Ausarbeitung/implementation.tex

   1 \chapter{Implementation}
   2
   3 \todo{?}
   4 This chapter describes the implementation that was used for the aforementioned
   5 experiments. It consists of the measuring programs themselves, which use the
   6 Wiselib Roomba Control, and are written in C++. Additionally, there are several
   7 Bash scripts to help with the analysis of the measured data.
   8
   9 All code used for this thesis resides in the Wiselib source tree\footnote{see
  10 \url{https://github.com/ibr-alg/wiselib/}, or the \acs{CDROM} attached at the
  11 end of this book} in the directory \filepath{apps/pc\_apps/roomba\_tests}.
  12
  13 \section{Measuring}
  14 \label{sec:impl:measuring}
  15
  16 The measuring implementation is a set of programs running on a x86-compatible
  17 Linux system which uses the Wiselib to control a Roomba attached to the system
  18 over a serial interface. It features a graphical user interface using the
  19 Qt application framework. Basically, it carries out a movement with specified
  20 parameters (velocity, and destination or angle, depending on the experiment),
  21 then prompts the user to measure and input the actual destination or angle the
  22 Roomba has moved after it has finished the movement. In this context, the user
  23 can choose between two operation modes. In the manual mode, the user can control
  24 the target values for the Roomba movement himself, in automatic mode, the
  25 application uses a list of pre-programmed values for the target values, so the
  26 user only has to input the measured data.
  27
  28 All measured data is written to a log file in the current directory, whose name
  29 is based on the type of experiment performed. Every line in that log file
  30 describes one measurement made by the user, and consists of key-value pairs
  31 linked together with equality signs and separated of each other by whitespace.
  32 In particular, the data on each line are (with key name, in the order of
  33 appearance on the line):
  34 \begin{enumerate}
  35   \item\texttt{svn:} the SVN or Git revision the program was compiled from
  36     (statically compiled into the program)
  37   \item\texttt{roomba\_id:} the ID of the Roomba the measurement was performed
  38     with (given by the user)
  39   \item\texttt{ground\_type} the ground type used for measurement:
  40     \magicvalue{iz250flur} for laminated floor, \magicvalue{seminarraum}
  41     for carpet floor (given by the user)
  42   \item\texttt{diff\_ticks\_left:} the difference of encoder counts between the
  43     beginning and the end of the movement, on the Roomba's left wheel
  44     (packet~ID \magicvalue{0x2b} in the \ac{ROI} Specification)
  45   \item\texttt{diff\_ticks\_right:} the difference of encoder counts between the
  46     beginning and the end of the movement, on the Roomba's right wheel
  47     (packet~ID \magicvalue{0x2c} in the \ac{ROI} Specification)
  48   \item\texttt{raw\_ticks\_left:} the absolute value of the encoder count of the
  49     Roomba's left wheel (packet~ID \magicvalue{0x2b})
  50   \item\texttt{raw\_ticks\_right:} the absolute value of the encoder count of
  51     the Roomba's right wheel (packet~ID \magicvalue{0x2c})
  52   \item\texttt{batt\_charge:} the charge of the Roomba's battery in mAh
  53     (packet~ID~\magicvalue{0x19})
  54   \item\texttt{batt\_capacity:} the capacity of the Roomba's battery in mAh
  55     (packet~ID~\magicvalue{0x1a})
  56   \item\texttt{batt\_voltage:} the applied voltage of the Roomba's battery in mV
  57     (packet~ID~\magicvalue{0x16})
  58   \item\texttt{batt\_voltage:} the current going out of the Roomba's battery in
  59     mA (packet~ID~\magicvalue{0x17})
  60   \item\texttt{move:} \magicvalue{straight} for straight moves,
  61     \magicvalue{turn} for turn moves
  62   \newcounter{logitems}\setcounter{logitems}{\value{enumi}+1}
  63 \end{enumerate}
  64 For straight moves (\magicvalue{move=straight}) follows:
  65 \begin{enumerate}[start=\value{logitems}]
  66   \item\texttt{input\_distance}: the target distance in mm sent to the Roomba
  67     via the \ac{ROI} \cmd{Drive} command (given by the user in manual mode,
  68     or determined by the program in automatic mode)
  69   \item\texttt{velocity:} (the velocity in mm/s sent to the Roomba over the
  70     \ac{ROI} \cmd{Drive} command (given by the user in manual mode, or
  71     determined by the program in automatic mode)
  72   \item\texttt{measured\_x:} the actual covered distance in mm in the Roomba's
  73     original viewing direction (measured by the user)
  74   \item\texttt{measured\_y:} originally, the distance shift perpendicular to the
  75     viewing direction of the Roomba. Not used anymore.
  76   \item\texttt{deviation\_orientation:} originally, the shift in orientation of
  77     the Roomba. Not used anymore.
  78 \end{enumerate}
  79 For straight moves (\magicvalue{move=turn}) follows:
  80 \begin{enumerate}[start=\value{logitems}]
  81   \item\texttt{turn\_angle:} the turn angle in degree sent to the Roomba via the
  82     \ac{ROI} \cmd{Drive} command (given by the user in manual mode, or
  83     determined by the program in automatic mode)
  84   \item\texttt{measured\_angle:} the actual turned angle of the Roomba in degree
  85     (measured by the user)
  86   \item\texttt{velocity:} (the velocity in mm/s sent to the Roomba over the
  87     \ac{ROI} \cmd{Drive} command (given by the user in manual mode, or
  88     determined by the program in automatic mode)
  89 \end{enumerate}
  90
  91 \begin{figure}
  92   \centering
  93   \includegraphics[width=\textwidth]{images/Implementation-Diagram.pdf}
  94   \caption[File structure of the measuring implementation]{Simplified file
  95     structure of the measuring implementation\label{fig:impl:struct}\\
  96     yellow: general files used for all three experiments; green: files for
  97     Experiment~1; blue: files for Experiment~2; red: files for Experiment~3}
  98 \end{figure}
  99
 100 Figure~\ref{fig:impl:struct} shows the file layout of the measuring
 101 implementation. It reuses components whereever possible, and therefore
 102 consists of three parts specific for the three performed experiments (see
 103 Sections~\ref{sec:exp1}, \ref{sec:exp2} and~\ref{sec:exp3}), as well as a
 104 general part, which contains the elements of the implementation common to the
 105 other three parts.
 106
 107 \subsection{General part}
 108 The files \file{stuff.cc}, \file{stuff.h},
 109 \file{target\_value\_input\_dialog.cc} and \file{target\_value\_input\_dialog.h}
 110 build up the general part of the implementation. These are the files shown with
 111 a yellow background in Figure~\ref{fig:impl:struct}, and are included in all
 112 other three parts of the implementation.
 113
 114 \paragraph{\file{stuff.cc} and \file{stuff.h}}
 115 Both of these files contain global functions for logging text to a file,
 116 according to the format described above. Also there
 117
 118 \subsection{Implementation for Experiment~1}
 119 \subsection{Implementation for Experiment~2}
 120 \subsection{Implementation for Experiment~3}
 121
 122 three single applications with same base: roomba\_test (main.cc),
 123 mean\_correction\_test (mean\_correction.cc), soft\_start\_test
 124 (soft\_start.cc).
 125
 126 user interface: Qt.
 127
 128 manual tests (user is asked for new values every time) or automated tests (user
 129 only asked for measured values).
 130
 131 1) open UART connection
 132
 133 2) register state callback for getting roomba sensor data
 134
 135 3) while(input values or cancel) { drive() / turn() }
 136
 137 4) drive() / turn() use wiselib::ControlledMotion<OsModel,
 138 wiselib::RoombaModel> for moving specified angle/distance; and ask for measured
 139 values and write to external log file, including battery status, roomba/wiselib
 140 internal angles/distances (ticks), svn revision, floor type, roomba ID
 141
 142 additionally, mean correction test uses
 143 CorrectedMeanMotion from corrected\_mean\_motion.h, implements same concept like
 144 wiselib::ControlledMotion and takes care of target value by using the
 145 calculated fit function .
 146
 147 additionally, soft start/stop test uses
 148 SoftStartMotion from soft\_start\_motion.h, implements same
 149 concept like wiselib::ControlledMotion and takes care of increasing/decreasing
 150 velocity via timer.
 151
 152 \section{Evaluation}
 153 \label{sec:impl:eval}
 154 \todo{}
 155
 156 bash/perl scripts in wiselib/trunk/pc\_apps/roomba\_tests/logs, using gnuplot
 157
 158 graph.sh: create 3d plots (input value, input velocity, measured value) from
 159 original behvaiour data, including fit function calculated by GNU R statistics
 160 software, for {carpet floor, laminate floor} $\times$ {drive straight, turn on
 161 spot}
 162
 163 graph-mean.sh: do the same for mean correction data, including fit function from
 164 original data
 165
 166 graph-soft.sh: do the same for soft start/stop data, including fit function from
 167 original data
 168
 169 graph-mean-soft.sh: 3d plot with mean correction and soft start/stop data, for
 170 comparison of both
 171
 172 graph-errorlines.sh: create 2d plots input value -> measured value, with
 173 multiple velocities in each graph. also split graphs up for {carpet floor,
 174 laminate floor} $\times$ {drive straight, turn on spot}. no fit function.