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Scheduler

Overview

This repository handles communication between various subsystems. The subsystems are specified in the file structure below, each subystem has a client file and a specification file and may use utilities from api. The client files are stored in clients and are copied over to their respective subsystem directory when built. The specification files are stored in specs and tell the scheduler how to handle the various communications the subsytem can send to it. The scheduler itself depends on communication protocols and utilities stored within scheduler. The makefile commands are specified below in the order they should be run:

make venv: Creates the virtual environment and installs required packages.

make build: Copies over the various clients to their respective directories.

make [all]: Starts the scheduler and all required subsystems for C1C0 operation.

make [subsytem]: Starts a specific subsystem and displays its communications in terminal.

make clean: Removes all copied over client files and temporary directories.

File Structure

api/ # Folder Containing API Utilities
|-- __init__.py      # Making API A Package
|-- locomotionAPI.py # Locomotion Utilities
|-- preciseAPI.py    # Precise Arm Utilities
|-- rotateAPI.py     # Head Rotation Utilities
|-- serialAPI.py     # General Serial Utilities
|-- strongAPI.py     # Strong Arm Utilities

assets/ # Folder Containing Data Files
|-- r2d2-1.mp3 # C1C0 Sound 1
|-- r2d2-2.mp3 # C1C0 Sound 2
|-- r2d2-3.mp3 # C1C0 Sound 3
|-- r2d2-4.mp3 # C1C0 Sound 4
|-- r2d2-5.mp3 # C1C0 Sound 5

clients/ # Folder Containing Client Files
|-- __init__.py   # Make Clients A Package
|-- controller.py # Xbox Controller Client
|-- facial.py     # Facial Recognition Client
|-- manual.py     # Manual Control Client
|-- movement.py   # C1C0 Locomotion Client

scheduler/ # Folder Containing Scheduler Files
|-- __init__.py # Make Scheduler A Package
|-- client.py   # Client Template For Subsystems
|-- config.py   # Configuration Variables
|-- server.py   # Server Template For Scheduler
|-- utils.py    # Utility Functions And Classes

specs/ # Folder Containing Specification Files
|-- __init__.py   # Make Specs A Package
|-- controller.py # Xbox Controller Specification
|-- facial.py     # Facial Recognition Specification
|-- manual.py     # Manual Control Specification
|-- movement.py   # C1C0 Locomotion Specification

.gitignore       # Git Ignore Specifications
makefile         # Build & Run Commands
README.md        # Information File
requirements.txt # Required Python Packages
scheduler.py     # Scheduler Server File

Adding A Subsystem

If you want to add a subsytem, follow these instructions to make your life easier.

  1. Figure out a specification file for the client. All the scheduler really is a massive data queue that you can get and put data. So make a specification file that can handle your requests to scheduler, and then add it to the mapping found in scheduler.py.
  2. Now create a client file within clients to send the requests and deal with the response that the server gives (based on earlier specification), if any extra utilities or assets are needed, you can put them within the api or assets folder respectively.
  3. Final step is to add a makefile command and then test your code before commiting. Once all these steps are done, you have added a subsystem to scheduler, yay!