argos-research/2019_ba-greger_mqtt

Genode CarControl

TODO

• the mbl_client.cc file is missing the control of the motor (your job @dk87)

Repository structure

.
+-- include
|   +-- ...
+-- run
|   +-- stuff.run          /* sample run file containing all apps and configuration parameter
+-- src
|   +-- app
|   |   +-- acc            /* the acc unit (logic) */
|   |   |   +-- ...
|   |   +-- mbl_adapter    /* adapter app for the Roboteq MBL1650C Motor Controller (converting values from the simulation for the client */
|   |   |   +-- ...
|   |   +-- mbl_client     /* client app for the Roboteq MBL1650C Motor Controller (controlling the motor) */
|   |   |   +-- ...
|   |   +-- savm           /* the savm application (communication unit between the mqtt network and the simulation) */
|   |   |   +-- ...
|   |   +-- servo_adapter  /* adapter app for the servos (converting values from the simulation for the client) */
|   |   |   +-- ...
|   |   +-- servo_client   /* client app for the servos (controlling the servos) */
|   |   |   +-- ...

Prerequisites

Build Walkthrough

1. Follow the instructions in the documentation (skip the last step make jenkins_run)

2. Clone the genode-world under genode/repos (assuming you are in the operating-system directory)

git clone https://github.com/argos-research/genode-world.git genode/repos/genode-world
cd genode/repos/genode-world
git checkout protobuf_3.5.0

2.1 Clone the pololu Servo Controller

git clone https://github.com/argos-research/genode-pololuServoController.git genode/repos/genode-pololuServoController

3. Clone this repository into genode/repos (assuming you are in the operating-system directory)

git clone https://github.com/dk87/genode-CarControl.git genode/repos/genode-CarControl

4. Create a build directory for a rpi, pbxa9 and a panda build

GENODE_TARGET=focnados_rpi make jenkins_build_dir
GENODE_TARGET=focnados_panda make jenkins_build_dir
GENODE_TARGET=focnados_pbxa9 make jenkins_build_dir

5. Edit the etc/build.conf in each build directory by adding the following lines

REPOSITORIES += $(GENODE_DIR)/repos/genode-world
REPOSITORIES += $(GENODE_DIR)/repos/genode-CarControl
REPOSITORIES += $(GENODE_DIR)/repos/genode-pololuServoController

6. Prepare the missing ports by executing (again in operating-system directory)

./genode/tool/ports/prepare_port libmosquitto openssl libprotobuf

7. Trigger the compilation

make -C build/genode-focnados_rpi app/servo_client app/mbl_client
make -C build/genode-focnados_panda app/servo_adapter app/mbl_adapter
make -C build/genode-focnados_pbxa9 app/savm app/acc

Run-time Instructions

1. Use the ACC branch of speed-dreams (ref.)
2. Configure a race to consist of two bots, with the ACC driver in the second position
3. Start a mosquitto server
4. Bring up all applications (acc, mbl_adapter, mbl_client, servo_adapter, servo_client) except for the savm
5. Start the savm application
6. Speed-dreams should continue loading and start the race
7. Watch the magic happen

Flow Diagram

General

Additional information

• SpeedDreams uses the 9002 port by default and acts as a server