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blocks: add led_count block

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This commit is contained in:
Oleg Kalachev
2020-11-04 00:45:34 +03:00
parent 9a9c2d5c9f
commit 7a1e885df1
4 changed files with 89 additions and 74 deletions
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131
clover_blocks/programs/examples/led-compass.xml
View File

@@ -1,106 +1,91 @@
<xml xmlns="https://developers.google.com/blockly/xml">
<variables>
<variable id="_{V-S5HPBUl]CcJkL1Jw">led_count</variable>
</variables>
<block type="variables_set" id="{)^J~:UMX%D;RWvztWLN" x="113" y="87">
<field name="VAR" id="_{V-S5HPBUl]CcJkL1Jw">led_count</field>
<value name="VALUE">
<block type="math_number" id="V_W$3,VFwZjcc|?|1o`l">
<field name="NUM">58</field>
<block type="controls_whileUntil" id="U1it{GcGuSS:=[xiwZr1" x="113" y="113">
<field name="MODE">WHILE</field>
<value name="BOOL">
<block type="logic_boolean" id="]7ZDRwde}/RqjQCX}aVW">
<field name="BOOL">TRUE</field>
</block>
</value>
<next>
<block type="controls_whileUntil" id="U1it{GcGuSS:=[xiwZr1">
<field name="MODE">WHILE</field>
<value name="BOOL">
<block type="logic_boolean" id="]7ZDRwde}/RqjQCX}aVW">
<field name="BOOL">TRUE</field>
</block>
<statement name="DO">
<block type="set_effect" id="WI0zqOz/z3].cR/6UWHn">
<field name="EFFECT">FILL</field>
<value name="COLOR">
<shadow type="colour_picker" id="B`6;Xv{s2TFp8Yd=ZpSD">
<field name="COLOUR">#000000</field>
</shadow>
</value>
<statement name="DO">
<block type="set_effect" id="WI0zqOz/z3].cR/6UWHn">
<field name="EFFECT">FILL</field>
<value name="COLOR">
<shadow type="colour_picker" id="B`6;Xv{s2TFp8Yd=ZpSD">
<field name="COLOUR">#000000</field>
<next>
<block type="set_led" id="^Vcs}ki?#ctf7rAchix$">
<value name="INDEX">
<shadow type="math_number" id="U;VWW$[*LOF7Gf,~?YR7">
<field name="NUM">0</field>
</shadow>
</value>
<next>
<block type="set_led" id="^Vcs}ki?#ctf7rAchix$">
<value name="INDEX">
<shadow type="math_number" id="U;VWW$[*LOF7Gf,~?YR7">
<field name="NUM">0</field>
<block type="math_arithmetic" id="AI6PZBd`]_Z%_~4c-%dB">
<field name="OP">MULTIPLY</field>
<value name="A">
<shadow type="math_number" id="|p}X]`SedK3).F/;}NlB">
<field name="NUM">1</field>
</shadow>
<block type="math_arithmetic" id="AI6PZBd`]_Z%_~4c-%dB">
<field name="OP">MULTIPLY</field>
<block type="math_arithmetic" id="-haE#:,cg{-J=NZERA;F">
<field name="OP">DIVIDE</field>
<value name="A">
<shadow type="math_number" id="|p}X]`SedK3).F/;}NlB">
<shadow type="math_number" id="::st;ot}[r]csqceURu*">
<field name="NUM">1</field>
</shadow>
<block type="math_arithmetic" id="-haE#:,cg{-J=NZERA;F">
<field name="OP">DIVIDE</field>
<block type="math_arithmetic" id="a%+LN)F~=Igg+,p02[qo">
<field name="OP">ADD</field>
<value name="A">
<shadow type="math_number" id="::st;ot}[r]csqceURu*">
<shadow type="math_number" id="*yIGN((y)/^z0:f5:VDw">
<field name="NUM">1</field>
</shadow>
<block type="math_arithmetic" id="a%+LN)F~=Igg+,p02[qo">
<field name="OP">ADD</field>
<value name="A">
<shadow type="math_number" id="*yIGN((y)/^z0:f5:VDw">
<field name="NUM">1</field>
</shadow>
<block type="get_yaw" id="mf%77q30bEqNfc/3`Mtb">
<field name="FRAME_ID">MAP</field>
<value name="ID">
<shadow type="math_number" id="xb32G.N#ip`|^Xv*MOmY">
<field name="NUM">0</field>
</shadow>
</value>
</block>
</value>
<value name="B">
<shadow type="math_number" id="T/fTrm;j2Azgav;gI{ZW">
<field name="NUM">180</field>
<block type="get_yaw" id="mf%77q30bEqNfc/3`Mtb">
<field name="FRAME_ID">MAP</field>
<value name="ID">
<shadow type="math_number" id="xb32G.N#ip`|^Xv*MOmY">
<field name="NUM">0</field>
</shadow>
</value>
</block>
</value>
<value name="B">
<shadow type="math_number" id="Wo1/ZCeir,u6/.e1H+BB">
<field name="NUM">360</field>
<shadow type="math_number" id="T/fTrm;j2Azgav;gI{ZW">
<field name="NUM">180</field>
</shadow>
</value>
</block>
</value>
<value name="B">
<shadow type="math_number" id="jENTcXz0C5/=)Xpd!}LL">
<field name="NUM">1</field>
<shadow type="math_number" id="Wo1/ZCeir,u6/.e1H+BB">
<field name="NUM">360</field>
</shadow>
<block type="variables_get" id="Ko,`n=i88FY~`YbQLA?[">
<field name="VAR" id="_{V-S5HPBUl]CcJkL1Jw">led_count</field>
</block>
</value>
</block>
</value>
<value name="COLOR">
<shadow type="colour_picker" id="+vw3bff.5c[=_w,Xm^C(">
<field name="COLOUR">#3366ff</field>
<value name="B">
<shadow type="math_number" id="jENTcXz0C5/=)Xpd!}LL">
<field name="NUM">1</field>
</shadow>
<block type="led_count" id="vM@X8s!xa]v}AaK6PWF5"></block>
</value>
</block>
</value>
<value name="COLOR">
<shadow type="colour_picker" id="+vw3bff.5c[=_w,Xm^C(">
<field name="COLOUR">#3366ff</field>
</shadow>
</value>
<next>
<block type="wait" id="DT%f$bn1*1El5zsgUW8Y">
<value name="TIME">
<shadow type="math_number" id="~Y0hNY[_^#v@aZkE-TH[">
<field name="NUM">0.1</field>
</shadow>
</value>
<next>
<block type="wait" id="DT%f$bn1*1El5zsgUW8Y">
<value name="TIME">
<shadow type="math_number" id="~Y0hNY[_^#v@aZkE-TH[">
<field name="NUM">0.1</field>
</shadow>
</value>
</block>
</next>
</block>
</next>
</block>
</statement>
</next>
</block>
</next>
</statement>
</block>
</xml>
</xml>

11
clover_blocks/www/blocks.js
View File

@@ -353,6 +353,17 @@ Blockly.Blocks['set_effect'] = {
}
};
Blockly.Blocks['led_count'] = {
init: function () {
this.appendDummyInput()
.appendField("LED count");
this.setOutput(true, "Number");
this.setColour(COLOR_LED);
this.setTooltip("Returns the number of LEDs (configured in led.launch).");
this.setHelpUrl(DOCS_URL + '#' + this.type);
}
};
Blockly.Blocks['take_off'] = {
init: function () {
this.appendValueInput("ALT")

1
clover_blocks/www/index.html
View File

@@ -106,6 +106,7 @@
<value name="INDEX"><shadow type="math_number"><field name="NUM">0</field></shadow></value>
<value name="COLOR"><shadow type="colour_picker"></shadow></value>
</block>
<block type="led_count"></block>
</category>
<category name="GPIO" colour="#5b97cc">
<block type="gpio_read">

20
clover_blocks/www/python.js
View File

@@ -15,7 +15,7 @@ Blockly.Python.addReservedWords('_b,_print');
Blockly.Python.addReservedWords('rospy,srv,Trigger,get_telemetry,navigate,set_velocity,land');
Blockly.Python.addReservedWords('navigate_wait,land_wait,wait_arrival,wait_yaw,get_distance');
Blockly.Python.addReservedWords('pigpio,pi,Range');
Blockly.Python.addReservedWords('SetLEDEffect,set_effect');
Blockly.Python.addReservedWords('SetLEDEffect,set_effect,led_count,get_led_count');
Blockly.Python.addReservedWords('SetLEDs,LEDState,set_leds');
const IMPORT_SRV = `from clover import srv
@@ -87,6 +87,9 @@ function generateROSDefinitions() {
Blockly.Python.definitions_['import_set_led'] = 'from led_msgs.srv import SetLEDs\nfrom led_msgs.msg import LEDState';
code += `set_leds = rospy.ServiceProxy('led/set_leds', SetLEDs, persistent=True)\n`;
}
if (rosDefinitions.ledStateArray) {
Blockly.Python.definitions_['import_led_state_array'] = 'from led_msgs.msg import LEDStateArray';
}
if (rosDefinitions.navigateWait) {
Blockly.Python.definitions_['import_math'] = 'import math';
code += NAVIGATE_WAIT();
@@ -395,6 +398,21 @@ Blockly.Python.set_led = function(block) {
}
}
const GET_LED_COUNT = `led_count = None
def get_led_count():
global led_count
if led_count is None:
led_count = len(rospy.wait_for_message('led/state', LEDStateArray, timeout=10).leds)
return led_count\n`;
Blockly.Python.led_count = function(block) {
rosDefinitions.ledStateArray = true;
initNode();
Blockly.Python.definitions_['get_led_count'] = GET_LED_COUNT;
return [`get_led_count()`, Blockly.Python.ORDER_FUNCTION_CALL]
}
function pigpio() {
Blockly.Python.definitions_['import_pigpio'] = 'import pigpio';
Blockly.Python.definitions_['init_pigpio'] = 'pi = pigpio.pi()';