coolbot. an introduction

[1][www.coolbotproject.org]

CoolBOT.An Introduction

Antonio Carlos Domínguez BritoInst. Univ. SIANI/Dpto. Informática y SistemasUniversidad de Las Palmas de Gran Canaria

Spain

http://www.coolbotproject.org/

Table of ContentsCoolBOT


1. Overview

2. CoolBOT Components

3. CoolBOT Port Connections

4. CoolBOT Views

5. CoolBOT Probes

6. Development Tools

7. A Real Example

8. Conclusions and Future Work


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CoolBOT is a distributed

CBSE (Component

Based Software Engineering) C++

programming framework


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CoolBOT's design principles:

1. Component based → easy software integration.

2. Take advantage of multithreading/multicores OSs.

3. System control & monitoring.

4. Transparent distributed computing.


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A system is composed by

integrations and software

components


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There are three kinds of software

components: components,

views and probes


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Integrations are processes in the underlying OS. They contain components


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Integrations also may contain views, and a

machine can host several integrations


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probes are software components to interface non CoolBOT software with CoolBOT systems,

and viceversa



CoolBOTOverview



CoolBOTOverview

CoolBOT users program at system

level



CoolBOTOverview

CoolBOT runtime infrastructure

supports system level abstractions and

execution



CoolBOTOverview

CoolBOT runtime infrastructure is

supported by the OS API and the ACE library for network communications


CoolBOT


CoolBOT Components


CoolBOT


CoolBOT ComponentsCoolBOT components are port automata (input port data packets receptions trigger

automaton transitions)


CoolBOT


CoolBOT ComponentsMeta state running

implements component's functionality. It is user

defined


CoolBOT


CoolBOT Components

Components' input and output ports constitute its external

interface. Through them they receive and send port packets

(data packets)



CoolBOT Port ConnectionsCoolBOT

Port connections are unidirectional (from input port

to output port), and follow a publish/subscribe

communication pattern

one publisher, multiple subscribers




Port connections are unidirectional (from input port

to output port), and follow a publish/subscribe

communication pattern

multiple publishers, one subscriber




Components interact using only port

connections. Thus, a system can be seem

as a network of components

interchanging port packets and running as data driven machines




There are different typologies for input and

output ports for establishing port connections with

different communication patterns: fifo on input port,

“blackboard” on output port and multipacket.




Port Connections TypologiesActive Publisher/Passive Subscriber (AP/PS)

Output Port Input Port Port Connection Type

tick tick tick connections

generic

last last connections

fifo fifo connections

ufifo unbounded fifo connections

multipacketmultipacket multipacket connections

lazymultipacket

Active Publisher/Passive Subscriber (PP/AS)

poster poster poster connections




A port connection can be established when the typologies of the ports

involved are compatible, and the type of port

packets they transport are the same




Integrations are CoolBOT processes hosting

component instances at runtime

Port connections established between components (local

components) in the same integration are supported

transparently by the underlying OS thread API




Port connections between components in different

integrations are multiplexed over TCP/IP

connections

Integrations are CoolBOT processes hosting

component instances at runtime


CoolBOT ViewsCoolBOT


The second type of software component available in CoolBOT

are views

CoolBOT views expand component interfaces to decouple and separate

system computation and control from

graphical interfaces for monitoring and

control




Likewise components, views have also an

external interface of input and output ports




CoolBOT integrations may contain indistinctly

components and views

As software components views may establish

port connections with any other component or view (local or remote) in

a system



CoolBOT ProbesCoolBOT

The third type of software component available in CoolBOT

are probes

Expanding even more the concept of component interface probes implement interfaces of input and output ports in order to allow non CoolBoT software to intercommunicate with CoolBoT

components



CoolBOT ProbesCoolBOT

The third type of software component available in CoolBOT

are probes

CoolBOT probes implement interfaces of input and output

ports in order to allow non CoolBoT software to

intercommunicate with CoolBoT components



Development ToolsCoolBOT CoolBOT provides two tools for

developing CoolBOT software: coolbot-bundle and coolbot-c



Development ToolsCoolBOT

coolbot-bundle creates workspaces for developing components, views, port packets and integrations

CoolBOT provides two tools for developing CoolBOT software: coolbot-bundle and coolbot-c




coolbot-c is the CoolBOT compiler. We can generate C++

skeletons for components, probes, views, port packets

and integrations







and integrations




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T/* * File: player-robot.coolbot-component * Description: description file for PlayerRobot component * Date: 09 March 2012 * Generated by coolbot-bundle version 1.0.0 */

component PlayerRobot{ header { author "Antonio Carlos Domínguez Brito <[email protected]>"; description "PlayerRobot component"; institution "IUSIANI - Universidad de Las Palmas de Gran Canaria"; version "0.1" };

constants { LASER_MAX_RANGE="LaserPacket::LASER_MAX_RANGE"; SONAR_MAX_RANGE=5000; // millimeters

private FIFO_LENGTH=5; private ROBOT_DATA_INCOMING_FREQUENCY= 10; // Hz private LASER_MIN_ANGLE= -90; // degrees private LASER_MAX_ANGLE= 90; // degrees private LASER_SCAN_RESOLUTION= 100; // 0.01 degrees private LASER_RANGE_RESOLUTION= 10; // millimeters private MAX_CONNECTION_TIMEOUT=5000; // milliseconds private LISTENING_BLOCKING_TIME=100; // milliseconds private DEFAULT_PERIOD=100 // milliseconds }; ...



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T … // continuing player-robot.coolbot-component

// input ports input port Commands type fifo port packet CommandPacket length FIFO_LENGTH; input port NavigationCommands type fifo port packet ND::CommandPacket length FIFO_LENGTH;

//output ports output port RobotConfig type poster port packet ConfigPacket; output port Odometry type generic port packet OdometryPacket; // network buffer FIFO_LENGTH; output port OdometryReset type generic port packet PacketTime; output port BumpersGeometry type poster port packet "BumperGeometryPacket"; output port Bumpers type generic port packet BumperPacket; output port SonarGeometry type poster port packet "SonarGeometryPacket"; output port SonarScan type generic port packet "SonarPacket"; output port LaserGeometry type poster port packet PacketFrame3D; output port LaserScan type generic port packet LaserPacket; output port Power type generic port packet PacketDouble; output port CameraImage type poster port packet CameraImagePacket; output port PTZJoints type generic port packet "PacketPTZJoints";

exception RobotConnection { description "Robot connection failed."; };

exception NoPositionProxy { description "Position proxy not available in this robot."; };

exception InternalPlayerException { description "A Player library exception has been thrown."; };

entry state Main { transition on Commands,NavigationCommands,Timer; };

};



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T/* * File: player-robot-packets.coolbot-packets * Description: PlayerRobot port packets. * Date: 03 January 2012 * Generated by coolbot-bundle version 1.0.0 */

packets PlayerRobot{ header { author "Antonio Carlos Domínguez Brito <[email protected]>"; description "PlayerRobot port packets"; institution "IUSIANI - Universidad de Las Palmas de Gran Canaria - Spain"; version "0.1" };

port packet OdometryPacket { data members { position: type "Frame2D"; velocity: type "Frame2D"; odometer: type "double"; }; };

port packet BumperPacket {

data members { // typedef PackingArray<bool,MAX_NUMBER_OF_BUMPERS> BumperArray bumpers: type "BumperArray"; }; }; ...



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T … // continuing player-robot-packets.coolbot-packets port packet CommandPacket { data members { id: type "int"; odometry: type "Frame2D"; velocity: type "Frame2D"; ptz: type "PTZJoints"; ptzVel: type "PTZJoints"; }; };

port packet LaserPacket {

data members { // typedef PackingArray<LaserScanPoint,MAX_NUMBER_OF_LASER_SCAN_POINTS> LaserArray points: type "LaserArray"; }; };

...



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T … // continuing player-robot-packets.coolbot-packets port packet ConfigPacket { data members { frame: type "Frame2D"; size: type "Coordinates2D"; maxDiagonal: type "double"; radius: type "double"; diameter: type "double"; initialTime: type "Time"; }; };

port packet CameraImagePacket { data members { image: type "RGBGridType"; }; };};



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T/* * File: mbicp-corrector.coolbot-component * Description: MbICP Corrector component * Date: 04 January 2012 * Generated by coolbot-bundle version 1.0.0 */

component MbICPCorrector{ header { author "Eduardo Aparicio Cardenes <[email protected]>"; description "MbICP Corrector component"; institution "ULPGC - Universidad de Las Palmas de Gran Canaria"; version "0.1" };

constants { LASER_MAX_RANGE="LaserPacket::LASER_MAX_RANGE"; };

// input ports input port ODOMETRY type last port packet PlayerRobot::OdometryPacket; input port LASER_GEOMETRY type poster port packet PacketFrame3D; input port LASER_SCAN type last port packet PlayerRobot::LaserPacket;

//output ports output port ODOMETRY_CORRECTED type generic port packet OdometryPacket; output port EXECUTION_INFO type generic port packet DebugExecutionPacket; ...



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T … // continuing mbicp-corrector.coolbot-packets entry state Waiting { transition on LASER_GEOMETRY,ODOMETRY; };

state Main_State { transition on ODOMETRY,LASER_GEOMETRY,LASER_SCAN; };

thread main { input box { ODOMETRY, LASER_GEOMETRY }; };

thread mbicpThread { input box { LASER_SCAN }; active in Main_State; };

};



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T/* * File: player-robot-view.coolbot-view * Description: PlayerRobotView View * Date: 03 January 2012 * Generated by coolbot-bundle 1.0.0 */

view PlayerRobotView{ header { author "Antonio Carlos DomÃ-nguez-Brito <[email protected]>"; description "PlayerRobotView View"; institution "IUSIANI - Universidad de Las Palmas de Gran Canaria - Spain"; version "0.1" };

constants { private DEFAULT_REFRESHING_PERIOD=250; // milliseconds private DRAW_AREA_MARGIN=3; // pixels private DRAW_AREA_WIDTH=300; // pixels private DRAW_AREA_HEIGTH=300; // pixels private DRAW_AREA_XY_DIVS=8; // should be an even number

// for PlayerRobotSpace::PlayerRobot::LASER_MAX_RANGE player-robot-h should be included private SENSOR_MAX_RANGE= "PlayerRobotSpace::PlayerRobot::LASER_MAX_RANGE/1000"; // meters

private GRID_AXES_FONT_SIZE=8; // font points private ARROW_WIDTH=6; // pixels (should be an even number) private ARROW_DEEP=6; // pixels private HALF_ARC_ANGLE=5; // degrees private DIRECT_COMMAND_TRANSLATIONAL_SPEED= 250; // millis/sec private DIRECT_COMMAND_ROTATIONAL_SPEED= 20; // degree/sec }; ...



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T … // continuing player-robot-view.coolbot-view

input port ODOMETRY type last port packet PlayerRobot::OdometryPacket; input port SONAR_GEOMETRY type poster port packet PlayerRobot::SonarGeometryPacket; input port SONAR_SCAN type last port packet PlayerRobot::SonarPacket; input port LASER_GEOMETRY type poster port packet PacketFrame3D; input port LASER_SCAN type last port packet PlayerRobot::LaserPacket; input port POWER type last port packet PacketDouble;

output port COMMANDS type generic port packet PlayerRobot::CommandPacket;

};



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T/* * File: sns-views.coolbot-integration * Description: CoolBOT Secure Navigation System. * Date: 03 January 2012 * Generated by coolbot-bundle version 1.0.0 */

integration sns_views{ header { author "Antonio Carlos Domí-nguez Brito <[email protected]>"; description "CoolBOT Secure Navigation System - integrates only views"; institution "IUSIANI - Universidad de Las Palmas de Gran Canaria"; version "0.1" };

machine addresses { local dis172ac: "dis172ac.dis.ulpgc.es"; //"127.0.0.1"; remote_dis172acplg: "dis172ac.dis.ulpgc.es";//"127.0.0.1"; };

listening ports { ROBOT_PORT: 1950; NAVIGATION_MAP_PORT: 1970; ND_PORT: 1980; NAVIGATION_PLANNER_PORT: 1990;

ROBOT_VIEW_PORT: 1955; CAMERA_VIEW_PORT: 1965; NAVIGATION_MAP_VIEW_PORT: 1975; ND_VIEW_PORT: 1985; NAVIGATION_PLANNER_VIEW_PORT: 1995; VALLEY_CHECK_VIEW_PORT: 2005; }; ...



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T … // continuing file sns-views.coolbot-integration

local instances { /* * Local instances definition. */ view robotView: PlayerRobotView listening on ROBOT_VIEW_PORT with description "Robot"; view cameraView: SphereView listening on CAMERA_VIEW_PORT with description "PTZ Camera"; view navigationMapView: GridView listening on NAVIGATION_MAP_VIEW_PORT with description "Navigation Map"; view ndView: NDView listening on ND_VIEW_PORT with description "ND Navigation"; view valleyCheckView: RasterView listening on VALLEY_CHECK_VIEW_PORT with description "ND Valley Checks"; view navigationPlannerView: PlannerView listening on NAVIGATION_PLANNER_VIEW_PORT with description "Navigation Planner"; };

remote instances on remote_dis172acplg { /* * Local instances definition. */ component robot: PlayerRobot listening on ROBOT_PORT; component navigationMap: GridMap listening on NAVIGATION_MAP_PORT; component nd: ND listening on ND_PORT; component navigationPlanner: Planner listening on NAVIGATION_PLANNER_PORT; }; ...



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T … // continuing file sns-views.coolbot-integration port connections { connect robot:ODOMETRY to robotView:ODOMETRY; connect robot:SONARGEOMETRY to robotView:SONAR_GEOMETRY; connect robot:SONARSCAN to robotView:SONAR_SCAN; connect robot:LASERGEOMETRY to robotView:LASER_GEOMETRY; connect robot:LASERSCAN to robotView:LASER_SCAN; connect robot:POWER to robotView:POWER; connect robotView:COMMANDS to robot:COMMANDS; connect robot:ROBOTCONFIG to navigationMapView:ROBOT_CONFIG;

connect navigationMap:MAP to navigationMapView:GRID_MAP;

connect navigationPlanner:PLANNERPATH to navigationMapView:PLANNER_PATH; connect navigationPlanner:MATCHINGREGIONS to navigationMapView:MATCHING_REGIONS;

connect navigationMapView:PLANNER_COMMANDS to navigationPlanner:COMMANDS; connect navigationMapView:ND_COMMANDS to nd:COMMANDS;

connect robot:CAMERAIMAGE to cameraView:CAMERA_IMAGE; connect robot:PTZJOINTS to cameraView:PTZ_JOINTS;

connect cameraView:COMMANDS to robot:COMMANDS;

connect robot:ROBOTCONFIG to ndView:ROBOT_CONFIG;

connect nd:NDDATA to ndView:ND_DATA;

connect navigationMap:GRIDCONFIG to navigationPlannerView:GRID_CONFIG;

connect navigationPlanner:PLANNERMAP to navigationPlannerView:PLANNER_MAP;

connect nd:NDDATA to valleyCheckView:ND_DATA; };};



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Now Videos!



An Example: A Secure Navigation SystemCoolBOT

http://www.youtube.com/watch?v=f7Qtoc1XOTU&hd=1


http://www.youtube.com/watch?v=f7Qtoc1XOTU&hd=1


An Example: A Secure Navigation SystemCoolBOT

http://youtu.be/WzjMBpaNX_w


http://youtu.be/WzjMBpaNX_w


Conclusions and Future WorkCoolBOT

∙ In CoolBOT, decoupling interfaces makes software components deployable and integrable wherever we want, no matter its functionality, or which grade of granularity they have.

▸ Components (implement generic algorithms)▸ Views (implement graphical interfaces)▸ Probes (implement generic interfaces)

∙ CoolBOT is an open source project available at:

www.coolbotproject.org




Conclusions and Future WorkCoolBOT

● Ongoing/Future work:

1. Documentation.

2. Integration with ROS.

3. Runtime interpret for integrations.

3.1. Component Name Service.

3.2. Remote instantiation Service.



THANK YOU VERY MUCH FOR YOUR

ATTENTION

THANK YOU VERY MUCH FOR YOUR

ATTENTION


coolbot. an introduction

Business

coolbot software

coolbot overviewthere

coolbot systems

coolbot overviewprobes

coolbot overviewintegrations

coolbot components3

coolbot views5

coolbot probes6