mep-master master

Proxy to custom require(), Log, Config, DriverManager & services.

Global function to require library relative to src directory

Proxy to method Mep.DriverManager.getDriver(driver)

Enables communication between mep-master and mep-dash.

Send log or command to mep-dash.

Helper that generates query string for .on()

A goal of the class is to check if drivers are correctly implemented.

Class manipulate drivers

DriverManager provides mechanisms to:

• initialize and configure drivers based on config files,
• return instance of driver by driver unique identifier,
• filter drivers by groups,
• check if driver is available,
• resolve dependencies and
• put driver out of order or recover driver if it is possible.

Each driver can be part of one or more of following groups: control, terrain & position.

Check if driver is out of order

Get driver instance by driver name

Returns true if driver is available

Get all drivers that can provide specific type of data.

Every driver that can provide a certain type of data has implemented universal mechanism for getting that data from the driver. That is extremely useful for services and in that case services implement only logic for data processing, not mechanisms for data collection from different drivers. Services are in this case also hardware independent.

Get all drivers that can provide specific type of data (or execute specific command) and call method.

Eg. imagine you have laptop and monitor. If a monitor is not available then your laptop is it totally ok with it, image will be sent only to laptop's monitor. However, if there is a monitor connected to the laptop then laptop will be aware of monitor and it will send an image to monitor too. Your laptop don't really recognize difference between displays, and it communicates between them in very similar way. To sum up, the same is for this method, method will be called to all drivers that are the part of the group.

Put driver out of order

Driver for CAN bus (Controller Area Network)

Send buffer to specific ID

Driver that simulates CAN bus

Driver detects color based on RGB components

Start reading data from sensor

Stop receiving RGB components

Get last read color

Converts an RGB color value to HSV. Conversion formula adapted from http://en.wikipedia.org/wiki/HSV_color_space. Assumes r, g, and b are contained in the set [0, 255] and returns h, s, and v in the set [0, 1].

Converts an RGB color value to HSL. Conversion formula adapted from http://en.wikipedia.org/wiki/HSL_color_space. Assumes r, g, and b are contained in the set [0, 255] and returns h, s, and l in the set [0, 1].

Communicates with dynamixel servos (AX12 & RX24). NOTE: This class doesn't send start bytes & checksum, please make custom communicator (@dependecies.communicator) if you want these features.

Set servo to required position and get promise when position is reached

Uses data from infrared sensors to determine where is an enemy robot and other obstacles.

Make instance of InfraredDriver.

Check image bellow to understand `sensorAngle`, `sensorX` & `sensorY`
 s1   s2   s3
  \   |   /
 |---------|
 |  Robot  |
 |_________|

 Sensor s1 params: sensorAngle~=110, sensorY~10, sensorX~=10
 Sensor s2 params: sensorAngle~=90, sensorY~=0, sensorX~=10
 Sensor s3 params: sensorAngle~=60, sensorY~=-10, sensorX~=10
 

Enable sensor

Disable sensor

Provides an abstraction layer on top of lidar's firmware and algorithms to determine robot's position and obstacles

Enable lidar driver

Disable lidar driver

Driver for Modbus communication protocol.

Creates instance of ModbusDriver

Simulation for Modbus communication protocol

Driver enables communication with Memristor's motion driver.

Finish moveToCurvilinear command and prepare robot for another one

Reset all settings in motion driver

Request state, position and orientation from motion driver

Reset position and orientation

Rotate robot to given angle

Rotate for given angle

Move robot forward or backward depending on sign

Stop the robot.

Stop robot by turning off motors.

Set default speed of the robot

Move robot to absolute position

Move robot to absolute position but robot make curves to speed up motion. This command requires finishCommand() before next motion command.

Get position of the robot

Remote controller for motion driver

Natively (C++) implemented driver that enables communication with Memristor's motion driver.

Get position of the robot

MotionDriverSimulator simulation module. Has same methods as MotionDriver but this module send all commands to simulator.

Communicates with pins on microcontrollers.

Get last value

Read value of given pin

Write value to given pin

Detects when rope is pulled out of the robot and starts counting game time.

Get time in seconds since match is started

Get time in milliseconds since match is started

Wait a start match signal (pulled rope, pressed key or delay)

Driver enables uart communication with electronic boards

Send data to Uart

Logs memory and cpu usage

Queue of callback functions. It used when you want to allow other modules to subscribe to your events.

Subscribe on event. Add callback function to queue.

Call all callback functions from queue with same parameters.

Implementation of circular buffer using Node.js's Buffer

Line in 2D space

Get start point

Get end point

Check if it intersect with another line

Check if it intersect with polygon

Point in 2D space

Make new point.

Calculate Euclidean distance between two Points

Check if points are equal

Translate point

Rotate point around origin point

Optimized algorithm for point rotation around coordinate beginning

Clone the point

Set Y coordinate

Set X coordinate

Return x coordinate

Returns y coordinate

Describes an polygon

Translate all points of polygon

Rotate all points of polygon around an origin point

Clone a polygon

Optimized algorithm for polygon rotation around coordinate beginning

Packetized Low-Level Secured Protocol

0                   1                   2                   3
0 1 2 3 4 5 6 7 8 9 0 1 2 3 4 5 6 7 8 9 0 1 2 3 4 5 6 7 8 9 0 1
+--------------+-------+-------+---------------+----------------+
|  Start Byte  | Header|Payload|  Packet type  | Payload length |
|    (0x3C)    |    Checksum   |               |                |
+-------------------------------- - - - - - - - - - - - - - - - +
:                     Payload Data continued ...                :
+ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - +
|                     Payload Data continued ...                |
+---------------------------------------------------------------+

Generate packet

Push received data to receive buffer

Provides a very abstract way to control and estimate robot position

Move the robot, set new position of the robot

Stop the robot

Move robot forward or backward depending on param millimeters

Rotate robot for an angle

Target (point & params) that robot has to reach

Queue of targets (points) that robot has to reach.

Get all targets

Add points at the end of the queue

Add single point at the end of the queue

Add points at the beginning of the queue

Add single point at the beginning of the queue

Get target at the front of queue

Get target at the end of the queue

Make line between current position and target if path finding is enabled

Get final target of path finding algorithm if path finding is enabled

Remove target from front of queue

Remove target from back of queue

Check if queue is empty

Delete all items from queue

Implements algorithms to collect data from sensors and determine current robot's location

Get current robot's position

Get current robot's orientation

Implements algorithms to schedule task execution

Algorithm to choose the best task

Automatically shares position, obstacles and task statuses between robots and provides simple API to share custom messages.

Provides sharing based on UDP protocol. Same prototype should be used for other protocols.

Class represent obstacles on the terrain and mechanism to search terrain between objects.

Creates terrain finding algorithm for an area

Default scheduler class describes general task scheduling and robot behaviour

Run default action if there is the exception in task is not caught with try {} catch(e) {}.

Get all registered task

Populates global space with short functions and variables in order to provide easier and faster way to write strategies. NOTE: Polluting a global space generally is not a good way to go, however after a year of experience in this case it is a good solution.

Default task class describes general task robot behaviour during task execution

Default constructor for task

Finish this task and run next one

Suspend this task and run next one

Get weight of current task

Get predicted time of current task

Get current state

Set current state

Change default weight of the task

Change priority during runtime

Run current task and change a state

This method will be executed as soon as mep run this task

Condition which will be checked by SchedulerService to decide to run task or not. Eg. Release lunar modules only if there is lunar modules inside robot

Describes an error during strategy execution (eg. robot stuck)

Default constructor for class

Tunable angle. Angle is chosen depends on table name in configuration.

Add multiple angles, add angle for each table. It must has at least one angle which will be used as default. Other angles must have tag!

Get angle depending on the chosen table in configuration.

Tunable Point. Point coordinates are choose depends on table name in configuration.

Add multiple Points, add Points for each table. It must has at least one Point which will be used as default. Other Points must have tag!

Get point depending on the chosen table in configuration.

Simplified functions for mep command prompt. All methods are accessible by using t. prefix.

List all available drivers for current current configuration

List driver properties for driver with id

Simplified functions for mep command prompt. All methods are accessible by using t. prefix.

List all available drivers for current current configuration

List driver properties for driver with id