CopterExpress/clover
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Merge branch 'master' into 22

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This commit is contained in:
Oleg Kalachev
2020-11-13 12:36:56 +03:00
parent ced9b56452 207dc88579
commit 9cddc81d1d
98 changed files with 13543 additions and 174 deletions
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44
clover_blocks/www/python.js
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@@ -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();
@@ -395,22 +398,41 @@ 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()';
}
const GPIO_READ = `\ndef gpio_read(pin):
pi.set_mode(pin, pigpio.INPUT)
return pi.read(pin)\n`;
pi.set_mode(pin, pigpio.INPUT)
return pi.read(pin)\n`;
const GPIO_WRITE = `\ndef gpio_write(pin, level):
pi.set_mode(pin, pigpio.OUTPUT)
pi.write(pin, level)\n`;
pi.set_mode(pin, pigpio.OUTPUT)
pi.write(pin, level)\n`;
const SET_SERVO = `\ndef set_servo(pin, pwm):
pi.set_mode(pin, pigpio.OUTPUT)
pi.set_servo_pulsewidth(pin, pwm)\n`;
pi.set_mode(pin, pigpio.OUTPUT)
pi.set_servo_pulsewidth(pin, pwm)\n`;
const SET_DUTY_CYCLE = `\ndef set_duty_cycle(pin, duty_cycle):
pi.set_mode(pin, pigpio.OUTPUT)
pi.set_PWM_dutycycle(pin, duty_cycle * 255)\n`;
Blockly.Python.gpio_read = function(block) {
pigpio();
@@ -434,3 +456,11 @@ Blockly.Python.set_servo = function(block) {
var pwm = Blockly.Python.valueToCode(block, 'PWM', Blockly.Python.ORDER_NONE);
return `set_servo(${pin}, ${pwm})\n`;
}
Blockly.Python.set_duty_cycle = function(block) {
pigpio();
Blockly.Python.definitions_['set_duty_cycle'] = SET_DUTY_CYCLE;
var pin = Blockly.Python.valueToCode(block, 'PIN', Blockly.Python.ORDER_NONE);
var dutyCycle = Blockly.Python.valueToCode(block, 'DUTY_CYCLE', Blockly.Python.ORDER_NONE);
return `set_duty_cycle(${pin}, ${dutyCycle})\n`;
}