40 lines
1.3 KiB
Markdown
40 lines
1.3 KiB
Markdown
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# blockly_interfaces — ROS2 Action Interface
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Provides the single custom ROS2 action definition used for all Blockly commands.
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## BlocklyAction.action
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Defined in [`action/BlocklyAction.action`](action/BlocklyAction.action):
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```
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# GOAL — one instruction to execute
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string command # e.g. "led_on", "delay", "move_forward"
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string[] param_keys # e.g. ["pin"]
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string[] param_values # e.g. ["3"]
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---
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# RESULT — sent after action completes or fails
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bool success
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string message # success message or informative error description
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---
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# FEEDBACK — sent during execution
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string status # "executing" | "done" | "error"
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```
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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.
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## Building
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```bash
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pixi run build-interfaces
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```
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This must be run before building any other package. The generated Python module is then importable as:
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```python
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from blockly_interfaces.action import BlocklyAction
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```
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## Usage
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See [`src/blockly_executor/README.md`](../blockly_executor/README.md) for how the executor uses this interface, and [`src/blockly_app/BLOCKS.md`](../blockly_app/BLOCKS.md#79-data-flow-js-block--python-handler--hardware) for the full data flow from JS block to hardware.
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