Merge branch 'cursor/development-environment-setup-7672'

Author: borntoleave

blocks/generators.js

@@ -1810,10 +1810,35 @@ await (async function() {
                 try {
                     // Use eval to safely execute generated code
                     // First create a context containing all necessary helper functions
+                    // sendAndWait: send command and wait for robot completion token
+                    async function __sendAndWait(cmd, timeout, token) {
+                      const _wr = (typeof window !== 'undefined' && window.webRequest) ? window.webRequest : webRequest;
+                      const __from = (typeof serialBuffer === 'string')
+                        ? serialBuffer.length
+                        : ((typeof window !== 'undefined' && typeof window.serialBuffer === 'string') ? window.serialBuffer.length : undefined);
+                      await _wr(cmd, timeout, true);
+                      if (!((typeof window !== 'undefined') && window.petoiClient) && typeof waitForSerialTokenLine === 'function') {
+                        await waitForSerialTokenLine(token, timeout, __from);
+                      }
+                      if (typeof window !== 'undefined') window.__lastTokenReceivedAt = Date.now();
+                    }
+                    // delayAfterToken: delay starting from when robot completed
+                    async function __delayAfterToken(ms) {
+                      const __tokenAt = (typeof window !== 'undefined' && typeof window.__lastTokenReceivedAt === 'number') ? window.__lastTokenReceivedAt : Date.now();
+                      const __endAt = __tokenAt + ms;
+                      while (Date.now() < __endAt) {
+                        checkStopExecution();
+                        const __wait = Math.min(100, __endAt - Date.now());
+                        if (__wait > 0) await new Promise(r => setTimeout(r, __wait));
+                      }
+                    }
                     const execContext = {
+                        sendAndWait: __sendAndWait,
+                        delayAfterToken: __delayAfterToken,
                         checkStopExecution: checkStopExecution,
                         checkStopExecutionInLoop: checkStopExecutionInLoop,
                         webRequest: (typeof window !== 'undefined' && window.webRequest) ? window.webRequest : webRequest,
+                        waitForSerialTokenLine: (typeof waitForSerialTokenLine === 'function') ? waitForSerialTokenLine : undefined,
                         delay: delay,
                         encodeCommand: encodeCommand,
                         parseSingleResult: parseSingleResult,

main.html

@@ -186,7 +186,7 @@ <h4 style="margin: 0 0 10px 0;" data-i18n="uploadedSkills">Uploaded Skills</h4>
 
     // Global version date variable (format: vYear.Month.Day)
     const GLOBAL_VERSION_DATE = "v2026.03.26";
-    const GLOBAL_VERSION_LAST_MODIFIED = "2026-03-26 21:29:58";
+    const GLOBAL_VERSION_LAST_MODIFIED = "2026-03-26 21:45:55";
 
     // Set version date
     function setVersionDate()
@@ -4295,186 +4295,34 @@ <h3 style="color: #4CAF50;">${title}</h3>
       }
     }
 
-    // AI代码生成主函数
+    // AI代码生成主函数 - 系统提示词需要极度精简，因为使用GET URL传递，有长度限制
     async function generateAICode(description) {
-      const config = await loadBlocksConfigForAI();
-
-      // 构建提示词
-      let systemPrompt = `You are a code generator for Petoi robot Blockly-based visual programming. Generate JavaScript code that uses the available helper functions.
-
-IMPORTANT RULES:
-1. Only generate JavaScript code - NO explanations, NO markdown code blocks, NO comments unless necessary
-2. Use ONLY the provided helper functions - do not invent new ones
-3. Always use await for async functions
-4. Include checkStopExecution() at appropriate points in loops
-5. All code must be valid JavaScript that can be executed in an async context
-6. CRITICAL: For ALL motion/action commands, use sendAndWait() to wait for the robot's completion token BEFORE executing the next command. NEVER fire-and-forget motion commands.
-7. Define sendAndWait() and delayAfterToken() helpers at the top of generated code as shown in CODE PATTERNS
-8. Use delayAfterToken(ms) instead of delay(ms) for delays between actions - it starts timing from when the robot finished, not when the command was sent
-
-AVAILABLE HELPER FUNCTIONS:
-- checkStopExecution(): Call at the start of code and in loops to respect stop signals
-- checkStopExecutionInLoop(): Use inside loops for stop checking with yield
-- webRequest(command, timeout=5000, needResponse=true): Send command to robot via WebSocket/Serial
-- waitForSerialTokenLine(token, timeout, fromIndex): Wait for robot completion token in serial mode
-- delay(ms): Promise-based delay with stop checking
-- encodeCommand(token, params): Encode command with token and parameters
-- parseSingleResult(rawResult): Parse numeric result from response
-- parseAllJointsResult(rawResult): Parse joint angles array from response
-- console: Standard console object for logging
-
-AVAILABLE COMMANDS (token-based):
-`;
-
-      // 从配置添加命令信息
-      if (config && config.command_reference && config.command_reference.token_commands) {
-        const commands = config.command_reference.token_commands;
-        for (const [token, info] of Object.entries(commands)) {
-          systemPrompt += `- ${token}: ${info.description || ''} | Params: ${info.params || 'none'} | Example: ${info.example || ''}\n`;
-        }
-      }
-
-      systemPrompt += `
-MOTION COMMANDS (lowercase k* or d, NO encodeCommand needed):
-Posture: stand=kup, balance=kbalance, sit=ksit, rest=d, stretch=kstr, buttUp=kbuttUp, calibration=kcalib
-Gait: step=kvtF, spinL=kvtL, spinR=kvtR, walkF=kwkF, walkL=kwkL, walkR=kwkR, backF=kbkF, backL=kbkL, backR=kbkR, trotF=ktrF, trotL=ktrL, trotR=ktrR, crawlF=kcrF, crawlL=kcrL, crawlR=kcrR, strideF=kgpF, strideL=kgpL, strideR=kgpR, pushF=kphF, pushL=kphL, moonwalk=kmw
-Behavior: hi/wave=khi, handshake=khsk, highFive=kfiv, hug=khg, handsUp=khu, nod=knd, comeHere=kcmh, goodBoy=kgdb, cheers=kchr, pee=kpee, sniff=ksnf, check=kck, dig=kdg, angry=kang, scratch=kscrh, waveHead=kwh, beTable=ktbl, playDead=kpd, roll=krl, recover=krc, pushUp=kpu, pushUp1hand=kpu1, kick=kkc, leapOver=klpov, testServo=kts
-Acrobatic(⚠️high stress): handstand=khds, boxing=kbx, backflip=kflipD, frontflip=kflipF, jump=kjmp
-Arm: pickD/F/L/R=kpickD/F/L/R, putD/F/L/R=kputD/F/L/R, shoot=klaunch, throwF/L/R=ktossF/L/R, hunt=khunt, showOff=kshowOff, clap=kclap
-Direction suffix: append L=left, R=right, X=random to any skill for directional variants.
-
-IMPORTANT: ALWAYS use a single k* command for named actions. NEVER compose complex joint movements when a built-in skill exists. Command pattern: k + abbreviated name (e.g. handshake=khsk, hi=khi).
-
-I/O COMMANDS (UPPERCASE, MUST use encodeCommand):
-- Digital input: encodeCommand("Rd", [34]) for "Rd 34"
-- Analog input: encodeCommand("Ra", [34]) for "Ra 34" 
-- Digital output: encodeCommand("Wd", [34, 1]) for "Wd 34 1"
-- Analog output: encodeCommand("Wa", [2, 128]) for "Wa 2 128"
-
-MUSIC COMMANDS - CRITICAL DISTINCTION:
-- SHORT melodies (1-10 notes): lowercase "b" + ASCII string - NO encodeCommand
-  Example: await webRequest("b 14 4 16 4 18 2", 5000, true)
-  LIMITATION: ASCII 'b' format has ~200 byte limit. Each "b 14 4" takes 6+ bytes.
-  
-- LONG melodies (10+ notes, up to 1250 notes): UPPERCASE "B" + BINARY encoding - MUST use encodeCommand
-  Example: const melody = encodeCommand("B", [14, 4, 16, 4, 18, 2, 14, 2]);
-           await webRequest(melody, 30000, true);
-  CAPACITY: NyBoard supports ~250 notes, BiBoard supports ~1250 notes in binary format
-  
-- NOTES use numbers 0-35 (0 or -1 for silence, 14=middle C3, 26=middle C4)
-- DURATIONS: 1=1sec, 2=1/2sec, 4=1/4sec, 8=1/8sec, 16=1/16sec
-- For melodies >30 notes: ALWAYS use UPPERCASE B with encodeCommand, increase timeout to 30-60s
-
-SENSOR/JOINT COMMANDS (lowercase, NO encodeCommand):
-- Query joints: "j" or "j 0" for single joint
-- Gyro enable: encodeCommand("g", ["B"]) - special case, g is lowercase but uses encodeCommand
-- Gyro disable: encodeCommand("g", ["b"])
-
-EXTENSION COMMANDS (UPPERCASE X*, MUST use encodeCommand with ~ terminator):
-- Ultrasonic: encodeCommand("XU", [9, 9]) returns "XU 9 9~" (bytes format internally)
-- Camera activate: encodeCommand("XCr", []) returns "XCr~" 
-- Camera poll: encodeCommand("XCP", []) returns "XCP~"
-- Gesture enable: encodeCommand("XGr", []) returns "XGr~"
-- Gesture poll: encodeCommand("XGp", []) returns "XGp~"
-- Gesture exit: encodeCommand("Xg", []) returns "Xg~"
-
-IMPORTANT ENCODING RULES:
-1. LOWERCASE commands (k*, m, i, j, b for short melodies, d): Send directly as string, NO encodeCommand
-2. UPPERCASE single letter (R, W, g with params B/b): Use encodeCommand(token, params)
-3. UPPERCASE multi-letter (XU, XCr, XCP, XGr, XGp, Xg): Use encodeCommand(token, params), adds ~ automatically
-4. MUSIC FORMAT RULES (CRITICAL):
-   - Short (≤10 notes): await webRequest("b 14 4 16 4...", timeout, true) - ASCII format
-   - Long (>10 notes): const m = encodeCommand("B", [14,4,16,4...]); await webRequest(m, 30000, true) - BINARY format
-   - Note: UPPERCASE B uses binary encoding, supports 250-1250 notes vs 10-20 for lowercase b
-5. When in doubt: Motion/short music use direct strings, I/O/sensors/long music use encodeCommand
-
-CRITICAL: WAITING FOR ROBOT TOKEN BEFORE NEXT COMMAND
-Every command MUST wait for the robot's completion token before executing the next command.
-Use the sendAndWait() helper which handles both Serial and WebSocket modes:
-
-// Helper: send command and wait for robot completion token
-async function sendAndWait(cmd, timeout, token) {
-  const __from = (typeof serialBuffer === 'string')
-    ? serialBuffer.length
-    : ((typeof window !== 'undefined' && typeof window.serialBuffer === 'string') ? window.serialBuffer.length : undefined);
-  await webRequest(cmd, timeout, true);
-  if (!((typeof window !== 'undefined') && window.petoiClient) && typeof waitForSerialTokenLine === 'function') {
-    await waitForSerialTokenLine(token, timeout, __from);
-  }
-  if (typeof window !== 'undefined') window.__lastTokenReceivedAt = Date.now();
-}
-
-// Helper: delay after token received (respects stop)
-async function delayAfterToken(ms) {
-  const __tokenAt = (typeof window !== 'undefined' && typeof window.__lastTokenReceivedAt === 'number') ? window.__lastTokenReceivedAt : Date.now();
-  const __endAt = __tokenAt + ms;
-  while (Date.now() < __endAt) {
-    checkStopExecution();
-    const __wait = Math.min(100, __endAt - Date.now());
-    if (__wait > 0) await new Promise(r => setTimeout(r, __wait));
-  }
-}
-
-CODE PATTERNS (ALWAYS use sendAndWait for motion/action commands):
-// Motion gait (token: 'k'):
-await sendAndWait("kwkF", 20000, 'k');
-
-// Motion posture (token: first char of command, e.g. 'k' for kup, 'd' for rest):
-await sendAndWait("kup", 10000, 'k');
-await sendAndWait("d", 10000, 'd');
-
-// Motion with delay (delay starts AFTER robot completes):
-await sendAndWait("kup", 10000, 'k');
-await delayAfterToken(1000);
-
-// Acrobatic (token: 'k'):
-await sendAndWait("kbx", 20000, 'k');
-
-// Joint control - sequential (token: 'm'):
-await sendAndWait(encodeCommand("m", [0, 30, 1, -20]), 15000, 'm');
-
-// Joint control - simultaneous (token: 'i'):
-await sendAndWait(encodeCommand("i", [0, 30, 1, -20]), 30000, 'i');
-
-// Read sensor (token varies, use webRequest directly for queries):
-const cmd = encodeCommand("Ra", [34]);
-const result = await webRequest(cmd, 5000, true);
-const value = parseSingleResult(result);
-
-// Query all joints:
-const result = await webRequest("j", 5000, true);
-const angles = parseAllJointsResult(result);
-
-// Play short melody (token: 'b'):
-await sendAndWait("b 20 4", 5000, 'b');
-
-// Play long melody (token: 'B'):
-const melody = encodeCommand("B", [14,4,16,4,18,2,14,4,16,4,18,2,21,4,19,4,18,4,16,4,14,2]);
-await sendAndWait(melody, 30000, 'B');
-
-// Ultrasonic sensor:
-const cmd = encodeCommand("XU", [9, 9]);
-const result = await webRequest(cmd, 5000, true);
-const distance = parseSingleResult(result);
-
-// Gyro control:
-await sendAndWait(encodeCommand("g", ["B"]), 5000, 'G');
-await sendAndWait(encodeCommand("g", ["b"]), 5000, 'G');
-
-// Loop with stop checking:
-for (let i = 0; i < 5; i++) {
-  await checkStopExecutionInLoop();
-  await sendAndWait("kwkF", 20000, 'k');
-}
-
-// Multiple sequential actions (each waits for token before next):
-await sendAndWait("kup", 10000, 'k');
-await delayAfterToken(500);
-await sendAndWait("khi", 10000, 'k');
-await delayAfterToken(1000);
-await sendAndWait("ksit", 10000, 'k');
-
-Respond with ONLY executable JavaScript code, nothing else.`;
+      const systemPrompt = `Petoi robot JS code generator. Output ONLY executable async JS, no markdown/comments.
+
+HELPERS (already defined, just call them):
+await sendAndWait(cmd,timeout,token) - send cmd, wait for robot token. MUST use for all motion.
+await delayAfterToken(ms) - delay after robot completes. Use between actions.
+checkStopExecution() - call in loops.
+await webRequest(cmd,timeout,true) - for sensor queries.
+encodeCommand(token,params) - for UPPERCASE cmds (Rd,Ra,Wd,Wa,XU,g,B,m,i).
+parseSingleResult(r) / parseAllJointsResult(r) - parse responses.
+
+SKILLS (k* cmds, send as string, token='k', rest d token='d'):
+Posture: stand=kup,balance=kbalance,sit=ksit,rest=d,stretch=kstr,buttUp=kbuttUp,calib=kcalib
+Gait: step=kvtF,spinL=kvtL,spinR=kvtR,walkF=kwkF,walkL=kwkL,walkR=kwkR,backF=kbkF,backL=kbkL,backR=kbkR,trotF=ktrF,trotL=ktrL,trotR=ktrR,crawlF=kcrF,crawlL=kcrL,crawlR=kcrR,strideF=kgpF,strideL=kgpL,strideR=kgpR,pushF=kphF,pushL=kphL,moonwalk=kmw
+Behavior: hi=khi,handshake=khsk,highFive=kfiv,hug=khg,handsUp=khu,nod=knd,comeHere=kcmh,goodBoy=kgdb,cheers=kchr,pee=kpee,sniff=ksnf,check=kck,dig=kdg,angry=kang,scratch=kscrh,waveHead=kwh,beTable=ktbl,playDead=kpd,roll=krl,recover=krc,pushUp=kpu,pushUp1=kpu1,kick=kkc,leapOver=klpov
+Acrobatic: handstand=khds,boxing=kbx,backflip=kflipD,frontflip=kflipF,jump=kjmp
+Arm: pickD/F/L/R=kpickD/F/L/R,putD/F/L/R=kputD/F/L/R,shoot=klaunch,throwF/L/R=ktossF/L/R,hunt=khunt,showOff=kshowOff,clap=kclap
+Suffix: L=left,R=right,X=random. Use k+abbreviation for unknown actions.
+
+I/O: encodeCommand("Rd",[pin])/"Ra"/"Wd",[pin,val]/"Wa"
+Music: short b "b 14 4 16 4",long encodeCommand("B",[14,4,16,4...]) Notes:0-35,Duration:1/2/4/8/16
+Joints: "j"=query,encodeCommand("m",[id,angle,...])=seq,encodeCommand("i",[...])=sim
+Sensor: encodeCommand("XU",[9,9])=ultrasonic,encodeCommand("g",["B"])=gyroOn,"g",["b"]=off
+Gesture: encodeCommand("XGr",[])=enable,"XGp"=poll,"Xg"=exit
+
+PATTERN: await sendAndWait("khi",10000,'k'); await delayAfterToken(500); await sendAndWait("khsk",10000,'k');
+RULE: ALWAYS use built-in k* skill for named actions. NEVER compose joint movements for actions that have a skill command.`;
 
       const userPrompt = `Generate JavaScript code for: "${description}"`;
       const fullPrompt = userPrompt;