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Dolphin: a DSL for autonomous vehicle networks

License: GNU Lesser General Public License v3.0

Shell 0.06% Groovy 2.52% Java 97.42%

dsl autonomous-vehicles groovy java dolphin imc mavlink

dolphin's Introduction

The Dolphin language repository

Organization

Maven multi-module project; Eclipse (eclipse2me) .project file available.

Compilation

From root dir:

mvn clean install

Execute IMC standalone runtime

From root dir:

./scripts/dolphin-imc.sh myScript.dolphin

JAR file for Neptus plugin

./scripts/sync_neptus_plugin.sh <dolphin-neptus-plugin-dir>

See dolphin-neptus-plugin repository. Actual Platform definition for Neptus, along with UI interface etc, can be found in the dolphin-neptus-plugin

dolphin's People

Contributors

Stargazers

Watchers

Forkers

nuno1212s

dolphin's Issues

Document code (Javadoc + comentários)

Create specific console for APDL tests, starting from lauv.ncon

It should contain the IMC plans used for tests in APDL (and irrelevant ones removed).

Strange behavior in allocation

Allocated sequential tasks to different vehicles (check payload requirements)
Iros18 rendez-vous running example log:

Selected nodes: { lauv-noptilus-3 lauv-noptilus-2 lauv-noptilus-1 }
lauv-noptilus-3 is available!
lauv-noptilus-2 is available!
lauv-noptilus-1 is available!
x8-02 is available!
Available nodes: 1
id=x8-02 type=UAV
Matching requirement: id=,type=UAV,payload=,area=area((41,185000,-8,706200,0,000000) <> 10000,000000)
Requirement met by node x8-02
Selected nodes: { x8-02 }
Task survey1 allocated node lauv-noptilus-3.
Task sk1 allocated node lauv-noptilus-1.
Task survey2 allocated node lauv-noptilus-2.
Task sk2 allocated node lauv-noptilus-2.
Task survey3 could not allocate necessary nodes.
Unexpected exception ... pt.lsts.dolphin.runtime.EnvironmentException : No vehicles to run task! !
Script '/home/lsts/workspace/neptus/conf/dolphin/iros18.nvl' completed

use variables in place of signal

Configure platform extensions (e.g. imcPlan in place of task)

Create specific folder for APDL scripts in neptus/conf/nvl/apdlTests

Handle PlanControlState derived from acoustic communications

Field tests at APDL

Last two weeks of June ?? (verify with zp)

Console panel in Neptus: new file, run button, stop button, save as

Set name to dolphin and rename packages etc

ask() - instruction to ask for Input

Intended functionality - example:

   n = ask 'How many vehicles?' 
   k = ask 'Parameter k'

implemented through

   String Platform.askForInput(String prompt)

The returned string is evaluated through

   Engine.evaluateExpression(String)

Support for event handling configuration (onError, onTimeout, onInterrupt, ...)

APDL mission result analysis

Anomalous situations (from DUNE & Neptus logs)
Neptus MRA plots for each test case (will require log merge/concatenation etc)
Payload plots

Dolphin Neptus Console for REP17

Integrate use of IMC DSL

Before platform extensions are enabled #6 we can do the following:

if the task id starts with "imcDSL:" e.g. "imcDSL:script" then script defines the plan (PlanType) which is then used for building a IMCPlanTask in Neptus.

 Pseudo-code:
 em NeptusPlatform.getPlatformTask
 se id começa com "imcDSL:<X>" avalia script X para obter um PlanType Y
 IMCPlanTask T = new IMCPlanTask(Y)
 imcPlanTasks.put(id, T)
 return T

Monospaced font is ok, but user should be able to change font size using a font size selector
```
           editor.setFont(new Font(Font.MONOSPACED, 0, desiredSize));
```
Minimize editor window (if possible)

Fixes / checks:

scrollbar does not work properly
Check if loading files from any directory is working ok