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Team 1 Task Diagram

Image

  • API Modules
    • Debug
      • Outputs to debug pins to communicate asynchronously without blocking.
    • JSON Serialize
      • Serializes various structs into bytes that can be sent over the network.
    • JSON Deserialize
      • Deserializes network bytes into their respective structs.
    • Pathfinding
      • Takes weighted block grid and finds the lowest difficulty path to the target.
    • Geometry
      • Manages the world view held by the robot.
      • Can take local readings to approximate world location.
      • Can map known geometry of world onto grid for pathfinding.
      • Can take new data and make predictions of the world and position with probability based on data.
    • Ultrasound
      • Process continuous ultrasound data into probability-based world-view.
    • Edge
      • Use the photodetector to identify the boundaries of the arena based on past and current photodetector data.
  • Tasks
    • Sound
      • Is told which sound samples to play.
      • Conveys sound sample information to interrupt to fill sound buffer.
    • Processing
      • Processes sensor data.
      • Aquires sonar
    • Processing Grabber
      • Replaces Processing on grabber and only processes picking up information from Grabber Rx.
    • Movement
      • Receives movement commands based on pathfinding information from the Data Processing module via Network Recv.
      • Attempts to fulfil movement requests and periodically sends back a timestamp and movement information and probabilities to Data Processing via Network Send.
    • Network Send Processing/Movement
      • Receives binary format messages from modules to be encoded as JSON and sent to the Wifly Send module.
      • Uses JSON Serialize API to serialize messages to be sent.
    • Network Recv Processing/Movement
      • Receives JSON encoded messages from Wifly Recv and decodes them into binary before forwarding them to their respective location.
      • Uses JSON Deserialize API to serialize messages to be sent.
    • Wifly Send Processing/Movement
      • Receives JSON messages along with reliability requirements.
      • Tracks the reliability and ordering requirements of messages so they are sent as intended, adding in some extra JSON data.
    • Wifly Recv Processing/Movement
      • Receives JSON encoded messages and decodes only reliability information, passing the JSON back to Network Recv depending on reliability requirements.
      • Tracks the reliability and ordering requirements of messages so they are received as intended, adding in some extra JSON data.
  • Interrupts
    • Wifly Rx Processing/Movement
      • Receives bytes from Wifly and forwards them to Network Recv Processing/Movement.
    • Wifly Tx Processing/Movement
      • Receives bytes from Network Send Processing/Movement and sends them to the Wifly.
    • Wheel Rx
      • Gets approximate location information back from the wheels and sends it to Movement.
    • Wheel Tx
      • Gets wheel commands from Movement and controlls wheels.
    • Ultrasound Rx
      • Gets inputs from ultrasound, formats them appropriately, and sends them to Processing.
    • Ultrasound Tx
      • Gets ultrasound control commands from the Processing module and properly drives the ultrasound.
    • Photodetector Rx
      • Gets pixel data from photodetector sensors and forwards it to Processing.
    • Photodetector Tx
      • Sends commands to photodetector sensor from Processing to control its operation.
    • Servo Tx
      • Receives rotation requirements from Processing and forwars them to the servo.
    • Grabber Rx
      • Receives grabber data from whatever sensors.
    • Grabber Tx
      • Sends grabber commands from Processing Grabber.
    • Sound Tx
      • Sends bytes from sound buffer to sound module from Sound task.