blocks: implement global navigation

clover_blocks/README.md

@@ -30,6 +30,7 @@ The frontend files are located in [`www`](./www/) subdirectory. The frontend app
 Parameters read by frontend:
 
 * `~navigate_tolerance` (*float*) – distance tolerance in meters, used for navigate-like blocks (default: 0.2).
+* `~navigate_global_tolerance` (*float*) – distance tolerance for global coordinates navigation (default: 1).
 * `~yaw_tolerance` (*float*) – yaw angle tolerance in degrees, used in set_yaw block (default: 1).
 * `~sleep_time` (*float*) – duration of sleep in loop cycles, used for navigate-like blocks (default: 0.2).
 * `~confirm_run` (*bool*) – enable confirmation to run the program (default: true).

clover_blocks/www/blocks.js

@@ -31,6 +31,14 @@ function considerFrameId(e) {
 			this.getInput('Y').fieldRow[0].setValue('y');
 			this.getInput('Z').fieldRow[0].setValue('z');
 		}
+		if (this.getInput('LAT')) { // block has global coordinates
+			let global = frameId.startsWith('GLOBAL');
+			this.getInput('LAT').setVisible(global);
+			this.getInput('LON').setVisible(global);
+			this.getInput('X').setVisible(!global);
+			this.getInput('Y').setVisible(!global);
+			this.getInput('Z').fieldRow[0].setValue(frameId == 'GLOBAL' ? 'altitude' : 'z');
+		}
 	}
 	if (this.getInput('ID')) { // block has marker id field
 		this.getInput('ID').setVisible(frameId == 'ARUCO'); // toggle id field
@@ -65,6 +73,9 @@ function updateSetpointBlock(e) {
 
 Blockly.Blocks['navigate'] = {
 	init: function () {
+		let navFrameId = frameIds.slice();
+		navFrameId.push(['global', 'GLOBAL_LOCAL'])
+		navFrameId.push(['global, WGS 84 alt.', 'GLOBAL'])
 		this.appendDummyInput()
 			.appendField("navigate to point");
 		this.appendValueInput("X")
@@ -73,12 +84,20 @@ Blockly.Blocks['navigate'] = {
 		this.appendValueInput("Y")
 			.setCheck("Number")
 			.appendField("left");
+		this.appendValueInput("LAT")
+			.setCheck("Number")
+			.appendField("latitude")
+			.setVisible(false);
+		this.appendValueInput("LON")
+			.setCheck("Number")
+			.appendField("longitude")
+			.setVisible(false)
 		this.appendValueInput("Z")
 			.setCheck("Number")
 			.appendField("up");
 		this.appendDummyInput()
 			.appendField("relative to")
-			.appendField(new Blockly.FieldDropdown(frameIds), "FRAME_ID");
+			.appendField(new Blockly.FieldDropdown(navFrameId), "FRAME_ID");
 		this.appendValueInput("ID")
 			.setCheck("Number")
 			.appendField("with ID")

clover_blocks/www/index.html

@@ -52,6 +52,8 @@
 				<value name="X"><shadow type="math_number"><field name="NUM">0</field></shadow></value>
 				<value name="Y"><shadow type="math_number"><field name="NUM">0</field></shadow></value>
 				<value name="Z"><shadow type="math_number"><field name="NUM">0</field></shadow></value>
+				<value name="LAT"><shadow type="math_number"><field name="NUM">47.397503</field></shadow></value>
+				<value name="LON"><shadow type="math_number"><field name="NUM">8.544945</field></shadow></value>
 				<value name="SPEED"><shadow type="math_number"><field name="NUM">0.5</field></shadow></value>
 				<value name="ID"><shadow type="math_number"><field name="NUM">0</field></shadow></value>
 			</block>

clover_blocks/www/main.js

@@ -39,6 +39,7 @@ var workspace = Blockly.inject('blockly', {
 function readParams() {
 	return Promise.all([
 		ros.readParam('navigate_tolerance', true, 0.2),
+		ros.readParam('navigate_global_tolerance', true, 1),
 		ros.readParam('yaw_tolerance', true, 1),
 		ros.readParam('sleep_time', true, 0.2),
 		ros.readParam('confirm_run', true, true),

clover_blocks/www/python.js

@@ -33,6 +33,18 @@ const NAVIGATE_WAIT = () => `\ndef navigate_wait(x=0, y=0, z=0, speed=0.5, frame
             return
         rospy.sleep(${params.sleep_time})\n`;
 
+const NAVIGATE_GLOBAL_WAIT = () => `\ndef navigate_global_wait(lat, lon, z, speed=0.5):
+    res = navigate_global(lat=lat, lon=lon, z=z, yaw=float('inf'), speed=speed)
+
+    if not res.success:
+        raise Exception(res.message)
+
+    while not rospy.is_shutdown():
+        telem = get_telemetry(frame_id='navigate_target')
+        if math.sqrt(telem.x ** 2 + telem.y ** 2 + telem.z ** 2) < ${params.navigate_global_tolerance}:
+            return
+        rospy.sleep(${params.sleep_time})\n`;
+
 const LAND_WAIT = () => `\ndef land_wait():
     land()
     while get_telemetry().armed:
@@ -68,6 +80,9 @@ function generateROSDefinitions() {
 	if (rosDefinitions.offboard) {
 		code += `get_telemetry = rospy.ServiceProxy('get_telemetry', srv.GetTelemetry)\n`;
 		code += `navigate = rospy.ServiceProxy('navigate', srv.Navigate)\n`;
+		if (rosDefinitions.navigateGlobal) {
+		code += `navigate_global = rospy.ServiceProxy('navigate_global', srv.NavigateGlobal)\n`;
+		}
 		if (rosDefinitions.setVelocity) {
 			code += `set_velocity = rospy.ServiceProxy('set_velocity', srv.SetVelocity)\n`;
 		}
@@ -94,6 +109,10 @@ function generateROSDefinitions() {
 		Blockly.Python.definitions_['import_math'] = 'import math';
 		code += NAVIGATE_WAIT();
 	}
+	if (rosDefinitions.navigateGlobalWait) {
+		Blockly.Python.definitions_['import_math'] = 'import math';
+		code += NAVIGATE_GLOBAL_WAIT();
+	}
 	if (rosDefinitions.landWait) {
 		code += LAND_WAIT();
 	}
@@ -161,24 +180,48 @@ Blockly.Python.navigate = function(block) {
 	let x = Blockly.Python.valueToCode(block, 'X', Blockly.Python.ORDER_NONE);
 	let y = Blockly.Python.valueToCode(block, 'Y', Blockly.Python.ORDER_NONE);
 	let z = Blockly.Python.valueToCode(block, 'Z', Blockly.Python.ORDER_NONE);
-	let frameId = buildFrameId(block);
+	let lat = Blockly.Python.valueToCode(block, 'LAT', Blockly.Python.ORDER_NONE);
+	let lon = Blockly.Python.valueToCode(block, 'LON', Blockly.Python.ORDER_NONE);
+	let wait = block.getFieldValue('WAIT') == 'TRUE';
+	let frameId = block.getFieldValue('FRAME_ID');
 	let speed = Blockly.Python.valueToCode(block, 'SPEED', Blockly.Python.ORDER_NONE);
 
-	let params = [`x=${x}`, `y=${y}`, `z=${z}`, `frame_id=${frameId}`, `speed=${speed}`];
-
 	simpleOffboard();
 
-	if (block.getFieldValue('WAIT') == 'TRUE') {
+	// global coordinates
-		rosDefinitions.navigateWait = true;
+	if (frameId.startsWith('GLOBAL')) {
+		rosDefinitions.navigateGlobal = true;
 		simpleOffboard();
 
-		return `navigate_wait(${params.join(', ')})\n`;
+		if (frameId == 'GLOBAL') {
+			z = `${z} + get_telemetry().alt - get_telemetry().z`;
+		}
+
+		if (wait) {
+			rosDefinitions.navigateGlobalWait = true;
+			simpleOffboard();
+			return `navigate_global_wait(lat=${lat}, lon=${lon}, z=${z}, speed=${speed})\n`;
+
+		} else {
+			return `navigate_global(lat=${lat}, lon=${lon}, z=${z}, yaw=float('inf'), speed=${speed})\n`;
+		}
 
 	} else {
-		if (frameId != 'body') {
+		frameId = buildFrameId(block);
-			params.push(`yaw=float('nan')`);
+		let params = [`x=${x}`, `y=${y}`, `z=${z}`, `frame_id=${frameId}`, `speed=${speed}`];
+
+		if (wait) {
+			rosDefinitions.navigateWait = true;
+			simpleOffboard();
+
+			return `navigate_wait(${params.join(', ')})\n`;
+
+		} else {
+			if (frameId != 'body') {
+				params.push(`yaw=float('nan')`);
+			}
+			return `navigate(${params.join(', ')})\n`;
 		}
-		return `navigate(${params.join(', ')})\n`;
 	}
 }
 

docs/en/blocks.md

@@ -72,6 +72,8 @@ This block allows to specify the [coordinate frame](frames.md) of the target poi
 * *marker* – coordinates, relative to an [ArUco-marker](aruco_marker.md); marker's ID input fields appears.
 * *last navigate target* – coordinates, relative to the last specified navigate point.
 * *map* – drone's local coordinate system, linked with the point of its initialization.
+* *global* – global coordinates system (latitude and longitude) and relative altitude.
+* *global, WGS 84 alt.* – global coordinates system and [WGS 84](https://en.wikipedia.org/wiki/WGS_84) altitude.
 
 ### land
 

docs/ru/blocks.md

@@ -71,7 +71,8 @@
 * *markers map* – система координат, связанная с [картой ArUco-маркеров](aruco_map.md).
 * *marker* – система координат, связанная с [ArUco-маркером](aruco_marker.md); появляется поле для ввода ID маркеа.
 * *last navigate target* – координаты относительно последней заданной точки для навигации.
-* *map* – локальная система координат коптера, связана с местом его инициализации.
+* *global* – глобальная система координат (широта и долгота) и относительная высота.
+* *global, WGS 84 alt.* – глобальная система координат и высота в [системе WGS 84](https://ru.wikipedia.org/wiki/WGS_84).
 
 ### land