iRSP User Manual
Contents
1. Sensors Appliances ae ifa Refrigerator g Rove V e gt Universal Plug and Play UPnP is a standard that uses Internet and Web protocols to enable devices such as PCs peripherals intelligent appliances and wireless devices to be plugged into a network and automatically know about each other gt With UPnP when a user plugs a device into the network the device will announce its presence on the network to other devices 23 For instance even though iRSP does not know the address of device IRSP can access it without any further steps as long as it is the same network with iRSP gt UPnP Structure Component1 Device Service Action iRSP Control Point Component2 Device Service Action A device consists of one or more services and one service contains one or more actions An action is what does several functions iRSP accesses components using a Control Point 3 Control 4 Eventing 5 Presentation SOAP GENA HTTP HTML 2 Description HTTP XML gt UPnP Hierarchical Architecture 1 Discovery SSDP GENA O Address Level Address Control point and device obtain an address to participate in the network 1 Level Discovery Control point finds all devices and device advertises its availability 2 Lev2. clicking Add Button in the Variables box located at the left top part of the Editor View Specify the Type Name Initial value of the variable from the leftmost box Declare an int type variable variablel and set the initial value of the variable as 100 e Local variables srt 15 3 use the new variable add Print node and type the name of the new variable into the edit box of the Print node Connect the node with the Start node and the End node 4 After you execute the plan you can verify that the initial value of the variable is shown in the Console View iQ 1 Y vanablel pent 10a 16 2 2 5 Flow Control If D Adding 1 node Drag an Tf node from the Components View located at the right side and drop into the Editor View Inserting a branch condition Click the 3 located at the right top of the Tf node and an edit box for a condition will be added Then specify a condition to branch in the edit box E g num 0 2 Wen put EP isa E Q EJ consol 3 Connect the nodes that you want to execute when the condition is satisfied like the below figure You can connect a next node from the Triangle located at the right side of the condition edit box a i Local variables int num KE fist cond BENT conditions a 220
3. 37 3 Mi WWE nm om second condition i default LS tburd eer 17 4 Execution You can run the plan with Execute gt You can identify a current control flow with the highlight of nodes The initial value of the variable num is O and there is no change in the value of the variable Therefore you can watch first condition in the Console View according to the condition of the If node 2 2 6 Flow Control 2 Sync Pause D Adding a Pause Node Drag a Pause node from the Component View and drop it into the Editor View The unit of input value is millisecond ms and the control flow will be paused as much as you typed in the Pause node Local Variables Outputs 18 2 Adding Sync node Drag a Sync node from the Component View and drop it into the Editor View sree uc 3 Only after all control flows to the Sync node arrives the control flow moves to the next node of the Sync node For this example it shows the moment when 1000ms passed after the execution The upper control flow executed the 1000ms waiting pause node and the Sync node is waiting for the control flow from the bottom which is running the Pause node which means 2000ms waiting Inputs iO ic s Te 19 2 2 7 The control of UPnP Components UPnP Action UPnP Event Create a new fold
4. IRSP User Manual BEL Ra bal 2 Software Platform Bonavision 2013 Table of Contents IRSP Introduction 1 1 What is iRSP 1 2 iRSP architecture and features 1 2 1 iRSP System Architecture 1 2 2 iRSP Features 1 2 3 iRSP System Requirement How to Use iRSP 2 1 iRSP Layout 2 1 1 iRSP Menu 2 1 2 iRSP Toolbar 2 2 iRSP View 2 2 1 iRSP Basic 2 2 2 Create a Project 2 2 3 Create a Plan Print Hello World 3 1 Declaration and Use of Variables Variables 3 1 1 Flow Control If 3 1 2 Flow Control 2 Sync Pause 3 1 3 The Control of UPnP Components UPnP Action UPnP Event 3 2 Extension Script 3 2 1 Plan Reuse Group 3 2 2 UPnP Event Monitor 9 10 12 12 13 14 15 17 18 18 19 20 21 22 22 23 23 3 2 3 How to Use UPnP 3 2 4 UPnP Introduction 3 3 Practical use of iRSP 3 3 1 with iRSP TTS RobotInfo Change Expression LED Face Detection and Take Picture Music Sound 3 4 FAQ 23 23 24 25 26 25 26 25 25 26 26 26 27 1 iRSP Introduction 1 1 What is iRSP IRSP is a robot software platform that helps develop and execute intelligent services required for a variety of robot systems through a robot system design step and a service integration step 1 2 iRSP architecture and features 1 2 1 iRSP System Architecture Generate IDE Application ee sf Embedded Runtime iRCS Component Int
5. Plan file Enter or select the parent folder Test i Example iz Test File name Advanced nh cares 2413 In the plan Inputs Local Variables Outputs Start node and End node are created Inputs is for the list of inputs of the plan Local Variables is the list of variables in the plan Outputs is the list of the outputs of the plan Start node is where the plan starts and End node is the end point of the plan 2 2 3 Print Hello World Adding a Print node Drag a Print node from the Component View and drop it into the Editor View Entering the value into the Print node Type Hello World into the edit box of the Print node 14 3 Connecting a control flow Connect the Start node the Print node End node order A control flow is represented as an arrow You can connect nodes by dragging from the edges of each nodes or using the chain shape Connection Tool zs Testrpend 23 a Input Local Variables s Outputs Execution You can run the plan with Execute gt You can identify a current control flow with the highlight of nodes You will be able to watch the Hello World which you typed in the edit box of the Print node in the Console View 2 2 4 Declaration and Use of Variables Variables D Adding a variable by
6. T arian true PRUSE false true false Sync ChangeExpression Inputs 9 Outputs Action gt smile 25 This example will program Tyche to turn its LED for one 3 1 3 Face Detection and Take picture When Tyche detects a face it takes a photo 3 1 4 Music Sound Testrpm test 2 musicsound 4 Inputs 4 Local Variables int count 4 Outputs gt Marker rpml second and smile at the same time Test rpml BallDetectionandPhoto rpml 53 7 BallDetectionandPhoto ous TakePhoto 4 Inputs PM Inputs 9 Outputs o 4 Local Variables o iat X boolean pictureTaken a D Picture Taken 4 Outputs o PRINT A pictureTaken passen true Conditions 9 mm Start am X IpictureTakeng amp amp x 1 Q gt p Inputs 9 Outputs urne gt START RET In i x lt 0 D IF default pictureTaken cnl musicsound rpml 53 ChangeExpression nh Inputs 9 Outputs m gt surprise P i i Inputs 9 Outputs UPnP is START poa Action gt 0 sent Play upnPm Inputs 9 Outputs Action 1 SetLED 5 Inputs Outputs 9 Conditions o m true f WM count lt 9 P pr 1 FER SE E lt 200 true PRUSE default A true EnD i y SetLED Inputs 9 Outputs count EN pas false va m 200 oF passen co
7. an files of those projects UPnP Explorer Show the list of all available UPnP Components il Refresh the list of UPnP Components P Create new folder for UPnP 8 Search for new UPnP Console 53 Console Show the result of executing a plan Editing Tools maintest rpml 2 Selection Connection Components A set of tools required for making a di ES plan Selection Nodes Comments A user can use it via drag and drop 3 gt IF Srnec SCRIPT P List of available Group nodes Show the available po Group nodes Show the name and input output a Dy URHRIRELE a a parameters of the Group nodes gt List of available UPnP nodes Show the available UPnP components Show the name and input output parameters of the UPnP components Rounded Rectangle Rectangle Ellipse TEHE 10 gt Components View Normal Selection mode Select This mode is for connecting nodes END Exit the plan ASSIGN Store value a variable RS5IETI PRINT Print the contents of the node in the Console View PAUSE Pause the plan for the amount of time specified in the input value unit millisecond Node IF Branch the plan according to conditions SYNC Only after all control flows that are connected to the node arrive the flow can move to the next nodes SCRIPT Use BeanShell script in a plan GROUP Use the
8. el Description Control point learns about device capabilities 3 Level Control Control point invokes actions on device 4 Level Event Control point listens to state changes of device notification 5 Level Presentation Control point controls device and or views device status using an HTML UL For more information visit UPnP official website http www upnp org 24 3 Practical Use of iRSP 3 1 TYCHE with iRSP 3 1 1 TTS Robotinfo Test rpml 53 test text rpml E 2 Test 4 Inputs 4 Local Variables boolean isConnected String type GetBodyType Speak 4 Outputs qnn Inputs 9 Outputs meer tt E Inputs 9 Outputs o ACTION type Acton Lam riding type car IsBodyConnected Conditions Inputs 9 Outputs 9 WES 0 x W isConnected P STRRT ACTION jsConnected IF default Speak geh Inputs Outputs 9 HL ES BE EE ERE ERE Q arian gt not connected to a Eno This example will program Tyche to tell you in which type of car Tyche is if it s in a car and speak I am not connected to a car if not 3 1 2 Change Expressions LED Test rpml 75 BallDetectionandPhoto rpml Ez AvatarAndLED rpml 53 test cJ 7 AvatarAndLED 4 Inputs o 4 Local Variables o 4 Outputs E SetLED SetLED Inputs Outputs e Inputs 9 Outputs oo ee asus ee STRR
9. eolean a Music isien dis uh LED imt ih ADK imt munbest rperd Editor a J malritest Selection Conmes lion Local Variables Hodes Project Explorer ins UPnP Components x V Tycheugnp al TycheuPnP Avatar Camera Facefiecognition hlarkerRecognition Smurthhonesenkir Music EJ Consoli Text os peech LED Apk Console UPnP Component Layout 2 1 1 iRSP Menu File Edit Open File Close Close All Rename Refresh Print Switch Workspace Restart 1 maintestrpml test 2 test test config Exit Undo Move Element Redo Cut Copy Paste Delete Select All Find Replace Ctrl wW Ctrl Shitt W Ctrl Ctrl Shift 5 Ctrl P 7 Ctrl Y Ctrl X Ctrl c Ctrl Vv Delete Ctrl A Ctrl F Open File Open the existing Plan File Close Close the current plan editor Close All Close all the plan editors Save Save the current plan Save As Save the current plan with a new file name Save All Save all the open plans Move Move the selected plan file into another project Rename Change the name of a project or a plan file Refresh Clear the results on the plan editor Print Print the current plan Switch Workspace Change the workspace path and restart IRSP Restart Restar
10. er for UPnP workspace wie UPnP Components 53 7 G Change Workspace Choose a workspace folder for UPnP Component Projects uz sic ero S242 shaun m 254 Ge Advanced iRSP Jk iRSP Plan Builder iRSP Runtime i execution lib storage A upnd backup20150626 documents irsp manual unzipped folders D eng M 3G OSI A HA Search for TycheUPnP ue UPnP Components 53 Ez a z E Import UPnP Component Import UPnP Component Select an UPnP component and enter project name Target UPnP Project name Finish 3 Add the UPnP to the Configuration file 20 FF Plan Projects 52 ae Testrpm 8 32 test 7 test 18 Configuration WM Test rpml text rpml Main Plan text Mode iRSP Runtime localhost test test w UPnP Components 53 E 4 Use the UPnP functions to you plan Jr d r4 Plan Projects 53 B 4 1 test 18 Configuration FaceDetection FaceRecognition MarkerRecognition BallDetection Wheel Robotinfo SmartPhoneSensor Sound Music TextToSpeech A A gt 4 26 a gt Test rpm gt text rpml 221 2 2 8 Extension Script D Adding an Script node Drag an Script node from the Component View and drop
11. erface ee TT IIITTTTITT TI IT TT Components Intelligence P Cee ee ee ee ee eee eee eee System Architecture iRSP consists of Plan Editor intelligent Robot Control System iRCS which executes a plan and UPnP Component Builder for an UPnP Component running on a robot e iRSP Plan Editor provides a Visual Programming Language VPL environment which enables a user build robot programs conveniently via Drag and Drop A Plan is a file that is stored in our own format called Robot Plan Markup Language RPML and this file is used for executing a robot program iRCS is a runtime module of IRSP and it executes a plan consists of various components and nodes It x m provides Execution Stop and Pause functionalities and all runtime errors can be verified in the plan editor e UPnP Component Builder is an Eclipse Plug in based program which help
12. existing plan as a Group node Text Box Comment input box in the form of a borderless rectangle Br On Comment Rectangle Comment input box in the form of a bordered rectangle Rounded Rectangle Comment input box in the form of a rounded rectangle ectangle 11 Ellipse Comment input box in the form of an ellipse Ellipse 2 2 IRSP Basic 2 2 1 Create a Project D Click New Project in the iRSP Toolbar af maur al Target Project TA b ane pa New Project New Plan Connect Execute Stop Refresh Settings Specify Project name and Click the Next button El New Plan Project Project Plan Project Project Create a new Plan Project project Project name Test W Use default location C WProgram Files x86 WBONAVISIONWiRSPWworkspaceWTest gt You can change the location of workspace 3 Within this page you can choose a robot and can add basic plan files example plan files 4 After clicking Finish button you can see that the required files for the project are created successfully 2015 2 2 2 2 Create a Plan Click the New Plan button in the iRSP Toolbar Target Project Pm ia New Project New Plan Connect Deploy Execute Stop Refresh Settings First choose the project which contains the new plan Then specify the name of the plan and click the Finish button r New Plan File Plan file Create a new
13. it into the Editor View 2 Double click the created Script node and the pop up window in which you can type BeanShell script will appear Enter a script in the window Then Click the OK button Local variables e Put Dutpuls 2 2 9 Plan Reuse Group IRSP supports a Group node functionality to reuse existing plans in other plans D To use existing plans as a unit node in other plans drag the plan node from the Component View and drop it into the Editor View Test rpml 53 gap test zz text rpml 23 a 2 Test 2 2 text 4 Inputs o 4 Inputs o 4 Local Variables o 4 Local Variables o 4 Outputs 4 Outputs o START mm in group Test START PRINT EnD gt Inputs 9 Outputs GROUP 22 The input output of the added group node are same as those of the existing plan respectively 3 Specify the variables used in the input output of the existing plans in the input output of the group node respectively 2 2 10 UPnP Event Monitor un UPnP Components 22 w TycheUPnP 4 adi TycheUPnP Avatar amp Camera amp FaceDetection FaceRecognition amp MarkerRecognition BallDetection 4 2 Wheel 4 Inputs int direction int duration int distance 4 Outputs You can see what inputs are required and outputs you get by hovering over a component function 2 3 How to Use UPnP 2 4 1 UPnP Introduction Intelligent
14. s a user to develop UPnP components easily With a component project wizard a user can build an UPnP interface and a template code is generated automatically A user can program the UPnP component by filling up the template code 1 2 2 iRSP Features gt Robot programming via drag and drop gt Intuitive plan representation with nodes and arrows Easy to Use gt Various components from low level control components to complex components gt Provides components for external devices Various Components gt Provides algorithm components such as image processing voice recognition Identical UI on the mobile device environment with PC Mobile Device gt Robot programming with iRSP on the mobile device environment Environment 1 2 3 iRSP System Requirements The recommended environment of IRSP is as follows tem Red O Windows XP Vista Linux Mac OS X 105 CPU P4 2 0GHz RAM 1GB HDD 150MB With Simulator 1GB For Windows Vista 7 an administrator rights is required 2 How to Use iRSP 2 1 iRSP Layout Target Project 7m Settings To r lis Flan Projects zx rnairitestreml zx Editing rmainzestrpml zx a a Confiquratian a TycheUPnP a Avatar ah Camiri a nputs ik FaceDetection Com pon ents Facegecognition uh Marke Recognition ak BallDetection Wheel a Robetinia rm zh ng al SmartPhone Sensor Paw al Sound b
15. t IRSP Exit Terminate IRSP Undo Move Element Reverse the effect of recent executed job Redo Do the recent canceled job again Cut Cut the selected contents Copy Copy the selected contents Paste Paste the contents of the clipboard Delete Delete the selected contents Select All Select all contents of the current plan editor 2 1 2 iRSP Toolbar al Target Project a ar Mew Project New Plan test Connect eploy Refresh Settings New Project Create a new project fa New Plan Create a new plan file rpml Target Project Execution Mode Choose a target Robot Simulator that a plan will be executed on Stop Stop the running plan Refresh Clear the results shown on the plan editor Setting Set the directory for the runtime 2 1 3 iRSP View 4 Plan Projects 53 iE test 18 Configuration w TycheUPnP i Avatar 24 Camera FaceDetection FaceRecognition MarkerRecognition BallDetection Wheel RobotiInfo SmartPhoneSensor Sound Music TextToSpeech LED ADK maintest rpml ure UPnP Components gt vb TycheUPnP ally TycheUPnP 1 d nx Hi y Awatar Camera FaceDetection FaceRecognition MarkerRecognition BallDetection RobotInfo SmartPhoneSensor Sound Music TextToSpeech am LED 7 ADK Project Show the all project located in the Workspace and all pl
16. unt 1 PRUSE dme false false 26 3 Does iRSP support other robots beside EngKey A Yes iRSP supports various robots such as Silbot2 iRobot Create AR Drone2 Bonavision Smartphone robot Sphero and Romo Information about other robots will be offered in a component or manual update Q How can I make an android UPnP Component A A Service class from the UPnP Builder also can be used on the android environment However the code stub that creates a Device needs to be implemented in a different way For more detailed explanation refer to the below Cling Library website http 4thline org projects cling core manual cling core manual html chapterAndroid How can I add additional poses to the PoseDetection Component A The PoseDetection component is implemented using openNI Library http www openni org To add other poses you have to re implement the component with the library Currently the PoseDetection components can use only the predefined poses and it is impossible to define additional poses The upgraded version which allows a user to add more poses will be provided in the future update Q Are there any other components for image processing A Image processing components are in a developing process As soon as they are stabilized the components will be distributed For more questions please contact us at tyche bonavision net 27
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