CopterExpress/clover
1
0
Fork 0
mirror of https://github.com/CopterExpress/clover.git synced 2026-05-26 21:19:35 +00:00
Code Issues Packages Projects Releases Wiki Activity

blocks: add led_count block

Browse Source
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
Download Patch File Download Diff File Expand all files Collapse all files

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()';