diff --git a/OpenRobertaRobot/src/main/java/de/fhg/iais/roberta/util/HelperMethodGenerator.java b/OpenRobertaRobot/src/main/java/de/fhg/iais/roberta/util/HelperMethodGenerator.java
index b1c8dc332f..327543ea15 100644
--- a/OpenRobertaRobot/src/main/java/de/fhg/iais/roberta/util/HelperMethodGenerator.java
+++ b/OpenRobertaRobot/src/main/java/de/fhg/iais/roberta/util/HelperMethodGenerator.java
@@ -14,6 +14,7 @@
 import org.json.JSONObject;
 
 import de.fhg.iais.roberta.mode.general.ListElementOperations;
+import de.fhg.iais.roberta.util.dbc.Assert;
 import de.fhg.iais.roberta.util.dbc.DbcException;
 import de.fhg.iais.roberta.util.syntax.FunctionNames;
 
@@ -137,6 +138,17 @@ public String getHelperMethodDeclarations(Set<? extends Enum<?>> usedMethods) {
      * @return the helper method definitions
      */
     public String getHelperMethodDefinitions(Set<? extends Enum<?>> usedMethods) {
+        return getHelperMethodDefinitions(usedMethods, 1);
+    }
+
+    /**
+     * Same as getHelperMethodDefinitions(Set<? extends Enum<?>> usedMethods)
+     * but allows specifiying number of newLines
+     *
+     */
+    public String getHelperMethodDefinitions(Set<? extends Enum<?>> usedMethods, int numOfNewLines) {
+        Assert.isTrue((numOfNewLines > 0));
+
         StringBuilder sb = new StringBuilder();
 
         // guarantee order of methods for tests & consistency
@@ -149,7 +161,9 @@ public String getHelperMethodDefinitions(Set<? extends Enum<?>> usedMethods) {
         for ( int sortedIndex : sortedIndices ) {
             String implementation = this.helperMethods.get(usedMethodsList.get(sortedIndex));
             if ( implementation != null ) { // no implementation necessary for this method
-                sb.append('\n');
+                for(int i =0; i<numOfNewLines;i++){
+                    sb.append('\n');
+                }
                 sb.append(implementation);
             }
         }
diff --git a/OpenRobertaRobot/src/main/java/de/fhg/iais/roberta/util/visitor/SourceBuilder.java b/OpenRobertaRobot/src/main/java/de/fhg/iais/roberta/util/visitor/SourceBuilder.java
index bb2bbc75c4..4b53aaa5d5 100644
--- a/OpenRobertaRobot/src/main/java/de/fhg/iais/roberta/util/visitor/SourceBuilder.java
+++ b/OpenRobertaRobot/src/main/java/de/fhg/iais/roberta/util/visitor/SourceBuilder.java
@@ -4,6 +4,7 @@
 import java.util.stream.Collectors;
 
 import de.fhg.iais.roberta.syntax.Phrase;
+import de.fhg.iais.roberta.util.dbc.Assert;
 import de.fhg.iais.roberta.visitor.IVisitor;
 
 public class SourceBuilder {
@@ -60,6 +61,61 @@ public SourceBuilder nlI() {
         return this;
     }
 
+    /**
+     * Append N new lines if not already present and Vals to SourceBuilder
+     *
+     * @param numOfLines make sure to have atleast this many new lines before adding Vals, must >= 0
+     * @param vals Vals to be appended
+     * @return SourceBuilder
+     */
+    public SourceBuilder addNLine(int numOfLines, Object... vals) {
+        Assert.isTrue(numOfLines >= 0);
+
+        //if we want 2 blank lines we need 3 new lines
+        numOfLines += 1;
+
+        final String sourceStringTrimmed = this.sb.toString().replace(" ", "");
+        int newLineCounter = 0;
+
+        //an Empty SourceBuilder does not have to go to the next line to ensure given number of new lines
+        if(sourceStringTrimmed.isEmpty())
+            newLineCounter++;
+
+        for(int i=0; (i < numOfLines) && (sourceStringTrimmed.length() - 1 - i >= 0); i++){
+            if(sourceStringTrimmed.charAt(sourceStringTrimmed.length() - 1 - i) == '\n') {
+                newLineCounter++;
+            }else {
+                break;
+            }
+        }
+
+        for(int i=0; (i < (numOfLines - newLineCounter)); i++){
+            nlI();
+        }
+
+        add(vals);
+        return this;
+    }
+
+    public SourceBuilder addLine(Object... vals) {
+        return addNLine(0, vals);
+    }
+
+    /**
+     * Makes sure there are a given amount of new Lines, 0 will make sure we are in the next
+     * Line 1 will make sure we have one Line white space, etc.,
+     *
+     * @param numOfLines to ensure are there, will add additional new Lines if needed
+     * @return SourceBuilder
+     */
+    public SourceBuilder ensureBlankLines(int numOfLines) {
+        return addNLine(numOfLines, "");
+    }
+
+    public SourceBuilder ensureNextLine() {
+        return ensureBlankLines(0);
+    }
+
     public SourceBuilder add(Object... vals) {
         for ( Object val : vals ) {
             this.sb.append(val);
diff --git a/OpenRobertaRobot/src/main/java/de/fhg/iais/roberta/visitor/lang/codegen/AbstractLanguageVisitor.java b/OpenRobertaRobot/src/main/java/de/fhg/iais/roberta/visitor/lang/codegen/AbstractLanguageVisitor.java
index 6009753c25..e4c969c472 100644
--- a/OpenRobertaRobot/src/main/java/de/fhg/iais/roberta/visitor/lang/codegen/AbstractLanguageVisitor.java
+++ b/OpenRobertaRobot/src/main/java/de/fhg/iais/roberta/visitor/lang/codegen/AbstractLanguageVisitor.java
@@ -104,7 +104,7 @@ public void generateCode(boolean withWrapping) {
         generateProgramSuffix(withWrapping);
     }
 
-    private void generateProgramMainBody() {
+    protected void generateProgramMainBody() {
         this.programPhrases
             .stream()
             .filter(phrase -> phrase.getKind().getCategory() != Category.METHOD || phrase.getKind().hasName("METHOD_CALL"))
diff --git a/OpenRobertaRobot/src/main/java/de/fhg/iais/roberta/visitor/lang/codegen/prog/AbstractPythonVisitor.java b/OpenRobertaRobot/src/main/java/de/fhg/iais/roberta/visitor/lang/codegen/prog/AbstractPythonVisitor.java
index f5d84c3769..a3156516f4 100644
--- a/OpenRobertaRobot/src/main/java/de/fhg/iais/roberta/visitor/lang/codegen/prog/AbstractPythonVisitor.java
+++ b/OpenRobertaRobot/src/main/java/de/fhg/iais/roberta/visitor/lang/codegen/prog/AbstractPythonVisitor.java
@@ -705,7 +705,6 @@ public Void visitIsListEmptyFunct(IsListEmptyFunct isListEmptyFunct) {
 
     @Override
     public Void visitMethodVoid(MethodVoid methodVoid) {
-        nlIndent();
         this.src.add("def ", methodVoid.getCodeSafeMethodName(), '(');
         List<String> paramList = new ArrayList<>();
         for ( Expr l : methodVoid.getParameters().get() ) {
@@ -731,7 +730,6 @@ public Void visitMethodVoid(MethodVoid methodVoid) {
 
     @Override
     public Void visitMethodReturn(MethodReturn methodReturn) {
-        nlIndent();
         this.src.add("def ", methodReturn.getCodeSafeMethodName(), '(');
         List<String> paramList = new ArrayList<>();
         for ( Expr l : methodReturn.getParameters().get() ) {
@@ -859,8 +857,7 @@ protected String getLanguageVarTypeFromBlocklyType(BlocklyType type) {
 
     protected void addPassIfProgramIsEmpty() {
         if ( this.getBean(UsedHardwareBean.class).isProgramEmpty() ) {
-            nlIndent();
-            this.src.add("pass");
+            this.src.addLine("pass");
         }
     }
 
@@ -1024,11 +1021,10 @@ public Void visitDebugAction(DebugAction debugAction) {
 
     @Override
     protected void generateProgramSuffix(boolean withWrapping) {
-        nlIndent();
-        this.src.add("if __name__ == \"__main__\":");
+        this.src.ensureBlankLines(1);
+        this.src.addLine("if __name__ == \"__main__\":");
         incrIndentation();
-        nlIndent();
-        this.src.add("main()");
+        this.src.addLine("main()");
         decrIndentation();
     }
 
@@ -1043,15 +1039,6 @@ protected void generateProgramPrefix(boolean withWrapping) {
         visitorGenerateGlobalVariables();
     }
 
-    @Override
-    protected void generateUserDefinedMethods() {
-        super.generateUserDefinedMethods();
-        if ( this.programPhrases.stream().filter(phrase -> phrase.getKind().getCategory() == Category.METHOD && !phrase.getKind().hasName("METHOD_CALL")).count() > 0 ) {
-            nlIndent();
-        }
-    }
-
-
     protected void collectVariablesForFunctionGlobals() {
         //since we are not in a scope yet these will be out global variables
         this.getBean(UsedHardwareBean.class).getInScopeVariables().forEach(s -> {
@@ -1061,7 +1048,80 @@ protected void collectVariablesForFunctionGlobals() {
 
     @Override
     protected void visitorGenerateNN() {
+        this.src.ensureBlankLines(1);
         generateNNStuff("python");
     }
 
+    //TODO Python-Code generation now always uses preceeding new line
+    //move these functions to abstarct language visitor once all other visiros are also changed
+    @Override
+    protected void generateProgramMainBody() {
+        //this is fine since MainTask[] will add a new line(this is a empty line when we add it to our code)
+        //we dont need an additional nlIndent() at the beginning of this
+        this.programPhrases
+            .stream()
+            .filter(phrase -> phrase.getKind().getCategory() != Category.METHOD || phrase.getKind().hasName("METHOD_CALL"))
+            .forEach(p -> {
+                src.ensureNextLine();
+                p.accept(this);
+            });
+    }
+
+    @Override
+    protected void generateUserDefinedMethods() {
+        boolean isEmpty = this.programPhrases.stream().filter(phrase -> phrase.getKind().getCategory() == Category.METHOD && !phrase.getKind().hasName("METHOD_CALL")).count() == 0;
+        if ( !isEmpty ) {
+            this.programPhrases
+                .stream()
+                .filter(phrase -> phrase.getKind().getCategory() == Category.METHOD && !phrase.getKind().hasName("METHOD_CALL"))
+                .forEach(e -> {
+                    src.ensureBlankLines(1);
+                    e.accept(this);
+                });
+            //we dont want to add training new lines anymore, but this is the easiest way to do it - python method style guide 2 new lines before and after method declaration
+            src.ensureBlankLines(1);
+        }
+    }
+
+    /**
+     * this function should not be changed for a consitant behavour, this  may lead to minor changes in visitors
+     * right now most visitors to this in the suffix, but some in the prefix -- make sure to remove helper function logic from visitor or methods will be
+     * generated more than once
+     *
+     * @return returns true if helper-methods were added
+     */
+    @Override
+    protected void visitorGenerateHelperMethods(){
+        String helperMethodImpls =
+            this
+                .getBean(CodeGeneratorSetupBean.class)
+                .getHelperMethodGenerator()
+                .getHelperMethodDefinitions(this.getBean(CodeGeneratorSetupBean.class).getUsedMethods(), 1)
+                .trim();
+
+        boolean hasMethods = helperMethodImpls != null && !helperMethodImpls.isEmpty();
+
+        if ( hasMethods ) {
+            this.src.ensureBlankLines(1);
+            this.src.addLine(helperMethodImpls);
+            this.src.ensureBlankLines(1);
+        }
+    }
+
+    /**
+     * this will be called from inside MaiNTask since we need the variable list, right now a lot of visitors to bascially this with some varaition
+     * please unify this to one function
+     * @return was a user-method or variable added to the code
+     */
+    @Override
+    protected void visitorGenerateUserVariablesAndMethods(MainTask mainTask) {
+        StmtList variables = mainTask.variables;
+        boolean hasVariables = !(variables.get().isEmpty());
+        if ( hasVariables ) {
+            this.src.ensureNextLine();
+            variables.accept(this);
+        }
+        generateUserDefinedMethods();
+    }
+
 }
diff --git a/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/common/targetLanguage/ev3dev/controlFlowNestedLoops.py b/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/common/targetLanguage/ev3dev/controlFlowNestedLoops.py
index 219915f64e..26192ece8f 100644
--- a/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/common/targetLanguage/ev3dev/controlFlowNestedLoops.py
+++ b/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/common/targetLanguage/ev3dev/controlFlowNestedLoops.py
@@ -7,7 +7,6 @@
 import os
 import time
 
-
 class BreakOutOfALoop(Exception): pass
 class ContinueLoop(Exception): pass
 
diff --git a/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/common/targetLanguage/ev3dev/functionsBasic.py b/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/common/targetLanguage/ev3dev/functionsBasic.py
index e448c75950..9e6c6ae9d2 100644
--- a/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/common/targetLanguage/ev3dev/functionsBasic.py
+++ b/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/common/targetLanguage/ev3dev/functionsBasic.py
@@ -49,7 +49,6 @@ def ____retNumber2(___x):
     ___x = ___x / float(2)
     return ___x
 
-
 def run():
     global ___n1, ___b, ___n2, ___n3
     # Basic Functions START
diff --git a/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/common/targetLanguage/ev3dev/listOperations.py b/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/common/targetLanguage/ev3dev/listOperations.py
index 4004ed50ee..f723ab2fff 100644
--- a/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/common/targetLanguage/ev3dev/listOperations.py
+++ b/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/common/targetLanguage/ev3dev/listOperations.py
@@ -7,7 +7,6 @@
 import os
 import time
 
-
 def _median(l):
     l = sorted(l)
     l_len = len(l)
@@ -24,6 +23,7 @@ def _standard_deviation(l):
     for i in l:
         sd += (i - mean)*(i - mean)
     return math.sqrt(sd / len(l))
+
 class BreakOutOfALoop(Exception): pass
 class ContinueLoop(Exception): pass
 
diff --git a/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/common/targetLanguage/ev3dev/listOperationsBasic.py b/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/common/targetLanguage/ev3dev/listOperationsBasic.py
index 100a1bd3f9..219b34ab1d 100644
--- a/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/common/targetLanguage/ev3dev/listOperationsBasic.py
+++ b/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/common/targetLanguage/ev3dev/listOperationsBasic.py
@@ -7,7 +7,6 @@
 import os
 import time
 
-
 class BreakOutOfALoop(Exception): pass
 class ContinueLoop(Exception): pass
 
diff --git a/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/common/targetLanguage/ev3dev/mathAndLists.py b/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/common/targetLanguage/ev3dev/mathAndLists.py
index 30aad9d8bf..9288c89047 100644
--- a/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/common/targetLanguage/ev3dev/mathAndLists.py
+++ b/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/common/targetLanguage/ev3dev/mathAndLists.py
@@ -7,7 +7,6 @@
 import os
 import time
 
-
 def _median(l):
     l = sorted(l)
     l_len = len(l)
@@ -24,6 +23,7 @@ def _standard_deviation(l):
     for i in l:
         sd += (i - mean)*(i - mean)
     return math.sqrt(sd / len(l))
+
 class BreakOutOfALoop(Exception): pass
 class ContinueLoop(Exception): pass
 
diff --git a/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/common/targetLanguage/ev3dev/mathBasics.py b/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/common/targetLanguage/ev3dev/mathBasics.py
index ec4d008e4b..1c4c948f88 100644
--- a/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/common/targetLanguage/ev3dev/mathBasics.py
+++ b/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/common/targetLanguage/ev3dev/mathBasics.py
@@ -7,7 +7,6 @@
 import os
 import time
 
-
 class BreakOutOfALoop(Exception): pass
 class ContinueLoop(Exception): pass
 
diff --git a/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/common/targetLanguage/ev3dev/mathFunctions.py b/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/common/targetLanguage/ev3dev/mathFunctions.py
index 20cc5eee50..6ba0013da5 100644
--- a/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/common/targetLanguage/ev3dev/mathFunctions.py
+++ b/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/common/targetLanguage/ev3dev/mathFunctions.py
@@ -7,7 +7,6 @@
 import os
 import time
 
-
 class BreakOutOfALoop(Exception): pass
 class ContinueLoop(Exception): pass
 
diff --git a/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/common/targetLanguage/ev3dev/mathLogic-1.py b/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/common/targetLanguage/ev3dev/mathLogic-1.py
index f035262316..f69c2487e4 100644
--- a/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/common/targetLanguage/ev3dev/mathLogic-1.py
+++ b/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/common/targetLanguage/ev3dev/mathLogic-1.py
@@ -7,7 +7,6 @@
 import os
 import time
 
-
 def _isPrime(number):
     if(number == 0 or number == 1):
         return False
diff --git a/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/common/targetLanguage/ev3dev/mathLogic-2.py b/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/common/targetLanguage/ev3dev/mathLogic-2.py
index 4dda8e9fca..d98b0eb4ba 100644
--- a/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/common/targetLanguage/ev3dev/mathLogic-2.py
+++ b/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/common/targetLanguage/ev3dev/mathLogic-2.py
@@ -7,7 +7,6 @@
 import os
 import time
 
-
 class BreakOutOfALoop(Exception): pass
 class ContinueLoop(Exception): pass
 
diff --git a/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/common/targetLanguage/ev3dev/mathPower.py b/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/common/targetLanguage/ev3dev/mathPower.py
index 892691d8a5..96985d64ef 100644
--- a/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/common/targetLanguage/ev3dev/mathPower.py
+++ b/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/common/targetLanguage/ev3dev/mathPower.py
@@ -7,7 +7,6 @@
 import os
 import time
 
-
 class BreakOutOfALoop(Exception): pass
 class ContinueLoop(Exception): pass
 
diff --git a/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/common/targetLanguage/ev3dev/neuralNetwork.py b/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/common/targetLanguage/ev3dev/neuralNetwork.py
index a7ef1ef9fc..3596fad4cc 100644
--- a/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/common/targetLanguage/ev3dev/neuralNetwork.py
+++ b/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/common/targetLanguage/ev3dev/neuralNetwork.py
@@ -34,6 +34,7 @@ def ____nnStep():
     ____h1n2 = ____b_h1n2 + ____n1 * ____w_n1_h1n2 + ____n3 * ____w_n3_h1n2
     ____n2 = ____b_n2 + ____h1n1 * ____w_h1n1_n2 + ____h1n2 * ____w_h1n2_n2
     ____n4 = ____b_n4 + ____h1n1 * ____w_h1n1_n4 + ____h1n2 * ____w_h1n2_n4
+
 class BreakOutOfALoop(Exception): pass
 class ContinueLoop(Exception): pass
 
@@ -60,7 +61,6 @@ def ____runNN():
     ____nnStep()
     ___n = ____n2
 
-
 def run():
     global ___n, ____n1, ____n3, ____h1n1, ____h1n2, ____b_h1n1, ____w_n1_h1n1, ____w_n3_h1n1, ____b_h1n2, ____w_n1_h1n2, ____w_n3_h1n2, ____b_n2, ____w_h1n1_n2, ____w_h1n2_n2, ____b_n4, ____w_h1n1_n4, ____w_h1n2_n4
     ____runNN()
diff --git a/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/common/targetLanguage/ev3dev/orderOfOperations.py b/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/common/targetLanguage/ev3dev/orderOfOperations.py
index 2dff4b09f2..7e205114f6 100644
--- a/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/common/targetLanguage/ev3dev/orderOfOperations.py
+++ b/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/common/targetLanguage/ev3dev/orderOfOperations.py
@@ -7,7 +7,6 @@
 import os
 import time
 
-
 def _randInt(min_val, max_val):
     val = int.from_bytes(os.urandom(4), byteorder='big')
     if min_val < max_val:
@@ -78,7 +77,6 @@ def ____divisionOperations(___item5):
     ___item5 = ( ( 6 / float(_randInt(10 - 1, 100 - 1)) ) % ( 5 ) )
     ___item5 = ( ( _randDouble() / float(5) ) % ( 5 ) )
 
-
 def run():
     global ___item
     ____plusOperations(___item)
diff --git a/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/common/targetLanguage/ev3dev/strings.py b/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/common/targetLanguage/ev3dev/strings.py
index 137a1bec57..f5c593b02f 100644
--- a/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/common/targetLanguage/ev3dev/strings.py
+++ b/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/common/targetLanguage/ev3dev/strings.py
@@ -7,7 +7,6 @@
 import os
 import time
 
-
 class BreakOutOfALoop(Exception): pass
 class ContinueLoop(Exception): pass
 
diff --git a/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/common/targetLanguage/microbitv2/controlFlowNestedLoops.py b/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/common/targetLanguage/microbitv2/controlFlowNestedLoops.py
index a3d6825da1..b25f6579f1 100644
--- a/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/common/targetLanguage/microbitv2/controlFlowNestedLoops.py
+++ b/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/common/targetLanguage/microbitv2/controlFlowNestedLoops.py
@@ -2,7 +2,6 @@
 import random
 import math
 
-
 class BreakOutOfALoop(Exception): pass
 class ContinueLoop(Exception): pass
 
diff --git a/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/common/targetLanguage/microbitv2/functionsBasic.py b/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/common/targetLanguage/microbitv2/functionsBasic.py
index 75e4133948..0915b90832 100644
--- a/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/common/targetLanguage/microbitv2/functionsBasic.py
+++ b/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/common/targetLanguage/microbitv2/functionsBasic.py
@@ -36,7 +36,6 @@ def ____retNumber2(___x):
     ___x = ___x / float(2)
     return ___x
 
-
 def run():
     global timer1, ___n1, ___b, ___n2, ___n3
     # Basic Functions START
diff --git a/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/common/targetLanguage/microbitv2/listOperations.py b/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/common/targetLanguage/microbitv2/listOperations.py
index 862b4b14c9..609194a267 100644
--- a/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/common/targetLanguage/microbitv2/listOperations.py
+++ b/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/common/targetLanguage/microbitv2/listOperations.py
@@ -2,7 +2,6 @@
 import random
 import math
 
-
 def _median(l):
     l = sorted(l)
     l_len = len(l)
@@ -19,6 +18,7 @@ def _standard_deviation(l):
     for i in l:
         sd += (i - mean)*(i - mean)
     return math.sqrt(sd / len(l))
+
 class BreakOutOfALoop(Exception): pass
 class ContinueLoop(Exception): pass
 
diff --git a/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/common/targetLanguage/microbitv2/listOperationsBasic.py b/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/common/targetLanguage/microbitv2/listOperationsBasic.py
index 612ad59f3a..5307fe8f2c 100644
--- a/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/common/targetLanguage/microbitv2/listOperationsBasic.py
+++ b/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/common/targetLanguage/microbitv2/listOperationsBasic.py
@@ -2,7 +2,6 @@
 import random
 import math
 
-
 class BreakOutOfALoop(Exception): pass
 class ContinueLoop(Exception): pass
 
diff --git a/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/common/targetLanguage/microbitv2/mathAndLists.py b/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/common/targetLanguage/microbitv2/mathAndLists.py
index e60025f46d..ecaca28893 100644
--- a/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/common/targetLanguage/microbitv2/mathAndLists.py
+++ b/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/common/targetLanguage/microbitv2/mathAndLists.py
@@ -2,7 +2,6 @@
 import random
 import math
 
-
 def _median(l):
     l = sorted(l)
     l_len = len(l)
@@ -19,6 +18,7 @@ def _standard_deviation(l):
     for i in l:
         sd += (i - mean)*(i - mean)
     return math.sqrt(sd / len(l))
+
 class BreakOutOfALoop(Exception): pass
 class ContinueLoop(Exception): pass
 
diff --git a/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/common/targetLanguage/microbitv2/mathBasics.py b/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/common/targetLanguage/microbitv2/mathBasics.py
index c94c7afeda..a58a9c76ef 100644
--- a/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/common/targetLanguage/microbitv2/mathBasics.py
+++ b/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/common/targetLanguage/microbitv2/mathBasics.py
@@ -2,7 +2,6 @@
 import random
 import math
 
-
 class BreakOutOfALoop(Exception): pass
 class ContinueLoop(Exception): pass
 
diff --git a/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/common/targetLanguage/microbitv2/mathFunctions.py b/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/common/targetLanguage/microbitv2/mathFunctions.py
index e417aaa7e6..0183f92a3f 100644
--- a/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/common/targetLanguage/microbitv2/mathFunctions.py
+++ b/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/common/targetLanguage/microbitv2/mathFunctions.py
@@ -2,7 +2,6 @@
 import random
 import math
 
-
 class BreakOutOfALoop(Exception): pass
 class ContinueLoop(Exception): pass
 
diff --git a/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/common/targetLanguage/microbitv2/mathLogic-1.py b/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/common/targetLanguage/microbitv2/mathLogic-1.py
index f30e681949..ca7d1a491a 100644
--- a/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/common/targetLanguage/microbitv2/mathLogic-1.py
+++ b/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/common/targetLanguage/microbitv2/mathLogic-1.py
@@ -2,7 +2,6 @@
 import random
 import math
 
-
 def _isPrime(number):
     if(number == 0 or number == 1):
         return False
diff --git a/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/common/targetLanguage/microbitv2/mathLogic-2.py b/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/common/targetLanguage/microbitv2/mathLogic-2.py
index 8b6be96d32..8df4adaadf 100644
--- a/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/common/targetLanguage/microbitv2/mathLogic-2.py
+++ b/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/common/targetLanguage/microbitv2/mathLogic-2.py
@@ -2,7 +2,6 @@
 import random
 import math
 
-
 class BreakOutOfALoop(Exception): pass
 class ContinueLoop(Exception): pass
 
diff --git a/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/common/targetLanguage/microbitv2/mathPower.py b/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/common/targetLanguage/microbitv2/mathPower.py
index b2202d2ce2..a5d9746b56 100644
--- a/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/common/targetLanguage/microbitv2/mathPower.py
+++ b/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/common/targetLanguage/microbitv2/mathPower.py
@@ -2,7 +2,6 @@
 import random
 import math
 
-
 class BreakOutOfALoop(Exception): pass
 class ContinueLoop(Exception): pass
 
diff --git a/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/common/targetLanguage/microbitv2/neuralNetwork.py b/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/common/targetLanguage/microbitv2/neuralNetwork.py
index 63de0b6d4f..e9bbb85000 100644
--- a/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/common/targetLanguage/microbitv2/neuralNetwork.py
+++ b/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/common/targetLanguage/microbitv2/neuralNetwork.py
@@ -29,6 +29,7 @@ def ____nnStep():
     ____h1n2 = ____b_h1n2 + ____n1 * ____w_n1_h1n2 + ____n3 * ____w_n3_h1n2
     ____n2 = ____b_n2 + ____h1n1 * ____w_h1n1_n2 + ____h1n2 * ____w_h1n2_n2
     ____n4 = ____b_n4 + ____h1n1 * ____w_h1n1_n4 + ____h1n2 * ____w_h1n2_n4
+
 class BreakOutOfALoop(Exception): pass
 class ContinueLoop(Exception): pass
 
@@ -47,7 +48,6 @@ def ____runNN():
     ____nnStep()
     ___n = ____n2
 
-
 def run():
     global timer1, ___n, ____n1, ____n3, ____h1n1, ____h1n2, ____b_h1n1, ____w_n1_h1n1, ____w_n3_h1n1, ____b_h1n2, ____w_n1_h1n2, ____w_n3_h1n2, ____b_n2, ____w_h1n1_n2, ____w_h1n2_n2, ____b_n4, ____w_h1n1_n4, ____w_h1n2_n4
     ____runNN()
diff --git a/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/common/targetLanguage/microbitv2/orderOfOperations.py b/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/common/targetLanguage/microbitv2/orderOfOperations.py
index 25da03192f..960f9be537 100644
--- a/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/common/targetLanguage/microbitv2/orderOfOperations.py
+++ b/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/common/targetLanguage/microbitv2/orderOfOperations.py
@@ -2,7 +2,6 @@
 import random
 import math
 
-
 class BreakOutOfALoop(Exception): pass
 class ContinueLoop(Exception): pass
 
@@ -55,7 +54,6 @@ def ____divisionOperations(___item5):
     ___item5 = ( ( 6 / float(random.randint(10 - 1, 100 - 1)) ) % ( 5 ) )
     ___item5 = ( ( random.random() / float(5) ) % ( 5 ) )
 
-
 def run():
     global timer1, ___item
     ____plusOperations(___item)
diff --git a/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/common/targetLanguage/microbitv2/strings.py b/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/common/targetLanguage/microbitv2/strings.py
index e3e19b1754..b4127041cc 100644
--- a/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/common/targetLanguage/microbitv2/strings.py
+++ b/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/common/targetLanguage/microbitv2/strings.py
@@ -2,7 +2,6 @@
 import random
 import math
 
-
 class BreakOutOfALoop(Exception): pass
 class ContinueLoop(Exception): pass
 
diff --git a/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/calliopev3/action_sound.py b/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/calliopev3/action_sound.py
index 43d7b69a8c..202aaa5baa 100644
--- a/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/calliopev3/action_sound.py
+++ b/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/calliopev3/action_sound.py
@@ -8,7 +8,6 @@ class ContinueLoop(Exception): pass
 
 timer1 = calliopemini.running_time()
 
-
 ___n = 0
 
 def ____sounds():
@@ -20,7 +19,6 @@ def ____sounds():
     music.pitch(349, 250)
     music.pitch(391, 125)
 
-
 def run():
     global timer1, ___n
     ____sounds()
diff --git a/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/calliopev3/actor_dualmotor_without_pin.py b/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/calliopev3/actor_dualmotor_without_pin.py
index 1632667655..224b8a196d 100644
--- a/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/calliopev3/actor_dualmotor_without_pin.py
+++ b/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/calliopev3/actor_dualmotor_without_pin.py
@@ -2,7 +2,6 @@
 import random
 import math
 
-
 def servo_get_angle(angle):
     if (angle < 0): 
         angle = 0
@@ -47,7 +46,6 @@ class ContinueLoop(Exception): pass
 timer1 = calliopemini.running_time()
 calliopemini.pin1.set_analog_period(20)
 
-
 ___n = 50
 
 def ____move():
@@ -139,7 +137,6 @@ def ____wait():
             break
     calliopemini.sleep(700)
 
-
 def run():
     global timer1, ___n
     ____move()
diff --git a/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/calliopev3/actor_fourdigitdisplay_without_pin.py b/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/calliopev3/actor_fourdigitdisplay_without_pin.py
index 6a7ed7074c..9d97557739 100644
--- a/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/calliopev3/actor_fourdigitdisplay_without_pin.py
+++ b/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/calliopev3/actor_fourdigitdisplay_without_pin.py
@@ -3,7 +3,6 @@
 import math
 from tm1637 import TM1637
 
-
 def set_brightness(val):
     global brightness
     if val < 0 or val >= 10:
@@ -20,7 +19,6 @@ class ContinueLoop(Exception): pass
 fdd = TM1637()
 brightness = 9
 
-
 ___n = 0
 ___b = True
 ___s = ""
@@ -57,7 +55,6 @@ def ____action():
     global timer1, ___n, ___b, ___s, ___c, ___i, ___nl, ___bl, ___sl, ___cl, ___il
     ____display()
 
-
 def run():
     global timer1, ___n, ___b, ___s, ___c, ___i, ___nl, ___bl, ___sl, ___cl, ___il
     ____action()
diff --git a/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/calliopev3/actor_ledbar_without_pin.py b/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/calliopev3/actor_ledbar_without_pin.py
index 48e2cbba26..d49a1c0366 100644
--- a/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/calliopev3/actor_ledbar_without_pin.py
+++ b/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/calliopev3/actor_ledbar_without_pin.py
@@ -2,7 +2,6 @@
 import random
 import math
 
-
 def write16(di, dcki, data):
     state = dcki.read_digital()
     for i in range(15,-1,-1):
@@ -37,14 +36,12 @@ class ContinueLoop(Exception): pass
 
 timer1 = calliopemini.running_time()
 
-
 ___n = 0
 
 def ____lights():
     global timer1, ___n
     set_led(___n,___n)
 
-
 def run():
     global timer1, ___n
     ____lights()
diff --git a/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/calliopev3/actors_pins.py b/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/calliopev3/actors_pins.py
index a2885925cf..b3b54f3eae 100644
--- a/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/calliopev3/actors_pins.py
+++ b/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/calliopev3/actors_pins.py
@@ -7,7 +7,6 @@ class ContinueLoop(Exception): pass
 
 timer1 = calliopemini.running_time()
 
-
 ___off = 0
 ___on = 1
 ___analogon = 255
@@ -101,7 +100,6 @@ def ____wait():
             break
     calliopemini.sleep(800)
 
-
 def run():
     global timer1, ___off, ___on, ___analogon
     ____pin()
diff --git a/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/calliopev3/actors_singlemotor_and_motionkit_without_pins.py b/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/calliopev3/actors_singlemotor_and_motionkit_without_pins.py
index 413c0d9319..05deed40cc 100644
--- a/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/calliopev3/actors_singlemotor_and_motionkit_without_pins.py
+++ b/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/calliopev3/actors_singlemotor_and_motionkit_without_pins.py
@@ -2,7 +2,6 @@
 import random
 import math
 
-
 def servo_get_angle(angle):
     if (angle < 0): 
         angle = 0
@@ -31,7 +30,6 @@ class ContinueLoop(Exception): pass
 calliopemini.pin_A1_RX.set_analog_period(20)
 calliopemini.pin_A1_TX.set_analog_period(20)
 
-
 ___off = 0
 ___max = 100
 ___negative = 0
@@ -116,7 +114,6 @@ def ____wait():
             break
     calliopemini.sleep(500)
 
-
 def run():
     global timer1, ___off, ___max, ___negative
     ____move()
diff --git a/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/calliopev3/callibot_led.py b/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/calliopev3/callibot_led.py
index 0ed90ad9cb..8cfa162ba5 100644
--- a/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/calliopev3/callibot_led.py
+++ b/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/calliopev3/callibot_led.py
@@ -9,7 +9,6 @@ class ContinueLoop(Exception): pass
 timer1 = calliopemini.running_time()
 callibot = Callibot2()
 
-
 def ____wait():
     global timer1
     calliopemini.sleep(700)
@@ -17,7 +16,6 @@ def ____wait():
         if calliopemini.button_a.is_pressed() == True:
             break
 
-
 def run():
     global timer1
     print("R RGB RED")
@@ -64,6 +62,5 @@ def main():
     finally:
         callibot.stop()
 
-
 if __name__ == "__main__":
     main()
\ No newline at end of file
diff --git a/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/calliopev3/callibot_motor.py b/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/calliopev3/callibot_motor.py
index 8cec3178c4..b1926bd986 100644
--- a/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/calliopev3/callibot_motor.py
+++ b/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/calliopev3/callibot_motor.py
@@ -9,7 +9,6 @@ class ContinueLoop(Exception): pass
 timer1 = calliopemini.running_time()
 callibot = Callibot2()
 
-
 def ____wait():
     global timer1
     while True:
@@ -17,7 +16,6 @@ def ____wait():
             break
     calliopemini.sleep(500)
 
-
 def run():
     global timer1
     calliopemini.display.scroll("Curve Right")
@@ -67,6 +65,5 @@ def main():
     finally:
         callibot.stop()
 
-
 if __name__ == "__main__":
     main()
\ No newline at end of file
diff --git a/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/calliopev3/callibot_sensor.py b/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/calliopev3/callibot_sensor.py
index 02f4db8a54..83b2ad747d 100644
--- a/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/calliopev3/callibot_sensor.py
+++ b/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/calliopev3/callibot_sensor.py
@@ -9,7 +9,6 @@ class ContinueLoop(Exception): pass
 timer1 = calliopemini.running_time()
 callibot = Callibot2()
 
-
 def run():
     global timer1
     print("callibiot sensor tests press a to go through")
@@ -42,6 +41,5 @@ def main():
     finally:
         callibot.stop()
 
-
 if __name__ == "__main__":
     main()
\ No newline at end of file
diff --git a/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/calliopev3/colour.py b/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/calliopev3/colour.py
index b991a27b5e..bdcf62a984 100644
--- a/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/calliopev3/colour.py
+++ b/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/calliopev3/colour.py
@@ -9,7 +9,6 @@ class ContinueLoop(Exception): pass
 timer1 = calliopemini.running_time()
 np = neopixel.NeoPixel(calliopemini.pin_RGB, 3)
 
-
 ___color = (255, 0, 0)
 
 def ____wait():
@@ -21,7 +20,6 @@ def ____wait():
     calliopemini.display.scroll("Next Color")
     calliopemini.sleep(500)
 
-
 def run():
     global timer1, ___color
     np[1] = ((153, 153, 153))
diff --git a/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/calliopev3/control.py b/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/calliopev3/control.py
index 90563b1d57..19cf34c988 100644
--- a/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/calliopev3/control.py
+++ b/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/calliopev3/control.py
@@ -7,7 +7,6 @@ class ContinueLoop(Exception): pass
 
 timer1 = calliopemini.running_time()
 
-
 ___numberVar = 0
 ___booleanVar = True
 ___stringVar = ""
@@ -63,7 +62,6 @@ def ____control():
         if ___booleanVar:
             break
 
-
 def run():
     global timer1, ___numberVar, ___booleanVar, ___stringVar, ___colourVar, ___imageVar, ___numberList, ___booleanList, ___stringList, ___colourList, ___imageList
     ____control()
diff --git a/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/calliopev3/functions.py b/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/calliopev3/functions.py
index 77ca9ea568..074d752d7d 100644
--- a/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/calliopev3/functions.py
+++ b/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/calliopev3/functions.py
@@ -7,7 +7,6 @@ class ContinueLoop(Exception): pass
 
 timer1 = calliopemini.running_time()
 
-
 ___Element = 0
 
 def ____macheEtwas():
@@ -19,7 +18,6 @@ def ____macheEtwas2():
     calliopemini.display.scroll("Hallo")
     return 0
 
-
 def run():
     global timer1, ___Element
     ____macheEtwas()
diff --git a/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/calliopev3/images.py b/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/calliopev3/images.py
index 9a10c922ca..4f2a243a1f 100644
--- a/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/calliopev3/images.py
+++ b/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/calliopev3/images.py
@@ -8,7 +8,6 @@ class ContinueLoop(Exception): pass
 timer1 = calliopemini.running_time()
 brightness = 9
 
-
 def run():
     global timer1
     calliopemini.display.show(calliopemini.Image('00000:00000:00000:00000:00000'))
diff --git a/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/calliopev3/lists.py b/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/calliopev3/lists.py
index 2648ba254c..a286fb8cef 100644
--- a/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/calliopev3/lists.py
+++ b/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/calliopev3/lists.py
@@ -2,13 +2,11 @@
 import random
 import math
 
-
 class BreakOutOfALoop(Exception): pass
 class ContinueLoop(Exception): pass
 
 timer1 = calliopemini.running_time()
 
-
 ___numberVar = 0
 ___booleanVar = True
 ___stringVar = ""
@@ -57,7 +55,6 @@ def ____lists():
     ___numberList = ___numberList[0:-1 -___numberVar]
     ___numberList = ___numberList[0:]
 
-
 def run():
     global timer1, ___numberVar, ___booleanVar, ___stringVar, ___colourVar, ___imageVar, ___numberList, ___booleanList, ___stringList, ___colourList, ___imageList, ___item2
     ____lists()
diff --git a/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/calliopev3/logic.py b/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/calliopev3/logic.py
index 147e37f122..595da99254 100644
--- a/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/calliopev3/logic.py
+++ b/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/calliopev3/logic.py
@@ -7,7 +7,6 @@ class ContinueLoop(Exception): pass
 
 timer1 = calliopemini.running_time()
 
-
 ___numberVar = 0
 ___booleanVar = True
 
@@ -26,7 +25,6 @@ def ____logic():
     calliopemini.display.scroll(str(False))
     calliopemini.display.scroll(str(___numberVar if ( ___booleanVar ) else ___numberVar))
 
-
 def run():
     global timer1, ___numberVar, ___booleanVar
     ____logic()
diff --git a/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/calliopev3/math.py b/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/calliopev3/math.py
index 3a52af7e9b..28a3b85838 100644
--- a/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/calliopev3/math.py
+++ b/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/calliopev3/math.py
@@ -2,7 +2,6 @@
 import random
 import math
 
-
 def _median(l):
     l = sorted(l)
     l_len = len(l)
@@ -28,12 +27,12 @@ def _standard_deviation(l):
     for i in l:
         sd += (i - mean)*(i - mean)
     return math.sqrt(sd / len(l))
+
 class BreakOutOfALoop(Exception): pass
 class ContinueLoop(Exception): pass
 
 timer1 = calliopemini.running_time()
 
-
 ___numberVar = 0
 ___numberList = [0, 0]
 
@@ -85,8 +84,6 @@ def ____math():
     calliopemini.display.scroll(str(_median(___numberList)))
     calliopemini.display.scroll(str(_standard_deviation(___numberList)))
 
-
-
 def run():
     global timer1, ___numberVar, ___numberList
     ____math()
diff --git a/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/calliopev3/motor_dual.py b/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/calliopev3/motor_dual.py
index bb41efd501..1e301e6fc2 100644
--- a/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/calliopev3/motor_dual.py
+++ b/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/calliopev3/motor_dual.py
@@ -2,7 +2,6 @@
 import random
 import math
 
-
 def set_both_motors(speed_A, speed_B):
     digit_0 = 0
     digit_1 = 0
@@ -39,7 +38,6 @@ class ContinueLoop(Exception): pass
 
 timer1 = calliopemini.running_time()
 
-
 def run():
     global timer1
     set_both_motors(50, 100)
diff --git a/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/calliopev3/motor_single.py b/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/calliopev3/motor_single.py
index 697ac0d923..504cc17680 100644
--- a/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/calliopev3/motor_single.py
+++ b/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/calliopev3/motor_single.py
@@ -2,7 +2,6 @@
 import random
 import math
 
-
 def set_motor(port, speed):
     digit = 0
     if (speed < 0):
@@ -22,7 +21,6 @@ class ContinueLoop(Exception): pass
 
 timer1 = calliopemini.running_time()
 
-
 ___item = -100
 
 def run():
diff --git a/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/calliopev3/radio_rx.py b/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/calliopev3/radio_rx.py
index 2bf6df96d2..3766efadec 100644
--- a/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/calliopev3/radio_rx.py
+++ b/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/calliopev3/radio_rx.py
@@ -5,7 +5,6 @@
 import music
 import neopixel
 
-
 def receive_message(type):
     global rssi
     details = radio.receive_full()
@@ -37,7 +36,6 @@ class ContinueLoop(Exception): pass
 np = neopixel.NeoPixel(calliopemini.pin_RGB, 3)
 brightness = 9
 rssi = 0
-
 radio.on()
 
 ___colours = [(255, 0, 0), (255, 153, 0), (255, 255, 0), (51, 255, 51), (102, 204, 204)]
diff --git a/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/calliopev3/radio_tx.py b/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/calliopev3/radio_tx.py
index a74339110d..c99fed4e9e 100644
--- a/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/calliopev3/radio_tx.py
+++ b/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/calliopev3/radio_tx.py
@@ -5,7 +5,6 @@
 import music
 import neopixel
 
-
 class BreakOutOfALoop(Exception): pass
 class ContinueLoop(Exception): pass
 
@@ -13,7 +12,6 @@ class ContinueLoop(Exception): pass
 np = neopixel.NeoPixel(calliopemini.pin_RGB, 3)
 brightness = 9
 rssi = 0
-
 radio.on()
 
 ___colours = [(255, 0, 0), (255, 153, 0), (255, 255, 0), (51, 255, 51), (102, 204, 204)]
diff --git a/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/calliopev3/sensor_moisture.py b/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/calliopev3/sensor_moisture.py
index 4544be7b8c..4988bd221b 100644
--- a/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/calliopev3/sensor_moisture.py
+++ b/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/calliopev3/sensor_moisture.py
@@ -7,7 +7,6 @@ class ContinueLoop(Exception): pass
 
 timer1 = calliopemini.running_time()
 
-
 def run():
     global timer1
     print("Moisture sensor test")
diff --git a/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/calliopev3/sensor_pins.py b/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/calliopev3/sensor_pins.py
index 5f6e5d9093..b734d8f3b3 100644
--- a/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/calliopev3/sensor_pins.py
+++ b/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/calliopev3/sensor_pins.py
@@ -8,7 +8,6 @@ class ContinueLoop(Exception): pass
 
 timer1 = calliopemini.running_time()
 
-
 def ____sensors():
     global timer1
     calliopemini.display.scroll(str(calliopemini.pin1.read_analog()))
@@ -179,7 +178,6 @@ def ____sensorsWaitUntil():
         if machine.time_pulse_us(calliopemini.pin19, 0) < 30:
             break
 
-
 def run():
     global timer1
     ____sensors()
diff --git a/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/calliopev3/sensor_ultrasonic_and_colourtcs3472.py b/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/calliopev3/sensor_ultrasonic_and_colourtcs3472.py
index 83bb4505ee..4dc421fdfc 100644
--- a/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/calliopev3/sensor_ultrasonic_and_colourtcs3472.py
+++ b/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/calliopev3/sensor_ultrasonic_and_colourtcs3472.py
@@ -4,14 +4,13 @@
 from machine import time_pulse_us
 from tcs3472 import tcs3472
 
-
 def measure_distance_cm(echo=calliopemini.pin_A1_RX, trigger=calliopemini.pin_A1_RX):
     trigger.write_digital(1)
     trigger.write_digital(0) 
     msec = time_pulse_us(echo, 1)
     echo_time = msec / 1000000
     dist_cm = (echo_time / 2) * 34300
-    return dist_cm 
+    return dist_cm
 
 class BreakOutOfALoop(Exception): pass
 class ContinueLoop(Exception): pass
@@ -20,7 +19,6 @@ class ContinueLoop(Exception): pass
 color_sensor = tcs3472()
 LIGHT_CONST = 40
 
-
 ___colourVar = (255, 0, 0)
 
 def ____sensors():
@@ -29,7 +27,6 @@ def ____sensors():
     ___colourVar = color_sensor.rgb()
     calliopemini.display.scroll(str(int( color_sensor.light() / LIGHT_CONST)))
 
-
 def run():
     global timer1, ___colourVar
     ____sensors()
diff --git a/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/calliopev3/sensors_config_pin_pull.py b/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/calliopev3/sensors_config_pin_pull.py
index fd1b7dfb83..dc01810da0 100644
--- a/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/calliopev3/sensors_config_pin_pull.py
+++ b/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/calliopev3/sensors_config_pin_pull.py
@@ -7,7 +7,6 @@ class ContinueLoop(Exception): pass
 
 timer1 = calliopemini.running_time()
 
-
 def run():
     global timer1
 
diff --git a/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/calliopev3/sensors_waitUntil_without_pins_and_callibot_and_ultrasonic.py b/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/calliopev3/sensors_waitUntil_without_pins_and_callibot_and_ultrasonic.py
index fd25146db2..5264ea9c54 100644
--- a/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/calliopev3/sensors_waitUntil_without_pins_and_callibot_and_ultrasonic.py
+++ b/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/calliopev3/sensors_waitUntil_without_pins_and_callibot_and_ultrasonic.py
@@ -10,7 +10,6 @@ class ContinueLoop(Exception): pass
 timer1 = calliopemini.running_time()
 sht31 = SHT31()
 
-
 ___colourVar = (255, 0, 0)
 ___numberList = [0, 0]
 
@@ -101,7 +100,6 @@ def ____sensorsWaitUntil():
         if sht31.get_temp_humi("t") < 30:
             break
 
-
 def run():
     global timer1, ___colourVar, ___numberList
     ____sensorsWaitUntil()
diff --git a/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/calliopev3/sensors_without_pins_and_callibot_and_ultrasonic.py b/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/calliopev3/sensors_without_pins_and_callibot_and_ultrasonic.py
index 496aa09602..f66630cf83 100644
--- a/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/calliopev3/sensors_without_pins_and_callibot_and_ultrasonic.py
+++ b/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/calliopev3/sensors_without_pins_and_callibot_and_ultrasonic.py
@@ -15,7 +15,6 @@ class ContinueLoop(Exception): pass
 LIGHT_CONST = 40
 sht31 = SHT31()
 
-
 def ____buttons():
     global timer1
     print("Button A (B to Cancel)")
@@ -210,7 +209,6 @@ def ____external():
         if calliopemini.button_a.is_pressed():
             break
 
-
 def run():
     global timer1
     ____buttons()
diff --git a/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/calliopev3/text.py b/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/calliopev3/text.py
index 18eefcdfaa..e1d07a96a9 100644
--- a/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/calliopev3/text.py
+++ b/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/calliopev3/text.py
@@ -2,13 +2,11 @@
 import random
 import math
 
-
 class BreakOutOfALoop(Exception): pass
 class ContinueLoop(Exception): pass
 
 timer1 = calliopemini.running_time()
 
-
 ___Element = ["", "", ""]
 ___Element2 = ""
 
diff --git a/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/calliopev3/v3_LEDs.py b/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/calliopev3/v3_LEDs.py
index 6f57139054..a15dc4ecd3 100644
--- a/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/calliopev3/v3_LEDs.py
+++ b/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/calliopev3/v3_LEDs.py
@@ -9,7 +9,6 @@ class ContinueLoop(Exception): pass
 timer1 = calliopemini.running_time()
 np = neopixel.NeoPixel(calliopemini.pin_RGB, 3)
 
-
 def run():
     global timer1
     print("Rotating through LEDs press A to continue")
@@ -25,7 +24,6 @@ def run():
             break
     np[0] = ((0, 0, 0))
     np.show()
-
     print("center LED RED")
     while True:
         if calliopemini.button_a.is_pressed() == True:
@@ -38,7 +36,6 @@ def run():
             break
     np[1] = ((0, 0, 0))
     np.show()
-
     print("right LED RED")
     while True:
         if calliopemini.button_a.is_pressed() == True:
@@ -51,7 +48,6 @@ def run():
             break
     np[2] = ((0, 0, 0))
     np.show()
-
     print("all LEDs RED")
     while True:
         if calliopemini.button_a.is_pressed() == True:
@@ -63,7 +59,6 @@ def run():
         if calliopemini.button_a.is_pressed() == True:
             break
     np.clear()
-
     print("right LED green")
     while True:
         if calliopemini.button_a.is_pressed() == True:
diff --git a/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/calliopev3/v3_logotouch_and_sound.py b/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/calliopev3/v3_logotouch_and_sound.py
index ad517a1618..75a427cfa4 100644
--- a/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/calliopev3/v3_logotouch_and_sound.py
+++ b/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/calliopev3/v3_logotouch_and_sound.py
@@ -8,7 +8,6 @@ class ContinueLoop(Exception): pass
 
 timer1 = calliopemini.running_time()
 
-
 def run():
     global timer1
     calliopemini.speaker.on()
diff --git a/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/edisonv2/action.py b/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/edisonv2/action.py
index e909d1dafe..71e1b60120 100644
--- a/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/edisonv2/action.py
+++ b/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/edisonv2/action.py
@@ -174,7 +174,6 @@ def ____move():
     Ed.DriveRightMotor(Ed.STOP, Ed.SPEED_1, 1)
     Ed.ReadClapSensor()
 
-
 ____action()
 ___soundfile1 = Ed.TuneString(7,"c8e8g8z")
 Ed.PlayTune(___soundfile1)
@@ -185,5 +184,4 @@ def ____move():
 Ed.PlayTune(___soundfile2)
 while (Ed.ReadMusicEnd() == Ed.MUSIC_NOT_FINISHED):
     pass
-Ed.ReadClapSensor()
-
+Ed.ReadClapSensor()
\ No newline at end of file
diff --git a/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/edisonv2/control_logic.py b/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/edisonv2/control_logic.py
index 8c1fdc1fcc..c2a70476bc 100644
--- a/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/edisonv2/control_logic.py
+++ b/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/edisonv2/control_logic.py
@@ -1,4 +1,5 @@
 import Ed
+
 Ed.EdisonVersion = Ed.V2
 Ed.DistanceUnits = Ed.CM
 Ed.Tempo = Ed.TEMPO_SLOW
@@ -54,7 +55,5 @@ def ____logic():
     ___booleanVar = True
     ___booleanVar = False
 
-
 ____control()
-____logic()
-
+____logic()
\ No newline at end of file
diff --git a/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/edisonv2/math_lists.py b/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/edisonv2/math_lists.py
index f642e203e2..80ac498207 100644
--- a/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/edisonv2/math_lists.py
+++ b/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/edisonv2/math_lists.py
@@ -92,7 +92,5 @@ def ____lists():
     ___numberVar = ___numberList[___numberVar]
     ___numberList[___numberVar] = ___numberVar
 
-
 ____math()
-____lists()
-
+____lists()
\ No newline at end of file
diff --git a/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/edisonv2/sensors.py b/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/edisonv2/sensors.py
index 29caaa16e2..8959fd466f 100644
--- a/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/edisonv2/sensors.py
+++ b/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/edisonv2/sensors.py
@@ -96,7 +96,5 @@ def ____sensorWaitUntil():
             break
         pass
 
-
 ____sensors()
-____sensorWaitUntil()
-
+____sensorWaitUntil()
\ No newline at end of file
diff --git a/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/edisonv2/text_messages_functions.py b/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/edisonv2/text_messages_functions.py
index e19fc76fe2..22f44f5d38 100644
--- a/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/edisonv2/text_messages_functions.py
+++ b/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/edisonv2/text_messages_functions.py
@@ -55,11 +55,9 @@ def ____function_return_numberList():
     global ___numberVar, ___booleanVar, ___numberList
     return ___numberList
 
-
 ____text()
 ____messages()
 ____function_parameters(___numberVar, ___booleanVar, ___numberList)
 ___numberVar = ____function_return_numberVar()
 ___booleanVar = ____function_return_booleanVar()
-___numberList = ____function_return_numberList()
-
+___numberList = ____function_return_numberList()
\ No newline at end of file
diff --git a/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/edisonv3/action.py b/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/edisonv3/action.py
index e909d1dafe..71e1b60120 100644
--- a/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/edisonv3/action.py
+++ b/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/edisonv3/action.py
@@ -174,7 +174,6 @@ def ____move():
     Ed.DriveRightMotor(Ed.STOP, Ed.SPEED_1, 1)
     Ed.ReadClapSensor()
 
-
 ____action()
 ___soundfile1 = Ed.TuneString(7,"c8e8g8z")
 Ed.PlayTune(___soundfile1)
@@ -185,5 +184,4 @@ def ____move():
 Ed.PlayTune(___soundfile2)
 while (Ed.ReadMusicEnd() == Ed.MUSIC_NOT_FINISHED):
     pass
-Ed.ReadClapSensor()
-
+Ed.ReadClapSensor()
\ No newline at end of file
diff --git a/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/edisonv3/control_logic.py b/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/edisonv3/control_logic.py
index 8c1fdc1fcc..c2a70476bc 100644
--- a/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/edisonv3/control_logic.py
+++ b/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/edisonv3/control_logic.py
@@ -1,4 +1,5 @@
 import Ed
+
 Ed.EdisonVersion = Ed.V2
 Ed.DistanceUnits = Ed.CM
 Ed.Tempo = Ed.TEMPO_SLOW
@@ -54,7 +55,5 @@ def ____logic():
     ___booleanVar = True
     ___booleanVar = False
 
-
 ____control()
-____logic()
-
+____logic()
\ No newline at end of file
diff --git a/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/edisonv3/math_lists.py b/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/edisonv3/math_lists.py
index f642e203e2..80ac498207 100644
--- a/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/edisonv3/math_lists.py
+++ b/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/edisonv3/math_lists.py
@@ -92,7 +92,5 @@ def ____lists():
     ___numberVar = ___numberList[___numberVar]
     ___numberList[___numberVar] = ___numberVar
 
-
 ____math()
-____lists()
-
+____lists()
\ No newline at end of file
diff --git a/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/edisonv3/sensors.py b/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/edisonv3/sensors.py
index 29caaa16e2..8959fd466f 100644
--- a/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/edisonv3/sensors.py
+++ b/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/edisonv3/sensors.py
@@ -96,7 +96,5 @@ def ____sensorWaitUntil():
             break
         pass
 
-
 ____sensors()
-____sensorWaitUntil()
-
+____sensorWaitUntil()
\ No newline at end of file
diff --git a/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/edisonv3/text_messages_functions.py b/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/edisonv3/text_messages_functions.py
index e19fc76fe2..22f44f5d38 100644
--- a/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/edisonv3/text_messages_functions.py
+++ b/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/edisonv3/text_messages_functions.py
@@ -55,11 +55,9 @@ def ____function_return_numberList():
     global ___numberVar, ___booleanVar, ___numberList
     return ___numberList
 
-
 ____text()
 ____messages()
 ____function_parameters(___numberVar, ___booleanVar, ___numberList)
 ___numberVar = ____function_return_numberVar()
 ___booleanVar = ____function_return_booleanVar()
-___numberList = ____function_return_numberList()
-
+___numberList = ____function_return_numberList()
\ No newline at end of file
diff --git a/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/ev3dev/action.py b/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/ev3dev/action.py
index d568f65c87..c45ff2c4d0 100644
--- a/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/ev3dev/action.py
+++ b/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/ev3dev/action.py
@@ -7,7 +7,6 @@
 import os
 import time
 
-
 def _busyWait():
     time.sleep(0.0)
 
@@ -52,7 +51,6 @@ def _scaleSpeed(m, speed_pct):
 
 class BreakOutOfALoop(Exception): pass
 class ContinueLoop(Exception): pass
-
 predefinedImages = {
     'OLDGLASSES': 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@@ -60,6 +58,7 @@ class ContinueLoop(Exception): pass
     'EYESOPEN': 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000f\u0000\u0000\u0000\u0000\u0000\u0000\u0078\u00c0\u0003\u0000\u0000\u0000\u0000\u00f0\u00ff\u00ff\u00ff\u001f\u0000\u00f0\u00ff\u00ff\u001f\u0000\u00e0\u0007\u0000\u0000\u0000\u00f0\u00ff\u0001\u0000\u0000\u0000\u0000\u00f0\u00ff\u00ff\u00ff\u00ff\u0000\u00fe\u00ff\u00ff\u001f\u0000\u00f8\u001f\u0000\u0000\u0000\u0080\u003f\u0000\u0000\u0000\u0000\u0000\u00f8\u00ff\u00ff\u00ff\u00ff\u00ff\u00ff\u00ff\u00ff\u003f\u0000\u00fe\u007f\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u00f8\u00ff\u00ff\u00ff\u00ff\u00ff\u00ff\u00ff\u00ff\u003f\u0000\u00ff\u00ff\u0000\u007e\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u00f8\u00ff\u00ff\u00ff\u00ff\u00ff\u00ff\u00ff\u00ff\u003f\u0000\u007f\u00f0\u0080\u00ff\u0001\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u00f8\u00ff\u00ff\u00ff\u00ff\u00ff\u00ff\u00ff\u00ff\u007f\u0080\u001f\u00c0\u00e1\u00ff\u0007\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u00f8\u00ff\u00ff\u00ff\u00ff\u00ff\u00ff\u00ff\u00ff\u007f\u0080\u0007\u0000\u00f1\u00e0\u000f\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u00f8\u00ff\u00ff\u00ff\u00ff\u00ff\u00ff\u00ff\u00ff\u007f\u00c0\u0007\u0000\u0033\u0080\u000f\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u00f8\u00ff\u00ff\u00ff\u00ff\u00ff\u00ff\u00ff\u00ff\u007f\u00c0\u0003\u0000\n\u0000\u001e\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u00f8\u00ff\u00ff\u00ff\u00ff\u00ff\u00ff\u00ff\u00ff\u007f\u00c0\u0003\u0000\n\u0000\u001e\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u00f8\u00ff\u00ff\u00ff\u00ff\u00ff\u00ff\u00ff\u00ff\u007f\u00c0\u0001\u0000\u0004\u0000\u003c\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u00f0\u00ff\u00ff\u00ff\u00ff\u00ff\u00ff\u00ff\u00ff\u007f\u00c0\u0001\u0000\u0004\u0000\u003c\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u00f0\u00ff\u00ff\u00ff\u00ff\u00ff\u00ff\u00ff\u00ff\u007f\u00c0\u0001\u0000\u0000\u0000\u0038\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u00f0\u00ff\u00ff\u00ff\u00ff\u00ff\u00ff\u00ff\u00ff\u007f\u0080\u0001\u0000\u0000\u0000\u0038\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u00e0\u00ff\u00ff\u00ff\u00ff\u00fe\u00ff\u00ff\u00ff\u003f\u0080\u0001\u0000\u0000\u0000\u0038\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u00e0\u00ff\u00ff\u00ff\u00ff\u00fe\u00ff\u00ff\u00ff\u003f\u0000\u0001\u0000\u0000\u0000\u0038\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u00c0\u00ff\u00ff\u00ff\u007f\u00fe\u00ff\u00ff\u00ff\u003f\u0000\u0003\u0000\u0002\u0000\u0018\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u00c0\u00ff\u00ff\u00ff\u007f\u00fc\u00ff\u00ff\u00ff\u001f\u0000\u0002\u0000\u0006\u0000\u001c\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0080\u00ff\u00ff\u00ff\u003f\u00fc\u00ff\u00ff\u00ff\u001f\u00c0\u0007\u0000\u0007\u0000\u000c\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u00ff\u00ff\u00ff\u001f\u00f8\u00ff\u00ff\u00ff\u000f\u00f0\u0001\u0000\u000f\u0000\u000e\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u00fe\u00ff\u00ff\u000f\u00f8\u00ff\u00ff\u00ff\u000f\u007c\u0000\u00c0\u000f\u0000\u0006\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u00fc\u00ff\u00ff\u0007\u00f0\u00ff\u00ff\u00ff\u0007\u001e\u0000\u00f0\u003f\u0080\u0001\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u00f8\u00ff\u00ff\u0003\u00e0\u00ff\u00ff\u00ff\u0003\u001e\u0000\u00fc\u00ff\u0000\u000e\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u00e0\u00ff\u00ff\u0000\u00c0\u00ff\u00ff\u00ff\u0001\u000f\u0000\u00f8\u00ff\u0003\u0038\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0080\u00ff\u003f\u0000\u0080\u00ff\u00ff\u00ff\u0000\u000f\u0000\u00f8\u00ff\u0000\u00e0\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u00fc\u0007\u0000\u0000\u00ff\u00ff\u007f\u0080\u0007\u0000\u00f0\u00ff\u0000\u00e0\u0001\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u00fc\u00ff\u001f\u0080\u0007\u0000\u00f0\u007f\u0000\u00c0\u0001\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u00f0\u00ff\u0007\u0080\u0007\u0000\u00f0\u007f\u0000\u00c0\u0003\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0080\u00ff\u0000\u0080\u0007\u0000\u00f0\u003f\u0000\u0080\u0003\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0080\u0007\u0000\u00f0\u003f\u0000\u0080\u0007\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0080\u000f\u0000\u0038\u0038\u0000\u0080\u0007\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u000f\u0000\u0008\u0020\u0000\u0080\u0007\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u001f\u0000\u0000\u0000\u0000\u0080\u0007\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u001e\u0000\u0000\u0000\u0000\u00c0\u0007\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u007e\u0000\u0001\u0000\u0000\u00c0\u0007\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u00fc\u00c1\u0001\u0000\u0000\u00e0\u0003\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u00f8\u00ff\u0000\u0000\u0000\u00e0\u0003\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u00e0\u00ff\u0000\u0000\u0002\u00f8\u0001\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0080\u009f\u0000\u0000\u000e\u00fe\u0001\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u00c0\u0000\u0000\u00fe\u00ff\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u00c0\u0000\u0000\u00f2\u003f\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u00c0\u0001\u0000\u00c3\u000f\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u00c0\u0001\u0000\u0003\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u00c0\u0003\u0080\u0003\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u00c0\u0003\u0080\u0003\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0080\u000f\u00e0\u0001\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0080\u003f\u00f8\u0001\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u00ff\u00ff\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u00ff\u00ff\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u00fe\u007f\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u00f8\u001f\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u00e0\u0007\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0000\u0000',
 }
+
 _brickConfiguration = {
     'wheel-diameter': 5.6,
     'track-width': 18.0,
@@ -194,7 +193,6 @@ def ____lights():
     hal.ledOff()
     hal.resetLED()
 
-
 def run():
     global ___numberVar, ___booleanVar, ___stringVar, ___colourVar, ___connectionVar, ___numberList, ___booleanList, ___stringList, ___colourList, ___connectionList
     ____action()
diff --git a/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/ev3dev/control_logic.py b/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/ev3dev/control_logic.py
index 4cb2322acc..3e29030b27 100644
--- a/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/ev3dev/control_logic.py
+++ b/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/ev3dev/control_logic.py
@@ -93,7 +93,6 @@ def ____logic():
     hal.drawText(str(None), ___numberVar, ___numberVar)
     hal.drawText(str(___numberVar if ( ___booleanVar ) else ___numberVar), ___numberVar, ___numberVar)
 
-
 def run():
     global ___numberVar, ___booleanVar, ___stringVar, ___colourVar, ___connectionVar, ___numberList, ___booleanList, ___stringList, ___colourList, ___connectionList
     ____control()
diff --git a/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/ev3dev/math_lists.py b/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/ev3dev/math_lists.py
index f2fcf293b6..568c77b1ac 100644
--- a/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/ev3dev/math_lists.py
+++ b/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/ev3dev/math_lists.py
@@ -7,7 +7,6 @@
 import os
 import time
 
-
 def _median(l):
     l = sorted(l)
     l_len = len(l)
@@ -43,6 +42,7 @@ def _standard_deviation(l):
     for i in l:
         sd += (i - mean)*(i - mean)
     return math.sqrt(sd / len(l))
+
 class BreakOutOfALoop(Exception): pass
 class ContinueLoop(Exception): pass
 
@@ -156,7 +156,6 @@ def ____lists():
     hal.drawText(str(___numberList[-1 -___numberVar:-1 -___numberVar]), ___numberVar, ___numberVar)
     hal.drawText(str(___numberList[-1 -___numberVar:]), ___numberVar, ___numberVar)
 
-
 def run():
     global ___numberVar, ___booleanVar, ___stringVar, ___colourVar, ___connectionVar, ___numberList, ___booleanList, ___stringList, ___colourList, ___connectionList
     ____math()
diff --git a/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/ev3dev/sensors_default.py b/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/ev3dev/sensors_default.py
index 0ea2caf47e..6506de5d96 100644
--- a/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/ev3dev/sensors_default.py
+++ b/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/ev3dev/sensors_default.py
@@ -157,7 +157,6 @@ def ____waitUntil():
             break
         hal.waitFor(15)
 
-
 def run():
     global ___numberVar, ___booleanVar, ___stringVar, ___colourVar, ___connectionVar, ___numberList, ___booleanList, ___stringList, ___colourList, ___connectionList
     ____sensors()
diff --git a/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/ev3dev/sensors_ht.py b/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/ev3dev/sensors_ht.py
index d982742d55..237af571c8 100644
--- a/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/ev3dev/sensors_ht.py
+++ b/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/ev3dev/sensors_ht.py
@@ -77,7 +77,6 @@ def ____waitUntil():
             break
         hal.waitFor(15)
 
-
 def run():
     global ___numberVar, ___booleanVar, ___stringVar, ___colourVar, ___connectionVar, ___numberList, ___booleanList, ___stringList, ___colourList, ___connectionList
     ____sensors()
diff --git a/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/ev3dev/sensors_infrared_sound.py b/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/ev3dev/sensors_infrared_sound.py
index fe2bb48f64..144f56364c 100644
--- a/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/ev3dev/sensors_infrared_sound.py
+++ b/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/ev3dev/sensors_infrared_sound.py
@@ -46,7 +46,6 @@ def ____waitUntil():
             break
         hal.waitFor(15)
 
-
 def run():
     global ___numberVar, ___booleanVar, ___stringVar, ___colourVar, ___connectionVar, ___numberList, ___booleanList, ___stringList, ___colourList, ___connectionList
     ____sensors()
diff --git a/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/ev3dev/text_colours_messages_functions.py b/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/ev3dev/text_colours_messages_functions.py
index 7c44d20b0e..a007408134 100644
--- a/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/ev3dev/text_colours_messages_functions.py
+++ b/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/ev3dev/text_colours_messages_functions.py
@@ -100,7 +100,6 @@ def ____function_return_connectionList():
     global ___numberVar, ___booleanVar, ___stringVar, ___colourVar, ___connectionVar, ___numberList, ___booleanList, ___stringList, ___colourList, ___connectionList
     return ___connectionList
 
-
 def run():
     global ___numberVar, ___booleanVar, ___stringVar, ___colourVar, ___connectionVar, ___numberList, ___booleanList, ___stringList, ___colourList, ___connectionList
     ____text()
diff --git a/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/ev3dev/textlyJava.py b/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/ev3dev/textlyJava.py
index 0ce0362960..744c426a61 100644
--- a/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/ev3dev/textlyJava.py
+++ b/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/ev3dev/textlyJava.py
@@ -7,7 +7,6 @@
 import os
 import time
 
-
 def _isPrime(number):
     if(number == 0 or number == 1):
         return False
diff --git a/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/joycar/action_display_test.py b/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/joycar/action_display_test.py
index 741ec46a72..128fb165d9 100644
--- a/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/joycar/action_display_test.py
+++ b/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/joycar/action_display_test.py
@@ -91,7 +91,6 @@ def ____getBrightness():
         microbit.display.scroll(str(microbit.display.get_pixel(0, 0)))
     microbit.display.clear()
 
-
 def run():
     global timer1, ___Animation
     # This program tests all display blocks (except the serial monitor)
diff --git a/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/joycar/action_drive_test.py b/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/joycar/action_drive_test.py
index 422ce028c0..c4b53bcdf8 100644
--- a/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/joycar/action_drive_test.py
+++ b/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/joycar/action_drive_test.py
@@ -2,7 +2,6 @@
 import random
 import math
 
-
 def drive(speedLeft, speedRight):
     sR = scale(speedRight)
     sL = scale(speedLeft)
diff --git a/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/joycar/action_drive_turn_steer_block_test.py b/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/joycar/action_drive_turn_steer_block_test.py
index 095d98d2de..4a1adc46d8 100644
--- a/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/joycar/action_drive_turn_steer_block_test.py
+++ b/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/joycar/action_drive_turn_steer_block_test.py
@@ -3,7 +3,6 @@
 import math
 import music
 
-
 def drive(speedLeft, speedRight):
     sR = scale(speedRight)
     sL = scale(speedLeft)
@@ -166,7 +165,6 @@ def ____steerDriveTest():
     drive(0, 0)
     music.pitch(261, 250, microbit.pin16)
 
-
 def run():
     global timer1, ___speed
     ____steerDriveTest()
diff --git a/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/joycar/action_move_motor_left_right_test.py b/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/joycar/action_move_motor_left_right_test.py
index 06ad38cb54..1c2be3c268 100644
--- a/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/joycar/action_move_motor_left_right_test.py
+++ b/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/joycar/action_move_motor_left_right_test.py
@@ -2,7 +2,6 @@
 import random
 import math
 
-
 def scale(speed):
     if speed == 0:
         return 0
@@ -64,7 +63,6 @@ def ____motorLeftRightOn():
     setSpeed("MOT_R", 0)
     setSpeed("MOT_L", 0)
 
-
 def run():
     global timer1, ___speed
     # This program tests the move motor left/right blocks
diff --git a/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/joycar/action_servo_test.py b/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/joycar/action_servo_test.py
index 1741b2b941..5d687a58ae 100644
--- a/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/joycar/action_servo_test.py
+++ b/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/joycar/action_servo_test.py
@@ -2,7 +2,6 @@
 import random
 import math
 
-
 def servo_set_angle(pin, angle):
     if (angle < 0): angle = 0
     if (angle > 180): angle = 180
@@ -14,6 +13,7 @@ def servo_set_angle(pin, angle):
 
 class BreakOutOfALoop(Exception): pass
 class ContinueLoop(Exception): pass
+
 microbit.pin1.set_analog_period(20)
 microbit.pin13.set_analog_period(20)
 
diff --git a/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/joycar/actuib_RGB_test.py b/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/joycar/actuib_RGB_test.py
index 17f8b9aff9..cd747466d9 100644
--- a/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/joycar/actuib_RGB_test.py
+++ b/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/joycar/actuib_RGB_test.py
@@ -3,7 +3,6 @@
 import math
 import neopixel
 
-
 def led_set_colour(x, colour):
     global np
     np[x] = colour
@@ -11,6 +10,7 @@ def led_set_colour(x, colour):
 
 class BreakOutOfALoop(Exception): pass
 class ContinueLoop(Exception): pass
+
 np = neopixel.NeoPixel(microbit.pin0, 8)
 
 timer1 = microbit.running_time()
diff --git a/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/joycar/colour_test.py b/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/joycar/colour_test.py
index 167aa91c02..891891745e 100644
--- a/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/joycar/colour_test.py
+++ b/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/joycar/colour_test.py
@@ -3,7 +3,6 @@
 import math
 import neopixel
 
-
 def led_set_colour(x, colour):
     global np
     np[x] = colour
@@ -11,6 +10,7 @@ def led_set_colour(x, colour):
 
 class BreakOutOfALoop(Exception): pass
 class ContinueLoop(Exception): pass
+
 np = neopixel.NeoPixel(microbit.pin0, 8)
 
 timer1 = microbit.running_time()
diff --git a/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/joycar/messages_test.py b/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/joycar/messages_test.py
index 31264e3450..e69baa4408 100644
--- a/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/joycar/messages_test.py
+++ b/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/joycar/messages_test.py
@@ -3,7 +3,6 @@
 import math
 import radio
 
-
 def receive_message(type):
     msg = radio.receive()
     if type == "Number":
diff --git a/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/joycar/sensor_distance_sensor_test.py b/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/joycar/sensor_distance_sensor_test.py
index 0d5bcd0ccf..a737702352 100644
--- a/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/joycar/sensor_distance_sensor_test.py
+++ b/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/joycar/sensor_distance_sensor_test.py
@@ -4,7 +4,6 @@
 import music
 import machine
 
-
 def ultrasonic_get_distance(echo, trigger):
     trigger.write_digital(0)
     microbit.sleep(2)
@@ -15,7 +14,7 @@ def ultrasonic_get_distance(echo, trigger):
     duration = machine.time_pulse_us(echo, 1)  
     distance = duration * 0.0343 / 2  
 
-    return round(distance, 2)   
+    return round(distance, 2)
 
 class BreakOutOfALoop(Exception): pass
 class ContinueLoop(Exception): pass
diff --git a/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/joycar/sensor_gestures_test.py b/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/joycar/sensor_gestures_test.py
index fcfaab3c60..fb3ee0459c 100644
--- a/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/joycar/sensor_gestures_test.py
+++ b/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/joycar/sensor_gestures_test.py
@@ -3,7 +3,6 @@
 import math
 import music
 
-
 class BreakOutOfALoop(Exception): pass
 class ContinueLoop(Exception): pass
 
diff --git a/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/joycar/sensor_infrared_obstacle_test.py b/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/joycar/sensor_infrared_obstacle_test.py
index 7918a7dc3b..0f1a5aaca9 100644
--- a/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/joycar/sensor_infrared_obstacle_test.py
+++ b/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/joycar/sensor_infrared_obstacle_test.py
@@ -2,7 +2,6 @@
 import random
 import math
 
-
 def drive(speedLeft, speedRight):
     sR = scale(speedRight)
     sL = scale(speedLeft)
diff --git a/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/joycar/sensor_line_follower_test.py b/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/joycar/sensor_line_follower_test.py
index 4839afca16..106f41d507 100644
--- a/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/joycar/sensor_line_follower_test.py
+++ b/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/joycar/sensor_line_follower_test.py
@@ -2,7 +2,6 @@
 import random
 import math
 
-
 def drive(speedLeft, speedRight):
     sR = scale(speedRight)
     sL = scale(speedLeft)
@@ -102,7 +101,6 @@ def ____followLineTest():
             ___speedRight = 20
         drive(___speedLeft, ___speedRight)
 
-
 def run():
     global timer1, ___speedLeft, ___speedRight
     ____lineSensorsLEDTest()
diff --git a/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/joycar/sensor_remaining_sensors_test.py b/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/joycar/sensor_remaining_sensors_test.py
index 51853eb12b..3a8d54cc6c 100644
--- a/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/joycar/sensor_remaining_sensors_test.py
+++ b/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/joycar/sensor_remaining_sensors_test.py
@@ -2,7 +2,6 @@
 import random
 import math
 
-
 def drive(speedLeft, speedRight):
     sR = scale(speedRight)
     sL = scale(speedLeft)
diff --git a/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/mbot2/action.py b/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/mbot2/action.py
index e443bd8561..910e5b78ca 100644
--- a/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/mbot2/action.py
+++ b/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/mbot2/action.py
@@ -31,7 +31,6 @@ def RGBAsString(rgb):
         color_diffs.append((color_diff, color))
     return min(color_diffs)[1]
 
-
 _trackWidth = 11.5
 _circumference = 20.420352248333657
 _diffPortsSwapped = False
@@ -47,7 +46,6 @@ def RGBAsString(rgb):
             "black": (0,0,0)
         }
 
-
 def ____action():
     ____drive()
     ____move()
@@ -123,7 +121,6 @@ def ____lights():
     mbuild.quad_rgb_sensor.set_led(RGBAsString((204, 0, 0)), 1)
     mbuild.quad_rgb_sensor.off_led(1)
 
-
 def run():
     ____action()
 
@@ -137,4 +134,5 @@ def main():
     finally:
         mbot2.motor_stop("all")
         mbot2.EM_stop("all")
+
 main()
\ No newline at end of file
diff --git a/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/mbot2/connection.py b/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/mbot2/connection.py
index f8374dfc99..c700979038 100644
--- a/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/mbot2/connection.py
+++ b/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/mbot2/connection.py
@@ -2,7 +2,6 @@
 import time
 import math, random
 
-
 def run():
     cyberpi.wifi_broadcast.set("Channel1", "1")
     cyberpi.wifi_broadcast.set("Channel1", 0)
@@ -16,4 +15,5 @@ def main():
         cyberpi.display.show_label("Exeption on Mbot 2", 16, int(8 * 0 + 5), int(17 * 0))
         cyberpi.display.show_label(e, 16, int(8 * 0 + 5), int(17 * 1))
         raise
+
 main()
\ No newline at end of file
diff --git a/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/mbot2/control_logic.py b/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/mbot2/control_logic.py
index 19db970cf0..5c42c89e99 100644
--- a/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/mbot2/control_logic.py
+++ b/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/mbot2/control_logic.py
@@ -57,7 +57,6 @@ def ____logic():
     cyberpi.console.println(None)
     cyberpi.console.println(___numberVar if ( ___booleanVar ) else ___booleanVar)
 
-
 def run():
     global ___booleanVarFalse, ___booleanVar, ___numberList, ___booleanList, ___stringList, ___colorList, ___numberVar, ___stringVar
     ____control()
@@ -70,4 +69,5 @@ def main():
         cyberpi.display.show_label("Exeption on Mbot 2", 16, int(8 * 0 + 5), int(17 * 0))
         cyberpi.display.show_label(e, 16, int(8 * 0 + 5), int(17 * 1))
         raise
+
 main()
\ No newline at end of file
diff --git a/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/mbot2/math_lists.py b/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/mbot2/math_lists.py
index ed659a8335..b961c93374 100644
--- a/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/mbot2/math_lists.py
+++ b/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/mbot2/math_lists.py
@@ -136,7 +136,6 @@ def ____math():
     cyberpi.console.println(str(___numberVar))
     cyberpi.console.println(chr((int)(___numberVar)))
 
-
 def run():
     global ___numberVar, ___booleanVar, ___stringVar, ___colorVar, ___numberList, ___booleanList, ___stringList, ___colorList
     ____math()
@@ -149,4 +148,5 @@ def main():
         cyberpi.display.show_label("Exeption on Mbot 2", 16, int(8 * 0 + 5), int(17 * 0))
         cyberpi.display.show_label(e, 16, int(8 * 0 + 5), int(17 * 1))
         raise
+
 main()
\ No newline at end of file
diff --git a/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/mbot2/sensors.py b/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/mbot2/sensors.py
index 80cb3f423d..fa79ab3fc9 100644
--- a/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/mbot2/sensors.py
+++ b/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/mbot2/sensors.py
@@ -1,6 +1,7 @@
 import cyberpi, mbot2, mbuild
 import time
 import math, random
+
 _timer1 = cyberpi.timer.get()
 _timer2 = cyberpi.timer.get()
 _timer3 = cyberpi.timer.get()
@@ -18,7 +19,6 @@
             "black": (0,0,0)
         }
 
-
 ___numVar = 0
 ___colourVar = (204, 0, 0)
 ___numList = []
@@ -120,7 +120,6 @@ def ____wait_until():
         if (mbot2.EM_get_angle("EM1") / 360) > 2:
             break
 
-
 def run():
     global _timer1, _timer2, _timer3, _timer4, _timer5, ___numVar, ___colourVar, ___numList, ___booleanVar
     ____sensors()
@@ -136,4 +135,5 @@ def main():
     finally:
         mbot2.motor_stop("all")
         mbot2.EM_stop("all")
+
 main()
\ No newline at end of file
diff --git a/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/mbot2/text_colours_functions.py b/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/mbot2/text_colours_functions.py
index 5b7048664e..e050adc6c4 100644
--- a/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/mbot2/text_colours_functions.py
+++ b/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/mbot2/text_colours_functions.py
@@ -11,7 +11,6 @@ def RGBAsString(rgb):
         color_diffs.append((color_diff, color))
     return min(color_diffs)[1]
 
-
 _colors = {
             "red": (204,0,0),
             "yellow": (255,255,0),
@@ -23,7 +22,6 @@ def RGBAsString(rgb):
             "black": (0,0,0)
         }
 
-
 ___colorVar = (204, 0, 0)
 ___stringVar = "1"
 ___booleanVar = True
@@ -166,7 +164,6 @@ def ____function_returnColorList():
     global ___colorVar, ___stringVar, ___booleanVar, ___numberVar, ___numberList, ___booleanList, ___stringList, ___colorList
     return ___colorList
 
-
 def run():
     global ___colorVar, ___stringVar, ___booleanVar, ___numberVar, ___numberList, ___booleanList, ___stringList, ___colorList
     ____colours()
@@ -188,4 +185,5 @@ def main():
         cyberpi.display.show_label("Exeption on Mbot 2", 16, int(8 * 0 + 5), int(17 * 0))
         cyberpi.display.show_label(e, 16, int(8 * 0 + 5), int(17 * 1))
         raise
+
 main()
\ No newline at end of file
diff --git a/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/microbit/messages.py b/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/microbit/messages.py
index e6e86dcb13..396d746eba 100644
--- a/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/microbit/messages.py
+++ b/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/microbit/messages.py
@@ -3,7 +3,6 @@
 import math
 import radio
 
-
 def receive_message(type):
     msg = radio.receive()
     if type == "Number":
diff --git a/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/microbit/sensor_gesture_compass_accelerometer.py b/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/microbit/sensor_gesture_compass_accelerometer.py
index 8fec8f44b1..46e9a38da8 100644
--- a/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/microbit/sensor_gesture_compass_accelerometer.py
+++ b/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/microbit/sensor_gesture_compass_accelerometer.py
@@ -2,7 +2,6 @@
 import random
 import math
 
-
 class BreakOutOfALoop(Exception): pass
 class ContinueLoop(Exception): pass
 
diff --git a/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/microbitv2/messages.py b/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/microbitv2/messages.py
index e6e86dcb13..396d746eba 100644
--- a/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/microbitv2/messages.py
+++ b/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/microbitv2/messages.py
@@ -3,7 +3,6 @@
 import math
 import radio
 
-
 def receive_message(type):
     msg = radio.receive()
     if type == "Number":
diff --git a/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/microbitv2/sensor_gesture_compass_accelerometer.py b/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/microbitv2/sensor_gesture_compass_accelerometer.py
index 8fec8f44b1..46e9a38da8 100644
--- a/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/microbitv2/sensor_gesture_compass_accelerometer.py
+++ b/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/microbitv2/sensor_gesture_compass_accelerometer.py
@@ -2,7 +2,6 @@
 import random
 import math
 
-
 class BreakOutOfALoop(Exception): pass
 class ContinueLoop(Exception): pass
 
diff --git a/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/microbitv2/textlyJava.py b/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/microbitv2/textlyJava.py
index ca72788121..d7619c46b5 100644
--- a/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/microbitv2/textlyJava.py
+++ b/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/microbitv2/textlyJava.py
@@ -3,7 +3,6 @@
 import math
 import radio
 
-
 def _isPrime(number):
     if(number == 0 or number == 1):
         return False
diff --git a/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/nao/action.py b/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/nao/action.py
index 6d8999e858..cc4a550763 100644
--- a/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/nao/action.py
+++ b/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/nao/action.py
@@ -4,13 +4,11 @@
 import time
 import random
 from roberta import Hal
-h = Hal()
 
+h = Hal()
 from roberta import FaceRecognitionModule
 faceRecognitionModule = FaceRecognitionModule("faceRecognitionModule")
 
-
-
 ___numberVar = 0
 ___booleanVar = True
 ___stringVar = ""
@@ -216,7 +214,6 @@ def ____lights():
     h.randomEyes(___numberVar)
     h.rasta(___numberVar)
 
-
 def run():
     h.setAutonomousLife('ON')
     global ___numberVar, ___booleanVar, ___stringVar, ___colourVar, ___numberList, ___booleanList, ___stringList, ___colourList
diff --git a/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/nao/control_logic.py b/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/nao/control_logic.py
index 827e9cec71..055dc79d3c 100644
--- a/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/nao/control_logic.py
+++ b/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/nao/control_logic.py
@@ -4,14 +4,12 @@
 import time
 import random
 from roberta import Hal
-h = Hal()
 
+h = Hal()
 
 class BreakOutOfALoop(Exception): pass
 class ContinueLoop(Exception): pass
 
-
-
 ___numberVar = 0
 ___booleanVar = True
 ___stringVar = ""
@@ -77,7 +75,6 @@ def ____logic():
     h.say(str(None))
     h.say(str(___numberVar if ( ___booleanVar ) else ___numberVar))
 
-
 def run():
     h.setAutonomousLife('ON')
     global ___numberVar, ___booleanVar, ___stringVar, ___colourVar, ___numberList, ___booleanList, ___stringList, ___colourList
diff --git a/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/nao/math_lists.py b/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/nao/math_lists.py
index efe30929d1..ab31a326c8 100644
--- a/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/nao/math_lists.py
+++ b/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/nao/math_lists.py
@@ -30,9 +30,8 @@ def _standard_deviation(l):
     for i in l:
         sd += (i - mean)*(i - mean)
     return math.sqrt(sd / len(l))
-h = Hal()
-
 
+h = Hal()
 
 ___numberVar = 0
 ___booleanVar = True
@@ -132,7 +131,6 @@ def ____lists():
     h.say(str(___numberList[0:-1 -___numberVar]))
     h.say(str(___numberList[0:]))
 
-
 def run():
     h.setAutonomousLife('ON')
     global ___numberVar, ___booleanVar, ___stringVar, ___colourVar, ___numberList, ___booleanList, ___stringList, ___colourList
diff --git a/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/nao/sensors.py b/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/nao/sensors.py
index e185c14688..9f94783d1e 100644
--- a/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/nao/sensors.py
+++ b/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/nao/sensors.py
@@ -4,20 +4,17 @@
 import time
 import random
 from roberta import Hal
+
 h = Hal()
 h.sonar.subscribe("OpenRobertaApp")
 h.mark.subscribe("RobertaLab", 500, 0.0)
-
 from roberta import FaceRecognitionModule
 faceRecognitionModule = FaceRecognitionModule("faceRecognitionModule")
-
 from roberta import SpeechRecognitionModule
 speechRecognitionModule = SpeechRecognitionModule("speechRecognitionModule")
 speechRecognitionModule.pauseASR()
 h.sonar.subscribe("OpenRobertaApp")
 
-
-
 ___numberVar = 0
 ___booleanVar = True
 ___stringVar = ""
@@ -253,7 +250,6 @@ def ____sensorsWaitUntil():
             break
         h.wait(15)
 
-
 def run():
     h.setAutonomousLife('ON')
     global ___numberVar, ___booleanVar, ___stringVar, ___colourVar, ___numberList, ___booleanList, ___stringList, ___colourList
diff --git a/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/nao/text_colours_functions.py b/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/nao/text_colours_functions.py
index 9ef27a4b9e..7a3f45c98e 100644
--- a/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/nao/text_colours_functions.py
+++ b/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/nao/text_colours_functions.py
@@ -4,9 +4,8 @@
 import time
 import random
 from roberta import Hal
-h = Hal()
-
 
+h = Hal()
 
 ___numberVar = 0
 ___booleanVar = True
@@ -133,7 +132,6 @@ def ____function_return_colourList():
     global ___numberVar, ___booleanVar, ___stringVar, ___colourVar, ___numberList, ___booleanList, ___stringList, ___colourList
     return ___colourList
 
-
 def run():
     h.setAutonomousLife('ON')
     global ___numberVar, ___booleanVar, ___stringVar, ___colourVar, ___numberList, ___booleanList, ___stringList, ___colourList
diff --git a/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/robotino/action.py b/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/robotino/action.py
index 91f9ad8960..6012a9722f 100644
--- a/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/robotino/action.py
+++ b/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/robotino/action.py
@@ -99,14 +99,11 @@ def turnForDegrees(RV, speed, degrees):
 _digitalPinValues = [0 for i in range(8)]
 currentSpeed = [0, 0, 0]
 
-
-
 def run(RV):
     time.sleep(1)
     resetOdometry(RV, 0, 0, 0)
-
     driveForDistance(RV, 30, 0, 30)
-    time.sleep(500/1000)
+    time.sleep(500 / 1000)
     turnForDegrees(RV, -30, 20)
     driveToPosition(RV, 10, 10, 30)
     setSpeedOmnidrivePercent(30, 0, 0)
@@ -139,4 +136,3 @@ def stop(RV):
 
 def cleanup(RV):
     pass
-
diff --git a/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/robotino/control_logic.py b/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/robotino/control_logic.py
index 80862fa54f..3af6a37f79 100644
--- a/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/robotino/control_logic.py
+++ b/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/robotino/control_logic.py
@@ -18,7 +18,6 @@ def isBumped():
 MAXROTATION = 0.57
 
 
-
 ___booleanFalse = None
 ___booleanTrue = None
 ___number = None
@@ -69,13 +68,12 @@ def ____control():
         if ___booleanTrue:
             break
         time.sleep(0.2)
-    time.sleep(500/1000)
+    time.sleep(500 / 1000)
     while True:
         if isBumped() == True:
             break
         time.sleep(0.2)
 
-
 def run(RV):
     global ___booleanFalse, ___booleanTrue, ___number, ___numberList
     time.sleep(1)
@@ -83,7 +81,6 @@ def run(RV):
     ___booleanTrue = True
     ___number = 0
     ___numberList = [0, 0, 0]
-
     ____control()
     ____logic()
 
@@ -106,4 +103,3 @@ def stop(RV):
 
 def cleanup(RV):
     pass
-
diff --git a/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/robotino/math_lists.py b/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/robotino/math_lists.py
index b7367b0dbc..46b8e21b6f 100644
--- a/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/robotino/math_lists.py
+++ b/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/robotino/math_lists.py
@@ -26,6 +26,7 @@ def _standard_deviation(l):
     for i in l:
         sd += (i - mean)*(i - mean)
     return math.sqrt(sd / len(l))
+
 sys.stdout = io.StringIO()
 sys.stderr = io.StringIO()
 ROBOTINOIP = "127.0.0.1:80"
@@ -34,7 +35,6 @@ def _standard_deviation(l):
 MAXROTATION = 0.57
 
 
-
 ___booleanFalse = None
 ___booleanTrue = None
 ___number = None
@@ -107,7 +107,6 @@ def ____math():
     ___string = str(___number)
     ___string = chr((int)(___number))
 
-
 def run(RV):
     global ___booleanFalse, ___booleanTrue, ___number, ___numberList, ___string, ___numberlist2
     time.sleep(1)
@@ -117,7 +116,6 @@ def run(RV):
     ___numberList = [0, 0, 0]
     ___string = ""
     ___numberlist2 = []
-
     ____math()
     ____lists()
 
@@ -140,4 +138,3 @@ def stop(RV):
 
 def cleanup(RV):
     pass
-
diff --git a/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/robotino/sensor.py b/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/robotino/sensor.py
index fe1b078910..1d3620f88b 100644
--- a/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/robotino/sensor.py
+++ b/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/robotino/sensor.py
@@ -107,7 +107,6 @@ def resetOdometry(RV, x, y, z):
 _timer4 = None
 _timer5 = None
 
-
 ___Element5 = None
 ___Element6 = None
 ___Element7 = None
@@ -150,19 +149,18 @@ def run(RV):
     ___Element14 = getOdometry('rot') * (180 / math.pi)
     ___Element15 = getDistance(1)
     ___Element16 = isBumped()
-    ___Element = ((time.time() - _timer1)/1000)
-    ___Element17 = ((time.time() - _timer2)/1000)
-    ___Element18 = ((time.time() - _timer3)/1000)
-    ___Element19 = ((time.time() - _timer4)/1000)
-    ___Element20 = ((time.time() - _timer5)/1000)
+    ___Element = ((time.time() - _timer1) / 1000)
+    ___Element17 = ((time.time() - _timer2) / 1000)
+    ___Element18 = ((time.time() - _timer3) / 1000)
+    ___Element19 = ((time.time() - _timer4) / 1000)
+    ___Element20 = ((time.time() - _timer5) / 1000)
     ___Element2 = getColourBlob(RV, [40, 56, 42, 100, 53, 100])
-
     resetOdometry(RV, 0, RV.readFloatVector(1)[1], RV.readFloatVector(1)[2])
     resetOdometry(RV, RV.readFloatVector(1)[0], 0, RV.readFloatVector(1)[2])
     resetOdometry(RV, RV.readFloatVector(1)[0], RV.readFloatVector(1)[1], 0)
     resetOdometry(RV, 0, 0, 0)
     ___Element2 = getMarkers(RV)
-    time.sleep(500/1000)
+    time.sleep(500 / 1000)
     ___Element2 = getMarkerInformation(RV, 0)
     RV.writeFloat(4, 100)
     time.sleep(0.005)
@@ -186,4 +184,3 @@ def stop(RV):
 
 def cleanup(RV):
     pass
-
diff --git a/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/robotino/timer.py b/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/robotino/timer.py
index c7a2478918..c50f0f8dba 100644
--- a/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/robotino/timer.py
+++ b/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/robotino/timer.py
@@ -1,5 +1,6 @@
 #!/usr/bin/env python3
 import math, random, time, requests, threading, sys, io
+
 sys.stdout = io.StringIO()
 sys.stderr = io.StringIO()
 ROBOTINOIP = "127.0.0.1:80"
@@ -9,7 +10,6 @@
 
 _timer1 = None
 
-
 ___Element = None
 ___Element2 = None
 ___Element3 = None
@@ -20,12 +20,11 @@ def run(RV):
     global ___Element, ___Element2, ___Element3, ___Element4, ___Element5, _timer1
     time.sleep(1)
     _timer1 = time.time()
-    ___Element = ((time.time() - _timer1)/1000)
-    ___Element2 = ((time.time() - _timer1)/1000)
-    ___Element3 = ((time.time() - _timer1)/1000)
-    ___Element4 = ((time.time() - _timer1)/1000)
-    ___Element5 = ((time.time() - _timer1)/1000)
-
+    ___Element = ((time.time() - _timer1) / 1000)
+    ___Element2 = ((time.time() - _timer1) / 1000)
+    ___Element3 = ((time.time() - _timer1) / 1000)
+    ___Element4 = ((time.time() - _timer1) / 1000)
+    ___Element5 = ((time.time() - _timer1) / 1000)
     _timer1 = time.time()
     _timer2 = time.time()
     _timer3 = time.time()
@@ -51,4 +50,3 @@ def stop(RV):
 
 def cleanup(RV):
     pass
-
diff --git a/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/spike/actionSoundLight.py b/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/spike/actionSoundLight.py
index d5541dd884..9b37b2ee4b 100644
--- a/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/spike/actionSoundLight.py
+++ b/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/spike/actionSoundLight.py
@@ -15,7 +15,6 @@ def set_status_light(color):
         color = 'black'
     hub.status_light.on(color)
 
-
 hub = spike.PrimeHub()
 
 def run():
diff --git a/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/spike/control.py b/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/spike/control.py
index f359d02ec9..a487fbcc40 100644
--- a/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/spike/control.py
+++ b/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/spike/control.py
@@ -7,7 +7,6 @@ def set_status_light(color):
         color = 'black'
     hub.status_light.on(color)
 
-
 touch_sensor_B = spike.ForceSensor('F')
 hub = spike.PrimeHub()
 
diff --git a/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/spike/sensor.py b/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/spike/sensor.py
index c38e595a31..f47a64b7ca 100644
--- a/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/spike/sensor.py
+++ b/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/spike/sensor.py
@@ -13,7 +13,6 @@ def set_status_light(color):
         color = 'black'
     hub.status_light.on(color)
 
-
 touch_sensor_B = spike.ForceSensor('F')
 touch_sensor_B = spike.ForceSensor('F')
 ultrasonic_sensor_U = spike.DistanceSensor('D')
diff --git a/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/spikePybricks/actionDisplay.py b/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/spikePybricks/actionDisplay.py
index 5b9b1dacd4..dae7ccdfd2 100644
--- a/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/spikePybricks/actionDisplay.py
+++ b/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/spikePybricks/actionDisplay.py
@@ -15,11 +15,8 @@ def show_animation(image_list):
     wait(500 * len(image_list) - 10)
     hub.display.icon(image_list[len(image_list)-1])
 
-
-
 hub = PrimeHub()
 
-
 ___item = [Matrix([[0, 100, 0, 100, 0], [100, 100, 100, 100, 100], [100, 100, 100, 100, 100], [0, 100, 100, 100, 0], [0, 0, 100, 0, 0]]), Matrix([[0, 0, 0, 0, 0], [0, 100, 0, 100, 0], [0, 100, 100, 100, 0], [0, 0, 100, 0, 0], [0, 0, 0, 0, 0]]), Matrix([[0, 0, 0, 0, 0], [0, 100, 0, 100, 0], [0, 0, 0, 0, 0], [100, 0, 0, 0, 100], [0, 100, 100, 100, 0]]), Matrix([[0, 0, 0, 0, 0], [0, 0, 0, 0, 0], [0, 0, 0, 0, 0], [100, 0, 0, 0, 100], [0, 100, 100, 100, 0]]), Matrix([[0, 0, 0, 0, 0], [0, 100, 0, 100, 0], [0, 0, 0, 0, 0], [0, 100, 0, 100, 0], [100, 0, 100, 0, 100]]), Matrix([[100, 0, 0, 0, 100], [0, 100, 0, 100, 0], [0, 0, 0, 0, 0], [100, 100, 100, 100, 100], [100, 0, 100, 0, 100]]), Matrix([[0, 0, 0, 0, 0], [100, 100, 0, 100, 100], [0, 0, 0, 0, 0], [0, 100, 100, 100, 0], [0, 0, 0, 0, 0]]), Matrix([[0, 100, 0, 100, 0], [0, 0, 0, 0, 0], [0, 0, 100, 0, 0], [0, 100, 0, 100, 0], [0, 0, 100, 0, 0]]), Matrix([[100, 0, 0, 0, 100], [0, 0, 0, 0, 0], [100, 100, 100, 100, 100], [0, 0, 100, 0, 100], [0, 0, 100, 100, 100]]), Matrix([[100, 100, 100, 100, 100], [100, 100, 0, 100, 100], [0, 0, 0, 0, 0], [0, 100, 0, 100, 0], [0, 100, 100, 100, 0]]), Matrix([[0, 100, 0, 100, 0], [0, 0, 0, 0, 0], [0, 0, 0, 100, 0], [0, 0, 100, 0, 0], [0, 100, 0, 0, 0]])]
 
 def run():
diff --git a/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/spikePybricks/actionDrive.py b/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/spikePybricks/actionDrive.py
index 068013a43f..4f1d78db3b 100644
--- a/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/spikePybricks/actionDrive.py
+++ b/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/spikePybricks/actionDrive.py
@@ -102,17 +102,14 @@ def turn_for(power, degrees, direction):
     drive_base.settings(turn_rate = tr)
     drive_base.turn( sign * degrees * direction )
 
-
 left_motor = Motor(Port.A, Direction.COUNTERCLOCKWISE)
 right_motor = Motor(Port.B)
 TRACKWIDTH = 11.5 * 10
 WHEEL_DIAMETER = 56
 drive_base = DriveBase(left_motor, right_motor, wheel_diameter=WHEEL_DIAMETER, axle_track=TRACKWIDTH)
-drive_base.settings(straight_acceleration=810*10, turn_acceleration=810*10)
-
+drive_base.settings(straight_acceleration=810 * 10, turn_acceleration=810 * 10)
 hub = PrimeHub()
 
-
 def run():
     drive_straight(30,10)
     drive_straight(30,10* -1)
@@ -127,7 +124,7 @@ def run():
     wait(500)
     diff_drive(-30, -30, False)
     wait(500)
-    drive_base.drive(0,0)
+    drive_base.drive(0, 0)
     wait(500)
     turn_for(30,20,1)
     turn_for(30,20,-1)
diff --git a/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/spikePybricks/actionLight.py b/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/spikePybricks/actionLight.py
index a69894588f..2ab8b47ba6 100644
--- a/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/spikePybricks/actionLight.py
+++ b/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/spikePybricks/actionLight.py
@@ -23,22 +23,19 @@ def hub_light_on(color):
     elif color == Color.WHITE :
         hub.light.on(Color(0,0,100))
 
-
-Color.MAGENTA = Color(315,50,15)
-Color.BLUE = Color(225,20,20)
-Color.AZURE = Color(200,20,20)
-Color.CYAN = Color(150,20,20)
-Color.YELLOW = Color(55,35,35)
-Color.RED = Color(350,35,35)
-Color.BLACK = Color(0,10,10)
-Color.WHITE = Color(0,0,70)
-
+Color.MAGENTA = Color(315, 50, 15)
+Color.BLUE = Color(225, 20, 20)
+Color.AZURE = Color(200, 20, 20)
+Color.CYAN = Color(150, 20, 20)
+Color.YELLOW = Color(55, 35, 35)
+Color.RED = Color(350, 35, 35)
+Color.BLACK = Color(0, 10, 10)
+Color.WHITE = Color(0, 0, 70)
 
 color_sensor_F = ColorSensor(Port.C)
 color_sensor_F.detectable_colors([Color.MAGENTA, Color.BLUE, Color.AZURE, Color.CYAN, Color.YELLOW, Color.RED, Color.BLACK, Color.WHITE, Color.NONE])
 hub = PrimeHub()
 
-
 def run():
     hub_light_on(Color.MAGENTA)
     wait(500)
diff --git a/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/spikePybricks/actionMove.py b/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/spikePybricks/actionMove.py
index d52822359e..614b0cd1aa 100644
--- a/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/spikePybricks/actionMove.py
+++ b/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/spikePybricks/actionMove.py
@@ -12,13 +12,10 @@ def get_deg_sec_from_percent(percent):
         percent = 100
     return int(810.0 * (percent/100.0))
 
-
 motorA = Motor(Port.A)
 motorB = Motor(Port.B)
-
 hub = PrimeHub()
 
-
 def run():
     motorA.run_angle(rotation_angle = 360 * 1, speed = get_deg_sec_from_percent(30))
     motorA.run_angle(rotation_angle = 360 * -30, speed = get_deg_sec_from_percent(-30))
diff --git a/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/spikePybricks/actionSounds.py b/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/spikePybricks/actionSounds.py
index a7d84b701f..8555557058 100644
--- a/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/spikePybricks/actionSounds.py
+++ b/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/spikePybricks/actionSounds.py
@@ -8,12 +8,9 @@ def show_animation(image_list):
     wait(500 * len(image_list) - 10)
     hub.display.icon(image_list[len(image_list)-1])
 
-
-
 hub = PrimeHub()
 hub.speaker.volume(15)
 
-
 ___A = 440
 ___C = float(261.6)
 
diff --git a/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/spikePybricks/colours.py b/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/spikePybricks/colours.py
index 118b979d32..5f08c1ed39 100644
--- a/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/spikePybricks/colours.py
+++ b/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/spikePybricks/colours.py
@@ -12,20 +12,17 @@ def hub_light_on(color):
     elif color == Color.WHITE :
         hub.light.on(Color(0,0,100))
 
-
-Color.MAGENTA = Color(315,50,15)
-Color.BLUE = Color(225,20,20)
-Color.AZURE = Color(200,20,20)
-Color.CYAN = Color(150,20,20)
-Color.YELLOW = Color(55,35,35)
-Color.RED = Color(350,35,35)
-Color.BLACK = Color(0,10,10)
-Color.WHITE = Color(0,0,70)
-
+Color.MAGENTA = Color(315, 50, 15)
+Color.BLUE = Color(225, 20, 20)
+Color.AZURE = Color(200, 20, 20)
+Color.CYAN = Color(150, 20, 20)
+Color.YELLOW = Color(55, 35, 35)
+Color.RED = Color(350, 35, 35)
+Color.BLACK = Color(0, 10, 10)
+Color.WHITE = Color(0, 0, 70)
 
 hub = PrimeHub()
 
-
 def run():
     hub_light_on(Color.MAGENTA)
     wait(500)
diff --git a/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/spikePybricks/control.py b/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/spikePybricks/control.py
index 41095f5253..e0a868d976 100644
--- a/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/spikePybricks/control.py
+++ b/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/spikePybricks/control.py
@@ -10,11 +10,8 @@ def display_text(text):
             text_list[idx] = '?'
     hub.display.text("".join(text_list))
 
-
-
 hub = PrimeHub()
 
-
 ___item2 = [0, 0, 0]
 
 def run():
diff --git a/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/spikePybricks/controlWait.py b/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/spikePybricks/controlWait.py
index e6a6e7a658..908e5561d4 100644
--- a/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/spikePybricks/controlWait.py
+++ b/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/spikePybricks/controlWait.py
@@ -5,11 +5,9 @@
 import umath as math
 import urandom as random
 
-
 touch_sensor_B = ForceSensor(Port.F)
 hub = PrimeHub()
 
-
 def run():
     while True:
         if True:
diff --git a/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/spikePybricks/empty.py b/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/spikePybricks/empty.py
index 2cae550f6b..853d2ba184 100644
--- a/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/spikePybricks/empty.py
+++ b/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/spikePybricks/empty.py
@@ -3,10 +3,8 @@
 import umath as math
 import urandom as random
 
-
 hub = PrimeHub()
 
-
 def run():
     pass
 
diff --git a/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/spikePybricks/mathImports.py b/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/spikePybricks/mathImports.py
index ff1121c500..8fbfc192d0 100644
--- a/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/spikePybricks/mathImports.py
+++ b/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/spikePybricks/mathImports.py
@@ -10,11 +10,8 @@ def display_text(text):
             text_list[idx] = '?'
     hub.display.text("".join(text_list))
 
-
-
 hub = PrimeHub()
 
-
 ___item = 0
 
 def run():
@@ -24,7 +21,7 @@ def run():
     # thjs is a J
     display_text(str(chr((int)(74))))
     ___item = math.sqrt(math.pi) + math.sin(math.e)
-    ___item = - (10 **math.e**math.log(math.log(abs((1 + 5 ** 0.5) / 2 * (1 + 5 ** 0.5) / 2 + math.cos(math.sqrt(2)))))/math.log(10))
+    ___item = - (10 ** math.e**math.log(math.log(abs((1 + 5 ** 0.5) / 2 * (1 + 5 ** 0.5) / 2 + math.cos(math.sqrt(2))))) / math.log(10))
     ___item += 1
     display_text(str(min(max(( ( math.ceil(___item) ) % ( math.floor(___item) ) ), 1), 2)))
     display_text(str(random.randint(1, 100)))
diff --git a/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/spikePybricks/sensor.py b/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/spikePybricks/sensor.py
index 4b1dc68c22..3c35779ec3 100644
--- a/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/spikePybricks/sensor.py
+++ b/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/spikePybricks/sensor.py
@@ -52,18 +52,16 @@ def hsv2rgb(color):
     elif 0.0 <= h < 360:
         rgb = (c, 0, x)
 
-    return list(map(lambda n: (n + m) * 255, rgb))  
-
-
-Color.MAGENTA = Color(315,50,15)
-Color.BLUE = Color(225,20,20)
-Color.AZURE = Color(200,20,20)
-Color.CYAN = Color(150,20,20)
-Color.YELLOW = Color(55,35,35)
-Color.RED = Color(350,35,35)
-Color.BLACK = Color(0,10,10)
-Color.WHITE = Color(0,0,70)
+    return list(map(lambda n: (n + m) * 255, rgb))
 
+Color.MAGENTA = Color(315, 50, 15)
+Color.BLUE = Color(225, 20, 20)
+Color.AZURE = Color(200, 20, 20)
+Color.CYAN = Color(150, 20, 20)
+Color.YELLOW = Color(55, 35, 35)
+Color.RED = Color(350, 35, 35)
+Color.BLACK = Color(0, 10, 10)
+Color.WHITE = Color(0, 0, 70)
 
 touch_sensor_B = ForceSensor(Port.F)
 touch_sensor_B = ForceSensor(Port.F)
@@ -73,7 +71,6 @@ def hsv2rgb(color):
 stopWatch = StopWatch()
 hub = PrimeHub()
 
-
 def run():
     display_text(str((Button.LEFT in hub.buttons.pressed())))
     display_text(str(touch_sensor_B.pressed()))
@@ -103,15 +100,15 @@ def run():
             break
     display_text(str("Ambient Light Above 30%"))
     while True:
-        if int(hsv2rgb(color_sensor_F.hsv())[0]/2.55) < 30:
+        if int(hsv2rgb(color_sensor_F.hsv())[0] / 2.55) < 30:
             break
     display_text(str("Red Above 30%"))
     while True:
-        if int(hsv2rgb(color_sensor_F.hsv())[1]/2.55) < 30:
+        if int(hsv2rgb(color_sensor_F.hsv())[1] / 2.55) < 30:
             break
     display_text(str("Green Above 30%"))
     while True:
-        if int(hsv2rgb(color_sensor_F.hsv())[2]/2.55) < 30:
+        if int(hsv2rgb(color_sensor_F.hsv())[2] / 2.55) < 30:
             break
     display_text(str("Blue Above 30%"))
     while True:
diff --git a/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/spikePybricks/sensorGesture.py b/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/spikePybricks/sensorGesture.py
index cc7b246de6..16ed790d42 100644
--- a/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/spikePybricks/sensorGesture.py
+++ b/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/spikePybricks/sensorGesture.py
@@ -56,13 +56,10 @@ def is_tapped(threshold = 5000):
     wait(20)
     return False
 
-
-
 stopWatch = StopWatch()
 hub = PrimeHub()
 hub.imu.reset_heading(0)
 
-
 def run():
     display_text(str((hub.imu.up() == Side.TOP)))
     while True:
diff --git a/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/spikePybricks/sensorGyro.py b/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/spikePybricks/sensorGyro.py
index a65a3f5f11..e18e4afc9e 100644
--- a/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/spikePybricks/sensorGyro.py
+++ b/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/spikePybricks/sensorGyro.py
@@ -11,12 +11,9 @@ def display_text(text):
             text_list[idx] = '?'
     hub.display.text("".join(text_list))
 
-
-
 hub = PrimeHub()
 hub.imu.reset_heading(0)
 
-
 def run():
     while True:
         display_text(str("".join(str(arg) for arg in ["x", hub.imu.tilt()[0], "y", hub.imu.tilt()[1], "z", int(hub.imu.heading()%180 if abs(hub.imu.heading()%360) < 180 else -abs(hub.imu.heading()%360 - 360))])))
diff --git a/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/txt4/camera.py b/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/txt4/camera.py
index a7e42d3db0..7952ee77bf 100644
--- a/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/txt4/camera.py
+++ b/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/txt4/camera.py
@@ -5,7 +5,6 @@
 import math
 import time
 
-
 def get_ball_information(detector):
     if detector.detected():
         return [detector.get_center_x(),
@@ -61,7 +60,6 @@ def get_line_information(detector, index):
 TXT_M_USB1_1_camera.set_width(320)
 TXT_M_USB1_1_camera.set_fps(15)
 TXT_M_USB1_1_camera.start()
-
 motion_detector_M = txt_factory.camera_factory.create_motion_detector(0, 100, 320, 20, 100)
 TXT_M_USB1_1_camera.add_detector(motion_detector_M)
 motion_detector_M2 = txt_factory.camera_factory.create_motion_detector(0, 100, 320, 20, 49)
@@ -81,7 +79,6 @@ def get_line_information(detector, index):
 txt_factory.initialized()
 time.sleep(0.1)
 
-
 def camera_initialized():
     while True:
         try:
@@ -97,7 +94,6 @@ def camera_initialized():
         except Exception:
             pass
 
-
 def ____motion():
     print("Motiondetectors")
     while True:
diff --git a/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/txt4/combi_sensor.py b/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/txt4/combi_sensor.py
index b0ff95fa33..fb0e100ba5 100644
--- a/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/txt4/combi_sensor.py
+++ b/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/txt4/combi_sensor.py
@@ -15,8 +15,6 @@
 TXT_M_I2C_1_combined_sensor_6pin.init_gyrometer(250, 12.5)
 time.sleep(0.1)
 
-
-
 def ____combiSensor():
     print("CombiSensor aka IMU")
     print("Acceleration X")
diff --git a/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/txt4/diff_drive.py b/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/txt4/diff_drive.py
index 609e01aa66..94803814b0 100644
--- a/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/txt4/diff_drive.py
+++ b/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/txt4/diff_drive.py
@@ -3,7 +3,6 @@
 import math
 import time
 
-
 def diffdrive_turn_degrees(speed, degrees):
     if degrees < 0:
         speed = -speed
@@ -79,7 +78,6 @@ def speed_to_pwm(speed):
 TRACK_WIDTH = 15
 STEPS_PER_ROTATION = 128
 
-
 def run():
     print("Driving Forwards")
     diffdrive(30)
diff --git a/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/txt4/display.py b/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/txt4/display.py
index 941ccb6e4e..080a63dbbf 100644
--- a/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/txt4/display.py
+++ b/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/txt4/display.py
@@ -3,7 +3,6 @@
 import math
 import time
 
-
 def clear_display():
     for i in range(8):
         display.set_attr("line" + str(i) + ".text", "")
@@ -44,12 +43,10 @@ def get_closest_color(hex_value):
     "black": 0x000000
 }
 
-
 def run():
     for color, value in led_colors.items():
         if color != "red":
             display.set_attr(color + "Led.visible", str(False).lower())
-
     print("Display Test")
     print("Show Text on Display ")
     display.set_attr("line" + str(0) + ".text", str("ROW 0"))
diff --git a/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/txt4/gesture_environment_sensor.py b/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/txt4/gesture_environment_sensor.py
index feb69700af..c7d7d539d6 100644
--- a/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/txt4/gesture_environment_sensor.py
+++ b/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/txt4/gesture_environment_sensor.py
@@ -15,8 +15,6 @@
 TXT_M_I2C_2_gesture_sensor.enable_proximity()
 time.sleep(0.1)
 
-
-
 def ____environmentalSensor():
     print("Environmental Sensor")
     print("starting calibration if needed this takes a few minutes")
diff --git a/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/txt4/led.py b/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/txt4/led.py
index 06567d341e..e0f036341a 100644
--- a/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/txt4/led.py
+++ b/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/txt4/led.py
@@ -6,11 +6,11 @@
 txt_factory.init_input_factory()
 txt_factory.init_output_factory()
 TXT_M = txt_factory.controller_factory.create_graphical_controller()
+
 TXT_M_O5_led = txt_factory.output_factory.create_led(TXT_M, 5)
 txt_factory.initialized()
 time.sleep(0.1)
 
-
 def run():
     print("LED on port O5 test")
     print("LED ON")
diff --git a/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/txt4/motor.py b/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/txt4/motor.py
index a11d05d4e4..5a81b4ee76 100644
--- a/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/txt4/motor.py
+++ b/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/txt4/motor.py
@@ -3,7 +3,6 @@
 import math
 import time
 
-
 def motor_start(motor, speed):
     motor.set_speed(speed_to_pwm(speed), Motor.CCW)
     motor.start()
@@ -46,7 +45,6 @@ def speed_to_pwm(speed):
 time.sleep(0.1)
 STEPS_PER_ROTATION = 128
 
-
 def run():
     print("Moving Motors")
     print("M1 Motor for 2 seconds")
diff --git a/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/txt4/omni_drive.py b/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/txt4/omni_drive.py
index 865861458f..3d04576db2 100644
--- a/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/txt4/omni_drive.py
+++ b/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/txt4/omni_drive.py
@@ -3,7 +3,6 @@
 import math
 import time
 
-
 def motor_start(motor, speed):
     motor.set_speed(speed_to_pwm(speed), Motor.CCW)
     motor.start()
@@ -110,7 +109,6 @@ def speed_to_pwm(speed):
 WHEEL_BASE = 10.2
 STEPS_PER_ROTATION = 128
 
-
 def run():
     print("Driving Forwards")
     omnidrive_curve(30, 30, 30, 30)
diff --git a/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/txt4/sensor.py b/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/txt4/sensor.py
index 3b1ed93094..5ce1e1e189 100644
--- a/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/txt4/sensor.py
+++ b/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/txt4/sensor.py
@@ -4,7 +4,6 @@
 import math
 import time
 
-
 def motor_start(motor, speed):
     motor.set_speed(speed_to_pwm(speed), Motor.CCW)
     motor.start()
diff --git a/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/txt4/sound.py b/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/txt4/sound.py
index 092ab455aa..652f4a902f 100644
--- a/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/txt4/sound.py
+++ b/OpenRobertaServer/src/test/resources/crossCompilerTests/_expected/robotSpecific/targetLanguage/txt4/sound.py
@@ -5,10 +5,10 @@
 txt_factory.init()
 txt_factory.init_input_factory()
 TXT_M = txt_factory.controller_factory.create_graphical_controller()
+
 txt_factory.initialized()
 time.sleep(0.1)
 
-
 def run():
     TXT_M.get_loudspeaker().play("01_Airplane.wav", False)
     while TXT_M.get_loudspeaker().is_playing():
diff --git a/OpenRobertaServer/staticResources/js/app/simulation/simulationLogic/simulation.objects.js b/OpenRobertaServer/staticResources/js/app/simulation/simulationLogic/simulation.objects.js
index 98bc6691fb..d7be2f04f4 100644
--- a/OpenRobertaServer/staticResources/js/app/simulation/simulationLogic/simulation.objects.js
+++ b/OpenRobertaServer/staticResources/js/app/simulation/simulationLogic/simulation.objects.js
@@ -1,3 +1,3 @@
-var __extends=this&&this.__extends||function(){var t=function(e,s){return t=Object.setPrototypeOf||{__proto__:[]}instanceof Array&&function(t,e){t.__proto__=e}||function(t,e){for(var s in e)Object.prototype.hasOwnProperty.call(e,s)&&(t[s]=e[s])},t(e,s)};return function(e,s){if("function"!=typeof s&&null!==s)throw new TypeError("Class extends value "+String(s)+" is not a constructor or null");function i(){this.constructor=e}t(e,s),e.prototype=null===s?Object.create(s):(i.prototype=s.prototype,new i)}}(),__spreadArray=this&&this.__spreadArray||function(t,e,s){if(s||2===arguments.length)for(var i,r=0,o=e.length;r<o;r++)!i&&r in e||(i||(i=Array.prototype.slice.call(e,0,r)),i[r]=e[r]);return t.concat(i||Array.prototype.slice.call(e))};define(["require","exports","jquery","util.roberta","simulation.roberta","simulation.math"],(function(t,e,s,i,r,o){Object.defineProperty(e,"__esModule",{value:!0}),e.RcjSimulationLabel=e.Ground=e.TriangleSimulationObject=e.CircleSimulationObject=e.MarkerSimulationObject=e.RectangleSimulationObject=e.SimObjectShape=e.SimObjectType=e.SimObjectFactory=e.BaseSimulationObject=void 0;var h=function(){function t(t,e,s,i,r){this.SHIFT=1,this.MIN_SIZE_OBJECT=10,this._movable=!1,this.isDown=!1,this.mouseOldX=0,this.mouseOldY=0,this._selected=!1,this.myId=t,this.myScene=e,this.mySelectionListener=s,this.remover=this.mySelectionListener.add(this.handleNewSelection.bind(this)),this.type=i,r?this.color=r:i===n.Obstacle?this.color="#33B8CA":this.color="#FBED00",this.addMouseEvents()}return Object.defineProperty(t.prototype,"selected",{get:function(){return this._selected},set:function(t){this._selected=t,t&&(this.mySelectionListener.fire(this),this.type!==n.Marker&&this.myScene.sim.enableChangeObjectButtons())},enumerable:!1,configurable:!0}),Object.defineProperty(t.prototype,"color",{get:function(){return this._color},set:function(t){this._color=t,this._hsv=o.hexToHsv(t)},enumerable:!1,configurable:!0}),Object.defineProperty(t.prototype,"hsv",{get:function(){return this._hsv},enumerable:!1,configurable:!0}),Object.defineProperty(t.prototype,"movable",{get:function(){return this._movable},set:function(t){this._movable=t},enumerable:!1,configurable:!0}),t.prototype.addMouseEvents=function(){var t=s("#robotLayer");t.on("mousedown."+this.myId+" touchstart."+this.myId,this.handleMouseDown.bind(this)),t.on("mousemove."+this.myId+" touchmove."+this.myId,this.handleMouseMove.bind(this)),t.on("mouseup."+this.myId+" touchend."+this.myId+"mouseout."+this.myId+"touchcancel."+this.myId,this.handleMouseOutUp.bind(this)),t.on("keydown."+this.myId,this.handleKeyEvent.bind(this))},t.prototype.removeMouseEvents=function(){s("#robotLayer").off("."+this.myId)},t.prototype.handleNewSelection=function(t){t!==this&&this.selected&&(this.selected=!1,this.isDown=!1,this.corners.forEach((function(t){return t.isDown=!1})),this.myScene.sim.disableChangeObjectButtons(),this.redraw())},t.prototype.getTolerance=function(){return 100},t.prototype.handleMouseOutUp=function(t){this.selected&&(t.stopImmediatePropagation(),this.isDown=!1,this.corners.forEach((function(t){return t.isDown=!1})),this.redraw())},t.prototype.destroy=function(){this.removeMouseEvents(),this.selected=!1,this.mySelectionListener.remove(this.remover),this.myScene.sim.disableChangeObjectButtons()},t.prototype.redraw=function(){switch(this.type){case n.ColorArea:this.myScene.redrawColorAreas=!0;break;case n.Obstacle:this.myScene.redrawObstacles=!0;break;case n.Marker:this.myScene.redrawMarkers=!0}},t}();e.BaseSimulationObject=h;var n,a,c=function(){function t(){}return t.getSimObject=function(t,e,s,i,r,o,h,n){for(var c=[],p=8;p<arguments.length;p++)c[p-8]=arguments[p];switch(i){case a.Rectangle:return new(l.bind.apply(l,__spreadArray([void 0,t,e,s,r,o,h,n],c,!1)));case a.Triangle:return new(d.bind.apply(d,__spreadArray([void 0,t,e,s,r,o,h,n],c,!1)));case a.Circle:return new(u.bind.apply(u,__spreadArray([void 0,t,e,s,r,o,h,n],c,!1)));case a.Marker:return new y(t,e,s,r,o)}},t.copy=function(e){var s=e.myScene.uniqueObjectId;return e instanceof l?t.getSimObject.apply(t,__spreadArray([s,e.myScene,e.mySelectionListener,a.Rectangle,e.type,{x:-1e3,y:-1e3},null,e.color],[e.w,e.h],!1)):e instanceof d?t.getSimObject.apply(t,__spreadArray([s,e.myScene,e.mySelectionListener,a.Triangle,e.type,{x:-1e3,y:-1e3},null,e.color],[e.ax,e.ay,e.bx,e.by,e.cx,e.cy],!1)):e instanceof u?t.getSimObject.apply(t,__spreadArray([s,e.myScene,e.mySelectionListener,a.Circle,e.type,{x:-1e3,y:-1e3},null,e.color],[e.r],!1)):void 0},t}();e.SimObjectFactory=c,function(t){t.Obstacle="OBSTACLE",t.ColorArea="COLORAREA",t.Passiv="PASSIV",t.Marker="MARKER"}(n=e.SimObjectType||(e.SimObjectType={})),function(t){t.Rectangle="RECTANGLE",t.Triangle="TRIANGLE",t.Circle="CIRCLE",t.Marker="MARKER"}(a=e.SimObjectShape||(e.SimObjectShape={}));var l=function(t){function e(e,s,i,r,o,h,n){for(var a=[],c=7;c<arguments.length;c++)a[c-7]=arguments[c];var l=t.call(this,e,s,i,r,n)||this;return l.w=100,l.h=100,l.theta=0,l.corners=[],l.x=o.x,l.y=o.y,h&&(l.w=h/9,l.h=h/9),2==a.length&&(l.w=a[0],l.h=a[1]),"string"!=typeof n&&(l._img=n),l.updateCorners(),l}return __extends(e,t),Object.defineProperty(e.prototype,"img",{get:function(){return this._img},set:function(t){this._img=t},enumerable:!1,configurable:!0}),e.prototype.draw=function(t,e){switch(t.save(),e.save(),t.fillStyle=this.color,this.type){case n.Obstacle:t.shadowColor="#3e3e3e",t.shadowOffsetY=5,t.shadowOffsetX=5,t.shadowBlur=5,t.globalCompositeOperation="lighten",this._img?t.drawImage(this._img,this.x,this.y,this.w,this.h):t.fillRect(this.x,this.y,this.w,this.h);break;case n.ColorArea:e.fillStyle=this.color,this._img?(e.drawImage(this._img,this.x,this.y,this.w,this.h),t.drawImage(this._img,this.x,this.y,this.w,this.h)):(e.fillRect(this.x,this.y,this.w,this.h),t.fillRect(this.x,this.y,this.w,this.h))}this.selected&&(t.restore(),t.save(),t.lineWidth=2,t.strokeStyle="gray",t.fillStyle="black",this.corners.forEach((function(e){e.isDown?t.fillStyle="gray":t.fillStyle="black",t.beginPath(),t.arc(e.x,e.y,5,0,2*Math.PI),t.stroke(),t.fill()}))),t.restore(),e.restore()},e.prototype.handleKeyEvent=function(t){if(this.selected){var e=t.key;switch(e){case"ArrowUp":this.y-=this.SHIFT;break;case"ArrowLeft":this.x-=this.SHIFT;break;case"ArrowDown":this.y+=this.SHIFT;break;case"ArrowRight":this.x+=this.SHIFT;break;case"c":if(t.ctrlKey||t.metaKey){this.myScene.uniqueObjectId,a.Rectangle;this.myScene.objectToCopy=c.copy(this),t.preventDefault()}}"Delete"!==e&&"Backspace"!==e&&t.stopImmediatePropagation(),this.updateCorners(),s("#robotLayer").attr("tabindex",0),s("#robotLayer").trigger("focus")}},e.prototype.handleMouseDown=function(t){t&&!t.startX&&i.extendMouseEvent(t,r.SimulationRoberta.Instance.scale,s("#robotLayer"));var e=t;if(this.isDown=this.isMouseOn(e),this.isDown&&(t.stopImmediatePropagation(),this.mouseOldX=e.startX,this.mouseOldY=e.startY),this.isDown&&!this.selected)s("#robotLayer").css("cursor","pointer"),this.selected=!0;else if(this.selected){this.corners.forEach((function(t){t.isDown=i.checkInCircle(e.startX,e.startY,t.x,t.y,15)}));var o=this.corners.map((function(t){return t.isDown})).indexOf(!0);if(o>=0)switch(t.stopImmediatePropagation(),o){case 0:case 2:s("#robotLayer").css("cursor","nwse-resize");break;case 1:case 3:s("#robotLayer").css("cursor","nesw-resize")}}},e.prototype.handleMouseMove=function(t){t&&!t.startX&&i.extendMouseEvent(t,r.SimulationRoberta.Instance.scale,s("#robotLayer"));var e=t,o=e.startX-this.mouseOldX,h=e.startY-this.mouseOldY;this.mouseOldX=e.startX,this.mouseOldY=e.startY;var n=this.corners.map((function(t){return t.isDown})).indexOf(!0);this.isMouseOn(e)&&(s("#robotLayer").css("cursor","pointer"),s("#robotLayer").data("hovered",!0),this.selected&&t.stopImmediatePropagation());for(var a=-1,c=0;c<this.corners.length;c++)if(i.checkInCircle(e.startX,e.startY,this.corners[c].x,this.corners[c].y,15)){a=c;break}if(a>-1&&this.selected)switch(t.stopImmediatePropagation(),a){case 0:case 2:s("#robotLayer").css("cursor","nwse-resize");break;case 1:case 3:s("#robotLayer").css("cursor","nesw-resize")}if(n>=0&&this.selected){if(this.w>=this.MIN_SIZE_OBJECT&&this.h>=this.MIN_SIZE_OBJECT)switch(n){case 0:this.x+=o,this.y+=h,this.w-=o,this.h-=h;break;case 1:this.y+=h,this.w+=o,this.h-=h;break;case 2:this.w+=o,this.h+=h;break;case 3:this.x+=o,this.w-=o,this.h+=h}else this.w<this.MIN_SIZE_OBJECT?(0!=n&&3!=n||(this.x-=this.MIN_SIZE_OBJECT-this.w),this.w=this.MIN_SIZE_OBJECT):this.h<this.MIN_SIZE_OBJECT&&(1!=n&&2!=n||(this.y-=this.MIN_SIZE_OBJECT-this.h),this.h=this.MIN_SIZE_OBJECT);this.updateCorners()}else this.isDown&&(this.x+=o,this.y+=h,this.updateCorners())},e.prototype.getLines=function(){return i.getLinesFromRectangle(this)},e.prototype.moveTo=function(t){this.x=t.x-this.w/2,this.y=t.y-this.h/2,this.updateCorners()},e.prototype.updateCorners=function(){0==this.corners.length?(this.corners[0]={x:this.x,y:this.y,isDown:!1},this.corners[1]={x:this.x+this.w,y:this.y,isDown:!1},this.corners[2]={x:this.x+this.w,y:this.y+this.h,isDown:!1},this.corners[3]={x:this.x,y:this.y+this.h,isDown:!1}):(this.corners[0]={x:this.x,y:this.y,isDown:this.corners[0].isDown},this.corners[1]={x:this.x+this.w,y:this.y,isDown:this.corners[1].isDown},this.corners[2]={x:this.x+this.w,y:this.y+this.h,isDown:this.corners[2].isDown},this.corners[3]={x:this.x,y:this.y+this.h,isDown:this.corners[3].isDown}),this.redraw()},e.prototype.isMouseOn=function(t){return t.startX>this.x&&t.startX<this.x+this.w&&t.startY>this.y&&t.startY<this.y+this.h},e}(h);e.RectangleSimulationObject=l;var y=function(t){function e(e,s,i,r,o){var h=t.call(this,e,s,i,r,o)||this;return h.MARKER_OFFSET=33,h.MARKER_LABEL_OFFSET=40,h.w=36,h.h=36,h.updateCorners(),h}return __extends(e,t),e.prototype.draw=function(t,e){t.save(),t.fillStyle="#ffffff";var i=this.w/12;t.fillRect(this.x-i,this.y-i-1,this.w+2*i,this.h+2*i),t.fillStyle="#000000",t.fillText(String(this.markerId),this.x+this.MARKER_LABEL_OFFSET,this.y+this.h/2),t.font=this.w+"px typicons",t.textAlign="left",t.fillText(window.getComputedStyle(s(".typcn.typcn-"+this.markerId)[0],":before").content.replace(/"/,"").replace(/"/,""),this.x,this.y+this.MARKER_OFFSET),this.selected&&(t.restore(),t.save(),t.lineWidth=2,t.strokeStyle="gray",t.fillStyle="black",this.corners.forEach((function(e){e.isDown?t.fillStyle="gray":t.fillStyle="black",t.beginPath(),t.arc(e.x,e.y,5,0,2*Math.PI),t.stroke(),t.fill()}))),t.restore()},e.prototype.handleMouseDown=function(t){t&&!t.startX&&i.extendMouseEvent(t,r.SimulationRoberta.Instance.scale,s("#robotLayer"));var e=t;this.isDown=this.isMouseOn(e),this.isDown&&(t.stopImmediatePropagation(),this.mouseOldX=e.startX,this.mouseOldY=e.startY),this.isDown&&!this.selected&&(s("#robotLayer").css("cursor","pointer"),this.selected=!0)},e.prototype.handleMouseMove=function(t){t&&!t.startX&&i.extendMouseEvent(t,r.SimulationRoberta.Instance.scale,s("#robotLayer"));var e=t,o=e.startX-this.mouseOldX,h=e.startY-this.mouseOldY;this.mouseOldX=e.startX,this.mouseOldY=e.startY,this.isMouseOn(e)&&(s("#robotLayer").css("cursor","pointer"),s("#robotLayer").data("hovered",!0),this.selected&&t.stopImmediatePropagation()),this.selected&&this.isDown&&(this.x+=o,this.y+=h,this.updateCorners())},e}(l);e.MarkerSimulationObject=y;var u=function(t){function e(e,s,i,r,o,h,n){for(var a=[],c=7;c<arguments.length;c++)a[c-7]=arguments[c];var l=t.call(this,e,s,i,r,n)||this;return l.r=50,l.corners=[],l.collisions=[],l.lastMoveBumped=!1,l.observers=[],l.inEvacuationZone=!1,l.x=o.x,l.y=o.y,h&&(l.r=h/18),a.length>=1&&(l.r=a[0]),a.length>=2&&(l.movable=a[1]>0),l.updateCorners(),l}return __extends(e,t),e.prototype.draw=function(t,e){if(t.save(),e.save(),this.type!==n.Obstacle&&this.type!==n.ColorArea||(this.type===n.Obstacle&&(t.shadowColor="#3e3e3e",t.shadowOffsetY=5,t.shadowOffsetX=5,t.shadowBlur=5,t.globalCompositeOperation="lighten"),t.fillStyle=this.color,t.beginPath(),t.arc(this.x,this.y,this.r,0,2*Math.PI),t.fill()),this.type===n.ColorArea&&(e.fillStyle=this.color,e.beginPath(),e.arc(this.x,this.y,this.r,0,2*Math.PI),e.fill()),this.selected){var s=Math.round(this.x),i=Math.round(this.y),r=Math.round(this.r);t.restore(),t.save(),t.lineWidth=2,t.strokeStyle="gray",t.fillStyle="black",t.beginPath(),t.arc(Math.round(s-r),Math.round(i-r),5,0,2*Math.PI),t.stroke(),t.fill(),t.beginPath(),t.arc(Math.round(s+r),Math.round(i-r),5,0,2*Math.PI),t.stroke(),t.fill(),t.beginPath(),t.arc(Math.round(s-r),Math.round(i+r),5,0,2*Math.PI),t.stroke(),t.fill(),t.beginPath(),t.arc(Math.round(s+r),Math.round(i+r),5,0,2*Math.PI),t.stroke(),t.fill()}t.restore(),e.restore()},e.prototype.handleKeyEvent=function(t){if(this.selected){switch(t.stopImmediatePropagation(),t.key){case"ArrowUp":this.y-=this.SHIFT;break;case"ArrowLeft":this.x-=this.SHIFT;break;case"ArrowDown":this.y+=this.SHIFT;break;case"ArrowRight":this.x+=this.SHIFT}if("c"===t.key&&(t.ctrlKey||t.metaKey)){this.myScene.uniqueObjectId,a.Circle;this.myScene.objectToCopy=c.copy(this),t.preventDefault()}this.updateCorners(),s("#robotLayer").attr("tabindex",0),s("#robotLayer").trigger("focus")}},e.prototype.handleMouseDown=function(t){t&&!t.startX&&i.extendMouseEvent(t,r.SimulationRoberta.Instance.scale,s("#robotLayer"));var e=t;if(this.isDown=i.checkInCircle(e.startX,e.startY,this.x,this.y,this.r),this.isDown&&(t.stopImmediatePropagation(),this.mouseOldX=e.startX,this.mouseOldY=e.startY),this.isDown&&!this.selected)s("#robotLayer").css("cursor","pointer"),this.selected=!0;else if(this.selected&&!this.movable){this.corners.forEach((function(t){t.isDown=i.checkInCircle(e.startX,e.startY,t.x,t.y,15)}));var o=this.corners.map((function(t){return t.isDown})).indexOf(!0);if(o>=0)switch(t.stopImmediatePropagation(),o){case 0:case 2:s("#robotLayer").css("cursor","nwse-resize");break;case 1:case 3:s("#robotLayer").css("cursor","nesw-resize")}}},e.prototype.handleMouseMove=function(t){t&&!t.startX&&i.extendMouseEvent(t,r.SimulationRoberta.Instance.scale,s("#robotLayer"));var e=t,o=e.startX-this.mouseOldX,h=e.startY-this.mouseOldY;this.mouseOldX=e.startX,this.mouseOldY=e.startY;var n=this.corners.map((function(t){return t.isDown})).indexOf(!0);i.checkInCircle(e.startX,e.startY,this.x,this.y,this.r)&&(s("#robotLayer").css("cursor","pointer"),s("#robotLayer").data("hovered",!0),this.selected&&t.stopImmediatePropagation());var a=-1;if(!this.movable)for(var c=0;c<this.corners.length;c++)if(i.checkInCircle(e.startX,e.startY,this.corners[c].x,this.corners[c].y,15)){a=c;break}if(a>-1&&this.selected)switch(t.stopImmediatePropagation(),a){case 0:case 2:s("#robotLayer").css("cursor","nwse-resize");break;case 1:case 3:s("#robotLayer").css("cursor","nesw-resize")}n>=0&&this.selected?(Math.abs(o)>=Math.abs(h)?e.startX<this.x?this.r-=o:this.r+=o:e.startY<this.y?this.r-=h:this.r+=h,this.r=Math.max(this.r,this.MIN_SIZE_OBJECT),this.updateCorners()):this.isDown&&(this.x+=o,this.y+=h,this.updateCorners())},e.prototype.getLines=function(){throw new Error("Should never be called")},e.prototype.moveTo=function(t){this.x=t.x,this.y=t.y,this.updateCorners()},e.prototype.updateCorners=function(){0==this.corners.length?(this.corners[0]={x:this.x-this.r,y:this.y-this.r,isDown:!1},this.corners[1]={x:this.x+this.r,y:this.y-this.r,isDown:!1},this.corners[2]={x:this.x+this.r,y:this.y+this.r,isDown:!1},this.corners[3]={x:this.x-this.r,y:this.y+this.r,isDown:!1}):(this.corners[0]={x:this.x-this.r,y:this.y-this.r,isDown:this.corners[0].isDown},this.corners[1]={x:this.x+this.r,y:this.y-this.r,isDown:this.corners[1].isDown},this.corners[2]={x:this.x+this.r,y:this.y+this.r,isDown:this.corners[2].isDown},this.corners[3]={x:this.x-this.r,y:this.y+this.r,isDown:this.corners[3].isDown}),this.redraw()},e.prototype.getTolerance=function(){return 1.01},e.prototype.moveObstacleTo=function(t){return!!this.movable&&(this.collisions.push(t),!this.lastMoveBumped)},e.prototype.updateSensor=function(t,s,i){if(this.movable){var r=t.getImageData(this.x,this.y,1,1).data;this.inEvacuationZone=r.toString()===[0,0,0,255].toString();var h={x:this.x,y:this.y,r:this.r*this.getTolerance()},n=s.slice(-1)[0],a=o.getMiddleIntersectionCircleRect(h,n,o.getLinesFromRect(n));if(a){var c=o.getDistanceToCircle(a,this);this.collisions.push(c),this.lastMoveBumped=!0}for(var y=0;y<s.length-1;y++){var u=s[y];if(u instanceof l){var d=o.getMiddleIntersectionCircleRect(h,u,u.getLines());if(d){c=o.getDistanceToCircle(d,this);this.collisions.push(c),this.lastMoveBumped=!0}}if(u instanceof e){if(u.myId==this.myId){s.splice(y,1);continue}var p=o.getMiddleIntersectionPointCircles(h,u);if(p){c=o.getDistanceToCircle(p,u);u.movable?(u.moveObstacleTo(c)||(this.lastMoveBumped=!0,this.collisions.push({x:-c.x,y:-c.y})),i.push(u)):(this.lastMoveBumped=!0,this.collisions.push({x:-c.x,y:-c.y}))}}}this.notifyObservers()}},e.prototype.updateAction=function(){var t={x:0,y:0};if(this.collisions.forEach((function(e){t.x+=e.x,t.y+=e.y})),this.collisions.length>0){var e=o.getDotProduct(t,this.lastMove);this.lastMoveBumped?e&&(e<-.9||e&&e>.9)&&this.moveTo({x:this.x+t.x,y:this.y+t.y}):(this.lastMoveBumped=!1,this.moveTo({x:this.x+t.x,y:this.y+t.y}))}this.lastMove=t,this.collisions=[]},e.prototype.addObserver=function(t){this.observers.push(t)},e.prototype.notifyObservers=function(){for(var t=0,e=this.observers;t<e.length;t++){e[t].update(this)}},e.prototype.removeObserver=function(t){var e=this.observers.findIndex((function(e){return t===e}));-1!==e&&this.observers.splice(e,1)},e}(h);e.CircleSimulationObject=u;var d=function(t){function e(e,s,i,r,o,h,n){for(var a=[],c=7;c<arguments.length;c++)a[c-7]=arguments[c];var l=t.call(this,e,s,i,r,n)||this;return l.defaultSize=50,l.corners=[],h&&(l.defaultSize=h/18),6==a.length?(l.ax=a[0],l.ay=a[1],l.bx=a[2],l.by=a[3],l.cx=a[4],l.cy=a[5]):(l.ax=o.x-l.defaultSize,l.ay=o.y+l.defaultSize,l.bx=o.x,l.by=o.y-l.defaultSize,l.cx=o.x+l.defaultSize,l.cy=o.y+l.defaultSize),l.updateCorners(),l}return __extends(e,t),e.prototype.draw=function(t,e){t.save(),e.save(),this.type!==n.Obstacle&&this.type!==n.ColorArea||(this.type===n.Obstacle&&(t.shadowColor="#3e3e3e",t.shadowOffsetY=5,t.shadowOffsetX=5,t.shadowBlur=5,t.globalCompositeOperation="lighten"),t.fillStyle=this.color,t.beginPath(),t.moveTo(this.ax,this.ay),t.lineTo(this.bx,this.by),t.lineTo(this.cx,this.cy),t.fill()),this.type===n.ColorArea&&(e.fillStyle=this.color,e.beginPath(),e.moveTo(this.ax,this.ay),e.lineTo(this.bx,this.by),e.lineTo(this.cx,this.cy),e.fill()),this.selected&&(t.restore(),t.save(),t.lineWidth=2,t.strokeStyle="gray",t.fillStyle="black",t.beginPath(),t.arc(Math.round(this.ax),Math.round(this.ay),5,0,2*Math.PI),t.stroke(),t.fill(),t.beginPath(),t.arc(Math.round(this.bx),Math.round(this.by),5,0,2*Math.PI),t.stroke(),t.fill(),t.beginPath(),t.arc(Math.round(this.cx),Math.round(this.cy),5,0,2*Math.PI),t.stroke(),t.fill()),t.restore(),e.restore()},e.prototype.handleKeyEvent=function(t){if(this.selected){switch(t.stopImmediatePropagation(),t.key){case"ArrowUp":this.ay-=this.SHIFT,this.by-=this.SHIFT,this.cy-=this.SHIFT;break;case"ArrowLeft":this.ax-=this.SHIFT,this.bx-=this.SHIFT,this.cx-=this.SHIFT;break;case"ArrowDown":this.ay+=this.SHIFT,this.by+=this.SHIFT,this.cy+=this.SHIFT;break;case"ArrowRight":this.ax+=this.SHIFT,this.bx+=this.SHIFT,this.cx+=this.SHIFT}if("c"===t.key&&(t.ctrlKey||t.metaKey)){this.myScene.uniqueObjectId,a.Triangle;this.myScene.objectToCopy=c.copy(this),t.preventDefault()}this.updateCorners(),s("#robotLayer").attr("tabindex",0),s("#robotLayer").trigger("focus")}},e.prototype.handleMouseDown=function(t){t&&!t.startX&&i.extendMouseEvent(t,r.SimulationRoberta.Instance.scale,s("#robotLayer"));var e=t;if(this.isDown=this.isMouseOn(e),this.isDown&&(t.stopImmediatePropagation(),this.mouseOldX=e.startX,this.mouseOldY=e.startY),this.isDown&&!this.selected)s("#robotLayer").css("cursor","pointer"),s("#robotLayer").data("hovered",!0),this.selected=!0;else if(this.selected){this.corners.forEach((function(t){t.isDown=i.checkInCircle(e.startX,e.startY,t.x,t.y,15)})),this.corners.map((function(t){return t.isDown})).indexOf(!0)>=0&&(t.stopImmediatePropagation(),s("#robotLayer").css("cursor","move"))}},e.prototype.handleMouseMove=function(t){t&&!t.startX&&i.extendMouseEvent(t,r.SimulationRoberta.Instance.scale,s("#robotLayer"));var e=t,o=e.startX-this.mouseOldX,h=e.startY-this.mouseOldY;this.mouseOldX=e.startX,this.mouseOldY=e.startY;var n=this.corners.map((function(t){return t.isDown})).indexOf(!0);this.isMouseOn(e)&&(s("#robotLayer").css("cursor","pointer"),s("#robotLayer").data("hovered",!0),this.selected&&t.stopImmediatePropagation());for(var a=-1,c=0;c<this.corners.length;c++)if(i.checkInCircle(e.startX,e.startY,this.corners[c].x,this.corners[c].y,15)){a=c;break}if(a>-1&&this.selected&&(s("#robotLayer").css("cursor","move"),t.stopImmediatePropagation()),n>=0&&this.selected){switch(n){case 0:this.ax+=o,this.ay+=h;break;case 1:this.bx+=o,this.by+=h;break;case 2:this.cx+=o,this.cy+=h}this.updateCorners()}else this.isDown&&(this.ax+=o,this.ay+=h,this.bx+=o,this.by+=h,this.cx+=o,this.cy+=h,this.updateCorners())},e.prototype.getLines=function(){return[{x1:this.ax,x2:this.bx,y1:this.ay,y2:this.by},{x1:this.bx,x2:this.cx,y1:this.by,y2:this.cy},{x1:this.ax,x2:this.cx,y1:this.ay,y2:this.cy}]},e.prototype.moveTo=function(t){var e=this.ax-t.x,s=this.ay-t.y;this.ax=t.x,this.ay=t.y,this.bx-=e,this.by-=s,this.cx-=e,this.cy-=s,this.updateCorners()},e.prototype.isMouseOn=function(t){var e=Math.floor(Math.abs((this.bx-this.ax)*(this.cy-this.ay)-(this.cx-this.ax)*(this.by-this.ay)));return Math.floor(Math.abs((this.ax-t.startX)*(this.by-t.startY)-(this.bx-t.startX)*(this.ay-t.startY)))+Math.floor(Math.abs((this.bx-t.startX)*(this.cy-t.startY)-(this.cx-t.startX)*(this.by-t.startY)))+Math.floor(Math.abs((this.cx-t.startX)*(this.ay-t.startY)-(this.ax-t.startX)*(this.cy-t.startY)))<=e},e.prototype.updateCorners=function(){0==this.corners.length?(this.corners[0]={x:this.ax,y:this.ay,isDown:!1},this.corners[1]={x:this.bx,y:this.by,isDown:!1},this.corners[2]={x:this.cx,y:this.cy,isDown:!1}):(this.corners[0]={x:this.ax,y:this.ay,isDown:this.corners[0].isDown},this.corners[1]={x:this.bx,y:this.by,isDown:this.corners[1].isDown},this.corners[2]={x:this.cx,y:this.cy,isDown:this.corners[2].isDown}),this.redraw()},e}(h);e.TriangleSimulationObject=d;var p=function(){function t(t,e,s,i){this.x=t,this.y=e,this.w=s,this.h=i}return t.prototype.getLines=function(){return i.getLinesFromRectangle(this)},t.prototype.getTolerance=function(){return 0},t}();e.Ground=p;var f=function(t){function e(e,s,i,r,o,h,n,a){var c=t.call(this,e,s,i,r,{x:90*o+10,y:90*h+10})||this;switch(c.w=90,c.h=90,c.type=r,c.rcjType=n,c.index=String(a),c.rcjType){case"checkPoint":c.color="#FFA500";break;case"start":c.color="#81E881"}return c}return __extends(e,t),e.prototype.draw=function(t,e){t.save(),this.rcjType&&(t.lineWidth=2,t.strokeStyle=this.color,t.strokeRect(this.x,this.y,this.w,this.h)),t.fillText(this.index,this.x+60,this.y+15),t.restore()},e.prototype.handleMouseDown=function(t){},e.prototype.handleMouseMove=function(t){},e}(l);e.RcjSimulationLabel=f}));
+var __extends=this&&this.__extends||function(){var t=function(e,s){return t=Object.setPrototypeOf||{__proto__:[]}instanceof Array&&function(t,e){t.__proto__=e}||function(t,e){for(var s in e)Object.prototype.hasOwnProperty.call(e,s)&&(t[s]=e[s])},t(e,s)};return function(e,s){if("function"!=typeof s&&null!==s)throw new TypeError("Class extends value "+String(s)+" is not a constructor or null");function i(){this.constructor=e}t(e,s),e.prototype=null===s?Object.create(s):(i.prototype=s.prototype,new i)}}(),__spreadArray=this&&this.__spreadArray||function(t,e,s){if(s||2===arguments.length)for(var i,r=0,o=e.length;r<o;r++)!i&&r in e||(i||(i=Array.prototype.slice.call(e,0,r)),i[r]=e[r]);return t.concat(i||Array.prototype.slice.call(e))};define(["require","exports","jquery","util.roberta","simulation.roberta","simulation.math"],(function(t,e,s,i,r,o){Object.defineProperty(e,"__esModule",{value:!0}),e.RcjSimulationLabel=e.Ground=e.TriangleSimulationObject=e.CircleSimulationObject=e.MarkerSimulationObject=e.RectangleSimulationObject=e.SimObjectShape=e.SimObjectType=e.SimObjectFactory=e.BaseSimulationObject=void 0;var h=function(){function t(t,e,s,i,r){this.SHIFT=1,this.MIN_SIZE_OBJECT=10,this._movable=!1,this.isDown=!1,this.mouseOldX=0,this.mouseOldY=0,this._selected=!1,this.myId=t,this.myScene=e,this.mySelectionListener=s,this.remover=this.mySelectionListener.add(this.handleNewSelection.bind(this)),this.type=i,r?this.color=r:i===n.Obstacle?this.color="#33B8CA":this.color="#FBED00",this.addMouseEvents()}return Object.defineProperty(t.prototype,"selected",{get:function(){return this._selected},set:function(t){this._selected=t,t&&(this.mySelectionListener.fire(this),this.type!==n.Marker&&this.myScene.sim.enableChangeObjectButtons())},enumerable:!1,configurable:!0}),Object.defineProperty(t.prototype,"color",{get:function(){return this._color},set:function(t){this._color=t,this._hsv=o.hexToHsv(t)},enumerable:!1,configurable:!0}),Object.defineProperty(t.prototype,"hsv",{get:function(){return this._hsv},enumerable:!1,configurable:!0}),Object.defineProperty(t.prototype,"movable",{get:function(){return this._movable},set:function(t){this._movable=t},enumerable:!1,configurable:!0}),t.prototype.addMouseEvents=function(){var t=s("#robotLayer");t.on("mousedown."+this.myId+" touchstart."+this.myId,this.handleMouseDown.bind(this)),t.on("mousemove."+this.myId+" touchmove."+this.myId,this.handleMouseMove.bind(this)),t.on("mouseup."+this.myId+" touchend."+this.myId+"mouseout."+this.myId+"touchcancel."+this.myId,this.handleMouseOutUp.bind(this)),t.on("keydown."+this.myId,this.handleKeyEvent.bind(this))},t.prototype.removeMouseEvents=function(){s("#robotLayer").off("."+this.myId)},t.prototype.handleNewSelection=function(t){t!==this&&this.selected&&(this.selected=!1,this.isDown=!1,this.corners.forEach((function(t){return t.isDown=!1})),this.myScene.sim.disableChangeObjectButtons(),this.redraw())},t.prototype.getTolerance=function(){return 100},t.prototype.handleMouseOutUp=function(t){this.selected&&(t.stopImmediatePropagation(),this.isDown=!1,this.corners.forEach((function(t){return t.isDown=!1})),this.redraw())},t.prototype.destroy=function(){this.removeMouseEvents(),this.selected=!1,this.mySelectionListener.remove(this.remover),this.myScene.sim.disableChangeObjectButtons()},t.prototype.redraw=function(){switch(this.type){case n.ColorArea:this.myScene.redrawColorAreas=!0;break;case n.Obstacle:this.myScene.redrawObstacles=!0;break;case n.Marker:this.myScene.redrawMarkers=!0}},t}();e.BaseSimulationObject=h;var n,a,c=function(){function t(){}return t.getSimObject=function(t,e,s,i,r,o,h,n){for(var c=[],p=8;p<arguments.length;p++)c[p-8]=arguments[p];switch(i){case a.Rectangle:return new(l.bind.apply(l,__spreadArray([void 0,t,e,s,r,o,h,n],c,!1)));case a.Triangle:return new(d.bind.apply(d,__spreadArray([void 0,t,e,s,r,o,h,n],c,!1)));case a.Circle:return new(u.bind.apply(u,__spreadArray([void 0,t,e,s,r,o,h,n],c,!1)));case a.Marker:return new y(t,e,s,r,o)}},t.copy=function(e){var s=e.myScene.uniqueObjectId;return e instanceof l?t.getSimObject.apply(t,__spreadArray([s,e.myScene,e.mySelectionListener,a.Rectangle,e.type,{x:-1e3,y:-1e3},null,e.color],[e.w,e.h],!1)):e instanceof d?t.getSimObject.apply(t,__spreadArray([s,e.myScene,e.mySelectionListener,a.Triangle,e.type,{x:-1e3,y:-1e3},null,e.color],[e.ax,e.ay,e.bx,e.by,e.cx,e.cy],!1)):e instanceof u?t.getSimObject.apply(t,__spreadArray([s,e.myScene,e.mySelectionListener,a.Circle,e.type,{x:-1e3,y:-1e3},null,e.color],[e.r],!1)):void 0},t}();e.SimObjectFactory=c,function(t){t.Obstacle="OBSTACLE",t.ColorArea="COLORAREA",t.Passiv="PASSIV",t.Marker="MARKER"}(n=e.SimObjectType||(e.SimObjectType={})),function(t){t.Rectangle="RECTANGLE",t.Triangle="TRIANGLE",t.Circle="CIRCLE",t.Marker="MARKER"}(a=e.SimObjectShape||(e.SimObjectShape={}));var l=function(t){function e(e,s,i,r,o,h,n){for(var a=[],c=7;c<arguments.length;c++)a[c-7]=arguments[c];var l=t.call(this,e,s,i,r,n)||this;return l.w=100,l.h=100,l.theta=0,l.corners=[],l.x=o.x,l.y=o.y,h&&(l.w=h/9,l.h=h/9),2==a.length&&(l.w=a[0],l.h=a[1]),"string"!=typeof n&&(l._img=n),l.updateCorners(),l}return __extends(e,t),Object.defineProperty(e.prototype,"img",{get:function(){return this._img},set:function(t){this._img=t},enumerable:!1,configurable:!0}),e.prototype.draw=function(t,e){switch(t.save(),e.save(),t.fillStyle=this.color,this.type){case n.Obstacle:t.shadowColor="#3e3e3e",t.shadowOffsetY=5,t.shadowOffsetX=5,t.shadowBlur=5,t.globalCompositeOperation="lighten",this._img?t.drawImage(this._img,this.x,this.y,this.w,this.h):t.fillRect(this.x,this.y,this.w,this.h);break;case n.ColorArea:e.fillStyle=this.color,this._img?(e.drawImage(this._img,this.x,this.y,this.w,this.h),t.drawImage(this._img,this.x,this.y,this.w,this.h)):(e.fillRect(this.x,this.y,this.w,this.h),t.fillRect(this.x,this.y,this.w,this.h))}this.selected&&(t.restore(),t.save(),t.lineWidth=2,t.strokeStyle="gray",t.fillStyle="black",this.corners.forEach((function(e){e.isDown?t.fillStyle="gray":t.fillStyle="black",t.beginPath(),t.arc(e.x,e.y,5,0,2*Math.PI),t.stroke(),t.fill()}))),t.restore(),e.restore()},e.prototype.handleKeyEvent=function(t){if(this.selected){var e=t.key;switch(e){case"ArrowUp":this.y-=this.SHIFT;break;case"ArrowLeft":this.x-=this.SHIFT;break;case"ArrowDown":this.y+=this.SHIFT;break;case"ArrowRight":this.x+=this.SHIFT;break;case"c":if(t.ctrlKey||t.metaKey){this.myScene.uniqueObjectId,a.Rectangle;this.myScene.objectToCopy=c.copy(this),t.preventDefault()}}"Delete"!==e&&"Backspace"!==e&&t.stopImmediatePropagation(),this.updateCorners(),s("#robotLayer").attr("tabindex",0),s("#robotLayer").trigger("focus")}},e.prototype.handleMouseDown=function(t){t&&!t.startX&&i.extendMouseEvent(t,r.SimulationRoberta.Instance.scale,s("#robotLayer"));var e=t;if(this.isDown=this.isMouseOn(e),this.isDown&&(t.stopImmediatePropagation(),this.mouseOldX=e.startX,this.mouseOldY=e.startY),this.isDown&&!this.selected)s("#robotLayer").css("cursor","pointer"),this.selected=!0;else if(this.selected){this.corners.forEach((function(t){t.isDown=i.checkInCircle(e.startX,e.startY,t.x,t.y,15)}));var o=this.corners.map((function(t){return t.isDown})).indexOf(!0);if(o>=0)switch(t.stopImmediatePropagation(),o){case 0:case 2:s("#robotLayer").css("cursor","nwse-resize");break;case 1:case 3:s("#robotLayer").css("cursor","nesw-resize")}}},e.prototype.handleMouseMove=function(t){t&&!t.startX&&i.extendMouseEvent(t,r.SimulationRoberta.Instance.scale,s("#robotLayer"));var e=t,o=e.startX-this.mouseOldX,h=e.startY-this.mouseOldY;this.mouseOldX=e.startX,this.mouseOldY=e.startY;var n=this.corners.map((function(t){return t.isDown})).indexOf(!0);this.isMouseOn(e)&&(s("#robotLayer").css("cursor","pointer"),s("#robotLayer").data("hovered",!0),this.selected&&t.stopImmediatePropagation());for(var a=-1,c=0;c<this.corners.length;c++)if(i.checkInCircle(e.startX,e.startY,this.corners[c].x,this.corners[c].y,15)){a=c;break}if(a>-1&&this.selected)switch(t.stopImmediatePropagation(),a){case 0:case 2:s("#robotLayer").css("cursor","nwse-resize");break;case 1:case 3:s("#robotLayer").css("cursor","nesw-resize")}if(n>=0&&this.selected){if(this.w>=this.MIN_SIZE_OBJECT&&this.h>=this.MIN_SIZE_OBJECT)switch(n){case 0:this.x+=o,this.y+=h,this.w-=o,this.h-=h;break;case 1:this.y+=h,this.w+=o,this.h-=h;break;case 2:this.w+=o,this.h+=h;break;case 3:this.x+=o,this.w-=o,this.h+=h}else this.w<this.MIN_SIZE_OBJECT?(0!=n&&3!=n||(this.x-=this.MIN_SIZE_OBJECT-this.w),this.w=this.MIN_SIZE_OBJECT):this.h<this.MIN_SIZE_OBJECT&&(1!=n&&2!=n||(this.y-=this.MIN_SIZE_OBJECT-this.h),this.h=this.MIN_SIZE_OBJECT);this.updateCorners()}else this.isDown&&(this.x+=o,this.y+=h,this.updateCorners())},e.prototype.getLines=function(){return i.getLinesFromRectangle(this)},e.prototype.moveTo=function(t){this.x=t.x-this.w/2,this.y=t.y-this.h/2,this.updateCorners()},e.prototype.updateCorners=function(){0==this.corners.length?(this.corners[0]={x:this.x,y:this.y,isDown:!1},this.corners[1]={x:this.x+this.w,y:this.y,isDown:!1},this.corners[2]={x:this.x+this.w,y:this.y+this.h,isDown:!1},this.corners[3]={x:this.x,y:this.y+this.h,isDown:!1}):(this.corners[0]={x:this.x,y:this.y,isDown:this.corners[0].isDown},this.corners[1]={x:this.x+this.w,y:this.y,isDown:this.corners[1].isDown},this.corners[2]={x:this.x+this.w,y:this.y+this.h,isDown:this.corners[2].isDown},this.corners[3]={x:this.x,y:this.y+this.h,isDown:this.corners[3].isDown}),this.redraw()},e.prototype.isMouseOn=function(t){return t.startX>this.x&&t.startX<this.x+this.w&&t.startY>this.y&&t.startY<this.y+this.h},e}(h);e.RectangleSimulationObject=l;var y=function(t){function e(e,s,i,r,o){var h=t.call(this,e,s,i,r,o)||this;return h.MARKER_OFFSET=33,h.MARKER_LABEL_OFFSET=40,h.w=36,h.h=36,h.updateCorners(),h}return __extends(e,t),e.prototype.draw=function(t,e){t.save(),t.fillStyle="#ffffff";var i=this.w/12;t.fillRect(this.x-i,this.y-i-1,this.w+2*i,this.h+2*i),t.fillStyle="#000000",t.fillText(String(this.markerId),this.x+this.MARKER_LABEL_OFFSET,this.y+this.h/2),t.font=this.w+"px typicons",t.textAlign="left",t.fillText(window.getComputedStyle(s(".typcn.typcn-"+this.markerId)[0],":before").content.replace(/"/,"").replace(/"/,""),this.x,this.y+this.MARKER_OFFSET),this.selected&&(t.restore(),t.save(),t.lineWidth=2,t.strokeStyle="gray",t.fillStyle="black",this.corners.forEach((function(e){e.isDown?t.fillStyle="gray":t.fillStyle="black",t.beginPath(),t.arc(e.x,e.y,5,0,2*Math.PI),t.stroke(),t.fill()}))),t.restore()},e.prototype.handleMouseDown=function(t){t&&!t.startX&&i.extendMouseEvent(t,r.SimulationRoberta.Instance.scale,s("#robotLayer"));var e=t;this.isDown=this.isMouseOn(e),this.isDown&&(t.stopImmediatePropagation(),this.mouseOldX=e.startX,this.mouseOldY=e.startY),this.isDown&&!this.selected&&(s("#robotLayer").css("cursor","pointer"),this.selected=!0)},e.prototype.handleMouseMove=function(t){t&&!t.startX&&i.extendMouseEvent(t,r.SimulationRoberta.Instance.scale,s("#robotLayer"));var e=t,o=e.startX-this.mouseOldX,h=e.startY-this.mouseOldY;this.mouseOldX=e.startX,this.mouseOldY=e.startY,this.isMouseOn(e)&&(s("#robotLayer").css("cursor","pointer"),s("#robotLayer").data("hovered",!0),this.selected&&t.stopImmediatePropagation()),this.selected&&this.isDown&&(this.x+=o,this.y+=h,this.updateCorners())},e}(l);e.MarkerSimulationObject=y;var u=function(t){function e(e,s,i,r,o,h,n){for(var a=[],c=7;c<arguments.length;c++)a[c-7]=arguments[c];var l=t.call(this,e,s,i,r,n)||this;return l.r=50,l.corners=[],l.collisions=[],l.lastMoveBumped=!1,l.lastMoveBumpedOld=!1,l.observers=[],l.inEvacuationZone=!1,l.x=o.x,l.y=o.y,h&&(l.r=h/18),a.length>=1&&(l.r=a[0]),a.length>=2&&(l.movable=a[1]>0),l.updateCorners(),l}return __extends(e,t),e.prototype.draw=function(t,e){if(t.save(),e.save(),this.type!==n.Obstacle&&this.type!==n.ColorArea||(this.type===n.Obstacle&&(t.shadowColor="#3e3e3e",t.shadowOffsetY=5,t.shadowOffsetX=5,t.shadowBlur=5,t.globalCompositeOperation="lighten"),t.fillStyle=this.color,t.beginPath(),t.arc(this.x,this.y,this.r,0,2*Math.PI),t.fill()),this.type===n.ColorArea&&(e.fillStyle=this.color,e.beginPath(),e.arc(this.x,this.y,this.r,0,2*Math.PI),e.fill()),this.selected){var s=Math.round(this.x),i=Math.round(this.y),r=Math.round(this.r);t.restore(),t.save(),t.lineWidth=2,t.strokeStyle="gray",t.fillStyle="black",t.beginPath(),t.arc(Math.round(s-r),Math.round(i-r),5,0,2*Math.PI),t.stroke(),t.fill(),t.beginPath(),t.arc(Math.round(s+r),Math.round(i-r),5,0,2*Math.PI),t.stroke(),t.fill(),t.beginPath(),t.arc(Math.round(s-r),Math.round(i+r),5,0,2*Math.PI),t.stroke(),t.fill(),t.beginPath(),t.arc(Math.round(s+r),Math.round(i+r),5,0,2*Math.PI),t.stroke(),t.fill()}t.restore(),e.restore()},e.prototype.handleKeyEvent=function(t){if(this.selected){switch(t.stopImmediatePropagation(),t.key){case"ArrowUp":this.y-=this.SHIFT;break;case"ArrowLeft":this.x-=this.SHIFT;break;case"ArrowDown":this.y+=this.SHIFT;break;case"ArrowRight":this.x+=this.SHIFT}if("c"===t.key&&(t.ctrlKey||t.metaKey)){this.myScene.uniqueObjectId,a.Circle;this.myScene.objectToCopy=c.copy(this),t.preventDefault()}this.updateCorners(),s("#robotLayer").attr("tabindex",0),s("#robotLayer").trigger("focus")}},e.prototype.handleMouseDown=function(t){t&&!t.startX&&i.extendMouseEvent(t,r.SimulationRoberta.Instance.scale,s("#robotLayer"));var e=t;if(this.isDown=i.checkInCircle(e.startX,e.startY,this.x,this.y,this.r),this.isDown&&(t.stopImmediatePropagation(),this.mouseOldX=e.startX,this.mouseOldY=e.startY),this.isDown&&!this.selected)s("#robotLayer").css("cursor","pointer"),this.selected=!0;else if(this.selected&&!this.movable){this.corners.forEach((function(t){t.isDown=i.checkInCircle(e.startX,e.startY,t.x,t.y,15)}));var o=this.corners.map((function(t){return t.isDown})).indexOf(!0);if(o>=0)switch(t.stopImmediatePropagation(),o){case 0:case 2:s("#robotLayer").css("cursor","nwse-resize");break;case 1:case 3:s("#robotLayer").css("cursor","nesw-resize")}}},e.prototype.handleMouseMove=function(t){t&&!t.startX&&i.extendMouseEvent(t,r.SimulationRoberta.Instance.scale,s("#robotLayer"));var e=t,o=e.startX-this.mouseOldX,h=e.startY-this.mouseOldY;this.mouseOldX=e.startX,this.mouseOldY=e.startY;var n=this.corners.map((function(t){return t.isDown})).indexOf(!0);i.checkInCircle(e.startX,e.startY,this.x,this.y,this.r)&&(s("#robotLayer").css("cursor","pointer"),s("#robotLayer").data("hovered",!0),this.selected&&t.stopImmediatePropagation());var a=-1;if(!this.movable)for(var c=0;c<this.corners.length;c++)if(i.checkInCircle(e.startX,e.startY,this.corners[c].x,this.corners[c].y,15)){a=c;break}if(a>-1&&this.selected)switch(t.stopImmediatePropagation(),a){case 0:case 2:s("#robotLayer").css("cursor","nwse-resize");break;case 1:case 3:s("#robotLayer").css("cursor","nesw-resize")}n>=0&&this.selected?(Math.abs(o)>=Math.abs(h)?e.startX<this.x?this.r-=o:this.r+=o:e.startY<this.y?this.r-=h:this.r+=h,this.r=Math.max(this.r,this.MIN_SIZE_OBJECT),this.updateCorners()):this.isDown&&(this.x+=o,this.y+=h,this.updateCorners(),this.movable&&(this.lastMoveBumpedOld=!1,this.lastMoveBumped=!1))},e.prototype.getLines=function(){throw new Error("Should never be called")},e.prototype.moveTo=function(t){this.x=t.x,this.y=t.y,this.updateCorners()},e.prototype.updateCorners=function(){0==this.corners.length?(this.corners[0]={x:this.x-this.r,y:this.y-this.r,isDown:!1},this.corners[1]={x:this.x+this.r,y:this.y-this.r,isDown:!1},this.corners[2]={x:this.x+this.r,y:this.y+this.r,isDown:!1},this.corners[3]={x:this.x-this.r,y:this.y+this.r,isDown:!1}):(this.corners[0]={x:this.x-this.r,y:this.y-this.r,isDown:this.corners[0].isDown},this.corners[1]={x:this.x+this.r,y:this.y-this.r,isDown:this.corners[1].isDown},this.corners[2]={x:this.x+this.r,y:this.y+this.r,isDown:this.corners[2].isDown},this.corners[3]={x:this.x-this.r,y:this.y+this.r,isDown:this.corners[3].isDown}),this.redraw()},e.prototype.getTolerance=function(){return 1.01},e.prototype.moveObstacleTo=function(t){return!!this.movable&&(this.collisions.push(t),!this.lastMoveBumpedOld)},e.prototype.updateSensor=function(t,s,i){if(this.movable){this.lastMoveBumpedOld=this.lastMoveBumped,this.lastMoveBumped=!1;var r=t.getImageData(this.x,this.y,1,1).data;this.inEvacuationZone=r.toString()===[0,0,0,255].toString();var h={x:this.x,y:this.y,r:this.r*this.getTolerance()},n=s.slice(-1)[0],a=o.getMiddleIntersectionCircleRect(h,n,o.getLinesFromRect(n));if(a){var c=o.getDistanceToCircle(a,this);this.collisions.push(c),this.lastMoveBumped=!0}for(var y=0;y<s.length-1;y++){var u=s[y];if(u instanceof l){var d=o.getMiddleIntersectionCircleRect(h,u,u.getLines());if(d){c=o.getDistanceToCircle(d,this);this.collisions.push(c),this.lastMoveBumped=!0}}if(u instanceof e){if(u.myId==this.myId){s.splice(y,1);continue}var p=o.getMiddleIntersectionPointCircles(h,u);if(p){c=o.getDistanceToCircle(p,u);u.movable?(u.moveObstacleTo(c)||(this.lastMoveBumped=!0,this.collisions.push({x:-c.x,y:-c.y})),i.push(u)):(this.lastMoveBumped=!0,this.collisions.push({x:-c.x,y:-c.y}))}}}this.notifyObservers()}},e.prototype.updateAction=function(){var t={x:0,y:0};if(this.collisions.forEach((function(e){t.x+=e.x,t.y+=e.y})),this.collisions.length>0){var e=o.getDotProduct(t,this.lastMove);this.lastMoveBumped?e&&(e<-.9||e&&e>.9)&&this.moveTo({x:this.x+t.x,y:this.y+t.y}):this.moveTo({x:this.x+t.x,y:this.y+t.y})}this.lastMove=t,this.collisions=[]},e.prototype.addObserver=function(t){this.observers.push(t)},e.prototype.notifyObservers=function(){for(var t=0,e=this.observers;t<e.length;t++){e[t].update(this)}},e.prototype.removeObserver=function(t){var e=this.observers.findIndex((function(e){return t===e}));-1!==e&&this.observers.splice(e,1)},e}(h);e.CircleSimulationObject=u;var d=function(t){function e(e,s,i,r,o,h,n){for(var a=[],c=7;c<arguments.length;c++)a[c-7]=arguments[c];var l=t.call(this,e,s,i,r,n)||this;return l.defaultSize=50,l.corners=[],h&&(l.defaultSize=h/18),6==a.length?(l.ax=a[0],l.ay=a[1],l.bx=a[2],l.by=a[3],l.cx=a[4],l.cy=a[5]):(l.ax=o.x-l.defaultSize,l.ay=o.y+l.defaultSize,l.bx=o.x,l.by=o.y-l.defaultSize,l.cx=o.x+l.defaultSize,l.cy=o.y+l.defaultSize),l.updateCorners(),l}return __extends(e,t),e.prototype.draw=function(t,e){t.save(),e.save(),this.type!==n.Obstacle&&this.type!==n.ColorArea||(this.type===n.Obstacle&&(t.shadowColor="#3e3e3e",t.shadowOffsetY=5,t.shadowOffsetX=5,t.shadowBlur=5,t.globalCompositeOperation="lighten"),t.fillStyle=this.color,t.beginPath(),t.moveTo(this.ax,this.ay),t.lineTo(this.bx,this.by),t.lineTo(this.cx,this.cy),t.fill()),this.type===n.ColorArea&&(e.fillStyle=this.color,e.beginPath(),e.moveTo(this.ax,this.ay),e.lineTo(this.bx,this.by),e.lineTo(this.cx,this.cy),e.fill()),this.selected&&(t.restore(),t.save(),t.lineWidth=2,t.strokeStyle="gray",t.fillStyle="black",t.beginPath(),t.arc(Math.round(this.ax),Math.round(this.ay),5,0,2*Math.PI),t.stroke(),t.fill(),t.beginPath(),t.arc(Math.round(this.bx),Math.round(this.by),5,0,2*Math.PI),t.stroke(),t.fill(),t.beginPath(),t.arc(Math.round(this.cx),Math.round(this.cy),5,0,2*Math.PI),t.stroke(),t.fill()),t.restore(),e.restore()},e.prototype.handleKeyEvent=function(t){if(this.selected){switch(t.stopImmediatePropagation(),t.key){case"ArrowUp":this.ay-=this.SHIFT,this.by-=this.SHIFT,this.cy-=this.SHIFT;break;case"ArrowLeft":this.ax-=this.SHIFT,this.bx-=this.SHIFT,this.cx-=this.SHIFT;break;case"ArrowDown":this.ay+=this.SHIFT,this.by+=this.SHIFT,this.cy+=this.SHIFT;break;case"ArrowRight":this.ax+=this.SHIFT,this.bx+=this.SHIFT,this.cx+=this.SHIFT}if("c"===t.key&&(t.ctrlKey||t.metaKey)){this.myScene.uniqueObjectId,a.Triangle;this.myScene.objectToCopy=c.copy(this),t.preventDefault()}this.updateCorners(),s("#robotLayer").attr("tabindex",0),s("#robotLayer").trigger("focus")}},e.prototype.handleMouseDown=function(t){t&&!t.startX&&i.extendMouseEvent(t,r.SimulationRoberta.Instance.scale,s("#robotLayer"));var e=t;if(this.isDown=this.isMouseOn(e),this.isDown&&(t.stopImmediatePropagation(),this.mouseOldX=e.startX,this.mouseOldY=e.startY),this.isDown&&!this.selected)s("#robotLayer").css("cursor","pointer"),s("#robotLayer").data("hovered",!0),this.selected=!0;else if(this.selected){this.corners.forEach((function(t){t.isDown=i.checkInCircle(e.startX,e.startY,t.x,t.y,15)})),this.corners.map((function(t){return t.isDown})).indexOf(!0)>=0&&(t.stopImmediatePropagation(),s("#robotLayer").css("cursor","move"))}},e.prototype.handleMouseMove=function(t){t&&!t.startX&&i.extendMouseEvent(t,r.SimulationRoberta.Instance.scale,s("#robotLayer"));var e=t,o=e.startX-this.mouseOldX,h=e.startY-this.mouseOldY;this.mouseOldX=e.startX,this.mouseOldY=e.startY;var n=this.corners.map((function(t){return t.isDown})).indexOf(!0);this.isMouseOn(e)&&(s("#robotLayer").css("cursor","pointer"),s("#robotLayer").data("hovered",!0),this.selected&&t.stopImmediatePropagation());for(var a=-1,c=0;c<this.corners.length;c++)if(i.checkInCircle(e.startX,e.startY,this.corners[c].x,this.corners[c].y,15)){a=c;break}if(a>-1&&this.selected&&(s("#robotLayer").css("cursor","move"),t.stopImmediatePropagation()),n>=0&&this.selected){switch(n){case 0:this.ax+=o,this.ay+=h;break;case 1:this.bx+=o,this.by+=h;break;case 2:this.cx+=o,this.cy+=h}this.updateCorners()}else this.isDown&&(this.ax+=o,this.ay+=h,this.bx+=o,this.by+=h,this.cx+=o,this.cy+=h,this.updateCorners())},e.prototype.getLines=function(){return[{x1:this.ax,x2:this.bx,y1:this.ay,y2:this.by},{x1:this.bx,x2:this.cx,y1:this.by,y2:this.cy},{x1:this.ax,x2:this.cx,y1:this.ay,y2:this.cy}]},e.prototype.moveTo=function(t){var e=this.ax-t.x,s=this.ay-t.y;this.ax=t.x,this.ay=t.y,this.bx-=e,this.by-=s,this.cx-=e,this.cy-=s,this.updateCorners()},e.prototype.isMouseOn=function(t){var e=Math.floor(Math.abs((this.bx-this.ax)*(this.cy-this.ay)-(this.cx-this.ax)*(this.by-this.ay)));return Math.floor(Math.abs((this.ax-t.startX)*(this.by-t.startY)-(this.bx-t.startX)*(this.ay-t.startY)))+Math.floor(Math.abs((this.bx-t.startX)*(this.cy-t.startY)-(this.cx-t.startX)*(this.by-t.startY)))+Math.floor(Math.abs((this.cx-t.startX)*(this.ay-t.startY)-(this.ax-t.startX)*(this.cy-t.startY)))<=e},e.prototype.updateCorners=function(){0==this.corners.length?(this.corners[0]={x:this.ax,y:this.ay,isDown:!1},this.corners[1]={x:this.bx,y:this.by,isDown:!1},this.corners[2]={x:this.cx,y:this.cy,isDown:!1}):(this.corners[0]={x:this.ax,y:this.ay,isDown:this.corners[0].isDown},this.corners[1]={x:this.bx,y:this.by,isDown:this.corners[1].isDown},this.corners[2]={x:this.cx,y:this.cy,isDown:this.corners[2].isDown}),this.redraw()},e}(h);e.TriangleSimulationObject=d;var p=function(){function t(t,e,s,i){this.x=t,this.y=e,this.w=s,this.h=i}return t.prototype.getLines=function(){return i.getLinesFromRectangle(this)},t.prototype.getTolerance=function(){return 0},t}();e.Ground=p;var f=function(t){function e(e,s,i,r,o,h,n,a){var c=t.call(this,e,s,i,r,{x:90*o+10,y:90*h+10})||this;switch(c.w=90,c.h=90,c.type=r,c.rcjType=n,c.index=String(a),c.rcjType){case"checkPoint":c.color="#FFA500";break;case"start":c.color="#81E881"}return c}return __extends(e,t),e.prototype.draw=function(t,e){t.save(),this.rcjType&&(t.lineWidth=2,t.strokeStyle=this.color,t.strokeRect(this.x,this.y,this.w,this.h)),t.fillText(this.index,this.x+60,this.y+15),t.restore()},e.prototype.handleMouseDown=function(t){},e.prototype.handleMouseMove=function(t){},e}(l);e.RcjSimulationLabel=f}));
 //# sourceMappingURL=simulation.objects.js.map
 //# sourceMappingURL=simulation.objects.js.map
diff --git a/OpenRobertaServer/staticResources/js/app/simulation/simulationLogic/simulation.roberta.js b/OpenRobertaServer/staticResources/js/app/simulation/simulationLogic/simulation.roberta.js
index b9baf7d353..f3060f5c71 100644
--- a/OpenRobertaServer/staticResources/js/app/simulation/simulationLogic/simulation.roberta.js
+++ b/OpenRobertaServer/staticResources/js/app/simulation/simulationLogic/simulation.roberta.js
@@ -1,3 +1,3 @@
-var __awaiter=this&&this.__awaiter||function(e,t,n,r){return new(n||(n=Promise))((function(i,o){function s(e){try{c(r.next(e))}catch(e){o(e)}}function a(e){try{c(r.throw(e))}catch(e){o(e)}}function c(e){var t;e.done?i(e.value):(t=e.value,t instanceof n?t:new n((function(e){e(t)}))).then(s,a)}c((r=r.apply(e,t||[])).next())}))},__generator=this&&this.__generator||function(e,t){var n,r,i,o,s={label:0,sent:function(){if(1&i[0])throw i[1];return i[1]},trys:[],ops:[]};return o={next:a(0),throw:a(1),return:a(2)},"function"==typeof Symbol&&(o[Symbol.iterator]=function(){return this}),o;function a(a){return function(c){return function(a){if(n)throw new TypeError("Generator is already executing.");for(;o&&(o=0,a[0]&&(s=0)),s;)try{if(n=1,r&&(i=2&a[0]?r.return:a[0]?r.throw||((i=r.return)&&i.call(r),0):r.next)&&!(i=i.call(r,a[1])).done)return i;switch(r=0,i&&(a=[2&a[0],i.value]),a[0]){case 0:case 1:i=a;break;case 4:return s.label++,{value:a[1],done:!1};case 5:s.label++,r=a[1],a=[0];continue;case 7:a=s.ops.pop(),s.trys.pop();continue;default:if(!(i=s.trys,(i=i.length>0&&i[i.length-1])||6!==a[0]&&2!==a[0])){s=0;continue}if(3===a[0]&&(!i||a[1]>i[0]&&a[1]<i[3])){s.label=a[1];break}if(6===a[0]&&s.label<i[1]){s.label=i[1],i=a;break}if(i&&s.label<i[2]){s.label=i[2],s.ops.push(a);break}i[2]&&s.ops.pop(),s.trys.pop();continue}a=t.call(e,s)}catch(e){a=[6,e],r=0}finally{n=i=0}if(5&a[0])throw a[1];return{value:a[0]?a[1]:void 0,done:!0}}([a,c])}}};define(["require","exports","interpreter.constants","util.roberta","interpreter.interpreter","interpreter.robotSimBehaviour","message","jquery","huebee","blockly","nn.controller","simulation.scene","robot.base","simulation.objects"],(function(e,t,n,r,i,o,s,a,c,l,u,h,p,f){Object.defineProperty(t,"__esModule",{value:!0}),t.SimulationRoberta=void 0;var d=function(){function e(){this.canceled=!0,this._breakpoints=[],this._debugMode=!1,this._dt=0,this._interpreterRunning=!1,this._interpreters=[],this._renderTime=5,this._renderUntil=[],this._scale=1,this._time=(new Date).getTime(),this._importPoses=[],this.dist=0,this.globalID=0,this.numRobots=0,this.observers=[],this.TILE_SIZE=90,this.EV_WALL_SIZE=10,this._configType="std"}return Object.defineProperty(e,"Instance",{get:function(){return this._instance||(this._instance=new e,this._instance._selectionListener=new p.SelectionListener,this._instance.scene=new h.SimulationScene(this._instance),this._instance.initEvents()),this._instance},enumerable:!1,configurable:!0}),Object.defineProperty(e.prototype,"debugMode",{get:function(){return this._debugMode},set:function(e){this._debugMode=e},enumerable:!1,configurable:!0}),Object.defineProperty(e.prototype,"lastMousePosition",{get:function(){return this._lastMousePosition},set:function(e){this._lastMousePosition=e},enumerable:!1,configurable:!0}),Object.defineProperty(e.prototype,"oldMousePosition",{get:function(){return this._oldMousePosition},set:function(e){this._oldMousePosition=e},enumerable:!1,configurable:!0}),Object.defineProperty(e.prototype,"selectionListener",{get:function(){return this._selectionListener},enumerable:!1,configurable:!0}),Object.defineProperty(e.prototype,"renderUntil",{get:function(){return this._renderUntil},enumerable:!1,configurable:!0}),Object.defineProperty(e.prototype,"breakpoints",{get:function(){return this._breakpoints},set:function(e){this._breakpoints=e},enumerable:!1,configurable:!0}),Object.defineProperty(e.prototype,"interpreters",{get:function(){return this._interpreters},set:function(e){this._interpreters=e,this.numRobots=this._interpreters.length},enumerable:!1,configurable:!0}),Object.defineProperty(e.prototype,"time",{get:function(){return this._time},set:function(e){this._time=e},enumerable:!1,configurable:!0}),Object.defineProperty(e.prototype,"importPoses",{get:function(){return this._importPoses},set:function(e){this._importPoses=e},enumerable:!1,configurable:!0}),Object.defineProperty(e.prototype,"renderTime",{get:function(){return this._renderTime},set:function(e){this._renderTime=e},enumerable:!1,configurable:!0}),Object.defineProperty(e.prototype,"dt",{get:function(){return this._dt},set:function(e){this._dt=e},enumerable:!1,configurable:!0}),Object.defineProperty(e.prototype,"scale",{get:function(){return this._scale},set:function(e){this._scale=e},enumerable:!1,configurable:!0}),e.prototype.isInterpreterRunning=function(){return this._interpreterRunning},Object.defineProperty(e.prototype,"interpreterRunning",{set:function(e){this._interpreterRunning=e},enumerable:!1,configurable:!0}),Object.defineProperty(e.prototype,"configType",{get:function(){return this._configType},set:function(e){this._configType=e},enumerable:!1,configurable:!0}),e.prototype.addMarker=function(e){this.scene.addMarker(e)},e.prototype.addColorArea=function(e){this.scene.addColorArea(e),this.enableChangeObjectButtons()},e.prototype.addObstacle=function(e){this.scene.addObstacle(e),this.enableChangeObjectButtons()},e.prototype.allInterpretersTerminated=function(){for(var e=0;e<this.interpreters.length;e++)if(!this.interpreters[e].isTerminated())return!1;return!0},e.prototype.callbackOnTermination=function(){this.allInterpretersTerminated()&&("function"==typeof this.callbackOnEnd&&this.callbackOnEnd(),console.log("END of Sim")),this.scene.robots.forEach((function(e){e.interpreter.isTerminated()&&e.mobile&&e.reset(),e.interpreter.updateNNView&&u.saveNN2Blockly(e.interpreter.neuralNetwork)}))},e.prototype.deleteAllColorArea=function(){this.scene.colorAreaList=[]},e.prototype.deleteAllObstacle=function(){this.scene.obstacleList=[]},e.prototype.deleteAllMarker=function(){this.scene.markerList=[]},e.prototype.deleteSelectedObject=function(){this.scene.deleteSelectedObject()},e.prototype.disableChangeObjectButtons=function(){a(".simChangeObject").removeClass("disabled").addClass("disabled")},e.prototype.enableChangeObjectButtons=function(){a(".simChangeObject").removeClass("disabled")},e.prototype.endDebugging=function(){null!==this.interpreters&&this.interpreters.forEach((function(e){e.setDebugMode(!1),e.breakpoints=[]})),l.getMainWorkspace().getAllBlocks().forEach((function(e){a(e.svgPath_).stop(!0,!0).removeAttr("style")})),this.breakpoints=[],this.debugMode=!1,this.updateBreakpointEvent()},e.prototype.exportConfigData=function(){return this.getConfigData()},e.prototype.getConfigData=function(){var e=this.scene.uCanvas.height,t=this.scene.uCanvas.width,n={};function r(n){if(n instanceof f.RectangleSimulationObject){if(n instanceof f.MarkerSimulationObject){var r=n.markerId;return{x:n.x/t,y:n.y/e,w:n.w/t,h:n.h/e,theta:n.theta,color:n.color,form:f.SimObjectShape.Rectangle,type:n.type,markerId:r}}return{x:n.x/t,y:n.y/e,w:n.w/t,h:n.h/e,theta:n.theta,color:n.color,form:f.SimObjectShape.Rectangle,type:n.type}}return n instanceof f.TriangleSimulationObject?{ax:n.ax/t,ay:n.ay/e,bx:n.bx/t,by:n.by/e,cx:n.cx/t,cy:n.cy/e,color:n.color,form:f.SimObjectShape.Triangle,type:n.type}:n instanceof f.CircleSimulationObject?{x:n.x/t,y:n.y/e,r:n.r/e/t,color:n.color,form:f.SimObjectShape.Circle,type:n.type}:void 0}var i=this.scene.getRobotPoses();return n.robotPoses=i.map((function(n){return[{x:n[0].x/t,y:n[0].y/e,theta:n[0].theta},{x:n[1].x/t,y:n[1].y/e,theta:n[1].theta}]})),n.obstacles=this.scene.obstacleList.map((function(e){return r(e)})),n.colorAreas=this.scene.colorAreaList.map((function(e){return r(e)})),n.marker=this.scene.markerList.map((function(e){return r(e)})),n},e.prototype.getNumRobots=function(){return this.interpreters.length},e.prototype.handleMouse=function(t){switch("mouseup"!==t.type&&"touchend"!==t.type&&t.stopPropagation(),t.preventDefault(),a("#robotLayer").data().hovered?a("#robotLayer").data("hovered",!1):a("#robotLayer").css("cursor","auto"),t&&"mouseout"!==t.type&&"touchcancel"!==t.type&&"touchend"!==t.type&&!t.startX&&(r.extendMouseEvent(t,this.scale,a("#robotLayer")),this.lastMousePosition={x:t.startX,y:t.startY}),t.type){case"mousedown":case"touchstart":this.oldMousePosition=this.lastMousePosition,this.selectionListener.fire(null);break;case"mousemove":case"touchmove":if(!this.oldMousePosition)return;t&&!t.startX&&r.extendMouseEvent(t,e.Instance.scale,a("#robotLayer"));var n=t,i=(n.startX-this.oldMousePosition.x)*this.scale,o=(n.startY-this.oldMousePosition.y)*this.scale,s=a("#canvasDiv").position();s.top+=o,s.left+=i,a("#canvasDiv").css({top:s.top}),a("#canvasDiv").css({left:s.left});break;default:this.oldMousePosition=null}},e.prototype.handleMouseWheel=function(e){var t=this.scale,n=0;if(void 0!==e.originalEvent.wheelDelta)n=e.originalEvent.wheelDelta;else if(e.originalEvent.touches){if(!e.originalEvent.touches[0]||!e.originalEvent.touches[1])return void(this.dist=0);var r=e.originalEvent.touches[0].pageX-e.originalEvent.touches[1].pageX,i=e.originalEvent.touches[0].pageY-e.originalEvent.touches[1].pageY,o=r*r+i*i;if(0==this.dist)return void(this.dist=o);n=o-this.dist,this.dist=o}else n=-e.originalEvent.deltaY;var s=!1;if(n>0?(this.scale*=1.025,this.scale>15&&(this.scale=15),s=!0):n<0&&(this.scale*=.925,this.scale<.25&&(this.scale=.25),s=!0),s){var c=this.scale-t,l=a("#canvasDiv").position(),u=this.scene.uCanvas.width*c,h=this.scene.uCanvas.height*c;l.top=l.top-h/2,l.left=l.left-u/2,a("#canvasDiv").css({top:l.top}),a("#canvasDiv").css({left:l.left}),this.scene.resetAllCanvas(!1)}return!1},e.prototype.importConfigData=function(){a("#backgroundFileSelector").val(null),a("#backgroundFileSelector").attr("accept",".json"),a("#backgroundFileSelector").off();var e=this;a("#backgroundFileSelector").onWrap("change",(function(t){var n=t.target.files[0],r=new FileReader;return r.onload=function(t){try{var n=JSON.parse(t.target.result);e.setNewConfig(n)}catch(e){console.error(e)}},r.readAsText(n),!1})),a("#backgroundFileSelector").clickWrap()},e.prototype.importImage=function(){var e=a("#backgroundFileSelector");e.val(null),e.attr("accept",".png, .jpg, .jpeg, .svg"),e.clickWrap();var t=this;e.on("change",(function(e){var n=e.target.files[0],i=new FileReader;return i.onload=function(){var e=new Image;e.onload=function(){var n=document.createElement("canvas");n.width=e.width,n.height=e.height,n.getContext("2d").drawImage(e,0,0);var i=n.toDataURL("image/png"),o=new Image(n.width,n.height);o.src=i,o.onload=function(){t.scene.customBackgroundLoaded?t.scene.imgBackgroundList[t.scene.imgBackgroundList.length-1]=o:t.scene.imgBackgroundList.push(o),t.setBackground(t.scene.imgBackgroundList.length-1)},r.isLocalStorageAvailable()&&(a("#show-message-confirm").oneWrap("shown.bs.modal",(function(){a("#confirm").off(),a("#confirm").on("click",(function(e){e.preventDefault(),localStorage.setItem("customBackground",JSON.stringify({image:i.replace(/^data:image\/(png|jpg);base64,/,""),timestamp:(new Date).getTime()}))})),a("#confirmCancel").off(),a("#confirmCancel").on("click",(function(e){e.preventDefault()}))})),s.displayPopupMessage("Blockly.Msg.POPUP_BACKGROUND_STORAGE",l.Msg.POPUP_BACKGROUND_STORAGE,l.Msg.YES,l.Msg.NO))},"string"==typeof i.result&&(e.src=i.result)},i.readAsDataURL(n),!1}))},e.prototype.init=function(e,t,n,r){var s=this;this.robotType=r||this.robotType,this.storedPrograms=e,this.resetRenderUntil(e.length);var a=[];this.interpreters=e.map((function(e){var t=JSON.parse(e.javaScriptProgram);return a.push(e.configuration),new i.Interpreter(t,new o.RobotSimBehaviour,s.callbackOnTermination.bind(s),s.breakpoints,e.programName,e.updateNNView)})),this.updateDebugMode(this.debugMode);var c=e.map((function(e){return e.programName}));this.scene.init(this.robotType,t,this.interpreters,a,c,this.importPoses,n)},e.prototype.initColorPicker=function(e){var t=this;e&&e.length>0?this.colorpicker=new c("#colorpicker",{shades:1,hues:8,customColors:e,setText:!1}):this.colorpicker=new c("#colorpicker",{shades:1,hues:8,setText:!1}),this.colorpicker.on("change",(function(e){t.scene.changeColorWithColorPicker(e)}));var n=c.prototype.close;c.prototype.close=function(){a(".huebee__container").off("mouseup touchend",(function(e){e.stopPropagation(),t.resetColorpickerCursor()})),n.call(this)};var r=c.prototype.open;c.prototype.open=function(){r.call(this),a(".huebee__container").on("mouseup touchend",(function(e){t.resetColorpickerCursor()})),a(".huebee").draggable({})}},e.prototype.initEvents=function(){var e=this,t=this;a(window).on("focus",(function(){return t.start(),!1})),a(window).on("blur",(function(){return t.stop(),!1})),a("#simDiv").on("wheel mousewheel touchmove",(function(t){e.handleMouseWheel(t)})),a("#canvasDiv").on("mousedown touchstart mousemove touchmove mouseup touchend mouseout touchcancel",(function(t){e.handleMouse(t)})),a("#robotLayer").on("click touchstart",(function(e){a("#robotLayer").attr("tabindex",0),a("#robotLayer").trigger("focus"),e.preventDefault()})),a("#blocklyDiv").on("click touchstart",(function(e){a("#blocklyDiv").trigger("focus"),e.preventDefault()}))},e.prototype.interpreterAddEvent=function(e){this.updateBreakpointEvent(),this.interpreters&&this.interpreters.forEach((function(t){return t.addEvent(e)}))},e.prototype.removeBreakPoint=function(e){for(var t=0;t<this._breakpoints.length;t++)this._breakpoints[t]===e.id&&this._breakpoints.splice(t,1);if(!this._breakpoints&&this._breakpoints.length>0&&null!==this.interpreters)for(t=0;t<this.interpreters.length;t++)this.interpreters[t].removeEvent(n.DEBUG_BREAKPOINT)},e.prototype.render=function(){var e=this;if(this.canceled)return cancelAnimationFrame(this.globalID),this.renderTime=5,void(this.globalID=0);this.globalID=requestAnimationFrame(this.render.bind(this));var t=(new Date).getTime(),n=t-this.time,r=Math.min(15,Math.abs(n-this.renderTime)/this.getNumRobots());this.dt=n/1e3,this.stepCounter+=1,this.isInterpreterRunning()&&this.interpreters.forEach((function(n,i){if(n.isTerminated())e.allInterpretersTerminated()&&(e.interpreterRunning=!1);else if(e.renderUntil[i]<=t){var o=n.run(t+r),s=(new Date).getTime();e.renderUntil[i]=s+o}}),this),this.updateBreakpointEvent();var i=(new Date).getTime();this.scene.update(this.dt,this.isInterpreterRunning()),this.renderTime=(new Date).getTime()-i,this.time=t},e.prototype.resetColorpickerCursor=function(){this.colorpicker.color=null,this.colorpicker.setTexts(),this.colorpicker.setBackgrounds(),this.colorpicker.cursor.classList.add("is-hidden")},e.prototype.resetPose=function(){this.scene.resetPoseAndDrawings()},e.prototype.resetRenderUntil=function(e){this._renderUntil=[];for(var t=0;t<e;t++)this._renderUntil[t]=0},e.prototype.run=function(e,t){this.callbackOnEnd=t;var n=this;this.init(e,!1,(function(){setTimeout((function(){n.interpreterRunning=!0}),250)}))},e.prototype.setBackground=function(e){this.scale=1,this.scene.stepBackground(e)},e.prototype.setNewConfig=function(e){return __awaiter(this,void 0,void 0,(function(){var t,n,r,i,o,s,c,l,u=this;return __generator(this,(function(h){switch(h.label){case 0:return e.hasOwnProperty("tileSet")?[4,this.prepareRescueLine(e).then(function(e){this.configType="rcj",setTimeout((function(){a(window).trigger("resize","loaded")}),100)}.bind(this),(function(e){alert(e.message)}))]:[3,2];case 1:return h.sent(),[3,3];case 2:t=e,n=this.scene.uCanvas.height,r=this.scene.uCanvas.width,i=this,o=function(e){var t={};switch(t.id=i.scene.uniqueObjectId,"MARKER"===e.type?(t.shape="MARKER",t.markerId=e.markerId):t.shape=e.form.toUpperCase(),t.color=e.color,t.newObjecttype=e.type,e.form.toLowerCase()){case"rectangle":t.p={x:e.x*r,y:e.y*n},t.params=[e.w*r,e.h*n];break;case"triangle":t.p={x:0,y:0},t.params=[e.ax*r,e.ay*n,e.bx*r,e.by*n,e.cx*r,e.cy*n];break;case"circle":t.p={x:e.x*r,y:e.y*n},t.params=[e.r*n*r]}return t},this.importPoses=[],t.robotPoses.forEach((function(e){if(Array.isArray(e)){(i={}).x=e[0].x*r,i.y=e[0].y*n,i.theta=e[0].theta;var t={};t.x=e[1].x*r,t.y=e[1].y*n,t.theta=e[1].theta,u.importPoses.push([i,t])}else{var i;(i={}).x=e.x*r,i.y=e.y*n,i.theta=e.theta,u.importPoses.push([i,i])}})),this.scene.setRobotPoses(this.importPoses),s=[],t.obstacles.forEach((function(e){s.push(o(e))})),this.scene.addImportObstacle(s),c=[],t.colorAreas.forEach((function(e){c.push(o(e))})),this.scene.addImportColorAreaList(c),l=[],t.marker&&t.marker.forEach((function(e){l.push(o(e))})),this.scene.addImportMarkerList(l),h.label=3;case 3:return[2]}}))}))},e.prototype.setPause=function(e){this.interpreterRunning=!e},e.prototype.start=function(){this.time=(new Date).getTime(),this.canceled=!1,0===this.globalID&&this.render()},e.prototype.stop=function(){this.interpreters.forEach((function(e){e.updateNNView&&u.saveNN2Blockly(e.neuralNetwork)})),this.canceled=!0},e.prototype.stopProgram=function(){this.interpreters.forEach((function(e){e.removeHighlights(),e.terminate(),e.updateNNView&&u.saveNN2Blockly(e.neuralNetwork)})),this.interpreterRunning=!1},e.prototype.toggleColorPicker=function(){a(".huebee").length?this.colorpicker.close():this.colorpicker.open()},e.prototype.toggleTrail=function(){this.scene.toggleTrail()},e.prototype.updateBreakpointEvent=function(){if(this.debugMode){var e=this;l.getMainWorkspace().getAllBlocks().forEach((function(t){if(!a(t.svgGroup_).hasClass("blocklyDisabled")){e.observers.hasOwnProperty(t.id)&&e.observers[t.id].disconnect();var n=new MutationObserver((function(n){n.forEach((function(n){a(t.svgGroup_).hasClass("blocklyDisabled")||a(t.svgGroup_).hasClass("blocklyDragging")?(e.removeBreakPoint(t),a(t.svgGroup_).removeClass("blocklySelected"),a(t.svgPath_).removeClass("breakpoint").removeClass("selectedBreakpoint")):a(t.svgGroup_).hasClass("blocklySelected")&&(a(t.svgPath_).hasClass("breakpoint")?(e.removeBreakPoint(t),a(t.svgPath_).removeClass("breakpoint")):a(t.svgPath_).hasClass("selectedBreakpoint")?(e.removeBreakPoint(t),a(t.svgPath_).removeClass("selectedBreakpoint").stop(!0,!0).animate({"fill-opacity":"1"},0)):(e._breakpoints.push(t.id),a(t.svgPath_).addClass("breakpoint")),a(t.svgGroup_).removeClass("blocklySelected"))}))}));e.observers[t.id]=n,n.observe(t.svgGroup_,{attributes:!0})}}),e)}},e.prototype.updateDebugMode=function(e){if(this.debugMode=e,null!==this.interpreters)for(var t=0;t<this.interpreters.length;t++)this.interpreters[t].setDebugMode(e);this.updateBreakpointEvent()},e.prototype.prepareRescueLine=function(e){return __awaiter(this,void 0,void 0,(function(){var t;return __generator(this,(function(n){return t=this,[2,new Promise((function(n,r){var i={rc:"ok",message:""},o=e.length*t.TILE_SIZE,s=e.width*t.TILE_SIZE,c=document.createElement("canvas");c.id="tmp",c.width=s,c.height=o,a("body").append(c);var l,u=function(e){return new Promise((function(t,n){var r=new Image;r.onload=function(){t(r)},r.onerror=function(){n("Image couldn't be loaded: "+e.tileType.image)},r.src="/css/img/simulationRescue/tiles/"+e.tileType.image}))},h=[];for(l in e.tiles)h.push(e.tiles[l]);var p,d,g=e.tiles[e.startTile.x+","+e.startTile.y+","+e.startTile.z],m={},y=[];(d=h,Promise.all(d.map(u))).then((function(l){var u=c.getContext("2d");u.fillStyle="white",u.fillRect(0,0,c.width,c.height);var d=[],b=[],v=[],E=[],I=[],_=[];if(h.forEach((function(n,r){if(n.tileType.image.startsWith("ev")){switch(n.tileType.image.replace(".png","")){case"ev1":_.push(n.x),_.push(n.y);break;case"ev2":var o=n.rot.toString();switch(o){case"0":d.push({x:n.x,y:n.y});break;case"90":b.push({x:n.x,y:n.y});break;case"180":v.push({x:n.x,y:n.y});break;case"270":E.push({x:n.x,y:n.y});break;default:i.rc="error",i.message="Unknown evacuation zone rotation"}break;case"ev3":switch(o=n.rot.toString()){case"0":d.push({x:n.x,y:n.y}),b.push({x:n.x,y:n.y});break;case"90":b.push({x:n.x,y:n.y}),v.push({x:n.x,y:n.y});break;case"180":E.push({x:n.x,y:n.y}),v.push({x:n.x,y:n.y});break;case"270":d.push({x:n.x,y:n.y}),E.push({x:n.x,y:n.y});break;default:i.rc="error",i.message="Unknown evacuation zone rotation"}break;default:i.rc="error",i.message="Unknown evacuation zone type"}var s=n.x,a=n.y,c=s+","+(a-1)+",0",h=s+1+","+a+",0",g=s+","+(a+1)+",0",m=s-1+","+a+",0";e.tiles[c]&&e.tiles[c].tileType.image.startsWith("tile-0")?p={x:s,y:a,dir:"top"}:e.tiles[h]&&e.tiles[h].tileType.image.startsWith("tile-0")?p={x:s,y:a,dir:"right"}:e.tiles[g]&&e.tiles[g].tileType.image.startsWith("tile-0")?p={x:s,y:a,dir:"bottom"}:e.tiles[m]&&e.tiles[m].tileType.image.startsWith("tile-0")&&(p={x:s,y:a,dir:"left"})}else if(u.save(),u.translate(n.x*t.TILE_SIZE+t.TILE_SIZE/2,n.y*t.TILE_SIZE+t.TILE_SIZE/2),u.rotate(n.rot*Math.PI/180),u.drawImage(l[r],0,0,l[r].width,l[r].height,-t.TILE_SIZE/2,-t.TILE_SIZE/2,t.TILE_SIZE,t.TILE_SIZE),u.restore(),n.index.length>0&&y.push(n),n.items&&n.items.obstacles&&n.items.obstacles>0){var k={};k.id=t.scene.uniqueObjectId,k.shape=f.SimObjectShape.Rectangle,k.color="#ff0000",k.newObjecttype=f.SimObjectType.Obstacle,k.p={x:n.x*t.TILE_SIZE+t.TILE_SIZE/4+10,y:n.y*t.TILE_SIZE+t.TILE_SIZE/4+10},k.params=[.5*t.TILE_SIZE,.5*t.TILE_SIZE],I.push(k)}})),d.length>=2&&b.length>=2&&v.length>=2&&E.length>=2){d.sort((function(e,t){return e.x-t.x})),b.sort((function(e,t){return e.y-t.y})),v.sort((function(e,t){return e.x-t.x})),E.sort((function(e,t){return e.y-t.y}));var k={id:t.scene.uniqueObjectId,p:{x:d[0].x*t.TILE_SIZE+10,y:d[0].y*t.TILE_SIZE+t.EV_WALL_SIZE},params:[t.TILE_SIZE*(d[d.length-1].x-d[0].x+1),t.EV_WALL_SIZE],theta:0,color:"#ffffff",shape:f.SimObjectShape.Rectangle,type:f.SimObjectType.Obstacle},S={id:t.scene.uniqueObjectId,p:{x:b[0].x*t.TILE_SIZE+t.TILE_SIZE,y:b[0].y*t.TILE_SIZE+t.EV_WALL_SIZE},params:[t.EV_WALL_SIZE,t.TILE_SIZE*(b[b.length-1].y-b[0].y+1)],theta:0,color:"#ffffff",shape:f.SimObjectShape.Rectangle,type:f.SimObjectType.Obstacle},T={id:t.scene.uniqueObjectId,p:{x:v[0].x*t.TILE_SIZE+10,y:v[0].y*t.TILE_SIZE+t.TILE_SIZE},params:[t.TILE_SIZE*(v[v.length-1].x-v[0].x+1),t.EV_WALL_SIZE],theta:0,color:"#ffffff",shape:f.SimObjectShape.Rectangle,type:f.SimObjectType.Obstacle},w={id:t.scene.uniqueObjectId,p:{x:E[0].x*t.TILE_SIZE+10,y:E[0].y*t.TILE_SIZE+t.EV_WALL_SIZE},params:[t.EV_WALL_SIZE,t.TILE_SIZE*(E[E.length-1].y-E[0].y+1)],theta:0,color:"#ffffff",shape:f.SimObjectShape.Rectangle,type:f.SimObjectType.Obstacle};I.push(k,S,T,w);var L=h.filter((function(e){return e.tileType.image.startsWith("ev3")}));!function(e,n){n.save(),n.translate(e.x*t.TILE_SIZE+t.TILE_SIZE/2,e.y*t.TILE_SIZE+t.TILE_SIZE/2);var r=0;switch(e.rot){case 0:break;case 90:r=Math.PI/2;break;case 180:r=Math.PI;break;case 270:r=270*Math.PI/180}n.rotate(r),n.beginPath(),n.moveTo(-t.TILE_SIZE/2,-t.TILE_SIZE/2),n.lineTo(t.TILE_SIZE/2,-t.TILE_SIZE/2),n.lineTo(t.TILE_SIZE/2,t.TILE_SIZE/2),n.closePath(),n.fillStyle="#000000",n.fill(),n.restore()}(L[Math.floor(Math.random()*L.length)],u)}if(g?m=t.getTilePose(g,e.tiles[g.next],{}):(i.rc="error",i.message="Unknown start tile"),p||(i.rc="error",i.message="Unknown evacuation zone entrance tile"),"ok"===i.rc){t.deleteAllColorArea(),t.deleteAllObstacle(),function(e,n){n.save(),n.translate(e.x*t.TILE_SIZE+t.TILE_SIZE/2,e.y*t.TILE_SIZE+t.TILE_SIZE/2);var r=0;switch(e.dir){case"top":break;case"right":r=Math.PI/2;break;case"bottom":r=Math.PI;break;case"left":r=270*Math.PI/180}n.rotate(r),n.fillStyle="#33B8CA",n.fillRect(-t.TILE_SIZE/2,-t.TILE_SIZE/2,t.TILE_SIZE,t.EV_WALL_SIZE),n.restore()}(p,u),function(e){e.strokeStyle="#dddddd",e.lineWidth=1;for(var n=1;n<o;n++)e.moveTo(0,n*t.TILE_SIZE),e.lineTo(s*t.TILE_SIZE,n*t.TILE_SIZE),e.stroke();for(var r=1;r<s;r++)e.moveTo(r*t.TILE_SIZE,0),e.lineTo(r*t.TILE_SIZE,t.TILE_SIZE*o),e.stroke()}(u);var x=function(){var e=new Image;return e.src=c.toDataURL(),e.width=c.width,e.height=c.height,e}();t.scene.imgBackgroundList.push(x),t.setBackground(t.scene.imgBackgroundList.length-1),t.scene.addImportObstacle(I.concat(function(n){var r=e.victims,i=[],o=Math.min(n[0],n[2])*t.TILE_SIZE,s=Math.min(n[1],n[3])*t.TILE_SIZE,a=(Math.max(n[0],n[2])-Math.min(n[0],n[2])+1)*t.TILE_SIZE,c=(Math.max(n[1],n[3])-Math.min(n[1],n[3])+1)*t.TILE_SIZE,l=function(e){var n={id:t.scene.uniqueObjectId,p:{x:o+Math.random()*a,y:s+Math.random()*c},params:[7,1],theta:0,color:e,shape:f.SimObjectShape.Circle,type:f.SimObjectType.Obstacle};i.push(n)};if(r.live&&r.live>0)for(var u=0;u<r.live;++u)l("#33B8CA");if(r.dead&&r.dead>0)for(u=0;u<r.dead;++u)l("#000000");return i}(_))),t.scene.addImportRcjLabel(y),t.scene.drawRcjLabel(),t.importPoses=[[m,m]],t.scene.setRobotPoses(t.importPoses),t.scene.setRcjScoringTool(t.scene.robots[0],e),a("#simCompetition").show(),n(i)}else r(i);a("#tmp").remove()}),(function(e){a("#tmp").remove(),i.rc="error",i.message=e,r(i)}))}))]}))}))},e.prototype.getTilePose=function(e,t,n){var r={};r.x=e.x*this.TILE_SIZE+this.TILE_SIZE/2+this.EV_WALL_SIZE,r.y=e.y*this.TILE_SIZE+this.TILE_SIZE/2+this.EV_WALL_SIZE;var i=0;return null!=t&&null!=t?e.x-t.x==1?i=Math.PI:e.y-t.y==-1?i=Math.PI/2:e.y-t.y==1&&(i=3*Math.PI/2):null!=n&&null!=n&&(e.x-n.x==-1?i=Math.PI:e.y-n.y==1?i=Math.PI/2:e.y-n.y==-1&&(i=3*Math.PI/2)),r.theta=i,r},e}();t.SimulationRoberta=d,function(){for(var e=["webkit","moz","ms","o"],t=null,n=0;n<e.length&&!window.requestAnimationFrame&&!window.cancelAnimationFrame;n++)t=e[n],window.requestAnimationFrame=window.requestAnimationFrame||window[t+"RequestAnimationFrame"],window.cancelAnimationFrame=window.cancelAnimationFrame||window[t+"CancelAnimationFrame"]||window[t+"CancelRequestAnimationFrame"];if(/iP(ad|hone|od).*OS 6/.test(window.navigator.userAgent)||!window.requestAnimationFrame||!window.cancelAnimationFrame){var r=0;window.requestAnimationFrame=function(e,t){var n=window.performance.now(),i=Math.max(r+16,n);return setTimeout((function(){e(r=i)}),i-n)},window.cancelAnimationFrame=clearTimeout}}(),t.default=d.Instance}));
+var __awaiter=this&&this.__awaiter||function(e,t,n,r){return new(n||(n=Promise))((function(o,i){function s(e){try{c(r.next(e))}catch(e){i(e)}}function a(e){try{c(r.throw(e))}catch(e){i(e)}}function c(e){var t;e.done?o(e.value):(t=e.value,t instanceof n?t:new n((function(e){e(t)}))).then(s,a)}c((r=r.apply(e,t||[])).next())}))},__generator=this&&this.__generator||function(e,t){var n,r,o,i,s={label:0,sent:function(){if(1&o[0])throw o[1];return o[1]},trys:[],ops:[]};return i={next:a(0),throw:a(1),return:a(2)},"function"==typeof Symbol&&(i[Symbol.iterator]=function(){return this}),i;function a(a){return function(c){return function(a){if(n)throw new TypeError("Generator is already executing.");for(;i&&(i=0,a[0]&&(s=0)),s;)try{if(n=1,r&&(o=2&a[0]?r.return:a[0]?r.throw||((o=r.return)&&o.call(r),0):r.next)&&!(o=o.call(r,a[1])).done)return o;switch(r=0,o&&(a=[2&a[0],o.value]),a[0]){case 0:case 1:o=a;break;case 4:return s.label++,{value:a[1],done:!1};case 5:s.label++,r=a[1],a=[0];continue;case 7:a=s.ops.pop(),s.trys.pop();continue;default:if(!(o=s.trys,(o=o.length>0&&o[o.length-1])||6!==a[0]&&2!==a[0])){s=0;continue}if(3===a[0]&&(!o||a[1]>o[0]&&a[1]<o[3])){s.label=a[1];break}if(6===a[0]&&s.label<o[1]){s.label=o[1],o=a;break}if(o&&s.label<o[2]){s.label=o[2],s.ops.push(a);break}o[2]&&s.ops.pop(),s.trys.pop();continue}a=t.call(e,s)}catch(e){a=[6,e],r=0}finally{n=o=0}if(5&a[0])throw a[1];return{value:a[0]?a[1]:void 0,done:!0}}([a,c])}}};define(["require","exports","interpreter.constants","util.roberta","interpreter.interpreter","interpreter.robotSimBehaviour","message","jquery","huebee","blockly","nn.controller","simulation.scene","robot.base","simulation.objects","simulation.math"],(function(e,t,n,r,o,i,s,a,c,l,u,h,p,f,d){Object.defineProperty(t,"__esModule",{value:!0}),t.SimulationRoberta=void 0;var g=function(){function e(){this.canceled=!0,this._breakpoints=[],this._debugMode=!1,this._dt=0,this._interpreterRunning=!1,this._interpreters=[],this._renderTime=5,this._renderUntil=[],this._scale=1,this._time=(new Date).getTime(),this._importPoses=[],this.dist=0,this.globalID=0,this.numRobots=0,this.observers=[],this.TILE_SIZE=90,this.EV_WALL_SIZE=10,this._configType="std"}return Object.defineProperty(e,"Instance",{get:function(){return this._instance||(this._instance=new e,this._instance._selectionListener=new p.SelectionListener,this._instance.scene=new h.SimulationScene(this._instance),this._instance.initEvents()),this._instance},enumerable:!1,configurable:!0}),Object.defineProperty(e.prototype,"debugMode",{get:function(){return this._debugMode},set:function(e){this._debugMode=e},enumerable:!1,configurable:!0}),Object.defineProperty(e.prototype,"lastMousePosition",{get:function(){return this._lastMousePosition},set:function(e){this._lastMousePosition=e},enumerable:!1,configurable:!0}),Object.defineProperty(e.prototype,"oldMousePosition",{get:function(){return this._oldMousePosition},set:function(e){this._oldMousePosition=e},enumerable:!1,configurable:!0}),Object.defineProperty(e.prototype,"selectionListener",{get:function(){return this._selectionListener},enumerable:!1,configurable:!0}),Object.defineProperty(e.prototype,"renderUntil",{get:function(){return this._renderUntil},enumerable:!1,configurable:!0}),Object.defineProperty(e.prototype,"breakpoints",{get:function(){return this._breakpoints},set:function(e){this._breakpoints=e},enumerable:!1,configurable:!0}),Object.defineProperty(e.prototype,"interpreters",{get:function(){return this._interpreters},set:function(e){this._interpreters=e,this.numRobots=this._interpreters.length},enumerable:!1,configurable:!0}),Object.defineProperty(e.prototype,"time",{get:function(){return this._time},set:function(e){this._time=e},enumerable:!1,configurable:!0}),Object.defineProperty(e.prototype,"importPoses",{get:function(){return this._importPoses},set:function(e){this._importPoses=e},enumerable:!1,configurable:!0}),Object.defineProperty(e.prototype,"renderTime",{get:function(){return this._renderTime},set:function(e){this._renderTime=e},enumerable:!1,configurable:!0}),Object.defineProperty(e.prototype,"dt",{get:function(){return this._dt},set:function(e){this._dt=e},enumerable:!1,configurable:!0}),Object.defineProperty(e.prototype,"scale",{get:function(){return this._scale},set:function(e){this._scale=e},enumerable:!1,configurable:!0}),e.prototype.isInterpreterRunning=function(){return this._interpreterRunning},Object.defineProperty(e.prototype,"interpreterRunning",{set:function(e){this._interpreterRunning=e},enumerable:!1,configurable:!0}),Object.defineProperty(e.prototype,"configType",{get:function(){return this._configType},set:function(e){this._configType=e},enumerable:!1,configurable:!0}),e.prototype.addMarker=function(e){this.scene.addMarker(e)},e.prototype.addColorArea=function(e){this.scene.addColorArea(e),this.enableChangeObjectButtons()},e.prototype.addObstacle=function(e){this.scene.addObstacle(e),this.enableChangeObjectButtons()},e.prototype.allInterpretersTerminated=function(){for(var e=0;e<this.interpreters.length;e++)if(!this.interpreters[e].isTerminated())return!1;return!0},e.prototype.callbackOnTermination=function(){this.allInterpretersTerminated()&&("function"==typeof this.callbackOnEnd&&this.callbackOnEnd(),console.log("END of Sim")),this.scene.robots.forEach((function(e){e.interpreter.isTerminated()&&e.mobile&&e.reset(),e.interpreter.updateNNView&&u.saveNN2Blockly(e.interpreter.neuralNetwork)}))},e.prototype.deleteAllColorArea=function(){this.scene.colorAreaList=[]},e.prototype.deleteAllObstacle=function(){this.scene.obstacleList=[]},e.prototype.deleteAllMarker=function(){this.scene.markerList=[]},e.prototype.deleteSelectedObject=function(){this.scene.deleteSelectedObject()},e.prototype.disableChangeObjectButtons=function(){a(".simChangeObject").removeClass("disabled").addClass("disabled")},e.prototype.enableChangeObjectButtons=function(){a(".simChangeObject").removeClass("disabled")},e.prototype.endDebugging=function(){null!==this.interpreters&&this.interpreters.forEach((function(e){e.setDebugMode(!1),e.breakpoints=[]})),l.getMainWorkspace().getAllBlocks().forEach((function(e){a(e.svgPath_).stop(!0,!0).removeAttr("style")})),this.breakpoints=[],this.debugMode=!1,this.updateBreakpointEvent()},e.prototype.exportConfigData=function(){return this.getConfigData()},e.prototype.getConfigData=function(){var e=this.scene.uCanvas.height,t=this.scene.uCanvas.width,n={};function r(n){if(n instanceof f.RectangleSimulationObject){if(n instanceof f.MarkerSimulationObject){var r=n.markerId;return{x:n.x/t,y:n.y/e,w:n.w/t,h:n.h/e,theta:n.theta,color:n.color,form:f.SimObjectShape.Rectangle,type:n.type,markerId:r}}return{x:n.x/t,y:n.y/e,w:n.w/t,h:n.h/e,theta:n.theta,color:n.color,form:f.SimObjectShape.Rectangle,type:n.type}}return n instanceof f.TriangleSimulationObject?{ax:n.ax/t,ay:n.ay/e,bx:n.bx/t,by:n.by/e,cx:n.cx/t,cy:n.cy/e,color:n.color,form:f.SimObjectShape.Triangle,type:n.type}:n instanceof f.CircleSimulationObject?{x:n.x/t,y:n.y/e,r:n.r/e/t,color:n.color,form:f.SimObjectShape.Circle,type:n.type}:void 0}var o=this.scene.getRobotPoses();return n.robotPoses=o.map((function(n){return[{x:n[0].x/t,y:n[0].y/e,theta:n[0].theta},{x:n[1].x/t,y:n[1].y/e,theta:n[1].theta}]})),n.obstacles=this.scene.obstacleList.map((function(e){return r(e)})),n.colorAreas=this.scene.colorAreaList.map((function(e){return r(e)})),n.marker=this.scene.markerList.map((function(e){return r(e)})),n},e.prototype.getNumRobots=function(){return this.interpreters.length},e.prototype.handleMouse=function(t){switch("mouseup"!==t.type&&"touchend"!==t.type&&t.stopPropagation(),t.preventDefault(),a("#robotLayer").data().hovered?a("#robotLayer").data("hovered",!1):a("#robotLayer").css("cursor","auto"),t&&"mouseout"!==t.type&&"touchcancel"!==t.type&&"touchend"!==t.type&&!t.startX&&(r.extendMouseEvent(t,this.scale,a("#robotLayer")),this.lastMousePosition={x:t.startX,y:t.startY}),t.type){case"mousedown":case"touchstart":this.oldMousePosition=this.lastMousePosition,this.selectionListener.fire(null);break;case"mousemove":case"touchmove":if(!this.oldMousePosition)return;t&&!t.startX&&r.extendMouseEvent(t,e.Instance.scale,a("#robotLayer"));var n=t,o=(n.startX-this.oldMousePosition.x)*this.scale,i=(n.startY-this.oldMousePosition.y)*this.scale,s=a("#canvasDiv").position();s.top+=i,s.left+=o,a("#canvasDiv").css({top:s.top}),a("#canvasDiv").css({left:s.left});break;default:this.oldMousePosition=null}},e.prototype.handleMouseWheel=function(e){var t=this.scale,n=0;if(void 0!==e.originalEvent.wheelDelta)n=e.originalEvent.wheelDelta;else if(e.originalEvent.touches){if(!e.originalEvent.touches[0]||!e.originalEvent.touches[1])return void(this.dist=0);var r=e.originalEvent.touches[0].pageX-e.originalEvent.touches[1].pageX,o=e.originalEvent.touches[0].pageY-e.originalEvent.touches[1].pageY,i=r*r+o*o;if(0==this.dist)return void(this.dist=i);n=i-this.dist,this.dist=i}else n=-e.originalEvent.deltaY;var s=!1;if(n>0?(this.scale*=1.025,this.scale>15&&(this.scale=15),s=!0):n<0&&(this.scale*=.925,this.scale<.25&&(this.scale=.25),s=!0),s){var c=this.scale-t,l=a("#canvasDiv").position(),u=this.scene.uCanvas.width*c,h=this.scene.uCanvas.height*c;l.top=l.top-h/2,l.left=l.left-u/2,a("#canvasDiv").css({top:l.top}),a("#canvasDiv").css({left:l.left}),this.scene.resetAllCanvas(!1)}return!1},e.prototype.importConfigData=function(){a("#backgroundFileSelector").val(null),a("#backgroundFileSelector").attr("accept",".json"),a("#backgroundFileSelector").off();var e=this;a("#backgroundFileSelector").onWrap("change",(function(t){var n=t.target.files[0],r=new FileReader;return r.onload=function(t){try{var n=JSON.parse(t.target.result);e.setNewConfig(n)}catch(e){console.error(e)}},r.readAsText(n),!1})),a("#backgroundFileSelector").clickWrap()},e.prototype.importImage=function(){var e=a("#backgroundFileSelector");e.val(null),e.attr("accept",".png, .jpg, .jpeg, .svg"),e.clickWrap();var t=this;e.on("change",(function(e){var n=e.target.files[0],o=new FileReader;return o.onload=function(){var e=new Image;e.onload=function(){var n=document.createElement("canvas");n.width=e.width,n.height=e.height,n.getContext("2d").drawImage(e,0,0);var o=n.toDataURL("image/png"),i=new Image(n.width,n.height);i.src=o,i.onload=function(){t.scene.customBackgroundLoaded?t.scene.imgBackgroundList[t.scene.imgBackgroundList.length-1]=i:t.scene.imgBackgroundList.push(i),t.setBackground(t.scene.imgBackgroundList.length-1)},r.isLocalStorageAvailable()&&(a("#show-message-confirm").oneWrap("shown.bs.modal",(function(){a("#confirm").off(),a("#confirm").on("click",(function(e){e.preventDefault(),localStorage.setItem("customBackground",JSON.stringify({image:o.replace(/^data:image\/(png|jpg);base64,/,""),timestamp:(new Date).getTime()}))})),a("#confirmCancel").off(),a("#confirmCancel").on("click",(function(e){e.preventDefault()}))})),s.displayPopupMessage("Blockly.Msg.POPUP_BACKGROUND_STORAGE",l.Msg.POPUP_BACKGROUND_STORAGE,l.Msg.YES,l.Msg.NO))},"string"==typeof o.result&&(e.src=o.result)},o.readAsDataURL(n),!1}))},e.prototype.init=function(e,t,n,r){var s=this;this.robotType=r||this.robotType,this.storedPrograms=e,this.resetRenderUntil(e.length);var a=[];this.interpreters=e.map((function(e){var t=JSON.parse(e.javaScriptProgram);return a.push(e.configuration),new o.Interpreter(t,new i.RobotSimBehaviour,s.callbackOnTermination.bind(s),s.breakpoints,e.programName,e.updateNNView)})),this.updateDebugMode(this.debugMode);var c=e.map((function(e){return e.programName}));this.scene.init(this.robotType,t,this.interpreters,a,c,this.importPoses,n)},e.prototype.initColorPicker=function(e){var t=this;e&&e.length>0?this.colorpicker=new c("#colorpicker",{shades:1,hues:8,customColors:e,setText:!1}):this.colorpicker=new c("#colorpicker",{shades:1,hues:8,setText:!1}),this.colorpicker.on("change",(function(e){t.scene.changeColorWithColorPicker(e)}));var n=c.prototype.close;c.prototype.close=function(){a(".huebee__container").off("mouseup touchend",(function(e){e.stopPropagation(),t.resetColorpickerCursor()})),n.call(this)};var r=c.prototype.open;c.prototype.open=function(){r.call(this),a(".huebee__container").on("mouseup touchend",(function(e){t.resetColorpickerCursor()})),a(".huebee").draggable({})}},e.prototype.initEvents=function(){var e=this,t=this;a(window).on("focus",(function(){return t.start(),!1})),a(window).on("blur",(function(){return t.stop(),!1})),a("#simDiv").on("wheel mousewheel touchmove",(function(t){e.handleMouseWheel(t)})),a("#canvasDiv").on("mousedown touchstart mousemove touchmove mouseup touchend mouseout touchcancel",(function(t){e.handleMouse(t)})),a("#robotLayer").on("click touchstart",(function(e){a("#robotLayer").attr("tabindex",0),a("#robotLayer").trigger("focus"),e.preventDefault()})),a("#blocklyDiv").on("click touchstart",(function(e){a("#blocklyDiv").trigger("focus"),e.preventDefault()}))},e.prototype.interpreterAddEvent=function(e){this.updateBreakpointEvent(),this.interpreters&&this.interpreters.forEach((function(t){return t.addEvent(e)}))},e.prototype.removeBreakPoint=function(e){for(var t=0;t<this._breakpoints.length;t++)this._breakpoints[t]===e.id&&this._breakpoints.splice(t,1);if(!this._breakpoints&&this._breakpoints.length>0&&null!==this.interpreters)for(t=0;t<this.interpreters.length;t++)this.interpreters[t].removeEvent(n.DEBUG_BREAKPOINT)},e.prototype.render=function(){var e=this;if(this.canceled)return cancelAnimationFrame(this.globalID),this.renderTime=5,void(this.globalID=0);this.globalID=requestAnimationFrame(this.render.bind(this));var t=(new Date).getTime(),n=t-this.time,r=Math.min(15,Math.abs(n-this.renderTime)/this.getNumRobots());this.dt=n/1e3,this.stepCounter+=1,this.isInterpreterRunning()&&this.interpreters.forEach((function(n,o){if(n.isTerminated())e.allInterpretersTerminated()&&(e.interpreterRunning=!1);else if(e.renderUntil[o]<=t){var i=n.run(t+r),s=(new Date).getTime();e.renderUntil[o]=s+i}}),this),this.updateBreakpointEvent();var o=(new Date).getTime();this.scene.update(this.dt,this.isInterpreterRunning()),this.renderTime=(new Date).getTime()-o,this.time=t},e.prototype.resetColorpickerCursor=function(){this.colorpicker.color=null,this.colorpicker.setTexts(),this.colorpicker.setBackgrounds(),this.colorpicker.cursor.classList.add("is-hidden")},e.prototype.resetPose=function(){this.scene.resetPoseAndDrawings()},e.prototype.resetRenderUntil=function(e){this._renderUntil=[];for(var t=0;t<e;t++)this._renderUntil[t]=0},e.prototype.run=function(e,t){this.callbackOnEnd=t;var n=this;this.init(e,!1,(function(){setTimeout((function(){n.interpreterRunning=!0}),250)}))},e.prototype.setBackground=function(e){this.scale=1,this.scene.stepBackground(e)},e.prototype.setNewConfig=function(e){return __awaiter(this,void 0,void 0,(function(){var t,n,r,o,i,s,c,l,u=this;return __generator(this,(function(h){switch(h.label){case 0:return e.hasOwnProperty("tileSet")?[4,this.prepareRescueLine(e).then(function(e){this.configType="rcj",setTimeout((function(){a(window).trigger("resize","loaded")}),100)}.bind(this),(function(e){alert(e.message)}))]:[3,2];case 1:return h.sent(),[3,3];case 2:t=e,n=this.scene.uCanvas.height,r=this.scene.uCanvas.width,o=this,i=function(e){var t={};switch(t.id=o.scene.uniqueObjectId,"MARKER"===e.type?(t.shape="MARKER",t.markerId=e.markerId):t.shape=e.form.toUpperCase(),t.color=e.color,t.newObjecttype=e.type,e.form.toLowerCase()){case"rectangle":t.p={x:e.x*r,y:e.y*n},t.params=[e.w*r,e.h*n];break;case"triangle":t.p={x:0,y:0},t.params=[e.ax*r,e.ay*n,e.bx*r,e.by*n,e.cx*r,e.cy*n];break;case"circle":t.p={x:e.x*r,y:e.y*n},t.params=[e.r*n*r]}return t},this.importPoses=[],t.robotPoses.forEach((function(e){if(Array.isArray(e)){(o={}).x=e[0].x*r,o.y=e[0].y*n,o.theta=e[0].theta;var t={};t.x=e[1].x*r,t.y=e[1].y*n,t.theta=e[1].theta,u.importPoses.push([o,t])}else{var o;(o={}).x=e.x*r,o.y=e.y*n,o.theta=e.theta,u.importPoses.push([o,o])}})),this.scene.setRobotPoses(this.importPoses),s=[],t.obstacles.forEach((function(e){s.push(i(e))})),this.scene.addImportObstacle(s),c=[],t.colorAreas.forEach((function(e){c.push(i(e))})),this.scene.addImportColorAreaList(c),l=[],t.marker&&t.marker.forEach((function(e){l.push(i(e))})),this.scene.addImportMarkerList(l),h.label=3;case 3:return[2]}}))}))},e.prototype.setPause=function(e){this.interpreterRunning=!e},e.prototype.start=function(){this.time=(new Date).getTime(),this.canceled=!1,0===this.globalID&&this.render()},e.prototype.stop=function(){this.interpreters.forEach((function(e){e.updateNNView&&u.saveNN2Blockly(e.neuralNetwork)})),this.canceled=!0},e.prototype.stopProgram=function(){this.interpreters.forEach((function(e){e.removeHighlights(),e.terminate(),e.updateNNView&&u.saveNN2Blockly(e.neuralNetwork)})),this.interpreterRunning=!1},e.prototype.toggleColorPicker=function(){a(".huebee").length?this.colorpicker.close():this.colorpicker.open()},e.prototype.toggleTrail=function(){this.scene.toggleTrail()},e.prototype.updateBreakpointEvent=function(){if(this.debugMode){var e=this;l.getMainWorkspace().getAllBlocks().forEach((function(t){if(!a(t.svgGroup_).hasClass("blocklyDisabled")){e.observers.hasOwnProperty(t.id)&&e.observers[t.id].disconnect();var n=new MutationObserver((function(n){n.forEach((function(n){a(t.svgGroup_).hasClass("blocklyDisabled")||a(t.svgGroup_).hasClass("blocklyDragging")?(e.removeBreakPoint(t),a(t.svgGroup_).removeClass("blocklySelected"),a(t.svgPath_).removeClass("breakpoint").removeClass("selectedBreakpoint")):a(t.svgGroup_).hasClass("blocklySelected")&&(a(t.svgPath_).hasClass("breakpoint")?(e.removeBreakPoint(t),a(t.svgPath_).removeClass("breakpoint")):a(t.svgPath_).hasClass("selectedBreakpoint")?(e.removeBreakPoint(t),a(t.svgPath_).removeClass("selectedBreakpoint").stop(!0,!0).animate({"fill-opacity":"1"},0)):(e._breakpoints.push(t.id),a(t.svgPath_).addClass("breakpoint")),a(t.svgGroup_).removeClass("blocklySelected"))}))}));e.observers[t.id]=n,n.observe(t.svgGroup_,{attributes:!0})}}),e)}},e.prototype.updateDebugMode=function(e){if(this.debugMode=e,null!==this.interpreters)for(var t=0;t<this.interpreters.length;t++)this.interpreters[t].setDebugMode(e);this.updateBreakpointEvent()},e.prototype.prepareRescueLine=function(e){return __awaiter(this,void 0,void 0,(function(){var t;return __generator(this,(function(n){return t=this,[2,new Promise((function(n,r){var o={rc:"ok",message:""},i=e.length*t.TILE_SIZE,s=e.width*t.TILE_SIZE,c=document.createElement("canvas");c.id="tmp",c.width=s,c.height=i,a("body").append(c);var l,u=function(e){return new Promise((function(t,n){var r=new Image;r.onload=function(){t(r)},r.onerror=function(){n("Image couldn't be loaded: "+e.tileType.image)},r.src="/css/img/simulationRescue/tiles/"+e.tileType.image}))},h=[];for(l in e.tiles)h.push(e.tiles[l]);var p,g,m=e.tiles[e.startTile.x+","+e.startTile.y+","+e.startTile.z],b={},y=[],v=function(n){var r=e.victims,o=[],i=Math.min(n[0],n[2])*t.TILE_SIZE-t.TILE_SIZE/2,s=Math.min(n[1],n[3])*t.TILE_SIZE-t.TILE_SIZE/2,a=(Math.max(n[0],n[2])-Math.min(n[0],n[2])+1)*t.TILE_SIZE+t.TILE_SIZE,c=(Math.max(n[1],n[3])-Math.min(n[1],n[3])+1)*t.TILE_SIZE+t.TILE_SIZE,l=function(e){for(var n={x:i+Math.random()*a,y:s+Math.random()*c},r=0;r<o.length;)d.getDistance(n,o[r].p)<200?(n={x:i+Math.random()*a,y:s+Math.random()*c},r=0):r++;var l={id:t.scene.uniqueObjectId,p:n,params:[7,1],theta:0,color:e,shape:f.SimObjectShape.Circle,type:f.SimObjectType.Obstacle};o.push(l)};if(r.live&&r.live>0)for(var u=0;u<r.live;++u)l("#33B8CA");if(r.dead&&r.dead>0)for(u=0;u<r.dead;++u)l("#000000");return o},E=[],I=function(){t.scene.obstacleList.filter((function(e){return e.movable})).forEach((function(e){e.selected=!0,e.removeObserver(t.scene.rcjScoringTool),t.scene.deleteSelectedObject()}));var e=v(E);t.scene.addSomeObstacles(e),t.scene.obstacleList.forEach((function(e){e.addObserver&&"function"==typeof e.addObserver&&e.addObserver(t.scene.rcjScoringTool)}))};(g=h,Promise.all(g.map(u))).then((function(l){var u=c.getContext("2d");u.fillStyle="white",u.fillRect(0,0,c.width,c.height);var d=[],g=[],_=[],S=[],k=[];if(h.forEach((function(n,r){if(n.tileType.image.startsWith("ev")){switch(n.tileType.image.replace(".png","")){case"ev1":E.push(n.x),E.push(n.y);break;case"ev2":var i=n.rot.toString();switch(i){case"0":d.push({x:n.x,y:n.y});break;case"90":g.push({x:n.x,y:n.y});break;case"180":_.push({x:n.x,y:n.y});break;case"270":S.push({x:n.x,y:n.y});break;default:o.rc="error",o.message="Unknown evacuation zone rotation"}break;case"ev3":switch(i=n.rot.toString()){case"0":d.push({x:n.x,y:n.y}),g.push({x:n.x,y:n.y});break;case"90":g.push({x:n.x,y:n.y}),_.push({x:n.x,y:n.y});break;case"180":S.push({x:n.x,y:n.y}),_.push({x:n.x,y:n.y});break;case"270":d.push({x:n.x,y:n.y}),S.push({x:n.x,y:n.y});break;default:o.rc="error",o.message="Unknown evacuation zone rotation"}break;default:o.rc="error",o.message="Unknown evacuation zone type"}var s=n.x,a=n.y,c=s+","+(a-1)+",0",h=s+1+","+a+",0",m=s+","+(a+1)+",0",b=s-1+","+a+",0";e.tiles[c]&&e.tiles[c].tileType.image.startsWith("tile-0")?p={x:s,y:a,dir:"top"}:e.tiles[h]&&e.tiles[h].tileType.image.startsWith("tile-0")?p={x:s,y:a,dir:"right"}:e.tiles[m]&&e.tiles[m].tileType.image.startsWith("tile-0")?p={x:s,y:a,dir:"bottom"}:e.tiles[b]&&e.tiles[b].tileType.image.startsWith("tile-0")&&(p={x:s,y:a,dir:"left"})}else if(u.save(),u.translate(n.x*t.TILE_SIZE+t.TILE_SIZE/2,n.y*t.TILE_SIZE+t.TILE_SIZE/2),u.rotate(n.rot*Math.PI/180),u.drawImage(l[r],0,0,l[r].width,l[r].height,-t.TILE_SIZE/2,-t.TILE_SIZE/2,t.TILE_SIZE,t.TILE_SIZE),u.restore(),n.index.length>0&&y.push(n),n.items&&n.items.obstacles&&n.items.obstacles>0){var v={};v.id=t.scene.uniqueObjectId,v.shape=f.SimObjectShape.Rectangle,v.color="#ff0000",v.newObjecttype=f.SimObjectType.Obstacle,v.p={x:n.x*t.TILE_SIZE+t.TILE_SIZE/4+10,y:n.y*t.TILE_SIZE+t.TILE_SIZE/4+10},v.params=[.5*t.TILE_SIZE,.5*t.TILE_SIZE],k.push(v)}})),d.length>=2&&g.length>=2&&_.length>=2&&S.length>=2){d.sort((function(e,t){return e.x-t.x})),g.sort((function(e,t){return e.y-t.y})),_.sort((function(e,t){return e.x-t.x})),S.sort((function(e,t){return e.y-t.y}));var T={id:t.scene.uniqueObjectId,p:{x:d[0].x*t.TILE_SIZE+10,y:d[0].y*t.TILE_SIZE+t.EV_WALL_SIZE},params:[t.TILE_SIZE*(d[d.length-1].x-d[0].x+1),t.EV_WALL_SIZE],theta:0,color:"#ffffff",shape:f.SimObjectShape.Rectangle,type:f.SimObjectType.Obstacle},w={id:t.scene.uniqueObjectId,p:{x:g[0].x*t.TILE_SIZE+t.TILE_SIZE,y:g[0].y*t.TILE_SIZE+t.EV_WALL_SIZE},params:[t.EV_WALL_SIZE,t.TILE_SIZE*(g[g.length-1].y-g[0].y+1)],theta:0,color:"#ffffff",shape:f.SimObjectShape.Rectangle,type:f.SimObjectType.Obstacle},L={id:t.scene.uniqueObjectId,p:{x:_[0].x*t.TILE_SIZE+10,y:_[0].y*t.TILE_SIZE+t.TILE_SIZE},params:[t.TILE_SIZE*(_[_.length-1].x-_[0].x+1),t.EV_WALL_SIZE],theta:0,color:"#ffffff",shape:f.SimObjectShape.Rectangle,type:f.SimObjectType.Obstacle},x={id:t.scene.uniqueObjectId,p:{x:S[0].x*t.TILE_SIZE+10,y:S[0].y*t.TILE_SIZE+t.EV_WALL_SIZE},params:[t.EV_WALL_SIZE,t.TILE_SIZE*(S[S.length-1].y-S[0].y+1)],theta:0,color:"#ffffff",shape:f.SimObjectShape.Rectangle,type:f.SimObjectType.Obstacle};k.push(T,w,L,x);var P=h.filter((function(e){return e.tileType.image.startsWith("ev3")}));!function(e,n){n.save(),n.translate(e.x*t.TILE_SIZE+t.TILE_SIZE/2,e.y*t.TILE_SIZE+t.TILE_SIZE/2);var r=0;switch(e.rot){case 0:break;case 90:r=Math.PI/2;break;case 180:r=Math.PI;break;case 270:r=270*Math.PI/180}n.rotate(r),n.beginPath(),n.moveTo(-t.TILE_SIZE/2,-t.TILE_SIZE/2),n.lineTo(t.TILE_SIZE/2,-t.TILE_SIZE/2),n.lineTo(t.TILE_SIZE/2,t.TILE_SIZE/2),n.closePath(),n.fillStyle="#000000",n.fill(),n.restore()}(P[Math.floor(Math.random()*P.length)],u)}if(m?b=t.getTilePose(m,e.tiles[m.next],{}):(o.rc="error",o.message="Unknown start tile"),p||(o.rc="error",o.message="Unknown evacuation zone entrance tile"),"ok"===o.rc){t.deleteAllColorArea(),t.deleteAllObstacle(),function(e,n){n.save(),n.translate(e.x*t.TILE_SIZE+t.TILE_SIZE/2,e.y*t.TILE_SIZE+t.TILE_SIZE/2);var r=0;switch(e.dir){case"top":break;case"right":r=Math.PI/2;break;case"bottom":r=Math.PI;break;case"left":r=270*Math.PI/180}n.rotate(r),n.fillStyle="#33B8CA",n.fillRect(-t.TILE_SIZE/2,-t.TILE_SIZE/2,t.TILE_SIZE,t.EV_WALL_SIZE),n.restore()}(p,u),function(e){e.strokeStyle="#dddddd",e.lineWidth=1;for(var n=1;n<i;n++)e.moveTo(0,n*t.TILE_SIZE),e.lineTo(s*t.TILE_SIZE,n*t.TILE_SIZE),e.stroke();for(var r=1;r<s;r++)e.moveTo(r*t.TILE_SIZE,0),e.lineTo(r*t.TILE_SIZE,t.TILE_SIZE*i),e.stroke()}(u);var O=function(){var e=new Image;return e.src=c.toDataURL(),e.width=c.width,e.height=c.height,e}();t.scene.imgBackgroundList.push(O),t.setBackground(t.scene.imgBackgroundList.length-1),t.scene.addImportObstacle(k.concat(v(E))),t.scene.addImportRcjLabel(y),t.scene.drawRcjLabel(),t.importPoses=[[b,b]],t.scene.setRobotPoses(t.importPoses),t.scene.setRcjScoringTool(t.scene.robots[0],e,I),a("#simCompetition").show(),n(o)}else r(o);a("#tmp").remove()}),(function(e){a("#tmp").remove(),o.rc="error",o.message=e,r(o)}))}))]}))}))},e.prototype.getTilePose=function(e,t,n){var r={};r.x=e.x*this.TILE_SIZE+this.TILE_SIZE/2+this.EV_WALL_SIZE,r.y=e.y*this.TILE_SIZE+this.TILE_SIZE/2+this.EV_WALL_SIZE;var o=0;return null!=t&&null!=t?e.x-t.x==1?o=Math.PI:e.y-t.y==-1?o=Math.PI/2:e.y-t.y==1&&(o=3*Math.PI/2):null!=n&&null!=n&&(e.x-n.x==-1?o=Math.PI:e.y-n.y==1?o=Math.PI/2:e.y-n.y==-1&&(o=3*Math.PI/2)),r.theta=o,r},e}();t.SimulationRoberta=g,function(){for(var e=["webkit","moz","ms","o"],t=null,n=0;n<e.length&&!window.requestAnimationFrame&&!window.cancelAnimationFrame;n++)t=e[n],window.requestAnimationFrame=window.requestAnimationFrame||window[t+"RequestAnimationFrame"],window.cancelAnimationFrame=window.cancelAnimationFrame||window[t+"CancelAnimationFrame"]||window[t+"CancelRequestAnimationFrame"];if(/iP(ad|hone|od).*OS 6/.test(window.navigator.userAgent)||!window.requestAnimationFrame||!window.cancelAnimationFrame){var r=0;window.requestAnimationFrame=function(e,t){var n=window.performance.now(),o=Math.max(r+16,n);return setTimeout((function(){e(r=o)}),o-n)},window.cancelAnimationFrame=clearTimeout}}(),t.default=g.Instance}));
 //# sourceMappingURL=simulation.roberta.js.map
 //# sourceMappingURL=simulation.roberta.js.map
diff --git a/OpenRobertaServer/staticResources/js/app/simulation/simulationLogic/simulation.scene.js b/OpenRobertaServer/staticResources/js/app/simulation/simulationLogic/simulation.scene.js
index 7d2e31269a..c760c2baae 100644
--- a/OpenRobertaServer/staticResources/js/app/simulation/simulationLogic/simulation.scene.js
+++ b/OpenRobertaServer/staticResources/js/app/simulation/simulationLogic/simulation.scene.js
@@ -1,3 +1,3 @@
-var __spreadArray=this&&this.__spreadArray||function(t,i,e){if(e||2===arguments.length)for(var s,o=0,r=i.length;o<r;o++)!s&&o in i||(s||(s=Array.prototype.slice.call(i,0,o)),s[o]=i[o]);return t.concat(s||Array.prototype.slice.call(i))};define(["require","exports","util.roberta","jquery","simulation.objects","simulation.roberta","robot.base","robot.base.mobile"],(function(t,i,e,s,o,r,a,n){Object.defineProperty(i,"__esModule",{value:!0}),i.SimulationScene=i.RcjScoringTool=void 0;var c=function(){function t(t,i){this.MAX_TIME=8,this.POINTS_OBSTACLE=15,this.POINTS_GAP=10,this.POINTS_INTERSECTION=10,this.POINTS_VICTIM_MULTI=1.4,this.POINTS_DEADONLY_VICTIM_MULTI=1.2,this.POINTS_LINE=[5,3,1,0],this.running=!1,this.mins=0,this.secs=0,this.csecs=0,this.path=0,this.lastPath=0,this.lastCheckPoint={},this.line=!0,this.prevCheckPointTile={},this.programPaused=!0,this.victimsLocated=0,this.linePoints=1,this.obstaclePoints=0,this.totalScore=0,this.avoidanceGoalIndex=null,this.wasOnLineOnce=!1,this.configData=i,this.robot=t,this.init();var e=this;s("#rcjStartStop").off().on("click",(function(){return s(this).text().indexOf("Start")>=0?(s(this).html("Stop<br>Scoring Run"),e.init(),s("#rcjStartStop").addClass("running"),!1):(s(this).html("Start<br>Scoring Run"),clearInterval(e.stopWatch),s("#rcjStartStop").removeClass("running"),s("#rcjLoP").addClass("disabled"),s("#rcjNextCP").addClass("disabled"),e.robot&&e.robot.interpreter.terminate(),e.programPaused=!0,!1)})),s("#rcjLoP").off().on("click",(function(t){e.robot.interpreter.terminate(),e.programPaused=!0,s("#rcjLoP").addClass("disabled"),s("#rcjNextCP").addClass("disabled");var o=r.default.getTilePose(e.lastCheckPoint,i.tiles[e.lastCheckPoint.next],e.prevCheckPointTile);return e.robot.pose=new n.Pose(o.x,o.y,o.theta),e.robot.initialPose=new n.Pose(o.x,o.y,o.theta),e.path=e.lastCheckPoint.index[0],e.lastPath=e.path,e.loPCounter+=1,e.loPSum+=1,e.nextCheckPoint&&e.loPCounter>=3&&s("#rcjNextCP").removeClass("disabled"),!1})),s("#rcjNextCP").off().on("click",(function(t){if(e.robot.interpreter.terminate(),e.programPaused=!0,s("#rcjLoP").addClass("disabled"),s("#rcjNextCP").addClass("disabled"),e.nextCheckPoint){var o=r.default.getTilePose(e.nextCheckPoint,i.tiles[e.nextCheckPoint.next],e.prevNextCheckPoint);e.robot.pose=new n.Pose(o.x,o.y,o.theta),e.robot.initialPose=new n.Pose(o.x,o.y,o.theta),e.path=e.nextCheckPoint.index[0],e.lastPath=e.path,e.loPCounter=0,e.section+=1,e.lastCheckPoint=e.nextCheckPoint,e.setNextCheckPoint()}})),s("#rcjName").text(i.name),s("#rcjTeam").text(t.interpreter.name),s("#rcjTime").text("00:00:0")}return t.prototype.init=function(){this.path=0,this.lastPath=0,this.line=!0,clearInterval(this.stopWatch),this.mins=0,this.secs=0,this.csecs=0,this.running=!0,this.stopWatch=setInterval(this.timer.bind(this),100);var t=this.configData.tiles[this.configData.startTile.x+","+this.configData.startTile.y+",0"];this.initialPose=r.default.getTilePose(t,this.configData.tiles[t.next],null),this.lastTile=t,this.lastCheckPoint=t,this.robot&&(this.robot.initialPose=this.initialPose,this.robot.resetPose()),this.loPCounter=0,this.loPSum=0,this.section=0,this.victimsLocated=0,this.linePoints=0,this.obstaclePoints=0,this.totalScore=0,this.inAvoidanceMode=!1,this.countedTileIndices=[0],this.lastCheckPointIndex=0,this.rescueMulti=1},t.prototype.timer=function(){this.running&&(this.csecs++,10===this.csecs&&(this.secs++,this.csecs=0),60===this.secs&&(this.mins++,this.secs=0),s("#rcjTime").text(("00"+this.mins).slice(-2)+":"+("00"+this.secs).slice(-2)+":"+this.csecs),s("#rcjPath").text(-1===this.path?"wrong":"correct"),s("#rcjLastPath").text(this.lastPath),s("#rcjSection").text(this.section),s("#rcjLoPpS").text(this.loPCounter),s("#rcjLoPCount").text(this.loPSum),s("#rcjLine").text(this.line?"yes":"no"),this.mins>=this.MAX_TIME&&s("#rcjStartStop").trigger("click"),s("#rcjRescueMulti").text(Math.round(100*this.rescueMulti)/100),s("#rcjLinePoints").text(this.linePoints),s("#rcjObstaclePoints").text(this.obstaclePoints),s("#rcjTotalScore").text(this.totalScore))},t.prototype.countObstaclePoints=function(t){t&&!this.countedTileIndices.includes(t.index[0])&&(t.tileType.gaps>0&&(this.obstaclePoints+=this.POINTS_GAP),t.tileType.intersections>0&&(this.obstaclePoints+=this.POINTS_INTERSECTION),this.countedTileIndices.push(t.index[0]))},t.prototype.callAutoLoP=function(){s("#rcjLoP").trigger("click")},t.prototype.update=function(t){if(this.running)if(t instanceof n.RobotBaseMobile){var i=t;this.robot!=i&&(this.robot=i,this.initialPose=this.robot.initialPose),this.programPaused&&(this.programPaused=!1,s("#rcjLoP").removeClass("disabled"),s("#rcjNextCP").addClass("disabled")),this.pose=i.pose;var r=Math.floor((this.pose.x-10)/90),a=Math.floor((this.pose.y-10)/90),c=this.configData.tiles[r+","+a+",0"],h=c&&c.index[0];if(h==this.lastPath||h==this.lastPath+1){if(this.path=h,this.lastPath=h,this.line=i.F.lightValue<70,this.line&&(this.wasOnLineOnce=!0),c&&c.checkPoint||0==h){if(this.lastCheckPoint!=c){var l=this.loPCounter<this.POINTS_LINE.length?this.loPCounter:this.POINTS_LINE.length-1;this.linePoints+=(c.index[0]-this.lastCheckPointIndex)*this.POINTS_LINE[l],this.loPCounter=0,this.section+=1,this.lastCheckPoint=c,this.lastCheckPointIndex=c.index[0],this.setNextCheckPoint()}}else this.prevCheckPointTile=c;this.inAvoidanceMode&&this.line&&c.index[0]==this.avoidanceGoalIndex&&(this.countedTileIndices.includes(c.index[0])||(this.obstaclePoints+=this.POINTS_OBSTACLE,this.countedTileIndices.push(this.avoidanceGoalIndex-1)),this.avoidanceGoalIndex=null,this.inAvoidanceMode=!1),c&&c!==this.lastTile&&(this.wasOnLineOnce||this.inAvoidanceMode?this.countObstaclePoints(this.lastTile):this.callAutoLoP(),this.lastTile=c,this.wasOnLineOnce=!1)}else this.inAvoidanceMode||(this.lastTile.next.length>0&&1===this.configData.tiles[this.lastTile.next].items.obstacles?(this.inAvoidanceMode=!0,this.path+=1,this.lastPath=this.path,this.avoidanceGoalIndex=this.lastTile.index[0]+2):this.lastTile.items.obstacles>0?(this.inAvoidanceMode=!0,this.avoidanceGoalIndex=this.lastTile.index[0]+1):(-1!=this.path&&h&&this.callAutoLoP(),this.path=-1)),this.line=!1;this.totalScore=(this.linePoints+this.obstaclePoints)*this.rescueMulti,this.totalScore=e.round(this.totalScore,2)}else if(t instanceof o.CircleSimulationObject){var d=t;d.inEvacuationZone&&"#33B8CA"===d.color&&(d.selected=!0,s("#simDeleteObject").trigger("click"),this.rescueMulti*=this.POINTS_VICTIM_MULTI,this.victimsLocated+=1),d.inEvacuationZone&&"#000000"===d.color&&(d.selected=!0,s("#simDeleteObject").trigger("click"),this.victimsLocated>1?this.rescueMulti*=this.POINTS_VICTIM_MULTI:this.rescueMulti*=this.POINTS_DEADONLY_VICTIM_MULTI,this.victimsLocated+=1),this.victimsLocated>=3&&s("#rcjStartStop").trigger("click")}},t.prototype.setNextCheckPoint=function(){for(var t=this.configData.tiles[this.lastCheckPoint.next];t&&this.configData.tiles[t.next]&&(this.prevNextCheckPoint=t,!(t=this.configData.tiles[t.next]).checkPoint););t&&t.checkPoint?this.nextCheckPoint=t:(this.nextCheckPoint=null,this.prevNextCheckPoint=null)},t.prototype.openClose=function(){var t=s("#simDiv").position();t.left=12,s("#rcjScoringWindow").toggleSimPopup(t)},t.prototype.destroy=function(){s("#rcjStartStop").html("Start<br>Scoring Run"),s("#rcjStartStop").removeClass("running"),s("#rcjLoP").addClass("disabled"),s("#rcjNextCP").addClass("disabled"),clearInterval(this.stopWatch),this.stopWatch=null,s("#rcjPath").text(""),s("#rcjLastPath").text(""),s("#rcjSection").text(""),s("#rcjLoPpS").text(""),s("#rcjLoPCount").text(""),s("#rcjLine").text(""),s("#rcjName").text(""),s("#rcjTeam").text(""),s("#rcjTime").text("00:00:0"),s("#rcjRescueMulti").text("")},t}();i.RcjScoringTool=c;var h=function(){function t(t){this.DEFAULT_TRAIL_WIDTH=10,this.DEFAULT_TRAIL_COLOR="#000000",this.customBackgroundLoaded=!1,this.ground=new o.Ground(0,0,0,0),this.imgBackgroundList=[],this.imgPath="/css/img/simBackgrounds/",this.playground={x:0,y:0,w:0,h:0},this._colorAreaList=[],this._obstacleList=[],this._rcjList=[],this._markerList=[],this._redrawColorAreas=!1,this._redrawObstacles=!1,this._redrawMarkers=!1,this._robots=[],this._uniqueObjectId=0,this._scoring=!1,this.sim=t,this.uCanvas=document.createElement("canvas"),this.uCtx=this.uCanvas.getContext("2d",{willReadFrequently:!0}),this.udCanvas=document.createElement("canvas"),this.udCtx=this.udCanvas.getContext("2d",{willReadFrequently:!0}),this.bCtx=s("#backgroundLayer")[0].getContext("2d"),this.dCtx=s("#drawLayer")[0].getContext("2d"),this.aCtx=s("#arucoMarkerLayer")[0].getContext("2d"),this.oCtx=s("#objectLayer")[0].getContext("2d"),this.rCtx=s("#robotLayer")[0].getContext("2d"),this.rcjCtx=s("#rcjLayer")[0].getContext("2d")}return Object.defineProperty(t.prototype,"scoring",{get:function(){return this._scoring},set:function(t){this._scoring=t},enumerable:!1,configurable:!0}),Object.defineProperty(t.prototype,"uniqueObjectId",{get:function(){return++this._uniqueObjectId},enumerable:!1,configurable:!0}),Object.defineProperty(t.prototype,"robots",{get:function(){return this._robots},set:function(t){this.clearList(this._robots),this._robots=t},enumerable:!1,configurable:!0}),Object.defineProperty(t.prototype,"obstacleList",{get:function(){return this._obstacleList},set:function(t){this.clearList(this._obstacleList),this._obstacleList=t,this.redrawObstacles=!0},enumerable:!1,configurable:!0}),Object.defineProperty(t.prototype,"rcjList",{get:function(){return this._rcjList},set:function(t){this.clearList(this._rcjList),this._rcjList=t,this.redrawObstacles=!0},enumerable:!1,configurable:!0}),Object.defineProperty(t.prototype,"colorAreaList",{get:function(){return this._colorAreaList},set:function(t){this.clearList(this._colorAreaList),this._colorAreaList=t,this.redrawColorAreas=!0},enumerable:!1,configurable:!0}),Object.defineProperty(t.prototype,"markerList",{get:function(){return this._markerList},set:function(t){this.clearList(this._markerList),this._markerList=t,this.redrawMarkers=!0},enumerable:!1,configurable:!0}),Object.defineProperty(t.prototype,"redrawObstacles",{get:function(){return this._redrawObstacles},set:function(t){this._redrawObstacles=t},enumerable:!1,configurable:!0}),Object.defineProperty(t.prototype,"redrawColorAreas",{get:function(){return this._redrawColorAreas},set:function(t){this._redrawColorAreas=t},enumerable:!1,configurable:!0}),Object.defineProperty(t.prototype,"redrawMarkers",{get:function(){return this._redrawMarkers},set:function(t){this._redrawMarkers=t},enumerable:!1,configurable:!0}),t.prototype.addColorArea=function(t){this.addSimulationObject(this.colorAreaList,t,o.SimObjectType.ColorArea),this.redrawColorAreas=!0},t.prototype.addImportColorAreaList=function(t){var i=this,e=[];t.forEach((function(t){var s=o.SimObjectFactory.getSimObject.apply(o.SimObjectFactory,__spreadArray([t.id,i,i.sim.selectionListener,t.shape,o.SimObjectType.ColorArea,t.p,null,t.color],t.params,!1));e.push(s)})),this.colorAreaList=e},t.prototype.addImportObstacle=function(t){var i=this,e=[];t.forEach((function(t){var s=o.SimObjectFactory.getSimObject.apply(o.SimObjectFactory,__spreadArray([t.id,i,i.sim.selectionListener,t.shape,o.SimObjectType.Obstacle,t.p,null,t.color],t.params,!1));e.push(s)})),this.obstacleList=e},t.prototype.addImportRcjLabel=function(t){var i=this,e=[];t.forEach((function(t){var s=new o.RcjSimulationLabel(i.uniqueObjectId,i,i.sim.selectionListener,o.SimObjectType.ColorArea,t.x,t.y,t.checkPoint?"checkPoint":t.start?"start":null,t.index[0]);e.push(s)})),this.rcjList=e},t.prototype.addImportMarkerList=function(t){var i=this,e=[];t.forEach((function(t){var s=o.SimObjectFactory.getSimObject.apply(o.SimObjectFactory,__spreadArray([t.id,i,i.sim.selectionListener,t.shape,o.SimObjectType.Marker,t.p,null,t.color],t.params,!1));s.markerId=t.markerId,e.push(s)})),this.markerList=e},t.prototype.addObstacle=function(t){this.addSimulationObject(this.obstacleList,t,o.SimObjectType.Obstacle),this.redrawObstacles=!0},t.prototype.addSimulationObject=function(t,i,e,r){var a=s("#robotLayer");a.attr("tabindex",0),a.trigger("focus");var n=Math.random()*(this.ground.w-300)+100,c=Math.random()*(this.ground.h-200)+100,h=o.SimObjectFactory.getSimObject(this.uniqueObjectId,this,this.sim.selectionListener,i,e,{x:n,y:c},this.backgroundImg.width);i==o.SimObjectShape.Marker&&r&&(h.markerId=r),t.push(h),h.selected=!0},t.prototype.changeColorWithColorPicker=function(t){var i=this.obstacleList.concat(this.colorAreaList).filter((function(t){return t.selected}));1==i.length&&(i[0].color=t,i[0].type===o.SimObjectType.Obstacle?this.redrawObstacles=!0:this.redrawColorAreas=!0)},t.prototype.clearList=function(t){t.forEach((function(t){t.destroy()})),t.length=0},t.prototype.deleteSelectedObject=function(){var t=this;function i(i){for(var e=0;e<i.length;e++)if(i[e].selected)return i[e].destroy(),i.splice(e,1),t.redrawObstacles=!0,!0;return!1}i(this.obstacleList)?this.redrawObstacles=!0:i(this.colorAreaList)?this.redrawColorAreas=!0:i(this.markerList)&&(this.redrawMarkers=!0)},t.prototype.draw=function(t,i){var e=this;this.rCtx.save(),this.rCtx.scale(this.sim.scale,this.sim.scale),this.rCtx.clearRect(this.ground.x-10,this.ground.y-10,this.ground.w+20,this.ground.h+20),this.dCtx.save(),this.dCtx.scale(this.sim.scale,this.sim.scale),this.robots.forEach((function(s){s.draw(e.rCtx,t),s instanceof n.RobotBaseMobile&&i&&(e.backgroundImg.src.indexOf("math")<0?s.drawTrail(e.dCtx,e.udCtx,e.DEFAULT_TRAIL_WIDTH,e.DEFAULT_TRAIL_COLOR):s.drawTrail(e.dCtx,e.udCtx,1,"#ffffff"))})),this.redrawColorAreas&&(this.drawColorAreas(),this.redrawColorAreas=!1),this.redrawObstacles&&(this.drawObstacles(),this.redrawObstacles=!1),this.redrawMarkers&&(this.drawMarkers(),this.redrawMarkers=!1),this.rCtx.restore(),this.dCtx.restore()},t.prototype.drawColorAreas=function(){var t=this,i=this.backgroundImg.width+20,e=this.backgroundImg.height+20;this.uCtx.clearRect(0,0,i,e),this.uCtx.drawImage(this.backgroundImg,10,10,this.backgroundImg.width,this.backgroundImg.height),this.drawPattern(this.uCtx,!1),this.bCtx.restore(),this.bCtx.save(),this.bCtx.drawImage(this.backgroundImg,10*this.sim.scale,10*this.sim.scale,this.backgroundImg.width*this.sim.scale,this.backgroundImg.height*this.sim.scale),this.drawPattern(this.bCtx,!0),this.bCtx.scale(this.sim.scale,this.sim.scale),this.colorAreaList.forEach((function(i){return i.draw(t.bCtx,t.uCtx)}))},t.prototype.drawObstacles=function(){var t=this;this.oCtx.restore(),this.oCtx.save(),this.oCtx.scale(this.sim.scale,this.sim.scale),this.oCtx.clearRect(this.ground.x-10,this.ground.y-10,this.ground.w+20,this.ground.h+20),this.obstacleList.forEach((function(i){return i.draw(t.oCtx,t.uCtx)}))},t.prototype.drawRcjLabel=function(){var t=this;this.rcjCtx.restore(),this.rcjCtx.save(),this.rcjCtx.scale(this.sim.scale,this.sim.scale),this.rcjCtx.clearRect(this.ground.x-10,this.ground.y-10,this.ground.w+20,this.ground.h+20),this.rcjList.forEach((function(i){return i.draw(t.rcjCtx,t.uCtx)}))},t.prototype.drawMarkers=function(){var t=this;this.aCtx.restore(),this.aCtx.save(),this.aCtx.scale(this.sim.scale,this.sim.scale),this.aCtx.clearRect(this.ground.x-10,this.ground.y-10,this.ground.w+20,this.ground.h+20),this.markerList.forEach((function(i){return i.draw(t.aCtx,t.uCtx)}))},t.prototype.drawPattern=function(t,i){if(this.images&&this.images.pattern){var e=10,s=1;i&&(e*=this.sim.scale,s=this.sim.scale),t.beginPath();var o=this.images.pattern;t.strokeStyle=t.createPattern(o,"repeat"),t.lineWidth=e,t.strokeRect(e/2,e/2,this.backgroundImg.width*s+e,this.backgroundImg.height*s+e)}},t.prototype.getRobotPoses=function(){return this.robots.map((function(t){return[t.pose,t.initialPose]}))},t.prototype.handleKeyEvent=function(t){"v"===t.key&&(t.ctrlKey||t.metaKey)&&(this.pasteObject(this.sim.lastMousePosition),t.stopImmediatePropagation()),"Delete"!==t.key&&"Backspace"!==t.key||(this.deleteSelectedObject(),t.stopImmediatePropagation())},t.prototype.init=function(t,i,r,n,c,h,l){var d=this,u=!this.robotType||this.robotType!=t;this.robotType=t;var g=this;i?(s("#canvasDiv").hide(),s("#simDiv>.pace").show(),this.robots=[],a.RobotFactory.createRobots(r,n,c,this.sim.selectionListener,this.robotType).then((function(t){if(d.robots=t.robots,d.robotClass=t.robotClass,d.setRobotPoses(h),d.initViews(),u){d.removeRcjScoringTool(),g.imgBackgroundList=[],g.currentBackground=0,g.obstacleList.length>0&&(g.obstacleList=[]),g.colorAreaList.length>0&&(g.colorAreaList=[]);var i=".svg";e.isIE()&&(i=".png"),g.loadBackgroundImages((function(){g.robots[0].mobile?(s(".simMobile").show(),g.images=g.loadImages(["roadWorks","pattern"],["roadWorks"+i,"wallPattern.png"],(function(){g.ground=new o.Ground(10,10,g.imgBackgroundList[g.currentBackground].width,g.imgBackgroundList[g.currentBackground].height),g.backgroundImg=g.imgBackgroundList[0];var t=new o.RectangleSimulationObject(0,g,g.sim.selectionListener,o.SimObjectType.Obstacle,{x:7*g.backgroundImg.width/9,y:g.backgroundImg.height-2*g.backgroundImg.width/9},g.backgroundImg.width);g.obstacleList.push(t),g.centerBackground(!0),g.initEvents(),g.sim.initColorPicker(a.RobotBase.colorRange),g.showFullyLoadedSim(l),g.sim.start()}))):(s(".simMobile").hide(),g.images={},g.ground=new o.Ground(10,10,g.imgBackgroundList[g.currentBackground].width,g.imgBackgroundList[g.currentBackground].height),g.backgroundImg=g.imgBackgroundList[0],g.centerBackground(!0),g.initEvents(),g.showFullyLoadedSim(l),g.sim.start())}))}d.showFullyLoadedSim(l),d.sim.start()}))):(this.robots.forEach((function(t,i){g.rcjScoringTool&&t.addObserver(g.rcjScoringTool),t.replaceState(r[i]),t.reset()})),this.showFullyLoadedSim(l)),this.robots.forEach((function(t,i){t.time=0}))},t.prototype.showFullyLoadedSim=function(t){this.obstacleList.forEach((function(t){t.removeMouseEvents(),t.addMouseEvents()})),this.markerList.forEach((function(t){t.removeMouseEvents(),t.addMouseEvents()})),this.colorAreaList.forEach((function(t){t.removeMouseEvents(),t.addMouseEvents()})),s("#canvasDiv").fadeIn("slow"),s("#simDiv>.pace").fadeOut("fast"),"function"==typeof t&&t()},t.prototype.initViews=function(){var t=s("#systemValuesView"),i=s("#robotIndex");t.html("");var e="",o=this.robots[0]instanceof n.RobotBaseMobile?this.robots[0].chassis.geom.color:"#ffffff";if(e+='<select id="robotIndex" style="background-color:'+o+'">',this.robots.forEach((function(t){var i=t instanceof n.RobotBaseMobile?t.chassis.geom.color:"#ffffff";e+='<option style="background-color:'+i+'" value="'+t.id+'">'+t.name+"</option>"})),e+="</select>",t.append('<div><label id="robotLabel">Program Name</label><span style="width:auto">'+e+"</span></div>"),i.off("change.sim"),this.robots.length>1){var r=this;i.on("change.sim",(function(){var t=Number(s(this).val());r.robots[t].selected=!0,r.sim.selectionListener.fire(null)}))}},t.prototype.initEvents=function(){var t=this,i=0;s(window).off("resize.sim").on("resize.sim",(function(e,s){i>3||"loaded"==s?(t.centerBackground(!1),i=0):i++})),s("#robotLayer").off("keydown.sim").on("keydown.sim",this.handleKeyEvent.bind(this))},t.prototype.loadBackgroundImages=function(t){var i,s;s=e.isIE()?".png":".svg";for(var o=(i=this.robots[0].mobile?this.robots[0].imgList.map((function(t){return t.endsWith("jpg")?t:"".concat(t).concat(s)})):[this.robotType+"Background"+s]).length,r=this,a=function(){if(0==--o&&(t(),e.isLocalStorageAvailable()&&r.robots[0].mobile)){var i=localStorage.getItem("customBackground");if(i){try{JSON.parse(i)}catch(t){localStorage.setItem("customBackground",JSON.stringify({image:i,timestamp:(new Date).getTime()})),i=localStorage.getItem("customBackground")}var s=JSON.parse(i);if((new Date).getTime()-s.timestamp>54432e5)localStorage.removeItem("customBackground");else{var a=s.image,n=new Image;n.src="data:image/png;base64,"+a,r.imgBackgroundList.push(n),r.customBackgroundLoaded=!0}}}},n=0;n<i.length;){var c=this.imgBackgroundList[n]=new Image;c.onload=a,c.onerror=function(t){console.error(t)},c.src=this.imgPath+i[n++]}},t.prototype.loadImages=function(t,i,e){for(var s=0,o=t.length,r=function(){0==--o&&e()},a={};s<t.length;){var n=a[t[s]]=new Image;n.onload=r,n.onerror=function(t){console.error(t)},n.src=this.imgPath+i[s++]}return a},t.prototype.pasteObject=function(t){if(this.objectToCopy){var i=o.SimObjectFactory.copy(this.objectToCopy);i.moveTo(t),this.objectToCopy.type===o.SimObjectType.Obstacle?(this.obstacleList.push(i),this.redrawObstacles=!0):this.objectToCopy.type===o.SimObjectType.ColorArea?(this.colorAreaList.push(i),this.redrawColorAreas=!0):this.objectToCopy.type===o.SimObjectType.Marker&&(this.markerList.push(i),this.redrawMarkers=!0)}},t.prototype.resetAllCanvas=function(t){var i=this.sim.scale,e=(this.playground.w-(this.backgroundImg.width+20)*i)/2+25,o=(this.playground.h-(this.backgroundImg.height+20)*i)/2,r=Math.round((this.backgroundImg.width+20)*i),a=Math.round((this.backgroundImg.height+20)*i),n=s("#simDiv"),c=s("#canvasDiv");n.hasClass("shifting")&&n.hasClass("rightActive")&&c.css({top:o+"px",left:e+"px"}),this.oCtx.canvas.width=r,this.oCtx.canvas.height=a,this.rcjCtx.canvas.width=r,this.rcjCtx.canvas.height=a,this.rCtx.canvas.width=r,this.rCtx.canvas.height=a,this.dCtx.canvas.width=r,this.dCtx.canvas.height=a,this.bCtx.canvas.width=r,this.bCtx.canvas.height=a,this.aCtx.canvas.width=r,this.aCtx.canvas.height=a,t&&(this.uCanvas.width=this.backgroundImg.width+20,this.uCanvas.height=this.backgroundImg.height+20,this.udCanvas.width=this.backgroundImg.width+20,this.udCanvas.height=this.backgroundImg.height+20,this.uCtx.drawImage(this.backgroundImg,10,10,this.backgroundImg.width,this.backgroundImg.height),this.drawPattern(this.uCtx,!1)),this.bCtx.restore(),this.bCtx.save(),this.bCtx.drawImage(this.backgroundImg,10*i,10*i,this.backgroundImg.width*i,this.backgroundImg.height*i),this.drawPattern(this.bCtx,!0),this.dCtx.restore(),this.dCtx.save(),this.dCtx.drawImage(this.udCanvas,0,0,this.backgroundImg.width+20,this.backgroundImg.height+20,0,0,r,a),this.drawColorAreas(),this.drawObstacles(),this.drawMarkers(),this.drawRcjLabel()},t.prototype.centerBackground=function(t){var i=s("#simDiv"),e=s("#canvasDiv"),o=i.offset().top;this.playground.w=i.outerWidth()-50,this.playground.h=s(window).height()-o;var r=this.playground.w/(this.backgroundImg.width+20),a=this.playground.h/(this.backgroundImg.height+20);this.sim.scale=Math.min(r,a);var n=(this.playground.w-(this.backgroundImg.width+20)*this.sim.scale)/2+25,c=(this.playground.h-(this.backgroundImg.height+20)*this.sim.scale)/2;e.css({top:c+"px",left:n+"px"}),this.resetAllCanvas(t)},t.prototype.setRobotPoses=function(t){var i=this;t.forEach((function(t,e){i.robots[e]&&(i.robots[e].pose=new n.Pose(t[0].x,t[0].y,t[0].theta),i.robots[e].initialPose=new n.Pose(t[1].x,t[1].y,t[1].theta))}))},t.prototype.stepBackground=function(t){var i=2==this.currentBackground&&this.imgBackgroundList[2].currentSrc.includes("robertaBackground");i&&((e=this.obstacleList.find((function(t){return 0===t.myId})))&&(e.img=null));t<0?(this.currentBackground++,this.currentBackground%=this.imgBackgroundList.length):this.currentBackground=t,i=2==this.currentBackground&&this.imgBackgroundList[2].currentSrc.includes("robertaBackground");var e,r="std"===this.sim.configType?this.sim.getConfigData():null;(this.obstacleList=[],this.colorAreaList=[],this.markerList=[],this.rcjList=[],this.ground.w=this.imgBackgroundList[this.currentBackground].width,this.ground.h=this.imgBackgroundList[this.currentBackground].height,this.backgroundImg=this.imgBackgroundList[this.currentBackground],this.centerBackground(!0),"std"===this.sim.configType?this.sim.setNewConfig(r):(this.sim.configType="std",s("#rcjScoringWindow").fadeOut(),this.removeRcjScoringTool(),this.imgBackgroundList.pop()),i)&&((e=this.obstacleList.find((function(t){if(t.type===o.SimObjectType.Obstacle)return t.h=100,t.w=100,!0})))&&(e.img=this.images.roadWorks))},t.prototype.update=function(t,i){var e=this,s=this.obstacleList.slice();this.robots.forEach((function(t){return s.push(t.chassis)})),s.push(this.ground),this.robots.forEach((function(e){return e.updateActions(e,t,i)})),i&&this.obstacleList.forEach((function(t){var i=t;i.updateAction&&i.updateAction()})),this.robots.forEach((function(o){var r=s.slice(),a=[];for(o.updateSensors(i,t,e.uCtx,e.udCtx,r,e.markerList,a);a.length>0;){a[0].updateSensor(e.uCtx,r,a),a.shift()}})),this.draw(t,i)},t.prototype.toggleTrail=function(){this.robots.forEach((function(t){t.hasTrail=!t.hasTrail,t.pose.xOld=t.pose.x,t.pose.yOld=t.pose.y}))},t.prototype.resetPoseAndDrawings=function(){this.robots.forEach((function(t){return t.resetPose()})),this.dCtx.canvas.width=this.dCtx.canvas.width,this.udCtx.canvas.width=this.udCtx.canvas.width,this.rcjCtx.canvas.width=this.rcjCtx.canvas.width},t.prototype.addMarker=function(t){this.addSimulationObject(this.markerList,o.SimObjectShape.Marker,o.SimObjectType.Marker,t),this._redrawMarkers=!0},t.prototype.setRcjScoringTool=function(t,i){this.rcjScoringTool=new c(t,i),this.scoring=!0;var e=this;s("#simCompetition").show(),s("#simCompetition").off(),s("#simCompetition").onWrap("click",(function(){e.rcjScoringTool.openClose()})),this.obstacleList.forEach((function(t){t.addObserver&&"function"==typeof t.addObserver&&t.addObserver(e.rcjScoringTool)}))},t.prototype.removeRcjScoringTool=function(){this.rcjScoringTool&&this.rcjScoringTool.destroy(),this.rcjScoringTool=null,this.scoring=!1,s("#simCompetition").hide(),s("#simCompetition").off()},t}();i.SimulationScene=h}));
+var __spreadArray=this&&this.__spreadArray||function(t,i,e){if(e||2===arguments.length)for(var s,o=0,r=i.length;o<r;o++)!s&&o in i||(s||(s=Array.prototype.slice.call(i,0,o)),s[o]=i[o]);return t.concat(s||Array.prototype.slice.call(i))};define(["require","exports","util.roberta","jquery","simulation.objects","simulation.roberta","robot.base","robot.base.mobile"],(function(t,i,e,s,o,r,a,n){Object.defineProperty(i,"__esModule",{value:!0}),i.SimulationScene=i.RcjScoringTool=void 0;var c=function(){function t(t,i,e){this.MAX_TIME=8,this.POINTS_OBSTACLE=15,this.POINTS_GAP=10,this.POINTS_INTERSECTION=10,this.POINTS_VICTIM_MULTI=1.4,this.POINTS_DEADONLY_VICTIM_MULTI=1.2,this.POINTS_LINE=[5,3,1,0],this.running=!1,this.mins=0,this.secs=0,this.csecs=0,this.path=0,this.lastPath=0,this.lastCheckPoint={},this.line=!0,this.prevCheckPointTile={},this.programPaused=!0,this.victimsLocated=0,this.linePoints=1,this.obstaclePoints=0,this.totalScore=0,this.avoidanceGoalIndex=null,this.wasOnLineOnce=!1,this.configData=i,this.robot=t,this.resetObstaclesCallback=e,this.init();var o=this;s("#rcjStartStop").off().on("click",(function(){return s(this).text().indexOf("Start")>=0?(s(this).html("Stop<br>Scoring Run"),o.init(),o.resetObstaclesCallback(),s("#rcjStartStop").addClass("running"),!1):(s(this).html("Start<br>Scoring Run"),clearInterval(o.stopWatch),s("#rcjStartStop").removeClass("running"),s("#rcjLoP").addClass("disabled"),s("#rcjNextCP").addClass("disabled"),o.robot&&o.robot.interpreter.terminate(),o.programPaused=!0,!1)})),s("#rcjLoP").off().on("click",(function(t){o.robot.interpreter.terminate(),o.programPaused=!0,s("#rcjLoP").addClass("disabled"),s("#rcjNextCP").addClass("disabled");var e=r.default.getTilePose(o.lastCheckPoint,i.tiles[o.lastCheckPoint.next],o.prevCheckPointTile);return o.robot.pose=new n.Pose(e.x,e.y,e.theta),o.robot.initialPose=new n.Pose(e.x,e.y,e.theta),o.path=o.lastCheckPoint.index[0],o.lastPath=o.path,o.loPCounter+=1,o.loPSum+=1,o.nextCheckPoint&&o.loPCounter>=3&&s("#rcjNextCP").removeClass("disabled"),!1})),s("#rcjNextCP").off().on("click",(function(t){if(o.robot.interpreter.terminate(),o.programPaused=!0,s("#rcjLoP").addClass("disabled"),s("#rcjNextCP").addClass("disabled"),o.nextCheckPoint){var e=r.default.getTilePose(o.nextCheckPoint,i.tiles[o.nextCheckPoint.next],o.prevNextCheckPoint);o.robot.pose=new n.Pose(e.x,e.y,e.theta),o.robot.initialPose=new n.Pose(e.x,e.y,e.theta),o.path=o.nextCheckPoint.index[0],o.lastPath=o.path,o.loPCounter=0,o.section+=1,o.lastCheckPoint=o.nextCheckPoint,o.setNextCheckPoint()}})),s("#rcjName").text(i.name),s("#rcjTeam").text(t.interpreter.name),s("#rcjTime").text("00:00:0")}return t.prototype.init=function(){this.path=0,this.lastPath=0,this.line=!0,clearInterval(this.stopWatch),this.mins=0,this.secs=0,this.csecs=0,this.running=!0,this.stopWatch=setInterval(this.timer.bind(this),100);var t=this.configData.tiles[this.configData.startTile.x+","+this.configData.startTile.y+",0"];this.initialPose=r.default.getTilePose(t,this.configData.tiles[t.next],null),this.lastTile=t,this.lastCheckPoint=t,this.robot&&(this.robot.initialPose=this.initialPose,this.robot.resetPose()),this.loPCounter=0,this.loPSum=0,this.section=0,this.victimsLocated=0,this.linePoints=0,this.obstaclePoints=0,this.totalScore=0,this.inAvoidanceMode=!1,this.countedTileIndices=[0],this.lastCheckPointIndex=0,this.rescueMulti=1},t.prototype.timer=function(){this.running&&(this.csecs++,10===this.csecs&&(this.secs++,this.csecs=0),60===this.secs&&(this.mins++,this.secs=0),s("#rcjTime").text(("00"+this.mins).slice(-2)+":"+("00"+this.secs).slice(-2)+":"+this.csecs),s("#rcjPath").text(-1===this.path?"wrong":"correct"),s("#rcjLastPath").text(this.lastPath),s("#rcjSection").text(this.section),s("#rcjLoPpS").text(this.loPCounter),s("#rcjLoPCount").text(this.loPSum),s("#rcjLine").text(this.line?"yes":"no"),this.mins>=this.MAX_TIME&&s("#rcjStartStop").trigger("click"),s("#rcjRescueMulti").text(Math.round(100*this.rescueMulti)/100),s("#rcjLinePoints").text(this.linePoints),s("#rcjObstaclePoints").text(this.obstaclePoints),s("#rcjTotalScore").text(this.totalScore))},t.prototype.countObstaclePoints=function(t){t&&!this.countedTileIndices.includes(t.index[0])&&(t.tileType.gaps>0&&(this.obstaclePoints+=this.POINTS_GAP),t.tileType.intersections>0&&(this.obstaclePoints+=this.POINTS_INTERSECTION),this.countedTileIndices.push(t.index[0]))},t.prototype.callAutoLoP=function(){s("#rcjLoP").trigger("click")},t.prototype.update=function(t){if(this.running)if(t instanceof n.RobotBaseMobile){var i=t;this.robot!=i&&(this.robot=i,this.initialPose=this.robot.initialPose),this.programPaused&&(this.programPaused=!1,s("#rcjLoP").removeClass("disabled"),s("#rcjNextCP").addClass("disabled")),this.pose=i.pose;var r=Math.floor((this.pose.x-10)/90),a=Math.floor((this.pose.y-10)/90),c=this.configData.tiles[r+","+a+",0"],h=c&&c.index[0];if(h==this.lastPath||h==this.lastPath+1){if(this.path=h,this.lastPath=h,this.line=i.F.lightValue<70,this.line&&(this.wasOnLineOnce=!0),c&&c.checkPoint||0==h){if(this.lastCheckPoint!=c){var l=this.loPCounter<this.POINTS_LINE.length?this.loPCounter:this.POINTS_LINE.length-1;this.linePoints+=(c.index[0]-this.lastCheckPointIndex)*this.POINTS_LINE[l],this.loPCounter=0,this.section+=1,this.lastCheckPoint=c,this.lastCheckPointIndex=c.index[0],this.setNextCheckPoint()}}else this.prevCheckPointTile=c;this.inAvoidanceMode&&this.line&&c.index[0]==this.avoidanceGoalIndex&&(this.countedTileIndices.includes(c.index[0])||(this.obstaclePoints+=this.POINTS_OBSTACLE,this.countedTileIndices.push(this.avoidanceGoalIndex-1)),this.avoidanceGoalIndex=null,this.inAvoidanceMode=!1),c&&c!==this.lastTile&&(this.wasOnLineOnce||this.inAvoidanceMode?this.countObstaclePoints(this.lastTile):this.callAutoLoP(),this.lastTile=c,this.wasOnLineOnce=!1)}else this.inAvoidanceMode||(this.lastTile.next.length>0&&1===this.configData.tiles[this.lastTile.next].items.obstacles?(this.inAvoidanceMode=!0,this.path+=1,this.lastPath=this.path,this.avoidanceGoalIndex=this.lastTile.index[0]+2):this.lastTile.items.obstacles>0?(this.inAvoidanceMode=!0,this.avoidanceGoalIndex=this.lastTile.index[0]+1):(-1!=this.path&&h&&this.callAutoLoP(),this.path=-1)),this.line=!1;this.totalScore=(this.linePoints+this.obstaclePoints)*this.rescueMulti,this.totalScore=e.round(this.totalScore,2)}else if(t instanceof o.CircleSimulationObject){var d=t;d.inEvacuationZone&&"#33B8CA"===d.color&&(d.selected=!0,s("#simDeleteObject").trigger("click"),this.rescueMulti*=this.POINTS_VICTIM_MULTI,this.victimsLocated+=1),d.inEvacuationZone&&"#000000"===d.color&&(d.selected=!0,s("#simDeleteObject").trigger("click"),this.victimsLocated>1?this.rescueMulti*=this.POINTS_VICTIM_MULTI:this.rescueMulti*=this.POINTS_DEADONLY_VICTIM_MULTI,this.victimsLocated+=1),this.victimsLocated>=3&&s("#rcjStartStop").trigger("click")}},t.prototype.setNextCheckPoint=function(){for(var t=this.configData.tiles[this.lastCheckPoint.next];t&&this.configData.tiles[t.next]&&(this.prevNextCheckPoint=t,!(t=this.configData.tiles[t.next]).checkPoint););t&&t.checkPoint?this.nextCheckPoint=t:(this.nextCheckPoint=null,this.prevNextCheckPoint=null)},t.prototype.openClose=function(){var t=s("#simDiv").position();t.left=12,s("#rcjScoringWindow").toggleSimPopup(t)},t.prototype.destroy=function(){s("#rcjStartStop").html("Start<br>Scoring Run"),s("#rcjStartStop").removeClass("running"),s("#rcjLoP").addClass("disabled"),s("#rcjNextCP").addClass("disabled"),clearInterval(this.stopWatch),this.stopWatch=null,s("#rcjPath").text(""),s("#rcjLastPath").text(""),s("#rcjSection").text(""),s("#rcjLoPpS").text(""),s("#rcjLoPCount").text(""),s("#rcjLine").text(""),s("#rcjName").text(""),s("#rcjTeam").text(""),s("#rcjTime").text("00:00:0"),s("#rcjRescueMulti").text("")},t}();i.RcjScoringTool=c;var h=function(){function t(t){this.DEFAULT_TRAIL_WIDTH=10,this.DEFAULT_TRAIL_COLOR="#000000",this.customBackgroundLoaded=!1,this.ground=new o.Ground(0,0,0,0),this.imgBackgroundList=[],this.imgPath="/css/img/simBackgrounds/",this.playground={x:0,y:0,w:0,h:0},this._colorAreaList=[],this._obstacleList=[],this._rcjList=[],this._markerList=[],this._redrawColorAreas=!1,this._redrawObstacles=!1,this._redrawMarkers=!1,this._robots=[],this._uniqueObjectId=0,this._scoring=!1,this.sim=t,this.uCanvas=document.createElement("canvas"),this.uCtx=this.uCanvas.getContext("2d",{willReadFrequently:!0}),this.udCanvas=document.createElement("canvas"),this.udCtx=this.udCanvas.getContext("2d",{willReadFrequently:!0}),this.bCtx=s("#backgroundLayer")[0].getContext("2d"),this.dCtx=s("#drawLayer")[0].getContext("2d"),this.aCtx=s("#arucoMarkerLayer")[0].getContext("2d"),this.oCtx=s("#objectLayer")[0].getContext("2d"),this.rCtx=s("#robotLayer")[0].getContext("2d"),this.rcjCtx=s("#rcjLayer")[0].getContext("2d")}return Object.defineProperty(t.prototype,"scoring",{get:function(){return this._scoring},set:function(t){this._scoring=t},enumerable:!1,configurable:!0}),Object.defineProperty(t.prototype,"uniqueObjectId",{get:function(){return++this._uniqueObjectId},enumerable:!1,configurable:!0}),Object.defineProperty(t.prototype,"robots",{get:function(){return this._robots},set:function(t){this.clearList(this._robots),this._robots=t},enumerable:!1,configurable:!0}),Object.defineProperty(t.prototype,"obstacleList",{get:function(){return this._obstacleList},set:function(t){this.clearList(this._obstacleList),this._obstacleList=t,this.redrawObstacles=!0},enumerable:!1,configurable:!0}),Object.defineProperty(t.prototype,"rcjList",{get:function(){return this._rcjList},set:function(t){this.clearList(this._rcjList),this._rcjList=t,this.redrawObstacles=!0},enumerable:!1,configurable:!0}),Object.defineProperty(t.prototype,"colorAreaList",{get:function(){return this._colorAreaList},set:function(t){this.clearList(this._colorAreaList),this._colorAreaList=t,this.redrawColorAreas=!0},enumerable:!1,configurable:!0}),Object.defineProperty(t.prototype,"markerList",{get:function(){return this._markerList},set:function(t){this.clearList(this._markerList),this._markerList=t,this.redrawMarkers=!0},enumerable:!1,configurable:!0}),Object.defineProperty(t.prototype,"redrawObstacles",{get:function(){return this._redrawObstacles},set:function(t){this._redrawObstacles=t},enumerable:!1,configurable:!0}),Object.defineProperty(t.prototype,"redrawColorAreas",{get:function(){return this._redrawColorAreas},set:function(t){this._redrawColorAreas=t},enumerable:!1,configurable:!0}),Object.defineProperty(t.prototype,"redrawMarkers",{get:function(){return this._redrawMarkers},set:function(t){this._redrawMarkers=t},enumerable:!1,configurable:!0}),t.prototype.addColorArea=function(t){this.addSimulationObject(this.colorAreaList,t,o.SimObjectType.ColorArea),this.redrawColorAreas=!0},t.prototype.addImportColorAreaList=function(t){var i=this,e=[];t.forEach((function(t){var s=o.SimObjectFactory.getSimObject.apply(o.SimObjectFactory,__spreadArray([t.id,i,i.sim.selectionListener,t.shape,o.SimObjectType.ColorArea,t.p,null,t.color],t.params,!1));e.push(s)})),this.colorAreaList=e},t.prototype.addImportObstacle=function(t){var i=this,e=[];t.forEach((function(t){var s=o.SimObjectFactory.getSimObject.apply(o.SimObjectFactory,__spreadArray([t.id,i,i.sim.selectionListener,t.shape,o.SimObjectType.Obstacle,t.p,null,t.color],t.params,!1));e.push(s)})),this.obstacleList=e},t.prototype.addSomeObstacles=function(t){var i=this,e=this;t.forEach((function(t){var s=o.SimObjectFactory.getSimObject.apply(o.SimObjectFactory,__spreadArray([t.id,i,i.sim.selectionListener,t.shape,o.SimObjectType.Obstacle,t.p,null,t.color],t.params,!1));e.obstacleList.push(s)}))},t.prototype.addImportRcjLabel=function(t){var i=this,e=[];t.forEach((function(t){var s=new o.RcjSimulationLabel(i.uniqueObjectId,i,i.sim.selectionListener,o.SimObjectType.ColorArea,t.x,t.y,t.checkPoint?"checkPoint":t.start?"start":null,t.index[0]);e.push(s)})),this.rcjList=e},t.prototype.addImportMarkerList=function(t){var i=this,e=[];t.forEach((function(t){var s=o.SimObjectFactory.getSimObject.apply(o.SimObjectFactory,__spreadArray([t.id,i,i.sim.selectionListener,t.shape,o.SimObjectType.Marker,t.p,null,t.color],t.params,!1));s.markerId=t.markerId,e.push(s)})),this.markerList=e},t.prototype.addObstacle=function(t){this.addSimulationObject(this.obstacleList,t,o.SimObjectType.Obstacle),this.redrawObstacles=!0},t.prototype.addSimulationObject=function(t,i,e,r){var a=s("#robotLayer");a.attr("tabindex",0),a.trigger("focus");var n=Math.random()*(this.ground.w-300)+100,c=Math.random()*(this.ground.h-200)+100,h=o.SimObjectFactory.getSimObject(this.uniqueObjectId,this,this.sim.selectionListener,i,e,{x:n,y:c},this.backgroundImg.width);i==o.SimObjectShape.Marker&&r&&(h.markerId=r),t.push(h),h.selected=!0},t.prototype.changeColorWithColorPicker=function(t){var i=this.obstacleList.concat(this.colorAreaList).filter((function(t){return t.selected}));1==i.length&&(i[0].color=t,i[0].type===o.SimObjectType.Obstacle?this.redrawObstacles=!0:this.redrawColorAreas=!0)},t.prototype.clearList=function(t){t.forEach((function(t){t.destroy()})),t.length=0},t.prototype.deleteSelectedObject=function(){var t=this;function i(i){for(var e=0;e<i.length;e++)if(i[e].selected)return i[e].destroy(),i.splice(e,1),t.redrawObstacles=!0,!0;return!1}i(this.obstacleList)?this.redrawObstacles=!0:i(this.colorAreaList)?this.redrawColorAreas=!0:i(this.markerList)&&(this.redrawMarkers=!0)},t.prototype.draw=function(t,i){var e=this;this.rCtx.save(),this.rCtx.scale(this.sim.scale,this.sim.scale),this.rCtx.clearRect(this.ground.x-10,this.ground.y-10,this.ground.w+20,this.ground.h+20),this.dCtx.save(),this.dCtx.scale(this.sim.scale,this.sim.scale),this.robots.forEach((function(s){s.draw(e.rCtx,t),s instanceof n.RobotBaseMobile&&i&&(e.backgroundImg.src.indexOf("math")<0?s.drawTrail(e.dCtx,e.udCtx,e.DEFAULT_TRAIL_WIDTH,e.DEFAULT_TRAIL_COLOR):s.drawTrail(e.dCtx,e.udCtx,1,"#ffffff"))})),this.redrawColorAreas&&(this.drawColorAreas(),this.redrawColorAreas=!1),this.redrawObstacles&&(this.drawObstacles(),this.redrawObstacles=!1),this.redrawMarkers&&(this.drawMarkers(),this.redrawMarkers=!1),this.rCtx.restore(),this.dCtx.restore()},t.prototype.drawColorAreas=function(){var t=this,i=this.backgroundImg.width+20,e=this.backgroundImg.height+20;this.uCtx.clearRect(0,0,i,e),this.uCtx.drawImage(this.backgroundImg,10,10,this.backgroundImg.width,this.backgroundImg.height),this.drawPattern(this.uCtx,!1),this.bCtx.restore(),this.bCtx.save(),this.bCtx.drawImage(this.backgroundImg,10*this.sim.scale,10*this.sim.scale,this.backgroundImg.width*this.sim.scale,this.backgroundImg.height*this.sim.scale),this.drawPattern(this.bCtx,!0),this.bCtx.scale(this.sim.scale,this.sim.scale),this.colorAreaList.forEach((function(i){return i.draw(t.bCtx,t.uCtx)}))},t.prototype.drawObstacles=function(){var t=this;this.oCtx.restore(),this.oCtx.save(),this.oCtx.scale(this.sim.scale,this.sim.scale),this.oCtx.clearRect(this.ground.x-10,this.ground.y-10,this.ground.w+20,this.ground.h+20),this.obstacleList.forEach((function(i){return i.draw(t.oCtx,t.uCtx)}))},t.prototype.drawRcjLabel=function(){var t=this;this.rcjCtx.restore(),this.rcjCtx.save(),this.rcjCtx.scale(this.sim.scale,this.sim.scale),this.rcjCtx.clearRect(this.ground.x-10,this.ground.y-10,this.ground.w+20,this.ground.h+20),this.rcjList.forEach((function(i){return i.draw(t.rcjCtx,t.uCtx)}))},t.prototype.drawMarkers=function(){var t=this;this.aCtx.restore(),this.aCtx.save(),this.aCtx.scale(this.sim.scale,this.sim.scale),this.aCtx.clearRect(this.ground.x-10,this.ground.y-10,this.ground.w+20,this.ground.h+20),this.markerList.forEach((function(i){return i.draw(t.aCtx,t.uCtx)}))},t.prototype.drawPattern=function(t,i){if(this.images&&this.images.pattern){var e=10,s=1;i&&(e*=this.sim.scale,s=this.sim.scale),t.beginPath();var o=this.images.pattern;t.strokeStyle=t.createPattern(o,"repeat"),t.lineWidth=e,t.strokeRect(e/2,e/2,this.backgroundImg.width*s+e,this.backgroundImg.height*s+e)}},t.prototype.getRobotPoses=function(){return this.robots.map((function(t){return[t.pose,t.initialPose]}))},t.prototype.handleKeyEvent=function(t){"v"===t.key&&(t.ctrlKey||t.metaKey)&&(this.pasteObject(this.sim.lastMousePosition),t.stopImmediatePropagation()),"Delete"!==t.key&&"Backspace"!==t.key||(this.deleteSelectedObject(),t.stopImmediatePropagation())},t.prototype.init=function(t,i,r,n,c,h,l){var d=this,u=!this.robotType||this.robotType!=t;this.robotType=t;var g=this;i?(s("#canvasDiv").hide(),s("#simDiv>.pace").show(),this.robots=[],a.RobotFactory.createRobots(r,n,c,this.sim.selectionListener,this.robotType).then((function(t){if(d.robots=t.robots,d.robotClass=t.robotClass,d.setRobotPoses(h),d.initViews(),u){d.removeRcjScoringTool(),g.imgBackgroundList=[],g.currentBackground=0,g.obstacleList.length>0&&(g.obstacleList=[]),g.colorAreaList.length>0&&(g.colorAreaList=[]);var i=".svg";e.isIE()&&(i=".png"),g.loadBackgroundImages((function(){g.robots[0].mobile?(s(".simMobile").show(),g.images=g.loadImages(["roadWorks","pattern"],["roadWorks"+i,"wallPattern.png"],(function(){g.ground=new o.Ground(10,10,g.imgBackgroundList[g.currentBackground].width,g.imgBackgroundList[g.currentBackground].height),g.backgroundImg=g.imgBackgroundList[0];var t=new o.RectangleSimulationObject(0,g,g.sim.selectionListener,o.SimObjectType.Obstacle,{x:7*g.backgroundImg.width/9,y:g.backgroundImg.height-2*g.backgroundImg.width/9},g.backgroundImg.width);g.obstacleList.push(t),g.centerBackground(!0),g.initEvents(),g.sim.initColorPicker(a.RobotBase.colorRange),g.showFullyLoadedSim(l),g.sim.start()}))):(s(".simMobile").hide(),g.images={},g.ground=new o.Ground(10,10,g.imgBackgroundList[g.currentBackground].width,g.imgBackgroundList[g.currentBackground].height),g.backgroundImg=g.imgBackgroundList[0],g.centerBackground(!0),g.initEvents(),g.showFullyLoadedSim(l),g.sim.start())}))}d.showFullyLoadedSim(l),d.sim.start()}))):(this.robots.forEach((function(t,i){g.rcjScoringTool&&t.addObserver(g.rcjScoringTool),t.replaceState(r[i]),t.reset()})),this.showFullyLoadedSim(l)),this.robots.forEach((function(t,i){t.time=0}))},t.prototype.showFullyLoadedSim=function(t){this.obstacleList.forEach((function(t){t.removeMouseEvents(),t.addMouseEvents()})),this.markerList.forEach((function(t){t.removeMouseEvents(),t.addMouseEvents()})),this.colorAreaList.forEach((function(t){t.removeMouseEvents(),t.addMouseEvents()})),s("#canvasDiv").fadeIn("slow"),s("#simDiv>.pace").fadeOut("fast"),"function"==typeof t&&t()},t.prototype.initViews=function(){var t=s("#systemValuesView"),i=s("#robotIndex");t.html("");var e="",o=this.robots[0]instanceof n.RobotBaseMobile?this.robots[0].chassis.geom.color:"#ffffff";if(e+='<select id="robotIndex" style="background-color:'+o+'">',this.robots.forEach((function(t){var i=t instanceof n.RobotBaseMobile?t.chassis.geom.color:"#ffffff";e+='<option style="background-color:'+i+'" value="'+t.id+'">'+t.name+"</option>"})),e+="</select>",t.append('<div><label id="robotLabel">Program Name</label><span style="width:auto">'+e+"</span></div>"),i.off("change.sim"),this.robots.length>1){var r=this;i.on("change.sim",(function(){var t=Number(s(this).val());r.robots[t].selected=!0,r.sim.selectionListener.fire(null)}))}},t.prototype.initEvents=function(){var t=this,i=0;s(window).off("resize.sim").on("resize.sim",(function(e,s){i>3||"loaded"==s?(t.centerBackground(!1),i=0):i++})),s("#robotLayer").off("keydown.sim").on("keydown.sim",this.handleKeyEvent.bind(this))},t.prototype.loadBackgroundImages=function(t){var i,s;s=e.isIE()?".png":".svg";for(var o=(i=this.robots[0].mobile?this.robots[0].imgList.map((function(t){return t.endsWith("jpg")?t:"".concat(t).concat(s)})):[this.robotType+"Background"+s]).length,r=this,a=function(){if(0==--o&&(t(),e.isLocalStorageAvailable()&&r.robots[0].mobile)){var i=localStorage.getItem("customBackground");if(i){try{JSON.parse(i)}catch(t){localStorage.setItem("customBackground",JSON.stringify({image:i,timestamp:(new Date).getTime()})),i=localStorage.getItem("customBackground")}var s=JSON.parse(i);if((new Date).getTime()-s.timestamp>54432e5)localStorage.removeItem("customBackground");else{var a=s.image,n=new Image;n.src="data:image/png;base64,"+a,r.imgBackgroundList.push(n),r.customBackgroundLoaded=!0}}}},n=0;n<i.length;){var c=this.imgBackgroundList[n]=new Image;c.onload=a,c.onerror=function(t){console.error(t)},c.src=this.imgPath+i[n++]}},t.prototype.loadImages=function(t,i,e){for(var s=0,o=t.length,r=function(){0==--o&&e()},a={};s<t.length;){var n=a[t[s]]=new Image;n.onload=r,n.onerror=function(t){console.error(t)},n.src=this.imgPath+i[s++]}return a},t.prototype.pasteObject=function(t){if(this.objectToCopy){var i=o.SimObjectFactory.copy(this.objectToCopy);i.moveTo(t),this.objectToCopy.type===o.SimObjectType.Obstacle?(this.obstacleList.push(i),this.redrawObstacles=!0):this.objectToCopy.type===o.SimObjectType.ColorArea?(this.colorAreaList.push(i),this.redrawColorAreas=!0):this.objectToCopy.type===o.SimObjectType.Marker&&(this.markerList.push(i),this.redrawMarkers=!0)}},t.prototype.resetAllCanvas=function(t){var i=this.sim.scale,e=(this.playground.w-(this.backgroundImg.width+20)*i)/2+25,o=(this.playground.h-(this.backgroundImg.height+20)*i)/2,r=Math.round((this.backgroundImg.width+20)*i),a=Math.round((this.backgroundImg.height+20)*i),n=s("#simDiv"),c=s("#canvasDiv");n.hasClass("shifting")&&n.hasClass("rightActive")&&c.css({top:o+"px",left:e+"px"}),this.oCtx.canvas.width=r,this.oCtx.canvas.height=a,this.rcjCtx.canvas.width=r,this.rcjCtx.canvas.height=a,this.rCtx.canvas.width=r,this.rCtx.canvas.height=a,this.dCtx.canvas.width=r,this.dCtx.canvas.height=a,this.bCtx.canvas.width=r,this.bCtx.canvas.height=a,this.aCtx.canvas.width=r,this.aCtx.canvas.height=a,t&&(this.uCanvas.width=this.backgroundImg.width+20,this.uCanvas.height=this.backgroundImg.height+20,this.udCanvas.width=this.backgroundImg.width+20,this.udCanvas.height=this.backgroundImg.height+20,this.uCtx.drawImage(this.backgroundImg,10,10,this.backgroundImg.width,this.backgroundImg.height),this.drawPattern(this.uCtx,!1)),this.bCtx.restore(),this.bCtx.save(),this.bCtx.drawImage(this.backgroundImg,10*i,10*i,this.backgroundImg.width*i,this.backgroundImg.height*i),this.drawPattern(this.bCtx,!0),this.dCtx.restore(),this.dCtx.save(),this.dCtx.drawImage(this.udCanvas,0,0,this.backgroundImg.width+20,this.backgroundImg.height+20,0,0,r,a),this.drawColorAreas(),this.drawObstacles(),this.drawMarkers(),this.drawRcjLabel()},t.prototype.centerBackground=function(t){var i=s("#simDiv"),e=s("#canvasDiv"),o=i.offset().top;this.playground.w=i.outerWidth()-50,this.playground.h=s(window).height()-o;var r=this.playground.w/(this.backgroundImg.width+20),a=this.playground.h/(this.backgroundImg.height+20);this.sim.scale=Math.min(r,a);var n=(this.playground.w-(this.backgroundImg.width+20)*this.sim.scale)/2+25,c=(this.playground.h-(this.backgroundImg.height+20)*this.sim.scale)/2;e.css({top:c+"px",left:n+"px"}),this.resetAllCanvas(t)},t.prototype.setRobotPoses=function(t){var i=this;t.forEach((function(t,e){i.robots[e]&&(i.robots[e].pose=new n.Pose(t[0].x,t[0].y,t[0].theta),i.robots[e].initialPose=new n.Pose(t[1].x,t[1].y,t[1].theta))}))},t.prototype.stepBackground=function(t){var i=2==this.currentBackground&&this.imgBackgroundList[2].currentSrc.includes("robertaBackground");i&&((e=this.obstacleList.find((function(t){return 0===t.myId})))&&(e.img=null));t<0?(this.currentBackground++,this.currentBackground%=this.imgBackgroundList.length):this.currentBackground=t,i=2==this.currentBackground&&this.imgBackgroundList[2].currentSrc.includes("robertaBackground");var e,r="std"===this.sim.configType?this.sim.getConfigData():null;(this.obstacleList=[],this.colorAreaList=[],this.markerList=[],this.rcjList=[],this.ground.w=this.imgBackgroundList[this.currentBackground].width,this.ground.h=this.imgBackgroundList[this.currentBackground].height,this.backgroundImg=this.imgBackgroundList[this.currentBackground],this.centerBackground(!0),"std"===this.sim.configType?this.sim.setNewConfig(r):(this.sim.configType="std",s("#rcjScoringWindow").fadeOut(),this.removeRcjScoringTool(),this.imgBackgroundList.pop()),i)&&((e=this.obstacleList.find((function(t){if(t.type===o.SimObjectType.Obstacle)return t.h=100,t.w=100,!0})))&&(e.img=this.images.roadWorks))},t.prototype.update=function(t,i){var e=this,s=this.obstacleList.slice();this.robots.forEach((function(t){return s.push(t.chassis)})),s.push(this.ground),this.robots.forEach((function(e){return e.updateActions(e,t,i)})),i&&this.obstacleList.forEach((function(t){var i=t;i.updateAction&&i.updateAction()})),this.robots.forEach((function(o){var r=s.slice(),a=[];for(o.updateSensors(i,t,e.uCtx,e.udCtx,r,e.markerList,a);a.length>0;){a[0].updateSensor(e.uCtx,r,a),a.shift()}})),this.draw(t,i)},t.prototype.toggleTrail=function(){this.robots.forEach((function(t){t.hasTrail=!t.hasTrail,t.pose.xOld=t.pose.x,t.pose.yOld=t.pose.y}))},t.prototype.resetPoseAndDrawings=function(){this.robots.forEach((function(t){return t.resetPose()})),this.dCtx.canvas.width=this.dCtx.canvas.width,this.udCtx.canvas.width=this.udCtx.canvas.width,this.rcjCtx.canvas.width=this.rcjCtx.canvas.width},t.prototype.addMarker=function(t){this.addSimulationObject(this.markerList,o.SimObjectShape.Marker,o.SimObjectType.Marker,t),this._redrawMarkers=!0},t.prototype.setRcjScoringTool=function(t,i,e){this.rcjScoringTool=new c(t,i,e),this.scoring=!0;var o=this;s("#simCompetition").show(),s("#simCompetition").off(),s("#simCompetition").onWrap("click",(function(){o.rcjScoringTool.openClose()})),this.obstacleList.forEach((function(t){t.addObserver&&"function"==typeof t.addObserver&&t.addObserver(o.rcjScoringTool)}))},t.prototype.removeRcjScoringTool=function(){this.rcjScoringTool&&this.rcjScoringTool.destroy(),this.rcjScoringTool=null,this.scoring=!1,s("#simCompetition").hide(),s("#simCompetition").off()},t}();i.SimulationScene=h}));
 //# sourceMappingURL=simulation.scene.js.map
 //# sourceMappingURL=simulation.scene.js.map
diff --git a/OpenRobertaWeb/src/app/simulation/simulationLogic/simulation.objects.ts b/OpenRobertaWeb/src/app/simulation/simulationLogic/simulation.objects.ts
index 9cbbee0a1c..de5f8d9b78 100644
--- a/OpenRobertaWeb/src/app/simulation/simulationLogic/simulation.objects.ts
+++ b/OpenRobertaWeb/src/app/simulation/simulationLogic/simulation.objects.ts
@@ -656,6 +656,7 @@ export class CircleSimulationObject extends BaseSimulationObject implements IMov
     corners: Corner[] = [];
     private collisions: Point[] = [];
     private lastMoveBumped: boolean = false;
+    private lastMoveBumpedOld: boolean = false;
     private lastMove: Point;
     private observers: IObserver[] = [];
     inEvacuationZone: boolean = false;
@@ -870,6 +871,10 @@ export class CircleSimulationObject extends BaseSimulationObject implements IMov
                 this.x += dx;
                 this.y += dy;
                 this.updateCorners();
+                if (this.movable) {
+                    this.lastMoveBumpedOld = false;
+                    this.lastMoveBumped = false;
+                }
                 //TODO redraw
             }
         }
@@ -912,8 +917,7 @@ export class CircleSimulationObject extends BaseSimulationObject implements IMov
             return false;
         }
         this.collisions.push(dist);
-        if (this.lastMoveBumped) {
-            //this.lastMoveBumped = false;
+        if (this.lastMoveBumpedOld) {
             return false;
         }
         return true;
@@ -923,6 +927,8 @@ export class CircleSimulationObject extends BaseSimulationObject implements IMov
         if (!this.movable) {
             return;
         }
+        this.lastMoveBumpedOld = this.lastMoveBumped;
+        this.lastMoveBumped = false;
         let locationColor = uCtx.getImageData(this.x, this.y, 1, 1).data;
         this.inEvacuationZone = locationColor.toString() === [0, 0, 0, 255].toString();
 
@@ -981,7 +987,6 @@ export class CircleSimulationObject extends BaseSimulationObject implements IMov
                     this.moveTo({ x: this.x + diffP.x, y: this.y + diffP.y });
                 }
             } else {
-                this.lastMoveBumped = false;
                 this.moveTo({ x: this.x + diffP.x, y: this.y + diffP.y });
             }
         }
diff --git a/OpenRobertaWeb/src/app/simulation/simulationLogic/simulation.roberta.ts b/OpenRobertaWeb/src/app/simulation/simulationLogic/simulation.roberta.ts
index 6e8685e32e..924bdaf1a6 100644
--- a/OpenRobertaWeb/src/app/simulation/simulationLogic/simulation.roberta.ts
+++ b/OpenRobertaWeb/src/app/simulation/simulationLogic/simulation.roberta.ts
@@ -17,7 +17,7 @@ import * as HUEBEE from 'huebee';
 // @ts-ignore
 import * as Blockly from 'blockly';
 import * as NN_CTRL from 'nn.controller';
-import { SimulationScene } from 'simulation.scene';
+import { IObservableSimulationObject, SimulationScene } from 'simulation.scene';
 import { SelectionListener } from 'robot.base';
 import {
     BaseSimulationObject,
@@ -30,6 +30,7 @@ import {
 } from 'simulation.objects';
 import { Pose } from 'robot.base.mobile';
 import { Simulation } from 'progSim.controller';
+import * as SIMATH from 'simulation.math';
 
 export class SimulationRoberta implements Simulation {
     private static _instance: SimulationRoberta;
@@ -1011,15 +1012,25 @@ export class SimulationRoberta implements Simulation {
                 let victims = configData.victims;
                 let rcjVictimsList = [];
                 let zone: Rectangle = {
-                    x: Math.min(evacuationZone[0], evacuationZone[2]) * sim.TILE_SIZE,
-                    y: Math.min(evacuationZone[1], evacuationZone[3]) * sim.TILE_SIZE,
-                    w: (Math.max(evacuationZone[0], evacuationZone[2]) - Math.min(evacuationZone[0], evacuationZone[2]) + 1) * sim.TILE_SIZE,
-                    h: (Math.max(evacuationZone[1], evacuationZone[3]) - Math.min(evacuationZone[1], evacuationZone[3]) + 1) * sim.TILE_SIZE,
+                    x: Math.min(evacuationZone[0], evacuationZone[2]) * sim.TILE_SIZE - sim.TILE_SIZE / 2,
+                    y: Math.min(evacuationZone[1], evacuationZone[3]) * sim.TILE_SIZE - sim.TILE_SIZE / 2,
+                    w: (Math.max(evacuationZone[0], evacuationZone[2]) - Math.min(evacuationZone[0], evacuationZone[2]) + 1) * sim.TILE_SIZE + sim.TILE_SIZE,
+                    h: (Math.max(evacuationZone[1], evacuationZone[3]) - Math.min(evacuationZone[1], evacuationZone[3]) + 1) * sim.TILE_SIZE + sim.TILE_SIZE,
                 };
                 const createVictim = (color) => {
+                    let p = { x: zone.x + Math.random() * zone.w, y: zone.y + Math.random() * zone.h };
+                    let i = 0;
+                    while (i < rcjVictimsList.length) {
+                        if (SIMATH.getDistance(p, rcjVictimsList[i].p) < 200) {
+                            p = { x: zone.x + Math.random() * zone.w, y: zone.y + Math.random() * zone.h };
+                            i = 0;
+                        } else {
+                            i++;
+                        }
+                    }
                     let victim = {
                         id: sim.scene.uniqueObjectId,
-                        p: { x: zone.x + Math.random() * zone.w, y: zone.y + Math.random() * zone.h },
+                        p: p,
                         params: [7, 1], // 7 is the radius, 1 is movable = true
                         theta: 0,
                         color: color,
@@ -1047,6 +1058,24 @@ export class SimulationRoberta implements Simulation {
                 image.height = canvas.height;
                 return image;
             };
+            let evacuationVictimsZone = [];
+            const resetVictims = () => {
+                let obstaclesToDelete: BaseSimulationObject[] = sim.scene.obstacleList.filter((obstacle) => {
+                    return obstacle.movable;
+                });
+                obstaclesToDelete.forEach((obstacle) => {
+                    obstacle.selected = true;
+                    (obstacle as any as IObservableSimulationObject).removeObserver(sim.scene.rcjScoringTool);
+                    sim.scene.deleteSelectedObject();
+                });
+                let newVictims = getRcjVictims(evacuationVictimsZone);
+                sim.scene.addSomeObstacles(newVictims);
+                sim.scene.obstacleList.forEach((obstacle) => {
+                    if (obstacle['addObserver'] && typeof obstacle['addObserver'] === 'function') {
+                        (obstacle as CircleSimulationObject).addObserver(sim.scene.rcjScoringTool);
+                    }
+                });
+            };
             preloadAll(imgArray).then(
                 function (images) {
                     let ctx = canvas.getContext('2d');
@@ -1057,14 +1086,13 @@ export class SimulationRoberta implements Simulation {
                     let evacuationBottom = [];
                     let evacuationLeft = [];
                     let importObstacles = [];
-                    let evacuationVctimsZone = [];
                     imgArray.forEach((img, index) => {
                         if (img['tileType']['image'].startsWith('ev')) {
                             let ev = img['tileType']['image'].replace('.png', '');
                             switch (ev) {
                                 case 'ev1':
-                                    evacuationVctimsZone.push(img['x']);
-                                    evacuationVctimsZone.push(img['y']);
+                                    evacuationVictimsZone.push(img['x']);
+                                    evacuationVictimsZone.push(img['y']);
                                     // evacuation zone tile without walls
                                     break;
                                 case 'ev2': // one wall
@@ -1236,12 +1264,12 @@ export class SimulationRoberta implements Simulation {
                         let image = createBackgroundImage();
                         sim.scene.imgBackgroundList.push(image);
                         sim.setBackground(sim.scene.imgBackgroundList.length - 1);
-                        sim.scene.addImportObstacle(importObstacles.concat(getRcjVictims(evacuationVctimsZone)));
+                        sim.scene.addImportObstacle(importObstacles.concat(getRcjVictims(evacuationVictimsZone)));
                         sim.scene.addImportRcjLabel(rcjLabel);
                         sim.scene.drawRcjLabel();
                         sim.importPoses = [[startPose, startPose]];
                         sim.scene.setRobotPoses(sim.importPoses);
-                        sim.scene.setRcjScoringTool(sim.scene.robots[0], configData);
+                        sim.scene.setRcjScoringTool(sim.scene.robots[0], configData, resetVictims);
                         $('#simCompetition').show();
                         resolve(result);
                     } else {
diff --git a/OpenRobertaWeb/src/app/simulation/simulationLogic/simulation.scene.ts b/OpenRobertaWeb/src/app/simulation/simulationLogic/simulation.scene.ts
index b64450be0a..1feae19f11 100644
--- a/OpenRobertaWeb/src/app/simulation/simulationLogic/simulation.scene.ts
+++ b/OpenRobertaWeb/src/app/simulation/simulationLogic/simulation.scene.ts
@@ -76,10 +76,12 @@ export class RcjScoringTool implements IObserver {
     private rescueMulti: number;
     private lastCheckPointIndex: number;
     private wasOnLineOnce: boolean = false;
+    private resetObstaclesCallback: Function;
 
-    constructor(robot: RobotBase, configData: any) {
+    constructor(robot: RobotBase, configData: any, resetObstaclesCallback: Function) {
         this.configData = configData;
         this.robot = robot as RobotBaseMobile;
+        this.resetObstaclesCallback = resetObstaclesCallback;
         this.init();
         let rcj = this;
         $('#rcjStartStop')
@@ -88,6 +90,7 @@ export class RcjScoringTool implements IObserver {
                 if ($(this).text().indexOf('Start') >= 0) {
                     $(this).html('Stop<br>Scoring Run');
                     rcj.init();
+                    rcj.resetObstaclesCallback();
                     $('#rcjStartStop').addClass('running');
                     return false;
                 } else {
@@ -427,7 +430,7 @@ export class SimulationScene {
     private readonly aCtx: CanvasRenderingContext2D;
     private readonly udCanvas: HTMLCanvasElement;
     readonly uCanvas: HTMLCanvasElement;
-    private rcjScoringTool: RcjScoringTool;
+    rcjScoringTool: RcjScoringTool;
     private _scoring: boolean = false;
 
     constructor(sim: SimulationRoberta) {
@@ -564,6 +567,24 @@ export class SimulationScene {
         this.obstacleList = newObstacleList;
     }
 
+    addSomeObstacles(importObstacleList: any[]) {
+        let that = this;
+        importObstacleList.forEach((obj) => {
+            let newObject = SimObjectFactory.getSimObject(
+                obj.id,
+                this,
+                this.sim.selectionListener,
+                obj.shape,
+                SimObjectType.Obstacle,
+                obj.p,
+                null,
+                obj.color,
+                ...obj.params
+            );
+            that.obstacleList.push(newObject);
+        });
+    }
+
     addImportRcjLabel(importRcjLabelList: any[]) {
         let newRcjList = [];
         importRcjLabelList.forEach((obj) => {
@@ -1225,8 +1246,8 @@ export class SimulationScene {
         this._redrawMarkers = true;
     }
 
-    setRcjScoringTool(robot: RobotBase, configData) {
-        this.rcjScoringTool = new RcjScoringTool(robot, configData);
+    setRcjScoringTool(robot: RobotBase, configData, resetObstacles: Function) {
+        this.rcjScoringTool = new RcjScoringTool(robot, configData, resetObstacles);
         this.scoring = true;
         let scene = this;
         $('#simCompetition').show();
diff --git a/RobotCyberpi/src/main/java/de/fhg/iais/roberta/visitor/Mbot2PythonVisitor.java b/RobotCyberpi/src/main/java/de/fhg/iais/roberta/visitor/Mbot2PythonVisitor.java
index 95de4c41a1..d887380688 100644
--- a/RobotCyberpi/src/main/java/de/fhg/iais/roberta/visitor/Mbot2PythonVisitor.java
+++ b/RobotCyberpi/src/main/java/de/fhg/iais/roberta/visitor/Mbot2PythonVisitor.java
@@ -99,16 +99,33 @@ protected void visitorGenerateImports() {
         if ( this.getBean(UsedHardwareBean.class).isSensorUsed(CyberpiConstants.MBUILDSENSOR) ) {
             this.src.add(", mbuild");
         }
-        nlIndent();
-        this.src.add("import time");
-        nlIndent();
-        this.src.add("import math, random");
-        nlIndent();
+        this.src.addLine("import time");
+        this.src.addLine("import math, random");
+    }
+
+    private boolean hasDiffDrive(){
+        return this.getBean(UsedHardwareBean.class).isActorUsed(SC.DIFFERENTIALDRIVE);
+    }
+
+    private boolean hasTimerVariables(){
+        return !this.getBean(UsedHardwareBean.class)
+            .getUsedSensors()
+            .stream()
+            .filter(usedSensor -> usedSensor.getType().equals(SC.TIMER))
+            .collect(Collectors.groupingBy(UsedSensor::getPort)).isEmpty();
+    }
+
+    private boolean hasColors(){
+        return this.getBean(UsedHardwareBean.class).getUsedSensors()
+            .stream()
+            .filter(usedSensor -> usedSensor.getType().equals(CyberpiConstants.QUADRGB)
+                && usedSensor.getMode().equals(SC.COLOUR) || usedSensor.getMode().equals(SC.LED))
+            .count() != 0;
     }
 
     @Override
     protected void visitorGenerateGlobalVariables() {
-        if ( this.getBean(UsedHardwareBean.class).isActorUsed(SC.DIFFERENTIALDRIVE) ) {
+        if (hasDiffDrive()) {
             appendRobotVariables();
         }
         generateTimerVariables();
@@ -118,18 +135,15 @@ protected void visitorGenerateGlobalVariables() {
     private void appendRobotVariables() {
         ConfigurationComponent diffDrive = getDiffDrive();
         if ( diffDrive != null ) {
-            nlIndent();
+            this.src.ensureBlankLines(1);
             double circumference = Double.parseDouble(diffDrive.getComponentProperties().get(CyberpiConstants.DIFF_WHEEL_DIAMETER)) * Math.PI;
             double trackWidth = Double.parseDouble(diffDrive.getComponentProperties().get(CyberpiConstants.DIFF_TRACK_WIDTH));
-            this.src.add("_trackWidth = ");
+            this.src.addLine("_trackWidth = ");
             this.src.add(trackWidth);
-            nlIndent();
-            this.src.add("_circumference = ");
+            this.src.addLine("_circumference = ");
             this.src.add(circumference);
-            nlIndent();
-            this.src.add("_diffPortsSwapped = ");
+            this.src.addLine("_diffPortsSwapped = ");
             this.src.add(this.rightMotorPort.equals("EM1") ? "True" : "False");
-            nlIndent();
         }
     }
 
@@ -148,28 +162,24 @@ protected void collectVariablesForFunctionGlobals() {
     }
 
     private void generateTimerVariables() {
-        this.getBean(UsedHardwareBean.class)
-            .getUsedSensors()
-            .stream()
-            .filter(usedSensor -> usedSensor.getType().equals(SC.TIMER))
-            .collect(Collectors.groupingBy(UsedSensor::getPort))
-            .keySet()
-            .forEach(port -> {
-                this.src.add("_timer", port, " = cyberpi.timer.get()");
-                nlIndent();
-            });
+        if(hasTimerVariables()){
+            this.src.ensureBlankLines(1);
+            this.getBean(UsedHardwareBean.class)
+                .getUsedSensors()
+                .stream()
+                .filter(usedSensor -> usedSensor.getType().equals(SC.TIMER))
+                .collect(Collectors.groupingBy(UsedSensor::getPort))
+                .keySet()
+                .forEach(port -> {
+                    this.src.addLine("_timer", port, " = cyberpi.timer.get()");
+                });
+        }
     }
 
     private void addColors() {
-        int colorBlocks = (int) this.getBean(UsedHardwareBean.class).getUsedSensors()
-            .stream()
-            .filter(usedSensor -> usedSensor.getType().equals(CyberpiConstants.QUADRGB)
-                && usedSensor.getMode().equals(SC.COLOUR) || usedSensor.getMode().equals(SC.LED))
-            .count();
-
-        if ( colorBlocks != 0 ) {
-            nlIndent();
-            this.src.add("_colors = {\n",
+        if ( hasColors() ) {
+            this.src.ensureBlankLines(1);
+            this.src.addLine("_colors = {\n",
                 "            \"red\": (204,0,0),\n",
                 "            \"yellow\": (255,255,0),\n",
                 "            \"green\": (51,204,0),\n",
@@ -179,20 +189,18 @@ private void addColors() {
                 "            \"white\": (255,255,255),\n",
                 "            \"black\": (0,0,0)\n",
                 "        }");
-            nlIndent();
         }
     }
 
-
     @Override
     public Void visitMainTask(MainTask mainTask) {
         visitorGenerateUserVariablesAndMethods(mainTask);
-        nlIndent();
-        this.src.add("def run():");
+
+        this.src.ensureBlankLines(1);
+        this.src.addLine("def run():");
         incrIndentation();
         if ( !this.usedGlobalVarInFunctions.isEmpty() ) {
-            nlIndent();
-            this.src.add("global ", String.join(", ", this.usedGlobalVarInFunctions));
+            this.src.addLine("global ", String.join(", ", this.usedGlobalVarInFunctions));
         }
 
         return null;
@@ -204,40 +212,30 @@ protected void generateProgramSuffix(boolean withWrapping) {
             return;
         }
         decrIndentation(); // everything is still indented from main program
-        nlIndent();
-        nlIndent();
-        this.src.add("def main():");
+        this.src.ensureBlankLines(1);
+        this.src.addLine("def main():");
         incrIndentation();
-        nlIndent();
-        this.src.add("try:");
+        this.src.addLine("try:");
         incrIndentation();
-        nlIndent();
-        this.src.add("run()");
+        this.src.addLine("run()");
         decrIndentation();
-        nlIndent();
-        this.src.add("except Exception as e:");
+        this.src.addLine("except Exception as e:");
         incrIndentation();
-        nlIndent();
-        this.src.add("cyberpi.display.show_label(\"Exeption on Mbot 2\", 16, int(8 * 0 + 5), int(17 * 0))");
-        nlIndent();
-        this.src.add("cyberpi.display.show_label(e, 16, int(8 * 0 + 5), int(17 * 1))");
-        nlIndent();
-        this.src.add("raise");
+        this.src.addLine("cyberpi.display.show_label(\"Exeption on Mbot 2\", 16, int(8 * 0 + 5), int(17 * 0))");
+        this.src.addLine("cyberpi.display.show_label(e, 16, int(8 * 0 + 5), int(17 * 1))");
+        this.src.addLine("raise");
         decrIndentation();
         if ( this.getBean(UsedHardwareBean.class).isActorUsed(SC.ENCODER) ) {
-            nlIndent();
-            this.src.add("finally:");
+            this.src.addLine("finally:");
             incrIndentation();
-            nlIndent();
-            this.src.add("mbot2.motor_stop(\"all\")");
-            nlIndent();
-            this.src.add("mbot2.EM_stop(\"all\")");
+            this.src.addLine("mbot2.motor_stop(\"all\")");
+            this.src.addLine("mbot2.EM_stop(\"all\")");
             decrIndentation();
         }
         decrIndentation();
-        nlIndent();
 
-        this.src.add("main()");
+        this.src.ensureBlankLines(1);
+        this.src.addLine("main()");
     }
 
     @Override
diff --git a/RobotEV3/src/main/java/de/fhg/iais/roberta/visitor/codegen/Ev3PythonVisitor.java b/RobotEV3/src/main/java/de/fhg/iais/roberta/visitor/codegen/Ev3PythonVisitor.java
index f4d6978067..e33e6f8950 100644
--- a/RobotEV3/src/main/java/de/fhg/iais/roberta/visitor/codegen/Ev3PythonVisitor.java
+++ b/RobotEV3/src/main/java/de/fhg/iais/roberta/visitor/codegen/Ev3PythonVisitor.java
@@ -573,12 +573,12 @@ public Void visitSoundSensor(SoundSensor soundSensor) {
     @Override
     public Void visitMainTask(MainTask mainTask) {
         visitorGenerateUserVariablesAndMethods(mainTask);
-        nlIndent();
-        this.src.add("def run():");
+        this.src.ensureBlankLines(1);
+        this.src.addLine( "def run():");
+
         incrIndentation();
         if ( !this.usedGlobalVarInFunctions.isEmpty() ) {
-            nlIndent();
-            this.src.add("global ", String.join(", ", this.usedGlobalVarInFunctions));
+            this.src.addLine("global ", String.join(", ", this.usedGlobalVarInFunctions));
         } else {
             addPassIfProgramIsEmpty();
         }
@@ -652,38 +652,29 @@ public Void visitMathRandomIntFunct(MathRandomIntFunct mathRandomIntFunct) {
 
     @Override
     protected void visitorGenerateImports() {
-        this.src.add("#!/usr/bin/python");
-        nlIndent();
-        nlIndent();
-        this.src.add("from __future__ import absolute_import");
-        nlIndent();
-        this.src.add("from roberta.ev3 import Hal");
-        nlIndent();
-        this.src.add("from ev3dev import ev3 as ev3dev");
-        nlIndent();
-        this.src.add("import math");
-        nlIndent();
-        this.src.add("import os");
-        nlIndent();
-        this.src.add("import time");
-        nlIndent();
-        nlIndent();
+        this.src.addLine("#!/usr/bin/python");
+        this.src.ensureBlankLines(1);
+        this.src.addLine("from __future__ import absolute_import");
+        this.src.addLine("from roberta.ev3 import Hal");
+        this.src.addLine("from ev3dev import ev3 as ev3dev");
+        this.src.addLine("import math");
+        this.src.addLine("import os");
+        this.src.addLine("import time");
     }
 
     @Override
     protected void visitorGenerateGlobalVariables() {
-        this.src.add("class BreakOutOfALoop(Exception): pass");
-        nlIndent();
-        this.src.add("class ContinueLoop(Exception): pass");
-        nlIndent();
-        nlIndent();
-        this.src.add(generateUsedImages());
-        this.src.add(generateRegenerateConfiguration());
-        nlIndent();
-        this.src.add("hal = Hal(_brickConfiguration)");
+        this.src.ensureBlankLines(1);
+        this.src.addLine("class BreakOutOfALoop(Exception): pass");
+        this.src.addLine("class ContinueLoop(Exception): pass");
+
+        this.src.addLine(generateUsedImages());
+        this.src.ensureBlankLines(1);
+        this.src.addLine(generateRegenerateConfiguration());
+        this.src.addLine("hal = Hal(_brickConfiguration)");
 
         if ( this.getBean(UsedHardwareBean.class).isActorUsed(SC.VOICE) ) {
-            nlIndent();
+            this.src.ensureNextLine();
             this.src.add("hal.setLanguage(\"");
             this.src.add(TTSLanguageMapper.getLanguageString(this.language));
             this.src.add("\")");
@@ -696,36 +687,24 @@ protected void generateProgramSuffix(boolean withWrapping) {
             return;
         }
         decrIndentation(); // everything is still indented from main program
-        nlIndent();
-        nlIndent();
-        this.src.add("def main():");
+        this.src.ensureBlankLines(1);
+        this.src.addLine("def main():");
         incrIndentation();
-        nlIndent();
-        this.src.add("try:");
+        this.src.addLine("try:");
         incrIndentation();
-        nlIndent();
-        this.src.add("run()");
+        this.src.addLine("run()");
         decrIndentation();
-        nlIndent();
-        this.src.add("except Exception as e:");
+        this.src.addLine("except Exception as e:");
         incrIndentation();
-        nlIndent();
-        this.src.add("hal.drawText('Fehler im EV3', 0, 0)");
-        nlIndent();
-        this.src.add("hal.drawText(e.__class__.__name__, 0, 1)");
-        nlIndent();
+        this.src.addLine("hal.drawText('Fehler im EV3', 0, 0)");
+        this.src.addLine("hal.drawText(e.__class__.__name__, 0, 1)");
         // FIXME: we can only print about 30 chars
-        this.src.add("hal.drawText(str(e), 0, 2)");
-        nlIndent();
-        this.src.add("hal.drawText('Press any key', 0, 4)");
-        nlIndent();
-        this.src.add("while not hal.isKeyPressed('any'): hal.waitFor(500)");
-        nlIndent();
-        this.src.add("raise");
+        this.src.addLine("hal.drawText(str(e), 0, 2)");
+        this.src.addLine("hal.drawText('Press any key', 0, 4)");
+        this.src.addLine("while not hal.isKeyPressed('any'): hal.waitFor(500)");
+        this.src.addLine("raise");
         decrIndentation();
         decrIndentation();
-        nlIndent();
-
         super.generateProgramSuffix(withWrapping);
     }
 
diff --git a/RobotEdison/src/main/java/de/fhg/iais/roberta/visitor/codegen/EdisonPythonVisitor.java b/RobotEdison/src/main/java/de/fhg/iais/roberta/visitor/codegen/EdisonPythonVisitor.java
index 1f207258ad..ca972fe92d 100644
--- a/RobotEdison/src/main/java/de/fhg/iais/roberta/visitor/codegen/EdisonPythonVisitor.java
+++ b/RobotEdison/src/main/java/de/fhg/iais/roberta/visitor/codegen/EdisonPythonVisitor.java
@@ -75,27 +75,20 @@ public EdisonPythonVisitor(List<List<Phrase>> programPhrases, ClassToInstanceMap
 
     @Override
     protected void visitorGenerateImports() {
-        this.src.add("import Ed");
-        nlIndent();
+        this.src.addLine("import Ed");
     }
 
     @Override
     protected void visitorGenerateGlobalVariables() {
-        this.src.add("Ed.EdisonVersion = Ed.V2");
-        nlIndent();
-        this.src.add("Ed.DistanceUnits = Ed.CM");
-        nlIndent();
-        this.src.add("Ed.Tempo = Ed.TEMPO_SLOW");
-        nlIndent();
-        this.src.add("obstacleDetectionOn = False");
-        nlIndent();
-        this.src.add("Ed.LineTrackerLed(Ed.ON)");
-        nlIndent();
-        this.src.add("Ed.ReadClapSensor()");
-        nlIndent(); //zur Sicherheit -- um den Sensor zurückzusetzen
-        this.src.add("Ed.ReadLineState()");
-        nlIndent();
-        this.src.add("Ed.TimeWait(250, Ed.TIME_MILLISECONDS)"); //möglicherweise überflüssig
+        this.src.ensureBlankLines(1);
+        this.src.addLine("Ed.EdisonVersion = Ed.V2");
+        this.src.addLine("Ed.DistanceUnits = Ed.CM");
+        this.src.addLine("Ed.Tempo = Ed.TEMPO_SLOW");
+        this.src.addLine("obstacleDetectionOn = False");
+        this.src.addLine("Ed.LineTrackerLed(Ed.ON)");
+        this.src.addLine("Ed.ReadClapSensor()");
+        this.src.addLine("Ed.ReadLineState()");
+        this.src.addLine("Ed.TimeWait(250, Ed.TIME_MILLISECONDS)"); //möglicherweise überflüssig
     }
 
     /**
@@ -110,8 +103,6 @@ protected void generateProgramSuffix(boolean withWrapping) {
             return;
         }
         decrIndentation(); // everything is still indented from main program
-        nlIndent(); //new line for helper methods
-        nlIndent();
     }
 
     @Override
@@ -300,6 +291,7 @@ public Void visitNumConst(NumConst numConst) {
     @Override
     public Void visitMainTask(MainTask mainTask) {
         visitorGenerateUserVariablesAndMethods(mainTask);
+        src.ensureBlankLines(1);
         return null;
     }
 
diff --git a/RobotFischertechnik/src/main/java/de/fhg/iais/roberta/visitor/Txt4PythonVisitor.java b/RobotFischertechnik/src/main/java/de/fhg/iais/roberta/visitor/Txt4PythonVisitor.java
index cbed615b75..ec8ba3b94f 100644
--- a/RobotFischertechnik/src/main/java/de/fhg/iais/roberta/visitor/Txt4PythonVisitor.java
+++ b/RobotFischertechnik/src/main/java/de/fhg/iais/roberta/visitor/Txt4PythonVisitor.java
@@ -117,22 +117,23 @@ public Void visitMainTask(MainTask mainTask) {
         if ( usedHardwareBean.isSensorUsed(FischertechnikConstants.CAMERA) ) {
             cameraInitialized(usedHardwareBean);
         }
-        nlIndent();
+
         visitorGenerateUserVariablesAndMethods(mainTask);
-        this.src.add("def run():");
+
+        this.src.ensureBlankLines(1);
+        this.src.addLine( "def run():");
         incrIndentation();
         if ( !this.usedGlobalVarInFunctions.isEmpty() ) {
-            nlIndent();
-            this.src.add("global ", String.join(", ", this.usedGlobalVarInFunctions));
+            this.src.addLine("global ", String.join(", ", this.usedGlobalVarInFunctions));
         } else {
             addPassIfProgramIsEmpty();
         }
         if ( usedHardwareBean.isSensorUsed(FischertechnikConstants.CAMERA) ) {
-            nlIndent();
-            this.src.add("camera_initialized()");
+            this.src.addLine("camera_initialized()");
         }
+
         if ( usedHardwareBean.isSensorUsed(SC.ULTRASONIC) ) {
-            nlIndent();
+            this.src.ensureNextLine();
             this.src.add("while not(");
             for ( int i = 0; i < ultrasonicSensors.size(); i++ ) {
                 String name = ultrasonicSensors.get(i);
@@ -143,46 +144,38 @@ public Void visitMainTask(MainTask mainTask) {
             }
             this.src.add("):");
             incrIndentation();
-            nlIndent();
-            this.src.add("pass");
+
+            this.src.addLine("pass");
             decrIndentation();
-            nlIndent();
+            this.src.ensureBlankLines(1);
         }
 
         if ( usedHardwareBean.isActorUsed(FischertechnikConstants.DISPLAYLED) ) {
-            nlIndent();
+            this.src.addLine("for color, value in led_colors.items():");
             incrIndentation();
-            this.src.add("for color, value in led_colors.items():").nlI();
+            this.src.addLine("if color != \"red\":");
             incrIndentation();
-            this.src.add("if color != \"red\":").nlI();
-            this.src.add("display.set_attr(color + \"Led.visible\", str(False).lower())").nlI();
+            this.src.addLine("display.set_attr(color + \"Led.visible\", str(False).lower())");
             decrIndentation();
             decrIndentation();
         }
         return null;
     }
 
-    private void getUltrasonicSensors() {
-
-    }
-
     private void cameraInitialized(UsedHardwareBean usedHardwareBean) {
-        nlIndent();
-        this.src.add("def camera_initialized():");
+        this.src.ensureBlankLines(1);
+        this.src.addLine("def camera_initialized():");
         incrIndentation();
-        nlIndent();
-        this.src.add("while True:");
+        this.src.addLine("while True:");
         incrIndentation();
-        nlIndent();
-        this.src.add("try:");
+        this.src.addLine("try:");
         incrIndentation();
-        nlIndent();
         Map<String, List<ConfigurationComponent>> detectors = getDetectorsMap();
         if ( usedHardwareBean.isSensorUsed(FischertechnikConstants.BALL) ) {
             List<ConfigurationComponent> balldetectors = detectors.get("CAMERA_BALLDETECTOR");
             for ( ConfigurationComponent detector : balldetectors ) {
                 {
-                    this.src.add("ball_detector_" + detector.userDefinedPortName + ".detected()").nlI();
+                    this.src.addLine("ball_detector_" + detector.userDefinedPortName + ".detected()");
                 }
             }
         }
@@ -190,7 +183,7 @@ private void cameraInitialized(UsedHardwareBean usedHardwareBean) {
             List<ConfigurationComponent> linedetectors = detectors.get("CAMERA_LINE");
             for ( ConfigurationComponent detector : linedetectors ) {
                 {
-                    this.src.add("line_detector_" + detector.userDefinedPortName + ".detected()").nlI();
+                    this.src.addLine("line_detector_" + detector.userDefinedPortName + ".detected()");
                 }
             }
         }
@@ -198,7 +191,7 @@ private void cameraInitialized(UsedHardwareBean usedHardwareBean) {
             List<ConfigurationComponent> colordetectors = detectors.get("CAMERA_COLORDETECTOR");
             for ( ConfigurationComponent detector : colordetectors ) {
                 {
-                    this.src.add("color_detector_" + detector.userDefinedPortName + ".detected()").nlI();
+                    this.src.addLine("color_detector_" + detector.userDefinedPortName + ".detected()");
                 }
             }
         }
@@ -206,22 +199,19 @@ private void cameraInitialized(UsedHardwareBean usedHardwareBean) {
             List<ConfigurationComponent> motiondetectors = detectors.get("CAMERA_MOTIONDETECTOR");
             for ( ConfigurationComponent detector : motiondetectors ) {
                 {
-                    this.src.add("motion_detector_" + detector.userDefinedPortName + ".detected()").nlI();
+                    this.src.addLine("motion_detector_" + detector.userDefinedPortName + ".detected()");
                 }
             }
         }
-        this.src.add("break");
+        this.src.addLine("break");
         decrIndentation();
-        nlIndent();
-        this.src.add("except Exception:");
+        this.src.addLine("except Exception:");
         incrIndentation();
-        nlIndent();
-        this.src.add("pass");
+        this.src.addLine("pass");
         decrIndentation();
         decrIndentation();
         decrIndentation();
-        nlIndent();
-
+        this.src.ensureBlankLines(1);
     }
 
     public Void visitMotorOnAction(MotorOnAction motorOnAction) {
@@ -900,66 +890,65 @@ public Void visitRgbColor(RgbColor rgbColor) {
     @Override
     protected void visitorGenerateImports() {
         UsedHardwareBean usedHardwareBean = this.getBean(UsedHardwareBean.class);
-        this.src.add("import fischertechnik.factories as txt_factory").nlI();
+        this.src.addLine("import fischertechnik.factories as txt_factory");
 
         //only motor
         if ( usedHardwareBean.isActorUsed(SC.MOTOR) || usedHardwareBean.isActorUsed(FischertechnikConstants.ENCODERMOTOR) ) {
-            this.src.add("from fischertechnik.controller.Motor import Motor").nlI();
+            this.src.addLine("from fischertechnik.controller.Motor import Motor");
         }
         if ( usedHardwareBean.isActorUsed(C.RANDOM) || usedHardwareBean.isActorUsed(C.RANDOM_DOUBLE) ) {
-            this.src.add("import random").nlI();
+            this.src.addLine("import random");
         }
         if ( usedHardwareBean.isActorUsed(SC.DISPLAY) ) {
-            this.src.add("from lib.display import display").nlI();
+            this.src.addLine("from lib.display import display");
         }
         if ( usedHardwareBean.isSensorUsed(SC.COLOUR) ) {
-            this.src.add("from fischertechnik.models.Color import Color").nlI();
+            this.src.addLine("from fischertechnik.models.Color import Color");
         }
         if ( usedHardwareBean.isSensorUsed(FischertechnikConstants.COLOURCOMPARE) ) {
-            this.src.add("import colorsys").nlI();
+            this.src.addLine("import colorsys");
         }
-
-        this.src.add("import math").nlI();
-        this.src.add("import time").nlI().nlI();
+        this.src.addLine("import math");
+        this.src.addLine("import time");
     }
 
     @Override
     protected void visitorGenerateGlobalVariables() {
         UsedHardwareBean usedHardwareBean = this.getBean(UsedHardwareBean.class);
 
-        this.src.add("txt_factory.init()").nlI();
-        this.src.add("txt_factory.init_input_factory()").nlI();
+        this.src.ensureBlankLines(1);
+        this.src.addLine("txt_factory.init()");
+        this.src.addLine("txt_factory.init_input_factory()");
         if ( usedHardwareBean.isActorUsed(SC.LED) ) {
-            this.src.add("txt_factory.init_output_factory()").nlI();
+            this.src.addLine("txt_factory.init_output_factory()");
         }
         if ( usedHardwareBean.isActorUsed(SC.MOTOR) || usedHardwareBean.isActorUsed(FischertechnikConstants.ENCODERMOTOR) ) {
-            this.src.add("txt_factory.init_motor_factory()").nlI();
+            this.src.addLine("txt_factory.init_motor_factory()");
         }
         if ( usedHardwareBean.isSensorUsed(SC.ENCODER) ) {
-            this.src.add("txt_factory.init_counter_factory()").nlI();
+            this.src.addLine("txt_factory.init_counter_factory()");
         }
         if ( usedHardwareBean.isActorUsed(SC.SERVOMOTOR) ) {
-            this.src.add("txt_factory.init_servomotor_factory()").nlI();
+            this.src.addLine("txt_factory.init_servomotor_factory()");
         }
         if ( usedHardwareBean.isSensorUsed("I2C") ) {
-            this.src.add("txt_factory.init_i2c_factory()").nlI();
+            this.src.addLine("txt_factory.init_i2c_factory()");
         }
-        this.src.add("TXT_M = txt_factory.controller_factory.create_graphical_controller()").nlI();
+        this.src.addLine("TXT_M = txt_factory.controller_factory.create_graphical_controller()");
 
-        if ( !usedHardwareBean.getUsedActors().isEmpty() && !usedHardwareBean.getUsedSensors().isEmpty() ) {
-            nlIndent();
-        }
+        this.src.ensureBlankLines(1);
         initActors(usedHardwareBean);
         initSensors(usedHardwareBean);
         initCamera(usedHardwareBean);
-        this.src.add("txt_factory.initialized()").nlI();
+        this.src.addLine("txt_factory.initialized()");
         enableSensors();
-        this.src.add("time.sleep(0.1)").nlI();
+        this.src.addLine("time.sleep(0.1)");
         generateVariables(usedHardwareBean);
         generateTimerVariables();
     }
 
     private void generateTimerVariables() {
+        this.src.ensureBlankLines(1);
         this.getBean(UsedHardwareBean.class)
             .getUsedSensors()
             .stream()
@@ -968,8 +957,7 @@ private void generateTimerVariables() {
             .keySet()
             .forEach(port -> {
                 this.usedGlobalVarInFunctions.add("_timer" + port);
-                nlIndent();
-                this.src.add("_timer", port, " = time.time()");
+                this.src.addLine("_timer", port, " = time.time()");
             });
     }
 
@@ -977,20 +965,20 @@ private void initActors(UsedHardwareBean usedHardwareBean) {
         for ( ConfigurationComponent component : this.configurationAst.getConfigurationComponents().values() ) {
             if ( component.componentType.equals(SC.MOTOR) && usedHardwareBean.isActorUsed(SC.MOTOR) ) {
                 String port = component.getOptProperty("PORT").substring(1);
-                this.src.add("TXT_M_M", port, "_motor = txt_factory.motor_factory.create_motor(TXT_M, ", port, ")").nlI();
+                this.src.addLine("TXT_M_M", port, "_motor = txt_factory.motor_factory.create_motor(TXT_M, ", port, ")");
             }
             if ( component.componentType.equals(FischertechnikConstants.ENCODERMOTOR) ) {
                 String port = component.getOptProperty("PORT").substring(1);
                 if ( usedHardwareBean.isActorUsed(FischertechnikConstants.ENCODERMOTOR) ) {
-                    this.src.add("TXT_M_M", port, "_motor = txt_factory.motor_factory.create_encodermotor(TXT_M, ", port, ")").nlI();
+                    this.src.addLine("TXT_M_M", port, "_motor = txt_factory.motor_factory.create_encodermotor(TXT_M, ", port, ")");
                 }
                 if ( usedHardwareBean.isSensorUsed(SC.ENCODER) ) {
                     try {
                         ConfigurationComponent encoder = component.getSubComponents().get(SC.ENCODER).get(0);
                         String counterPort = encoder.getOptProperty("PORT").substring(1);
-                        this.src.add("TXT_M_C", counterPort, "_motor_step_counter = txt_factory.counter_factory.create_encodermotor_counter(TXT_M, ", counterPort, ")").nlI();
+                        this.src.addLine("TXT_M_C", counterPort, "_motor_step_counter = txt_factory.counter_factory.create_encodermotor_counter(TXT_M, ", counterPort, ")");
                         if ( usedHardwareBean.isActorUsed(FischertechnikConstants.ENCODERMOTOR) ) {
-                            this.src.add("TXT_M_C", counterPort, "_motor_step_counter.set_motor(TXT_M_M", port, "_motor)").nlI();
+                            this.src.addLine("TXT_M_C", counterPort, "_motor_step_counter.set_motor(TXT_M_M", port, "_motor)");
                         }
                     } catch ( UnsupportedOperationException ignored ) {
 
@@ -999,11 +987,11 @@ private void initActors(UsedHardwareBean usedHardwareBean) {
             }
             if ( component.componentType.equals(SC.SERVOMOTOR) && usedHardwareBean.isActorUsed(SC.SERVOMOTOR) ) {
                 String port = component.getOptProperty("PORT").substring(1);
-                this.src.add("TXT_M_S", port, "_servomotor = txt_factory.servomotor_factory.create_servomotor(TXT_M, ", port, ")").nlI();
+                this.src.addLine("TXT_M_S", port, "_servomotor = txt_factory.servomotor_factory.create_servomotor(TXT_M, ", port, ")");
             }
             if ( component.componentType.equals(SC.LED) && usedHardwareBean.isActorUsed(SC.LED) ) {
                 String port = component.getOptProperty("PORT").substring(1);
-                this.src.add("TXT_M_O", port, "_led = txt_factory.output_factory.create_led(TXT_M, " + port + ")").nlI();
+                this.src.addLine("TXT_M_O", port, "_led = txt_factory.output_factory.create_led(TXT_M, " + port + ")");
             }
         }
     }
@@ -1012,44 +1000,44 @@ private void initSensors(UsedHardwareBean usedHardwareBean) {
         for ( ConfigurationComponent component : this.configurationAst.getConfigurationComponents().values() ) {
             if ( component.componentType.equals(SC.KEY) && usedHardwareBean.isSensorUsed(SC.KEY) ) {
                 String port = component.getOptProperty("PORT").substring(1);
-                this.src.add("TXT_M_I", port, "_mini_switch = txt_factory.input_factory.create_mini_switch(TXT_M, ", port, ")").nlI();
+                this.src.addLine("TXT_M_I", port, "_mini_switch = txt_factory.input_factory.create_mini_switch(TXT_M, ", port, ")");
             } else if ( component.componentType.equals(SC.ULTRASONIC) && usedHardwareBean.isSensorUsed(SC.ULTRASONIC) ) {
                 String port = component.getOptProperty("PORT").substring(1);
                 String ultraSonicName = "TXT_M_I" + port + "_ultrasonic_distance_meter";
                 ultrasonicSensors.add(ultraSonicName);
-                this.src.add(ultraSonicName, " = txt_factory.input_factory.create_ultrasonic_distance_meter(TXT_M, ", port, ")").nlI();
+                this.src.addLine(ultraSonicName, " = txt_factory.input_factory.create_ultrasonic_distance_meter(TXT_M, ", port, ")");
             } else if ( component.componentType.equals(SC.INFRARED) && usedHardwareBean.isSensorUsed(SC.INFRARED) ) {
                 String portLeft = component.getOptProperty("PORTL").substring(1);
                 String portRight = component.getOptProperty("PORTR").substring(1);
-                this.src.add("TXT_M_I", portLeft, "_trail_follower = txt_factory.input_factory.create_trail_follower(TXT_M, ", portLeft, ")").nlI();
-                this.src.add("TXT_M_I", portRight, "_trail_follower = txt_factory.input_factory.create_trail_follower(TXT_M, ", portRight, ")").nlI();
+                this.src.addLine("TXT_M_I", portLeft, "_trail_follower = txt_factory.input_factory.create_trail_follower(TXT_M, ", portLeft, ")");
+                this.src.addLine("TXT_M_I", portRight, "_trail_follower = txt_factory.input_factory.create_trail_follower(TXT_M, ", portRight, ")");
             } else if ( component.componentType.equals(SC.LIGHT) && usedHardwareBean.isSensorUsed(SC.LIGHT) ) {
                 String port = component.getOptProperty("PORT").substring(1);
-                this.src.add("TXT_M_I", port, "_color_sensor = txt_factory.input_factory.create_color_sensor(TXT_M, ", port, ")").nlI();
+                this.src.addLine("TXT_M_I", port, "_color_sensor = txt_factory.input_factory.create_color_sensor(TXT_M, ", port, ")");
             } else if ( component.componentType.equals(SC.TEMPERATURE) && usedHardwareBean.isSensorUsed(SC.TEMPERATURE) ) {
                 String port = component.getOptProperty("PORT").substring(1);
-                this.src.add("TXT_M_I", port, "_ntc_resistor = txt_factory.input_factory.create_ntc_resistor(TXT_M, ", port, ")").nlI();
+                this.src.addLine("TXT_M_I", port, "_ntc_resistor = txt_factory.input_factory.create_ntc_resistor(TXT_M, ", port, ")");
             } else if ( component.componentType.equals(FischertechnikConstants.PHOTOTRANSISTOR) && usedHardwareBean.isSensorUsed(FischertechnikConstants.PHOTOTRANSISTOR) ) {
                 String port = component.getOptProperty("PORT").substring(1);
-                this.src.add("TXT_M_I", port, "_photo_transistor = txt_factory.input_factory.create_photo_transistor(TXT_M, ", port, ")").nlI();
+                this.src.addLine("TXT_M_I", port, "_photo_transistor = txt_factory.input_factory.create_photo_transistor(TXT_M, ", port, ")");
             } else if ( component.componentType.equals("I2C") && usedHardwareBean.isSensorUsed("I2C") ) {
                 if ( usedHardwareBean.isSensorUsed("IMU") ) {
                     int index = getSensorNumber("TXT_IMU");
                     this.IMU = "TXT_M_I2C_" + index + "_combined_sensor_6pin";
-                    this.src.add(IMU, " = txt_factory.i2c_factory.create_combined_sensor_6pin(TXT_M, ", index, ")").nlI();
+                    this.src.addLine(IMU, " = txt_factory.i2c_factory.create_combined_sensor_6pin(TXT_M, ", index, ")");
                 }
                 if ( usedHardwareBean.isSensorUsed(FischertechnikConstants.GESTURE) ) {
                     int index = getSensorNumber(FischertechnikConstants.GESTURE);
                     this.gesture = "TXT_M_I2C_" + index + "_gesture_sensor";
-                    this.src.add(gesture, " = txt_factory.i2c_factory.create_gesture_sensor(TXT_M, ", index, ")").nlI();
+                    this.src.addLine(gesture, " = txt_factory.i2c_factory.create_gesture_sensor(TXT_M, ", index, ")");
                 }
                 if ( usedHardwareBean.isSensorUsed(SC.ENVIRONMENTAL) ) {
                     int index = getSensorNumber(SC.ENVIRONMENTAL);
-                    this.src.add("TXT_M_I2C_", index, "_environment_sensor = txt_factory.i2c_factory.create_environment_sensor(TXT_M, ", index, ")").nlI();
+                    this.src.addLine("TXT_M_I2C_", index, "_environment_sensor = txt_factory.i2c_factory.create_environment_sensor(TXT_M, ", index, ")");
                 }
             } else if ( component.componentType.equals(SC.ENCODER) && usedHardwareBean.isSensorUsed(SC.ENCODER) ) {
                 String port = component.getOptProperty("PORT").substring(1);
-                this.src.add("TXT_M_C", port, "_motor_step_counter = txt_factory.counter_factory.create_encodermotor_counter(TXT_M, ", port, ")").nlI();
+                this.src.addLine("TXT_M_C", port, "_motor_step_counter = txt_factory.counter_factory.create_encodermotor_counter(TXT_M, ", port, ")");
             }
         }
     }
@@ -1059,21 +1047,22 @@ private boolean gestureModeIsUsed(String mode) {
             .anyMatch(usedSensor -> usedSensor.getType().equals(FischertechnikConstants.GESTURE) && usedSensor.getMode().equals(mode));
     }
 
+
     private void enableSensors() {
         if ( !this.IMU.isEmpty() ) {
-            this.src.add(IMU, ".init_accelerometer(2, 1.5625)").nlI();
-            this.src.add(IMU, ".init_magnetometer(25)").nlI();
-            this.src.add(IMU, ".init_gyrometer(250, 12.5)").nlI();
+            this.src.addLine(IMU, ".init_accelerometer(2, 1.5625)");
+            this.src.addLine(IMU, ".init_magnetometer(25)");
+            this.src.addLine(IMU, ".init_gyrometer(250, 12.5)");
         }
         if ( !this.gesture.isEmpty() ) {
             if ( gestureModeIsUsed(FischertechnikConstants.GESTURE) ) {
-                this.src.add(gesture, ".enable_gesture()").nlI();
+                this.src.addLine(gesture, ".enable_gesture()");
             }
             if ( gestureModeIsUsed(SC.AMBIENTLIGHT) || gestureModeIsUsed(SC.COLOUR) || gestureModeIsUsed(SC.RGB) ) {
-                this.src.add(gesture, ".enable_light()").nlI();
+                this.src.addLine(gesture, ".enable_light()");
             }
             if ( gestureModeIsUsed("PROXIMITY") ) {
-                this.src.add(gesture, ".enable_proximity()").nlI();
+                this.src.addLine(gesture, ".enable_proximity()");
             }
         }
     }
@@ -1084,15 +1073,14 @@ private void initCamera(UsedHardwareBean usedHardwareBean) {
             String usbPort = camera.getOptProperty("PORT").substring(3);
             String[] resolution = camera.getOptProperty("RESOLUTION").split("x");
             String cameraVariable = "TXT_M_USB1_" + usbPort + "_camera";
-            this.src.add("txt_factory.init_usb_factory()").nlI();
-            this.src.add("txt_factory.init_camera_factory()").nlI();
-            this.src.add(cameraVariable + " = txt_factory.usb_factory.create_camera(TXT_M, " + usbPort + ")").nlI();
-            this.src.add(cameraVariable + ".set_rotate(False)").nlI();
-            this.src.add(cameraVariable + ".set_height(" + resolution[1] + ")").nlI();
-            this.src.add(cameraVariable + ".set_width(" + resolution[0] + ")").nlI();
-            this.src.add(cameraVariable + ".set_fps(15)").nlI();
-            this.src.add(cameraVariable + ".start()").nlI();
-            nlIndent();
+            this.src.addLine("txt_factory.init_usb_factory()");
+            this.src.addLine("txt_factory.init_camera_factory()");
+            this.src.addLine(cameraVariable + " = txt_factory.usb_factory.create_camera(TXT_M, " + usbPort + ")");
+            this.src.addLine(cameraVariable + ".set_rotate(False)");
+            this.src.addLine(cameraVariable + ".set_height(" + resolution[1] + ")");
+            this.src.addLine(cameraVariable + ".set_width(" + resolution[0] + ")");
+            this.src.addLine(cameraVariable + ".set_fps(15)");
+            this.src.addLine(cameraVariable + ".start()");
             initDetectors(usedHardwareBean, camera);
         }
     }
@@ -1107,12 +1095,13 @@ private void initDetectors(UsedHardwareBean usedHardwareBean, ConfigurationCompo
             for ( ConfigurationComponent detector : motiondetectors ) {
                 detectorRegion = getDetectorregion(detector);
 
-                this.src.add("motion_detector_", detector.userDefinedPortName,
+                this.src.addLine("motion_detector_", detector.userDefinedPortName,
                     " = txt_factory.camera_factory.create_motion_detector(",
                     detectorRegion.get("startX"), ", ", detectorRegion.get("startY"), ", ", detectorRegion.get("width"), ", ", detectorRegion.get("height"), ", ",
-                    detector.getOptProperty("TOLERANCE"), ")").nlI();
-                this.src.add(cameraVariable, ".add_detector(motion_detector_", detector.userDefinedPortName,
-                    ")").nlI();
+                    detector.getOptProperty("TOLERANCE"), ")");
+
+                this.src.addLine(cameraVariable, ".add_detector(motion_detector_", detector.userDefinedPortName,
+                    ")");
             }
         }
         if ( usedHardwareBean.isSensorUsed(SC.COLOUR) ) {
@@ -1120,11 +1109,12 @@ private void initDetectors(UsedHardwareBean usedHardwareBean, ConfigurationCompo
             for ( ConfigurationComponent detector : colordetectors ) {
                 detectorRegion = getDetectorregion(detector);
 
-                this.src.add("color_detector_", detector.userDefinedPortName,
+                this.src.addLine("color_detector_", detector.userDefinedPortName,
                     " = txt_factory.camera_factory.create_color_detector(",
                     detectorRegion.get("startX"), ", ", detectorRegion.get("startY"), ", ", detectorRegion.get("width"), ", ", detectorRegion.get("height"),
-                    ", 1)").nlI();
-                this.src.add(cameraVariable, ".add_detector(color_detector_", detector.userDefinedPortName, ")").nlI();
+                    ", 1)");
+
+                this.src.addLine(cameraVariable, ".add_detector(color_detector_", detector.userDefinedPortName, ")");
             }
         }
         if ( usedHardwareBean.isSensorUsed(FischertechnikConstants.LINE) ) {
@@ -1132,13 +1122,14 @@ private void initDetectors(UsedHardwareBean usedHardwareBean, ConfigurationCompo
             for ( ConfigurationComponent detector : linedetectors ) {
                 detectorRegion = getDetectorregion(detector);
 
-                this.src.add("line_detector_", detector.userDefinedPortName,
+                this.src.addLine("line_detector_", detector.userDefinedPortName,
                     " = txt_factory.camera_factory.create_line_detector(",
                     detectorRegion.get("startX"), ", ", detectorRegion.get("startY"), ", ", detectorRegion.get("width"), ", ", detectorRegion.get("height"), ", ",
                     detector.getOptProperty("MINIMUM"), ", ", detector.getOptProperty("MAXIMUM"),
                     ", -100, 100, ",
-                    detector.getOptProperty("NUMBERLINES"), ")").nlI();
-                this.src.add(cameraVariable, ".add_detector(line_detector_", detector.userDefinedPortName, ")").nlI();
+                    detector.getOptProperty("NUMBERLINES"), ")");
+
+                this.src.addLine(cameraVariable, ".add_detector(line_detector_", detector.userDefinedPortName, ")");
             }
         }
         if ( usedHardwareBean.isSensorUsed(FischertechnikConstants.BALL) ) {
@@ -1146,14 +1137,15 @@ private void initDetectors(UsedHardwareBean usedHardwareBean, ConfigurationCompo
             for ( ConfigurationComponent detector : balldetectors ) {
                 detectorRegion = getDetectorregion(detector);
 
-                this.src.add("ball_detector_", detector.userDefinedPortName,
+                this.src.addLine("ball_detector_", detector.userDefinedPortName,
                     " = txt_factory.camera_factory.create_ball_detector(",
                     detectorRegion.get("startX"), ", ", detectorRegion.get("startY"), ", ", detectorRegion.get("width"), ", ", detectorRegion.get("height"), ", ",
                     detector.getOptProperty("MINIMUM"), ",", detector.getOptProperty("MAXIMUM"),
                     ", -100, 100, ",
                     hexToRgb(detector.getOptProperty("COLOUR")), ", ",
-                    detector.getOptProperty("TOLERANCE"), ")").nlI();
-                this.src.add(cameraVariable, ".add_detector(ball_detector_", detector.userDefinedPortName, ")").nlI();
+                    detector.getOptProperty("TOLERANCE"), ")");
+
+                this.src.addLine(cameraVariable, ".add_detector(ball_detector_", detector.userDefinedPortName, ")");
             }
         }
     }
@@ -1206,34 +1198,34 @@ private void generateVariables(UsedHardwareBean usedHardwareBean) {
         if ( usedHardwareBean.isActorUsed(FischertechnikConstants.OMNIDRIVE) ) {
             ConfigurationComponent omniDrive = getOmniDrive();
             if ( omniDrive != null ) {
-                this.src.add("#init omnidrive").nlI();
-                this.src.add("front_left_motor = ", "TXT_M_" + omniDrive.getOptProperty("MOTOR_FL") + "_motor").nlI();
-                this.src.add("front_right_motor = ", "TXT_M_" + omniDrive.getOptProperty("MOTOR_FR") + "_motor").nlI();
-                this.src.add("rear_left_motor = ", "TXT_M_" + omniDrive.getOptProperty("MOTOR_RL") + "_motor").nlI();
-                this.src.add("rear_right_motor = ", "TXT_M_" + omniDrive.getOptProperty("MOTOR_RR") + "_motor").nlI();
-                this.src.add("WHEEL_DIAMETER = ", omniDrive.getOptProperty("BRICK_WHEEL_DIAMETER")).nlI();
-                this.src.add("TRACK_WIDTH = ", omniDrive.getOptProperty("BRICK_TRACK_WIDTH")).nlI();
-                this.src.add("WHEEL_BASE = ", omniDrive.getOptProperty("WHEEL_BASE")).nlI();
+                this.src.addLine("#init omnidrive");
+                this.src.addLine("front_left_motor = ", "TXT_M_" + omniDrive.getOptProperty("MOTOR_FL") + "_motor");
+                this.src.addLine("front_right_motor = ", "TXT_M_" + omniDrive.getOptProperty("MOTOR_FR") + "_motor");
+                this.src.addLine("rear_left_motor = ", "TXT_M_" + omniDrive.getOptProperty("MOTOR_RL") + "_motor");
+                this.src.addLine("rear_right_motor = ", "TXT_M_" + omniDrive.getOptProperty("MOTOR_RR") + "_motor");
+                this.src.addLine("WHEEL_DIAMETER = ", omniDrive.getOptProperty("BRICK_WHEEL_DIAMETER"));
+                this.src.addLine("TRACK_WIDTH = ", omniDrive.getOptProperty("BRICK_TRACK_WIDTH"));
+                this.src.addLine("WHEEL_BASE = ", omniDrive.getOptProperty("WHEEL_BASE"));
                 this.drive = FischertechnikConstants.OMNIDRIVE;
             }
         } else if ( usedHardwareBean.isActorUsed(SC.DIFFERENTIALDRIVE) ) {
             ConfigurationComponent diffDrive = getDifferentialDrive();
             if ( diffDrive != null ) {
                 drive = SC.DIFFERENTIAL_DRIVE;
-                this.src.add("#init differentialDrive").nlI();
-                this.src.add("left_motor = ", "TXT_M_" + diffDrive.getOptProperty("MOTOR_L") + "_motor").nlI();
-                this.src.add("right_motor = ", "TXT_M_" + diffDrive.getOptProperty("MOTOR_R") + "_motor").nlI();
-                this.src.add("WHEEL_DIAMETER = ", diffDrive.getOptProperty("BRICK_WHEEL_DIAMETER")).nlI();
-                this.src.add("TRACK_WIDTH = ", diffDrive.getOptProperty("BRICK_TRACK_WIDTH")).nlI();
+                this.src.addLine("#init differentialDrive");
+                this.src.addLine("left_motor = ", "TXT_M_" + diffDrive.getOptProperty("MOTOR_L") + "_motor");
+                this.src.addLine("right_motor = ", "TXT_M_" + diffDrive.getOptProperty("MOTOR_R") + "_motor");
+                this.src.addLine("WHEEL_DIAMETER = ", diffDrive.getOptProperty("BRICK_WHEEL_DIAMETER"));
+                this.src.addLine("TRACK_WIDTH = ", diffDrive.getOptProperty("BRICK_TRACK_WIDTH"));
             }
         }
         if ( usedHardwareBean.isSensorUsed(SC.ENCODER) ) {
-            this.src.add("STEPS_PER_ROTATION = 128").nlI();
+            this.src.addLine("STEPS_PER_ROTATION = 128");
         }
         if ( usedHardwareBean.isActorUsed(FischertechnikConstants.DISPLAYLED) ) {
-            this.src.add("current_led = \"redLed\"").nlI();
+            this.src.addLine("current_led = \"redLed\"");
 
-            this.src.add("led_colors = {\n" +
+            this.src.addLine("led_colors = {\n" +
                 "    \"red\": 0xcc0000,\n" +
                 "    \"yellow\": 0xffff00,\n" +
                 "    \"green\": 0x33cc00,\n" +
@@ -1242,7 +1234,7 @@ private void generateVariables(UsedHardwareBean usedHardwareBean) {
                 "    \"purple\": 0xcc33cc,\n" +
                 "    \"white\": 0xffffff,\n" +
                 "    \"black\": 0x000000\n" +
-                "}").nlI();
+                "}");
         }
     }
 
@@ -1252,27 +1244,21 @@ protected void generateProgramSuffix(boolean withWrapping) {
             return;
         }
         decrIndentation(); // everything is still indented from main program
-        nlIndent();
-        nlIndent();
-        this.src.add("def main():");
+        this.src.ensureBlankLines(1);
+        this.src.addLine("def main():");
         incrIndentation();
-        nlIndent();
-        this.src.add("try:");
+        this.src.addLine("try:");
         incrIndentation();
-        nlIndent();
-        this.src.add("run()");
+        this.src.addLine("run()");
         decrIndentation();
-        nlIndent();
-        this.src.add("except Exception as e:");
+        this.src.addLine("except Exception as e:");
         incrIndentation();
-        nlIndent();
-        this.src.add("print(e)");
+        this.src.addLine("print(e)");
         decrIndentation();
         decrIndentation();
-        nlIndent();
-        nlIndent();
 
-        this.src.add("main()");
+        this.src.ensureBlankLines(1);
+        this.src.addLine("main()");
     }
 
     private String getPortFromConfig(String name) {
diff --git a/RobotMbed/src/main/java/de/fhg/iais/roberta/visitor/codegen/CalliopeV3PythonVisitor.java b/RobotMbed/src/main/java/de/fhg/iais/roberta/visitor/codegen/CalliopeV3PythonVisitor.java
index 6e4050426b..cc8b934262 100644
--- a/RobotMbed/src/main/java/de/fhg/iais/roberta/visitor/codegen/CalliopeV3PythonVisitor.java
+++ b/RobotMbed/src/main/java/de/fhg/iais/roberta/visitor/codegen/CalliopeV3PythonVisitor.java
@@ -115,15 +115,12 @@ protected void generateProgramPrefix(boolean withWrapping) {
             Map<String, ConfigurationComponent> a = robotConfiguration.getAllConfigurationComponentByType(SC.SERVOMOTOR);
             a.forEach((s, configurationComponent) -> {
                 String port = configurationComponent.getComponentProperties().get("PIN1");
-                this.src.add(this.firmware, ".", PIN_MAP.get(port), ".set_analog_period(20)");
-                nlIndent();
+                this.src.addLine(this.firmware, ".", PIN_MAP.get(port), ".set_analog_period(20)");
             });
         }
         if ( this.getBean(UsedHardwareBean.class).isActorUsed("MOTIONKIT") ) {
-            this.src.add(this.firmware, ".", PIN_MAP.get("C16"), ".set_analog_period(20)");
-            nlIndent();
-            this.src.add(this.firmware, ".", PIN_MAP.get("C17"), ".set_analog_period(20)");
-            nlIndent();
+            this.src.addLine(this.firmware, ".", PIN_MAP.get("C16"), ".set_analog_period(20)");
+            this.src.addLine(this.firmware, ".", PIN_MAP.get("C17"), ".set_analog_period(20)");
         }
     }
 
diff --git a/RobotMbed/src/main/java/de/fhg/iais/roberta/visitor/codegen/JoyCarPythonVisitor.java b/RobotMbed/src/main/java/de/fhg/iais/roberta/visitor/codegen/JoyCarPythonVisitor.java
index f93c95acaa..9e1442d70d 100644
--- a/RobotMbed/src/main/java/de/fhg/iais/roberta/visitor/codegen/JoyCarPythonVisitor.java
+++ b/RobotMbed/src/main/java/de/fhg/iais/roberta/visitor/codegen/JoyCarPythonVisitor.java
@@ -57,62 +57,48 @@ public JoyCarPythonVisitor(
     @Override
     protected void visitorGenerateImports() {
         this.src.add("import microbit");
-        nlIndent();
-        this.src.add("import random");
-        nlIndent();
-        this.src.add("import math");
-        nlIndent();
+        this.src.addLine("import random");
+        this.src.addLine("import math");
         if ( this.getBean(UsedHardwareBean.class).isActorUsed(SC.RGBLED) ) {
-            this.src.add("import neopixel");
-            nlIndent();
+            this.src.addLine("import neopixel");
         }
         if ( this.getBean(UsedHardwareBean.class).isActorUsed(SC.RADIO) ) {
-            this.src.add("import radio");
-            nlIndent();
+            this.src.addLine("import radio");
         }
         if ( this.getBean(UsedHardwareBean.class).isActorUsed(SC.MUSIC) ) {
-            this.src.add("import music");
-            nlIndent();
+            this.src.addLine("import music");
         }
         if ( this.getBean(UsedHardwareBean.class).isSensorUsed(SC.ULTRASONIC) ) {
-            this.src.add("import machine");
-            nlIndent();
+            this.src.addLine("import machine");
         }
-        nlIndent();
     }
 
     @Override
     protected void visitorGenerateGlobalVariables() {
-        this.src.add("class BreakOutOfALoop(Exception): pass");
-        nlIndent();
-        this.src.add("class ContinueLoop(Exception): pass");
-        nlIndent();
+        this.src.ensureBlankLines(1);
+        this.src.addLine("class BreakOutOfALoop(Exception): pass");
+        this.src.addLine("class ContinueLoop(Exception): pass");
+
+       this.src.ensureBlankLines(1);
         if ( (this.getBean(UsedHardwareBean.class).isActorUsed("I2C")) ) {
-            nlIndent();
-            this.src.add("microbit.i2c.init(freq=400000, sda=microbit.pin20, scl=microbit.pin19)");
-            nlIndent();
+            this.src.addLine("microbit.i2c.init(freq=400000, sda=microbit.pin20, scl=microbit.pin19)");
         }
         if ( this.getBean(UsedHardwareBean.class).isActorUsed(SC.DIFFERENTIALDRIVE) || (this.getBean(UsedHardwareBean.class).isActorUsed(SC.MOTOR)) ) {
-            this.src.add("microbit.i2c.write(0x70, b'\\x00\\x01')");
-            nlIndent();
-            this.src.add("microbit.i2c.write(0x70, b'\\xE8\\xAA')");
-            nlIndent();
+            this.src.addLine("microbit.i2c.write(0x70, b'\\x00\\x01')");
+            this.src.addLine("microbit.i2c.write(0x70, b'\\xE8\\xAA')");
         }
         if ( this.getBean(UsedHardwareBean.class).isActorUsed(SC.SERVOMOTOR) ) {
-            this.src.add("microbit.pin1.set_analog_period(20)");
-            nlIndent();
-            this.src.add("microbit.pin13.set_analog_period(20)");
-            nlIndent();
+            this.src.addLine("microbit.pin1.set_analog_period(20)");
+            this.src.addLine("microbit.pin13.set_analog_period(20)");
         }
         if ( this.getBean(UsedHardwareBean.class).isActorUsed(SC.RGBLED) ) {
-            this.src.add("np = neopixel.NeoPixel(microbit.pin0, 8)");
-            nlIndent();
+            this.src.addLine("np = neopixel.NeoPixel(microbit.pin0, 8)");
         }
-        nlIndent();
-        this.src.add("timer1 = microbit.running_time()");
+
+        this.src.ensureBlankLines(1);
+        this.src.addLine("timer1 = microbit.running_time()");
         if ( this.getBean(UsedHardwareBean.class).isActorUsed(SC.RADIO) ) {
-            nlIndent();
-            this.src.add("radio.on()");
+            this.src.addLine("radio.on()");
         }
     }
 
@@ -134,12 +120,10 @@ public Void visitDriveAction(DriveAction driveAction) {
         driveAction.param.getSpeed().accept(this);
         this.src.add(")");
         if ( hasDuration ) {
-            nlIndent();
-            this.src.add("microbit.sleep(");
+            this.src.addLine("microbit.sleep(");
             driveAction.param.getDuration().getValue().accept(this);
             this.src.add(")");
-            nlIndent();
-            this.src.add(this.getBean(CodeGeneratorSetupBean.class).getHelperMethodGenerator().getHelperMethodName(JoycarMethods.DIFFDRIVE), "(0, 0)");
+            this.src.addLine(this.getBean(CodeGeneratorSetupBean.class).getHelperMethodGenerator().getHelperMethodName(JoycarMethods.DIFFDRIVE), "(0, 0)");
         }
         return null;
     }
@@ -205,12 +189,10 @@ public Void visitTurnAction(TurnAction turnAction) {
         this.src.add(")");
 
         if ( hasDuration ) {
-            nlIndent();
-            this.src.add("microbit.sleep(");
+            this.src.addLine("microbit.sleep(");
             turnAction.param.getDuration().getValue().accept(this);
             this.src.add(")");
-            nlIndent();
-            this.src.add(this.getBean(CodeGeneratorSetupBean.class).getHelperMethodGenerator().getHelperMethodName(JoycarMethods.DIFFDRIVE), "(0, 0)");
+            this.src.addLine(this.getBean(CodeGeneratorSetupBean.class).getHelperMethodGenerator().getHelperMethodName(JoycarMethods.DIFFDRIVE), "(0, 0)");
         }
         return null;
     }
@@ -228,12 +210,10 @@ public Void visitCurveAction(CurveAction curveAction) {
         this.src.add(")");
 
         if ( hasDuration ) {
-            nlIndent();
-            this.src.add("microbit.sleep(");
+            this.src.addLine("microbit.sleep(");
             curveAction.paramRight.getDuration().getValue().accept(this);
             this.src.add(")");
-            nlIndent();
-            this.src.add(this.getBean(CodeGeneratorSetupBean.class).getHelperMethodGenerator().getHelperMethodName(JoycarMethods.DIFFDRIVE), "(0, 0)");
+            this.src.addLine(this.getBean(CodeGeneratorSetupBean.class).getHelperMethodGenerator().getHelperMethodName(JoycarMethods.DIFFDRIVE), "(0, 0)");
         }
         return null;
     }
@@ -399,43 +379,33 @@ protected void generateProgramSuffix(boolean withWrapping) {
             return;
         }
         decrIndentation(); // everything is still indented from main program
-        nlIndent();
-        nlIndent();
-        this.src.add("def main():");
+        this.src.ensureBlankLines(1);
+        this.src.addLine("def main():");
         incrIndentation();
-        nlIndent();
-        this.src.add("try:");
+        this.src.addLine("try:");
         incrIndentation();
-        nlIndent();
-        this.src.add("run()");
+        this.src.addLine("run()");
         decrIndentation();
-        nlIndent();
-        this.src.add("except Exception as e:");
+        this.src.addLine("except Exception as e:");
         incrIndentation();
-        nlIndent();
-        this.src.add("raise");
+        this.src.addLine("raise");
         decrIndentation();
         if ( this.getBean(UsedHardwareBean.class).isActorUsed(SC.DIFFERENTIALDRIVE) || this.getBean(UsedHardwareBean.class).isActorUsed(SC.MOTOR) ) {
-            nlIndent();
-            this.src.add("finally:");
+            this.src.addLine("finally:");
             incrIndentation();
-            nlIndent();
             if ( this.getBean(UsedHardwareBean.class).isActorUsed(SC.DIFFERENTIALDRIVE) ) {
-                this.src.add(this.getBean(CodeGeneratorSetupBean.class).getHelperMethodGenerator().getHelperMethodName(JoycarMethods.DIFFDRIVE), "(0, 0)");
+                this.src.addLine(this.getBean(CodeGeneratorSetupBean.class).getHelperMethodGenerator().getHelperMethodName(JoycarMethods.DIFFDRIVE), "(0, 0)");
             } else if ( this.getBean(UsedHardwareBean.class).isActorUsed(SC.MOTOR) ) {
-                this.src.add(this.getBean(CodeGeneratorSetupBean.class).getHelperMethodGenerator().getHelperMethodName(JoycarMethods.SETSPEED), "(\"MOT_L\", ", "0)");
-                nlIndent();
-                this.src.add(this.getBean(CodeGeneratorSetupBean.class).getHelperMethodGenerator().getHelperMethodName(JoycarMethods.SETSPEED), "(\"MOT_R\", ", "0)");
+                this.src.addLine(this.getBean(CodeGeneratorSetupBean.class).getHelperMethodGenerator().getHelperMethodName(JoycarMethods.SETSPEED), "(\"MOT_L\", ", "0)");
+                this.src.addLine(this.getBean(CodeGeneratorSetupBean.class).getHelperMethodGenerator().getHelperMethodName(JoycarMethods.SETSPEED), "(\"MOT_R\", ", "0)");
             }
             decrIndentation();
         }
         decrIndentation();
-        nlIndent();
-        nlIndent();
-        this.src.add("if __name__ == \"__main__\":");
+        this.src.ensureBlankLines(1);
+        this.src.addLine("if __name__ == \"__main__\":");
         incrIndentation();
-        nlIndent();
-        this.src.add("main()");
+        this.src.addLine("main()");
         decrIndentation();
     }
 
diff --git a/RobotMbed/src/main/java/de/fhg/iais/roberta/visitor/codegen/MbedPythonVisitor.java b/RobotMbed/src/main/java/de/fhg/iais/roberta/visitor/codegen/MbedPythonVisitor.java
index 1517c782f0..121e057be6 100644
--- a/RobotMbed/src/main/java/de/fhg/iais/roberta/visitor/codegen/MbedPythonVisitor.java
+++ b/RobotMbed/src/main/java/de/fhg/iais/roberta/visitor/codegen/MbedPythonVisitor.java
@@ -251,12 +251,11 @@ protected void collectVariablesForFunctionGlobals() {
     @Override
     public Void visitMainTask(MainTask mainTask) {
         visitorGenerateUserVariablesAndMethods(mainTask);
-        nlIndent();
-        this.src.add("def run():");
+        this.src.ensureBlankLines(1);
+        this.src.addLine("def run():");
         incrIndentation();
-        nlIndent();
         if ( !this.usedGlobalVarInFunctions.isEmpty() ) {
-            this.src.add("global ", String.join(", ", this.usedGlobalVarInFunctions));
+            this.src.addLine("global ", String.join(", ", this.usedGlobalVarInFunctions));
         }
 //        TODO add as soon as robot runtime is updated
 //        if ( this.robotConfiguration.isComponentTypePresent(SC.DIGITAL_PIN) ) {
@@ -285,33 +284,24 @@ protected void generateProgramSuffix(boolean withWrapping) {
             return;
         }
         decrIndentation(); // everything is still indented from main program
-        nlIndent();
-        nlIndent();
-        this.src.add("def main():");
+        this.src.ensureBlankLines(1);
+        this.src.addLine("def main():");
         incrIndentation();
-        nlIndent();
-        this.src.add("try:");
+        this.src.addLine("try:");
         incrIndentation();
-        nlIndent();
-        this.src.add("run()");
+        this.src.addLine("run()");
         decrIndentation();
-        nlIndent();
-        this.src.add("except Exception as e:");
+        this.src.addLine("except Exception as e:");
         incrIndentation();
-        nlIndent();
-        this.src.add("raise");
+        this.src.addLine("raise");
         decrIndentation();
         if ( this.getBean(UsedHardwareBean.class).isActorUsed(SC.CALLIBOT) ) {
-            nlIndent();
-            this.src.add("finally:");
+            this.src.addLine("finally:");
             incrIndentation();
-            nlIndent();
-            this.src.add("callibot.stop()");
-            nlIndent();
+            this.src.addLine("callibot.stop()");
             decrIndentation();
         }
         decrIndentation();
-        nlIndent();
 
         super.generateProgramSuffix(withWrapping);
     }
@@ -346,8 +336,7 @@ public Void visitPinTouchSensor(PinTouchSensor pinTouchSensor) {
     @Override
     public Void visitRadioSendAction(RadioSendAction radioSendAction) {
         this.src.add("radio.config(power=", radioSendAction.power, ")");
-        nlIndent();
-        this.src.add("radio.send(str(");
+        this.src.addLine("radio.send(str(");
         radioSendAction.message.accept(this);
         this.src.add("))");
         return null;
@@ -406,95 +395,73 @@ public Void visitDisplayGetPixelAction(DisplayGetPixelAction displayGetPixelActi
     @Override
     protected void visitorGenerateImports() {
         this.src.add("import " + this.firmware);
-        nlIndent();
-        this.src.add("import random");
-        nlIndent();
-        this.src.add("import math");
-        nlIndent();
+        this.src.addLine("import random");
+        this.src.addLine("import math");
+
         if ( this.getBean(UsedHardwareBean.class).isActorUsed(SC.RADIO) ) {
-            this.src.add("import radio");
-            nlIndent();
+            this.src.addLine("import radio");
         }
         if ( this.getBean(UsedHardwareBean.class).isActorUsed(SC.MUSIC) ) {
-            this.src.add("import music");
-            nlIndent();
+            this.src.addLine("import music");
         }
         if ( this.getBean(UsedHardwareBean.class).isActorUsed(SC.PIN_VALUE) ) {
-            this.src.add("import machine");
-            nlIndent();
+            this.src.addLine("import machine");
         }
         if ( this.firmware == "calliopemini" ) {
             if ( this.getBean(UsedHardwareBean.class).isActorUsed(SC.RGBLED) ) {
-                this.src.add("import neopixel");
-                nlIndent();
+                this.src.addLine("import neopixel");
             }
             if ( this.getBean(UsedHardwareBean.class).isActorUsed(SC.ULTRASONIC) ) {
-                this.src.add("from machine import time_pulse_us");
-                nlIndent();
+                this.src.addLine("from machine import time_pulse_us");
             }
             if ( this.getBean(UsedHardwareBean.class).isActorUsed(SC.FOUR_DIGIT_DISPLAY) ) {
-                this.src.add("from tm1637 import TM1637");
-                nlIndent();
+                this.src.addLine("from tm1637 import TM1637");
             }
             if ( this.getBean(UsedHardwareBean.class).isActorUsed(SC.CALLIBOT) ) {
-                this.src.add("from callibot2 import Callibot2");
-                nlIndent();
+                this.src.addLine("from callibot2 import Callibot2");
             }
             if ( this.getBean(UsedHardwareBean.class).isSensorUsed(SC.COLOR) ) {
-                this.src.add("from tcs3472 import tcs3472");
-                nlIndent();
+                this.src.addLine("from tcs3472 import tcs3472");
             }
             if ( this.getBean(UsedHardwareBean.class).isSensorUsed(SC.HUMIDITY) ) {
-                this.src.add("from sht31 import SHT31");
+                this.src.addLine("from sht31 import SHT31");
             }
         }
-        nlIndent();
     }
 
     @Override
     protected void visitorGenerateGlobalVariables() {
-        this.src.add("class BreakOutOfALoop(Exception): pass");
-        nlIndent();
-        this.src.add("class ContinueLoop(Exception): pass");
-        nlIndent();
-        nlIndent();
-        this.src.add("timer1 = " + this.firmware + ".running_time()");
+        this.src.ensureBlankLines(1);
+        this.src.addLine("class BreakOutOfALoop(Exception): pass");
+        this.src.addLine("class ContinueLoop(Exception): pass");
+        this.src.ensureBlankLines(1);
+        this.src.addLine("timer1 = " + this.firmware + ".running_time()");
         if ( this.firmware == "calliopemini" ) {
-            nlIndent();
             if ( this.getBean(UsedHardwareBean.class).isActorUsed(SC.RGBLED) ) {
-                this.src.add("np = neopixel.NeoPixel(" + this.firmware + ".pin_RGB, 3)");
-                nlIndent();
+                this.src.addLine("np = neopixel.NeoPixel(" + this.firmware + ".pin_RGB, 3)");
             }
             if ( this.getBean(UsedHardwareBean.class).isActorUsed(SC.FOUR_DIGIT_DISPLAY) ) {
-                this.src.add("fdd = TM1637()");
-                nlIndent();
+                this.src.addLine("fdd = TM1637()");
             }
             if ( this.getBean(UsedHardwareBean.class).isActorUsed(SC.DISPLAY_GRAYSCALE) ) {
-                this.src.add("brightness = 9");
-                nlIndent();
+                this.src.addLine("brightness = 9");
             }
             if ( this.getBean(UsedHardwareBean.class).isActorUsed(SC.CALLIBOT) ) {
-                this.src.add("callibot = Callibot2()");
-                nlIndent();
+                this.src.addLine("callibot = Callibot2()");
             }
             if ( this.getBean(UsedHardwareBean.class).isSensorUsed(SC.COLOR) ) {
-                this.src.add("color_sensor = tcs3472()");
-                nlIndent();
-                this.src.add("LIGHT_CONST = 40");
-                nlIndent();
+                this.src.addLine("color_sensor = tcs3472()");
+                this.src.addLine("LIGHT_CONST = 40");
             }
             if ( this.getBean(UsedHardwareBean.class).isSensorUsed(SC.HUMIDITY) ) {
-                this.src.add("sht31 = SHT31()");
-                nlIndent();
+                this.src.addLine("sht31 = SHT31()");
             }
             if ( this.getBean(UsedHardwareBean.class).isActorUsed(SC.RADIO) ) {
-                this.src.add("rssi = 0");
-                nlIndent();
+                this.src.addLine("rssi = 0");
             }
         }
         if ( this.getBean(UsedHardwareBean.class).isActorUsed(SC.RADIO) ) {
-            nlIndent();
-            this.src.add("radio.on()");
+            this.src.addLine("radio.on()");
         }
     }
 
@@ -563,5 +530,4 @@ public Void visitSwitchLedMatrixAction(SwitchLedMatrixAction switchLedMatrixActi
         return null;
     }
 
-
 }
diff --git a/RobotNAO/src/main/java/de/fhg/iais/roberta/visitor/codegen/NaoPythonSimVisitor.java b/RobotNAO/src/main/java/de/fhg/iais/roberta/visitor/codegen/NaoPythonSimVisitor.java
index 7698128d9e..b240732c0a 100644
--- a/RobotNAO/src/main/java/de/fhg/iais/roberta/visitor/codegen/NaoPythonSimVisitor.java
+++ b/RobotNAO/src/main/java/de/fhg/iais/roberta/visitor/codegen/NaoPythonSimVisitor.java
@@ -123,17 +123,15 @@ public Void visitWaitTimeStmt(WaitTimeStmt waitTimeStmt) {
 
     @Override
     public Void visitMainTask(MainTask mainTask) {
-        super.visitorGenerateUserVariablesAndMethods(mainTask);
+        visitorGenerateUserVariablesAndMethods(mainTask);
         StmtList variables = mainTask.variables;
-        nlIndent();
-        this.src.add("def run():");
+        this.src.ensureBlankLines(1);
+        this.src.addLine("def run():");
         incrIndentation();
-        nlIndent();
-        this.src.add("robot.step(robot.timeStep)");
+        this.src.addLine("robot.step(robot.timeStep)");
 
         List<Stmt> variableList = variables.get();
         if ( !variableList.isEmpty() ) {
-            nlIndent();
             // insert global statement for all variables
             // TODO: there must be an easier way without the casts
             // TODO: we'd only list variables that we change, ideally we'd do this in
@@ -141,7 +139,7 @@ public Void visitMainTask(MainTask mainTask) {
             // would need the list of mainTask variables (store in the class?)
             // TODO: I could store the names as a list in the instance and filter it against the parameters
             // in visitMethodVoid, visitMethodReturn
-            this.src.add("global ");
+            this.src.addLine("global ");
             boolean first = true;
             for ( Stmt s : variables.get() ) {
                 ExprStmt es = (ExprStmt) s;
@@ -410,24 +408,19 @@ public Void visitRepeatStmt(RepeatStmt repeatStmt) {
 
     @Override
     protected void visitorGenerateImports() {
-        this.src.add("#!/usr/bin/python");
-        nlIndent();
-        nlIndent();
+        this.src.addLine("#!/usr/bin/python");
 
         Set<Enum<?>> usedMethods = new HashSet<>();
         usedMethods.add(NaoSimMethods.MOTIONS);
         usedMethods.add(NaoSimMethods.TEMPLATE);
         String template = this.getBean(CodeGeneratorSetupBean.class).getHelperMethodGenerator().getHelperMethodDefinitions(usedMethods);
-        this.src.add(template);
-        nlIndent();
+        this.src.ensureBlankLines(1);
+        this.src.addLine(template);
 
         if ( !this.getBean(UsedHardwareBean.class).getLoopsLabelContainer().isEmpty() ) {
-            nlIndent();
-            this.src.add("class BreakOutOfALoop(Exception): pass");
-            nlIndent();
-            this.src.add("class ContinueLoop(Exception): pass");
-            nlIndent();
-            nlIndent();
+            this.src.ensureBlankLines(1);
+            this.src.addLine("class BreakOutOfALoop(Exception): pass");
+            this.src.addLine("class ContinueLoop(Exception): pass");
         }
     }
 
@@ -444,30 +437,21 @@ protected void generateProgramSuffix(boolean withWrapping) {
         if ( !withWrapping ) {
             return;
         }
-        nlIndent();
-        this.src.add("wait(robot, 3000)"); // give the simulation time to render all
-        nlIndent();
-        this.src.add("print(\"finished\")");
+        this.src.addLine("wait(robot, 3000)"); // give the simulation time to render all
+        this.src.addLine("print(\"finished\")");
         decrIndentation(); // everything is still indented from main program
-        nlIndent();
-        nlIndent();
-        this.src.add("def main():");
+        this.src.ensureBlankLines(1);
+        this.src.addLine("def main():");
         incrIndentation();
-        nlIndent();
-        this.src.add("try:");
+        this.src.addLine("try:");
         incrIndentation();
-        nlIndent();
-        this.src.add("run()");
+        this.src.addLine("run()");
         decrIndentation();
-        nlIndent();
-        this.src.add("except Exception as e:");
+        this.src.addLine("except Exception as e:");
         incrIndentation();
-        nlIndent();
-        this.src.add("raise");
+        this.src.addLine("raise");
         decrIndentation();
-        nlIndent();
         decrIndentation();
-        nlIndent();
         super.generateProgramSuffix(withWrapping);
     }
 
diff --git a/RobotNAO/src/main/java/de/fhg/iais/roberta/visitor/codegen/NaoPythonVisitor.java b/RobotNAO/src/main/java/de/fhg/iais/roberta/visitor/codegen/NaoPythonVisitor.java
index a257549e9f..6aef080a07 100644
--- a/RobotNAO/src/main/java/de/fhg/iais/roberta/visitor/codegen/NaoPythonVisitor.java
+++ b/RobotNAO/src/main/java/de/fhg/iais/roberta/visitor/codegen/NaoPythonVisitor.java
@@ -128,21 +128,19 @@ public Void visitWaitTimeStmt(WaitTimeStmt waitTimeStmt) {
 
     @Override
     public Void visitMainTask(MainTask mainTask) {
-        super.visitorGenerateUserVariablesAndMethods(mainTask);
         StmtList variables = mainTask.variables;
-        nlIndent();
-        this.src.add("def run():");
+
+        visitorGenerateUserVariablesAndMethods(mainTask);
+        this.src.ensureBlankLines(1);
+        this.src.addLine("def run():");
         incrIndentation();
         if ( mainTask.debug.equals("TRUE") ) {
-            nlIndent();
-            this.src.add("h.setAutonomousLife('ON')");
+            this.src.addLine("h.setAutonomousLife('ON')");
         } else {
-            nlIndent();
-            this.src.add("h.setAutonomousLife('OFF')");
+            this.src.addLine("h.setAutonomousLife('OFF')");
         }
         List<Stmt> variableList = variables.get();
         if ( !variableList.isEmpty() ) {
-            nlIndent();
             // insert global statement for all variables
             // TODO: there must be an easier way without the casts
             // TODO: we'd only list variables that we change, ideally we'd do this in
@@ -150,7 +148,7 @@ public Void visitMainTask(MainTask mainTask) {
             // would need the list of mainTask variables (store in the class?)
             // TODO: I could store the names as a list in the instance and filter it against the parameters
             // in visitMethodVoid, visitMethodReturn
-            this.src.add("global ");
+            this.src.addLine("global ");
             boolean first = true;
             for ( Stmt s : variables.get() ) {
                 ExprStmt es = (ExprStmt) s;
@@ -912,32 +910,23 @@ private String extractAxis2FromSlot(String[] slots) {
     @Override
     protected void visitorGenerateImports() {
         this.src.add("#!/usr/bin/python");
-        nlIndent();
-        nlIndent();
-        this.src.add("import math");
-        nlIndent();
-        this.src.add("import time");
-        nlIndent();
-        this.src.add("import random");
-        nlIndent();
-        this.src.add("from roberta import Hal");
-        nlIndent();
+        this.src.ensureBlankLines(1);
+        this.src.addLine("import math");
+        this.src.addLine("import time");
+        this.src.addLine("import random");
+        this.src.addLine("from roberta import Hal");
     }
 
     @Override
     protected void visitorGenerateGlobalVariables() {
-        this.src.add("h = Hal()");
-        nlIndent();
+        this.src.ensureBlankLines(1);
+        this.src.addLine("h = Hal()");
         generateSensors();
-        nlIndent();
 
         if ( !this.getBean(UsedHardwareBean.class).getLoopsLabelContainer().isEmpty() ) {
-            nlIndent();
-            this.src.add("class BreakOutOfALoop(Exception): pass");
-            nlIndent();
-            this.src.add("class ContinueLoop(Exception): pass");
-            nlIndent();
-            nlIndent();
+            this.src.ensureBlankLines(1);
+            this.src.addLine("class BreakOutOfALoop(Exception): pass");
+            this.src.addLine("class ContinueLoop(Exception): pass");
         }
     }
 
@@ -947,31 +936,23 @@ protected void generateProgramSuffix(boolean withWrapping) {
             return;
         }
         decrIndentation(); // everything is still indented from main program
-        nlIndent();
-        nlIndent();
-        this.src.add("def main():");
+        this.src.ensureBlankLines(1);
+        this.src.addLine("def main():");
         incrIndentation();
-        nlIndent();
-        this.src.add("try:");
+        this.src.addLine("try:");
         incrIndentation();
-        nlIndent();
-        this.src.add("run()");
+        this.src.addLine("run()");
         decrIndentation();
-        nlIndent();
-        this.src.add("except Exception as e:");
+        this.src.addLine("except Exception as e:");
         incrIndentation();
-        nlIndent();
-        this.src.add("h.say(\"Error!\" + str(e))");
+        this.src.addLine("h.say(\"Error!\" + str(e))");
         decrIndentation();
-        nlIndent();
-        this.src.add("finally:");
+        this.src.addLine("finally:");
         incrIndentation();
-        nlIndent();
         removeSensors();
-        this.src.add("h.myBroker.shutdown()");
+        this.src.addLine("h.myBroker.shutdown()");
         decrIndentation();
         decrIndentation();
-        nlIndent();
 
         super.generateProgramSuffix(withWrapping);
     }
@@ -992,28 +973,19 @@ private void generateSensors() {
         for ( UsedSensor usedSensor : this.getBean(UsedHardwareBean.class).getUsedSensors() ) {
             switch ( usedSensor.getType() ) {
                 case SC.ULTRASONIC:
-                    this.src.add("h.sonar.subscribe(\"OpenRobertaApp\")");
-                    nlIndent();
+                    this.src.addLine("h.sonar.subscribe(\"OpenRobertaApp\")");
                     break;
                 case SC.DETECT_MARK:
-                    this.src.add("h.mark.subscribe(\"RobertaLab\", 500, 0.0)");
-                    nlIndent();
+                    this.src.addLine("h.mark.subscribe(\"RobertaLab\", 500, 0.0)");
                     break;
                 case SC.NAO_FACE:
-                    nlIndent();
-                    this.src.add("from roberta import FaceRecognitionModule");
-                    nlIndent();
-                    this.src.add("faceRecognitionModule = FaceRecognitionModule(\"faceRecognitionModule\")");
-                    nlIndent();
+                    this.src.addLine("from roberta import FaceRecognitionModule");
+                    this.src.addLine("faceRecognitionModule = FaceRecognitionModule(\"faceRecognitionModule\")");
                     break;
                 case SC.NAO_SPEECH:
-                    nlIndent();
-                    this.src.add("from roberta import SpeechRecognitionModule");
-                    nlIndent();
-                    this.src.add("speechRecognitionModule = SpeechRecognitionModule(\"speechRecognitionModule\")");
-                    nlIndent();
-                    this.src.add("speechRecognitionModule.pauseASR()");
-                    nlIndent();
+                    this.src.addLine("from roberta import SpeechRecognitionModule");
+                    this.src.addLine("speechRecognitionModule = SpeechRecognitionModule(\"speechRecognitionModule\")");
+                    this.src.addLine("speechRecognitionModule.pauseASR()");
                     break;
                 case SC.COLOR:
                 case SC.INFRARED:
@@ -1039,20 +1011,16 @@ private void removeSensors() {
                 case BlocklyConstants.INFRARED:
                     break;
                 case BlocklyConstants.ULTRASONIC:
-                    this.src.add("h.sonar.unsubscribe(\"OpenRobertaApp\")");
-                    nlIndent();
+                    this.src.addLine("h.sonar.unsubscribe(\"OpenRobertaApp\")");
                     break;
                 case BlocklyConstants.DETECT_MARK:
-                    this.src.add("h.mark.unsubscribe(\"RobertaLab\")");
-                    nlIndent();
+                    this.src.addLine("h.mark.unsubscribe(\"RobertaLab\")");
                     break;
                 case BlocklyConstants.NAO_FACE:
-                    this.src.add("faceRecognitionModule.unsubscribe()");
-                    nlIndent();
+                    this.src.addLine("faceRecognitionModule.unsubscribe()");
                     break;
                 case BlocklyConstants.NAO_SPEECH:
-                    this.src.add("speechRecognitionModule.unsubscribe()");
-                    nlIndent();
+                    this.src.addLine("speechRecognitionModule.unsubscribe()");
                     break;
                 case BlocklyConstants.LIGHT:
                 case BlocklyConstants.COMPASS:
diff --git a/RobotRobotino/src/main/java/de/fhg/iais/roberta/visitor/RobotinoPythonVisitor.java b/RobotRobotino/src/main/java/de/fhg/iais/roberta/visitor/RobotinoPythonVisitor.java
index 8e7969a60c..fe2da17c81 100644
--- a/RobotRobotino/src/main/java/de/fhg/iais/roberta/visitor/RobotinoPythonVisitor.java
+++ b/RobotRobotino/src/main/java/de/fhg/iais/roberta/visitor/RobotinoPythonVisitor.java
@@ -65,26 +65,20 @@ public RobotinoPythonVisitor(
     }
 
     private void generateVariables() {
-        this.src.add("sys.stdout = io.StringIO()\nsys.stderr = io.StringIO()");
-        nlIndent();
-        this.src.add("ROBOTINOIP = \"127.0.0.1:80\"");
-        nlIndent();
-        this.src.add("PARAMS = {'sid':'robertaProgram'}");
-        nlIndent();
-        this.src.add("MAXSPEED = 0.5");
-        nlIndent();
-        this.src.add("MAXROTATION = 0.57");
+        this.src.addLine("sys.stdout = io.StringIO()\nsys.stderr = io.StringIO()");
+        this.src.addLine("ROBOTINOIP = \"127.0.0.1:80\"");
+        this.src.addLine("PARAMS = {'sid':'robertaProgram'}");
+        this.src.addLine("MAXSPEED = 0.5");
+        this.src.addLine("MAXROTATION = 0.57");
         generateOptionalVariables();
     }
 
     private void generateOptionalVariables() {
         if ( this.getBean(UsedHardwareBean.class).isActorUsed(SC.DIGITAL_PIN) ) {
-            nlIndent();
-            this.src.add("_digitalPinValues = [0 for i in range(8)]");
+            this.src.addLine("_digitalPinValues = [0 for i in range(8)]");
         }
         if ( this.getBean(UsedHardwareBean.class).isActorUsed(RobotinoConstants.OMNIDRIVE) ) {
-            nlIndent();
-            this.src.add("currentSpeed = [0, 0, 0]");
+            this.src.addLine("currentSpeed = [0, 0, 0]");
         }
     }
 
@@ -112,72 +106,54 @@ public Void visitVarDeclaration(VarDeclaration var) {
 
     @Override
     protected void visitorGenerateImports() {
-        this.src.add("#!/usr/bin/env python3");
-        nlIndent();
-        this.src.add("import math, random, time, requests, threading, sys, io");
-        nlIndent();
+        this.src.addLine("#!/usr/bin/env python3");
+        this.src.addLine("import math, random, time, requests, threading, sys, io");
     }
 
     @Override
     protected void visitorGenerateGlobalVariables() {
+        this.src.ensureBlankLines(1);
         generateVariables();
-        nlIndent();
+        this.src.ensureBlankLines(1);
         generateTimerVariables(false);
-        nlIndent();
     }
 
     @Override
     public Void visitMainTask(MainTask mainTask) {
         visitorGenerateUserVariablesAndMethods(mainTask);
-        nlIndent();
 
-        this.src.add("def run(RV):");
+        this.src.addNLine(1, "def run(RV):");
         incrIndentation();
         generateGlobalVariables();
-        this.src.add("time.sleep(1)");
+        this.src.addLine("time.sleep(1)");
         if ( this.getBean(UsedHardwareBean.class).isSensorUsed(RobotinoConstants.ODOMETRY) ) {
-            nlIndent();
             //odometrieReset
-            this.src.add(this.getBean(CodeGeneratorSetupBean.class).getHelperMethodGenerator().getHelperMethodName(RobotinoMethods.RESETODOMETRY), "(RV, 0, 0, 0)");
+            this.src.addLine(this.getBean(CodeGeneratorSetupBean.class).getHelperMethodGenerator().getHelperMethodName(RobotinoMethods.RESETODOMETRY), "(RV, 0, 0, 0)");
         }
         if ( this.getBean(UsedHardwareBean.class).isSensorUsed(RobotinoConstants.CAMERA) ) {
             //default threshold
-            nlIndent();
-            this.src.add("RV.writeFloat(4, 100) ");
-            nlIndent();
-            this.src.add("time.sleep(0.05)");
+            this.src.addLine("RV.writeFloat(4, 100) ");
+            this.src.addLine("time.sleep(0.05)");
         }
         generateTimerVariables(true);
         for ( VarDeclaration var : varDeclarations ) {
             nlIndent();
             declareGlobalVariable(var);
         }
-
-        nlIndent();
         return null;
     }
 
-    private boolean hasUserdefinedMethods() {
-        return this.programPhrases
-            .stream().anyMatch(phrase -> phrase.getKind().getCategory() == Category.METHOD && !phrase.getKind().hasName("METHOD_CALL"));
-    }
-
     private void generateMain() {
-        this.src.add("def main(RV):");
+        this.src.addNLine(1, "def main(RV):");
         incrIndentation();
-        nlIndent();
-        this.src.add("try:");
+        this.src.addLine("try:");
         incrIndentation();
-        nlIndent();
-        this.src.add("run(RV)");
+        this.src.addLine("run(RV)");
         decrIndentation();
-        nlIndent();
-        this.src.add("except Exception as e:");
+        this.src.addLine("except Exception as e:");
         incrIndentation();
-        nlIndent();
-        this.src.add("print(e)");
-        nlIndent();
-        this.src.add("raise");
+        this.src.addLine("print(e)");
+        this.src.addLine("raise");
         decrIndentation();
         nlIndent();
         generateFinally();
@@ -186,10 +162,9 @@ private void generateMain() {
     }
 
     private void generateStart() {
-        this.src.add("def start(RV):");
+        this.src.addNLine(1,"def start(RV):");
         incrIndentation();
-        nlIndent();
-        this.src.add("motorDaemon2 = threading.Thread(target=main, daemon=True, args=(RV,), name='mainProgram')\n    motorDaemon2.start()");
+        this.src.addLine("motorDaemon2 = threading.Thread(target=main, daemon=True, args=(RV,), name='mainProgram')\n    motorDaemon2.start()");
         decrIndentation();
         nlIndent();
     }
@@ -201,10 +176,8 @@ private void declareGlobalVariable(VarDeclaration var) {
     private void generateGlobalVariables() {
         //add usermade global variables
         if ( !this.usedGlobalVarInFunctions.isEmpty() ) {
-            nlIndent();
-            this.src.add("global ", String.join(", ", this.usedGlobalVarInFunctions));
+            this.src.addLine("global ", String.join(", ", this.usedGlobalVarInFunctions));
         }
-        nlIndent();
     }
 
     @Override
@@ -213,40 +186,31 @@ protected void generateProgramSuffix(boolean withWrapping) {
             return;
         }
         decrIndentation(); // everything is still indented from main program
-        nlIndent();
-        nlIndent();
         appendViewMethods();
         decrIndentation();
-        nlIndent();
     }
 
     private void appendViewMethods() {
-        this.src.add("def step(RV):");
+        this.src.addNLine(1,"def step(RV):");
         incrIndentation();
         if ( this.getBean(UsedHardwareBean.class).isActorUsed(RobotinoConstants.OMNIDRIVE) ) {
-            nlIndent();
-            this.src.add(this.getBean(CodeGeneratorSetupBean.class).getHelperMethodGenerator().getHelperMethodName(RobotinoMethods.POSTVEL), "()");
+            this.src.addLine(this.getBean(CodeGeneratorSetupBean.class).getHelperMethodGenerator().getHelperMethodName(RobotinoMethods.POSTVEL), "()");
         } else {
-            nlIndent();
-            this.src.add("pass");
+            this.src.addLine("pass");
         }
         decrIndentation();
         nlIndent();
         nlIndent();
         generateMain();
         generateStart();
-        nlIndent();
-        this.src.add("def stop(RV):");
+        this.src.addNLine(1,"def stop(RV):");
         incrIndentation();
-        nlIndent();
-        this.src.add("pass");
+        this.src.addLine("pass");
         decrIndentation();
         nlIndent();
-        nlIndent();
-        this.src.add("def cleanup(RV):");
+        this.src.addNLine(1,"def cleanup(RV):");
         incrIndentation();
-        nlIndent();
-        this.src.add("pass");
+        this.src.addLine("pass");
         decrIndentation();
         nlIndent();
     }
@@ -287,7 +251,7 @@ public Void visitTimerSensor(TimerSensor timerSensor) {
         switch ( timerSensor.getMode() ) {
             case SC.DEFAULT:
             case SC.VALUE:
-                this.src.add("((time.time() - _timer", timerSensor.getUserDefinedPort(), ")/1000)");
+                this.src.add("((time.time() - _timer", timerSensor.getUserDefinedPort(), ") / 1000)");
                 break;
             case SC.RESET:
                 this.src.add("_timer", timerSensor.getUserDefinedPort(), " = time.time()");
@@ -313,11 +277,10 @@ private void generateTimerVariables(boolean decleration) {
             .keySet()
             .forEach(port -> {
                 this.usedGlobalVarInFunctions.add("_timer" + port);
-                nlIndent();
                 if ( decleration ) {
-                    this.src.add("_timer", port, " = time.time()");
+                    this.src.addLine("_timer", port, " = time.time()");
                 } else {
-                    this.src.add("_timer", port, " = None");
+                    this.src.addLine("_timer", port, " = None");
                 }
             });
     }
@@ -337,7 +300,7 @@ public Void visitWaitStmt(WaitStmt waitStmt) {
     public Void visitWaitTimeStmt(WaitTimeStmt waitTimeStmt) {
         this.src.add("time.sleep(");
         waitTimeStmt.time.accept(this);
-        this.src.add("/1000)");
+        this.src.add(" / 1000)");
         return null;
     }
 
diff --git a/RobotSpike/src/main/java/de/fhg/iais/roberta/visitor/AbstractSpikePythonVisitor.java b/RobotSpike/src/main/java/de/fhg/iais/roberta/visitor/AbstractSpikePythonVisitor.java
index 33de0f555e..2da6a1b9f4 100644
--- a/RobotSpike/src/main/java/de/fhg/iais/roberta/visitor/AbstractSpikePythonVisitor.java
+++ b/RobotSpike/src/main/java/de/fhg/iais/roberta/visitor/AbstractSpikePythonVisitor.java
@@ -37,28 +37,23 @@ protected final void generateProgramSuffix(boolean withWrapping) {
             return;
         }
         decrIndentation(); // everything is still indented from main program
-        nlIndent();
-        nlIndent();
-        this.src.add("def main():");
+        this.src.ensureBlankLines(1);
+        this.src.addLine("def main():");
         incrIndentation();
-        nlIndent();
-        this.src.add("try:");
+        this.src.addLine("try:");
         incrIndentation();
-        nlIndent();
-        this.src.add("run()");
+        this.src.addLine("run()");
         decrIndentation();
-        nlIndent();
-        this.src.add("except Exception as e:");
+        this.src.addLine("except Exception as e:");
         incrIndentation();
         nlIndent();
         addExceptionSadFaceToCode();
         decrIndentation();
         //TODO finally close open ports
         decrIndentation();
-        nlIndent();
-        nlIndent();
 
-        this.src.add("main()");
+        this.src.ensureBlankLines(1);
+        this.src.addLine("main()");
     }
 
     /**
@@ -69,9 +64,9 @@ protected final void generateProgramSuffix(boolean withWrapping) {
     @Override
     public Void visitMainTask(MainTask mainTask) {
         visitorGenerateUserVariablesAndMethods(mainTask);
+        this.src.ensureBlankLines(1);
+        this.src.addLine("def run():");
 
-        nlIndent();
-        this.src.add("def run():");
         incrIndentation();
         if ( !this.usedGlobalVarInFunctions.isEmpty() ) {
             nlIndent();
diff --git a/RobotSpike/src/main/java/de/fhg/iais/roberta/visitor/spike/SpikePythonVisitor.java b/RobotSpike/src/main/java/de/fhg/iais/roberta/visitor/spike/SpikePythonVisitor.java
index ae704c105a..150cd71313 100644
--- a/RobotSpike/src/main/java/de/fhg/iais/roberta/visitor/spike/SpikePythonVisitor.java
+++ b/RobotSpike/src/main/java/de/fhg/iais/roberta/visitor/spike/SpikePythonVisitor.java
@@ -585,74 +585,70 @@ public Void visitWaitTimeStmt(WaitTimeStmt waitTimeStmt) {
     @Override
     protected void visitorGenerateImports() {
         UsedHardwareBean usedHardwareBean = this.getBean(UsedHardwareBean.class);
-        this.src.add("import spike").nlI();
-        this.src.add("import math").nlI();
+        this.src.addLine("import spike");
+
+        this.src.addLine("import math");
+
         if ( usedHardwareBean.isActorUsed(C.RANDOM) || usedHardwareBean.isActorUsed(C.RANDOM_DOUBLE) ) {
-            this.src.add("import random").nlI();
+            this.src.addLine("import random");
         }
-        this.src.add("from spike.control import wait_for_seconds, wait_until");
+
+        this.src.addLine("from spike.control import wait_for_seconds, wait_until");
         if ( usedHardwareBean.isSensorUsed(SC.TIMER) ) {
             this.src.add(", Timer");
         }
-        nlIndent();
+
         if ( usedHardwareBean.isActorUsed("DISPLAY") ) {
-            this.src.add("import hub as _hub").nlI();
+            this.src.addLine("import hub as _hub");
         }
     }
 
     @Override
     protected void visitorGenerateGlobalVariables() {
+        this.src.ensureBlankLines(1);
         UsedHardwareBean usedHardwareBean = this.getBean(UsedHardwareBean.class);
         if ( usedHardwareBean.isActorUsed(SC.DIFFERENTIALDRIVE) ) {
             ConfigurationComponent diffDrive = this.configurationAst.optConfigurationComponentByType("DIFFERENTIALDRIVE");
             String leftPort = diffDrive.getComponentProperties().get("MOTOR_L");
             String rightPort = diffDrive.getComponentProperties().get("MOTOR_R");
-            nlIndent();
-            this.src.add("TRACKWIDTH = ").add(diffDrive.getComponentProperties().get("BRICK_TRACK_WIDTH")).nlI();
-            this.src.add("diff_drive = spike.MotorPair('").add(leftPort).add("', '").add(rightPort).add("')").nlI();
-            this.src.add("diff_drive.set_motor_rotation(").add(diffDrive.getComponentProperties().get("BRICK_WHEEL_DIAMETER")).add(" * math.pi, 'cm')");
+            this.src.addLine("TRACKWIDTH = ").add(diffDrive.getComponentProperties().get("BRICK_TRACK_WIDTH"));
+            this.src.addLine("diff_drive = spike.MotorPair('").add(leftPort).add("', '").add(rightPort).add("')");
+            this.src.addLine("diff_drive.set_motor_rotation(").add(diffDrive.getComponentProperties().get("BRICK_WHEEL_DIAMETER")).add(" * math.pi, 'cm')");
         }
         if ( usedHardwareBean.isActorUsed(SC.MOTOR) ) {
             usedHardwareBean.getUsedActors().stream().filter(usedActor -> usedActor.getType().equals("MOTOR")).forEach(motor -> {
-                nlIndent();
-                this.src.add("motor").add(motor.getPort()).add(" = spike.Motor('").add(motor.getPort()).add("')");
+                this.src.addLine("motor").add(motor.getPort()).add(" = spike.Motor('").add(motor.getPort()).add("')");
             });
         }
         if ( usedHardwareBean.isSensorUsed(SC.TOUCH) ) {
             usedHardwareBean.getUsedSensors().stream().filter(usedActor -> usedActor.getType().equals("TOUCH")).forEach(sensor -> {
                 if ( configurationAst.optConfigurationComponent(sensor.getPort()) != null ) {
-                    nlIndent();
-                    this.src.add("touch_sensor_").add(sensor.getPort()).add(" = spike.ForceSensor('").add(getPortFromConfig(sensor.getPort())).add("')");
+                    this.src.addLine("touch_sensor_").add(sensor.getPort()).add(" = spike.ForceSensor('").add(getPortFromConfig(sensor.getPort())).add("')");
                 }
             });
         }
         if ( usedHardwareBean.isSensorUsed(SC.ULTRASONIC) ) {
             usedHardwareBean.getUsedSensors().stream().filter(usedActor -> usedActor.getType().equals("ULTRASONIC")).forEach(sensor -> {
                 if ( configurationAst.optConfigurationComponent(sensor.getPort()) != null ) {
-                    nlIndent();
-                    this.src.add("ultrasonic_sensor_").add(sensor.getPort()).add(" = spike.DistanceSensor('").add(getPortFromConfig(sensor.getPort())).add("')");
+                    this.src.addLine("ultrasonic_sensor_").add(sensor.getPort()).add(" = spike.DistanceSensor('").add(getPortFromConfig(sensor.getPort())).add("')");
                 }
             });
         }
         if ( usedHardwareBean.isSensorUsed(SC.COLOR) ) {
             usedHardwareBean.getUsedSensors().stream().filter(usedActor -> usedActor.getType().equals("COLOR")).forEach(sensor -> {
                 if ( configurationAst.optConfigurationComponent(sensor.getPort()) != null ) {
-                    nlIndent();
-                    this.src.add("color_sensor_").add(sensor.getPort()).add(" = spike.ColorSensor('").add(getPortFromConfig(sensor.getPort())).add("')");
+                    this.src.addLine("color_sensor_").add(sensor.getPort()).add(" = spike.ColorSensor('").add(getPortFromConfig(sensor.getPort())).add("')");
                 }
             });
         }
         if ( usedHardwareBean.isActorUsed("DISPLAY") ) {
-            nlIndent();
-            this.src.add("display = _hub.display").nlI();
-            this.src.add("Image = _hub.Image");
+            this.src.addLine("display = _hub.display");
+            this.src.addLine("Image = _hub.Image");
         }
         if ( usedHardwareBean.isSensorUsed(SC.TIMER) ) {
-            nlIndent();
-            this.src.add("timer = Timer()");
+            this.src.addLine("timer = Timer()");
         }
-        nlIndent();
-        this.src.add("hub = spike.PrimeHub()");
+        this.src.addLine("hub = spike.PrimeHub()");
     }
 
 }
\ No newline at end of file
diff --git a/RobotSpike/src/main/java/de/fhg/iais/roberta/visitor/spikePybricks/SpikePybricksPythonVisitor.java b/RobotSpike/src/main/java/de/fhg/iais/roberta/visitor/spikePybricks/SpikePybricksPythonVisitor.java
index 68da04509a..06c06fbbd0 100644
--- a/RobotSpike/src/main/java/de/fhg/iais/roberta/visitor/spikePybricks/SpikePybricksPythonVisitor.java
+++ b/RobotSpike/src/main/java/de/fhg/iais/roberta/visitor/spikePybricks/SpikePybricksPythonVisitor.java
@@ -252,17 +252,17 @@ public Void visitColorSensor(ColorSensor colorSensor) {
             case "REDCHANNEL":
                 src.add("int(hsv2rgb(");
                 src.add("color_sensor_").add(sensorPort).add(".hsv()");
-                src.add(")[0]/2.55)");
+                src.add(")[0] / 2.55)");
                 break;
             case "GREENCHANNEL":
                 src.add("int(hsv2rgb(");
                 src.add("color_sensor_").add(sensorPort).add(".hsv()");
-                src.add(")[1]/2.55)");
+                src.add(")[1] / 2.55)");
                 break;
             case "BLUECHANNEL":
                 src.add("int(hsv2rgb(");
                 src.add("color_sensor_").add(sensorPort).add(".hsv()");
-                src.add(")[2]/2.55)");
+                src.add(")[2] / 2.55)");
                 break;
             default:
                 throw new DbcException("Invalid color sensor mode: " + colorSensor.getMode());
@@ -399,7 +399,7 @@ public Void visitMotorDiffStopAction(MotorDiffStopAction motorDiffStopAction) {
         switch ( motorDiffStopAction.control ) {
             case "BRAKE":
                 //making the motor drive at speed 0 is the same as breaking
-                src.add(".drive(0,0)");
+                src.add(".drive(0, 0)");
                 break;
             case "COAST":
                 //default option stop is coast
@@ -654,10 +654,10 @@ public Void visitMathSingleFunct(MathSingleFunct mathSingleFunct) {
             case LOG10:
                 src.add("math.log(");
                 mathSingleFunct.param.get(0).accept(this);
-                src.add(")/math.log(10)");
+                src.add(") / math.log(10)");
                 break;
             case POW10:
-                src.add("10 **");
+                src.add("10 ** ");
                 mathSingleFunct.param.get(0).accept(this);
                 break;
             case ROUND:
@@ -684,7 +684,7 @@ protected void generateProgramPrefix(boolean withWrapping) {
 
     @Override
     protected void visitorGenerateImports() {
-        src.add("from pybricks.hubs import PrimeHub").nlI();
+        src.addLine("from pybricks.hubs import PrimeHub");
         importPubDevices();
         importParameters();
         importTools();
@@ -694,9 +694,11 @@ protected void visitorGenerateImports() {
 
     @Override
     protected void visitorGenerateGlobalVariables() {
+        src.ensureBlankLines(1);
         changeColors();
+        src.ensureBlankLines(1);
         instantiateComponents();
-        src.add("hub = PrimeHub()").nlI();
+        src.addLine("hub = PrimeHub()");
         prepareComponents();
     }
 
@@ -730,8 +732,7 @@ private void importPubDevices() {
         //substring to remove first ","
         pubDevicesImportString = "from pybricks.pupdevices import" + pubDevicesImportString.substring(1);
 
-        src.add(pubDevicesImportString);
-        src.nlI();
+        src.addLine(pubDevicesImportString);
     }
 
     private void importParameters() {
@@ -764,8 +765,7 @@ private void importParameters() {
         //substring to remove first ","
         parameterImportString = "from pybricks.parameters import" + parameterImportString.substring(1);
 
-        src.add(parameterImportString);
-        src.nlI();
+        src.addLine(parameterImportString);
     }
 
     private void importTools() {
@@ -783,13 +783,13 @@ private void importTools() {
         //Matrix always has to be imported, we need this for the exception sad face
         toolsImportString = "from pybricks.tools import Matrix" + toolsImportString;
 
-        src.add(toolsImportString);
-        src.nlI();
+        src.addLine(toolsImportString);
     }
 
     private void importRobotics() {
-        if ( usedHardwareBean.isActorUsed(SC.DIFFERENTIALDRIVE) )
-            src.add("from pybricks.robotics import DriveBase").nlI();
+        if ( usedHardwareBean.isActorUsed(SC.DIFFERENTIALDRIVE) ){
+            src.addLine("from pybricks.robotics import DriveBase");
+        }
     }
 
     /**
@@ -797,36 +797,30 @@ private void importRobotics() {
      * python import math doesn't exist in pybricks context
      */
     private void importMathFunctions() {
-        src.add("import umath as math").nlI();
-        src.add("import urandom as random").nlI();
+        src.addLine("import umath as math");
+        src.addLine("import urandom as random");
     }
 
     private void changeColors() {
         if ( usedHardwareBean.isImportUsed(SC.COlOR_IMPORT) ) {
-            nlIndent();
-            src.add("Color.MAGENTA = Color(315,50,15)").nlI();
-            src.add("Color.BLUE = Color(225,20,20)").nlI();
-            src.add("Color.AZURE = Color(200,20,20)").nlI();
-            src.add("Color.CYAN = Color(150,20,20)").nlI();
-            src.add("Color.YELLOW = Color(55,35,35)").nlI();
-            src.add("Color.RED = Color(350,35,35)").nlI();
-            src.add("Color.BLACK = Color(0,10,10)").nlI();
-            src.add("Color.WHITE = Color(0,0,70)").nlI();
-            //Color.NONE
+            src.addLine("Color.MAGENTA = Color(315, 50, 15)");
+            src.addLine("Color.BLUE = Color(225, 20, 20)");
+            src.addLine("Color.AZURE = Color(200, 20, 20)");
+            src.addLine("Color.CYAN = Color(150, 20, 20)");
+            src.addLine("Color.YELLOW = Color(55, 35, 35)");
+            src.addLine("Color.RED = Color(350, 35, 35)");
+            src.addLine("Color.BLACK = Color(0, 10, 10)");
+            src.addLine("Color.WHITE = Color(0, 0, 70)");
         }
     }
 
     private void instantiateComponents() {
-        nlIndent();
-
         instantiateDifferentialDrive();
         instantiateMotors();
         instantiateTouchSensor();
         instantiateUltrasonicSensor();
         instantiateColorSensor();
         instantiateTimer();
-
-        nlIndent();
     }
 
     private void instantiateDifferentialDrive() {
@@ -835,14 +829,14 @@ private void instantiateDifferentialDrive() {
             String leftPort = diffDrive.getComponentProperties().get("MOTOR_L"); //Port
             String rightPort = diffDrive.getComponentProperties().get("MOTOR_R"); // Port
 
-            src.add("left_motor = Motor(Port." + leftPort + ", Direction.COUNTERCLOCKWISE)").nlI();
-            src.add("right_motor = Motor(Port." + rightPort + ")").nlI();
+            src.addLine("left_motor = Motor(Port." + leftPort + ", Direction.COUNTERCLOCKWISE)");
+            src.addLine("right_motor = Motor(Port." + rightPort + ")");
 
-            src.add("TRACKWIDTH = ").add(diffDrive.getComponentProperties().get("BRICK_TRACK_WIDTH")).add(" * 10").nlI();
-            src.add("WHEEL_DIAMETER = 56").nlI();
-            src.add("drive_base = DriveBase(left_motor, right_motor, wheel_diameter=WHEEL_DIAMETER, axle_track=TRACKWIDTH)").nlI();
+            src.addLine("TRACKWIDTH = ").add(diffDrive.getComponentProperties().get("BRICK_TRACK_WIDTH")).add(" * 10");
+            src.addLine("WHEEL_DIAMETER = 56");
+            src.addLine("drive_base = DriveBase(left_motor, right_motor, wheel_diameter=WHEEL_DIAMETER, axle_track=TRACKWIDTH)");
             //accelerate to max speed within 0.1 seconds, this value is subject to change
-            src.add("drive_base.settings(straight_acceleration=810*10, turn_acceleration=810*10)").nlI();
+            src.addLine("drive_base.settings(straight_acceleration=810 * 10, turn_acceleration=810 * 10)");
         }
     }
 
@@ -853,13 +847,13 @@ private void instantiateMotors() {
                 usedHardwareBean.getLockedComponent().forEach(
                     (component, port) -> {
                         if ( (motor.getPort()).equals(port) ) {
-                            src.add("motor").add(motor.getPort()).add(" = left_motor").nlI();
+                            src.addLine("motor").add(motor.getPort()).add(" = left_motor");
                             componentLocked.set(true);
                         }
                     }
                 );
                 if ( !componentLocked.get() ) {
-                    src.add("motor").add(motor.getPort()).add(" = Motor(Port.").add(motor.getPort()).add(")").nlI();
+                    src.addLine("motor").add(motor.getPort()).add(" = Motor(Port.").add(motor.getPort()).add(")");
                 }
             });
         }
@@ -869,8 +863,7 @@ private void instantiateTouchSensor() {
         if ( usedHardwareBean.isSensorUsed(SC.TOUCH) ) {
             usedHardwareBean.getUsedSensors().stream().filter(usedActor -> usedActor.getType().equals("TOUCH")).forEach(sensor -> {
                 if ( configurationAst.optConfigurationComponent(sensor.getPort()) != null ) {
-                    nlIndent();
-                    src.add("touch_sensor_").add(sensor.getPort()).add(" = ForceSensor(Port.").add(getPortFromConfig(sensor.getPort())).add(")");
+                    src.addLine("touch_sensor_").add(sensor.getPort()).add(" = ForceSensor(Port.").add(getPortFromConfig(sensor.getPort())).add(")");
                 }
             });
         }
@@ -880,8 +873,7 @@ private void instantiateUltrasonicSensor() {
         if ( usedHardwareBean.isSensorUsed(SC.ULTRASONIC) ) {
             usedHardwareBean.getUsedSensors().stream().filter(usedActor -> usedActor.getType().equals("ULTRASONIC")).forEach(sensor -> {
                 if ( configurationAst.optConfigurationComponent(sensor.getPort()) != null ) {
-                    nlIndent();
-                    src.add("ultrasonic_sensor_").add(sensor.getPort()).add(" = UltrasonicSensor(Port.").add(getPortFromConfig(sensor.getPort())).add(")");
+                    src.addLine("ultrasonic_sensor_").add(sensor.getPort()).add(" = UltrasonicSensor(Port.").add(getPortFromConfig(sensor.getPort())).add(")");
                 }
             });
         }
@@ -891,9 +883,8 @@ private void instantiateColorSensor() {
         if ( usedHardwareBean.isSensorUsed(SC.COLOR) ) {
             usedHardwareBean.getUsedSensors().stream().filter(usedActor -> usedActor.getType().equals("COLOR")).forEach(sensor -> {
                 if ( configurationAst.optConfigurationComponent(sensor.getPort()) != null ) {
-                    nlIndent();
-                    src.add("color_sensor_").add(sensor.getPort()).add(" = ColorSensor(Port.").add(getPortFromConfig(sensor.getPort())).add(")").nlI();
-                    src.add("color_sensor_").add(sensor.getPort()).add(".detectable_colors([Color.MAGENTA, Color.BLUE, Color.AZURE, Color.CYAN, Color.YELLOW, Color.RED, Color.BLACK, Color.WHITE, Color.NONE])");
+                    src.addLine("color_sensor_").add(sensor.getPort()).add(" = ColorSensor(Port.").add(getPortFromConfig(sensor.getPort())).add(")");
+                    src.addLine("color_sensor_").add(sensor.getPort()).add(".detectable_colors([Color.MAGENTA, Color.BLUE, Color.AZURE, Color.CYAN, Color.YELLOW, Color.RED, Color.BLACK, Color.WHITE, Color.NONE])");
                 }
             });
         }
@@ -901,18 +892,17 @@ private void instantiateColorSensor() {
 
     private void instantiateTimer() {
         if ( usedHardwareBean.isSensorUsed(SC.TIMER) ) {
-            nlIndent();
-            src.add("stopWatch = StopWatch()");
+            src.addLine("stopWatch = StopWatch()");
         }
     }
 
     private void prepareComponents() {
         if ( usedHardwareBean.isSensorUsed(SC.GYRO) ) {
-            src.add("hub.imu.reset_heading(0)").nlI();
+            src.addLine("hub.imu.reset_heading(0)");
         }
         if ( usedHardwareBean.isActorUsed(SC.SPEAKER) ) {
             //TODO make volume be settings controlled
-            src.add("hub.speaker.volume(15)").nlI();
+            src.addLine("hub.speaker.volume(15)");
         }
     }
 }
\ No newline at end of file