From 6879723771f1a1625a83ab23c9f26afbd241ab95 Mon Sep 17 00:00:00 2001
From: Oleg Kalachev <okalachev@gmail.com>
Date: Thu, 12 Mar 2020 20:20:27 +0300
Subject: [PATCH] image: add some examples (#222)

* image: add some examples

* Rename 'fligth' node to 'leds'

* image: copy examples to /home/pi/examples

* examples: add information links

Co-authored-by: Alamoris <gonzalez1139@gmail.com>
---
 builder/assets/examples/flight.py | 31 +++++++++++++++++++++++++++++++
 builder/assets/examples/leds.py   | 25 +++++++++++++++++++++++++
 builder/image-build.sh            |  2 ++
 builder/test/tests.sh             |  3 +++
 4 files changed, 61 insertions(+)
 create mode 100644 builder/assets/examples/flight.py
 create mode 100644 builder/assets/examples/leds.py

diff --git a/builder/assets/examples/flight.py b/builder/assets/examples/flight.py
new file mode 100644
index 00000000..5234e189
--- /dev/null
+++ b/builder/assets/examples/flight.py
@@ -0,0 +1,31 @@
+# Information: https://clever.coex.tech/en/programming.html
+
+import rospy
+from clover import srv
+from std_srvs.srv import Trigger
+
+rospy.init_node('flight')
+
+get_telemetry = rospy.ServiceProxy('get_telemetry', srv.GetTelemetry)
+navigate = rospy.ServiceProxy('navigate', srv.Navigate)
+navigate_global = rospy.ServiceProxy('navigate_global', srv.NavigateGlobal)
+set_position = rospy.ServiceProxy('set_position', srv.SetPosition)
+set_velocity = rospy.ServiceProxy('set_velocity', srv.SetVelocity)
+set_attitude = rospy.ServiceProxy('set_attitude', srv.SetAttitude)
+set_rates = rospy.ServiceProxy('set_rates', srv.SetRates)
+land = rospy.ServiceProxy('land', Trigger)
+
+# Takeoff and hover 1 m above the ground
+navigate(x=0, y=0, z=1, frame_id='body', auto_arm=True)
+
+# Wait for 3 seconds
+rospy.sleep(3)
+
+# Fly forward 1 m
+navigate(x=1, y=0, z=0, frame_id='body')
+
+# Wait for 3 seconds
+rospy.sleep(3)
+
+# Perform landing
+land()
diff --git a/builder/assets/examples/leds.py b/builder/assets/examples/leds.py
new file mode 100644
index 00000000..9a015482
--- /dev/null
+++ b/builder/assets/examples/leds.py
@@ -0,0 +1,25 @@
+# Information: https://clever.coex.tech/en/leds.html
+
+import rospy
+from clover.srv import SetLEDEffect
+
+rospy.init_node('leds')
+
+set_effect = rospy.ServiceProxy('led/set_effect', SetLEDEffect)  # define proxy to ROS-service
+
+set_effect(r=255, g=0, b=0)  # fill strip with red color
+rospy.sleep(2)
+
+set_effect(r=0, g=100, b=0)  # fill strip with green color
+rospy.sleep(2)
+
+set_effect(effect='fade', r=0, g=0, b=255)  # fade to blue color
+rospy.sleep(2)
+
+set_effect(effect='flash', r=255, g=0, b=0)  # flash twice with red color
+rospy.sleep(5)
+
+set_effect(effect='blink', r=255, g=255, b=255)  # blink with white color
+rospy.sleep(5)
+
+set_effect(effect='rainbow')  # show rainbow
diff --git a/builder/image-build.sh b/builder/image-build.sh
index f270d75d..fc6f6a03 100755
--- a/builder/image-build.sh
+++ b/builder/image-build.sh
@@ -104,6 +104,8 @@ ${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} copy ${SCRIPTS_DIR}'/assets/butterf
 ${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} copy ${SCRIPTS_DIR}'/assets/monkey.service' '/lib/systemd/system/'
 # software install
 ${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} exec ${SCRIPTS_DIR}'/image-software.sh'
+# examples
+${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} copy ${SCRIPTS_DIR}'/assets/examples' '/home/pi/'
 # network setup
 ${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} exec ${SCRIPTS_DIR}'/image-network.sh'
 
diff --git a/builder/test/tests.sh b/builder/test/tests.sh
index a8dcd43f..f9f28128 100755
--- a/builder/test/tests.sh
+++ b/builder/test/tests.sh
@@ -52,3 +52,6 @@ rosversion usb_cam
 rosversion cv_camera
 rosversion web_video_server
 rosversion rosshow
+
+# validate examples are present
+[[ $(ls /home/pi/examples/*) ]]