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* 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
53 lines
2.3 KiB
Markdown
53 lines
2.3 KiB
Markdown
# clover_blocks
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Blockly programming support for Clover.
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<img src="screenshot.png" width=700>
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See user documentation at the [main Clover documentation site](https://clover.coex.tech/en/blocks.html).
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Internal package documentation is given below.
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## Frontend
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The frontend files are located in [`www`](./www/) subdirectory. The frontend application uses [`roblib.js`](http://wiki.ros.org/roslibjs) library for communicating with backend node and other ROS resources.
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## `clover_blocks` node
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`clover_blocks` is the blocks programming backend, implementing all the services and topics needed for running Blockly-generated Python script.
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### Services
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* `~run` ([*clover_blocks/Run*](srv/Run.srv)) – run Blockly-generated program (in Python).
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* `~stop` ([*std_srvs/Trigger*](http://docs.ros.org/melodic/api/std_srvs/html/srv/Trigger.html)) – terminate the running program.
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* `~store` ([*clover_blocks/load*](srv/Store.srv)) – store a user program (to `<package_path>/programs` by default).
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* `~load` ([*clover_blocks/load*](srv/Load.srv)) – load all the stored programs.
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### Parameters
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* `~programs_dir` (*string*) – directory for user programs.
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Parameters read by frontend:
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* `~navigate_tolerance` (*float*) – distance tolerance in meters, used for navigate-like blocks (default: 0.2).
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* `~sleep_time` (*float*) – duration of sleep in loop cycles, used for navigate-like blocks (default: 0.2).
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These parameters also can be set as URL GET-parameters, for example:
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```
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http://<hostname>/clover_blocks/?navigate_tolerance=0.5&sleep_time=0.1
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```
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### Topics
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#### Published
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* `~running` ([*std_msgs/Bool*](http://docs.ros.org/melodic/api/std_msgs/html/msg/Bool.html)) – indicates if the program is currently running.
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* `~block` ([*std_msgs/String*](http://docs.ros.org/melodic/api/std_msgs/html/msg/String.html)) – current executing block (maximum topic rate is limited).
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* `~error` ([*std_msgs/String*](http://docs.ros.org/melodic/api/std_msgs/html/msg/String.html)) – user program errors and exceptions.
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* `~prompt` ([*clover_blocks/Prompt*](msg/Prompt.msg)) – user input request (includes random request ID string).
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This topic is published from the frontend side:
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* `~prompt/<request_id>` ([*std_msgs/String*](http://docs.ros.org/melodic/api/std_msgs/html/msg/String.html)) – user input response.
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