Press n or j to go to the next uncovered block, b, p or k for the previous block.
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export interface VisualBlock {
id: string;
opcode: string;
category: 'event' | 'movement' | 'motor' | 'control' | 'sensor' | 'operator' | 'variable' | 'light' | 'sound' | 'myblock';
icon: string;
label: string;
params: Record<string, string>;
colorHex: string;
children?: VisualBlock[];
elseChildren?: VisualBlock[];
}
export interface SpikeScratchImportResult {
projectName: string;
pythonCode: string;
visualBlocks: VisualBlock[];
totalBlocks: number;
}
const COLOR_MAP: Record<string, string> = {
'-1': 'none',
'': 'none',
'0': 'black',
'1': 'magenta',
'2': 'purple',
'3': 'blue',
'4': 'azure',
'5': 'green',
'7': 'yellow',
'8': 'orange',
'9': 'red',
'10': 'white',
};
/**
* High-Fidelity Scratch / Word Blocks Importer for LEGO SPIKE Prime App projects (.llsp3, .llsp, .sb3, .json).
* Unpacks the project archive, parses the Scratch 3.0 AST, and transpiles the block sequence
* into standard, fully executable SPIKE Prime Python code, with an accompanying visual block structure.
*/
export class SpikeScratchImporter {
/**
* Parses a SPIKE app project file (.llsp3, .llsp, .sb3, or raw Scratch JSON)
*/
public static async importProject(
fileData: ArrayBuffer | Blob | string,
defaultName: string = 'Imported SPIKE Program'
): Promise<SpikeScratchImportResult> {
let projectJson: any;
let projectName = defaultName.replace(/\.(llsp3?|sb3|json)$/i, '');
if (typeof fileData === 'string' && fileData.trim().startsWith('{')) {
projectJson = JSON.parse(fileData);
} else {
const zip = new JSZip();
const zipContent = await zip.loadAsync(fileData as any);
// 1. Try reading manifest.json for authentic project metadata
const manifestFile = zipContent.file('manifest.json');
if (manifestFile) {
try {
const manifestText = await manifestFile.async('text');
const manifest = JSON.parse(manifestText);
if (manifest.name) {
projectName = manifest.name;
}
} catch (_) {}
}
// 2. Check for nested scratch.sb3 (SPIKE 3 .llsp3 format)
const sb3File = zipContent.file('scratch.sb3');
if (sb3File) {
const sb3Buffer = await sb3File.async('arraybuffer');
const nestedZip = new JSZip();
const nestedContent = await nestedZip.loadAsync(sb3Buffer);
const innerProj = nestedContent.file('project.json');
if (!innerProj) {
throw new Error('No project.json found inside scratch.sb3 archive');
}
const text = await innerProj.async('text');
projectJson = JSON.parse(text);
} else {
// 3. Check for direct project.json or projectbody.json (SPIKE 2 .llsp or Scratch .sb3 format)
const projFile =
zipContent.file('projectbody.json') ||
zipContent.file('project.json') ||
zipContent.file('model.json');
if (projFile) {
const text = await projFile.async('text');
projectJson = JSON.parse(text);
} else {
// Look for any .json file in the archive
const allJson = Object.keys(zipContent.files).find((k) => k.endsWith('.json') && !k.endsWith('manifest.json'));
if (allJson) {
const text = await zipContent.file(allJson)!.async('text');
projectJson = JSON.parse(text);
} else {
throw new Error('Unsupported project archive: no project.json or scratch.sb3 found');
}
}
}
}
// 4. Locate blocks dictionary from target sprite/actor
let blocks: Record<string, any> = {};
if (projectJson.targets && Array.isArray(projectJson.targets)) {
// Find non-stage target with active blocks, or fallback to first target
const actor = projectJson.targets.find((t: any) => !t.isStage && t.blocks && Object.keys(t.blocks).length > 0) || projectJson.targets[0];
blocks = actor?.blocks || {};
} else if (projectJson.blocks) {
blocks = projectJson.blocks;
}
return this.transpileBlocks(blocks, projectName);
}
/**
* Traverses Scratch blocks AST starting from hat blocks and generates Python + visual descriptors
*/
public static transpileBlocks(blocks: Record<string, any>, projectName: string): SpikeScratchImportResult {
// Collect all top-level hat blocks (when program starts)
const hatIds = Object.keys(blocks).filter((id) => {
const b = blocks[id];
if (!b || typeof b !== 'object') return false;
const op = b.opcode || '';
return (
b.topLevel ||
op.includes('whenProgramStarts') ||
op.includes('whenflagclicked') ||
op.includes('start_hat')
);
});
// Devices discovered during block parsing
const devices = {
hasHub: false,
hasMotors: false,
motorPairPorts: ['A', 'B'] as [string, string],
individualMotors: new Set<string>(),
colorSensors: new Set<string>(),
distanceSensors: new Set<string>(),
hasTimer: false,
};
const pyBodyLines: string[] = [];
const visualBlocks: VisualBlock[] = [];
let totalBlockCount = 0;
// Traverse starting from primary hat block
const primaryHatId = hatIds.find((id) => {
const op = blocks[id]?.opcode || '';
return op.includes('whenProgramStarts') || op.includes('whenflagclicked');
}) || hatIds[0];
if (primaryHatId) {
totalBlockCount++;
visualBlocks.push({
id: primaryHatId,
opcode: blocks[primaryHatId].opcode,
category: 'event',
icon: '🚩',
label: 'When Program Starts',
params: {},
colorHex: '#eab308',
});
let currId = blocks[primaryHatId].next;
while (currId) {
const b = blocks[currId];
if (!b) break;
totalBlockCount++;
const res = this.processBlock(currId, b, blocks, devices, 0);
if (res.pyLines.length > 0) {
pyBodyLines.push(...res.pyLines);
}
if (res.visualBlock) {
visualBlocks.push(res.visualBlock);
}
currId = b.next;
}
}
// Build standard SPIKE Prime Python header with all discovered sensors & motors
const headerLines: string[] = [
'# -------------------------------------------------------------------------',
`# Translated from SPIKE App Word Blocks: "${projectName}"`,
'# -------------------------------------------------------------------------',
'from spike import PrimeHub, Motor, MotorPair, ColorSensor, DistanceSensor',
'from spike.control import wait_for_seconds, wait_until',
'',
'hub = PrimeHub()',
];
if (devices.hasMotors || pyBodyLines.some((l) => l.includes('motors.'))) {
headerLines.push(`motors = MotorPair('${devices.motorPairPorts[0]}', '${devices.motorPairPorts[1]}')`);
}
for (const p of Array.from(devices.individualMotors).sort()) {
headerLines.push(`motor_${p.toLowerCase()} = Motor('${p}')`);
}
for (const p of Array.from(devices.colorSensors).sort()) {
headerLines.push(`color_${p.toLowerCase()} = ColorSensor('${p}')`);
}
for (const p of Array.from(devices.distanceSensors).sort()) {
headerLines.push(`dist_${p.toLowerCase()} = DistanceSensor('${p}')`);
}
headerLines.push('');
headerLines.push('# --- Main Program ---');
const fullPythonCode = [...headerLines, ...(pyBodyLines.length > 0 ? pyBodyLines : ['pass'])].join('\n') + '\n';
return {
projectName,
pythonCode: fullPythonCode,
visualBlocks,
totalBlocks: totalBlockCount,
};
}
private static processBlock(
bid: string,
b: any,
blocks: Record<string, any>,
devices: any,
indentDepth: number
): { pyLines: string[]; visualBlock?: VisualBlock } {
const indent = ' '.repeat(indentDepth);
const op = b.opcode || '';
const inputs = b.inputs || {};
const fields = b.fields || {};
const pyLines: string[] = [];
let visualBlock: VisualBlock | undefined;
// 1. MOVEMENT BLOCKS (Blue)
if (op === 'flippermove_setMovementPair' || op === 'spike_setMovementPair') {
devices.hasMotors = true;
const pair = this.resolveInput(inputs.PAIR, blocks) || 'AB';
const p1 = pair[0] || 'A';
const p2 = pair[1] || 'B';
devices.motorPairPorts = [p1, p2];
pyLines.push(`${indent}motors = MotorPair('${p1}', '${p2}')`);
visualBlock = {
id: bid,
opcode: op,
category: 'movement',
icon: '🚗',
label: `Set movement motors to [${p1}+${p2}]`,
params: { left: p1, right: p2 },
colorHex: '#0284c7',
};
} else if (op === 'flippermove_movementSpeed' || op === 'spike_movementSpeed') {
devices.hasMotors = true;
const spd = this.resolveInput(inputs.SPEED, blocks) || '50';
pyLines.push(`${indent}motors.set_default_speed(${spd})`);
visualBlock = {
id: bid,
opcode: op,
category: 'movement',
icon: '⚡',
label: `Set movement speed to [${spd}%]`,
params: { speed: spd },
colorHex: '#0284c7',
};
} else if (op === 'flippermove_move' || op === 'spike_move') {
devices.hasMotors = true;
const dir = this.resolveInput(inputs.DIRECTION, blocks) || 'forward';
const val = this.resolveInput(inputs.VALUE, blocks) || '10';
const unit = (fields.UNIT && fields.UNIT[0]) || 'cm';
const numVal = parseFloat(val) || 0;
const finalVal = dir === 'back' ? -Math.abs(numVal) : Math.abs(numVal);
pyLines.push(`${indent}motors.move(${finalVal}, '${unit}')`);
visualBlock = {
id: bid,
opcode: op,
category: 'movement',
icon: dir === 'back' ? '⬇️' : '⬆️',
label: `Move [${dir}] for [${val}] [${unit}]`,
params: { direction: dir, value: val, unit },
colorHex: '#0284c7',
};
} else if (op === 'flippermove_startMove' || op === 'spike_startMove') {
devices.hasMotors = true;
const dir = this.resolveInput(inputs.DIRECTION, blocks) || 'forward';
if (dir === 'back') {
pyLines.push(`${indent}motors.start(0, -50)`);
} else {
pyLines.push(`${indent}motors.start()`);
}
visualBlock = {
id: bid,
opcode: op,
category: 'movement',
icon: '▶️',
label: `Start moving [${dir}]`,
params: { direction: dir },
colorHex: '#0284c7',
};
} else if (op === 'flippermove_startSteer' || op === 'spike_startSteer') {
devices.hasMotors = true;
const steering = this.resolveInput(inputs.STEERING, blocks) || '0';
const speed = this.resolveInput(inputs.SPEED, blocks) || '50';
pyLines.push(`${indent}motors.start(${steering}, ${speed})`);
visualBlock = {
id: bid,
opcode: op,
category: 'movement',
icon: '🔄',
label: `Start steering [${steering}] at [${speed}%]`,
params: { steering, speed },
colorHex: '#0284c7',
};
} else if (op === 'flippermove_stopMove' || op === 'spike_stopMove') {
devices.hasMotors = true;
pyLines.push(`${indent}motors.stop()`);
visualBlock = {
id: bid,
opcode: op,
category: 'movement',
icon: '⏹️',
label: 'Stop moving',
params: {},
colorHex: '#0284c7',
};
} else if (op === 'flippermoremove_startDualSpeed' || op === 'spike_startDualSpeed') {
devices.hasMotors = true;
const l = this.resolveInput(inputs.LEFT, blocks) || '0';
const r = this.resolveInput(inputs.RIGHT, blocks) || '0';
pyLines.push(`${indent}motors.start_tank(${l}, ${r})`);
visualBlock = {
id: bid,
opcode: op,
category: 'movement',
icon: '🎛️',
label: `Start moving tank Left: [${l}%], Right: [${r}%]`,
params: { left: l, right: r },
colorHex: '#0284c7',
};
} else if (op === 'flippermoremove_moveDualSpeed' || op === 'spike_moveDualSpeed') {
devices.hasMotors = true;
const l = this.resolveInput(inputs.LEFT, blocks) || '0';
const r = this.resolveInput(inputs.RIGHT, blocks) || '0';
const val = this.resolveInput(inputs.VALUE, blocks) || '1';
const unit = (fields.UNIT && fields.UNIT[0]) || 'rotations';
pyLines.push(`${indent}motors.move_tank(${val}, '${unit}', ${l}, ${r})`);
visualBlock = {
id: bid,
opcode: op,
category: 'movement',
icon: '🎛️',
label: `Move tank for [${val}] [${unit}] Left: [${l}%], Right: [${r}%]`,
params: { value: val, unit, left: l, right: r },
colorHex: '#0284c7',
};
// 2. INDIVIDUAL MOTOR BLOCKS (Cyan / Teal)
} else if (op === 'flippermotor_motorTurnForDirection' || op === 'spike_motorTurnForDirection') {
const port = this.resolveInput(inputs.PORT, blocks) || 'A';
devices.individualMotors.add(port);
const dir = this.resolveInput(inputs.DIRECTION, blocks) || 'clockwise';
const val = this.resolveInput(inputs.VALUE, blocks) || '1';
const unit = (fields.UNIT && fields.UNIT[0]) || 'rotations';
const numVal = parseFloat(val) || 0;
const sign = dir === 'counterclockwise' ? -1 : 1;
if (unit === 'rotations') {
pyLines.push(`${indent}motor_${port.toLowerCase()}.run_for_degrees(${numVal * 360 * sign})`);
} else if (unit === 'degrees') {
pyLines.push(`${indent}motor_${port.toLowerCase()}.run_for_degrees(${numVal * sign})`);
} else {
pyLines.push(`${indent}motor_${port.toLowerCase()}.run_for_seconds(${numVal})`);
}
visualBlock = {
id: bid,
opcode: op,
category: 'motor',
icon: '⚙️',
label: `Turn Motor [Port ${port}] [${dir}] for [${val}] [${unit}]`,
params: { port, direction: dir, value: val, unit },
colorHex: '#06b6d4',
};
} else if (op === 'flippermotor_motorStartDirection' || op === 'spike_motorStartDirection') {
const port = this.resolveInput(inputs.PORT, blocks) || 'A';
devices.individualMotors.add(port);
const dir = this.resolveInput(inputs.DIRECTION, blocks) || 'clockwise';
const speed = this.resolveInput(inputs.SPEED, blocks) || '50';
const sign = dir === 'counterclockwise' ? '-' : '';
pyLines.push(`${indent}motor_${port.toLowerCase()}.start(${sign}${speed})`);
visualBlock = {
id: bid,
opcode: op,
category: 'motor',
icon: '⚙️',
label: `Start Motor [Port ${port}] [${dir}] at [${speed}%]`,
params: { port, direction: dir, speed },
colorHex: '#06b6d4',
};
} else if (op === 'flippermotor_motorStop' || op === 'spike_motorStop') {
const port = this.resolveInput(inputs.PORT, blocks) || 'A';
devices.individualMotors.add(port);
pyLines.push(`${indent}motor_${port.toLowerCase()}.stop()`);
visualBlock = {
id: bid,
opcode: op,
category: 'motor',
icon: '⏹️',
label: `Stop Motor [Port ${port}]`,
params: { port },
colorHex: '#06b6d4',
};
} else if (op === 'flippermotor_motorSetSpeed' || op === 'spike_motorSetSpeed') {
const port = this.resolveInput(inputs.PORT, blocks) || 'A';
devices.individualMotors.add(port);
const spd = this.resolveInput(inputs.SPEED, blocks) || '50';
pyLines.push(`${indent}motor_${port.toLowerCase()}.set_default_speed(${spd})`);
visualBlock = {
id: bid,
opcode: op,
category: 'motor',
icon: '⚡',
label: `Set Motor [Port ${port}] speed to [${spd}%]`,
params: { port, speed: spd },
colorHex: '#06b6d4',
};
// 3. SENSORS (Purple)
} else if (op === 'flippersensors_resetYaw' || op === 'spike_resetYaw') {
devices.hasHub = true;
pyLines.push(`${indent}hub.motion_sensor.reset_yaw_angle()`);
visualBlock = {
id: bid,
opcode: op,
category: 'sensor',
icon: '🧭',
label: 'Reset Yaw angle to 0°',
params: {},
colorHex: '#a855f7',
};
} else if (op === 'flippersensors_resetTimer' || op === 'sensing_resettimer') {
devices.hasTimer = true;
pyLines.push(`${indent}timer.reset()`);
visualBlock = {
id: bid,
opcode: op,
category: 'sensor',
icon: '⏱️',
label: 'Reset Timer',
params: {},
colorHex: '#a855f7',
};
// 4. CONTROL BLOCKS (Orange)
} else if (op === 'control_wait') {
const secs = this.resolveInput(inputs.DURATION, blocks) || '1';
pyLines.push(`${indent}wait_for_seconds(${secs})`);
visualBlock = {
id: bid,
opcode: op,
category: 'control',
icon: '⏳',
label: `Wait [${secs}] seconds`,
params: { duration: secs },
colorHex: '#f97316',
};
} else if (op === 'control_wait_until') {
const cond = this.resolveCondition(inputs.CONDITION, blocks, devices);
pyLines.push(`${indent}while not (${cond.pyExpr}):`);
pyLines.push(`${indent} wait_for_seconds(0.01)`);
visualBlock = {
id: bid,
opcode: op,
category: 'control',
icon: '⏳',
label: `Wait until <${cond.label}>`,
params: { condition: cond.label },
colorHex: '#f97316',
};
} else if (op === 'control_repeat') {
const times = this.resolveInput(inputs.TIMES, blocks) || '10';
pyLines.push(`${indent}for _ in range(${times}):`);
const children = this.processSubstack(inputs.SUBSTACK, blocks, devices, indentDepth + 1, pyLines);
visualBlock = {
id: bid,
opcode: op,
category: 'control',
icon: '🔁',
label: `Repeat [${times}] times`,
params: { times },
colorHex: '#f97316',
children,
};
} else if (op === 'control_forever') {
pyLines.push(`${indent}while True:`);
const children = this.processSubstack(inputs.SUBSTACK, blocks, devices, indentDepth + 1, pyLines);
visualBlock = {
id: bid,
opcode: op,
category: 'control',
icon: '♾️',
label: 'Forever',
params: {},
colorHex: '#f97316',
children,
};
} else if (op === 'control_if') {
const cond = this.resolveCondition(inputs.CONDITION, blocks, devices);
pyLines.push(`${indent}if ${cond.pyExpr}:`);
const children = this.processSubstack(inputs.SUBSTACK, blocks, devices, indentDepth + 1, pyLines);
visualBlock = {
id: bid,
opcode: op,
category: 'control',
icon: '❓',
label: `If <${cond.label}> then`,
params: { condition: cond.label },
colorHex: '#f97316',
children,
};
} else if (op === 'control_if_else') {
const cond = this.resolveCondition(inputs.CONDITION, blocks, devices);
pyLines.push(`${indent}if ${cond.pyExpr}:`);
const children = this.processSubstack(inputs.SUBSTACK, blocks, devices, indentDepth + 1, pyLines);
pyLines.push(`${indent}else:`);
const elseChildren = this.processSubstack(inputs.SUBSTACK2, blocks, devices, indentDepth + 1, pyLines);
visualBlock = {
id: bid,
opcode: op,
category: 'control',
icon: '❓',
label: `If <${cond.label}> then ... else`,
params: { condition: cond.label },
colorHex: '#f97316',
children,
elseChildren,
};
// 5. VARIABLES / DATA (Orange / Red)
} else if (op === 'data_setvariableto') {
const varName = (fields.VARIABLE && fields.VARIABLE[0]) || 'var';
const val = this.resolveInput(inputs.VALUE, blocks) || '0';
pyLines.push(`${indent}${varName} = ${val}`);
visualBlock = {
id: bid,
opcode: op,
category: 'variable',
icon: '📦',
label: `Set [${varName}] to [${val}]`,
params: { variable: varName, value: val },
colorHex: '#ea580c',
};
} else if (op === 'data_changevariableby') {
const varName = (fields.VARIABLE && fields.VARIABLE[0]) || 'var';
const val = this.resolveInput(inputs.VALUE, blocks) || '1';
pyLines.push(`${indent}${varName} += ${val}`);
visualBlock = {
id: bid,
opcode: op,
category: 'variable',
icon: '📦',
label: `Change [${varName}] by [${val}]`,
params: { variable: varName, value: val },
colorHex: '#ea580c',
};
} else {
// Generic fallback for unhandled custom block
visualBlock = {
id: bid,
opcode: op,
category: 'control',
icon: '🧩',
label: `${op.replace(/^[a-z]+_/, '')}`,
params: {},
colorHex: '#64748b',
};
}
return { pyLines, visualBlock };
}
private static processSubstack(
substackInput: any,
blocks: Record<string, any>,
devices: any,
indentDepth: number,
targetPyLines: string[]
): VisualBlock[] {
const children: VisualBlock[] = [];
if (!substackInput) {
targetPyLines.push(' '.repeat(indentDepth) + 'pass');
return children;
}
let currId = substackInput[1];
let addedAny = false;
while (currId) {
const b = blocks[currId];
if (!b) break;
const res = this.processBlock(currId, b, blocks, devices, indentDepth);
if (res.pyLines.length > 0) {
targetPyLines.push(...res.pyLines);
addedAny = true;
}
if (res.visualBlock) {
children.push(res.visualBlock);
}
currId = b.next;
}
if (!addedAny) {
targetPyLines.push(' '.repeat(indentDepth) + 'pass');
}
return children;
}
private static resolveCondition(
condInput: any,
blocks: Record<string, any>,
devices: any
): { pyExpr: string; label: string } {
if (!condInput || !condInput[1]) {
return { pyExpr: 'False', label: 'false' };
}
const bId = condInput[1];
const b = blocks[bId];
if (!b) {
return { pyExpr: String(bId), label: String(bId) };
}
const op = b.opcode || '';
const inputs = b.inputs || {};
const fields = b.fields || {};
if (op === 'operator_lt') {
const l = this.resolveExpression(inputs.OPERAND1, blocks, devices);
const r = this.resolveExpression(inputs.OPERAND2, blocks, devices);
return { pyExpr: `${l.pyExpr} < ${r.pyExpr}`, label: `${l.label} < ${r.label}` };
} else if (op === 'operator_gt') {
const l = this.resolveExpression(inputs.OPERAND1, blocks, devices);
const r = this.resolveExpression(inputs.OPERAND2, blocks, devices);
return { pyExpr: `${l.pyExpr} > ${r.pyExpr}`, label: `${l.label} > ${r.label}` };
} else if (op === 'operator_equals') {
const l = this.resolveExpression(inputs.OPERAND1, blocks, devices);
const r = this.resolveExpression(inputs.OPERAND2, blocks, devices);
return { pyExpr: `${l.pyExpr} == ${r.pyExpr}`, label: `${l.label} = ${r.label}` };
} else if (op === 'operator_and') {
const l = this.resolveCondition(inputs.OPERAND1, blocks, devices);
const r = this.resolveCondition(inputs.OPERAND2, blocks, devices);
return { pyExpr: `(${l.pyExpr} and ${r.pyExpr})`, label: `(${l.label} and ${r.label})` };
} else if (op === 'operator_or') {
const l = this.resolveCondition(inputs.OPERAND1, blocks, devices);
const r = this.resolveCondition(inputs.OPERAND2, blocks, devices);
return { pyExpr: `(${l.pyExpr} or ${r.pyExpr})`, label: `(${l.label} or ${r.label})` };
} else if (op === 'operator_not') {
const c = this.resolveCondition(inputs.OPERAND, blocks, devices);
return { pyExpr: `not (${c.pyExpr})`, label: `not (${c.label})` };
} else if (op === 'flippersensors_isColor' || op === 'spike_isColor') {
const port = this.resolveInput(inputs.PORT, blocks) || 'B';
devices.colorSensors.add(port);
const rawColor = this.resolveInput(inputs.VALUE, blocks) || '0';
const colorName = COLOR_MAP[rawColor] || rawColor;
return {
pyExpr: `color_${port.toLowerCase()}.get_color() == '${colorName}'`,
label: `Color Sensor [Port ${port}] is [${colorName}]`,
};
} else if (op === 'flippersensors_isDistance' || op === 'spike_isDistance') {
const port = this.resolveInput(inputs.PORT, blocks) || 'E';
devices.distanceSensors.add(port);
const val = this.resolveInput(inputs.VALUE, blocks) || '20';
const comparison = (fields.COMPARISON && fields.COMPARISON[0]) || '<';
return {
pyExpr: `dist_${port.toLowerCase()}.get_distance_cm() ${comparison} ${val}`,
label: `Distance Sensor [Port ${port}] ${comparison} ${val} cm`,
};
}
return { pyExpr: 'True', label: 'true' };
}
private static resolveExpression(
exprInput: any,
blocks: Record<string, any>,
devices: any
): { pyExpr: string; label: string } {
if (!exprInput) return { pyExpr: '0', label: '0' };
const val = exprInput[1];
if (Array.isArray(val)) {
return { pyExpr: String(val[1]), label: String(val[1]) };
}
if (typeof val === 'string') {
const b = blocks[val];
if (!b) return { pyExpr: val, label: val };
const op = b.opcode || '';
const inputs = b.inputs || {};
const fields = b.fields || {};
if (op === 'flippersensors_orientationAxis' || op === 'spike_orientationAxis') {
devices.hasHub = true;
const axis = (fields.AXIS && fields.AXIS[0]) || 'yaw';
return {
pyExpr: `hub.motion_sensor.get_${axis}_angle()`,
label: `${axis.toUpperCase()} Angle`,
};
} else if (op === 'flippersensors_colorReflectedLight') {
const port = this.resolveInput(inputs.PORT, blocks) || 'C';
devices.colorSensors.add(port);
return {
pyExpr: `color_${port.toLowerCase()}.get_reflected_light()`,
label: `Reflected Light on [Port ${port}]`,
};
} else if (op === 'flippersensors_distance') {
const port = this.resolveInput(inputs.PORT, blocks) || 'E';
devices.distanceSensors.add(port);
return {
pyExpr: `dist_${port.toLowerCase()}.get_distance_cm()`,
label: `Distance on [Port ${port}]`,
};
} else if (op === 'flippermotor_absolutePosition') {
const port = this.resolveInput(inputs.PORT, blocks) || 'A';
devices.individualMotors.add(port);
return {
pyExpr: `motor_${port.toLowerCase()}.get_position()`,
label: `Position of Motor [Port ${port}]`,
};
} else if (op === 'operator_add') {
const l = this.resolveExpression(inputs.NUM1, blocks, devices);
const r = this.resolveExpression(inputs.NUM2, blocks, devices);
return { pyExpr: `(${l.pyExpr} + ${r.pyExpr})`, label: `(${l.label} + ${r.label})` };
} else if (op === 'operator_subtract') {
const l = this.resolveExpression(inputs.NUM1, blocks, devices);
const r = this.resolveExpression(inputs.NUM2, blocks, devices);
return { pyExpr: `(${l.pyExpr} - ${r.pyExpr})`, label: `(${l.label} - ${r.label})` };
} else if (op === 'operator_multiply') {
const l = this.resolveExpression(inputs.NUM1, blocks, devices);
const r = this.resolveExpression(inputs.NUM2, blocks, devices);
return { pyExpr: `(${l.pyExpr} * ${r.pyExpr})`, label: `(${l.label} * ${r.label})` };
} else if (op === 'operator_divide') {
const l = this.resolveExpression(inputs.NUM1, blocks, devices);
const r = this.resolveExpression(inputs.NUM2, blocks, devices);
return { pyExpr: `(${l.pyExpr} / ${r.pyExpr})`, label: `(${l.label} / ${r.label})` };
} else if (op === 'data_variable') {
const varName = (fields.VARIABLE && fields.VARIABLE[0]) || 'var';
return { pyExpr: varName, label: varName };
}
// Check fields of shadow block
for (const fv of Object.values(fields)) {
if (Array.isArray(fv) && fv.length > 0) {
return { pyExpr: String(fv[0]), label: String(fv[0]) };
}
}
}
return { pyExpr: String(val), label: String(val) };
}
private static resolveInput(inputTuple: any, blocks: Record<string, any>): string {
if (!inputTuple) return '';
const val = inputTuple[1];
if (Array.isArray(val)) {
return String(val[1]);
}
if (typeof val === 'string') {
const targetB = blocks[val];
if (!targetB) return val;
const fields = targetB.fields || {};
for (const fv of Object.values(fields)) {
if (Array.isArray(fv) && fv.length > 0) {
return String(fv[0]);
}
}
}
return String(val || '');
}
}
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