap-ansi@^7.0.0", wrap-ansi@^7.0.0:
+"wrap-ansi-cjs@npm:wrap-ansi@^7.0.0":
   version "7.0.0"
   resolved "https://registry.yarnpkg.com/wrap-ansi/-/wrap-ansi-7.0.0.tgz#67e145cff510a6a6984bdf1152911d69d2eb9e43"
   integrity sha512-YVGIj2kamLSTxw6NsZjoBxfSwsn0ycdesmc4p+Q21c5zPuZ1pl+NfxVdxPtdHvmNVOQ6XSYG4AUtyt/Fi7D16Q==
@@ -9332,6 +9348,15 @@ wrap-ansi@^6.2.0:
     string-width "^4.1.0"
     strip-ansi "^6.0.0"
 
+wrap-ansi@^7.0.0:
+  version "7.0.0"
+  resolved "https://registry.yarnpkg.com/wrap-ansi/-/wrap-ansi-7.0.0.tgz#67e145cff510a6a6984bdf1152911d69d2eb9e43"
+  integrity sha512-YVGIj2kamLSTxw6NsZjoBxfSwsn0ycdesmc4p+Q21c5zPuZ1pl+NfxVdxPtdHvmNVOQ6XSYG4AUtyt/Fi7D16Q==
+  dependencies:
+    ansi-styles "^4.0.0"
+    string-width "^4.1.0"
+    strip-ansi "^6.0.0"
+
 wrap-ansi@^8.1.0:
   version "8.1.0"
   resolved "https://registry.yarnpkg.com/wrap-ansi/-/wrap-ansi-8.1.0.tgz#56dc22368ee570face1b49819975d9b9a5ead214"