mirror of https://github.com/CopterExpress/clover.git synced 2026-05-26 11:43:25 +00:00

Files

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

2.3 KiB

Raw Blame History

clover_blocks

Blockly programming support for Clover.

See user documentation at the main Clover documentation site.

Internal package documentation is given below.

Frontend

The frontend files are located in www subdirectory. The frontend application uses roblib.js library for communicating with backend node and other ROS resources.

`clover_blocks` node

clover_blocks is the blocks programming backend, implementing all the services and topics needed for running Blockly-generated Python script.

Services

~run (clover_blocks/Run) – run Blockly-generated program (in Python).
~stop (std_srvs/Trigger) – terminate the running program.
~store (clover_blocks/load) – store a user program (to <package_path>/programs by default).
~load (clover_blocks/load) – load all the stored programs.

Parameters

~programs_dir (string) – directory for user programs.

Parameters read by frontend:

~navigate_tolerance (float) – distance tolerance in meters, used for navigate-like blocks (default: 0.2).
~sleep_time (float) – duration of sleep in loop cycles, used for navigate-like blocks (default: 0.2).

These parameters also can be set as URL GET-parameters, for example:

http://<hostname>/clover_blocks/?navigate_tolerance=0.5&sleep_time=0.1

Topics

Published

~running (std_msgs/Bool) – indicates if the program is currently running.
~block (std_msgs/String) – current executing block (maximum topic rate is limited).
~error (std_msgs/String) – user program errors and exceptions.
~prompt (clover_blocks/Prompt) – user input request (includes random request ID string).

This topic is published from the frontend side:

~prompt/<request_id> (std_msgs/String) – user input response.

2.3 KiB Raw Blame History Unescape Escape