AIBO Tutorial

1
AIBO Tutorial

• CS 4631 Spring 2004
• Ram Ravichandran

2
Outline

• Introduction
• Basic OPENR Program Constructs
• Code Development
• Executing and Debugging
• Flow of Development
• Parting advice

3
Introduction

• Environment
• Code developed using C, OPENR API
• Installed under /usr/OPENR_SDK
• available from www.jp.aibo.com/openr/
• Documentation
• (available under /usr/OPENR_SDK/documentation )
• AIBO Programming manual
• ERS-210 Information
• API Specifications (Level II reference Guide)

4
Introduction

• Sample Programs
• Best way to learn writing code
• All sample programs are available under
  /usr/OPENR_SDK/sample
• Copy to your home directory and change
  permissions.
• run using make PREFIX/usr/OPENR_SDK

5
OPENR Objects

• True OO (very similar to Squeak/SmallTalk)
• Similar to a UNIX process
• Communication through message passing.
• Object waits for message selector,data to
  arrive.
• Once a message arrives, objects call the method
  based on the selector specified in stub.cfg.
• Arguments to the method is the data in the
  message
• Wait for more messages.

6
Inter-object communication

• Brief overview
• Subject
• Object that sends a message
• Observer
• Object that receives the message
• Every observer has a message queue.
• Subject sends Observer a NotifyEvent.
• Observer replies with a ReadyEvent
• ASSERT_READY
• DEASSERT_READY

7
Core Class

• Each Object has a Core Class
• A Sample Core Class
• include ltOPENR/OObject.hgt
• include ltOPENR/OSubject.hgt
• include ltOPENR/OObserver.hgt
• include "def.h
• class SampleClass public OObject
• public
• SampleClass()
• virtual SampleClass()
• OSubject subjectnumOfSubject
• OObserver observernumOfObserver

8
Core Class (2)

• Continued
• virtual OStatus DoInit(const OSystemEvent
  event)
• virtual OStatus DoStart(const OSystemEvent
  event)
• virtual OStatus DoStop(const OSystemEvent
  event)
• virtual OStatus DoDestroy(const OSystemEvent
  event)
• //Describe the member functions corresponding to
  Notify,
• //Control, Ready, Connect method.

9
Inter-object Communication

• Control Method
• Used by the Subject to receive a connection
  result
• Connect Method
• Used by observer to receive a connection result
• Notify Method
• Used by Observer to receive a message
• Ready Method
• Used by Subject to receive the ASSERT_READY and
  DEASSERT_READY signals from Observer.

10
DoXXXX() Method Macros

• DoInit
• NEW_ALL_SUBJECT_AND_OBSERVER
• Registers the necessary number of Subjects
  Observers.
• REGISTER_ALL_ENTRY
• registers the connection to services offered by
  other objects
• SET_ALL_READY_AND_NOTIFY_ENTRY
• This registers all entry points.
• DoStart
• ENABLE_ALL_SUBJECT
• Enables all the Subjects
• ASSERT_READY_TO_ALL_OBSERVER
• This sends ASSERT_READY to all subjects.

11
DoXXXX() Method Macros (2)

• DoStop()
• DISABLE_ALL_SUBJECT
• This disables all subjects of core class.
• DEASSERT_READY_TO_ALL_OBSERVER
• This sends a DEASSERT_READY to all connecting
  subjects.
• DoDestroy()
• DELETE_ALL_SUBJECT_AND_OBSERVER
• This deletes all observer and subjects.

12
More Message Passing

• Observer first sends all its subjects an
  AssertReady
• void SampleObserverSendAssertReady()
• observerobsfunc1-gtAssertReady( )
• When Subject receives AssertReady, it sends the
  data.
• void SampleSubjectReady(const OReadyEvent
  event)
• char str32
• strcpy(str, Some Text Message)
• subjectsbjFunc2-gtSetData(str,sizeof(str))
• subjectsbjFunc2-gtNotifyObservers( )

13
More Message Passing (2)

• When observer receives the data, it sends an
  ASSERT_READY again
• void SampleObserverNotify(const ONotifyEvent
  event)
• const char text (const char)event.Data(0)
• observersbjFunc1-gtAssertReady()

14
Stub File

• Used to define member functions that receive
  messages
• A sample Stub File (stub.cfg)
• ObjectName SampleClass
• NumOfOSubject 1
• NumOfOObserver 2
• Service SampleClass.Func1.Data1.S,Control(),Re
  ady()
• Service SampleClass.Func2.Data2.O,Connect(),No
  tify1()
• Service SampleClass.Func3.Data2.O,Control(),No
  tify2()
• Extra WakeUpOnLan()
• Extra UpdateBatteryStatus()

15
Building

• Make a Directory (lets call it Output) in the
  parent directory of the directory where you have
  the source files. We will put the final output
  executables in this directory.
• Copy the directory OPEN-R from /usr/OPENR_SDK/MS
  into Output.
• Copy Makefile-parent from /usr/OPENR_SDK/MS to
  ltParent dirgt/Makefile
• Copy Makefile-child from /usr/OPENR_SDK/MS to
  ltsrc file dirgt/Makefile
• Edit both makefiles.
• type makemake install in the parent directory.

16
Building (2)

• A picture is worth a thousand words

17
Editing Configuration Files.

• .ocf file
• Has one line in it of the following format.
• object NAME STACK_SIZE HEAP_SIZE SCHED_PRIORITY
  cache tlb user
• connect.cfg file
• This file is in ltparent_dirgt/MS/OPEN-R/MW/CONF
• Dictates who talks to who using what services
  (registered in stub.cfg)
• Contains lines similar to
• object1.sendStream.datatype1.S
  object2.recvStream.dataType1.O
• object.cfg file
• contains a list of .bin files (objects)
• add the objects you have compiled
• do not erase tinyftpd.bin and powermon.bin

18
Executing and Debugging

• Insert the memory stick in the laptop.
• At the prompt, type
• mount /sony
• Once the memory stick has been mounted, then copy
  the files from /MS/OPEN_R to /sony
• cp rf ltparent dirgt/MS/OPEN_R /sony
• un-mount the memory stick.
• umount /sony
• Put the memory stick in the dog and press the
  power button on the dog.
• DEBUGGING
• For debugging information see chapter 5 in the
  programmers manual. The explanation in the
  chapter is very clear and extensive.

19
Flow of Development

• Design your objects
• Decide on the data type for the inter-object
  communication
• Write the stub.cfg file
• Write the core class with the necessary member
  functions
• Write connect.cfg file
• Write your .ocf file
• Build
• Write object.cfg file
• Execute on AIBO
• Debug (perhaps)

20
Parting Advice

• See sample programs
• Do NOT let the AIBO walk on hard surfaces. This
  will break the joints. Use the robocup field or a
  similar carpet like surface.
• Do NOT use joint values greater than the ones in
  the manual. The software does not impose a limit
  on the joint angles. Thus you can BREAK the
  joints by putting in arbitrary values.
• You will PAY for any broken part.
• This tutorial is available online (by tonight) at
  http//www.cc.gatech.edu/borg/robotsoccer/aibotu
  t.html
• Programming the dogs for the first time can be
  frustrating. Do not hesitate to use the mailing
  list to ask questions.