/BlueCode

Coding base for AERSP 440's Blue Team

Primary LanguageC++

BlueCode

Coding base for AERSP 440's Blue Team (a.k.a. the winning team)

Prerequisites

General

  • Download and install CMake.
  • MacOSX: make sure you have the XCode development suite (just the tool library is enough.)
  • Windows: make sure you have Visual Studio 2015 or higher.
  • Linux: make sure you have gcc, g++, and gdb.

Simulation Testing

A simple physics plant model has been included in this project that will allow for vehicle testing and new code testing. The simulation portion of this project also comes with a pre-packaged version of a lightweight 3D C++ engine called Irrlicht. You can run the simulation with or without the use of Irrlicht. If the simulation is ran without Irrlicht, then there will be no obstacle detection and no laser sensor readings. Prerequisites for Irrlicht are below.

  • Linux:
    • sudo apt-get -y install build-essential xserver-xorg-dev x11proto-xf86vidmode-dev libxxf86vm-dev mesa-common-dev libgl1-mesa-dev libglu1-mesa-dev libxext-dev libxcursor-dev

Camera Testing & OpenCV

[ NOTE: Camera testing is now deprecated as the functionality requires a specific library to the BeagleBone. ]

Camera Testing is not a necessity for the simulation, but it is a feature that can be enabled if OpenCV is installed and configured on your machine.

CMake

To run CMake for this project, you may either run the CMake GUI application, or run CMake from the command line. If you wish to run cmake from the command line, you'll have to set your variables with -D <variable>=<value>. Multiple variables can be passed to the command line (example: cmake -D <var1>=true -D <var2>=true ..).

General

  • Make a directory called "build" in the main BlueCode directory.
  • Move into the "build" directory.

Choose A CMake Method (GUI or Command-Line)

  • CMake GUI
    • Source directory is "BlueCode".
    • Build directory is "BlueCode/build".
    • Hit "Configure".
    • Check and uncheck any parameters that you wish.
    • Hit "Configure" again, until no more parameters are highlighted red.
    • Hit "Generate".
  • CMake Command-Line
    • cmake -D <var1>=<value1> -D <var2>=<value2> ..

CMake Parameters

Parameter/Variable Description Default Value
SIM Uses a physics plant model, fake motor controls and fake sensors to test GNC code. false
DEBUG Compiles with debugging symbols. Also uses a counter loop for time rather than std::chrono. false
USE_IRRLICHT Render the simulation in 3D, and calculate obstacles & laser ranges.
Note: SIM is required.		 false
USE_CAMERA Use whatever camera is attached to the device to take images.
Note: requires OpenCV.		 false
USE_LASER Real laser sensor data sound be read from GPIO ports. false
TEST__PWM PWM signals should be sent to the PRU units to test motor control. false

Build

  • Windows
    • Open up the BlueCode.sln file that was created using Visual Studio.
    • Compile to Win32 (either Debug or Release).
    • Change the startup project to BlueCode (right-click on the BlueCode project --> Set as Startup Project)
    • Hit run, or navigate to the build directory, open a terminal window, and type ./Debug/BlueCode.exe or ./Release/BlueCode.exe.
  • Linux/MacOSX
    • Run make in the "BlueCode/build" folder.

Running

  • Windows
    • Option 1: In Visual Studio, hit run.
    • Option 2: In Windows Command Prompt or PowerShell, navigate to the build directory, type ./Debug/BlueCode.exe or ./Release/BlueCode.exe.
  • Linux/MacOSX
    • Go to the "BlueCode/build" directory and run ./BlueCode .