amiro-apps / README.md @ deb9d7ea
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1 | 6d4ba740 | Thomas Schöpping | About & License |
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2 | =============== |
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3 | |||
4 | AMiRo-Apps is a collection of applications and configurations for the Autonomous |
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5 | Mini Robot (AMiRo) [1]. It is tightly coupled to the AMiRo-OS and uRtWare |
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6 | projects, which provide a sophisticated operating system (based on ChibiOS) amd |
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7 | a real-time middleware for embedded devices. |
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8 | |||
9 | Copyright (C) 2018..2020 Thomas Schöpping et al. |
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10 | (a complete list of all authors is given below) |
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11 | |||
12 | This program is free software: you can redistribute it and/or modify |
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13 | it under the terms of the GNU General Public License as published by |
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14 | the Free Software Foundation, either version 3 of the License, or (at |
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15 | your option) any later version. |
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16 | |||
17 | This program is distributed in the hope that it will be useful, but |
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18 | WITHOUT ANY WARRANTY; without even the implied warranty of |
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19 | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU |
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20 | General Public License for more details. |
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21 | |||
22 | You should have received a copy of the GNU General Public License |
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23 | along with this program. If not, see <http://www.gnu.org/licenses/>. |
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24 | |||
25 | This research/work was supported by the Cluster of Excellence |
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26 | Cognitive Interaction Technology 'CITEC' (EXC 277) at Bielefeld |
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27 | University, which is funded by the German Research Foundation (DFG). |
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28 | |||
29 | Authors: |
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30 | |||
31 | - Thomas Schöpping <tschoepp[at]cit-ec.uni-bielefeld.de> |
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32 | |||
33 | References: |
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34 | |||
35 | [1] S. Herbrechtsmeier, T. Korthals, T. Schopping and U. Rückert, "AMiRo: A |
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36 | modular & customizable open-source mini robot platform," 2016 20th |
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37 | International Conference on System Theory, Control and Computing (ICSTCC), |
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38 | Sinaia, 2016, pp. 687-692. |
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39 | |||
40 | -------------------------------------------------------------------------------- |
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41 | |||
42 | Contents |
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43 | ======== |
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44 | |||
45 | 1. Required Software |
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46 | 2. Folder Structure |
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47 | |||
48 | -------------------------------------------------------------------------------- |
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49 | |||
50 | 1 Required Software |
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51 | =================== |
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52 | |||
53 | Since AMiRo-Apps depends on the AMiRo-OS and µRtWare projects, both are included |
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54 | as Git submodules. Use the provided ./setup.sh script to initialize those. When |
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55 | AMiRo-OS is fully configured, there is no additional software required by |
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56 | AMiRo-Apps. For further details about the initialization follow the instructions |
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57 | in the script and refer to the README.md file of AMiRo-OS and µRtWare |
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58 | respectively. |
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59 | |||
60 | |||
61 | 2 Folder Structure |
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62 | ================== |
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63 | |||
64 | At its root, the AMiRo-Apps project has seven folders to distiquish between the |
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65 | most fundamental parts: |
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66 | |||
67 | 2.1 `apps/` |
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68 | ----------- |
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69 | |||
70 | This folder includes individual applications, which can used by |
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71 | configigurations (see `configurations/`). Apps will usually be implemented |
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72 | as nodes for the middleware and provide according interfaces via some message |
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73 | type(s) (see `messagetypes/`). |
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74 | |||
75 | 2.2 `configurations/` |
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76 | --------------------- |
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77 | |||
78 | Each configuration combines multiple apps and distributes them among any |
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79 | supported modules. Furthermore, configurations may modify parameters for each |
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80 | module individually. Finally, each configuration should come with a Makefile, so |
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81 | a user can just use this to build and flash the whole setup. |
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82 | For better understanding, have a look at this example: |
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83 | |||
84 | - module A: using apps 1, 2 and 3 with parameters X and Y. |
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85 | - module B: using apps 1 and 4 with parameter X. |
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86 | - module C: using apps 1, 5, 6 and 7 with parameters X and Z. |
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87 | - Makefile: setup and build everything. |
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88 | |||
89 | Note that each configuration needs to explicitely support a module and that |
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90 | there can never be an implicit default configuration. |
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91 | |||
92 | 2.3 `doc/` |
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93 | ---------- |
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94 | |||
95 | Any documentation related files are located in this directory. |
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96 | |||
97 | 2.4 `messagetypes/` |
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98 | ------------------- |
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99 | |||
100 | Apps shoud take advantage of the middleware and thus implement nodes, which |
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101 | communicate via messages and/or requests. Such messages/requests may have |
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102 | payloads of arbitrary types, which can be defined in this folder. |
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103 | |||
104 | 2.5 `middleware/` |
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105 | ----------------- |
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106 | |||
107 | This folder contains the µRtWare submodule and interface files. |
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108 | |||
109 | 2.6 `os/` |
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110 | --------- |
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111 | |||
112 | This folder contains the AMiRo-OS submodule and interface files. |
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113 | |||
114 | 2.7 `tools/` |
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115 | ------------ |
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116 | |||
117 | Helpful tools can be found in this dirctory. |