Issue #1656: Introduce Fischertechnik TxT 4.0 Controller Plugin

OpenRoberta · May 6, 2024 · 468e9e5 · 468e9e5
1 parent 93da2f1
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diff --git a/OpenRobertaRobot/constantsSource.txt b/OpenRobertaRobot/constantsSource.txt
@@ -359,4 +359,5 @@ WHERE2 = "where2"
 WHILE = "WHILE"
 WRITE_PIN_ACTION = "writePinAction"
 X = "x"
-Y = "y"
+Y = "y"
+COLOUR_COMPARE = "compareColour"
diff --git a/...ction/spike/ActionWithUserChosenName.java → ...ntax/action/ActionWithUserChosenName.java b/...ction/spike/ActionWithUserChosenName.java → ...ntax/action/ActionWithUserChosenName.java
@@ -1,6 +1,5 @@
-package de.fhg.iais.roberta.syntax.action.spike;
+package de.fhg.iais.roberta.syntax.action;
 
-import de.fhg.iais.roberta.syntax.action.Action;
 import de.fhg.iais.roberta.transformer.forField.NepoField;
 import de.fhg.iais.roberta.util.ast.BlocklyProperties;
 import de.fhg.iais.roberta.util.syntax.BlocklyConstants;

diff --git a/...on/spike/ActionWithoutUserChosenName.java → ...x/action/ActionWithoutUserChosenName.java b/...on/spike/ActionWithoutUserChosenName.java → ...x/action/ActionWithoutUserChosenName.java
@@ -1,7 +1,6 @@
-package de.fhg.iais.roberta.syntax.action.spike;
+package de.fhg.iais.roberta.syntax.action;
 
 import de.fhg.iais.roberta.blockly.generated.Hide;
-import de.fhg.iais.roberta.syntax.action.Action;
 import de.fhg.iais.roberta.transformer.forField.NepoHide;
 import de.fhg.iais.roberta.util.ast.BlocklyProperties;
 import de.fhg.iais.roberta.util.syntax.WithUserDefinedPort;

diff --git a/...tax/action/mbot2/LedBrightnessAction.java → ...tax/action/light/LedBrightnessAction.java b/...tax/action/mbot2/LedBrightnessAction.java → ...tax/action/light/LedBrightnessAction.java
@@ -1,4 +1,4 @@
-package de.fhg.iais.roberta.syntax.action.mbot2;
+package de.fhg.iais.roberta.syntax.action.light;
 
 import de.fhg.iais.roberta.blockly.generated.Hide;
 import de.fhg.iais.roberta.syntax.action.Action;
@@ -8,12 +8,12 @@
 import de.fhg.iais.roberta.transformer.forField.NepoHide;
 import de.fhg.iais.roberta.transformer.forField.NepoValue;
 import de.fhg.iais.roberta.typecheck.BlocklyType;
-import de.fhg.iais.roberta.util.dbc.Assert;
 import de.fhg.iais.roberta.util.ast.BlocklyProperties;
+import de.fhg.iais.roberta.util.dbc.Assert;
 import de.fhg.iais.roberta.util.syntax.BlocklyConstants;
 import de.fhg.iais.roberta.util.syntax.WithUserDefinedPort;
 
-@NepoPhrase(category = "ACTOR", blocklyNames = {"robActions_led_setBrightness"}, name = "CYBERPI_SET_BRIGHTNESS_ACTION")
+@NepoPhrase(category = "ACTOR", blocklyNames = {"robActions_led_setBrightness", "actions_led_set_brightness"}, name = "SET_BRIGHTNESS_ACTION")
 public final class LedBrightnessAction extends Action implements WithUserDefinedPort {
     @NepoValue(name = BlocklyConstants.BRIGHTNESS, type = BlocklyType.NUMBER_INT)
     public final Expr brightness;

diff --git a/...rtaRobot/src/main/java/de/fhg/iais/roberta/syntax/action/light/RgbLedOffHiddenAction.java b/...rtaRobot/src/main/java/de/fhg/iais/roberta/syntax/action/light/RgbLedOffHiddenAction.java
@@ -6,7 +6,7 @@
 import de.fhg.iais.roberta.transformer.forField.NepoHide;
 import de.fhg.iais.roberta.util.ast.BlocklyProperties;
 
-@NepoPhrase(name = "RGBLED_OFF_HIDDEN_ACTION", category = "ACTOR", blocklyNames = {"actions_rgbLed_hidden_off", "actions_rgbLed_hidden_off_calliope"})
+@NepoPhrase(name = "RGBLED_OFF_HIDDEN_ACTION", category = "ACTOR", blocklyNames = {"actions_rgbLed_hidden_off", "actions_rgbLed_hidden_off_calliope", "actions_display_rgbLed_hidden_off_txt4"})
 public final class RgbLedOffHiddenAction extends Action {
     @NepoHide
     public final Hide hide;

diff --git a/...ertaRobot/src/main/java/de/fhg/iais/roberta/syntax/action/light/RgbLedOnHiddenAction.java b/...ertaRobot/src/main/java/de/fhg/iais/roberta/syntax/action/light/RgbLedOnHiddenAction.java
@@ -9,7 +9,7 @@
 import de.fhg.iais.roberta.typecheck.BlocklyType;
 import de.fhg.iais.roberta.util.ast.BlocklyProperties;
 
-@NepoPhrase(name = "RGBLED_ON_HIDDEN_ACTION", category = "ACTOR", blocklyNames = {"actions_rgbLed_hidden_on", "actions_rgbLed_hidden_on_calliope"})
+@NepoPhrase(name = "RGBLED_ON_HIDDEN_ACTION", category = "ACTOR", blocklyNames = {"actions_rgbLed_hidden_on", "actions_rgbLed_hidden_on_calliope", "actions_display_rgbled_hidden_on_txt4"})
 public final class RgbLedOnHiddenAction extends Action {
     @NepoValue(name = "COLOUR", type = BlocklyType.COLOR)
     public final Expr colour;

diff --git a/...syntax/action/spike/MotorOnForAction.java → ...syntax/action/motor/MotorOnForAction.java b/...syntax/action/spike/MotorOnForAction.java → ...syntax/action/motor/MotorOnForAction.java
@@ -1,5 +1,6 @@
-package de.fhg.iais.roberta.syntax.action.spike;
+package de.fhg.iais.roberta.syntax.action.motor;
 
+import de.fhg.iais.roberta.syntax.action.ActionWithUserChosenName;
 import de.fhg.iais.roberta.syntax.lang.expr.Expr;
 import de.fhg.iais.roberta.transformer.forClass.NepoPhrase;
 import de.fhg.iais.roberta.transformer.forField.NepoField;
@@ -8,7 +9,7 @@
 import de.fhg.iais.roberta.util.ast.BlocklyProperties;
 import de.fhg.iais.roberta.util.syntax.BlocklyConstants;
 
-@NepoPhrase(category = "ACTOR", blocklyNames = {"actions_motor_on_for"}, name = "MOTOR_ON_FOR_ACTION")
+@NepoPhrase(category = "ACTOR", blocklyNames = {"actions_motor_on_for", "actions_motor_on_for_txt4"}, name = "MOTOR_ON_FOR_ACTION")
 public final class MotorOnForAction extends ActionWithUserChosenName {
     @NepoValue(name = BlocklyConstants.POWER, type = BlocklyType.NUMBER)
     public final Expr power;

diff --git a/OpenRobertaRobot/src/main/java/de/fhg/iais/roberta/syntax/action/sound/PlayFileAction.java b/OpenRobertaRobot/src/main/java/de/fhg/iais/roberta/syntax/action/sound/PlayFileAction.java
@@ -9,7 +9,7 @@
 import de.fhg.iais.roberta.util.dbc.Assert;
 import de.fhg.iais.roberta.util.syntax.BlocklyConstants;
 
-@NepoPhrase(category = "ACTOR", blocklyNames = {"robActions_play_file", "actions_play_file", "actions_play_file_port", "actions_play_expression"}, name = "PLAY_FILE_ACTION")
+@NepoPhrase(category = "ACTOR", blocklyNames = {"robActions_play_file", "actions_play_file", "actions_play_file_port", "actions_play_expression", "actions_play_file_txt4"}, name = "PLAY_FILE_ACTION")
 public final class PlayFileAction extends Action {
 
     @NepoField(name = "ACTORPORT", value = BlocklyConstants.EMPTY_PORT)

diff --git a/...x/configuration/actor/OmnidriveActor.java → ...x/configuration/actor/OmnidriveActor.java b/...x/configuration/actor/OmnidriveActor.java → ...x/configuration/actor/OmnidriveActor.java
diff --git a/OpenRobertaRobot/src/main/java/de/fhg/iais/roberta/syntax/sensor/generic/ColorSensor.java b/OpenRobertaRobot/src/main/java/de/fhg/iais/roberta/syntax/sensor/generic/ColorSensor.java
@@ -7,7 +7,7 @@
 import de.fhg.iais.roberta.util.ast.ExternalSensorBean;
 
 @NepoExpr(name = "COLOR_SENSING", category = "SENSOR", blocklyNames = {"robsensors_colourtcs3472_getsample", "sim_colour_getSample", "robSensors_colour_getSample"},
-    sampleValues = {@F2M(field = "COLOUR_COLOUR", mode = "COLOUR"), @F2M(field = "COLOUR_AMBIENTLIGHT", mode = "AMBIENTLIGHT"), @F2M(field = "COLOUR_LIGHT", mode = "LIGHT"), @F2M(field = "COLOUR_REDCHANNEL", mode = "REDCHANNEL"), @F2M(field = "COLOUR_GREENCHANNEL", mode = "GREENCHANNEL"), @F2M(field = "COLOUR_BLUECHANNEL", mode = "BLUECHANNEL")})
+    sampleValues = {@F2M(field = "COLOUR_COLOUR", mode = "COLOUR"), @F2M(field = "COLOUR_AMBIENTLIGHT", mode = "AMBIENTLIGHT"), @F2M(field = "COLOUR_LIGHT", mode = "LIGHT"), @F2M(field = "COLOUR_REDCHANNEL", mode = "REDCHANNEL"), @F2M(field = "COLOUR_GREENCHANNEL", mode = "GREENCHANNEL"), @F2M(field = "COLOUR_BLUECHANNEL", mode = "BLUECHANNEL"), @F2M(field = "CAMERA_COLOUR", mode = "COLOUR")})
 public final class ColorSensor extends ExternalSensor {
 
     public ColorSensor(BlocklyProperties properties, ExternalSensorBean externalSensorBean) {

diff --git a/OpenRobertaRobot/src/main/java/de/fhg/iais/roberta/syntax/sensor/generic/EncoderReset.java b/OpenRobertaRobot/src/main/java/de/fhg/iais/roberta/syntax/sensor/generic/EncoderReset.java
@@ -5,7 +5,7 @@
 import de.fhg.iais.roberta.transformer.forField.NepoField;
 import de.fhg.iais.roberta.util.ast.BlocklyProperties;
 
-@NepoPhrase(name = "ENCODER_RESET", category = "SENSOR", blocklyNames = {"robSensors_encoder_reset"})
+@NepoPhrase(name = "ENCODER_RESET", category = "SENSOR", blocklyNames = {"robSensors_encoder_reset", "robSensors_encoder_reset_txt4"})
 public final class EncoderReset extends Sensor {
 
     @NepoField(name = "SENSORPORT")

diff --git a/...arduino/sensebox/EnvironmentalSensor.java → ...x/sensor/generic/EnvironmentalSensor.java b/...arduino/sensebox/EnvironmentalSensor.java → ...x/sensor/generic/EnvironmentalSensor.java
@@ -1,4 +1,4 @@
-package de.fhg.iais.roberta.syntax.sensors.arduino.sensebox;
+package de.fhg.iais.roberta.syntax.sensor.generic;
 
 import de.fhg.iais.roberta.syntax.sensor.ExternalSensor;
 import de.fhg.iais.roberta.transformer.forClass.F2M;
@@ -10,7 +10,8 @@
     sampleValues = {@F2M(field = "ENVIRONMENTAL_TEMPERATURE", mode = "TEMPERATURE"), @F2M(field = "ENVIRONMENTAL_VOCEQUIVALENT", mode = "VOCEQUIVALENT"),
         @F2M(field = "ENVIRONMENTAL_CALIBRATION", mode = "CALIBRATION"), @F2M(field = "ENVIRONMENTAL_IAQ", mode = "IAQ"),
         @F2M(field = "ENVIRONMENTAL_PRESSURE", mode = "PRESSURE"), @F2M(field = "ENVIRONMENTAL_HUMIDITY", mode = "HUMIDITY"),
-        @F2M(field = "ENVIRONMENTAL_CO2EQUIVALENT", mode = "CO2EQUIVALENT")})
+        @F2M(field = "ENVIRONMENTAL_CO2EQUIVALENT", mode = "CO2EQUIVALENT"), @F2M(field = "ENVIRONMENTAL_ACCURACY", mode = "ACCURACY"),
+        @F2M(field = "ENVIRONMENTAL_CALIBRATIONNEED", mode = "CALIBRATIONNEED")})
 public final class EnvironmentalSensor extends ExternalSensor {
 
     public EnvironmentalSensor(BlocklyProperties properties, ExternalSensorBean externalSensorBean) {

diff --git a/OpenRobertaRobot/src/main/java/de/fhg/iais/roberta/syntax/sensor/generic/GestureSensor.java b/OpenRobertaRobot/src/main/java/de/fhg/iais/roberta/syntax/sensor/generic/GestureSensor.java
@@ -6,11 +6,13 @@
 import de.fhg.iais.roberta.util.ast.BlocklyProperties;
 import de.fhg.iais.roberta.util.ast.ExternalSensorBean;
 
-@NepoExpr(name = "GESTURE_SENSING", category = "SENSOR", blocklyNames = {"robSensors_gesture_getSample"}, sampleValues = {@F2M(field = "GESTURE_UP", mode = "UP"),
-    @F2M(field = "GESTURE_DOWN", mode = "DOWN"), @F2M(field = "GESTURE_FACE_DOWN", mode = "FACE_DOWN"), @F2M(field = "GESTURE_FREEFALL", mode = "FREEFALL"),
-    @F2M(field = "GESTURE_ACTIVE", mode = "GESTURE_ACTIVE"), @F2M(field = "GESTURE_SHAKE", mode = "SHAKE"), @F2M(field = "GESTURE_FACE_UP", mode = "FACE_UP"),
-    @F2M(field = "GESTURE_TAPPED", mode = "TAPPED"), @F2M(field = "GESTURE_RIGHT", mode = "RIGHT"),
-    @F2M(field = "GESTURE_LEFT", mode = "LEFT"), @F2M(field = "GESTURE_FRONT", mode = "FRONT"), @F2M(field = "GESTURE_BACK", mode = "BACK")})
+@NepoExpr(name = "GESTURE_SENSING", category = "SENSOR", blocklyNames = {"robSensors_gesture_getSample"},
+    sampleValues = {@F2M(field = "GESTURE_UP", mode = "UP"), @F2M(field = "GESTURE_DOWN", mode = "DOWN"), @F2M(field = "GESTURE_FACE_DOWN", mode = "FACE_DOWN"),
+        @F2M(field = "GESTURE_FREEFALL", mode = "FREEFALL"), @F2M(field = "GESTURE_ACTIVE", mode = "GESTURE_ACTIVE"), @F2M(field = "GESTURE_SHAKE", mode = "SHAKE"),
+        @F2M(field = "GESTURE_FACE_UP", mode = "FACE_UP"), @F2M(field = "GESTURE_TAPPED", mode = "TAPPED"), @F2M(field = "GESTURE_RIGHT", mode = "RIGHT"),
+        @F2M(field = "GESTURE_LEFT", mode = "LEFT"), @F2M(field = "GESTURE_FRONT", mode = "FRONT"), @F2M(field = "GESTURE_BACK", mode = "BACK"),
+        @F2M(field = "GESTURE_COLOUR", mode = "COLOUR"), @F2M(field = "GESTURE_AMBIENTLIGHT", mode = "AMBIENTLIGHT"),
+        @F2M(field = "GESTURE_GESTURE", mode = "GESTURE"), @F2M(field = "GESTURE_PROXIMITY", mode = "PROXIMITY")})
 public final class GestureSensor extends ExternalSensor {
 
     public GestureSensor(BlocklyProperties properties, ExternalSensorBean externalSensorBean) {

diff --git a/OpenRobertaRobot/src/main/java/de/fhg/iais/roberta/syntax/sensor/generic/GyroSensor.java b/OpenRobertaRobot/src/main/java/de/fhg/iais/roberta/syntax/sensor/generic/GyroSensor.java
@@ -8,7 +8,7 @@
 
 @NepoExpr(name = "GYRO_SENSING", category = "SENSOR", blocklyNames = {"robSensors_gyro_getSample"},
     sampleValues = {@F2M(field = "GYRO_TILTED", mode = "TILTED"), @F2M(field = "GYRO_Y", mode = "Y"), @F2M(field = "GYRO_RATE", mode = "RATE"),
-        @F2M(field = "GYRO_Z", mode = "Z"), @F2M(field = "GYRO_X", mode = "X"), @F2M(field = "GYRO_ANGLE", mode = "ANGLE")})
+        @F2M(field = "GYRO_Z", mode = "Z"), @F2M(field = "GYRO_X", mode = "X"), @F2M(field = "GYRO_ANGLE", mode = "ANGLE"), @F2M(field = "IMU_GYRO", mode = "GYRO"), @F2M(field = "IMU_MAGNETICFLUX", mode = "MAGNETICFLUX"), @F2M(field = "IMU_ACCELERATION", mode = "ACCELERATION")})
 public final class GyroSensor extends ExternalSensor {
 
     public GyroSensor(BlocklyProperties properties, ExternalSensorBean externalSensorBean) {

diff --git a/OpenRobertaRobot/src/main/java/de/fhg/iais/roberta/syntax/sensor/generic/MotionSensor.java b/OpenRobertaRobot/src/main/java/de/fhg/iais/roberta/syntax/sensor/generic/MotionSensor.java
@@ -7,7 +7,7 @@
 import de.fhg.iais.roberta.util.ast.ExternalSensorBean;
 
 @NepoExpr(name = "MOTION_SENSING", category = "SENSOR", blocklyNames = {"robSensors_motion_getSample"},
-    sampleValues = {@F2M(field = "MOTION_PRESENCE", mode = "PRESENCE")})
+    sampleValues = {@F2M(field = "MOTION_PRESENCE", mode = "PRESENCE"), @F2M(field = "CAMERA_MOTION", mode = "MOTION")})
 public final class MotionSensor extends ExternalSensor {
 
     public MotionSensor(BlocklyProperties properties, ExternalSensorBean externalSensorBean) {

diff --git a/OpenRobertaRobot/src/main/java/de/fhg/iais/roberta/transformer/Jaxb2ConfigurationAst.java b/OpenRobertaRobot/src/main/java/de/fhg/iais/roberta/transformer/Jaxb2ConfigurationAst.java
@@ -178,6 +178,11 @@ private static ConfigurationComponent instance2NewConfigComp(Instance instance,
         for ( int i = 1; i < firstBlock.getField().size(); i++ ) {
             map.put(firstBlock.getField().get(i).getName(), firstBlock.getField().get(i).getValue());
         }
+        for ( Value value : firstBlock.getValue() ) {
+            String name = value.getName();
+            String val = value.getBlock().getField().get(0).getValue().toString();
+            map.put(name, val);
+        }
         // TODO in order to avoid robot specific workarounds in the Robot project:
         // TODO this is workaround for the robot specific "robBrick_*-Brick" blocks, which have varying names for the "userDefinedPortName" from robot to robot
         // TODO this this should be removed if possible

diff --git a/OpenRobertaRobot/src/main/java/de/fhg/iais/roberta/util/Util.java b/OpenRobertaRobot/src/main/java/de/fhg/iais/roberta/util/Util.java
@@ -53,6 +53,7 @@ public class Util {
     private static final Pattern PORT_NAME_PATTERN = Pattern.compile("^\\w+$");
     private static final Pattern IFDEF_PATTERN = Pattern.compile("^\\s*#ifdef (.*)$");
     private static final Pattern END_PATTERN = Pattern.compile("^\\s*#end$");
+    private static final Pattern HEX_VALUE_PATTERN = Pattern.compile("^#[0-9a-fA-F]+$");
     private static final String INVALID = "invalid";
     /**
      * YAML parser. NOT thread-safe!
@@ -684,7 +685,7 @@ public static void sanitizeConfigurationProperties(Map<String, String> component
         for ( Map.Entry<String, String> pair : componentProperties.entrySet() ) {
             String key = pair.getKey();
             String value = pair.getValue();
-            boolean isValid = key.equals("NAO_FILENAME") ? FILENAME_PATTERN.matcher(value).matches() : CONFIG_NAME_PATTERN.matcher(value).matches() || NUMBER_PATTERN.matcher(value).matches();
+            boolean isValid = key.equals("NAO_FILENAME") ? FILENAME_PATTERN.matcher(value).matches() : CONFIG_NAME_PATTERN.matcher(value).matches() || NUMBER_PATTERN.matcher(value).matches() || HEX_VALUE_PATTERN.matcher(value).matches();
             if ( !isValid ) {
                 try {
                     pair.setValue(INVALID);

diff --git a/OpenRobertaRobot/src/main/java/de/fhg/iais/roberta/util/ast/AstFactory.java b/OpenRobertaRobot/src/main/java/de/fhg/iais/roberta/util/ast/AstFactory.java
@@ -53,13 +53,13 @@ public class AstFactory {
      * the list of all legal modes used in the blockly frontend
      */
     private static final String[] allLegalModesArray = {
-        "ALTITUDE", "AMBIENTLIGHT", "ANALOG", "ANGLE", "BACKWARD", "CALIBRATE", "CALIBRATION", "CLOSING", "CO2EQUIVALENT", "COLOUR", "COMPASS",
+        "ALTITUDE", "AMBIENTLIGHT", "ANALOG", "ANGLE", "BACKWARD", "BALL", "CALIBRATE", "CALIBRATION", "CLOSING", "CO2EQUIVALENT", "COLOUR", "COMPASS",
         "DATE", "DEFAULT", "DEGREE", "DIGITAL", "DISTANCE", "DOWN", "EDISON_CODE", "FACE_DOWN", "FACE_UP", "FOREWARD", "FREEFALL",
-        "G3", "G6", "G8", "HUMIDITY", "IAQ", "IDALL", "IDONE", "LATITUDE", "LEFT", "LIGHT", "LIGHT_VALUE", "LINE", "LONGITUDE", "MODULATED",
-        "NAMEALL", "NAMEONE", "NONE", "OBSTACLE", "OFF", "OPENING", "PM10", "PM25", "PRESENCE", "PRESSED", "PRESSURE", "PULSEHIGH", "PULSELOW", "RATE",
+        "G3", "G6", "G8", "HUMIDITY", "IAQ", "IDALL", "IDONE", "LATITUDE", "LEFT", "LIGHT", "LIGHT_VALUE", "LINE", "LONGITUDE", "MODULATED", "MOTION",
+        "NAMEALL", "NAMEONE", "NONE", "OBSTACLE", "OFF", "OPENING", "NUMBERLINES", "PM10", "PM25", "PRESENCE", "PRESSED", "PRESSURE", "PULSEHIGH", "PULSELOW", "RATE",
         "RCCODE", "RED", "REFLEXION", "RESET", "RGB", "RIGHT", "ROTATION", "SEEK", "SERIAL", "SHAKE", "SOUND", "SPEED", "START", "STOP", "STRENGTH", "TEMPERATURE",
         "TILTED", "TIME", "UNMODULATED", "UP", "UVLIGHT", "VALUE", "VOCEQUIVALENT", "WAIT_FOR_PRESS", "WAIT_FOR_PRESS_AND_RELEASE", "X", "Y", "Z", "REDCHANNEL",
-        "GREENCHANNEL", "BLUECHANNEL", "FRONT", "BACK", "LEFT", "RIGHT", "TAPPED", "FORCE"
+        "GREENCHANNEL", "BLUECHANNEL", "FRONT", "BACK", "LEFT", "RIGHT", "TAPPED", "FORCE", "GYRO", "ACCELERATION", "MAGNETICFLUX", "PROXIMITY", "GESTURE", "CALIBRATIONNEED", "ACCURACY"
     };
     /**
      * the hash set of all legal modes used in the blockly frontend

diff --git a/OpenRobertaRobot/src/main/java/de/fhg/iais/roberta/util/basic/C.java b/OpenRobertaRobot/src/main/java/de/fhg/iais/roberta/util/basic/C.java
@@ -363,4 +363,5 @@ public class C {
     public static final String WRITE_PIN_ACTION = "writePinAction";
     public static final String X = "x";
     public static final String Y = "y";
+    public static final String COLOUR_COMPARE = "compareColour";
 }
diff --git a/OpenRobertaRobot/src/main/java/de/fhg/iais/roberta/util/syntax/BlocklyConstants.java b/OpenRobertaRobot/src/main/java/de/fhg/iais/roberta/util/syntax/BlocklyConstants.java
@@ -68,6 +68,7 @@ private BlocklyConstants() {
     public static final String COL = "COL";
     public static final String OUT = "OUT";
     public static final String DEGREE = "DEGREE";
+    public static final String DEGREES = "DEGREES";
     public static final String MOTORROTATION = "MOTORROTATION";
     public static final String DISTANCE = "DISTANCE";
     public static final String DIRECTION = "DIRECTION";

diff --git a/OpenRobertaServer/pom.xml b/OpenRobertaServer/pom.xml
@@ -120,6 +120,10 @@
             <groupId>de.fhg.iais.openroberta</groupId>
             <artifactId>RobotSpike</artifactId>
         </dependency>
+        <dependency>
+            <groupId>de.fhg.iais.openroberta</groupId>
+            <artifactId>RobotFischertechnik</artifactId>
+        </dependency>
         <dependency>
             <groupId>de.fhg.iais.openroberta</groupId>
             <artifactId>OpenRobertaRobot</artifactId>

diff --git a/...src/main/java/de/fhg/iais/roberta/javaServer/restServices/robot/RobotDownloadProgram.java b/...src/main/java/de/fhg/iais/roberta/javaServer/restServices/robot/RobotDownloadProgram.java
@@ -66,6 +66,7 @@ public Response handle(JSONObject requestEntity) {
                 case "ev3dev":
                 case "mbot2":
                 case "spike":
+                case "txt4":
                     fileName = programName + ".py";
                     filePath = this.pathToCrosscompilerBaseDir + token + "/" + programName + "/source";
                     break;
@@ -121,4 +122,4 @@ public Response handle(JSONObject requestEntity) {
             throw new DbcException("exception caught and rethrown", e);
         }
     }
-}
+}
diff --git a/OpenRobertaServer/src/main/resources/openRoberta.properties b/OpenRobertaServer/src/main/resources/openRoberta.properties
@@ -52,7 +52,7 @@ server.staticresources.dir = OpenRobertaServer/staticResources
 # For instance, if your school offers nxt, calliope2017 and calliope2016 robots, use this white list:
 # robot.whitelist = sim, nxt, calliope2017, calliope2016
 # Usually overwritten by command line parameter -d
-robot.whitelist = spike, spikePybricks, thymio, wedo, ev3lejosv1, ev3dev, ev3c4ev3, xNN, nxt, microbit, microbitv2, joycar, botnroll, nao, bob3, rob3rta, sensebox, mbot, mbot2, edison, festobionic, festobionicflower, uno, unowifirev2, nano, mega, nano33ble, calliope2017NoBlue, calliope2017, calliope2016, calliopev3, robotino
+robot.whitelist = txt4, spike, spikePybricks, thymio, wedo, ev3lejosv1, ev3dev, ev3c4ev3, xNN, nxt, microbit, microbitv2, joycar, botnroll, nao, bob3, rob3rta, sensebox, mbot, mbot2, edison, festobionic, festobionicflower, uno, unowifirev2, nano, mega, nano33ble, calliope2017NoBlue, calliope2017, calliope2016, calliopev3, robotino
 robot.default = ev3lejosv1
 # account activation / verification / reset
 # server.iptocountry.dir path where the db is located, db name is fix: IpToCountry.cvs