Mini Grand Challenge Architecture

From RoboWiki

2009-2010 Online Project Documentation:

• Mini Grand Challenge
• MGC Development Tools
• MGC Project Abstract
• Mini Grand Challenge Architecture
• Mini Grand Challenge Action Items

Software Architecture:

1. Shared Components
   1. MGC Utilities: General utility functions including a custom assertion function and a high-resolution timer Done
      1. Dependency to project completion
   2. MGC Vector2: A two-element tuple with overloaded operators Done
      1. Dependency to project completion
   3. MGC Base Component: The base class that all components should inherit from. This base class does all overhead communication as well as wraps the input/output/callbacks. Done
      1. Dependency to project completion
      2. Tutorial: Writing a Component: A small tutorial on how to write your own component based on the the Mini Grand Standard
2. Hardware Interface Components
   1. MGC Vehicle Controller: Vehicle controller protocol Done
      1. MGC Arduino Server (Arduino Side): Sends data to and receives commands from the on-board computer Done
         1. Dependency to project completion
      2. MGC Arduino Client (PC Side): Sends commands to and receives data from the MGC Vehicle Done
         1. Dependency to project completion
   2. MGC LIDAR Interface: A laser-ranger finder interface Done
      1. Dependency to project completion
   3. MGC GPS & Waypoint manager: Manages waypoint information and positional data
3. Software Components
   1. 1. Dependency to project completion
   2. MGC MainController:A high-level manager of all components
      1. Dependency to project completion
   3. MGC Observer Client: A graphical user interface application that allows remote viewing and configuration of the system software
   4. MGC Collision Detection: Takes the collision data and returns a warning message if a possible collision is detected
      1. Dependency to project completion
   5. MGC Laser Vision Fusion: Takes collision data and a camera picture, returning the range of colors that makes up the road
   6. MGC Road Detection: Takes a range of colors for the road and returns a black-and-white image of what the road is Done
      1. Dependency to project completion
   7. MGC Projection Transform: Takes a given image and applies a projection transform Done
   8. MGC Forward Vehicle Projection: Given a top-down view of the road, predicting the best path for the vehicle to follow over time
      1. Dependency to project completion
4. Undeveloped Components
   1. Voice / Crowd Interaction (Threaded Class): Deprecated feature