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blockly_interfaces — ROS2 Interfaces

Provides custom ROS2 action and message definitions for the Blockly Robot Controller.

BlocklyAction.action

Defined in action/BlocklyAction.action:

# GOAL — one instruction to execute
string command         # e.g. "digital_out", "delay", "digital_in"
string[] param_keys    # e.g. ["gpio", "state"]
string[] param_values  # e.g. ["17", "true"]
---
# RESULT — sent after action completes or fails
bool success
string message         # success message or informative error description
---
# FEEDBACK — sent during execution
string status          # "executing" | "done" | "error"

This interface is generic by design — adding new commands never requires modifying the .action file. The command + param_keys/param_values pattern supports any instruction with any parameters.

GpioWrite.msg & GpioRead.msg

Defined in msg/GpioWrite.msg and msg/GpioRead.msg:

# GpioWrite — digital output command (executor → gpio_node)
uint8 pin
bool state

# GpioRead — digital input state (gpio_node → executor)
uint8 pin
bool state

Used for communication between the executor's GPIO handlers and the gpio_node running on Raspberry Pi.

PwmWrite.msg

Defined in msg/PwmWrite.msg:

# PwmWrite — PWM duty cycle command (executor → pca9685_node)
uint8 address       # I2C device address (e.g. 0x40)
uint8 channel       # PWM channel (0-15)
uint16 value        # Duty cycle (0-4095, 12-bit)

Used for communication between the executor's PWM handler and the pca9685_node running on Raspberry Pi.

EncoderRead.msg

Defined in msg/EncoderRead.msg:

# EncoderRead — rotary encoder angle (as5600_node → executor)
uint8 encoder_id       # Encoder index (0, 1, 2, ...)
float32 angle          # Angle in degrees (0.0-360.0)
uint16 raw_angle       # Raw 12-bit value (0-4095)

Used for communication between the as5600_node running on Raspberry Pi and the executor's encoder handler.

Building

pixi run build-interfaces

This must be run before building any other package. The generated Python modules are then importable as:

from blockly_interfaces.action import BlocklyAction
from blockly_interfaces.msg import GpioWrite, GpioRead, PwmWrite, EncoderRead

Usage

See src/blockly_executor/README.md for how the executor uses this interface, and src/blockly_app/BLOCKS.md for the full data flow from JS block to hardware.

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