amr-ros-k4/src/blockly_interfaces/README.md

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.

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

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.