Difference between revisions of "Helicopter flight and mission"

From BP Wiki
Jump to: navigation, search
(Created page with "= Helicopter Flight Example = This example demonstrates the control of a toy helicopter. The mission here is to paint a wall with different colors. This can be considered as ...")
 
(Helicopter Flight Example)
Line 1: Line 1:
= Helicopter Flight Example =  
+
= Helicopter Flight Example =
 
This example demonstrates the control of a toy helicopter. The mission here is to paint a wall with different colors. This can be considered as an analogy to a photography mission where a particular area as to be covered.
 
This example demonstrates the control of a toy helicopter. The mission here is to paint a wall with different colors. This can be considered as an analogy to a photography mission where a particular area as to be covered.
  
 
== Requirements==
 
== Requirements==
The requirements below were added incrementally, and b-threads were added to deal with each requirement. In the simulator - the painting of the wall is by drawing a line on the screen.  
+
The requirements below were added incrementally, and b-threads were added to deal with each requirement. In the simulator - the painting of the wall is by drawing a line on the screen.
  
  
 
*The helicopter should go up and down along the wall.
 
*The helicopter should go up and down along the wall.
*When the helicopter reaches the ceiling or the floor it should move to the right  
+
*When the helicopter reaches the ceiling or the floor it should move to the right
*Every fixed number of pixels the paint color should be changed
+
*Every fixed number of pixels the paint color should be changed
*Since the line drawn by the helicopter is thin, after every small vertical move, the helicopter should move right and left with horizontal brush strokes,  before moving vertically again.  
+
*Since the line drawn by the helicopter is thin, after every small vertical move, the helicopter should move right and left with horizontal brush strokes,  before moving vertically again.
*The helicopter may move from its present location due to wind.  
+
*The helicopter may move from its present location due to wind.
*If the helicopter is moved by wind, it should return to its last known location.
+
*If the helicopter is moved by wind, it should return to its last known location.
  
 
In the integration with LSC, two more requirements were added
 
In the integration with LSC, two more requirements were added
*The amount of paint is limited. After a certain number of points is painted - the paint runs out.  
+
*The amount of paint is limited. After a certain number of points is painted - the paint runs out.
*When paint of a certain color runs out, this color can no longer be used.  
+
*When paint of a certain color runs out, this color can no longer be used.
*When all paint colors run out, the helicopter must stop.
+
*When all paint colors run out, the helicopter must stop.
 
*Paint cans may be re-filled. This is simulated by a user clicking on a button on the screen.
 
*Paint cans may be re-filled. This is simulated by a user clicking on a button on the screen.
 +
 +
== Events ==
 +
 +
== General control events ==
 +
BeginPainting: Start the painting process
 +
StopPainting: End the painting process
 +
MoveDown: Move down a fixed number of pixels.
 +
EndOfColUp: End painting wall going up
 +
DoColDownL Start painting wall going down
 +
EndOfColDown: End painting wall going up
 +
DoRowRight: Start painting wall going right
 +
EndOfRowRight: Stop moving right.
 +
ChangeColor: The time has come to change color
 +
UpdateArrived: simulate information from a GPS with actual helicopter location 
 +
 +
=== Move Events ===
 +
 +
The following events indicate the desire to move a fixed number of pixels in the desired direction. These events have a data field - indicating whether the movement is for a mission or for maintenance, which serves in correcting wind shifts.
 +
 +
MoveUp: Move down a fixed number of pixels
 +
MoveLeft: Move left a fixed number of pixels
 +
MoveRight: Move right a fixed number of pixels
 +
DoColUp: Start painting wall going up
 +
 +
 +
== BPJ b-threads ==
 +
 +
=== General control b-threads ===
 +
DoColD2U: Controls coloring in the up direction;
 +
YAxis: Reports when helicopter reaches top or bottom end of wall (ceiling of floor)
 +
EndColUp: Handle reaching of ceiling. Stop moving vertically, start moving right.
 +
DoRowL2R: Left to right painting - waits for  DoRowRight and then repeatedly requests movement to the right until end of right movement is reached.
 +
XAxis: Monitor horizontal coordinates. Report reaching of right and left borders of wall, and report end of movement right to start a new column
 +
DoColU2D: Controls coloring in the up direction
 +
EndColDown: Handles reaching the floor - requests a movement to the right
 +
BrushMove: Move the brush right and left (horizontal moves) to create a thicker line and paint continuous area. This b-thread performs its actions between any two vertical moves.
 +
 +
 +
=== Actuator b-threads
 +
MovingRight, MovingLeft, MovingDown, MovingUp: These b-threads wait for the corresponding move event and call the helicopter API (or the simulator) to cause the actual movement. 
 +
 +
=== Color control b-threads
 +
ChangePaintingColor: Waits for the need to change color and changes the color randomly. 
 +
 +
=== Location correction b-threads
 +
FixWind: When a report comes in that the helicopter is not where it is supposed to be - stop painting movement and return to last known location. 
 +
 +
 +
=== Environment Simulation ===
 +
 +
ColorControl: Counts movements and announces the need to change color.
 +
Wind: Every certain random number of steps, report a random location of the helicopter

Revision as of 11:21, 15 April 2014

Helicopter Flight Example

This example demonstrates the control of a toy helicopter. The mission here is to paint a wall with different colors. This can be considered as an analogy to a photography mission where a particular area as to be covered.

Requirements

The requirements below were added incrementally, and b-threads were added to deal with each requirement. In the simulator - the painting of the wall is by drawing a line on the screen.


  • The helicopter should go up and down along the wall.
  • When the helicopter reaches the ceiling or the floor it should move to the right
  • Every fixed number of pixels the paint color should be changed
  • Since the line drawn by the helicopter is thin, after every small vertical move, the helicopter should move right and left with horizontal brush strokes, before moving vertically again.
  • The helicopter may move from its present location due to wind.
  • If the helicopter is moved by wind, it should return to its last known location.

In the integration with LSC, two more requirements were added

  • The amount of paint is limited. After a certain number of points is painted - the paint runs out.
  • When paint of a certain color runs out, this color can no longer be used.
  • When all paint colors run out, the helicopter must stop.
  • Paint cans may be re-filled. This is simulated by a user clicking on a button on the screen.

Events

General control events

BeginPainting: Start the painting process StopPainting: End the painting process MoveDown: Move down a fixed number of pixels. EndOfColUp: End painting wall going up DoColDownL Start painting wall going down EndOfColDown: End painting wall going up DoRowRight: Start painting wall going right EndOfRowRight: Stop moving right. ChangeColor: The time has come to change color UpdateArrived: simulate information from a GPS with actual helicopter location

Move Events

The following events indicate the desire to move a fixed number of pixels in the desired direction. These events have a data field - indicating whether the movement is for a mission or for maintenance, which serves in correcting wind shifts.

MoveUp: Move down a fixed number of pixels MoveLeft: Move left a fixed number of pixels MoveRight: Move right a fixed number of pixels DoColUp: Start painting wall going up


BPJ b-threads

General control b-threads

DoColD2U: Controls coloring in the up direction; YAxis: Reports when helicopter reaches top or bottom end of wall (ceiling of floor) EndColUp: Handle reaching of ceiling. Stop moving vertically, start moving right. DoRowL2R: Left to right painting - waits for DoRowRight and then repeatedly requests movement to the right until end of right movement is reached. XAxis: Monitor horizontal coordinates. Report reaching of right and left borders of wall, and report end of movement right to start a new column DoColU2D: Controls coloring in the up direction EndColDown: Handles reaching the floor - requests a movement to the right BrushMove: Move the brush right and left (horizontal moves) to create a thicker line and paint continuous area. This b-thread performs its actions between any two vertical moves.


=== Actuator b-threads MovingRight, MovingLeft, MovingDown, MovingUp: These b-threads wait for the corresponding move event and call the helicopter API (or the simulator) to cause the actual movement.

=== Color control b-threads ChangePaintingColor: Waits for the need to change color and changes the color randomly.

=== Location correction b-threads FixWind: When a report comes in that the helicopter is not where it is supposed to be - stop painting movement and return to last known location.


Environment Simulation

ColorControl: Counts movements and announces the need to change color. Wind: Every certain random number of steps, report a random location of the helicopter