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FelixReiteFelixReite
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Merge branch 'develop' into feature/LineSensorAI
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‎.cspell.json‎

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{
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"version": "0.2",
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"words": [
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"Allman",
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"cppcheck",
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"doxyfile",
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"graphviz",
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"libmicroros",
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"mattnotmitt",
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"mrad",
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"multirobot",
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"pacman",
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"teleop",
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"Ulzer",
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"wbsim",
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"webots",
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"Webots",
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"XRCE",
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"zumo",
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"Zumo"
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]
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}

‎.github/workflows/main.yml‎

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name: main
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# Controls when the action will run.
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concurrency:
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group: ci-${{ github.ref }}
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cancel-in-progress: true
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# Controls when this workflow runs.
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on:
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push:
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# Runs on every push.
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branches: [ '**' ]
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release:
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# A release, pre-release, or draft of a release is published.
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# Runs when a release, pre-release, or draft of a release is published.
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types: [ published ]
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# Allows you to run this workflow manually from the Actions tab.
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# Can be run manually from the Actions tab.
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workflow_dispatch:
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# A workflow run is made up of one or more jobs that can run sequentially or in parallel.
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jobs:
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# The introduction just shows some useful informations.
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# Show some useful information.
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intro:
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# The type of runner that the job will run on.
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runs-on: ubuntu-24.04
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# Steps represent a sequence of tasks that will be executed as part of the job.
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steps:
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- run: echo "The job was automatically triggered by a ${{ github.event_name }} event."
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- run: echo "The name of the branch is ${{ github.ref }} and the repository is ${{ github.repository }}."
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- name: Checkout repository
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uses: actions/checkout@v4
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- name: Set up Python
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uses: actions/setup-python@v5
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with:
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python-version: '3.12.3'
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cache: 'pip'
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cache-dependency-path: .github/workflows/requirements.txt
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- name: Install dependencies
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run: |
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pip install -r .github/workflows/requirements.txt
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# Build all targets
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# Build all targets and perform static checks on them.
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build:
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# The type of runner that the job will run on.
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runs-on: ubuntu-24.04
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needs: intro
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strategy:
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matrix:
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environment: ["ConvoyLeaderTarget",
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environment: ["CommissioningTarget",
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"ConvoyLeaderTarget",
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"ConvoyFollowerTarget",
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"LineFollowerTarget",
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"RemoteControlTarget",
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"SensorFusionTarget",
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"TurtleTarget"]
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# Steps represent a sequence of tasks that will be executed as part of the job.
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steps:
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- name: Checkout repository
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uses: actions/checkout@v4
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- name: Set up Python
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uses: actions/setup-python@v5
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uses: actions/setup-python@v6
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with:
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python-version: '3.12.3'
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cache: 'pip'
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cache-dependency-path: .github/workflows/requirements.txt
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- name: Install dependencies
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run: |
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pip install -r .github/workflows/requirements.txt
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- name: Compile ${{ matrix.environment }} firmware
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run: platformio run --environment ${{ matrix.environment }}
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- name: Cache PlatformIO
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uses: actions/cache@v4
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with:
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path: |
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~/.platformio/.cache
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~/.platformio/packages
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~/.platformio/platforms
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key: ${{ runner.os }}-pio-${{ hashFiles('platformio*.ini') }}
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# Run cppcheck and clang-tidy.
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- name: Perform static checks on ${{ matrix.environment }}
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run: platformio check --environment ${{ matrix.environment }} --fail-on-defect=medium --fail-on-defect=high
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run: platformio check --environment ${{ matrix.environment }} # --fail-on-defect=medium --fail-on-defect=high
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# Perform static checks and test
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- name: Compile ${{ matrix.environment }} firmware
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run: platformio run --environment ${{ matrix.environment }}
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# Perform static checks on test.
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check:
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# The type of runner that the job will run on.
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runs-on: ubuntu-24.04
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needs: intro
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strategy:
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uses: actions/checkout@v4
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- name: Set up Python
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uses: actions/setup-python@v5
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uses: actions/setup-python@v6
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with:
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python-version: '3.12.3'
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cache: 'pip'
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cache-dependency-path: .github/workflows/requirements.txt
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- name: Install dependencies
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run: |
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pip install -r .github/workflows/requirements.txt
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- name: Cache PlatformIO
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uses: actions/cache@v4
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with:
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path: |
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~/.platformio/.cache
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~/.platformio/packages
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~/.platformio/platforms
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key: ${{ runner.os }}-pio-${{ hashFiles('platformio*.ini') }}
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# Run cppcheck and clang-tidy.
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- name: Perform static checks on ${{ matrix.environment }}
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run: platformio check --environment ${{ matrix.environment }} --fail-on-defect=medium --fail-on-defect=high
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run: platformio check --environment ${{ matrix.environment }} # --fail-on-defect=medium --fail-on-defect=high
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# Perform tests
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# Perform tests.
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test:
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# The type of runner that the job will run on.
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runs-on: ubuntu-24.04
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needs: intro
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uses: actions/checkout@v4
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- name: Set up Python
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uses: actions/setup-python@v5
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uses: actions/setup-python@v6
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with:
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python-version: '3.12.3'
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cache: 'pip'
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cache-dependency-path: .github/workflows/requirements.txt
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- name: Install dependencies
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run: |
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pip install -r .github/workflows/requirements.txt
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- name: Cache PlatformIO
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uses: actions/cache@v4
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with:
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path: |
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~/.platformio/.cache
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~/.platformio/packages
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~/.platformio/platforms
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key: ${{ runner.os }}-pio-${{ hashFiles('platformio*.ini') }}
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- name: Run tests on native environment
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run: platformio test --environment Test -vvv
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# Build documentation
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# Build documentation.
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doc:
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# The type of runner that the job will run on.
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runs-on: ubuntu-24.04
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needs: intro
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strategy:
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matrix:
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environment: ["ConvoyLeaderTarget",
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environment: ["CommissioningTarget",
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"ConvoyLeaderTarget",
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"ConvoyFollowerTarget",
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"ConvoyLeaderSim",
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"ConvoyFollowerSim",
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- name: Print doxygen warnings
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if: ${{ failure() }}
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run: cat ./doc/doxygen/doxygen_warnings.txt
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run: cat ./doc/doxygen/doxygen_warnings.txt

‎DroidControlShip.code-workspace‎

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}
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],
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"settings": {
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"editor.formatOnSave": true
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"editor.formatOnSave": true,
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"conventionalCommits.scopes": [
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"Logging"
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]
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}
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}
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}

‎README.md‎

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- Remote Control - Receives commands and motor speeds from an external source through MQTT.
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- APPTurtle - A [ROS2](https://docs.ros.org/en/jazzy/index.html) Robot controller that uses Twist messages like the ROS2 TurtleSim demo.
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- Line follower - Follows a track by a black line until the start/end line is passed twice.
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- Commissioning - Exercises the board peripherals in an observable way for hardware bring-up and validation.
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## Table of content <!-- omit in toc -->
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- [The ZumoComSystem Shield](#the-zumocomsystem-shield)
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- [The simulation](#the-simulation)
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- [Installation for simulation](#installation-for-simulation)
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- [Installation for simulation](#installation-for-simulation)
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- [How to start?](#how-to-start)
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- [Run](#run)
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- [Run with Webots launcher (recommended)](#run-with-webots-launcher-recommended)
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- [Run without Webots launcher](#run-without-webots-launcher)
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- [Run via terminal](#run-via-terminal)
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- [The target](#the-target)
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- [Installation for target](#installation-for-target)
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- [Build and flash procedure](#build-and-flash-procedure)
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![simulation-deployment](http://www.plantuml.com/plantuml/proxy?cache=no&src=https://raw.githubusercontent.com/BlueAndi/DroidControlShip/main/doc/architecture/uml/PhysicalView/SimulationDeployment.plantuml)
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## Installation for simulation
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### Installation for simulation
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1. Install the native compiler toolchain:
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- Linux
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### How to start?
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After you built the application, you will find in in ```.pio/build/<APPLICATION-NAME>/program.exe```. It provides several command line arguments to configure certain features. Use -h or --help to get a short user friendly overview about them.
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After you built the application, you will find it in ```.pio/build/<APPLICATION-NAME>/program[.exe]```. It provides several command line arguments to configure certain features. Use -h or --help to get a short user friendly overview about them.
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The applications are using a configuration file in JSON format to retrieve certain settings. In the very first run, such a configuration file will be automatically be created. If there exists already one, it will be loaded without modifications (regardless of any other program arguments).
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In order to simplify this process, the [Launcher](https://github.com/gabryelreyes/Launcher) project is under active development.
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### Run
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There are 3 ways how to run now the application. Choose according to your needs.
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#### Run with Webots launcher (recommended)
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The Webots launcher is recommended to connect to the simulation.
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It is mandatory if the simulation contains more than one robot. The robot is identified by its name. Adapt the robot name in the [platformio_override.ini](./platformio_override.ini), see *webots_robot_name*.
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The Webots documentation has more details about [Single Simulation and Multiple Local Extern Robot Controllers](https://cyberbotics.com/doc/guide/running-extern-robot-controllers?tab-os=windows#single-simulation-and-multiple-local-extern-robot-controllers).
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It is mandatory too if the simulation does not run locally (e.g. Webots runs on windows host and RadonUlzer in WSL).
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Set the IP address and the port in [platformio_override.ini](./platformio_override.ini), see *webots_ip_address* and *webots_protocol*.
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Use *ipc* as *webots_protocol* for local connections and *tcp* for remote connections.
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| Key | Description |
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| ------------------- | ------------------------------------------------------------------------------------------------ |
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| webots\_ip\_address | The IP address of the Webots simulation, which is used for TCP communication. |
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| webots\_protocol | \[ipc\|tcp\] - ipc is faster but only works on the same machine, tcp works also over network. |
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| webots\_robot\_name | The robot name used to identify the robot in the Webots world. See Webots world robot prototype. |
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PlatformIO project tasks --> &lt;APP-NAME&gt; --> Custom --> Launch
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#### Run without Webots launcher
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This can be chosen in case the simulation waits just for one robot.
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PlatformIO project tasks --> &lt;APP-NAME&gt; --> General --> Upload
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#### Run via terminal
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1. Open a command line (shell) and change to the folder with the built executable in ```.pio/build/<APPLICATION-NAME>```. This folder contains all necessary shared libraries as well.
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2. Start the ```program[.exe]``` executable.
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## The target
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The main target of the firmware is the [ZumoComSystem](https://github.com/NewTec-GmbH/ZumoComSystem) from NewTec GmbH, which is a shield for the [Pololu 32U4 Zumo](https://www.pololu.com/product/2510) robot.
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### Installation for target
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1. Make sure that the hardware version of your [ZumoComSystem](https://github.com/NewTec-GmbH/ZumoComSystem) is supported. Currently, only v1.1 and v1.2 are supported.
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1. Make sure that the hardware version of your [ZumoComSystem](https://github.com/NewTec-GmbH/ZumoComSystem) is supported. Currently, v1 (v1.1 and v1.2), v2 and [v3](https://github.com/NewTec-GmbH/ZumoComSystemHW) are supported. Select the hardware version in the ```[target:esp32]``` section of ```platformio.ini```.
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2. Install the [drivers](https://www.silabs.com/developers/usb-to-uart-bridge-vcp-drivers?tab=downloads) for the CP2102 USB-UART converter if required. The "CP210x Universal Windows Driver" is recommended, as it enables the automatic bootloader mode.
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## The Applications
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| Application | Standalone | Zumo32U4 Robot Required | RadonUlzer Application | MQTT Broker Required |
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| - | - | - | - | - |
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| ConvoyLeader | No | Yes | ConvoyLeader | Yes |
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| ConvoyFollower | No | Yes | RemoteControl | Yes |
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| LineFollower | No | Yes | RemoteControl | No |
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| RemoteControl | No | Yes | RemoteControl | Yes |
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| SensorFusion | No | Yes | SensorFusion | Yes |
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| Test | Yes | No | N/A | No |
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| Turtle | No | Yes | RemoteControl | Yes (ROS2 + Micro-ROS Agent) |
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| Application | Standalone | Zumo32U4 Robot Required | RadonUlzer Application | MQTT Broker Required |
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| -------------- | ---------- | ----------------------- | ---------------------- | ---------------------------- |
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| Commissioning | Yes | No | N/A | No |
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| ConvoyLeader | No | Yes | ConvoyLeader | Yes |
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| ConvoyFollower | No | Yes | RemoteControl | Yes |
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| LineFollower | No | Yes | RemoteControl | No |
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| RemoteControl | No | Yes | RemoteControl | Yes |
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| SensorFusion | No | Yes | SensorFusion | Yes |
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| Test | Yes | No | N/A | No |
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| Turtle | No | Yes | RemoteControl | Yes (ROS2 + Micro-ROS Agent) |
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## Documentation
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