Configure + Build

• qibuild configure -c "toolchain name"
• qibuild make -c "toolchain name"

Set up Game Controller & Tester

• move to ~/GameController2018/
• java -jar GameController.jar
• java -jar GameControllerTester.jar

Structure:

Game controller files are conducted with gameControllData headers. Udp class uses the same data type to transfer information

Port Numbers

• File with port numbers:
  /GameController2018/include/RoboCupGameControlData.h
• GC data transfering:
  Using broadcast address /192.168.1.255
  Listening on address /192.168.1.68

Achievements

• Transfering messages from GC to GCTester using udp protocol and Linux Socket
• adding some API to deliver messages with udp (25.02)

Current ideas about GC

• Run Game Controller
• Analyse GameControlData class
• Analyse GameController messages

Current ideas about Transfering data

• Easy way
  Read InTeReStInG code.
  Find START message handler.
  Write module the same way.
• Cool way
  Use AL:: library and Brocker API to handler the START message.
  We can write separate class in which we'll use brockers to call methods from other modules
• Current way
  We have to write special class, which will contain data and team info

Test abilities

WiFi local network

• Only computers
  On first PC GameController is executed. This PS is a message sender. Messages contains information about commands, game style, timeout etc. The second computer reads GCData from UDP port and parses data in readable way. We can provide a reliable connection and data transfering. After that we can start the next step
• Comming soon ...

address of PC with GC

My PC

wlp3s0: flags=4163<UP,BROADCAST,RUNNING,MULTICAST> mtu 1500 inet 192.168.1.68

The solution of transmission problem

We used two programms written by Vlad in terms of OS course: server.c & client.c On the first PC we made a broadcast point with GC. On the second one there was a running client program. This program reads data from all the users in a network, and we saw a broadcasting messages in Robocup GameController standart data type.

Toolchain problem

Coding a Communication module we faced a problem with boost warnings layout and CMakeList specific syntax.
We added a special header file which had to provide us an ability to ignore warnings:

#include <boost/config/warning_disable.hpp>

We added prefixes to Cmake flags this way:

SET(QIBUILD_COMPILE_FLAGS "-isystem")
add_definitions(${QIBUILD_COMPILE_FLAGS})

or

target_compile_options(all PRIVATE -isystem)

Both of these features didn't work properly.
Then we rewrote a Communication module with new toolchain and now It works!
We creates a connection dump to see the data transmission between robot & PC with GC.

Already done task

• write a wrapper class which provides reading, writing and parsing data
• execute the program from nao robot

Achievements

We have already write a wrapper class which is now a member of Communication class
We tested our module with remote connection on NAO robot
After that we turned to uploading the binary files .so onto NAO robot There was a problem with a loop in constructor, but we found a solution
The GC and NAO created a communication and we could receive messages from NAO
to PC and set states of NAO by GC interface

TODO:
Now we have to add a virtual function init which is inherited from the based class AlModule