Mission template software - Revision history

Jca: /* Software structure */

2020-01-12T11:47:09Z

Software structure

← Older revision		Revision as of 13:47, 12 January 2020
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	===Software structure===		===Software structure===

	~~The software is structures as shown in figure 1 below.~~

	~~[[file:mission-software.png \| 500px]]~~

	Figure 1. The example mission software intended as basis for full mission control. In the main.cpp file, three objects are created: bridge (UBridge reg(127.0.0.1)), camera (UCamera cam()) and mission (UMission mission(&reg, &cam)). The bridge handles communication and stores all data from the robot and the gamepad. The camera can capture images and image processing is intended here. The mission object is intended for splitting long missions into mission snippets that the REGBOT can execute.

	The mission class has access to robot data and the camera at all times using the pointers "bot->" and "cam->". e.g. the heading (relative to the start position) and if the yellow gamepad button is pressed, can be fetched as:

	~~float heading = bot->pose->h;~~
	~~bool yellowButton = bot->joy->button[3];~~

	~~Details about the data code may be found in the upose.cpp, uinfo.cpp, ujoy.cpp, umotor.cpp ... files.~~

	The sound system can be used for debugging, e.g. add a C++ line like:		The sound system can be used for debugging, e.g. add a C++ line like:

2019-08-26T10:02:23Z

The AruCo Marker section is added

← Older revision		Revision as of 12:02, 26 August 2019
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	The "2>/dev/null" tell that error messages should be dumped, and the final "&" say that it should run in the background (not to pause the mission).		The "2>/dev/null" tell that error messages should be dumped, and the final "&" say that it should run in the background (not to pause the mission).

			===AruCo Marker===

			The camera class contains some functions to detect Aruco markers.
			It it described in more details on [[AruCo Markers]].

	===Software documentation (doxygen)===		===Software documentation (doxygen)===

2019-03-12T17:22:04Z

HTML documentation - Doxygen

← Older revision		Revision as of 19:22, 12 March 2019
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	then open the index.html with a browser.		then open the index.html with a browser.

			If doxygen is not installed, then install using

			sudo apt install doxygen

2019-03-12T17:19:58Z

Software structure

← Older revision		Revision as of 19:19, 12 March 2019
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	This line makes the robot say "bettina reached point 3" the parameters "-a30" turns amplitude down to 30%, "-ven+f4" sets language to english with female voice 4 and "-s130" makes the speech a little slower and easier to understand.		This line makes the robot say "bettina reached point 3" the parameters "-a30" turns amplitude down to 30%, "-ven+f4" sets language to english with female voice 4 and "-s130" makes the speech a little slower and easier to understand.
	It requires that espeak is installed (sudo apt install espeak).		It requires that espeak is installed (sudo apt install espeak).

			To use on Raspberry pi, it is better to use

			system("espeak \"Mission paused.\" -ven+f4 -s130 -a60 2>/dev/null &");

			The "2>/dev/null" tell that error messages should be dumped, and the final "&" say that it should run in the background (not to pause the mission).

	===Software documentation (doxygen)===		===Software documentation (doxygen)===

2019-03-10T12:10:03Z

ROBOBOT mission demo C++

← Older revision		Revision as of 14:10, 10 March 2019
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	This is an example software in C++ to access both raspberry camera and REGBOT, and with an example mission controlled from the raspberry.		This is an example software in C++ to access both raspberry camera and REGBOT, and with an example mission controlled from the raspberry.

			====Get software====

	Get the ROBOBOT software from the svn repository:		Get the ROBOBOT software from the svn repository:
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	svn up		svn up

			====Compile====

	To be able to compile the demo software CMAKE needs also to use the user installed library (raspicam installed above),		To be able to compile the demo software CMAKE needs also to use the user installed library (raspicam installed above),

2019-03-10T12:08:57Z

Software structure

← Older revision		Revision as of 14:08, 10 March 2019
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	It should print that the camera is open and connected to the robot (bidge).		It should print that the camera is open and connected to the robot (bidge).

	====Software structure====		===Software structure===

	The software is structures as shown in figure 1 below.		The software is structures as shown in figure 1 below.

2019-03-10T12:08:45Z

Software documentation (doxygen)

← Older revision		Revision as of 14:08, 10 March 2019
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	It requires that espeak is installed (sudo apt install espeak).		It requires that espeak is installed (sudo apt install espeak).

	====Software documentation (doxygen)====		===Software documentation (doxygen)===

	[[File:inherit_graph_2.png \| 200px]]		[[File:inherit_graph_2.png \| 200px]]
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	The camera class (UCamera) is intended to do the image processing.		The camera class (UCamera) is intended to do the image processing.

			====HTML documentation - Doxygen====

	To generate doxygen html files go to mission directory and run doxygen.		To generate doxygen html files go to mission directory and run doxygen.

2019-03-10T12:07:59Z

Software documentation (doxygen)

← Older revision		Revision as of 14:07, 10 March 2019
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	The classes that inherit from URun has a thread running to receive data from an external source, e.g. UBridge that handles communication with the ROBOBOT_BRIDGE.		The classes that inherit from URun has a thread running to receive data from an external source, e.g. UBridge that handles communication with the ROBOBOT_BRIDGE.

	The camera class is intended to do the image processing.		The camera class (UCamera) is intended to do the image processing.

	To generate doxygen html files go to mission directory and run doxygen.		To generate doxygen html files go to mission directory and run doxygen.

2019-03-10T12:07:42Z

Software documentation (doxygen)

← Older revision		Revision as of 14:07, 10 March 2019
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	The classes that inherit from URun has a thread running to receive data from an external source, e.g. UBridge that handles communication with the ROBOBOT_BRIDGE.		The classes that inherit from URun has a thread running to receive data from an external source, e.g. UBridge that handles communication with the ROBOBOT_BRIDGE.

			The camera class is intended to do the image processing.

	To generate doxygen html files go to mission directory and run doxygen.		To generate doxygen html files go to mission directory and run doxygen.

2019-03-10T12:06:11Z

Software documentation (doxygen)

← Older revision		Revision as of 14:06, 10 March 2019
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	The classes that inherit from UData are classes that makes data available for the mission, e.g. joystick buttons (in UJoy) event flags (in UEvent) or IR distance data (in UIRdist).		The classes that inherit from UData are classes that makes data available for the mission, e.g. joystick buttons (in UJoy) event flags (in UEvent) or IR distance data (in UIRdist).

			The classes that inherit from URun has a thread running to receive data from an external source, e.g. UBridge that handles communication with the ROBOBOT_BRIDGE.

	To generate doxygen html files go to mission directory and run doxygen.		To generate doxygen html files go to mission directory and run doxygen.