Rover Code

Code hosted on the rover. Includes control and sensor IO as well as server.

Sensors:

• Camera
  • ran by image_poster.py
  • serves an image to image_serv.py every second
• Currents
  • all motors and actuators have current readers in their control code
  • these currents are fed through the MessageHub when OpenMCT subscribes to them

Control:

• RoboClaw
  • all motors and actuators are controlled through roboclaw motor controls
  • roboclaw3.py is the corresponding package for this

Server:

• MessageHub
  • MessageHub is where the code recieves encoded messages via websocket connections, and turns them into their corresponding controls and or sensor subscriptions.
  • It also posts to the OpenMCT connection based on what sensors are currently subscribed to.
• TimeProvider
  • MessageHub is event-driven, and therefore will post sensor data on a consistent time interval. TimeProvider pings the messageHub socket at set intervals to ensure the sensor data refreshes.
• Dictionary
  • OpenMCT uses a json 'dictionary' to package and recieve its messages and therefore MessageHub must abide by these conventions.
  • See more info in the OpenMCT directory

TODO

• Restructure to function as more of an API
• Integrate a sensor posting thread similar to TimeProvider into MessageHub.py
• Implement code in ROS