\todo{?}
This chapter describes the implementation that was used for the aforementioned
-experiments. It consists of the measuring program itself, as well as several
-scripts to help with analysis of the measured data.
+experiments. It consists of the measuring programs themselves, which use the
+Wiselib Roomba Control, and are written in C++. Additionally, there are several
+Bash scripts to help with the analysis of the measured data.
+
+All code used for this thesis resides in the Wiselib source tree\footnote{see
+\url{https://github.com/ibr-alg/wiselib/}, or the \acs{CDROM} attached at the
+end of this book} in the directory \filepath{apps/pc\_apps/roomba\_tests}.
\section{Measuring}
\label{sec:impl:measuring}
-C++ code in wiselib/trunk/pc\_apps/roomba\_tests
+The measuring implementation is a set of programs running on a x86-compatible
+Linux system which uses the Wiselib to control a Roomba attached to the system
+over a serial interface. It features a graphical user interface using the
+Qt application framework. Basically, it carries out a movement with specified
+parameters (velocity, and destination or angle, depending on the experiment),
+then prompts the user to measure and input the actual destination or angle the
+Roomba has moved after it has finished the movement. In this context, the user
+can choose between two operation modes. In the manual mode, the user can control
+the target values for the Roomba movement himself, in automatic mode, the
+application uses a list of pre-programmed values for the target values, so the
+user only has to input the measured data.
+
+All measured data is written to a log file in the current directory, whose name
+is based on the type of experiment performed. Every line in that log file
+describes one measurement made by the user, and consists of key-value pairs
+linked together with equality signs and separated of each other by whitespace.
+In particular, the data on each line are (with key name, in the order of
+appearance on the line):
+\begin{enumerate}
+ \item\texttt{svn:} the SVN or Git revision the program was compiled from
+ (statically compiled into the program)
+ \item\texttt{roomba\_id:} the ID of the Roomba the measurement was performed
+ with (given by the user)
+ \item\texttt{ground\_type} the ground type used for measurement:
+ \magicvalue{iz250flur} for laminated floor, \magicvalue{seminarraum}
+ for carpet floor (given by the user)
+ \item\texttt{diff\_ticks\_left:} the difference of encoder counts between the
+ beginning and the end of the movement, on the Roomba's left wheel
+ (packet~ID \magicvalue{0x2b} in the \ac{ROI} Specification)
+ \item\texttt{diff\_ticks\_right:} the difference of encoder counts between the
+ beginning and the end of the movement, on the Roomba's right wheel
+ (packet~ID \magicvalue{0x2c} in the \ac{ROI} Specification)
+ \item\texttt{raw\_ticks\_left:} the absolute value of the encoder count of the
+ Roomba's left wheel (packet~ID \magicvalue{0x2b})
+ \item\texttt{raw\_ticks\_right:} the absolute value of the encoder count of
+ the Roomba's right wheel (packet~ID \magicvalue{0x2c})
+ \item\texttt{batt\_charge:} the charge of the Roomba's battery in mAh
+ (packet~ID~\magicvalue{0x19})
+ \item\texttt{batt\_capacity:} the capacity of the Roomba's battery in mAh
+ (packet~ID~\magicvalue{0x1a})
+ \item\texttt{batt\_voltage:} the applied voltage of the Roomba's battery in mV
+ (packet~ID~\magicvalue{0x16})
+ \item\texttt{batt\_voltage:} the current going out of the Roomba's battery in
+ mA (packet~ID~\magicvalue{0x17})
+ \item\texttt{move:} \magicvalue{straight} for straight moves,
+ \magicvalue{turn} for turn moves
+ \newcounter{logitems}\setcounter{logitems}{\value{enumi}+1}
+\end{enumerate}
+For straight moves (\magicvalue{move=straight}) follows:
+\begin{enumerate}[start=\value{logitems}]
+ \item\texttt{input\_distance}: the target distance in mm sent to the Roomba
+ via the \ac{ROI} \cmd{Drive} command (given by the user in manual mode,
+ or determined by the program in automatic mode)
+ \item\texttt{velocity:} (the velocity in mm/s sent to the Roomba over the
+ \ac{ROI} \cmd{Drive} command (given by the user in manual mode, or
+ determined by the program in automatic mode)
+ \item\texttt{measured\_x:} the actual covered distance in mm in the Roomba's
+ original viewing direction (measured by the user)
+ \item\texttt{measured\_y:} originally, the distance shift perpendicular to the
+ viewing direction of the Roomba. Not used anymore.
+ \item\texttt{deviation\_orientation:} originally, the shift in orientation of
+ the Roomba. Not used anymore.
+\end{enumerate}
+For straight moves (\magicvalue{move=turn}) follows:
+\begin{enumerate}[start=\value{logitems}]
+ \item\texttt{turn\_angle:} the turn angle in degree sent to the Roomba via the
+ \ac{ROI} \cmd{Drive} command (given by the user in manual mode, or
+ determined by the program in automatic mode)
+ \item\texttt{measured\_angle:} the actual turned angle of the Roomba in degree
+ (measured by the user)
+ \item\texttt{velocity:} (the velocity in mm/s sent to the Roomba over the
+ \ac{ROI} \cmd{Drive} command (given by the user in manual mode, or
+ determined by the program in automatic mode)
+\end{enumerate}
+
+\begin{figure}
+ \centering
+ \includegraphics[width=\textwidth]{images/Implementation-Diagram.pdf}
+ \caption[File structure of the measuring implementation]{Simplified file
+ structure of the measuring implementation\label{fig:impl:struct}\\
+ yellow: general files used for all three experiments; green: files for
+ Experiment~1; blue: files for Experiment~2; red: files for Experiment~3}
+\end{figure}
+
+Figure~\ref{fig:impl:struct} shows the file layout of the measuring
+implementation. It reuses components whereever possible, and therefore
+consists of three parts specific for the three performed experiments (see
+Sections~\ref{sec:exp1}, \ref{sec:exp2} and~\ref{sec:exp3}), as well as a
+general part, which contains the elements of the implementation common to the
+other three parts.
+
+\subsection{General part}
+The files \file{stuff.cc}, \file{stuff.h},
+\file{target\_value\_input\_dialog.cc} and \file{target\_value\_input\_dialog.h}
+build up the general part of the implementation. These are the files shown with
+a yellow background in Figure~\ref{fig:impl:struct}, and are included in all
+other three parts of the implementation.
+
+\paragraph{\file{stuff.cc} and \file{stuff.h}}
+Both of these files contain global functions for logging text to a file,
+according to the format described above. Also there
+
+\subsection{Implementation for Experiment~1}
+\subsection{Implementation for Experiment~2}
+\subsection{Implementation for Experiment~3}
three single applications with same base: roomba\_test (main.cc),
mean\_correction\_test (mean\_correction.cc), soft\_start\_test
projects / bachelor-thesis / written-stuff.git / blobdiff