diff --git a/clover/examples/leds.py b/clover/examples/leds.py index 96f83fd62f..6ae64373ba 100644 --- a/clover/examples/leds.py +++ b/clover/examples/leds.py @@ -29,5 +29,3 @@ print('Rainbow') set_effect(effect='rainbow') # show rainbow - -# effects_list = ['fill', 'fade', 'flash', 'blink', 'blink_fast', 'wipe', 'rainbow', 'rainbow_fill'] \ No newline at end of file diff --git a/clover_blocks/www/blockly/blockly_compressed.js b/clover_blocks/www/blockly/blockly_compressed.js index 958d92e744..9a7272d60f 100755 --- a/clover_blocks/www/blockly/blockly_compressed.js +++ b/clover_blocks/www/blockly/blockly_compressed.js @@ -1406,10 +1406,4 @@ return Blockly; })); -<<<<<<< HEAD //# sourceMappingURL=blockly_compressed.js.map - -======= -//# sourceMappingURL=blockly_compressed.js.map ->>>>>>> a78f6506b8dbaf1bcb2bebd475478dcd0f09044e - diff --git a/clover_blocks/www/index.html b/clover_blocks/www/index.html deleted file mode 100644 index 1abfc7469a..0000000000 --- a/clover_blocks/www/index.html +++ /dev/null @@ -1,499 +0,0 @@ - - - - Clover Blocks - - - - - - - - - - - - - - - - - -
-
Disconnected
-
Failed to contact with clover_blocks node, see configuration documentation.
-
Running...
- - - - -
- -
- -
- 

-
-	
-
-
-<<<<<<< HEAD
-
-
-
-
-=======
-
-
->>>>>>> a78f6506b8dbaf1bcb2bebd475478dcd0f09044e
diff --git a/clover_blocks/www/main.css b/clover_blocks/www/main.css
deleted file mode 100644
index 18a1656fd6..0000000000
--- a/clover_blocks/www/main.css
+++ /dev/null
@@ -1,143 +0,0 @@
-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 */
-<<<<<<< HEAD
-}
-
-
-=======
-}
-
->>>>>>> a78f6506b8dbaf1bcb2bebd475478dcd0f09044e
diff --git a/clover_blocks/www/main.js b/clover_blocks/www/main.js
deleted file mode 100644
index 360eb72a9f..0000000000
--- a/clover_blocks/www/main.js
+++ /dev/null
@@ -1,332 +0,0 @@
-/*
- * Copyright (C) 2020 Copter Express Technologies
- *
- * Author: Oleg Kalachev 
- *
- * Distributed under MIT License (available at https://opensource.org/licenses/MIT).
- * The above copyright notice and this permission notice shall be included in all
- * copies or substantial portions of the Software.
- */
-
-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('navigate_global_tolerance', true, 1),
-		ros.readParam('yaw_tolerance', true, 1),
-		ros.readParam('sleep_time', true, 0.2),
-		ros.readParam('confirm_run', true, true),
-	]);
-}
-
-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 (ros.params.confirm_run && !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 '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();
-	}
-<<<<<<< HEAD
-});
-
-=======
-});
-
->>>>>>> a78f6506b8dbaf1bcb2bebd475478dcd0f09044e
diff --git a/clover_description/urdf/clover/clover4.xacro b/clover_description/urdf/clover/clover4.xacro
index 41c15e3621..995b61dc52 100644
--- a/clover_description/urdf/clover/clover4.xacro
+++ b/clover_description/urdf/clover/clover4.xacro
@@ -24,9 +24,9 @@
     
   
diff --git a/clover_description/urdf/leds/led_strip.xacro b/clover_description/urdf/leds/led_strip.xacro
index c2af929680..336b72f386 100644
--- a/clover_description/urdf/leds/led_strip.xacro
+++ b/clover_description/urdf/leds/led_strip.xacro
@@ -40,7 +40,6 @@
             
         
         
-        
         
         
             
@@ -56,17 +55,6 @@
                     0 0 0 1
                 
             
-