Clover Drone Kit Tools
Butterfly)ros3djs)ros3djs)Blockly)
+
+See user documentation at the [main Clover documentation site](https://clover.coex.tech/en/blocks.html).
+
+Internal package documentation is given below.
+
+## Frontend
+
+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.
+
+## `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*](srv/Run.srv)) – run Blockly-generated program (in Python).
+* `~stop` ([*std_srvs/Trigger*](http://docs.ros.org/melodic/api/std_srvs/html/srv/Trigger.html)) – terminate the running program.
+* `~store` ([*clover_blocks/load*](srv/Store.srv)) – store a user program (to `":e:f.tabReplace?e.replace(/\t/g,f.tabReplace):e):e}function E(e){let n=null;const t=function(e){var n=e.className+" ";n+=e.parentNode?e.parentNode.className:"";const t=f.languageDetectRe.exec(n);if(t){var r=T(t[1]);return r||(console.warn(g.replace("{}",t[1])),console.warn("Falling back to no-highlight mode for this block.",e)),r?t[1]:"no-highlight"}return n.split(/\s+/).find(e=>p(e)||T(e))}(e);if(p(t))return;S("before:highlightBlock",{block:e,language:t}),f.useBR?(n=document.createElement("div")).innerHTML=e.innerHTML.replace(/\n/g,"").replace(/
-
+
- Blocks +
- Python +
+
+
+
+
+
+
+
+
+
+
+
diff --git a/clover_blocks/www/main.css b/clover_blocks/www/main.css
new file mode 100644
index 000000000..c97f1b062
--- /dev/null
+++ b/clover_blocks/www/main.css
@@ -0,0 +1,136 @@
+body, html {
+ width: 100%;
+ height: 100%;
+}
+
+body {
+ padding: 0;
+ margin: 0;
+ display: grid;
+ grid-template-areas:
+ "tabs tools"
+ "content content";
+ grid-template-rows: min-content 1fr;
+ grid-template-columns: 1fr min-content ;
+ font-family: sans-serif;
+ font-size: 16px;
+}
+
+#tools, #tabs {
+ background: #dddddd;
+ border-bottom: 2px rgb(192, 192, 192) solid;
+ white-space: nowrap;
+}
+
+#tools {
+ grid-area: tools;
+ white-space: nowrap;
+ padding: 10px;
+ display: flex;
+ align-items: center;
+}
+
+#program-name {
+ width: 150px;
+ border: none;
+ font-size: 14px;
+ padding: 5px;
+ outline: none;
+ background: transparent;
+ text-overflow: ellipsis;
+}
+
+#program-name:focus {
+ background: white;
+}
+
+.changed #program-name {
+ color: red;
+}
+
+.disconnected {
+ color: red;
+ margin-right: 20px;
+}
+
+.connected .disconnected { display: none; }
+
+.backend-fail {
+ margin-right: 20px;
+ display: none;
+}
+
+@keyframes blink {
+ 0% { opacity: 1; }
+ 50% { opacity: 0.5; }
+ 100% { opacity: 1; }
+}
+
+#running {
+ color: green;
+ margin-right: 20px;
+ animation: 1s blink linear infinite;
+ display: none;
+}
+
+.running #running { display: block; }
+
+#tools button {
+ font-size: 20px;
+ margin-left: 10px;
+}
+
+#tabs {
+ grid-area: tabs;
+ list-style: none;
+ margin: 0;
+ padding: 10px;
+}
+
+#tabs li {
+ font-size: 18px;
+ display: inline-block;
+ padding: 5px 10px;
+ cursor: pointer;
+}
+
+#tabs li.selected {
+ background: white;
+}
+
+#run {
+ width: 70px;
+}
+
+#notifications {
+ position: absolute;
+ right: 10px;
+ background: rgba(0, 0, 0, 0.7);
+ color: white;
+ max-width: 350px;
+ top: 53px;
+ /* border: white solid 3px; */
+ z-index: 1;
+ padding: 10px;
+ font-family: monospace;
+ font-size: 16px;
+ white-space: pre;
+ max-height: 400px;
+ overflow: scroll;
+}
+
+#notifications:empty { display: none; }
+
+.content {
+ display: none !important;
+ grid-area: content;
+}
+
+body[data-tab="blocks"] #blockly { display: block !important; }
+body[data-tab="python"] #python { display: block !important; }
+
+#python {
+ margin: 0px;
+ padding: 10px;
+ z-index: 999999; /* overlap some Blockly's popups */
+}
diff --git a/clover_blocks/www/main.js b/clover_blocks/www/main.js
new file mode 100644
index 000000000..46b610325
--- /dev/null
+++ b/clover_blocks/www/main.js
@@ -0,0 +1,313 @@
+import * as ros from './ros.js';
+import './blocks.js';
+import {generateCode, generateUserCode} from './python.js';
+
+// Tabs
+document.getElementById('tabs').addEventListener('click', function(e) {
+ var tab = e.target.getAttribute('data-tab');
+ if (tab) {
+ for (let elem of e.target.parentElement.querySelectorAll('[data-tab]')) {
+ elem.classList.remove('selected');
+ }
+ e.target.classList.add('selected');
+ document.body.setAttribute('data-tab', tab);
+ }
+});
+
+var workspace = Blockly.inject('blockly', {
+ toolbox: document.getElementById('toolbox'),
+ grid: {
+ spacing: 25,
+ length: 3,
+ colour: '#ccc',
+ snap: true
+ },
+ zoom: { controls: true, wheel: true },
+ media: 'blockly/media/',
+});
+
+function readParams() {
+ return Promise.all([
+ ros.readParam('navigate_tolerance', true, 0.2),
+ ros.readParam('sleep_time', true, 0.2)
+ ]);
+}
+
+var ready = readParams(); // initialization complete promise
+
+var pythonArea = document.getElementById('python');
+
+// update Python code
+workspace.addChangeListener(function(e) {
+ ready.then(function() {
+ pythonArea.innerHTML = generateUserCode(workspace);
+ hljs.highlightBlock(pythonArea);
+ });
+});
+
+var running = false;
+var runRequest = false;
+
+new ROSLIB.Topic({ ros: ros.ros, name: ros.priv + 'block', messageType: 'std_msgs/String' }).subscribe(function(msg) {
+ workspace.highlightBlock(msg.data);
+ runRequest = false;
+ update();
+});
+
+new ROSLIB.Topic({ ros: ros.ros, name: ros.priv + 'running' }).subscribe(function(msg) {
+ running = msg.data;
+ runRequest = false;
+ if (!running) {
+ workspace.highlightBlock('');
+ }
+ update();
+});
+
+var notifElem = document.getElementById('notifications');
+
+function z(n) { return (n < 10 ? '0' : '') + n; } // add leading zero
+
+new ROSLIB.Topic({ ros: ros.ros, name: ros.priv + 'print', messageType: 'std_msgs/String'}).subscribe(function(msg) {
+ var d = new Date(); // TODO: use rosgraph_msgs/Log?
+ var timestamp = `${z(d.getHours())}:${z(d.getMinutes())}:${z(d.getSeconds())}`;
+ notifElem.innerHTML += `${timestamp}: ${msg.data}\n`;
+ notifElem.scrollTop = notifElem.scrollHeight;
+});
+
+new ROSLIB.Topic({ ros: ros.ros, name: ros.priv + 'error', messageType: 'std_msgs/String'}).subscribe(function(msg) {
+ alert('Error: ' + msg.data);
+});
+
+var runButton = document.getElementById('run');
+
+function update() {
+ document.body.classList.toggle('running', running);
+ runButton.disabled = !ros.ros.isConnected || runRequest || running;
+}
+
+var shownPrompts = new Set();
+
+new ROSLIB.Topic({ ros: ros.ros, name: ros.priv + 'prompt', messageType: 'clover_blocks/Prompt'}).subscribe(function(msg) {
+ if (shownPrompts.has(msg.id)) return;
+ shownPrompts.add(msg.id);
+
+ var response = prompt(msg.message);
+ new ROSLIB.Topic({
+ ros: ros.ros,
+ name: ros.priv + 'input/' + msg.id,
+ messageType: 'std_msgs/String',
+ latch: true
+ }).publish(new ROSLIB.Message({ data: response }));
+});
+
+window.stopProgram = function() {
+ ros.stopService.callService(new ROSLIB.ServiceRequest(), function(res) {
+ if (!res.success) alert(res.message);
+ }, err => alert(err))
+}
+
+ros.ros.on('connection', update);
+
+ros.ros.on('close', update);
+
+ready.then(() => runButton.disabled = false);
+
+window.runProgram = function() {
+ if (!confirm('Run program?')) return;
+
+ runRequest = true;
+ update();
+ var code = generateCode(workspace);
+ console.log(code);
+ ros.runService.callService(new ROSLIB.ServiceRequest({ code: code } ), function(res) {
+ if (!res.success) {
+ runRequest = false;
+ update();
+ alert(res.message);
+ }
+ }, function(err) {
+ runRequest = false;
+ update();
+ alert(err);
+ })
+}
+
+window.land = function() {
+ window.stopProgram();
+ ros.landService.callService(new ROSLIB.ServiceRequest(), function(result) {
+ }, function(err) {
+ alert('Unable to land: ' + err);
+ });
+}
+
+function getProgramXml() {
+ var xmlDom = Blockly.Xml.workspaceToDom(workspace);
+ return Blockly.Xml.domToPrettyText(xmlDom);
+}
+
+function setProgramXml(xml) {
+ workspace.clear();
+ if (xml) {
+ let xmlDom = Blockly.Xml.textToDom(xml);
+ Blockly.Xml.domToWorkspace(xmlDom, workspace);
+ }
+}
+
+workspace.addChangeListener(function(e) {
+ localStorage.setItem('xml', getProgramXml());
+});
+
+var programSelect = document.querySelector('#program-name');
+var userPrograms = programSelect.querySelector('optgroup[data-type=user]');
+var examplePrograms = programSelect.querySelector('optgroup[data-type=example]');
+
+var programs = {};
+var program = '';
+
+function loadWorkspace() {
+ var xml = localStorage.getItem('xml');
+ if (xml) {
+ setProgramXml(xml);
+ }
+ program = localStorage.getItem('program') || '';
+}
+
+loadWorkspace();
+
+function loadPrograms() {
+ ros.loadService.callService(new ROSLIB.ServiceRequest(), function(res) {
+ if (!res.success) alert(res.message);
+
+ for (let i = 0; i < res.names.length; i++) {
+ let name = res.names[i];
+ let program = res.programs[i];
+ let option = document.createElement('option');
+ option.innerHTML = res.names[i];
+ if (name.startsWith('examples/')) {
+ examplePrograms.appendChild(option);
+ } else {
+ userPrograms.appendChild(option);
+ }
+
+ programs[name] = program;
+ }
+
+ if (program) {
+ programSelect.value = program;
+ }
+ updateChanged();
+ }, function(err) {
+ document.querySelector('.backend-fail').style.display = 'inline';
+ alert(`Error loading programs list.\n\nHave you enabled clover_blocks in clover.launch?`);
+ runButton.disabled = true;
+ })
+}
+
+loadPrograms();
+
+function getProgramName() {
+ if (programSelect.value.startsWith('@')) {
+ return ''
+ }
+ return programSelect.value;
+}
+
+function updateChanged() {
+ var name = program;
+ document.body.classList.toggle('changed', name in programs && (programs[name].trim() != getProgramXml().trim()));
+}
+
+workspace.addChangeListener(function(e) {
+ if (e instanceof Blockly.Events.Change || e instanceof Blockly.Events.Create || e instanceof Blockly.Events.Delete) {
+ updateChanged();
+ }
+});
+
+function saveProgram() {
+ var name = getProgramName();
+
+ if (!name) {
+ name = prompt('Enter new program name:');
+ if (!name) {
+ programSelect.value = program;
+ return;
+ }
+ if (!name.endsWith('.xml')) {
+ name += '.xml';
+ }
+ let option = document.createElement('option');
+ option.innerHTML = name;
+ userPrograms.appendChild(option);
+ }
+
+ let xml = getProgramXml();
+ ros.storeService.callService(new ROSLIB.ServiceRequest({
+ name: name,
+ program: xml
+ }), function(result) {
+ if (!result.success) {
+ alert(result.message);
+ return;
+ }
+ console.log(result.message);
+ programSelect.blur();
+ program = name;
+ localStorage.setItem('program', name);
+ programs[name] = xml;
+ programSelect.value = program;
+ updateChanged();
+ }, function(err) {
+ // TODO: restore previous state correctly
+ alert('Unable to store: ' + err);
+ programSelect.blur();
+ programSelect.value = program;
+ });
+}
+
+window.addEventListener('keydown', function(e) {
+ if ((e.metaKey || e.ctrlKey) && e.key == 's') { // ctrl+s/cmd+s
+ e.preventDefault();
+ if (!document.body.classList.contains('changed')) { // if not changed, ignore
+ return;
+ }
+ saveProgram();
+ }
+});
+
+programSelect.addEventListener('change', function(e) {
+ if (programSelect.value == '@clear') {
+ if (!confirm('Clear workspace?')) {
+ programSelect.value = program;
+ return;
+ }
+ localStorage.removeItem('program');
+ program = '';
+ setProgramXml('');
+ programSelect.value = program;
+ programSelect.blur();
+ } else if (programSelect.value == '@save') {
+ saveProgram();
+ } else {
+ // load program
+ if (program == '' || document.body.classList.contains('changed')) {
+ if (!confirm('Discard changes?')) {
+ programSelect.value = program;
+ return;
+ }
+ }
+ let name = programSelect.value;
+ let lastProgram = getProgramXml();
+ programSelect.blur();
+ try {
+ setProgramXml(programs[name]);
+ program = name;
+ localStorage.setItem('program', name);
+ } catch(e) {
+ alert(e);
+ setProgramXml(lastProgram);
+ program = ''
+ programSelect.value = program;
+ }
+ updateChanged();
+ }
+});
diff --git a/clover_blocks/www/python.js b/clover_blocks/www/python.js
new file mode 100644
index 000000000..16b249e4e
--- /dev/null
+++ b/clover_blocks/www/python.js
@@ -0,0 +1,434 @@
+import {params} from './ros.js';
+
+// If any new block imports any library, add that library name here.
+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('SetLEDs,LEDState,set_leds');
+
+// TODO: parametrize
+const navigate_tolerance = 0.2;
+const sleep_time = 0.2;
+
+const IMPORT_SRV = `from clover import srv
+from std_srvs.srv import Trigger`;
+
+// TODO: tolerance to parameters
+const NAVIGATE_WAIT = () => `\ndef navigate_wait(x=0, y=0, z=0, speed=0.5, frame_id='body', auto_arm=False):
+ res = navigate(x=x, y=y, z=z, yaw=float('nan'), speed=speed, frame_id=frame_id, auto_arm=auto_arm)
+
+ if not res.success:
+ raise Exception(res.message)
+
+ while not rospy.is_shutdown():
+ telem = get_telemetry(frame_id='navigate_target')
+ if math.sqrt(telem.x ** 2 + telem.y ** 2 + telem.z ** 2) < ${params.navigate_tolerance}:
+ return
+ rospy.sleep(${params.sleep_time})\n`;
+
+const LAND_WAIT = () => `\ndef land_wait():
+ land()
+ while get_telemetry().armed:
+ rospy.sleep(${params.sleep_time})\n`;
+
+// TODO: tolerance to parameters
+const WAIT_YAW = () => `\ndef wait_yaw():
+ while not rospy.is_shutdown():
+ telem = get_telemetry(frame_id='navigate_target')
+ if abs(telem.yaw) < math.radians(20):
+ return
+ rospy.sleep(${params.sleep_time})\n`;
+
+// TODO: tolerance to parameters
+const WAIT_ARRIVAL = () => `\ndef wait_arrival():
+ while not rospy.is_shutdown():
+ telem = get_telemetry(frame_id='navigate_target')
+ if math.sqrt(telem.x ** 2 + telem.y ** 2 + telem.z ** 2) < ${params.navigate_tolerance}:
+ return
+ rospy.sleep(${params.sleep_time})\n`;
+
+// TODO: tolerance to parameters
+const ARRIVED = () => `\ndef arrived():
+ telem = get_telemetry(frame_id='navigate_target')
+ return math.sqrt(telem.x ** 2 + telem.y ** 2 + telem.z ** 2) < ${params.navigate_tolerance}\n`
+
+const GET_DISTANCE = `\ndef get_distance(x, y, z, frame_id):
+ telem = get_telemetry(frame_id)
+ return math.sqrt((x - telem.x) ** 2 + (y - telem.y) ** 2 + (z - telem.z) ** 2)\n`;
+
+var rosDefinitions = {};
+
+function generateROSDefinitions() {
+ // order for ROS definitions is significant, so generate all ROS definitions as one
+ var code = `rospy.init_node('flight')\n\n`;
+ if (rosDefinitions.offboard) {
+ code += `get_telemetry = rospy.ServiceProxy('get_telemetry', srv.GetTelemetry)\n`;
+ code += `navigate = rospy.ServiceProxy('navigate', srv.Navigate)\n`;
+ if (rosDefinitions.setVelocity) {
+ code += `set_velocity = rospy.ServiceProxy('set_velocity', srv.SetVelocity)\n`;
+ }
+ if (rosDefinitions.setAttitude) {
+ code += `set_attitude = rospy.ServiceProxy('set_attitude', srv.SetAttitude)\n`;
+ }
+ if (rosDefinitions.setRates) {
+ code += `set_rates = rospy.ServiceProxy('set_rates', srv.SetRates)\n`;
+ }
+ code += `land = rospy.ServiceProxy('land', Trigger)\n`;
+ }
+ if (rosDefinitions.setEffect) {
+ Blockly.Python.definitions_['import_led_effect'] = 'from clover.srv import SetLEDEffect';
+ code += `set_effect = rospy.ServiceProxy('led/set_effect', SetLEDEffect, persistent=True)\n`;
+ }
+ if (rosDefinitions.setLeds) {
+ 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.navigateWait) {
+ Blockly.Python.definitions_['import_math'] = 'import math';
+ code += NAVIGATE_WAIT();
+ }
+ if (rosDefinitions.landWait) {
+ code += LAND_WAIT();
+ }
+ if (rosDefinitions.waitArrival) {
+ Blockly.Python.definitions_['import_math'] = 'import math';
+ code += WAIT_ARRIVAL();
+ }
+ if (rosDefinitions.arrived) {
+ Blockly.Python.definitions_['import_math'] = 'import math';
+ code += ARRIVED();
+ }
+ if (rosDefinitions.waitYaw) {
+ Blockly.Python.definitions_['import_math'] = 'import math';
+ code += WAIT_YAW();
+ }
+ if (rosDefinitions.distance) {
+ Blockly.Python.definitions_['import_math'] = 'import math';
+ code += GET_DISTANCE;
+ }
+ Blockly.Python.definitions_['ros'] = code;
+}
+
+function initNode() {
+ Blockly.Python.definitions_['import_rospy'] = 'import rospy';
+ generateROSDefinitions();
+}
+
+function simpleOffboard() {
+ rosDefinitions.offboard = true;
+ Blockly.Python.definitions_['import_srv'] = IMPORT_SRV;
+ initNode();
+}
+
+// Adjust indentation
+Blockly.Python.INDENT = ' ';
+
+export function generateUserCode(workspace) {
+ rosDefinitions = {};
+ Blockly.Python.STATEMENT_PREFIX = null;
+ return Blockly.Python.workspaceToCode(workspace);
+}
+
+export function generateCode(workspace) {
+ rosDefinitions = {};
+ Blockly.Python.STATEMENT_PREFIX = '_b(%1)\n';
+ var code = Blockly.Python.workspaceToCode(workspace);
+ return code;
+}
+
+function buildFrameId(block) {
+ let frame = block.getFieldValue('FRAME_ID').toLowerCase();
+ let id = Blockly.Python.valueToCode(block, 'ID', Blockly.Python.ORDER_NONE);
+ if (frame == 'aruco') { // aruco marker frame
+ if (id.match(/^[0-9]+$/)) { // id is positive integer
+ return `'${frame}_${id}'`;
+ } else { // something else...
+ return `'${frame}_' + str(int(${id}))`;
+ }
+ } else {
+ return `'${frame}'`;
+ }
+}
+
+Blockly.Python.navigate = function(block) {
+ let x = Blockly.Python.valueToCode(block, 'X', Blockly.Python.ORDER_NONE);
+ let y = Blockly.Python.valueToCode(block, 'Y', Blockly.Python.ORDER_NONE);
+ let z = Blockly.Python.valueToCode(block, 'Z', Blockly.Python.ORDER_NONE);
+ let frameId = buildFrameId(block);
+ let speed = Blockly.Python.valueToCode(block, 'SPEED', Blockly.Python.ORDER_NONE);
+
+ let params = [`x=${x}`, `y=${y}`, `z=${z}`, `frame_id=${frameId}`, `speed=${speed}`];
+
+ simpleOffboard();
+
+ if (block.getFieldValue('WAIT') == 'TRUE') {
+ rosDefinitions.navigateWait = true;
+ simpleOffboard();
+
+ return `navigate_wait(${params.join(', ')})\n`;
+
+ } else {
+ if (frameId != 'body') {
+ params.push(`yaw=float('nan')`);
+ }
+ return `navigate(${params.join(', ')})\n`;
+ }
+}
+
+Blockly.Python.set_velocity = function(block) {
+ let x = Blockly.Python.valueToCode(block, 'X', Blockly.Python.ORDER_NONE);
+ let y = Blockly.Python.valueToCode(block, 'Y', Blockly.Python.ORDER_NONE);
+ let z = Blockly.Python.valueToCode(block, 'Z', Blockly.Python.ORDER_NONE);
+ let frameId = buildFrameId(block);
+
+ simpleOffboard();
+
+ if (frameId == `'body'`) {
+ return `set_velocity(vx=${x}, vy=${y}, vz=${z}, frame_id=${frameId})\n`;
+ } else {
+ return `set_velocity(vx=${x}, vy=${y}, vz=${z}, yaw=float('nan'), frame_id=${frameId})\n`;
+ }
+}
+
+Blockly.Python.take_off = function(block) {
+ simpleOffboard();
+
+ let z = Blockly.Python.valueToCode(block, 'ALT', Blockly.Python.ORDER_NONE);
+
+ if (block.getFieldValue('WAIT') == 'TRUE') {
+ rosDefinitions.navigateWait = true;
+ simpleOffboard();
+
+ return `navigate_wait(z=${z}, frame_id='body', auto_arm=True)\n`;
+ } else {
+ return `navigate(z=${z}, frame_id='body', auto_arm=True)\n`;
+ }
+}
+
+Blockly.Python.land = function(block) {
+ simpleOffboard();
+
+ if (block.getFieldValue('WAIT') == 'TRUE') {
+ rosDefinitions.landWait = true;
+ simpleOffboard();
+
+ return `land_wait()\n`;
+ } else {
+ return 'land()\n';
+ }
+}
+
+Blockly.Python.angle = function(block) {
+ // return [block.getFieldValue('ANGLE'), Blockly.Python.ORDER_UNARY_SIGN];
+ Blockly.Python.definitions_['import_math'] = 'import math';
+ return [`math.radians(${block.getFieldValue('ANGLE')})`, Blockly.Python.ORDER_FUNCTION_CALL];
+
+}
+
+Blockly.Python.set_yaw = function(block) {
+ simpleOffboard();
+ let yaw = Blockly.Python.valueToCode(block, 'YAW', Blockly.Python.ORDER_NONE);
+ let frameId = buildFrameId(block);
+ let code = `navigate(x=float('nan'), y=float('nan'), z=float('nan'), yaw=${yaw}, frame_id=${frameId})\n`;
+ if (block.getFieldValue('WAIT') == 'TRUE') {
+ rosDefinitions.waitYaw = true;
+ simpleOffboard();
+ code += 'wait_yaw()\n';
+ }
+ return code;
+}
+
+Blockly.Python.wait_arrival = function(block) {
+ rosDefinitions.waitArrival = true;
+ simpleOffboard();
+ return 'wait_arrival()\n';
+}
+
+Blockly.Python.get_time = function(block) {
+ initNode();
+ return ['rospy.get_time()', Blockly.Python.ORDER_FUNCTION_CALL];
+}
+
+Blockly.Python.arrived = function(block) {
+ rosDefinitions.arrived = true;
+ simpleOffboard();
+ return ['arrived()', Blockly.Python.ORDER_FUNCTION_CALL];
+}
+
+Blockly.Python.wait = function(block) {
+ initNode();
+ return `rospy.sleep(${Blockly.Python.valueToCode(block, 'TIME', Blockly.Python.ORDER_NONE)})\n`;
+}
+
+Blockly.Python.setpoint = function(block) {
+ var type = block.getFieldValue('TYPE');
+ let frameId = buildFrameId(block);
+ let vx = Blockly.Python.valueToCode(block, 'VX', Blockly.Python.ORDER_NONE);
+ let vy = Blockly.Python.valueToCode(block, 'VY', Blockly.Python.ORDER_NONE);
+ let vz = Blockly.Python.valueToCode(block, 'VZ', Blockly.Python.ORDER_NONE);
+ let yaw = Blockly.Python.valueToCode(block, 'YAW', Blockly.Python.ORDER_NONE);
+ let pitch = Blockly.Python.valueToCode(block, 'PITCH', Blockly.Python.ORDER_NONE);
+ let roll = Blockly.Python.valueToCode(block, 'ROLL', Blockly.Python.ORDER_NONE);
+ let thrust = Blockly.Python.valueToCode(block, 'THRUST', Blockly.Python.ORDER_NONE);
+
+ if (type == 'VELOCITY') {
+ rosDefinitions.setVelocity = true;
+ simpleOffboard();
+ return `set_velocity(vx=${vx}, vy=${vy}, vz=${vz}, frame_id=${frameId}, yaw=float('nan'))\n`;
+ } else if (type == 'ATTITUDE') {
+ rosDefinitions.setAttitude = true;
+ simpleOffboard();
+ return `set_attitude(pitch=${pitch}, roll=${roll}, yaw=${yaw}, thrust=${thrust}, frame_id=${frameId})\n`;
+ } else if (type == 'RATES') {
+ rosDefinitions.setRates = true;
+ simpleOffboard();
+ return `set_rates(pitch_rate=${pitch}, roll_rate=${roll}, yaw_rate=${yaw}, thrust=${thrust})\n`;
+ }
+}
+
+Blockly.Python.get_position = function(block) {
+ simpleOffboard();
+ let frameId = buildFrameId(block);
+ var code = `get_telemetry(${frameId}).${block.getFieldValue('FIELD').toLowerCase()}`;
+ return [code, Blockly.Python.ORDER_FUNCTION_CALL];
+}
+
+Blockly.Python.get_yaw = function(block) {
+ simpleOffboard();
+ Blockly.Python.definitions_['import_math'] = 'import math';
+ let frameId = buildFrameId(block);
+ var code = `math.degrees(get_telemetry(${frameId}).yaw)`;
+ return [code, Blockly.Python.ORDER_FUNCTION_CALL];
+}
+
+Blockly.Python.get_attitude = function(block) {
+ simpleOffboard();
+ Blockly.Python.definitions_['import_math'] = 'import math';
+ var code = `math.degrees(get_telemetry().${block.getFieldValue('FIELD').toLowerCase()})`;
+ return [code, Blockly.Python.ORDER_FUNCTION_CALL];
+}
+
+Blockly.Python.distance = function(block) {
+ rosDefinitions.distance = true;
+ simpleOffboard();
+
+ let x = Blockly.Python.valueToCode(block, 'X', Blockly.Python.ORDER_NONE);
+ let y = Blockly.Python.valueToCode(block, 'Y', Blockly.Python.ORDER_NONE);
+ let z = Blockly.Python.valueToCode(block, 'Z', Blockly.Python.ORDER_NONE);
+ let frameId = buildFrameId(block);
+
+ return [`get_distance(${x}, ${y}, ${z}, ${frameId})`, Blockly.Python.ORDER_FUNCTION_CALL]
+}
+
+Blockly.Python.rangefinder_distance = function(block) {
+ initNode();
+ Blockly.Python.definitions_['import_range'] = 'from sensor_msgs.msg import Range';
+ return [`rospy.wait_for_message('rangefinder/range', Range).range`, Blockly.Python.ORDER_FUNCTION_CALL]
+}
+
+Blockly.Python.mode = function(block) {
+ simpleOffboard();
+ return [`get_telemetry().mode`, Blockly.Python.ORDER_FUNCTION_CALL]
+}
+
+Blockly.Python.armed = function(block) {
+ simpleOffboard();
+ return [`get_telemetry().armed`, Blockly.Python.ORDER_FUNCTION_CALL]
+}
+
+Blockly.Python.voltage = function(block) {
+ simpleOffboard();
+ var code = `get_telemetry().${block.getFieldValue('TYPE').toLowerCase()}`;
+ return [code, Blockly.Python.ORDER_FUNCTION_CALL];
+}
+
+function parseColor(color) {
+ return {
+ r: parseInt(color.substr(2, 2), 16),
+ g: parseInt(color.substr(4, 2), 16),
+ b: parseInt(color.substr(6, 2), 16)
+ }
+}
+
+const PARSE_COLOR = `def ${Blockly.Python.FUNCTION_NAME_PLACEHOLDER_}(color):
+ return {'r': int(color[1:3], 16), 'g': int(color[3:5], 16), 'b': int(color[5:7], 16)}`;
+
+// TODO: weird code with colour_rgb block
+Blockly.Python.set_effect = function(block) {
+ rosDefinitions.setEffect = true;
+ initNode();
+
+ var effect = block.getFieldValue('EFFECT').toLowerCase();
+
+ if (effect == 'rainbow' || effect == 'rainbow_fill') {
+ return `set_effect(effect='${effect}')\n`;
+ } else {
+ let colorCode = Blockly.Python.valueToCode(block, 'COLOR', Blockly.Python.ORDER_NONE);
+
+ if (/^'(.*)'$/.test(colorCode)) { // is simple string
+ let color = parseColor(colorCode);
+ return `set_effect(effect='${effect}', r=${color.r}, g=${color.g}, b=${color.b})\n`;
+ } else {
+ let parseColor = Blockly.Python.provideFunction_('parse_color', [PARSE_COLOR]);
+ return `set_effect(effect='${effect}', **${parseColor}(${colorCode}))\n`;
+ }
+ }
+}
+
+Blockly.Python.set_led = function(block) {
+ rosDefinitions.setLeds = true;
+ initNode();
+
+ var index = Blockly.Python.valueToCode(block, 'INDEX', Blockly.Python.ORDER_NONE);
+ var colorCode = Blockly.Python.valueToCode(block, 'COLOR', Blockly.Python.ORDER_NONE);
+
+ if (/^'(.*)'$/.test(colorCode)) { // is simple string
+ let color = parseColor(colorCode);
+ return `set_leds([LEDState(index=${index}, r=${color.r}, g=${color.g}, b=${color.b})])\n`;
+ } else {
+ let parseColor = Blockly.Python.provideFunction_('parse_color', [PARSE_COLOR]);
+ return `set_leds([LEDState(index=${index}, **${parseColor}(${colorCode})])\n`;
+ }
+}
+
+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`;
+
+const GPIO_WRITE = `\ndef gpio_write(pin, level):
+ 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`;
+
+Blockly.Python.gpio_read = function(block) {
+ pigpio();
+ Blockly.Python.definitions_['gpio_read'] = GPIO_READ;
+ var pin = Blockly.Python.valueToCode(block, 'PIN', Blockly.Python.ORDER_NONE);
+ return [`gpio_read(${pin})`, Blockly.Python.ORDER_FUNCTION_CALL];
+}
+
+Blockly.Python.gpio_write = function(block) {
+ pigpio();
+ Blockly.Python.definitions_['gpio_write'] = GPIO_WRITE;
+ var pin = Blockly.Python.valueToCode(block, 'PIN', Blockly.Python.ORDER_NONE);
+ var level = Blockly.Python.valueToCode(block, 'LEVEL', Blockly.Python.ORDER_NONE);
+ return `gpio_write(${pin}, ${level})\n`;
+}
+
+Blockly.Python.set_servo = function(block) {
+ pigpio();
+ Blockly.Python.definitions_['set_servo'] = SET_SERVO;
+ var pin = Blockly.Python.valueToCode(block, 'PIN', Blockly.Python.ORDER_NONE);
+ var pwm = Blockly.Python.valueToCode(block, 'PWM', Blockly.Python.ORDER_NONE);
+ return `set_servo(${pin}, ${pwm})\n`;
+}
diff --git a/clover_blocks/www/ros.js b/clover_blocks/www/ros.js
new file mode 100644
index 000000000..313109f20
--- /dev/null
+++ b/clover_blocks/www/ros.js
@@ -0,0 +1,59 @@
+var url = 'ws://' + location.hostname + ':9090';
+export var ros = new ROSLIB.Ros({ url });
+
+ros.on('connection', function () {
+ console.log('connection')
+ document.body.classList.add('connected');
+});
+
+ros.on('close', function () {
+ console.log('close')
+ document.body.classList.remove('connected');
+ setTimeout(function() {
+ ros.connect(url);
+ }, 2000);
+});
+
+ros.on('error', function(err) {
+});
+
+export const namespace = '/';
+export const priv = namespace + 'clover_blocks/';
+
+export var params = {}; // parameters storage
+
+export function readParam(name, fromUrl, _default) {
+ return new Promise(function(resolve, reject) {
+ if (params[name] !== undefined) {
+ resolve();
+ return;
+ }
+ // read from url
+ if (fromUrl && ((params[name] = new URL(window.location.href).searchParams.get(name)) !== null)) {
+ resolve();
+ return;
+ }
+ // read from ROS params
+ new ROSLIB.Param({ ros: ros, name: priv + name }).get(function(val) {
+ if (val === null) {
+ if (_default === undefined) {
+ alert('Cannot read required parameter ' + name);
+ reject();
+ } else {
+ params[name] = _default;
+ resolve();
+ }
+ return;
+ }
+ params[name] = val;
+ resolve();
+ })
+ });
+}
+
+
+export var runService = new ROSLIB.Service({ ros: ros, name: priv + 'run', serviceType: 'clover_blocks/Run' });
+export var stopService = new ROSLIB.Service({ ros: ros, name: priv + 'stop', serviceType: 'std_srvs/Trigger' });
+export var loadService = new ROSLIB.Service({ ros: ros, name : priv + 'load', serviceType : 'clover_blocks/Load' });
+export var storeService = new ROSLIB.Service({ ros: ros, name : priv + 'store', serviceType : 'clover_blocks/Store' });
+export var landService = new ROSLIB.Service({ ros: ros, name : namespace + 'land', serviceType : 'std_srvs/Trigger' });
diff --git a/clover_blocks/www/roslib.js b/clover_blocks/www/roslib.js
new file mode 100644
index 000000000..c8628ede7
--- /dev/null
+++ b/clover_blocks/www/roslib.js
@@ -0,0 +1,4560 @@
+(function(){function r(e,n,t){function o(i,f){if(!n[i]){if(!e[i]){var c="function"==typeof require&&require;if(!f&&c)return c(i,!0);if(u)return u(i,!0);var a=new Error("Cannot find module '"+i+"'");throw a.code="MODULE_NOT_FOUND",a}var p=n[i]={exports:{}};e[i][0].call(p.exports,function(r){var n=e[i][1][r];return o(n||r)},p,p.exports,r,e,n,t)}return n[i].exports}for(var u="function"==typeof require&&require,i=0;iDisconnected
+ Failed to contact with
+ clover_blocks node, see configuration documentation.Running...
+
+
+
+
+ + * * url (optional) - (can be specified later with `connect`) the WebSocket URL for rosbridge or the node server url to connect using socket.io (if socket.io exists in the page)
+ * * groovyCompatibility - don't use interfaces that changed after the last groovy release or rosbridge_suite and related tools (defaults to true) + * * transportLibrary (optional) - one of 'websocket' (default), 'socket.io' or RTCPeerConnection instance controlling how the connection is created in `connect`. + * * transportOptions (optional) - the options to use use when creating a connection. Currently only used if `transportLibrary` is RTCPeerConnection. + */ +function Ros(options) { + options = options || {}; + this.socket = null; + this.idCounter = 0; + this.isConnected = false; + this.transportLibrary = options.transportLibrary || 'websocket'; + this.transportOptions = options.transportOptions || {}; + + if (typeof options.groovyCompatibility === 'undefined') { + this.groovyCompatibility = true; + } + else { + this.groovyCompatibility = options.groovyCompatibility; + } + + // Sets unlimited event listeners. + this.setMaxListeners(0); + + // begin by checking if a URL was given + if (options.url) { + this.connect(options.url); + } +} + +Ros.prototype.__proto__ = EventEmitter2.prototype; + +/** + * Connect to the specified WebSocket. + * + * @param url - WebSocket URL or RTCDataChannel label for Rosbridge + */ +Ros.prototype.connect = function(url) { + if (this.transportLibrary === 'socket.io') { + this.socket = assign(io(url, {'force new connection': true}), socketAdapter(this)); + this.socket.on('connect', this.socket.onopen); + this.socket.on('data', this.socket.onmessage); + this.socket.on('close', this.socket.onclose); + this.socket.on('error', this.socket.onerror); + } else if (this.transportLibrary.constructor.name === 'RTCPeerConnection') { + this.socket = assign(this.transportLibrary.createDataChannel(url, this.transportOptions), socketAdapter(this)); + } else { + if (!this.socket || this.socket.readyState === WebSocket.CLOSED) { + var sock = new WebSocket(url); + sock.binaryType = 'arraybuffer'; + this.socket = assign(sock, socketAdapter(this)); + } + } + +}; + +/** + * Disconnect from the WebSocket server. + */ +Ros.prototype.close = function() { + if (this.socket) { + this.socket.close(); + } +}; + +/** + * Sends an authorization request to the server. + * + * @param mac - MAC (hash) string given by the trusted source. + * @param client - IP of the client. + * @param dest - IP of the destination. + * @param rand - Random string given by the trusted source. + * @param t - Time of the authorization request. + * @param level - User level as a string given by the client. + * @param end - End time of the client's session. + */ +Ros.prototype.authenticate = function(mac, client, dest, rand, t, level, end) { + // create the request + var auth = { + op : 'auth', + mac : mac, + client : client, + dest : dest, + rand : rand, + t : t, + level : level, + end : end + }; + // send the request + this.callOnConnection(auth); +}; + +/** + * Sends the message over the WebSocket, but queues the message up if not yet + * connected. + */ +Ros.prototype.callOnConnection = function(message) { + var that = this; + var messageJson = JSON.stringify(message); + var emitter = null; + if (this.transportLibrary === 'socket.io') { + emitter = function(msg){that.socket.emit('operation', msg);}; + } else { + emitter = function(msg){that.socket.send(msg);}; + } + + if (!this.isConnected) { + that.once('connection', function() { + emitter(messageJson); + }); + } else { + emitter(messageJson); + } +}; + +/** + * Sends a set_level request to the server + * + * @param level - Status level (none, error, warning, info) + * @param id - Optional: Operation ID to change status level on + */ +Ros.prototype.setStatusLevel = function(level, id){ + var levelMsg = { + op: 'set_level', + level: level, + id: id + }; + + this.callOnConnection(levelMsg); +}; + +/** + * Retrieves Action Servers in ROS as an array of string + * + * * actionservers - Array of action server names + */ +Ros.prototype.getActionServers = function(callback, failedCallback) { + var getActionServers = new Service({ + ros : this, + name : '/rosapi/action_servers', + serviceType : 'rosapi/GetActionServers' + }); + + var request = new ServiceRequest({}); + if (typeof failedCallback === 'function'){ + getActionServers.callService(request, + function(result) { + callback(result.action_servers); + }, + function(message){ + failedCallback(message); + } + ); + }else{ + getActionServers.callService(request, function(result) { + callback(result.action_servers); + }); + } +}; + +/** + * Retrieves list of topics in ROS as an array. + * + * @param callback function with params: + * * topics - Array of topic names + */ +Ros.prototype.getTopics = function(callback, failedCallback) { + var topicsClient = new Service({ + ros : this, + name : '/rosapi/topics', + serviceType : 'rosapi/Topics' + }); + + var request = new ServiceRequest(); + if (typeof failedCallback === 'function'){ + topicsClient.callService(request, + function(result) { + callback(result); + }, + function(message){ + failedCallback(message); + } + ); + }else{ + topicsClient.callService(request, function(result) { + callback(result); + }); + } +}; + +/** + * Retrieves Topics in ROS as an array as specific type + * + * @param topicType topic type to find: + * @param callback function with params: + * * topics - Array of topic names + */ +Ros.prototype.getTopicsForType = function(topicType, callback, failedCallback) { + var topicsForTypeClient = new Service({ + ros : this, + name : '/rosapi/topics_for_type', + serviceType : 'rosapi/TopicsForType' + }); + + var request = new ServiceRequest({ + type: topicType + }); + if (typeof failedCallback === 'function'){ + topicsForTypeClient.callService(request, + function(result) { + callback(result.topics); + }, + function(message){ + failedCallback(message); + } + ); + }else{ + topicsForTypeClient.callService(request, function(result) { + callback(result.topics); + }); + } +}; + +/** + * Retrieves list of active service names in ROS. + * + * @param callback - function with the following params: + * * services - array of service names + */ +Ros.prototype.getServices = function(callback, failedCallback) { + var servicesClient = new Service({ + ros : this, + name : '/rosapi/services', + serviceType : 'rosapi/Services' + }); + + var request = new ServiceRequest(); + if (typeof failedCallback === 'function'){ + servicesClient.callService(request, + function(result) { + callback(result.services); + }, + function(message) { + failedCallback(message); + } + ); + }else{ + servicesClient.callService(request, function(result) { + callback(result.services); + }); + } +}; + +/** + * Retrieves list of services in ROS as an array as specific type + * + * @param serviceType service type to find: + * @param callback function with params: + * * topics - Array of service names + */ +Ros.prototype.getServicesForType = function(serviceType, callback, failedCallback) { + var servicesForTypeClient = new Service({ + ros : this, + name : '/rosapi/services_for_type', + serviceType : 'rosapi/ServicesForType' + }); + + var request = new ServiceRequest({ + type: serviceType + }); + if (typeof failedCallback === 'function'){ + servicesForTypeClient.callService(request, + function(result) { + callback(result.services); + }, + function(message) { + failedCallback(message); + } + ); + }else{ + servicesForTypeClient.callService(request, function(result) { + callback(result.services); + }); + } +}; + +/** + * Retrieves a detail of ROS service request. + * + * @param service name of service: + * @param callback - function with params: + * * type - String of the service type + */ +Ros.prototype.getServiceRequestDetails = function(type, callback, failedCallback) { + var serviceTypeClient = new Service({ + ros : this, + name : '/rosapi/service_request_details', + serviceType : 'rosapi/ServiceRequestDetails' + }); + var request = new ServiceRequest({ + type: type + }); + + if (typeof failedCallback === 'function'){ + serviceTypeClient.callService(request, + function(result) { + callback(result); + }, + function(message){ + failedCallback(message); + } + ); + }else{ + serviceTypeClient.callService(request, function(result) { + callback(result); + }); + } +}; + +/** + * Retrieves a detail of ROS service request. + * + * @param service name of service: + * @param callback - function with params: + * * type - String of the service type + */ +Ros.prototype.getServiceResponseDetails = function(type, callback, failedCallback) { + var serviceTypeClient = new Service({ + ros : this, + name : '/rosapi/service_response_details', + serviceType : 'rosapi/ServiceResponseDetails' + }); + var request = new ServiceRequest({ + type: type + }); + + if (typeof failedCallback === 'function'){ + serviceTypeClient.callService(request, + function(result) { + callback(result); + }, + function(message){ + failedCallback(message); + } + ); + }else{ + serviceTypeClient.callService(request, function(result) { + callback(result); + }); + } +}; + +/** + * Retrieves list of active node names in ROS. + * + * @param callback - function with the following params: + * * nodes - array of node names + */ +Ros.prototype.getNodes = function(callback, failedCallback) { + var nodesClient = new Service({ + ros : this, + name : '/rosapi/nodes', + serviceType : 'rosapi/Nodes' + }); + + var request = new ServiceRequest(); + if (typeof failedCallback === 'function'){ + nodesClient.callService(request, + function(result) { + callback(result.nodes); + }, + function(message) { + failedCallback(message); + } + ); + }else{ + nodesClient.callService(request, function(result) { + callback(result.nodes); + }); + } +}; + +/** + * Retrieves list subscribed topics, publishing topics and services of a specific node + * + * @param node name of the node: + * @param callback - function with params: + * * publications - array of published topic names + * * subscriptions - array of subscribed topic names + * * services - array of service names hosted + */ +Ros.prototype.getNodeDetails = function(node, callback, failedCallback) { + var nodesClient = new Service({ + ros : this, + name : '/rosapi/node_details', + serviceType : 'rosapi/NodeDetails' + }); + + var request = new ServiceRequest({ + node: node + }); + if (typeof failedCallback === 'function'){ + nodesClient.callService(request, + function(result) { + callback(result.subscribing, result.publishing, result.services); + }, + function(message) { + failedCallback(message); + } + ); + } else { + nodesClient.callService(request, function(result) { + callback(result); + }); + } +}; + +/** + * Retrieves list of param names from the ROS Parameter Server. + * + * @param callback function with params: + * * params - array of param names. + */ +Ros.prototype.getParams = function(callback, failedCallback) { + var paramsClient = new Service({ + ros : this, + name : '/rosapi/get_param_names', + serviceType : 'rosapi/GetParamNames' + }); + var request = new ServiceRequest(); + if (typeof failedCallback === 'function'){ + paramsClient.callService(request, + function(result) { + callback(result.names); + }, + function(message){ + failedCallback(message); + } + ); + }else{ + paramsClient.callService(request, function(result) { + callback(result.names); + }); + } +}; + +/** + * Retrieves a type of ROS topic. + * + * @param topic name of the topic: + * @param callback - function with params: + * * type - String of the topic type + */ +Ros.prototype.getTopicType = function(topic, callback, failedCallback) { + var topicTypeClient = new Service({ + ros : this, + name : '/rosapi/topic_type', + serviceType : 'rosapi/TopicType' + }); + var request = new ServiceRequest({ + topic: topic + }); + + if (typeof failedCallback === 'function'){ + topicTypeClient.callService(request, + function(result) { + callback(result.type); + }, + function(message){ + failedCallback(message); + } + ); + }else{ + topicTypeClient.callService(request, function(result) { + callback(result.type); + }); + } +}; + +/** + * Retrieves a type of ROS service. + * + * @param service name of service: + * @param callback - function with params: + * * type - String of the service type + */ +Ros.prototype.getServiceType = function(service, callback, failedCallback) { + var serviceTypeClient = new Service({ + ros : this, + name : '/rosapi/service_type', + serviceType : 'rosapi/ServiceType' + }); + var request = new ServiceRequest({ + service: service + }); + + if (typeof failedCallback === 'function'){ + serviceTypeClient.callService(request, + function(result) { + callback(result.type); + }, + function(message){ + failedCallback(message); + } + ); + }else{ + serviceTypeClient.callService(request, function(result) { + callback(result.type); + }); + } +}; + +/** + * Retrieves a detail of ROS message. + * + * @param callback - function with params: + * * details - Array of the message detail + * @param message - String of a topic type + */ +Ros.prototype.getMessageDetails = function(message, callback, failedCallback) { + var messageDetailClient = new Service({ + ros : this, + name : '/rosapi/message_details', + serviceType : 'rosapi/MessageDetails' + }); + var request = new ServiceRequest({ + type: message + }); + + if (typeof failedCallback === 'function'){ + messageDetailClient.callService(request, + function(result) { + callback(result.typedefs); + }, + function(message){ + failedCallback(message); + } + ); + }else{ + messageDetailClient.callService(request, function(result) { + callback(result.typedefs); + }); + } +}; + +/** + * Decode a typedefs into a dictionary like `rosmsg show foo/bar` + * + * @param defs - array of type_def dictionary + */ +Ros.prototype.decodeTypeDefs = function(defs) { + var that = this; + + // calls itself recursively to resolve type definition using hints. + var decodeTypeDefsRec = function(theType, hints) { + var typeDefDict = {}; + for (var i = 0; i < theType.fieldnames.length; i++) { + var arrayLen = theType.fieldarraylen[i]; + var fieldName = theType.fieldnames[i]; + var fieldType = theType.fieldtypes[i]; + if (fieldType.indexOf('/') === -1) { // check the fieldType includes '/' or not + if (arrayLen === -1) { + typeDefDict[fieldName] = fieldType; + } + else { + typeDefDict[fieldName] = [fieldType]; + } + } + else { + // lookup the name + var sub = false; + for (var j = 0; j < hints.length; j++) { + if (hints[j].type.toString() === fieldType.toString()) { + sub = hints[j]; + break; + } + } + if (sub) { + var subResult = decodeTypeDefsRec(sub, hints); + if (arrayLen === -1) { + } + else { + typeDefDict[fieldName] = [subResult]; + } + } + else { + that.emit('error', 'Cannot find ' + fieldType + ' in decodeTypeDefs'); + } + } + } + return typeDefDict; + }; + + return decodeTypeDefsRec(defs[0], defs); +}; + + +module.exports = Ros; + +},{"./Service":15,"./ServiceRequest":16,"./SocketAdapter.js":18,"eventemitter2":2,"object-assign":3,"ws":42}],15:[function(require,module,exports){ +/** + * @fileoverview + * @author Brandon Alexander - baalexander@gmail.com + */ + +var ServiceResponse = require('./ServiceResponse'); +var ServiceRequest = require('./ServiceRequest'); +var EventEmitter2 = require('eventemitter2').EventEmitter2; + +/** + * A ROS service client. + * + * @constructor + * @params options - possible keys include: + * * ros - the ROSLIB.Ros connection handle + * * name - the service name, like /add_two_ints + * * serviceType - the service type, like 'rospy_tutorials/AddTwoInts' + */ +function Service(options) { + options = options || {}; + this.ros = options.ros; + this.name = options.name; + this.serviceType = options.serviceType; + this.isAdvertised = false; + + this._serviceCallback = null; +} +Service.prototype.__proto__ = EventEmitter2.prototype; +/** + * Calls the service. Returns the service response in the + * callback. Does nothing if this service is currently advertised. + * + * @param request - the ROSLIB.ServiceRequest to send + * @param callback - function with params: + * * response - the response from the service request + * @param failedCallback - the callback function when the service call failed (optional). Params: + * * error - the error message reported by ROS + */ +Service.prototype.callService = function(request, callback, failedCallback) { + if (this.isAdvertised) { + return; + } + + var serviceCallId = 'call_service:' + this.name + ':' + (++this.ros.idCounter); + + if (callback || failedCallback) { + this.ros.once(serviceCallId, function(message) { + if (message.result !== undefined && message.result === false) { + if (typeof failedCallback === 'function') { + failedCallback(message.values); + } + } else if (typeof callback === 'function') { + callback(new ServiceResponse(message.values)); + } + }); + } + + var call = { + op : 'call_service', + id : serviceCallId, + service : this.name, + type: this.serviceType, + args : request + }; + this.ros.callOnConnection(call); +}; + +/** + * Advertise the service. This turns the Service object from a client + * into a server. The callback will be called with every request + * that's made on this service. + * + * @param callback - This works similarly to the callback for a C++ service and should take the following params: + * * request - the service request + * * response - an empty dictionary. Take care not to overwrite this. Instead, only modify the values within. + * It should return true if the service has finished successfully, + * i.e. without any fatal errors. + */ +Service.prototype.advertise = function(callback) { + if (this.isAdvertised || typeof callback !== 'function') { + return; + } + + this._serviceCallback = callback; + this.ros.on(this.name, this._serviceResponse.bind(this)); + this.ros.callOnConnection({ + op: 'advertise_service', + type: this.serviceType, + service: this.name + }); + this.isAdvertised = true; +}; + +Service.prototype.unadvertise = function() { + if (!this.isAdvertised) { + return; + } + this.ros.callOnConnection({ + op: 'unadvertise_service', + service: this.name + }); + this.isAdvertised = false; +}; + +Service.prototype._serviceResponse = function(rosbridgeRequest) { + var response = {}; + var success = this._serviceCallback(rosbridgeRequest.args, response); + + var call = { + op: 'service_response', + service: this.name, + values: new ServiceResponse(response), + result: success + }; + + if (rosbridgeRequest.id) { + call.id = rosbridgeRequest.id; + } + + this.ros.callOnConnection(call); +}; + +module.exports = Service; + +},{"./ServiceRequest":16,"./ServiceResponse":17,"eventemitter2":2}],16:[function(require,module,exports){ +/** + * @fileoverview + * @author Brandon Alexander - balexander@willowgarage.com + */ + +var assign = require('object-assign'); + +/** + * A ServiceRequest is passed into the service call. + * + * @constructor + * @param values - object matching the fields defined in the .srv definition file + */ +function ServiceRequest(values) { + assign(this, values); +} + +module.exports = ServiceRequest; +},{"object-assign":3}],17:[function(require,module,exports){ +/** + * @fileoverview + * @author Brandon Alexander - balexander@willowgarage.com + */ + +var assign = require('object-assign'); + +/** + * A ServiceResponse is returned from the service call. + * + * @constructor + * @param values - object matching the fields defined in the .srv definition file + */ +function ServiceResponse(values) { + assign(this, values); +} + +module.exports = ServiceResponse; +},{"object-assign":3}],18:[function(require,module,exports){ +/** + * Socket event handling utilities for handling events on either + * WebSocket and TCP sockets + * + * Note to anyone reviewing this code: these functions are called + * in the context of their parent object, unless bound + * @fileOverview + */ +'use strict'; + +var decompressPng = require('../util/decompressPng'); +var CBOR = require('cbor-js'); +var typedArrayTagger = require('../util/cborTypedArrayTags'); +var WebSocket = require('ws'); +var BSON = null; +if(typeof bson !== 'undefined'){ + BSON = bson().BSON; +} + +/** + * Events listeners for a WebSocket or TCP socket to a JavaScript + * ROS Client. Sets up Messages for a given topic to trigger an + * event on the ROS client. + * + * @namespace SocketAdapter + * @private + */ +function SocketAdapter(client) { + function handleMessage(message) { + if (message.op === 'publish') { + client.emit(message.topic, message.msg); + } else if (message.op === 'service_response') { + client.emit(message.id, message); + } else if (message.op === 'call_service') { + client.emit(message.service, message); + } else if(message.op === 'status'){ + if(message.id){ + client.emit('status:'+message.id, message); + } else { + client.emit('status', message); + } + } + } + + function handlePng(message, callback) { + if (message.op === 'png') { + decompressPng(message.data, callback); + } else { + callback(message); + } + } + + function decodeBSON(data, callback) { + if (!BSON) { + throw 'Cannot process BSON encoded message without BSON header.'; + } + var reader = new FileReader(); + reader.onload = function() { + var uint8Array = new Uint8Array(this.result); + var msg = BSON.deserialize(uint8Array); + callback(msg); + }; + reader.readAsArrayBuffer(data); + } + + return { + /** + * Emits a 'connection' event on WebSocket connection. + * + * @param event - the argument to emit with the event. + * @memberof SocketAdapter + */ + onopen: function onOpen(event) { + client.isConnected = true; + client.emit('connection', event); + }, + + /** + * Emits a 'close' event on WebSocket disconnection. + * + * @param event - the argument to emit with the event. + * @memberof SocketAdapter + */ + onclose: function onClose(event) { + client.isConnected = false; + client.emit('close', event); + }, + + /** + * Emits an 'error' event whenever there was an error. + * + * @param event - the argument to emit with the event. + * @memberof SocketAdapter + */ + onerror: function onError(event) { + client.emit('error', event); + }, + + /** + * Parses message responses from rosbridge and sends to the appropriate + * topic, service, or param. + * + * @param message - the raw JSON message from rosbridge. + * @memberof SocketAdapter + */ + onmessage: function onMessage(data) { + if (typeof Blob !== 'undefined' && data.data instanceof Blob) { + decodeBSON(data.data, function (message) { + handlePng(message, handleMessage); + }); + } else if (data.data instanceof ArrayBuffer) { + var decoded = CBOR.decode(data.data, typedArrayTagger); + handleMessage(decoded); + } else { + var message = JSON.parse(typeof data === 'string' ? data : data.data); + handlePng(message, handleMessage); + } + } + }; +} + +module.exports = SocketAdapter; + +},{"../util/cborTypedArrayTags":41,"../util/decompressPng":44,"cbor-js":1,"ws":42}],19:[function(require,module,exports){ +/** + * @fileoverview + * @author Brandon Alexander - baalexander@gmail.com + */ + +var EventEmitter2 = require('eventemitter2').EventEmitter2; +var Message = require('./Message'); + +/** + * Publish and/or subscribe to a topic in ROS. + * + * Emits the following events: + * * 'warning' - if there are any warning during the Topic creation + * * 'message' - the message data from rosbridge + * + * @constructor + * @param options - object with following keys: + * * ros - the ROSLIB.Ros connection handle + * * name - the topic name, like /cmd_vel + * * messageType - the message type, like 'std_msgs/String' + * * compression - the type of compression to use, like 'png' or 'cbor' + * * throttle_rate - the rate (in ms in between messages) at which to throttle the topics + * * queue_size - the queue created at bridge side for re-publishing webtopics (defaults to 100) + * * latch - latch the topic when publishing + * * queue_length - the queue length at bridge side used when subscribing (defaults to 0, no queueing). + * * reconnect_on_close - the flag to enable resubscription and readvertisement on close event(defaults to true). + */ +function Topic(options) { + options = options || {}; + this.ros = options.ros; + this.name = options.name; + this.messageType = options.messageType; + this.isAdvertised = false; + this.compression = options.compression || 'none'; + this.throttle_rate = options.throttle_rate || 0; + this.latch = options.latch || false; + this.queue_size = options.queue_size || 100; + this.queue_length = options.queue_length || 0; + this.reconnect_on_close = options.reconnect_on_close || true; + + // Check for valid compression types + if (this.compression && this.compression !== 'png' && + this.compression !== 'cbor' && this.compression !== 'none') { + this.emit('warning', this.compression + + ' compression is not supported. No compression will be used.'); + this.compression = 'none'; + } + + // Check if throttle rate is negative + if (this.throttle_rate < 0) { + this.emit('warning', this.throttle_rate + ' is not allowed. Set to 0'); + this.throttle_rate = 0; + } + + var that = this; + if (this.reconnect_on_close) { + this.callForSubscribeAndAdvertise = function(message) { + that.ros.callOnConnection(message); + + that.waitForReconnect = false; + that.reconnectFunc = function() { + if(!that.waitForReconnect) { + that.waitForReconnect = true; + that.ros.callOnConnection(message); + that.ros.once('connection', function() { + that.waitForReconnect = false; + }); + } + }; + that.ros.on('close', that.reconnectFunc); + }; + } + else { + this.callForSubscribeAndAdvertise = this.ros.callOnConnection; + } + + this._messageCallback = function(data) { + that.emit('message', new Message(data)); + }; +} +Topic.prototype.__proto__ = EventEmitter2.prototype; + +/** + * Every time a message is published for the given topic, the callback + * will be called with the message object. + * + * @param callback - function with the following params: + * * message - the published message + */ +Topic.prototype.subscribe = function(callback) { + if (typeof callback === 'function') { + this.on('message', callback); + } + + if (this.subscribeId) { return; } + this.ros.on(this.name, this._messageCallback); + this.subscribeId = 'subscribe:' + this.name + ':' + (++this.ros.idCounter); + + this.callForSubscribeAndAdvertise({ + op: 'subscribe', + id: this.subscribeId, + type: this.messageType, + topic: this.name, + compression: this.compression, + throttle_rate: this.throttle_rate, + queue_length: this.queue_length + }); +}; + +/** + * Unregisters as a subscriber for the topic. Unsubscribing stop remove + * all subscribe callbacks. To remove a call back, you must explicitly + * pass the callback function in. + * + * @param callback - the optional callback to unregister, if + * * provided and other listeners are registered the topic won't + * * unsubscribe, just stop emitting to the passed listener + */ +Topic.prototype.unsubscribe = function(callback) { + if (callback) { + this.off('message', callback); + // If there is any other callbacks still subscribed don't unsubscribe + if (this.listeners('message').length) { return; } + } + if (!this.subscribeId) { return; } + // Note: Don't call this.removeAllListeners, allow client to handle that themselves + this.ros.off(this.name, this._messageCallback); + if(this.reconnect_on_close) { + this.ros.off('close', this.reconnectFunc); + } + this.emit('unsubscribe'); + this.ros.callOnConnection({ + op: 'unsubscribe', + id: this.subscribeId, + topic: this.name + }); + this.subscribeId = null; +}; + + +/** + * Registers as a publisher for the topic. + */ +Topic.prototype.advertise = function() { + if (this.isAdvertised) { + return; + } + this.advertiseId = 'advertise:' + this.name + ':' + (++this.ros.idCounter); + this.callForSubscribeAndAdvertise({ + op: 'advertise', + id: this.advertiseId, + type: this.messageType, + topic: this.name, + latch: this.latch, + queue_size: this.queue_size + }); + this.isAdvertised = true; + + if(!this.reconnect_on_close) { + var that = this; + this.ros.on('close', function() { + that.isAdvertised = false; + }); + } +}; + +/** + * Unregisters as a publisher for the topic. + */ +Topic.prototype.unadvertise = function() { + if (!this.isAdvertised) { + return; + } + if(this.reconnect_on_close) { + this.ros.off('close', this.reconnectFunc); + } + this.emit('unadvertise'); + this.ros.callOnConnection({ + op: 'unadvertise', + id: this.advertiseId, + topic: this.name + }); + this.isAdvertised = false; +}; + +/** + * Publish the message. + * + * @param message - A ROSLIB.Message object. + */ +Topic.prototype.publish = function(message) { + if (!this.isAdvertised) { + this.advertise(); + } + + this.ros.idCounter++; + var call = { + op: 'publish', + id: 'publish:' + this.name + ':' + this.ros.idCounter, + topic: this.name, + msg: message, + latch: this.latch + }; + this.ros.callOnConnection(call); +}; + +module.exports = Topic; + +},{"./Message":12,"eventemitter2":2}],20:[function(require,module,exports){ +var mixin = require('../mixin'); + +var core = module.exports = { + Ros: require('./Ros'), + Topic: require('./Topic'), + Message: require('./Message'), + Param: require('./Param'), + Service: require('./Service'), + ServiceRequest: require('./ServiceRequest'), + ServiceResponse: require('./ServiceResponse') +}; + +mixin(core.Ros, ['Param', 'Service', 'Topic'], core); + +},{"../mixin":26,"./Message":12,"./Param":13,"./Ros":14,"./Service":15,"./ServiceRequest":16,"./ServiceResponse":17,"./Topic":19}],21:[function(require,module,exports){ +/** + * @fileoverview + * @author David Gossow - dgossow@willowgarage.com + */ + +var Vector3 = require('./Vector3'); +var Quaternion = require('./Quaternion'); + +/** + * A Pose in 3D space. Values are copied into this object. + * + * @constructor + * @param options - object with following keys: + * * position - the Vector3 describing the position + * * orientation - the ROSLIB.Quaternion describing the orientation + */ +function Pose(options) { + options = options || {}; + // copy the values into this object if they exist + this.position = new Vector3(options.position); + this.orientation = new Quaternion(options.orientation); +} + +/** + * Apply a transform against this pose. + * + * @param tf the transform + */ +Pose.prototype.applyTransform = function(tf) { + this.position.multiplyQuaternion(tf.rotation); + this.position.add(tf.translation); + var tmp = tf.rotation.clone(); + tmp.multiply(this.orientation); + this.orientation = tmp; +}; + +/** + * Clone a copy of this pose. + * + * @returns the cloned pose + */ +Pose.prototype.clone = function() { + return new Pose(this); +}; + +/** + * Multiplies this pose with another pose without altering this pose. + * + * @returns Result of multiplication. + */ +Pose.prototype.multiply = function(pose) { + var p = pose.clone(); + p.applyTransform({ rotation: this.orientation, translation: this.position }); + return p; +}; + +/** + * Computes the inverse of this pose. + * + * @returns Inverse of pose. + */ +Pose.prototype.getInverse = function() { + var inverse = this.clone(); + inverse.orientation.invert(); + inverse.position.multiplyQuaternion(inverse.orientation); + inverse.position.x *= -1; + inverse.position.y *= -1; + inverse.position.z *= -1; + return inverse; +}; + +module.exports = Pose; +},{"./Quaternion":22,"./Vector3":24}],22:[function(require,module,exports){ +/** + * @fileoverview + * @author David Gossow - dgossow@willowgarage.com + */ + +/** + * A Quaternion. + * + * @constructor + * @param options - object with following keys: + * * x - the x value + * * y - the y value + * * z - the z value + * * w - the w value + */ +function Quaternion(options) { + options = options || {}; + this.x = options.x || 0; + this.y = options.y || 0; + this.z = options.z || 0; + this.w = (typeof options.w === 'number') ? options.w : 1; +} + +/** + * Perform a conjugation on this quaternion. + */ +Quaternion.prototype.conjugate = function() { + this.x *= -1; + this.y *= -1; + this.z *= -1; +}; + +/** + * Return the norm of this quaternion. + */ +Quaternion.prototype.norm = function() { + return Math.sqrt(this.x * this.x + this.y * this.y + this.z * this.z + this.w * this.w); +}; + +/** + * Perform a normalization on this quaternion. + */ +Quaternion.prototype.normalize = function() { + var l = Math.sqrt(this.x * this.x + this.y * this.y + this.z * this.z + this.w * this.w); + if (l === 0) { + this.x = 0; + this.y = 0; + this.z = 0; + this.w = 1; + } else { + l = 1 / l; + this.x = this.x * l; + this.y = this.y * l; + this.z = this.z * l; + this.w = this.w * l; + } +}; + +/** + * Convert this quaternion into its inverse. + */ +Quaternion.prototype.invert = function() { + this.conjugate(); + this.normalize(); +}; + +/** + * Set the values of this quaternion to the product of itself and the given quaternion. + * + * @param q the quaternion to multiply with + */ +Quaternion.prototype.multiply = function(q) { + var newX = this.x * q.w + this.y * q.z - this.z * q.y + this.w * q.x; + var newY = -this.x * q.z + this.y * q.w + this.z * q.x + this.w * q.y; + var newZ = this.x * q.y - this.y * q.x + this.z * q.w + this.w * q.z; + var newW = -this.x * q.x - this.y * q.y - this.z * q.z + this.w * q.w; + this.x = newX; + this.y = newY; + this.z = newZ; + this.w = newW; +}; + +/** + * Clone a copy of this quaternion. + * + * @returns the cloned quaternion + */ +Quaternion.prototype.clone = function() { + return new Quaternion(this); +}; + +module.exports = Quaternion; + +},{}],23:[function(require,module,exports){ +/** + * @fileoverview + * @author David Gossow - dgossow@willowgarage.com + */ + +var Vector3 = require('./Vector3'); +var Quaternion = require('./Quaternion'); + +/** + * A Transform in 3-space. Values are copied into this object. + * + * @constructor + * @param options - object with following keys: + * * translation - the Vector3 describing the translation + * * rotation - the ROSLIB.Quaternion describing the rotation + */ +function Transform(options) { + options = options || {}; + // Copy the values into this object if they exist + this.translation = new Vector3(options.translation); + this.rotation = new Quaternion(options.rotation); +} + +/** + * Clone a copy of this transform. + * + * @returns the cloned transform + */ +Transform.prototype.clone = function() { + return new Transform(this); +}; + +module.exports = Transform; +},{"./Quaternion":22,"./Vector3":24}],24:[function(require,module,exports){ +/** + * @fileoverview + * @author David Gossow - dgossow@willowgarage.com + */ + +/** + * A 3D vector. + * + * @constructor + * @param options - object with following keys: + * * x - the x value + * * y - the y value + * * z - the z value + */ +function Vector3(options) { + options = options || {}; + this.x = options.x || 0; + this.y = options.y || 0; + this.z = options.z || 0; +} + +/** + * Set the values of this vector to the sum of itself and the given vector. + * + * @param v the vector to add with + */ +Vector3.prototype.add = function(v) { + this.x += v.x; + this.y += v.y; + this.z += v.z; +}; + +/** + * Set the values of this vector to the difference of itself and the given vector. + * + * @param v the vector to subtract with + */ +Vector3.prototype.subtract = function(v) { + this.x -= v.x; + this.y -= v.y; + this.z -= v.z; +}; + +/** + * Multiply the given Quaternion with this vector. + * + * @param q - the quaternion to multiply with + */ +Vector3.prototype.multiplyQuaternion = function(q) { + var ix = q.w * this.x + q.y * this.z - q.z * this.y; + var iy = q.w * this.y + q.z * this.x - q.x * this.z; + var iz = q.w * this.z + q.x * this.y - q.y * this.x; + var iw = -q.x * this.x - q.y * this.y - q.z * this.z; + this.x = ix * q.w + iw * -q.x + iy * -q.z - iz * -q.y; + this.y = iy * q.w + iw * -q.y + iz * -q.x - ix * -q.z; + this.z = iz * q.w + iw * -q.z + ix * -q.y - iy * -q.x; +}; + +/** + * Clone a copy of this vector. + * + * @returns the cloned vector + */ +Vector3.prototype.clone = function() { + return new Vector3(this); +}; + +module.exports = Vector3; +},{}],25:[function(require,module,exports){ +module.exports = { + Pose: require('./Pose'), + Quaternion: require('./Quaternion'), + Transform: require('./Transform'), + Vector3: require('./Vector3') +}; + +},{"./Pose":21,"./Quaternion":22,"./Transform":23,"./Vector3":24}],26:[function(require,module,exports){ +/** + * Mixin a feature to the core/Ros prototype. + * For example, mixin(Ros, ['Topic'], {Topic:
-Be sure to install and setup the voltage indicator before flying, so as not to overdischarge the battery. To configure the indicator, use the button located at its base. The displayed numbers during setup indicate the minimum possible voltage in each [cell](gloss.md#battery-cell) of the battery, the recommended value is **3.5**.
+Be sure to install and setup the voltage indicator before flying, so as not to overdischarge the battery. To configure the indicator, use the button located at its base. The displayed numbers during setup indicate the minimum possible voltage in each [cell](glossary.md#battery-cell) of the battery, the recommended value is **3.5**.
> **Info** Sound indication means that your battery is low and needs to be charged.
diff --git a/docs/en/assembly.md b/docs/en/assembly.md
new file mode 100644
index 000000000..4790cd287
--- /dev/null
+++ b/docs/en/assembly.md
@@ -0,0 +1,27 @@
+# Clover drone assembly
+
+This section contains articles describing the assembly of each version of Clover.
+
+| Version | Image |
|---|---|
| Clover 4.2 | + |
+
| Clover 4.1 | + |
+
| Clover 4 | + |
+
| Clover 3 | + |
+
| Clover 2 | + |
+
+
+Visual blocks programming feature has been added to the [RPi image](image.md), starting with the version **0.21**. Blocks programming is implemented using [Google Blockly](https://developers.google.com/blockly) platform. Blocks programming integration can lower the entry barrier to a minimum.
+
+## Configuration
+
+For correct work of the blocks programming, `blocks` argument in the Clover launch-file (`~/catkin_ws/src/clover/clover/launch/clover.launch`) [should be equal to](cli.md#editing) `true`:
+
+```xml
+
+
+Assemble your program using blocks in the menu at the left and then click *Run* button for running. You can also view generated Python-code, switching to *Python* tab.
+
+The *Stop* button stops the program. Clicking *Land* button also stops the program and lands the drone.
+
+## Storing and loading
+
+
+
+To store the program, open the menu at the top right, select *Save* item and input your program's name. The name should contain only Latin characters, hyphen, underline and dot characters. All your stored programs are available at the same menu.
+
+Your programs are stored as XML-files in the `/catkin_ws/src/clover/clover_blocks/programs/` directory of the SD-card.
+
+> **Note** Note also example programs, available at the same menu.
+
+## Blocks
+
+The set of blocks is somewhat similar to the set of ROS-services of [Clover's autonomous flights API](simple_offboard.md). This section contains descriptions of some of them.
+
+Clover's blocks are separated into 4 categories:
+
+* Flight – autonomous flight related commands.
+* State – blocks for obtaining the drone state parameters.
+* LED – blocks for controlling [LED strip](leds.md).
+* GPIO – blocks for working with [GPIO pins](gpio.md).
+
+The rest of categories contains standard Blockly's blocks.
+
+### take_off
+
+
+
+Take off to specified altitude in meters. The altitude may be an arbitrary block, that returns a number.
+
+The `wait` flag specifies, if the drone should wait until take off is complete, before executing the next block.
+
+### navigate
+
+
+
+Navigate to specified point. Coordinates are specified in meters.
+
+The `wait` flag specifies, if the drone should wait until navigation is complete, before executing the next block.
+
+#### *Relative to* field {#relative_to}
+
+This block allows to specify the [coordinate frame](frames.md) of the target point:
+
+* *body* – coordinates, relative to the drone: *forward*, *left*, *up*.
+* *markers map* – coordinates, relative to the [map of ArUco-markers](aruco_map.md).
+* *marker* – coordinates, relative to an [ArUco-marker](aruco_marker.md); marker's ID input fields appears.
+* *last navigate target* – coordinates, relative to the last specified navigate point.
+* *map* – drone's local coordinate system, linked with the point of its initialization.
+
+### land
+
+
+
+Land the drone.
+
+The `wait` flag specifies, if the drone should wait until landing is complete, before executing the next block.
+
+### wait
+
+
+
+Wait specified time period in seconds. The time period may be an arbitrary block, that returns a number.
+
+### wait_arrival
+
+
+
+Wait, until the drone reaches [navigate](#navigate)-block's target point.
+
+### get_position
+
+
+
+The block returns current position, velocity or yaw angle of the drone relative to the specified [coordinate frame](#relative_to).
+
+### set_effect
+
+
+
+The block allows to set animations to LED strip, similarly to [`set_effect`](leds.md#set_effect) ROS-service.
+
+Example of using the block with a random color (colors-related blocks are located in *Colour* category):
+
+
diff --git a/docs/en/book.json b/docs/en/book.json
index 2de25d9bd..49f491da5 100644
--- a/docs/en/book.json
+++ b/docs/en/book.json
@@ -1,4 +1,5 @@
{
"language": "en",
- "root": "."
+ "root": ".",
+ "structure": {"glossary": "_GLOSSARY.md" }
}
diff --git a/docs/en/gloss.md b/docs/en/glossary.md
similarity index 100%
rename from docs/en/gloss.md
rename to docs/en/glossary.md
diff --git a/docs/en/leds.md b/docs/en/leds.md
index 76a780fb6..4cecd3dfc 100644
--- a/docs/en/leds.md
+++ b/docs/en/leds.md
@@ -95,16 +95,26 @@ disconnected: { effect: blink, r: 255, g: 50, b: 50 }
```
-The left part is one of the possible events that the strip reacts to. The right part contains the effect description that you want to execute for this event. Here is the list of supported events:
-
-* `startup` – Clover system startup;
-* `connected` – successful connection to the flight controller;
-* `disconnected` – connection to the flight controller lost;
-* `armed` – flight controller transitioned to armed state;
-* `disarmed` – flight controller transitioned to disarmed state;
-* `stabilized`, `acro`, `rattitude`, `altctl`, `posctl`, `offboard`, `mission`, `rtl`, `land` – transition to said flight mode;
-* `error` – an error occured in one of ROS nodes or in the flight controller (*ERROR* message in `/rosout`);
-* `low_battery` – low battery (threshold is set in the `threshold` parameter).
+The left part is one of the possible events that the strip reacts to. The right part contains the effect description that you want to execute for this event.
+
+Here is the list of supported events:
+
+| Event | Description | Default effect |
|---|---|---|
startup | Clover system startup | White |
connected | Successful connection to flight controller | Rainbow |
disconnected | Connection to flight controller lost | Red blink |
armed | Transition to Armed state | |
disarmed | Transition to Disarmed state | |
acro | Acro mode | Orange |
stabilized | Stabilized mode | Green |
altctl | Altitude mode | Yellow |
posctl | Position mode | Blue |
offboard | Offboard mode | Violet |
rattitude, mission, rtl, land | Corresponding mode | |
error | Error in one of ROS nodes or in the flight controller (ERROR message in /rosout) | Red flash |
low_battery | Low battery (threshold is set in the threshold parameter) |
-Обязательно установите и настройте индикатор напряжения перед полетом, чтобы не переразрядить аккумулятор. Для настройки индикатора используйте конпку расположенную в его основании. Отображаемые цифры во время настройки обозначают минимально возможное напряжение в каждой [ячейке](gloss.md#ячейка--банка-акб) аккумулятора, рекомендуемое значение **3.5**.
+Обязательно установите и настройте индикатор напряжения перед полетом, чтобы не переразрядить аккумулятор. Для настройки индикатора используйте конпку расположенную в его основании. Отображаемые цифры во время настройки обозначают минимально возможное напряжение в каждой [ячейке](glossary.md#ячейка--банка-акб) аккумулятора, рекомендуемое значение **3.5**.
> **Info** Звуковая индикация означает, что ваш аккумулятор разряжен и его нужно зарядить.
diff --git a/docs/ru/assemble_4_1.md b/docs/ru/assemble_4_1.md
index 30cba5110..74403e90c 100644
--- a/docs/ru/assemble_4_1.md
+++ b/docs/ru/assemble_4_1.md
@@ -234,7 +234,7 @@
-Обязательно установите и настройте индикатор напряжения перед полетом, чтобы не переразрядить аккумулятор. Для настройки индикатора используйте кнопку, расположенную в его основании. Отображаемые цифры во время настройки обозначают минимально возможное напряжение в каждой [ячейке](gloss.md#ячейка--банка-акб) аккумулятора, рекомендуемое значение **3.5**.
+Обязательно установите и настройте индикатор напряжения перед полетом, чтобы не переразрядить аккумулятор. Для настройки индикатора используйте кнопку, расположенную в его основании. Отображаемые цифры во время настройки обозначают минимально возможное напряжение в каждой [ячейке](glossary.md#ячейка--банка-акб) аккумулятора, рекомендуемое значение **3.5**.
> **Info** Звуковая индикация означает, что ваш аккумулятор разряжен и его нужно зарядить.
diff --git a/docs/ru/assemble_4_2.md b/docs/ru/assemble_4_2.md
index 0da703710..76c4166b8 100644
--- a/docs/ru/assemble_4_2.md
+++ b/docs/ru/assemble_4_2.md
@@ -174,6 +174,12 @@
5. На деку захвата установите дальномер с помощью самоконтрящихся гаек и винтов М3х8, и приклейте радиоприемник с помощью двустороннего скотча.
+ > **Сaution** Обратите внимание, что крепящие гайки расположены обратной стороны от платы дальномера, как на схеме, иначе есть большая вероятность повредить плату.
+
+
+
+ > **Hint** Также плата может быть закреплена на саморезы М2 в соседние отверстия.
+
6. Установите 4 стойки 20мм и закрепите их с помощью винтов М3х8.
diff --git a/docs/ru/assembly.md b/docs/ru/assembly.md
new file mode 100644
index 000000000..69f9d0ce1
--- /dev/null
+++ b/docs/ru/assembly.md
@@ -0,0 +1,27 @@
+# Сборка Клевера
+
+В этом разделе находится статьи, описывающие сборку каждой из версии Клевера.
+
+| Версия | Изображение |
|---|---|
| Клевер 4.2 | + |
+
| Клевер 4.1 | + |
+
| Клевер 4 | + |
+
| Клевер 3 | + |
+
| Клевер 2 | + |
+
+
+Возможность блочного визуального программирования автономных полетов Клевера добавлена в [образ для RPi](image.md), начиная с версии **0.21**. Реализация блочного программирования основана на [Google Blockly](https://developers.google.com/blockly). Интеграция Blockly в Клевер позволяет понизить входной порог в программирование автономных полетов до минимального уровня.
+
+## Конфигурация
+
+Для корректной работы работы блочного программирования аргумент `blocks` в launch-файле Клевера (`~/catkin_ws/src/clover/clover/launch/clover.launch`) [должен быть в значении](cli.md#editing) `true`:
+
+```xml
+
+
+Соберите необходимую программу из блоков в меню слева а затем нажмите кнопку *Run* для ее запуска. Также вы можете просмотреть сгенерированный код на языке Python, переключившись во вкладку *Python*.
+
+Кнопка *Stop* позволяет остановить программу. Нажатие кнопки *Land* также останавливает программу и сажает дрон.
+
+## Сохранение и загрузка
+
+
+
+Для сохранения программы откройте меню справа сверху, выберите пункт меню *Save* и введите название программы. Название программы может содержать только латинские буквы, дефис, подчеркивание и точку. Все ранее сохраненные программы будут доступны в этом же меню.
+
+На карте памяти сохраненные XML-файлы программ хранятся в каталоге `/catkin_ws/src/clover/clover_blocks/programs/`.
+
+В этом же меню доступны примеры программ (подкаталог `examples`).
+
+## Блоки
+
+Набор блоков приблизительно аналогичен набору ROS-сервисов [API автономных полетов Клевера](simple_offboard.md). В этом разделе приведено описание некоторых из них.
+
+Блоки Клевера поделены на 4 категории:
+
+* Flight – команды, имеющие отношение к полету.
+* State – блоки, позволяющие получить те или иные параметры текущего состояния коптера.
+* LED – блоки для управления [LED-лентой](leds.md).
+* GPIO – блоки для работы с [GPIO-пинами](gpio.md).
+
+В остальных категориях находятся стандартные блоки Google Blockly.
+
+### take_off
+
+
+
+Взлететь на указанную высоту в метрах. Высота может быть произвольным блоком, возвращающим числовое значение.
+
+Флаг `wait` определяет, должен ли дрон ожидать окончания взлета перед выполнением следующего блока.
+
+### navigate
+
+
+
+Прилететь в заданную точку. Координаты точки задаются в метрах.
+
+Флаг `wait` определяет, должен ли дрон ожидать завершения полета в точку перед выполнением следующего блока.
+
+#### Поле *relative to* {#relative_to}
+
+В блоке может быть выбрана [система координат](frames.md), в которой задана целевая точка:
+
+* *body* – координаты относительно коптера: вперед (*forward*), влево (*left*), вверх (*up*).
+* *markers map* – система координат, связанная с [картой ArUco-маркеров](aruco_map.md).
+* *marker* – система координта, связанная с [ArUco-маркером](aruco_marker.md); появляется поле для ввода ID маркеа.
+* *last navigate target* – координаты относительно последней заданной точки для навигации.
+* *map* – локальная система координат коптера, связана с местом его инициализации.
+
+### land
+
+
+
+Произвести посадку.
+
+Флаг `wait` определяет, должен ли дрон ожидать окончания посадки перед выполнением следующего блока.
+
+### wait
+
+
+
+Ожидать заданное время в секундах. Время ожидания может быть произвольным блоком, возвращающим числовое значение.
+
+### wait_arrival
+
+
+
+Ожидать, пока дрон долетит до целевой точки (заданной в [navigate](#navigate)-блоке).
+
+### get_position
+
+
+
+Блок позволяет получить позицию, скорость и угол по рысканью дрона в заданной [системе координат](#relative_to).
+
+### set_effect
+
+
+
+Блок позволяет устанавливать различные анимации на LED-ленту аналогично [ROS-сервису `set_effect`](leds.md#set_effect).
+
+Пример использования блока для установки случайного цвета (блоки, связанные с цветами находятся в категории *Colour*):
+
+
diff --git a/docs/ru/book.json b/docs/ru/book.json
index 566fc6810..7a9c8206f 100644
--- a/docs/ru/book.json
+++ b/docs/ru/book.json
@@ -1,4 +1,5 @@
{
"language": "ru",
- "root": "."
+ "root": ".",
+ "structure": {"glossary": "_GLOSSARY.md" }
}
diff --git a/docs/ru/clever_blocks.md b/docs/ru/clever_blocks.md
index 942eeeed7..ab9da906d 100644
--- a/docs/ru/clever_blocks.md
+++ b/docs/ru/clever_blocks.md
@@ -1,5 +1,7 @@
# Блочное программирование Клевера
+> **Warning** В этой статье описана неофициальная реализация блочного программирования. [Официальная поддержка](blocks.md) появилась в образе Клевера версии **0.21**.
+
В этой статье я опишу процесс скачивания, установки и запуска блочного конструктора программ для квадрокоптера Клевер.
diff --git a/docs/ru/copterhack2021.md b/docs/ru/copterhack2021.md
new file mode 100644
index 000000000..2cd1a41b2
--- /dev/null
+++ b/docs/ru/copterhack2021.md
@@ -0,0 +1,5 @@
+# CopterHack 2021
+
+CopterHack 2021 – это командный конкурс по разработке проектов с открытым исходным кодом для платформы квадрокоптера "Клевер".
+
+Все информацию о мероприятии смотрите на официальном сайте: https://ru.coex.tech/copterhack.
diff --git a/docs/ru/events.md b/docs/ru/events.md
new file mode 100644
index 000000000..15134d331
--- /dev/null
+++ b/docs/ru/events.md
@@ -0,0 +1,5 @@
+# Мероприятия
+
+"Клевер" применяется в в большом количестве образовательных мероприятий и соревнований: WorldSkills, Олимпиада НТИ, Copter Hack, Всероссийская Робототехническая Олимпиада и других.
+
+Этот раздел содержит статьи, написанные специально к тому или иному мероприятию.
diff --git a/docs/ru/gloss.md b/docs/ru/glossary.md
similarity index 100%
rename from docs/ru/gloss.md
rename to docs/ru/glossary.md
diff --git a/docs/ru/gpio.md b/docs/ru/gpio.md
index 43cbb8aac..1d6ca5611 100644
--- a/docs/ru/gpio.md
+++ b/docs/ru/gpio.md
@@ -4,6 +4,10 @@ GPIO (General-Purpose Input/Output) – это тип пинов на Raspberry
> **Info** Используйте [распиновку](https://pinout.xyz), чтобы понять, какие из пинов на Raspberry Pi поддерживают GPIO и ШИМ.
+
+
+> **Info** Для того, чтобы не создавалось конфликтов при использовании портов *GPIO* в образе закрыт доступ для портов 0, 1, 2, 3, 14, 15, на которые выведены интерфейсы подключения I2C и UART.
+
Для работы с GPIO на [образе для RPi](image.md) предустановлена библиотека [`pigpio`](http://abyz.me.uk/rpi/pigpio/). Чтобы взаимодействовать с этой библиотекой, запустите соответствующий демон:
```bash
@@ -77,7 +81,7 @@ pi.set_servo_pulsewidth(13, 2000)
-Для подключения электромагнита используйте полевой транзистор (MOSFET). Подключите транзистор к одному из GPIO-пинов Raspberry Pi. Для управления магнитом, подключенным к 15 пину, используйте такой код:
+Для подключения электромагнита используйте полевой транзистор (MOSFET). Подключите транзистор к одному из GPIO-пинов Raspberry Pi. Для управления магнитом, подключенным к 18 пину, используйте такой код:
```python
import time
@@ -85,14 +89,14 @@ import pigpio
pi = pigpio.pi()
-# устанавливаем режим 15 пина на вывод
-pi.set_mode(15, pigpio.OUTPUT)
+# устанавливаем режим 18 пина на вывод
+pi.set_mode(18, pigpio.OUTPUT)
# включаем электромагнит
-pi.write(15, 1)
+pi.write(18, 1)
time.sleep(2)
# отключаем электромагнит
-pi.write(15, 0)
+pi.write(18, 0)
```
diff --git a/docs/ru/leds.md b/docs/ru/leds.md
index 63215898b..ab353c3f4 100644
--- a/docs/ru/leds.md
+++ b/docs/ru/leds.md
@@ -14,7 +14,7 @@
> **Caution** Обратите внимание, что светодиодную ленту нужно питать от стабильного источника энергии. Если вы подключите питание напрямую к Raspberry, то это создаст слишком большую нагрузку на ваш микрокомпьютер. Для снятия нагрузки с Raspberry можно подключить питание к преобразователю BEC.
-## Высокоуровневое управление лентой
+## Высокоуровневое управление лентой {#set_effect}
1. Для работы с лентой подключите ее к питанию +5v – 5v, земле GND – GND и сигнальному порту DIN – GPIO21. Обратитесь [к инструкции по сборке](assemble_4_2.md#установка-led-ленты) для подробностей.
2. Включите поддержку LED-ленты в файле `~/catkin_ws/src/clever/clever/launch/clever.launch`:
@@ -95,16 +95,26 @@ disconnected: { effect: blink, r: 255, g: 50, b: 50 }
```
-В левой части таблицы указывается событие, на которая лента должна среагировать. В правой части указывается эффект (анимация), который необходимо включить при возникновении события. Список поддерживаемых событий:
-
-* `startup` – запуск всех систем Клевера;
-* `connected` – успешное подключение к полетному контроллеру;
-* `disconnected` – разрыв связи с полетным контроллером;
-* `armed` – переключение полетного контроллера в состояние Armed;
-* `disarmed` – переключение полетного контроллера в состояние Disarmed;
-* `stabilized`, `acro`, `rattitude`, `altctl`, `posctl`, `offboard`, `mission`, `rtl`, `land` – переключение полетных режимов;
-* `error` – возникновение ошибки в ROS-нодах или полетном контроллере (*ERROR*-сообщение в топике `/rosout`);
-* `low_battery` – низкий заряд батареи (порог настраивается в параметре `threshold`).
+В левой части таблицы указывается событие, на которая лента должна среагировать. В правой части указывается эффект (анимация), который необходимо включить при возникновении события.
+
+Список поддерживаемых событий:
+
+| Событие | Описание | Эффект по умолчанию |
|---|---|---|
startup | Запуск всех систем Клевера | Белый |
connected | Успешное подключение к полетному контроллеру | Эффект радуги |
disconnected | Разрыв связи с полетным контроллером | Мигание красным |
armed | Переход в состояние Armed | |
disarmed | Переход в состояние Disarmed | |
acro | Режим Acro | Оранжевый |
stabilized | Режим Stabilized | Зеленый |
altctl | Режим Altitude | Желтый |
posctl | Режим Position | Синий |
offboard | Режим Offboard | Фиолетовый |
rattitude, mission, rtl, land | Переход в соответствующие режимы | |
error | Возникновение ошибки в ROS-нодах или полетном контроллере (ERROR-сообщение в топике /rosout) | Мигнуть красным |
low_battery | Низкий заряд батареи (порог настраивается в параметре threshold) |