Difference between revisions of "Helicopter flight and mission"
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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 09:21, 15 April 2014
Contents
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
