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AIBO Tutorial

AIBO Tutorial. CS 4631 – Spring 2004 Ram Ravichandran. Outline. Introduction Basic OPENR Program Constructs Code Development Executing and Debugging Flow of Development Parting advice. Introduction. Environment Code developed using C++, OPENR API

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AIBO Tutorial

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  1. AIBO Tutorial CS 4631 – Spring 2004 Ram Ravichandran

  2. Outline • Introduction • Basic OPENR Program Constructs • Code Development • Executing and Debugging • Flow of Development • Parting advice

  3. Introduction • Environment • Code developed using C++, OPENR API • Installed under /usr/OPENR_SDK • available from www.jp.aibo.com/openr/ • Documentation (available under /usr/OPENR_SDK/documentation ) • AIBO Programming manual • ERS-210 Information • API Specifications (Level II reference Guide)

  4. Introduction • Sample Programs • Best way to learn writing code • All sample programs are available under /usr/OPENR_SDK/sample • Copy to your home directory and change permissions. • run using make PREFIX=/usr/OPENR_SDK

  5. OPENR Objects • True OO (very similar to Squeak/SmallTalk) • Similar to a UNIX process • Communication through message passing. • Object waits for message {selector,data} to arrive. • Once a message arrives, objects call the method based on the selector specified in stub.cfg. • Arguments to the method is the data in the message • Wait for more messages.

  6. Inter-object communication • Brief overview • Subject • Object that sends a message • Observer • Object that receives the message • Every observer has a message queue. • Subject sends Observer a ‘NotifyEvent’. • Observer replies with a ‘ReadyEvent’ • ASSERT_READY • DEASSERT_READY

  7. Core Class • Each Object has a Core Class • A Sample Core Class #include <OPENR/OObject.h> #include <OPENR/OSubject.h> #include <OPENR/OObserver.h> #include "def.h“ class SampleClass : public OObject { public: SampleClass(); virtual ~SampleClass() {} OSubject* subject[numOfSubject]; OObserver* observer[numOfObserver];

  8. Core Class (2) • Continued… virtual OStatus DoInit(const OSystemEvent& event); virtual OStatus DoStart(const OSystemEvent& event); virtual OStatus DoStop(const OSystemEvent& event); virtual OStatus DoDestroy(const OSystemEvent& event); //Describe the member functions corresponding to Notify, //Control, Ready, Connect method. };

  9. Inter-object Communication • Control Method • Used by the Subject to receive a connection result • Connect Method • Used by observer to receive a connection result • Notify Method • Used by Observer to receive a message • Ready Method • Used by Subject to receive the ASSERT_READY and DEASSERT_READY signals from Observer.

  10. DoXXXX() Method Macros • DoInit • NEW_ALL_SUBJECT_AND_OBSERVER • Registers the necessary number of Subjects & Observers. • REGISTER_ALL_ENTRY • registers the connection to services offered by other objects • SET_ALL_READY_AND_NOTIFY_ENTRY • This registers all entry points. • DoStart • ENABLE_ALL_SUBJECT • Enables all the Subjects • ASSERT_READY_TO_ALL_OBSERVER • This sends ASSERT_READY to all subjects.

  11. DoXXXX() Method Macros (2) • DoStop() • DISABLE_ALL_SUBJECT • This disables all subjects of core class. • DEASSERT_READY_TO_ALL_OBSERVER • This sends a DEASSERT_READY to all connecting subjects. • DoDestroy() • DELETE_ALL_SUBJECT_AND_OBSERVER • This deletes all observer and subjects.

  12. More Message Passing • Observer first sends all its subjects an AssertReady void SampleObserver::SendAssertReady() { observer[obsfunc1]->AssertReady( ); } • When Subject receives AssertReady, it sends the data. void SampleSubject::Ready(const OReadyEvent& event) { char str[32]; strcpy(str, “Some Text Message”); subject[sbjFunc2]->SetData(str,sizeof(str)); subject[sbjFunc2]->NotifyObservers( ); }

  13. More Message Passing (2) • When observer receives the data, it sends an ASSERT_READY again void SampleObserver::Notify(const ONotifyEvent& event) { const char* text = (const char*)event.Data(0); observer[sbjFunc1]->AssertReady(); }

  14. Stub File • Used to define member functions that receive messages • A sample Stub File (stub.cfg) ObjectName : SampleClass NumOfOSubject : 1 NumOfOObserver : 2 Service : “SampleClass.Func1.Data1.S”,Control(),Ready() Service : “SampleClass.Func2.Data2.O”,Connect(),Notify1() Service : “SampleClass.Func3.Data2.O”,Control(),Notify2() Extra : WakeUpOnLan() Extra : UpdateBatteryStatus()

  15. Building • Make a Directory (let’s call it Output) in the parent directory of the directory where you have the source files. We will put the final output executables in this directory. • Copy the directory OPEN-R from /usr/OPENR_SDK/MS into Output. • Copy Makefile-parent from /usr/OPENR_SDK/MS to <Parent dir>/Makefile • Copy Makefile-child from /usr/OPENR_SDK/MS to <src file dir>/Makefile • Edit both makefiles. • type make;make install in the parent directory.

  16. Building (2) • A picture is worth a thousand words

  17. Editing Configuration Files. • .ocf file • Has one line in it of the following format. object NAME STACK_SIZE HEAP_SIZE SCHED_PRIORITY cache tlb user • connect.cfg file • This file is in <parent_dir>/MS/OPEN-R/MW/CONF • Dictates who talks to who using what services (registered in stub.cfg) • Contains lines similar to : object1.sendStream.datatype1.S object2.recvStream.dataType1.O • object.cfg file • contains a list of .bin files (objects) • add the objects you have compiled • do not erase tinyftpd.bin and powermon.bin

  18. Executing and Debugging • Insert the memory stick in the laptop. • At the prompt, type mount /sony • Once the memory stick has been mounted, then copy the files from /MS/OPEN_R to /sony cp –rf <parent dir>/MS/OPEN_R /sony • un-mount the memory stick. umount /sony • Put the memory stick in the dog and press the power button on the dog. • DEBUGGING For debugging information see chapter 5 in the programmer’s manual. The explanation in the chapter is very clear and extensive.

  19. Flow of Development • Design your objects • Decide on the data type for the inter-object communication • Write the stub.cfg file • Write the core class with the necessary member functions • Write connect.cfg file • Write your .ocf file • Build • Write object.cfg file • Execute on AIBO • Debug (perhaps)

  20. Parting Advice • See sample programs • Do NOT let the AIBO walk on hard surfaces. This will break the joints. Use the robocup field or a similar carpet like surface. • Do NOT use joint values greater than the ones in the manual. The software does not impose a limit on the joint angles. Thus you can BREAK the joints by putting in arbitrary values. • You will PAY for any broken part. • This tutorial is available online (by tonight) at http://www.cc.gatech.edu/~borg/robotsoccer/aibotut.html • Programming the dogs for the first time can be frustrating. Do not hesitate to use the mailing list to ask questions.

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