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11bdf2d3daf74037cb143e52bde4ba892f63cb47
clover/clover_blocks/www/index.html
Oleg Kalachev 2f6125ce54 Implement block programming (using Blockly) (#272) 
* Clover Blockly: add first blocks set

* Adjust Blockly settings

* Fix get_position output type

* Add screenshot

* Rename readme.md to README.md

* Resize screenshot

* Add package.xml

* Little change

* Fixes

* Add python_compressed to blockly

* Implement some of the Clover blocks in Python

* Make Python indentation 4 spaces

* Fixes to Python blocks implementation

* Implement set_velocity block in Python

* Implement wait_arrival block in Python

* Fix indentation in Python implementation of blocks

* Fix

* Fix land_wait template

* Set reserved words in Python

* Change default frame_id to aruco_map in get_position block

* Fix

* Move blocks definitions to blocks.js

* Get rid of missing favicon error

* Simplify navigate

* Rearrange layout, add tabs

* Generate Python code

* Small style change

* -console.log

* Code style

* Use modules

* Move modules to the header

* Correct order for ROS definitions + generating "backend" code

* Fix rangefinder_distance block

* simple_offboard: commands to change only yaw and yaw rate

* Implement set_yaw block

* Start working on Blockly documentation

* Implement print block with a topic

* Unneeded code

* Little fixes

* Fix indentation

* Fixes

* Fix wait_arival, get_distance

* Implement running Blockly programs, implement prompt block, fixes

* Add land button

* Little change

* Fix reserved words + little fixes

* +x for main.py

* Simplify run button

* Auto-save and load workspace

* Make land button work

* Handle exceptions

* Minor change

* Add help URL for blocks

* Fix

* Implement arrived block

* Mark blockly and highlight.js as linguist-vendored

* Add forgotten CMakeLists.txt

* Add wait checkbox to set_yaw block

* Disable run button when disconnected

* Add message and service files

* Add some comments

* Add tooltip to some blocks

* Implement GPIO blocks

* Don’t latch print message to prevent duplication

* Prevent duplication prompts

* Add ROS init code to backend code anyways

* Make GPIO blocks color a constant

* Minor fix

* More correctly update blocks on input value changes

* Minor fixes

* Remove unneeded readonly attribute

* Add marker ID shadow blocks to toolbox

* Add lacking reserved words

* Fix frame id generation for complex marker id expressions

* Consider frame_id in set_yaw block

* Shorten ros module import

* Implement stop service

* Disable and enable run button correctly

* Don’t print KeyboardInterrupt exceptions

* Put notifications to notifications element

* Add 'running' mark

* Disable signal in backend python code

* Sleep a little bit to let rospy initialize publishers

* Remove accidental code

* Make ROS namespace and private namespace constants

* editorconfig-lint: don’t check Blockly code

* Use private namespace constant in Python generator

* Implement ~running topic to display current program status more robustly

* Make navigate tolerance and sleep time constants

* Make set_leds and and set_effect services proxies persistent

* Replace a number with constant

* Limit ~block topic publishing rate
Otherwise messages get queued making the frontend to freeze

* Improve internal documentation

* Append 'map' to frames list

* Return degrees in get_attitude block

* Move getting yaw in a separate block

* Improve block tooltips

* Add some more files to editorconfig-lint excludes

* Add get_yaw block to toolbox

* Implement get_time block

* Implement ~store and ~load services for storing user programs

* Set auto_arm only in take_off block

* Minor CSS fixes

* Make 'Python' tab textarea-like

* Implement saving and loading programs

* Adjust styles

* Retrieve only .xml files in load service

* Forgotten code

* Documentation on store and load services

* Add some examples

* Add blocks programming arg to launch file

* Update docs

* Add package’s dependencies

* Add dependency

* Add title to select

* Fix syntax

* Minor fix in docs

* Add forgotten roslib.js

* Run user program in the same process

* Use print function for print block in Python 2

* Add variables example

* Fix url

* Add functions example

* Fix set_servo block

* Fix gpio_read block

* Update blocks screenshot

* Update docs

* Update docs

* Fix set_effect block

* Minor fix in example

* Add setpoint block, remove set_velocity from toolbox

* Remove unused modules

* Unused variable

* Add English article skeleton

* Clarify backend node link error

* Remove unused variable

* Update documentation

* Fix link to documentation

* Add Blockly logo

* Update English article

* Add Blocks programming link to the main page

* Minor change

* Add catkin_install_python to CMakeLists.txt

* Make navigate tolerance and sleep time configurable

* Add minor todo

* Add blockly examples directory to editorconfig-lint excludes

* Rename main node to clover_blocks

* Add a warning to the old blocks programming article

* Fix editorconfig-lint exclude
2020-09-30 17:07:03 +03:00

484 lines
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<!DOCTYPE html>
<html lang="en">
<head>
<title>Clover Blocks</title>
<meta charset="UTF-8">
<meta name="viewport" content="width=device-width, initial-scale=1, shrink-to-fit=no">
<link rel="stylesheet" href="main.css">
<link rel="icon" href="data:,">
<link rel="stylesheet" href="highlight/styles/monokai-sublime.css">
<script src="highlight/highlight.pack.js"></script>
<script src="roslib.js"></script>
<script src="blockly/blockly_compressed.js"></script>
<script src="blockly/python_compressed.js"></script>
<script src="blockly/blocks_compressed.js"></script>
<script src="blockly/msg/js/en.js"></script>
<script type="module" src="main.js"></script>
</head>
<body data-tab="blocks">
<ul id="tabs">
<li class="selected" data-tab="blocks">Blocks</li>
<li data-tab="python">Python</li>
</ul>
<div id="tools">
<div class="disconnected">Disconnected</div>
<div class="backend-fail">Failed to contact with <code>clover_blocks</code> node, see <a href="../clover/docs/en/blocks.html#configuration" target="_blank">configuration</a> documentation.</div>
<div id="running">Running...</div>
<select id="program-name" title="Files are saved in <package_path>/programs/.">
<option value="" disabled selected>&lt;Unsaved&gt;</option>
<option value="@clear">Clear...</option>
<option style="font-style: italic;" value="@save">Save... (Ctrl+S)</option>
<optgroup label="User" data-type="user"></optgroup>
<optgroup label="Examples" data-type="example"></optgroup>
</select>
<button onclick="runProgram()" disabled id="run" disabled title="Run the program">Run</button>
<button onclick="stopProgram()" title="Stop the program">Stop</button>
<button onclick="land()" title="Stop the program and land">Land</button>
</div>
<div id="notifications"></div>
<div id="blockly" class="content"></div>
<pre id="python" class="content" contenteditable oncut="return false" onpaste="return false" onkeydown="if(!event.metaKey) return false" spellcheck="false"></pre>
<xml xmlns="https://developers.google.com/blockly/xml" id="toolbox" style="display: none">
<category name="Flight" colour="#870b99">
<block type="take_off">
<value name="ALT"><shadow type="math_number"><field name="NUM">1</field></shadow></value>
</block>
<block type="navigate">
<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="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>
<block type="land"></block>
<block type="set_yaw">
<value name="YAW"><shadow type="angle"></shadow></value>
</block>
<block type="wait">
<value name="TIME"><shadow type="math_number"><field name="NUM">3</field></shadow></value>
</block>
<block type="wait_arrival"></block>
<block type="setpoint">
<value name="VX"><shadow type="math_number"><field name="NUM">0</field></shadow></value>
<value name="VY"><shadow type="math_number"><field name="NUM">0</field></shadow></value>
<value name="VZ"><shadow type="math_number"><field name="NUM">0</field></shadow></value>
<value name="PITCH"><shadow type="math_number"><field name="NUM">0</field></shadow></value>
<value name="ROLL"><shadow type="math_number"><field name="NUM">0</field></shadow></value>
<value name="YAW"><shadow type="math_number"><field name="NUM">0</field></shadow></value>
<value name="THRUST"><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>
<!-- <block type="key_pressed"></block> -->
</category>
<category name="State" colour="#ff9a00">
<block type="get_position">
<field name="FRAME_ID">ARUCO_MAP</field>
<value name="ID"><shadow type="math_number"><field name="NUM">0</field></shadow></value>
</block>
<block type="get_yaw">
<field name="FRAME_ID">ARUCO_MAP</field>
<value name="ID"><shadow type="math_number"><field name="NUM">0</field></shadow></value>
</block>
<block type="get_attitude"></block>
<block type="distance">
<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="ID"><shadow type="math_number"><field name="NUM">0</field></shadow></value>
</block>
<block type="get_time"></block>
<block type="arrived"></block>
<block type="rangefinder_distance"></block>
<block type="mode"></block>
<block type="armed"></block>
<block type="voltage"></block>
</category>
<category name="LED" colour="#02d754">
<block type="set_effect">
<value name="COLOR"><shadow type="colour_picker"></shadow></value>
</block>
<block type="set_led">
<value name="INDEX"><shadow type="math_number"><field name="NUM">0</field></shadow></value>
<value name="COLOR"><shadow type="colour_picker"></shadow></value>
</block>
</category>
<category name="GPIO" colour="#5b97cc">
<block type="gpio_read">
<value name="PIN"><shadow type="math_number"><field name="NUM">1</field></shadow></value>
</block>
<block type="gpio_write">
<value name="PIN"><shadow type="math_number"><field name="NUM">1</field></shadow></value>
<value name="LEVEL"><shadow type="logic_boolean"></shadow></value>
</block>
<block type="set_servo">
<value name="PIN"><shadow type="math_number"><field name="NUM">1</field></shadow></value>
<value name="PWM"><shadow type="math_number"><field name="NUM">1500</field></shadow></value>
</block>
</category>
<sep></sep>
<category name="Logic" colour="#5b80a5">
<block type="controls_if"></block>
<block type="logic_compare">
<field name="OP">EQ</field>
</block>
<block type="logic_operation">
<field name="OP">AND</field>
</block>
<block type="logic_negate"></block>
<block type="logic_boolean">
<field name="BOOL">TRUE</field>
</block>
<block type="logic_null"></block>
<block type="logic_ternary"></block>
</category>
<category name="Loops" colour="#5ba55b">
<block type="controls_repeat_ext">
<value name="TIMES">
<shadow type="math_number">
<field name="NUM">10</field>
</shadow>
</value>
</block>
<block type="controls_whileUntil">
<field name="MODE">WHILE</field>
</block>
<block type="controls_for">
<field name="VAR" id="SMJ.7:a)p9(!mF0x)WK~">i</field>
<value name="FROM">
<shadow type="math_number">
<field name="NUM">1</field>
</shadow>
</value>
<value name="TO">
<shadow type="math_number">
<field name="NUM">10</field>
</shadow>
</value>
<value name="BY">
<shadow type="math_number">
<field name="NUM">1</field>
</shadow>
</value>
</block>
<block type="controls_forEach">
<field name="VAR" id="#hg!+5qncbZDpf;c6Qiw">j</field>
</block>
<block type="controls_flow_statements">
<field name="FLOW">BREAK</field>
</block>
</category>
<category name="Math" colour="#5b67a5">
<block type="math_number">
<field name="NUM">0</field>
</block>
<block type="math_arithmetic">
<field name="OP">ADD</field>
<value name="A">
<shadow type="math_number">
<field name="NUM">1</field>
</shadow>
</value>
<value name="B">
<shadow type="math_number">
<field name="NUM">1</field>
</shadow>
</value>
</block>
<block type="math_single">
<field name="OP">ROOT</field>
<value name="NUM">
<shadow type="math_number">
<field name="NUM">9</field>
</shadow>
</value>
</block>
<block type="math_trig">
<field name="OP">SIN</field>
<value name="NUM">
<shadow type="math_number">
<field name="NUM">45</field>
</shadow>
</value>
</block>
<block type="math_constant">
<field name="CONSTANT">PI</field>
</block>
<block type="math_number_property">
<mutation divisor_input="false"></mutation>
<field name="PROPERTY">EVEN</field>
<value name="NUMBER_TO_CHECK">
<shadow type="math_number">
<field name="NUM">0</field>
</shadow>
</value>
</block>
<block type="math_round">
<field name="OP">ROUND</field>
<value name="NUM">
<shadow type="math_number">
<field name="NUM">3.1</field>
</shadow>
</value>
</block>
<block type="math_on_list">
<mutation op="SUM"></mutation>
<field name="OP">SUM</field>
</block>
<block type="math_modulo">
<value name="DIVIDEND">
<shadow type="math_number">
<field name="NUM">64</field>
</shadow>
</value>
<value name="DIVISOR">
<shadow type="math_number">
<field name="NUM">10</field>
</shadow>
</value>
</block>
<block type="math_constrain">
<value name="VALUE">
<shadow type="math_number">
<field name="NUM">50</field>
</shadow>
</value>
<value name="LOW">
<shadow type="math_number">
<field name="NUM">1</field>
</shadow>
</value>
<value name="HIGH">
<shadow type="math_number">
<field name="NUM">100</field>
</shadow>
</value>
</block>
<block type="math_random_int">
<value name="FROM">
<shadow type="math_number">
<field name="NUM">1</field>
</shadow>
</value>
<value name="TO">
<shadow type="math_number">
<field name="NUM">100</field>
</shadow>
</value>
</block>
<block type="math_random_float"></block>
</category>
<category name="Text" colour="#5ba58c">
<block type="text">
<field name="TEXT"></field>
</block>
<block type="text_join">
<mutation items="2"></mutation>
</block>
<block type="text_append">
<field name="VAR" id="SmwB.@#2p5}McHySTA:V">item</field>
<value name="TEXT">
<shadow type="text">
<field name="TEXT"></field>
</shadow>
</value>
</block>
<block type="text_length">
<value name="VALUE">
<shadow type="text">
<field name="TEXT">abc</field>
</shadow>
</value>
</block>
<block type="text_isEmpty">
<value name="VALUE">
<shadow type="text">
<field name="TEXT"></field>
</shadow>
</value>
</block>
<block type="text_indexOf">
<field name="END">FIRST</field>
<value name="VALUE">
<block type="variables_get">
<field name="VAR" id="C^Ay41*aH0(G-jwM$x4w">text</field>
</block>
</value>
<value name="FIND">
<shadow type="text">
<field name="TEXT">abc</field>
</shadow>
</value>
</block>
<block type="text_charAt">
<mutation at="true"></mutation>
<field name="WHERE">FROM_START</field>
<value name="VALUE">
<block type="variables_get">
<field name="VAR" id="C^Ay41*aH0(G-jwM$x4w">text</field>
</block>
</value>
</block>
<block type="text_getSubstring">
<mutation at1="true" at2="true"></mutation>
<field name="WHERE1">FROM_START</field>
<field name="WHERE2">FROM_START</field>
<value name="STRING">
<block type="variables_get">
<field name="VAR" id="C^Ay41*aH0(G-jwM$x4w">text</field>
</block>
</value>
</block>
<block type="text_changeCase">
<field name="CASE">UPPERCASE</field>
<value name="TEXT">
<shadow type="text">
<field name="TEXT">abc</field>
</shadow>
</value>
</block>
<block type="text_trim">
<field name="MODE">BOTH</field>
<value name="TEXT">
<shadow type="text">
<field name="TEXT">abc</field>
</shadow>
</value>
</block>
<block type="text_print">
<value name="TEXT">
<shadow type="text">
<field name="TEXT">abc</field>
</shadow>
</value>
</block>
<block type="text_prompt_ext">
<mutation type="TEXT"></mutation>
<field name="TYPE">TEXT</field>
<value name="TEXT">
<shadow type="text">
<field name="TEXT">abc</field>
</shadow>
</value>
</block>
</category>
<category name="Lists" colour="#745ba5">
<block type="lists_create_with">
<mutation items="0"></mutation>
</block>
<block type="lists_create_with">
<mutation items="3"></mutation>
</block>
<block type="lists_repeat">
<value name="NUM">
<shadow type="math_number">
<field name="NUM">5</field>
</shadow>
</value>
</block>
<block type="lists_length"></block>
<block type="lists_isEmpty"></block>
<block type="lists_indexOf">
<field name="END">FIRST</field>
<value name="VALUE">
<block type="variables_get">
<field name="VAR" id="+/w.~s(u:tRiXNBG5eR#">list</field>
</block>
</value>
</block>
<block type="lists_getIndex">
<mutation statement="false" at="true"></mutation>
<field name="MODE">GET</field>
<field name="WHERE">FROM_START</field>
<value name="VALUE">
<block type="variables_get">
<field name="VAR" id="+/w.~s(u:tRiXNBG5eR#">list</field>
</block>
</value>
</block>
<block type="lists_setIndex">
<mutation at="true"></mutation>
<field name="MODE">SET</field>
<field name="WHERE">FROM_START</field>
<value name="LIST">
<block type="variables_get">
<field name="VAR" id="+/w.~s(u:tRiXNBG5eR#">list</field>
</block>
</value>
</block>
<block type="lists_getSublist">
<mutation at1="true" at2="true"></mutation>
<field name="WHERE1">FROM_START</field>
<field name="WHERE2">FROM_START</field>
<value name="LIST">
<block type="variables_get">
<field name="VAR" id="+/w.~s(u:tRiXNBG5eR#">list</field>
</block>
</value>
</block>
<block type="lists_split">
<mutation mode="SPLIT"></mutation>
<field name="MODE">SPLIT</field>
<value name="DELIM">
<shadow type="text">
<field name="TEXT">,</field>
</shadow>
</value>
</block>
<block type="lists_sort">
<field name="TYPE">NUMERIC</field>
<field name="DIRECTION">1</field>
</block>
</category>
<category name="Colour" colour="#a5745b">
<block type="colour_picker">
<field name="COLOUR">#ff0000</field>
</block>
<block type="colour_random"></block>
<block type="colour_rgb">
<value name="RED">
<shadow type="math_number">
<field name="NUM">100</field>
</shadow>
</value>
<value name="GREEN">
<shadow type="math_number">
<field name="NUM">50</field>
</shadow>
</value>
<value name="BLUE">
<shadow type="math_number">
<field name="NUM">0</field>
</shadow>
</value>
</block>
<block type="colour_blend">
<value name="COLOUR1">
<shadow type="colour_picker">
<field name="COLOUR">#ff0000</field>
</shadow>
</value>
<value name="COLOUR2">
<shadow type="colour_picker">
<field name="COLOUR">#3333ff</field>
</shadow>
</value>
<value name="RATIO">
<shadow type="math_number">
<field name="NUM">0.5</field>
</shadow>
</value>
</block>
</category>
<sep></sep>
<category name="Variables" colour="#a55b80" custom="VARIABLE"></category>
<category name="Functions" colour="#995ba5" custom="PROCEDURE"></category>
</xml>
</body>
</html>
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