Redesign web part a bit

clover/launch/clover.launch

@@ -11,7 +11,7 @@
     <arg name="rangefinder_vl53l1x" default="true"/>
     <arg name="led" default="true"/>
     <arg name="blocks" default="false"/>
-    <arg name="rc" default="true"/>
+    <arg name="rc" default="false"/>
 
     <arg name="simulator" default="false"/> <!-- flag that we are operating on a simulated drone -->
 

clover/launch/mavros.launch

@@ -7,7 +7,8 @@
     <arg name="respawn" default="true"/>
     <arg name="distance_sensor_remap" default="rangefinder/range"/>
     <arg name="usb_device" default="/dev/px4fmu"/>
-    <arg name="prefix" default="bash -c 'while [ ! -e $(arg usb_device) ]; do sleep 1; done; $0 $@'" if="$(eval fcu_conn == 'usb')"/>
+    <arg name="prefix" default="" unless="$(eval fcu_conn == 'usb')"/>
+    <arg name="prefix" default="rosrun clover waitfile $(arg usb_device)" if="$(eval fcu_conn == 'usb')"/>
 
     <node pkg="mavros" type="mavros_node" name="mavros" launch-prefix="$(arg prefix)" required="false" clear_params="true" respawn="$(arg respawn)" unless="$(eval fcu_conn == 'none')" respawn_delay="1" output="screen">
         <!-- UART connection -->

clover/src/optical_flow.cpp

@@ -206,7 +206,7 @@ private:
 				} catch (const tf2::TransformException& e) {
 					// Invalidate previous frame
 					prev_.release();
-					return;
+					goto publish_debug;
 				}
 			}
 
@@ -218,6 +218,10 @@ private:
 			flow_.quality = (uint8_t)(response * 255);
 			flow_pub_.publish(flow_);
 
+			prev_ = curr_.clone();
+			prev_stamp_ = msg->header.stamp;
+
+publish_debug:
 			// Publish debug image
 			if (img_pub_.getNumSubscribers() > 0) {
 				// publish debug image
@@ -234,12 +238,9 @@ private:
 			static geometry_msgs::TwistStamped velo;
 			velo.header.stamp = msg->header.stamp;
 			velo.header.frame_id = fcu_frame_id_;
-			velo.twist.angular.x = flow_.integrated_x / integration_time.toSec();
+			velo.twist.angular.x = flow_fcu.vector.x / integration_time.toSec();
-			velo.twist.angular.y = flow_.integrated_y / integration_time.toSec();
+			velo.twist.angular.y = flow_fcu.vector.y / integration_time.toSec();
 			velo_pub_.publish(velo);
-
-			prev_ = curr_.clone();
-			prev_stamp_ = msg->header.stamp;
 		}
 	}
 

clover/src/waitfile

@@ -0,0 +1,9 @@
+#!/usr/bin/env bash
+
+# $ ./waitfile <file> <command> <args...> 
+# wait until <file> appears and then invoke <command> with <args>
+
+echo "wait for file $1"
+while [ ! -e "$1" ]; do sleep 1; done;
+echo "file $1 appeared"
+"${@:2}"

clover/www/clover.err

@@ -0,0 +1 @@
+/tmp/clover.err

clover/www/index.html

@@ -1,17 +1,25 @@
+<style>
+	body { font-family: sans-serif; }
+	main { max-width: 600px; margin: 50px auto; }
+</style>
+
 <title>Clover Drone Kit Tools</title>
 
-<h1>Clover Drone Kit Tools</h1>
+<main>
+	<h1>Clover Drone Kit Tools</h1>
 
-<ul>
+	<ul>
-	<li><a href="docs">View documentation</a> (snapshot of <a href="https://clover.coex.tech">clover.coex.tech</a>)</li>
+		<li><a href="docs">View documentation</a> (snapshot of <a href="https://clover.coex.tech">clover.coex.tech</a>)</li>
-	<li><a href="" id="wvs">View image topics</a> (<code>web_video_server</code>)</li>
+		<li><a href="" id="wvs">View image topics</a> (<code>web_video_server</code>)</li>
-	<li><a href="" id="butterfly">Open web terminal</a> (<code>Butterfly</code>)</li>
+		<li><a href="" id="butterfly">Open web terminal</a> (<code>Butterfly</code>)</li>
-	<li><a href="viz.html">View 3D visualization</a> (<code>ros3djs</code>)</li>
+		<li><a href="viz.html">View 3D visualization</a> (<code>ros3djs</code>)</li>
-	<li><a href="aruco_map.html">3D visualization for markers map</a> (<code>ros3djs</code>)</li>
+		<li><a href="aruco_map.html">3D visualization for markers map</a> (<code>ros3djs</code>)</li>
-	<li><a href="../clover_blocks/">Blocks programming</a> (<code>Blockly</code>)</li>
+		<li><a href="../clover_blocks/">Blocks programming</a> (<code>Blockly</code>)</li>
-</ul>
+		<li><a href="clover.err">Clover console</a> (<code>/tmp/clover.err</code>)</li>
+	</ul>
 
-<div class="version"></div>
+	<div class="version"></div>
+</main>
 
 <script type="text/javascript">
 	document.querySelector("#wvs").href = location.protocol + '//' + location.hostname + ':8080';
@@ -21,7 +29,7 @@
 	fetch('clover_version').then(function(response) {
 		if (response.status !== 200) return;
 		response.text().then(function(text) {
-			document.querySelector('.version').innerHTML = 'Version: ' + text;
+			document.querySelector('.version').innerHTML = 'Version: <code>' + text + '</code>';
 		});
 	});
 </script>

clover_blocks/src/clover_blocks

@@ -11,7 +11,8 @@
 from __future__ import print_function
 
 import rospy
-import os
+import os, sys
+import traceback
 import threading
 import re
 import uuid
@@ -116,7 +117,12 @@ def run(req):
                 rospy.loginfo('Program forced to stop')
             except Exception as e:
                 rospy.logerr(str(e))
-                error_pub.publish(str(e))
+                traceback.print_exc()
+                etype, value, tb = sys.exc_info()
+                fmt = traceback.format_exception(etype, value, tb)
+                fmt.pop(1) # remove 'clover_blocks' file frame
+                exc_info = ''.join(fmt)
+                error_pub.publish(str(e) + '\n\n' + exc_info)
 
             rospy.loginfo('Program terminated')
             running_lock.release()