From 5f961b3852bfac6c7bda0647309733f3eb1eb1d1 Mon Sep 17 00:00:00 2001
From: mavxa <mafvacurse@gmail.com>
Date: Thu, 17 Sep 2026 06:56:07 +0300
Subject: [PATCH] add minimal module4 control example

---
 module4/simple/App.tsx | 19 +++++++++++++++++++
 module4/simple/api.py  | 33 +++++++++++++++++++++++++++++++++
 2 files changed, 52 insertions(+)
 create mode 100644 module4/simple/App.tsx
 create mode 100644 module4/simple/api.py

diff --git a/module4/simple/App.tsx b/module4/simple/App.tsx
new file mode 100644
index 0000000..303eb8e
--- /dev/null
+++ b/module4/simple/App.tsx
@@ -0,0 +1,19 @@
+export default function App() {
+
+  function forward() {
+    fetch("http://localhost:8000/api/forward", {
+      method: "POST"
+    })
+  }
+
+  return (
+    <main className="grid min-h-screen place-items-center bg-zinc-950">
+      <button
+        className="border border-zinc-600 bg-zinc-900 px-8 py-4 text-lg text-white hover:bg-zinc-800"
+        onClick={forward}
+      >
+        Вперёд
+      </button>
+    </main>
+  )
+}
diff --git a/module4/simple/api.py b/module4/simple/api.py
new file mode 100644
index 0000000..8739958
--- /dev/null
+++ b/module4/simple/api.py
@@ -0,0 +1,33 @@
+import rclpy
+from flask import Flask
+from geometry_msgs.msg import Twist
+
+app = Flask(__name__)
+
+rclpy.init()
+node = rclpy.create_node("web_api")
+publisher = node.create_publisher(Twist, "/RMC2/cmd_vel", 10)
+
+
+@app.after_request
+def cors(response):
+    response.headers["Access-Control-Allow-Origin"] = "*"
+    return response
+
+
+@app.post("/api/forward")
+def forward():
+    speed = Twist()
+    speed.linear.x = 0.1
+
+    for _ in range(40):
+        publisher.publish(speed)
+        rclpy.spin_once(node, timeout_sec=0.05)
+
+    for _ in range(5):
+        publisher.publish(Twist())
+        rclpy.spin_once(node, timeout_sec=0.05)
+
+    return "ok"
+
+app.run(host="0.0.0.0", port=8000, threaded=False)