[tools] Improves in scartch2jderobot tool

src/tools/scratch2jderobot/scripts/scratch2python.py

@@ -60,11 +60,25 @@ def is_conditional(sentence):
     @param sentence: The sentence to check.
     @return: True if it has a conditional, False otherwise.
     """
-
     if "if" in sentence:
         return True
 
     return False
+
+
+def is_list(sentence):
+    """
+    Returns if a sentence use list or not.
+
+    @param sentence: The sentence to check.
+    @return: True if it has a list, False otherwise.
+    """
+    if "insert" in sentence:
+        return True
+    if "add" in sentence:
+	return True
+
+    return False
 
 
 def similar(a, b):
@@ -210,18 +224,24 @@ def execute(robot):\n\
         python_program = ""
 
         for s in sentences:
-            # count number of tabs
-            num_tabs = s.replace('    ', tab_seq).count(tab_seq)
-            python_program += tab_seq * (num_tabs + 1)
-
             # pre-processing if there is a condition (operators and types)
             if is_conditional(s):
                 s = s.replace("'", "").replace("=", "==")
-
             # mapping
             original, translation = sentence_mapping(s)
-            # print original, translation
-            # set the code
+
+            # count number of tabs
+            num_tabs = s.replace('    ', tab_seq).count(tab_seq)
+
+            # check if there is list
+
+            if is_list(s):
+	        python_program += tab_seq * (num_tabs + 1)
+	        python_program += translation.split(".")[0]+" = []\n\t"
+
+            python_program += tab_seq * (num_tabs + 1)
+
+            # set the code		
             if translation != None:
                 python_program += translation
             else:

src/tools/scratch2jderobot/src/scratch2jderobot/drone.py

@@ -6,6 +6,7 @@
 import imutils
 import cv2
 
+
 from parallelIce.cameraClient import CameraClient
 from parallelIce.cmdvel import CMDVel
 from parallelIce.extra import Extra
@@ -47,6 +48,7 @@ def __init__(self, jdrc):
         """
 
     	#variables
+        self.frontalCamera = False
 
     	#get clients
         self.__pose3d_client = jdrc.getPose3dClient("drone.Pose3D")
@@ -64,6 +66,10 @@ def close(self):
         self.__navdata_client.stop()
         self.__pose3d_client.stop()
 
+    def toggleCam(self):
+        self.frontalCamera = True
+        self.__extra_client.toggleCam()
+
 
     def detect_object(self, color):
         """
@@ -73,6 +79,9 @@ def detect_object(self, color):
 
         @return: size and center of the object detected in the frame
         """
+
+        if not self.frontalCamera:
+            self.toggleCam()
         # define the lower and upper boundaries of the basic colors
         GREEN_RANGE = ((29, 86, 6), (64, 255, 255))
         RED_RANGE = ((139, 0, 0), (255, 160, 122))

src/tools/scratch2jderobot/src/scratch2jderobot/test_cat_mouse_2.py

@@ -0,0 +1,80 @@
+#!/usr/bin/env python
+# -*- coding: utf-8 -*-
+
+import time
+import config
+import sys
+import comm
+import os
+import yaml
+
+from drone import Drone
+from robot import Robot
+
+def execute(robot):
+    try:
+        robot.take_off()
+        while True:
+            mylist = []
+            mylist.insert(0, robot.detect_object("red"))
+            size = mylist[0][0]
+            x = mylist[0][1]
+            y = mylist[0][2]
+            if size > 0:
+                if size > 700:
+                    robot.move("back", 2)
+                else:
+                    robot.move("forward", 2)
+
+                if x > 165:
+                    robot.turn("right", 2)
+                else:
+                    robot.turn("left", 2)
+
+                if y > 110:
+                    robot.move("down", 1)
+                else:
+                    robot.move("up", 1)
+
+            else:
+                robot.stop()
+                robot.turn("left", 2)
+
+
+    except KeyboardInterrupt:
+        raise
+
+if __name__ == '__main__':
+    if len(sys.argv) == 2:
+        path = os.getcwd()
+        open_path = path[:path.rfind('src')] + 'cfg/'
+        filename = sys.argv[1]
+
+    else:
+        sys.exit("ERROR: Example:python my_generated_script.py cfgfile.yml")
+
+    # loading the ICE and ROS parameters
+    cfg = config.load(open_path + filename)
+    stream = open(open_path + filename, "r")
+    yml_file = yaml.load(stream)
+
+    for section in yml_file:
+        if section == 'drone':
+            #starting comm
+            jdrc = comm.init(cfg,'drone')
+
+            # creating the object
+            robot = Drone(jdrc)
+
+            break
+        elif section == 'robot':
+            #starting comm
+            jdrc = comm.init(cfg,'robot')
+
+            # creating the object
+            robot = Robot(jdrc)
+
+            break
+    # executing the scratch program
+    execute(robot)
+

src/tools/scratch2jderobot/src/scratch2jderobot/test_drone_blocks_4.py

@@ -10,7 +10,6 @@
 
 from drone import Drone
 from robot import Robot
-from mylist import MyList
 
 def execute(robot):
     try:
@@ -38,7 +37,6 @@ def execute(robot):
         raise
 
 if __name__ == '__main__':
-    mylist=MyList()
     if len(sys.argv) == 2:
         path = os.getcwd()
         open_path = path[:path.rfind('src')] + 'cfg/'

src/tools/scratch2jderobot/src/scratch2jderobot/test_robot_blocks_1.py

@@ -10,6 +10,7 @@
 
 from drone import Drone
 from robot import Robot
+
 def execute(robot):
     try:
         robot.move("forward")