Pr test print

.gitignore

@@ -11,6 +11,10 @@
 # production
 /build
 
+# python stuff
+__pycache__
+*.egg-info
+
 # misc
 .DS_Store
 .env.local

server_python_scripts/blocks_base_classes/__init__.py

@@ -0,0 +1,8 @@
+"""Base classes for SystemCore blocks interface."""
+
+from .opmode import OpMode, Teleop, Auto, Test, Name, Group
+from .mechanism import Mechanism
+from .robot_base import RobotBase
+
+__all__ = ['OpMode', 'Teleop', 'Auto', 'Test', 'Name', 'Group'
+           'Mechanism', 'RobotBase']

server_python_scripts/blocks_base_classes/mechanism.py

@@ -0,0 +1,14 @@
+# This is the class all mechanisms derive from
+
+class Mechanism:
+    def __init__(self):
+        self.hardware = []
+    def start(self):
+        for hardware in self.hardware:
+            hardware.start()
+    def update(self):
+        for hardware in self.hardware:
+            hardware.update()
+    def stop(self):
+        for hardware in self.hardware:
+            hardware.stop()

server_python_scripts/blocks_base_classes/opmode.py

@@ -0,0 +1,26 @@
+# This is the base class that all OpModes derive from
+class OpMode:
+    def __init__(self, robot):
+        self.robot = robot
+    def start(self):
+        self.robot.start()
+    def loop(self):
+        self.robot.update()
+    def stop(self):
+        self.robot.stop()
+
+# For now this does nothing but it lets the decorator work
+def Teleop(OpMode):
+    return OpMode
+
+def Auto(OpMode):
+    return OpMode
+
+def Test(OpMode):
+    return OpMode
+
+def Name(OpMode, str):
+    return OpMode
+
+def Group(OpMode, str):
+    return OpMode

server_python_scripts/blocks_base_classes/pyproject.toml

@@ -0,0 +1,21 @@
+[build-system]
+requires = ["setuptools>=61.0", "wheel"]
+build-backend = "setuptools.build_meta"
+
+[project]
+name = "blocks_base_classes"
+version = "0.1.0"
+description = "Base classes for SystemCore blocks interface"
+requires-python = ">=3.8"
+license = {text = "Apache-2.0"}
+authors = [
+    {name = "Alan Smith", email = "[email protected]"}
+]
+dependencies = []
+
+[tool.setuptools.packages.find]
+where = ["."]
+include = ["blocks_base_classes*"]
+
+[tool.setuptools.package-dir]
+"blocks_base_classes" = "."

server_python_scripts/blocks_base_classes/robot_base.py

@@ -0,0 +1,14 @@
+# This is the class all robots derive from
+
+class RobotBase:
+    def __init__(self):
+        self.hardware = []
+    def start(self):
+        for hardware in self.hardware:
+            hardware.start()
+    def update(self):
+        for hardware in self.hardware:
+            hardware.update()
+    def stop(self):
+        for hardware in self.hardware:
+            hardware.stop()

server_python_scripts/run_opmode.py

@@ -15,10 +15,8 @@
 import argparse
 from pathlib import Path
 
-# Add the current directory to Python path to import local modules
-sys.path.insert(0, str(Path(__file__).parent))
+from blocks_base_classes import OpMode
 
-from opmode import OpMode
 from robot import Robot
 
 

src/blocks/mrc_call_python_function.ts

@@ -626,7 +626,7 @@ const CALL_PYTHON_FUNCTION = {
           break;
         }
         case FunctionKind.INSTANCE_COMPONENT: {
-          const componentNameChoices = [];
+          const componentNameChoices : string[] = [];
           this.mrcComponents.forEach(component => componentNameChoices.push(component.name));
           if (!componentNameChoices.includes(this.mrcComponentName)) {
             componentNameChoices.push(this.mrcComponentName);
@@ -723,7 +723,7 @@ const CALL_PYTHON_FUNCTION = {
                 }
               }
               if (indexOfComponentName != -1) {
-                const componentNameChoices = [];
+                const componentNameChoices : string[] = [];
                 this.mrcComponents.forEach(component => componentNameChoices.push(component.name));
                 titleInput.removeField(FIELD_COMPONENT_NAME);
                 titleInput.insertFieldAt(indexOfComponentName,

src/blocks/mrc_class_method_def.ts

@@ -214,7 +214,7 @@ const CLASS_METHOD_DEF = {
     mrcRenameParameter: function (this: ClassMethodDefBlock, oldName: string, newName: string) {
         let nextBlock = this.getInputTargetBlock('STACK');
 
-        if(nextBlock){
+        if (nextBlock){
             findConnectedBlocksOfType(nextBlock, MRC_GET_PARAMETER_BLOCK_NAME).forEach((block) => {
                 if (block.getFieldValue('PARAMETER_NAME') === oldName) {
                     block.setFieldValue(newName, 'PARAMETER_NAME');
@@ -362,12 +362,12 @@ export const pythonFromBlock = function (
     }
     if (block.mrcPythonMethodName == '__init__') {
         let class_specific = generator.getClassSpecificForInit();
-        branch = generator.INDENT + 'super.__init__(' + class_specific + ')\n' +
+        branch = generator.INDENT + 'super().__init__(' + class_specific + ')\n' +
             generator.defineClassVariables() + branch;
     }
-    else if (funcName == 'update'){
+    else if (generator.inBaseClassMethod(blocklyName)){
         // Special case for update, to also call the update method of the base class
-        branch = generator.INDENT + 'super.update()\n' + branch;
+        branch = generator.INDENT + 'super().' + blocklyName + '()\n' + branch;
     }
     if (returnValue) {
         returnValue = generator.INDENT + 'return ' + returnValue + '\n';

src/blocks/mrc_get_parameter.ts

@@ -66,7 +66,7 @@ const GET_PARAMETER_BLOCK = {
 
     if (blockEvent.type === Blockly.Events.BLOCK_MOVE) {
       let parent = blockBlock.getRootBlock();
-      if( parent.type === MRC_CLASS_METHOD_DEF) {
+      if ( parent.type === MRC_CLASS_METHOD_DEF) {
         // It is a class method definition, so we see if this variable is in it.
         const classMethodDefBlock = parent as ClassMethodDefBlock;
         for (const parameter of classMethodDefBlock.mrcParameters) {

src/blocks/mrc_mechanism_component_holder.ts

@@ -178,7 +178,7 @@ export const setup = function () {
 }
 
 function pythonFromBlockInRobot(block: MechanismComponentHolderBlock, generator: ExtendedPythonGenerator) {
-  let code = 'def define_hardware(self):\n' + generator.INDENT + 'self.hardware = []\n';
+  let code = 'def define_hardware(self):\n';
 
   let mechanisms = '';
   let components = '';
@@ -189,23 +189,21 @@ function pythonFromBlockInRobot(block: MechanismComponentHolderBlock, generator:
   const body = mechanisms + components;
   if (body != '') {
     code += body;
+    generator.addClassMethodDefinition('define_hardware', code);    
   } 
-
-  generator.addClassMethodDefinition('define_hardware', code);
 }
 
 function pythonFromBlockInMechanism(block: MechanismComponentHolderBlock, generator: ExtendedPythonGenerator) {
   let components = '';
 
   components = generator.statementToCode(block, 'COMPONENTS');
 
-  let code = 'def define_hardware(self' + generator.getListOfPorts(false) + '):\n' +
-    generator.INDENT + 'self.hardware = []\n';
+  let code = 'def define_hardware(self' + generator.getListOfPorts(false) + '):\n';
 
   if (components != '') {
     code += components;
-  } 
-  generator.addClassMethodDefinition('define_hardware', code);
+    generator.addClassMethodDefinition('define_hardware', code);    
+  }
 }
 
 export const pythonFromBlock = function (

src/blocks/mrc_print.ts

@@ -0,0 +1,46 @@
+/**
+ * @license
+ * Copyright 2025 Porpoiseful LLC
+ * 
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *    https://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+/**
+ * @fileoverview Create a component that does a simple print statement
+ * @author [email protected] (Alan Smith)
+ */
+import * as Blockly from 'blockly';
+import { PythonGenerator } from 'blockly/python';
+import { Order } from 'blockly/python';
+
+export const BLOCK_NAME = 'mrc_print';
+
+export const setup = function() {
+  Blockly.Blocks[BLOCK_NAME] = {
+    init: function() {
+      this.appendValueInput('TEXT')
+          .setCheck('String')
+          .appendField(Blockly.Msg['MRC_PRINT']);
+      this.setPreviousStatement(true);
+      this.setNextStatement(true);
+      this.setStyle('text_blocks');
+    },
+  };
+};
+
+export const pythonFromBlock = function(
+    block: Blockly.Block,
+    generator: PythonGenerator,
+) {
+  return 'print(' + generator.valueToCode(block, 'TEXT', Order.NONE) + ')\n';
+};

src/blocks/setup_custom_blocks.ts

@@ -17,6 +17,7 @@ import * as Event from './mrc_event';
 import * as GetParameter from './mrc_get_parameter';
 import * as ParameterMutator from './mrc_param_container'
 import * as EventHandler from './mrc_event_handler';
+import * as Print from './mrc_print';
 
 const customBlocks = [
   CallPythonFunction,
@@ -37,13 +38,14 @@ const customBlocks = [
   GetParameter,
   ParameterMutator,
   EventHandler,
+  Print
 ];
 
 export const setup = function(forBlock: any) {
   customBlocks.forEach(block => {
     block.setup();
     const maybeBlock = block as { pythonFromBlock?: any; BLOCK_NAME?: string };
-    if(maybeBlock.pythonFromBlock && maybeBlock.BLOCK_NAME) {
+    if (maybeBlock.pythonFromBlock && maybeBlock.BLOCK_NAME) {
       forBlock[maybeBlock.BLOCK_NAME] = maybeBlock.pythonFromBlock;
     }
   });

src/blocks/tokens.ts

@@ -1,7 +1,33 @@
+/**
+ * @license
+ * Copyright 2025 Porpoiseful LLC
+ * 
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *    https://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+/**
+ * @fileoverview Exposes translatable strings for use as Blockly.Msg tokens.
+ * @author [email protected] (Alan Smith)
+ */
+
 import * as Blockly from 'blockly/core';
-import { M } from 'vitest/dist/chunks/reporters.d.BFLkQcL6.js';
 
-export const customTokens = (t: (key: string) => string): typeof Blockly.Msg => {
+/**
+ * Creates custom translation tokens for Blockly messages.
+ * @param t Translation function that takes a key and returns translated string.
+ * @return Object containing translated Blockly message tokens.
+ */
+export function customTokens(t: (key: string) => string): typeof Blockly.Msg {
   return {
     ADD_COMMENT: t('BLOCKLY.ADD_COMMENT'),
     REMOVE_COMMENT: t('BLOCKLY.REMOVE_COMMENT'),
@@ -10,12 +36,15 @@ export const customTokens = (t: (key: string) => string): typeof Blockly.Msg =>
     WITH: t('BLOCKLY.WITH'),
     WHEN: t('BLOCKLY.WHEN'),
     PARAMETER: t('BLOCKLY.PARAMETER'),
-    PARAMETERS_CAN_ONLY_GO_IN_THEIR_METHODS_BLOCK: t('BLOCKLY.PARAMETERS_CAN_ONLY_GO_IN_THEIR_METHODS_BLOCK'),
-    MECHANISMS: t('BLOCKLY.MECHANISMS'),
+    PARAMETERS_CAN_ONLY_GO_IN_THEIR_METHODS_BLOCK:
+      t('BLOCKLY.PARAMETERS_CAN_ONLY_GO_IN_THEIR_METHODS_BLOCK'),
+    MECHANISMS: t('MECHANISMS'),
+    OPMODES: t('OPMODES'),
     COMPONENTS: t('BLOCKLY.COMPONENTS'),
     EVENTS: t('BLOCKLY.EVENTS'),
     EVALUATE_BUT_IGNORE_RESULT: t('BLOCKLY.EVALUATE_BUT_IGNORE_RESULT'),
-    EVALUATE_BUT_IGNORE_RESULT_TOOLTIP: t('BLOCKLY.EVALUATE_BUT_IGNORE_RESULT_TOOLTIP'),
+    EVALUATE_BUT_IGNORE_RESULT_TOOLTIP:
+      t('BLOCKLY.EVALUATE_BUT_IGNORE_RESULT_TOOLTIP'),
     AUTO: t('BLOCKLY.AUTO'),
     TELEOP: t('BLOCKLY.TELEOP'),
     TEST: t('BLOCKLY.TEST'),
@@ -42,5 +71,7 @@ export const customTokens = (t: (key: string) => string): typeof Blockly.Msg =>
     MRC_CATEGORY_EVENTS: t('BLOCKLY.CATEGORY.EVENTS'),
     MRC_CATEGORY_ADD_MECHANISM: t('BLOCKLY.CATEGORY.ADD_MECHANISM'),
     MRC_CATEGORY_ADD_COMPONENT: t('BLOCKLY.CATEGORY.ADD_COMPONENT'),
-  };
-};
+    MRC_CATEGORY_TEST: t('BLOCKLY.CATEGORY.TEST'),
+    MRC_PRINT: t('BLOCKLY.PRINT'),
+  }
+}; 

src/blocks/utils/change_framework.ts

@@ -37,7 +37,7 @@ export function registerCallback(blockType : string, blockEvents : string[], fun
 export function getParentOfType(block : Blockly.Block | null, type : string) : Blockly.Block | null{
     let parentBlock = block?.getParent(); 
     while(parentBlock){
-        if(parentBlock.type == type){
+        if (parentBlock.type == type){
             return parentBlock;
         }
         parentBlock = parentBlock.getParent();
@@ -50,14 +50,14 @@ function changeListener(e: Blockly.Events.Abstract){
         let eventBlockBase = (e as Blockly.Events.BlockBase);
         let workspace = Blockly.Workspace.getById(eventBlockBase.workspaceId!)
         let block = (workspace?.getBlockById(eventBlockBase.blockId!)! as Blockly.BlockSvg)
-        if(!block){
+        if (!block){
             return;
         }
         let callbackInfo = registeredCallbacks.get(block.type);
-        if(!callbackInfo){
+        if (!callbackInfo){
             return;
         }
-        if(callbackInfo[0].includes(e.type)){
+        if (callbackInfo[0].includes(e.type)){
             callbackInfo[1](block, eventBlockBase);
         }            
     }