Difference between revisions of "Helicopter flight and mission"

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(General control events)
(General control events)
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* DoRowRight: Start painting wall going right
 
* DoRowRight: Start painting wall going right
 
* EndOfRowRight: Stop moving right.
 
* EndOfRowRight: Stop moving right.
* ChangeColor: This is an event class of which there are four events, indicating a request to change the painting color to the corresponding one in the event name:  
+
* ChangeColor: This is an event class of which there are four events, indicating a request to change the painting color to the corresponding one in the event name:
 
** eChangeColorBLACK
 
** eChangeColorBLACK
 
** eChangeColorRED
 
** eChangeColorRED
 
** eChangeColorBLUE
 
** eChangeColorBLUE
** eChangeColorGreen,
+
** eChangeColorGreen
 
* UpdateArrived: simulate information from a GPS with actual helicopter location
 
* UpdateArrived: simulate information from a GPS with actual helicopter location
  
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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.
 
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
+
* MoveUp: Move down a fixed number of pixels
MoveLeft: Move left a fixed number of pixels
+
* MoveDown: Move down a fixed number of pixels
MoveRight: Move right a fixed number of pixels
+
* MoveLeft: Move left a fixed number of pixels
DoColUp: Start painting wall going up
+
* MoveRight: Move right a fixed number of pixels
  
 
== BPJ b-threads ==
 
== BPJ b-threads ==

Revision as of 11:39, 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: This is an event class of which there are four events, indicating a request to change the painting color to the corresponding one in the event name:
    • eChangeColorBLACK
    • eChangeColorRED
    • eChangeColorBLUE
    • eChangeColorGreen
  • 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
  • MoveDown: Move down a fixed number of pixels
  • MoveLeft: Move left a fixed number of pixels
  • MoveRight: Move right a fixed number of pixels

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


Incremental Development Notes

With only basic movements and no color change b-threads

Black - thin.jpg


Basic movements with color changes

Color-thin.jpg

Adding horizontal brush movements

Color-thick.jpg

Random movements due to wind, and return by horizontal movement and then vertical to last known location

FixWind.jpg


LSC Integration

The BPJ-based system was then integrated with the LSC language via PlayGo.

The following LSCs (scenarios) were added

PaintCanEmpty: Checks