Software Narrative: Brawns AND Brains

TEAM 12 - SUPER TANK

OVERVIEW

Project Refresher

Software Architecture Overview

The High Level – LRVC Protocol

The Low Level – Main Embedded System

Summary

PROJECT REFRESHER

Long Range Vehicle (Tank) Control over wireless network

Operate from anywhere in the world (Website/Android App)

Collaboration with HKUST

Shared Server

Customizable for new vehicle features

PSSCS

An ability to send/receive/decode commands from a controller wirelessly

An ability to control direction/firing capability of a vehicle

An ability to autonomously avoid obstacles encountered by the tank

An ability to provide sensor feedback to a wireless controller

An ability to monitor a battery and prevent unexpected signal loss by alerting operator

SOFTWARE ARCHITECTURE

HKUST Server

LRVVirtual Controller(Android Tablet/Phone)

Pandaboard

Micro

VLC Server(Script)

Serial Server

(Python)

Android Virtual Controller App (Android)

TCP/IP Stack

UARTReceiver

(ASM)

Main Embedded System(ASM)

LRV

LRVC Server(Java)

RTSP

TCP

UART

UARTReceiver

(ASM)

USB Cam

Bat Man. PCB

MPEG4v

Lion Battery

UART

TCP

Virtual Controller Selection Website

(Php)

Web Browsing

THE HIGH LEVEL – LRVC PROTOCOL OVERVIEW

The LRVC Protocol provides a framework for communications between a Virtual Controller and an LRV. The LRVC Protocol has been designed to be flexible enough to accommodate a diverse set of functionalities in an LRV yet structured enough to yield a fair amount of code re-use between LRV implementations.

THE HIGH LEVEL – LRVC PROTOCOL PROPERTIES

Android Compatible

Extendable

Robust UI Support

Video Streaming

Multiple Users

Secure

THE HIGH LEVEL – LRVC PROTOCOL

THE HIGH LEVEL – LRVC PROTOCOL

HKUST Server

LRVVirtual Controller(Android Tablet/Phone)

Pandaboard

Micro

VLC Server(Script)

Serial Server

(Python)

Android Virtual Controller App (Android)

TCP/IP Stack

UARTReceiver

(ASM)

Main Embedded System(ASM)

LRV

LRVC Server(Java)

UARTReceiver

(ASM)

USB Cam

Bat Man. PCB

Lion Battery

Virtual Controller Selection Website

(Php)THE LRVC Protocol

LRVC PROTOCOL – PORT MAPPINGS

LRVC PROTOCOL - THE PHASES

Connection Phase - This phase is responsible for the security and resource allocation of the LRVC Server along with providing services for the Virtual Controller to provide a User with a selection screen of LRV options.

Configuration Phase - This phase is responsible for the configuration of a Virtual Controller. It populates the Virtual Controller with a standard interface of Standard Objects and a unique set of custom objects called Non-Standard Objects. These objects all have a known interface.

Control Phase - This phase is responsible for synchronously distributing opcodes (aka commands) to an LRV at the rate of 10Hz. Additionally, it wraps and transports the LRV’s feedback as Status Messages back to the Virtual Controller at a rate of 10Hz. Lastly, it facilitates a video feed from the LRV back to the Virtual Controller at a target rate of 20Hz.

LRVC PROTOCOL - CONFIGURATION

HKUST Server

LRVVirtual Controller(Android Tablet/Phone)

Pandaboard

Micro

VLC Server(Script)

Serial Server

(Python)

Android Virtual Controller App (Android)

TCP/IP Stack

UARTReceiver

(ASM)

Main Embedded System(ASM)

LRV

LRVC Server(Java)

UARTReceiver

(ASM)

USB Cam

Bat Man. PCB

Lion Battery

Virtual Controller Selection Website

(Php)

Web Browsing

LRVC PROTOCOL - CONFIGURATION

1. Web Repository of Apps for Download

2. Standard App, With Extension Scheme

LRVC PROTOCOL – WEB REPOSITORY

Web Browse To This WebpageLRV #1

LRV #1 Description

Download

LRV #2

LRV #2 Description

Download

LRVC PROTOCOL – EXTENSION SCHEME

FIRE

Obj1.classObj1.class

Obj1.classObj.class

Obj.classObj.class

Standard ObjectsCustom Objects

Obj.class

CONTROLLER OBJECTS

Obj.class

CustomLRVCObject Interface

getOpcode()

public boolean wasActivated()Used internally to aggregate activated objects

giveResponse()

“Speed 8mph” 0xA3

CONTROLLER OBJECTS

FIRE

0x11

0x07

0x06 0x0A 0x10 0x0C 0x01

NOTE: Opcodes are made up

Command Msg

CONTROLLER OBJECTS

FIRE

NOTE: Responses are made up

Status Msg

(3ft, 2ft)

“No Events”

0x2F

Video Stream

THE BIG PICTURE

The basic idea is that the protocol allows extension and custom implementation through creating custom GUI objects (Java objects that contain a known “CustomLRVCObjects” interface), serializing them through the standard Java library, and interfacing them through the controllers GUI. Thus, the custom implementation is achieved not by modifying the LRVC Protocol but by adjusting the bindings of these GUI components.

LRVC PROTOCOL – CONNECTION AND COMMAND

• Comprehensive 22 Page Document.• 2 Collaborating Teams• Sequence Diagrams• Message Schemas

THE LOW LEVEL – EMBEDDED SYSTEM

HKUST Server

LRVVirtual Controller(Android Tablet/Phone)

Pandaboard

Micro

VLC Server(Script)

Serial Server

(Python)

Android Virtual Controller App (Android)

TCP/IP Stack

UARTReceiver

(ASM)

Main Embedded System(ASM)

LRV

LRVC Server(Java)

UARTReceiver

(ASM)

USB Cam

Bat Man. PCB

Lion Battery

Virtual Controller Selection Website

(Php)Internal Communications

EMBEDDED SYSTEM CONSTRAINTS

96K SRAM

Currently <1K Vars

~ 1K Instructions

Not using Flash

Critical Spots

128 B Trig Tables

256-288B Send and Receive Buffers

INTERFACE TO THE LRVC SERVER

EMBEDDED SYSTEMBuffer OpCodes

Async.Send Status Messages

10 Hz Timer Interrupt

Code

Command Flags Status Messages

8 Messages

36 Byte Max Msg Size

8 Commands (8 Bytes)

Execution Functions Construct Response Functions

Obst Det IRs (10) Battery Management

Trig Tables

Obstacle Detection

Alg.

Bat. Algo Variables

Battery Level Alg.

Receive Buffer (256)

1.

2.

3.

50 Hz Timer Interrupt

Code

Command Process

Obstacle Avoid.Process

Obstacle Avoid Alg.

Past Movements

And Obstacles

EMBEDDED SYSTEM – MEMORY MAPPING

Physical Address Variable Name Size Comment/Description0 Forward Flag 11 Backward Flag 12 Right Flag 13 Left Flag 14 Turret Right Flag 15 Turret Left Flag 16 Fire 17 Obstacle Det Flag 1

[8-295] Transmit Buffer 288[296-551] Receive Buffer 256

552 T_Buff_In Pointer 1 The tail of the transmit buffer553 T_Buff_Out Pointer 1 The head of the transmit buffer554 R_Buffer_In Pointer 1 The tail of the receive buffer

EMBEDDED SYSTEM – MEMORY MAPPING

Physical Address Variable Name Size Comment/Description555 R_Buffer_Out Pointer 1 The head of the receive buffer556 Battery Level 1

[557-560] Other Bat Op Vars 4[561-688] Sin Chart 128 For Obstacle Det.[689-816] Cos Chart 128 For Obstacle Det.

817 Forward Drop Off 1 ATD Val of forward dropoff sensor, might not be needed818 Backward Drop Off 1 ATD Val of backword dropoff sensor, might not be needed819 Radar1 X 1820 Radar1 Y 1

[821-832] … 12 Radar2 - 7 X,Y variables833 Radar8X 1834 Radar8Y 1835 BatteryMin 1 Defines the point where the user is notified of low battery836 SensorThreshold 1 Defines when an obstacle is offi cially detected.

[837-872] Response 36 An array of bytes used to construct and send Status message responses

PowerSupply

PowerSupply

PowerSupply

PowerSupply

External Oscillation

JTAG(ULinkMe)

Left Drive Motor

Right Drive Motor

Turret Drive Motor

Fire

Ledge Det.

Obstacle Det.Panda Comm

(UART)

ResetBat

ManagementComm (UART)

CURRENT PROGRESS

Task Progress Team Owner

UART Com 90% Purdue

Obstacle Detection 5% Purdue

Battery Management 25% Purdue

Motor Drivers 100% Purdue

Video Streaming 10% Purdue

LRVC Protocol 100% Purdue/HKUST

LRVC Server 25% HKUST

Virtual Controller 25% Purdue

Integration 0% Purdue

QUESTIONS?