User manual
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1. Writing own nodes in C Urbi SDK extension Pure Urbi SDK has UObject class like main unit See official documentation for more details We created our custom class XObject based on UObject It is enhanced by collecting information about its semantic and syntactic outputs and inputs types Furthermore it provides interface for starting and stopping data flow when acting like a DFG node Pure Urbi SDK implements dataflow communication with a pair of classes InputPort for inputs and UVar for outputs or any variable in general See official documentation for more details We created our custom classes XInputPort SimpleXInputPort XVar and SimpleXVar based on InputPort and UVar SimpleXInputPort and SimpleXVar are enhanced with semantic and syntactic types which you can set through constructor parameters XInputPort and XVar are template classes inheriting from SimpleXInputPort and SimpleXVar you can set syntactic type through template and semantic type through constructor parameter XInputPort and XVar are used in most cases in comparison to SimpleXInputPort and SimpleXVar so when we will write something about XInputPort or XVar it will be true for SimpleXInputPort and SimpleXVar too in most cases Pure Urbi SDK has a set of macros which bind C code to urbiscript UStart UBindVar UNotifyChange UBindFunction URBI_REGISTER_STRUCT See official documentation for more details We created our custom set of macros XStar2. X Copter Studio data configuration files dfgs dataflow graphs logs x copter flight samples scripts user s urbiscripts settings configuration files doc documentation files include header files for XCS developers 1ib XCS shared libraries xcs xobjects DFG nodes share xcs X Copter Studio files examples X Copter Studio node example in C urbiscript X Copter Studio startup urbiscripts onboard nodes DFG nodes 19 Valid for Windows version only Linux version has only executables here 20 Linux version has data inside share xcs directory part of xcs onboard examples package 21 Linux version has doc inside share xcs directory part of xcs doc package 45
3. computed control value Parameters none RedDot Finds red circle in input images and provides its position in image from center Inputs video CAMERA image where RedDot is finding red circle Outputs enhencedVideo CAMERA input image with highlighted found circle errorX PID_ERROR x position of a red circle in the image from center errorY PID_ERROR y position of a red circle in the image from center found DECISION if it was detected red circle in actual image Parameters none SemanticReceiver SemanticReceiver is a node that receives data entered by the user in Client component and propagates them further into the DFG The data channel names that it should react to are set in advance and unknown data are not sent into the dataflow In default DFG it contains channels sufficient for manual control and scripting 27 Outputs execControl CONTROL commands from scripting console execurbiscript URBISCRIPT urbiscript from script console command COMMAND commands from fly control panel e g Takeoff flyControl FLY_CONTROL fly control values from active controller when keyboard controller is not active no data are sent Parameters outputs specifies what data are transferred it has same format like list of outputs in node written in urbiscript XciDodo XXci object with xci_dodo driver Self contained XCI implementation useful when physical x copter neither fine simulator is ava
4. X Copter Studio x gt C Q localhost 3000 XCS Settings ral Toolbox Data Flow Graph DFG nodes oO F execControl contra DFG special nodes o execUrb command flyControl low Graph r and create DFG Create DFG Start Flow ARO Console Stat Stop EER Clear Take off Land El oaa 7 Watch and enjoy replaying data 17 J D X Copter Studio e D localhost 3000 Qe XCS Settings Lag 1ms o Dataplayer altitude Dataplayer ekf_position Dataplayer ekf_velocity 100 z 1 49191 z 0 050606 a y 0 0206551 y 0 0579468 A x 1 5514 x 0 456362 Dataplayer flyControl Dataplayer video roll 0 060927 yaw 0 0214534 gaz 0 170992 pitch 0 032192 DFG Create DFG StartFlow Stopmlow DestroyDFG HH A Console Start Stop EH Clear Keyboard Manual flying with x copter 1 Follow instructions 1 4 from tutorial Play and display logged data 2 Choose one of the following DFGs dodo_manual parrot_manual_localization vrep_manual 3 Ifyou chose vrep_manual start V REP simulator and prepare the scene by putting Quadricopter model into it that s all default name Quadricopter is fine 4 Create and start DFG by clicking Create DFG and Start Flow buttons simulation in V REP should start 5 Switch to Keyboard in x copter control section Take off Land Off 6 Use Take off in case of parrot_manual_localization 7 You can control the x cop
5. and pass data only from one input to the output After creation it is set on input1 User can choose which input will be active by sending input port number in setInput Inputs input1 FLY_CONTROL input data input2 FLY_CONTROL input data chooselnput CHANNEL choose which input data will be passed to the output Outputs output data from selected input Parameters unsigned int number of inputs bool if data from higher input will cause switch to turn on this input string semantic type of the inputs FlyControlTriple Switch between inputs and pass data only from one input to the output After creation it is set on input1 User can choose which input will be active by sending input port number in setInput Inputs input1 FLY_CONTROL input data 23 input2 FLY_CONTROL input data input3 FLY_CONTROL input data chooselnput CHANNEL choose which input data will be passed in to the output Outputs output data from selected input Parameters unsigned int number of inputs bool if data from higher input will cause switch to turn on this input string semantic type of the inputs FlyControlAggregator FlyControlAggregator is aggregation node hence the aggregator name It converts separate data for controlling x copter movement gaz pitch roll and yaw in one structure called xcs FlyControl Inputs gaz x copter up down velocity in range lt 1 1 gt 1 m
6. not work when you change context e g context is changed inside a 5 We bundled a PDF with documentation into doc directory see directory structure 10 pseudoclasses But it should not be any problem see two following examples First example shows change of context and second shows workaround this will print start echo start class FooClass function foo echo foo y y var fooClass FooClass new this will not print anything fooClass foo this will print stop echo stop var globalEcho echo this will print start globalEcho start class FooClass function foo globalEcho foo y y var fooClass FooClass new this will print foo fooClass foo this will print stop globalEcho stop You can load and store your scripts analogously to DFGs X copter control Control section contains buttons for taking x copter off and landing as well as switch for enabling desired controller By default controller is turned off In this version XCS supports only keyboard controller Other controllers may be added in the future Note Beware of typing while keyboard controller is enabled for example when in console 11 Widgets X Copter Studio f C D locathost 3 XCS Settings Lag Dataplayer altitude Dataplayer ekf_position Dataplayer ekf_velocity Dataplayer altitudeAll 20 i z 1 40309 z 0 0716236 z 1397 10 y 0 0431002 y 0 01623
7. you have to use another location e g under your home directory and tell Onboard where it is see Configuration Dataplayer Playback logged data from file It plays data with same speed as they were logged Dataplayer generates dynamically output ports according to the played file If you want to replay logged data you must reset your graph It means to use Stop Flow Destroy DFG and Create DFG again Beware when you change played file it may change output ports therefore always reload nodes when you do this In fact reloading nodes will not change your Dataplayer nodes in DFG editor it reloads nodes in DFG toolbox only see DFG toolbox so you must take care of it yourself Outputs Outputs are dynamically generated according to the played file finished EVENT signals end of played file Parameters file Path to file which will be used for replay It is recommended to set the same file path as for Datalogger Executor Executes urbiscript which was published on input code Scripting console uses this node for execution Execution is controlled by control input you can start stop pause and resume execution this way If you want to control execution you must start flow first see DFG lifecycle section If you stop flow currently executed urbiscript will be stopped as well You can send text from urbiscript to output called output with urbiscript echo function alas redirecting output is possible onl
8. 24 y 1392 sd x 0 027146 x 0 0992792 x 1400 Dataplayer video Dataplayer internalTimelmu Dataplayer altitude 1 4 Dataplayer rotation Dataplayer velocity phi 0 00757473 z0 psi 1 84781 y 0 0215457 theta 0 0047473 x 0 0788916 Dataplayer flyControl Dataplayer acceleration roll 0 00428412 z 2560 yaw 0 0204743 y 2080 gaz 0 104011 x 2076 pitch 0 0147013 ADFG Create DFG Start Flow amg i Consoe Start Stop Y Clear i o Keyboard Widgets are showed automatically according to DFG composition see Gui node They are presented in viewport grid and can be reordered by simple drag and drop operation In top right corner widget settings can be found for some widgets All types of widgets are described below Raw data It shows text data in widget as it arrived from Onboard Various data like tuples vectors etc can be shown in this widget Dataplayer rotation phi 0 00169297 psi 2 04724 theta 0 00431096 Gauge data Gauge widget shows rounded scale for chosen data Minimum and maximum value for the scale can be set in widget settings Data like velocity or float data in general can be displayed by this widget 12 Dataplayer altitude Progress data This widget is intended to display progress data in range of 0 to maximum value preset in widget settings Data like battery or velocity can be showed by this widget XciParrot battery 0 31 Chart data This widget displays continually updated chart accordin
9. NN Yaa gaps aot tae as ett otal atch ha eaten ara R os clnels Sone seed ease 14 Tuta tii 16 Play and display logged dit oi it 16 Manual flying with X COptGM occitano 18 NOTES ccsdes chavvatutucceaatnysiivducay Pounsuennes E 19 CheckpointMOvemen th ccccceceeeceeeeeeeeeaaaaeeeeeeceeeeeeeeeeeeeeeesaeneeeeaeneeeesaeeeeessaees 19 A she essandvaier EET E A E 19 A O EEE saa een 19 atole ANE EIE EEE E EE TE T E A T 19 Controla arei eere aa e e a eta et ara e ees aeaa eai aa 20 INPUTS srta ltd ridad 20 O O UN 20 Parameters iii AAA ANETE ERE 20 IMPULS 32 a ee a AN docena 20 OQUuUIDUIS Hse iets eens a lA 20 A 2adenegiyatachetaddeleteciastatoatet alas iagisudcdanneastinoes tides 21 Datapla or o ee ee eas A nt a eed 21 QUIPUAS eas A A A nieve awd eae 21 Parameters in nach en ei a edt I alee Rs 21 EX e la ad 21 A taecsix chavaece e a aa a E E a eTa a V EEn 22 OUTIL E EEA NA AE EE EE A iara 22 elre EEIE AEE EEE EA ETE E Matdeatert obbaaeniiacaeetssavas 22 Sn OTE EEP tdeadesesdtiaa tees 22 A O 22 OIDI OIU EER ia A A AE 23 Parameters iS A A teed e a a 23 Py GOmrolbu alesse cevetac a AS 23 A a a a ees sediseramardaaxiabas dice taaa aaa 23 A e aa ara ea aaae aa E a Er a NE aa 23 Parameters ena o a caia 23 ENCORE E ATTAT E AA 23 NaN OLUN E E E A EET A EE 23 QUID Siurana sida 24 Partidas AA ai ees 24 FlyGontrolAggregator scsi os llos dan 24 Input aura A A 24 QUID RRA AA E Ran A A AA AA 25 Paradis AA 25 Localiza iii ai 25 PU fot A
10. NO aaa EE 25 O E EE PE Soncedet sbonstasacca testers cages ctceteadesee tageestaesant A 26 PAVFAIMCLSRS ace eli OO 26 PID a A A A beet As 26 INPUES rescatando 26 OUTPUTS iia a RS AA A A A A eee 27 PAM A A AAA AAA 27 RedDot s a E a ae ieee A 27 A A 27 A NO 27 O cacecatvusedaedtadateaccansareresaahes 27 SemanticReceiVer ooooooooooonoccccncnnnnnnnnncnnnnonononnnnnnnnnncnnnnnnnnnnnnnnnnnnnnnnnnnnnnnncnnnnnanennnns 27 OULDUTS tai e iD 28 Parametros ideario ret eE ra lisas 28 ACIDO ir STA ai A AA 28 INP a AA TA AA AA it AAA 28 Outputs Acne canals A A SA A 29 Configuration parameters 29 Pus q SE PES Fee cS IAS Ss SAR AEA EE 29 OUIpUIS Haas wlohe iti Aaa ave wad hide be acoder eines 30 NN bands paea segs 31 INPULS a8 Severe A eee 31 OUIDUIS ics ees HI A AA E ee ee Ales 31 Gui Specialja niera lee ee tig ori ee a A a 31 A ase a beets lataesdndadthedis teased secdencetexi distin a aaa 32 Paradis a daa 32 COMTIQUIION otto am ee Mes sets 33 ONDOA oss 2a ere a A O ATT 33 ENVIO Me Errata laicidad 33 Settings Mes essa tlf tecate ocean arde dr leia a bdo sao 33 SSA LALE esc alae E ales Gans ae Bc cern eset tal eae A dad at eul obeun a aan dateras 33 DOV RN 33 Extending X COpter Studio cia ie Oke ee eee ee ae eet 35 New nodes for DEF 35 Writing own nodes iN C cei eee eked cathiige vine eee ine ees 35 Writing own nodes in UTDISCHAPL circa 37 Adding own nodes to X Copter Studio oocccccccccconccononcnanncccccanonononanancnnnnnns 38 Nod
11. X Copter Studio User documentation 2014 09 03 Table of Contents Introducir ca ib esedvaagatasantasccatedsncdseacsatsadelaauseaneasacctecachaetesaaspaacmmiadietenest hen nete 4 Terms and abbreviatiONS ooccccccccnnccccccccnconnncnnnnnncnnnnnnnnnnnnnnnnnnnnnnnnnnnnnncnnnnnnannnnnnnss 4 Typ gra phy nna od 4 Installation eana a ae e r r ee aaiae tae aipa arsaa Eala 5 Hardware requirement cccccccceeeeeeeececeeceeeeaaaeaeasseeeeeeeeeeeeeeeeeeeseaeeaaaees 5 Recommended third party software cccceeeeeneeeeeseeeeeeeseeeeseeneeneneneee 5 VIM OWS a AA ds A acia 5 O xs catssiedaed gs a r a ee dgotdatadt a E E E E 6 E aaa eE E ATE EE 6 STIAS EEEE A EEE EE EA tahun E notes elas tata 6 ATEO ON E E E A FEAE A E A T E E 6 LINUX E EE A E cet eal EE 6 O Doard O a aaan 6 WINDOWS ieie a a tee tebe a e aaa i A 6 A O 6 Cl A ld 6 Architecture nacida iaa 7 Dataflow rav rai 7 CS 8 MELENA O E 8 Onboard AAYE AOT AAPEEE E E ATA EET 9 Dataflow graphene aoa earo ea EE T EEA TEREE 9 Scripti g cons le COPPER A PRO ee ea a a aeaeaie 10 X COpter Control iennet a a a a i e de 11 Widgets naaa ee A A de oc e a da 12 Raw data iioi enen e i a EA e E E O as 12 Gauge datg ae epo neeaae pee ikain edie eee AA ae neces tee 12 Progress dit nda 13 Gate ata A tn con Laie O dada 13 AAS TO O Oi 13 Single user applicatiON oooooooooocoonnnccccncconnnnnnnnnnnonnnnonnnnnnnnnnnnnnnnnnnnnnnnnnnnnnncnnnnnnns 14
12. _ABS velocity control for x copter in world frame Parameters none 19 Control Receives x copter desired velocity in all axes and headings Depending on actual x copter velocities and rotation compute and publish xcs FlyControl command for the x copter Control use separate PID regulators for reaching desired velocities and heading User can change PID regulators values in Control configuration file xcontrol xs located in xcs setting directory Inputs desireVelocity VELOCITY_CONTROL_ABS x copter desire velocity rotation ROTATION x copter actual rotation velocity VELOCITY_ABS x copter actual velocity Outputs flyControl FLY_CONTROL x copter flight control Parameters file Path to file with settings for xcontrol Datalogger Write all registered inputs data to a file in human readable format Logged file has two parts the first is a header with declaration of registered inputs name semantic and syntactic types and the second contains data from the inputs with timestamp when they were logged timestamps are relative to node s initialization instant Inputs registerXVar any semantic type register input for logging Outputs None 20 Parameters file Path to file which will be used for logging It is recommended to set the same file path as for Dataplayer Beware of write permissions in default installation logs cannot be stored in read only destinations In order to work properly
13. art of the DFG how they are interconnected Every output and input has semantic and syntactic type and output can be connected with compatible input only typically semantic as well as syntactic type names must match Lifecycle of the DFG or its nodes more precisely is described in the section about DFG editor and further details are in the section about scripting Graphical user interface Clients Ul has been designed with user accessibility in mind Therefore it was developed as a web application and can be run in browser It was tested in Google Chrome so it is strongly recommended to run XCS in this browser Chromium browser should also work User interface consists of top main navbar bottom Onboard navbar and operating viewport in the middle X Copter Studio e localhost XCS Settings Lag 2m DFG Create DFG Start Flow StopFlow Destroy DFG E Clear i Take off Land El Keyboard Main navbar Right section of main navbar displays connection information LED indicates following three states RED blinking Server is disconnected Possible reason for this can be that Server is down or the connection was lost due to various network failures RED shining Server connected Onboard disconnected GREEN shining Onboard connected all is good When GREEN led is shining Lag indicator shows It signals latency between Client s browser and Onboard component User can also be notified when latency exceeds preset latency
14. aximal descendant velocity 1 maximal rise up velocity of a x copter pitch x copter nose tilt in range lt 1 1 gt 1 maximal nose down tilt 1 maximal nose up tilt roll x copter left right tilt in range lt 1 1 gt 1 maximal left tilt 1 maximal right tilt yaw x copter rotation speed around z axis in range lt 1 1 gt 1 maximal rotation speed to the left 1 maximal rotation speed to the right 24 Outputs flyControl FLY_CONTROL aggregated flight controls Parameters none Localization Provide x copter localization in 3D space based on IMU data and video stream It can use only IMU data without video for basic localization but this setting is less accurate Basic localization needs x copter velocity rotation and altitude data from sensors It can be extended with video stream from camera on the x copter For working video based localization init command has to be send twice First after the x copter takes off and stabilize in the air and the other after the x copter moves in one axis the best is up down movement approximately 10 centimeters Inputs control CONTROL user can send one of the following commands for change in localization behavior init take initialization keyframe keyframe take keyframe resetPtam reset PTAM will be uninitialized after this resetEkf reset localization and set position to 0 0 current altitude flyControl FLY_CONTROL actual x copter flight contro
15. ce of FlyControl node it will be named flyControl If you create instance of FlyControl again then it will be named flyControl2 and so on until you refresh page in your browser Scripting console Console allows you to send urbiscript snippets to Onboard and execute them urbiscript is a prototype based language related to JavaScript and lO language For further details about its syntax and concepts see official Urbi SDK documentation The script is executed in its own scope but thanks to urbiscript resolution mechanism see official documentation nodes of the DFG are accessible as local variables The console cooperates with the Executor node that ensures execution within the proper environment This means that it s necessary to have the Executor node instance in the DFG and it must be connected with Client all this is already implemented in the default DFG Unless this is satisfied the console indicate this with inactive state A Console Start Stop Clear Ready console is in the idle state Console Start Stop Clear Any code being executed e g infinite loops sleeps can be paused or forcibly terminated by appropriate buttons that s a feature of urbiscript The execution is also terminated when the Executor node is stopped You can print to output with urbiscript echo function alas redirecting output from Onboard to Client is possible only for calls of echo on the top level It means that echo function will
16. d to clear the onboard use Destroy DFG It stops the dataflow and destroys the nodes at Onboard Onboard is then empty and DFG exists only in the editor Other action are collapsed into options button it has three horizontal lines When you want to start from scratch use Reset DFG It does the same like Destroy DFG Moreover it loads default DFG The lifecycle as was described above actually applies to each node separately state of a node is indicated by color thus you can control DFG lifecycle more finely via the context menu of a node right click In this menu there s also possibility to Delete node both at Onboard and in the editor DFG editor Basically you design the DFG in the editor You can connect nodes outputs to inputs with respect to semantic and syntactic compatibility Particular details about connections are described for concerned nodes Furthermore you can load stored DFGs Manage DFG and save them under custom names Save and Save as This concerns only design of the DFG in the editor actual nodes are created via standard lifecycle Node instances naming Node instances names are assigned automatically when added to the DFG and are displayed on the node s icon Typically name is concatenation of node configuration name first letter is lowercase and a counter The counter is unique for each node in DFG toolbox and is increasing during whole session Brief example if you create first instan
17. de starts otherwise it will try to establish connection in regular intervals Inputs command COMMAND You may send one of below described command for changing behavior of the AR Drone 2 0 Takeoff AR Drone 2 0 going to execute to take off AR Drone 2 0 going to execute to land EmergencyStop AR Drone 2 0 stops all rotors Use only in very serious situations it may end with damaged AR Drone 2 0 AR Drone 2 0 simply falls down 29 Normal AR Drone 2 0 change emergency mode on normal mode We do not know if AR Drone 2 0 resumes flight flyControl FLY_CONTROL set AR Drone 2 0 flight parameters roll pitch yaw gaz setFlyControlPersistence FLY_CONTROL_PERSISTENCE set period how often XCI will be repeating last FlyControl command Outputs acceleration ACCELERATION output from acceleration sensor alive ALIVE indicate if AR Drone 2 0 is ready altitude ALTITUDE aggregated output from altitude sensors ultrasound and pressure sensor altitudeAll ALTITUDE_ALL separate outputs from altitude sensors altitudeV ALTITUDE_V we do not know ask questions on Parrot company battery BATTERY energy left in the battery flyControlPersistence FLY_CONTROL period how often XCI will be repeating last FlyControl command gyro GYRO_RAW internalTimelmu TIME_LOC time when last sensor measurements have been made when Parrot runs for more than 34 minutes 2048 seconds sent time representation overflow int
18. e X_STRUCT_NAMESPACE is optional You can use it if your struct is in a namespace 42 Semantic types XCS contains many semantic types There is no need to explain all of them Many of them has self explaining name e g ALTITUDE is semantic type for altitude The most important semantic types are in the following table Default syntactic type POSITION_ABS position in the world xcs Carte x right y forward z up all in ROTATION pose of the drone xcs Euler theta CW from left view phi CW ianVector from rear view psi CW from top applied in this order ROTATION_VEL velocity vector in double rad s PO O VELOCITY_ABS velocity vector in xcs Carte m s pee or amenos O VELOCITY_LOC velocity vector in xcs Carte m s PETES PES AI cet FLY_CONTROL flight control roll CW from rear view tilt pitch parameters CW from right view tilt yaw CW top speed of rotation gaz up speed of rise relative units VELOCITY_CON velocity control velocity in all axis x y z in m s and TROL_ABS parameters ityControl absolute yaw angle in radians all items in world coordinates BATTERY available battery double in relative unit 0 1 a ne po CHECKPOINT position in 3D with xcs Check meters COMMAND special command std strin from predefined CAMERA images from camera unspecified ALIVE int bool for Parrot implemented as logic 43 INTEGER general integer so far used only for Dataplayer
19. e data for sending to Client s browser 32 Configuration Onboard Environment Behavior of Onboard is affected by following environment variables XCS_SETTINGS_PATH settings directory PWD data settings XCS_DFGS_PATH directory with stored DFGs PWD data dfgs XCS_USER_SCRIPTS_PAT directory with scripts console PWD data scripts H directory with logged data PWD data logs Settings files Settings files are by default searched in the settings directory mentioned above In default installation settings can be found in C Program Files X CopterStudio onboard data settings for Windows or in usr share xcs settings for Linux onboard xs Onboard core configuration xobjects xs configuration of available nodes for toolbox xlocalization xs configuration of Localization node xcontrol xs configuration of Control node Syntax Boost INFO syntax Server Server configuration can be changed in config json file that can be found in default installation in C Program Files X Copter Studio server config json for Windows or in 7 PWD denotes working directory of Onboard process 33 opt xcs server config json for Linux 34 Extending X Copter Studio New nodes for DFG This section expects understanding of basic concept of Urbi SDK s C API See official documentation mainly sections 4 Quick Start 5 3 Creating new instances 5 4 Binding functions and 5 5 Notification of a variable change or access
20. e hard disk space Recommended third party software e Google Chrome browser e V REP robotic simulator Windows e Download from http drones ms mff cuni cz xcs wiki doku php download start latest version of X Copter Studio onboard and X Copter Studio server Go to the directory where you downloaded setup files and run both During X Copter Studio onboard installation you can choose whether developer files and documentation will be installed and during X Copter Studio server installation you may disable Node js installation if you have it already installed 1 Hard disk space requirements are valid for Windows version only Real space consumption on Linux depends on previously installed dependencies for XCS 2 Google Chrome browser requirements Linux Add following lines to your etc apt sources list deb http drones ms mff cuni cz xcs packages trusty unknown deb src http drones ms mff cuni cz xcs packages trusty unknown Then run following command to install XCS with all supplied components sudo apt get update sudo apt get install xcs server xcs onboard xcs nodes all xcs drivers all Packages are not digitally signed so when you will be warned that packages cannot be authenticated install them anyway Launching Server Windows Click on X Copter Studio server icon on the desktop or run bat script in location C Program Files X Copter Studio server run bat Linux Just run xcs server command Onboard W
21. ecial Gui is a special node that represents data sent to Client s browser It has inputs for widgets and default input for data that are not needed to be displayed but still needed 6 Successfully tested is version 3 1 1 Later versions didn t cooperate well 31 in browser Such data is e g rotation for the video widget which is needed for the attitude cross rendered on top of video screen Outputs from executor are other example they are needed for console functioning For each type of widget there is separate input i e raw data gauge data progress data chart data video For each output of a node in DFG connected to widget input of a Gui node a widget in grid will be created upon the node creation For more information on widget types see Widgets Inputs raw data Input for raw data widget gauge data Input for gauge data widget progress data Input for progress data widget chart data Input for chart data widget video Input for video widget default Default input for data for more information see description of this node Parameters adapter Adapter is object which will be used for sending data to Client s browser It is recommended not to change this parameter json Json is object which will be used for converting text to json object and vice versa It is recommended not to change this parameter refreshFrequency It is frequency of checking whether there are som
22. entation for more details about init function It binds XVar or XInputPort to urbiscript with default name it is same like XVar or XInputPort variable name It is an alternative to UBindVarRename for XVar and XInputPort It is same like XBindVar but binds XVar and XInputPort to urbiscript with custom name It is an alternative to XBindVar If you want to use some XVar or XInputPort in your C code or directly from urbiscript e g from Scripting console but you don t want to expose XVar or XInputPort like node output or input then you can use this macro lt is an alternative to UNotifyChange for XObject This macro registers a function that will be called each time when registered XVar or XInputPort is modified It is an alternative to UBindFunction for XObject This macro binds your C function to urbiscript so you can call it from Scripting console This macro does the same like XBindVar and XNotifyChange It binds XVar or XInputPort to urbiscript and it registers function which will be called each time when registered XVar or XInputPort is modified It is an alternative to XBindVarF but it uses XBindPrivateVar It is an alternative to U_REGISTER_STRUCT for use with X_GENERATE_STRUCT macro When you want to create your own syntactic type or just use some C struct in urbiscript you must call X_REGISTER_STRUCT first This macro declares the struct to the cast system First argument is struct itself and others are the
23. ernalTimeVideo TIME_LOC time when last video frame has been captured magneto MAGNETO_RAW raw output from magnetometer sensor rotation ROTATION AR Drone 2 0 rotation in 3D space velocity VELOCITY_LOC computed AR Drone 2 0 velocity in 3D space in its frame video CAMERA last captured frame from camera 30 wifiQuality QUALITY Wi Fi connection quality XciVrep XXci object with xci_vrep driver XCI implementation for robotic simulator V REP Motion model is realistic however control model is emulated via flying onto target Alas no video is currently available from V REP simulator and on Windows fly controls aren t executed at all i e XCS can only read data from V REP Inputs command COMMAND none flyControl FLY_CONTROL control target object in simulation on which quadricopter flies setFlyControlPersistence FLY_CONTROL_PERSISTENCE set period how often XCI will be repeating last FlyControl command Outputs flyControlPersistence FLY_CONTROL_PERSISTENCE period how often XCI will be repeating last FlyControl command position POSITION_ABS quadricopter absolute position in 3D simulated world rotation ROTATION quadricopter absolute rotation in 3D simulated world velocity VELOCITY_ABS quadricopter absolute velocity in 3D simulated world video_bottom CAMERA last video frame from bottom quadricopter camera video_front CAMERA last video frame from front quadricopter camera Gui sp
24. es with generic INPU S adicta into leacsdehedestceraetranaegeee 38 General notes for node implementers o occocooooooococoaaoconcccnonnnncnnnncnncnnnncnnnnnns 39 Implementing AL iii e llosa oli lbs 39 A A euE AROE EA aT 39 COMA S sa an eere a n E E E tana E SARTEN 39 Configurations ua AAA A ee ees 40 Skeleton of XCI implementation cccceeeeeeeeceeeeeeeeeeeaeeaaeeeeeeaeeeeeeaees 40 APP ici 41 Syntactic and SS MANICINDOS A di a eg ek 41 SV MIACUC POS asii ed icadas 41 SOMETE NP TE 43 Directory SU del ltda 45 Onboard arenie ea tancia a aea en emus dll iris 45 Introduction This is user documentation for X Copter Studio Its target readers are e users who interact almost exclusively with graphical user interface e advanced users who modifies behavior via configuration e and user programmers who extend X Copter Studio through provided API Terms and abbreviations Typography Represents labels e g buttons in GUI Represents particular string value e g paths filenames Installation Hardware requirements Server e Optimal o 1 GHz processor o 512 MB RAM o 100 MB available hard disk space o Internet connection during installation Onboard e Minimum without video processing o 1 GHz processor o 512 MB RAM o 420 MB available hard disk space e Optimal o 2 5 GHz dual core processor o 4GBRAM o 420 MB available hard disk space Client Intel Pentium 4 or later 512 MB RAM 350 MB availabl
25. g to incoming data Chart scale can be set in widget settings Data like altitude battery or float data in general can be showed by this widget Dataplayer altitude 2 0 1 5 1 0 0 5 0 0 Video This widget displays video received from Onboard When used to display video from a front aiming camera very simple attitude indicator can be displayed thanks to data from inertial sensors For this data of semantic tyoe ROTATION must be sent to Client for example to default input port 13 In widget settings attitude indication can be turned off as well as set pitch indication factor coefficient between pitch angle and vertical shift of the indicator Dataplayer video Single user application XCS is prepared just for a single user If there are more users connecting to same server at once access will be granted exclusively to the first of them Others will be informed they cannot use XCS at the moment X Copter Studio Sorry captain session is currently being occupied by other client Safety You can control a real x copter not just a virtual x copter with XCS therefore XCS monitors connection latency between Client s browser and Onboard component If there are some problems such as network failure whether it is on Client Server side or 14 Onboard Server side XCS will destroy DFG execution of the user urbiscript will be stopped too When you try to leave Client s browser site you have to confirm thi
26. ilable It has very simple unrealistic motion model and can replay a video from file in a loop Inputs command COMMAND There are command to control playback of the video opens video file and prepares for playback start playing video pause playing video pause playing video and reset to beginning flyControl FLY_CONTROL fly controls applied to the motion model setFlyControlPersistence FLY_CONTROL_PERSISTENCE set period how often XCI will be repeating last FlyControl command 28 Outputs alive ALIVE every 1 second set to true altitude ALTITUDE altitude from the motion model flyControlPersistence FLY_CONTROL_PERSISTENCE period how often XCI will be repeating last FlyControl command rotation ROTATION tilt angles and orientation from the motion model velocity VELOCITY_LOC velocity from the motion model video CAMERA last decoded frame from the video Configuration parameters Configuration can be changed by calling setConfiguration key value method of appropriate DFG node e g running the code from scripting console filename with video to be played playback speed default value is read from codec XciParrot XXci object with xci_parrot driver XCI implementation for Parrot AR Drone 2 0 with auto reconnection functionalities User can control AR Drone 2 0 flight parameters through it and read data from its sensors It should be connected to AR Drone 2 0 Wi Fi network before this no
27. indows Click on X Copter Studio onboard icon on the desktop or run bat script in location C Program Files X Copter Studio onboard onboard bat Linux Run xcs onboard command be sure you have the Server running Client Since Client was developed as web application launching Client is as simple as entering Servers address with a right port into the browser e g http 192 168 1 10 3000 In case of default localhost installation it is http localhost 3000 In order for the whole XCS features to work properly it is strongly recommended to use Google Chrome browser Chromium should also work 3 We currently support only Ubuntu distribution version 14 04 4 Be sure you have the Server running It s important for Onboard to initiate connection with a living Server Architecture X Copter Studio is not a typical desktop application neither client server one It comprises of three components Onboard Server and Client each of which run their own process i e they can be deployed on different machines Dataflow graph The basic idea is the user defines behavior for the x copter and it s executed remotely at Onboard The behavior is expressed via dataflow graph DFG and custom scripts that interacts with the DFG The cornerstone of the DFG are nodes they are units of execution that produces new data or react to data changes hence the dataflow name Every node can have multiple outputs as well as inputs and it s also p
28. l flyControlSendTime TIME how long does it take between sending x copter flight control and executing it in x copter measuredAltitude ALTITUDE actual x copter altitude from sensors measuredRotation ROTATION actual x copter rotation from gyroscope sensor measuredVelocity VELOCITY_LOC actual x copter velocity from accelerometer 25 ptamEnabled ENABLED disable or enable PTAM video sensor in localization setPosition POSITION_ABS set localization position setRotation ROTATION set localization rotation timelmu TIME_LOC time when actual IMU measurements were taken video CAMERA video stream from x copter camera videoTime TIME_LOC time when actual frame from the video stream was taken Outputs position POSITION_ABS computed actual x copter position ptamStatus PTAM_STATUS PTAM video localization status explained in semantic types rotation ROTATION computed actual x copter rotation velocity VELOCITY_ABS computed actual x copter velocity velocityPsi ROTATION_VELOCITY_ABS computed actual x copter rotation velocity around z axis Parameters string Path to file with settings for xlocalization PID PID controller Inputs P PID_PARAM set proportional parameter PID_PARAM set integral parameter D PID_PARAM set derivative parameter 26 actualValue actual process measured value desireValue desire process value Outputs control PID_ CONTROL
29. ler too That is reason for workaround when one has to create auxiliary class descendant of UObject let s call it 38 Catcher and instantiate it for each registered UVar and only in the Catcher init method register the UVar General notes for node implementers e When designing the interface inputs and outputs of a node consider whether you cannot use already existing semantic types Possible node states are created started stopped 5 Be sure your node doesn t produce any data when it is in the stopped state In destructor correctly dispose all resources files threads etc that node has used Implementing XCI XCI is unified interface to x copters When adding support for a new model of x copter you have to implement this interface Technically it means implementing descendant of provided C class xcs xci Xci Individual methods of the interface are described in API documentation here we describe only implementation concepts Sensors XCI must declare what sensors it makes available Sensor information consists of e sensor name alphanumerical string unique within the XCI implementation it propagates as an output name on XCI node beware of collisions with implicitly existing outputs of XCI node e syntactic type fully qualified name of C type that represents values of this sensor e g Std string xcs CartesianVector see Syntactic types for a reference list e semantic type seman
30. ouble x double y double z CartesianVectorChronolo double x double y double z Timestamp time in milliseconds EulerianVector double phi x axis double theta y axis double psi z axis EulerianVectorChronolog double phi x axis double theta y axis double psi z axis 18 More precisely those are types that are supported by Urbi SDK bindings 41 A Timestamp time in milliseconds xcs FlyControl double roll double pitch double yaw double gaz xcs Checkpoint double x double y double z double xOut double yOut double zOut xcs VelocityControl double vx double vy double vz double psi If you want to create your own syntactic type use X_REGISTER_STRUCT and X_GENERATE_STRUCT macros for more information about these macros see Writing own nodes in C section This macros will help you create new syntactic type but node output or input with this type will not be usable for Datalogger or Dataplayer See following example for better understanding 1 Create your structure in C hpp file and declare it to the cast system namespace xcs struct CartesianVector double x double y double z y X_REGISTER_STRUCT xcs CartesianVector X y Z 2 Create your urbiscript structure cpp file undef X_STRUCT_NAMESPACE define X_STRUCT_NAMESPACE xcs X_GENERATE_STRUCT CartesianVector x y zZ undef X_STRUCT_NAMESPACE Defin
31. s It prevents unintentional quitting The question text is dependent on a browser Confirm Navigation X copter plan execution will be stopped Are you sure you want to leave this page Leave this Page Stay on this Page 15 Tutorials Play and display logged data 1 Launch Server and Onboard 2 Launch Chrome browser and enter X Copter Studio Server address GC D localhost 3000 D teho Labs KiCAD T EE Apps At3D E KICAD quick library 3 Load nodes from the server by clicking Load nodes button in bottom section on the page Ond ej Gmail Images 4 Open dataflow graph file manager by clicking Manage DFG button J D X Copter Studio x e D localhost 3000 XCS Settings Data Flow Graph Toolbox DFG nodes o o DFG special nodes Reset DFG Data Flow Graph show ist of saved DFG provide actions ike Load Remove Sa Manage DFG nee f SS Destroy oro PE A Console localhost 3000 16 Start Stop Clear Share a Take off Land 0 Keyboard 5 Load specific dataflow graph dataplayer_sample D X Copter Studio x gt D localhost 3000 a 5 ame DFG files File Name dataplayer_sample Remove default Remove dodo_manual Remove parrot_manual_localization Remove parrot_manual_logging Remove vrep_manual Remove 6 Create dataflow graph by clicking Create DFG button and then start dataflow by clicking Start Flow button J E
32. seek I just felt like that double timestamp in seconds PTAM_STATUS status of PTAM int 0 PTAM is idle tracking 3 4 PTAM is tracking 7 PTAM is disabled other values are internal ENABLED flag of an enabled bool feature it s different from COMMAND for control g safety reasons ee P g EXECUTION_ST state of executed std strin accessible states are ATE code g idle execution is off running execution is started freezed execution is paused and able to fly product of appropriate CTRL_STATE flags MOTORS_MASK SOFTWARE_FAUL T VBAT_LOW updated about once per second is enough double int i EXECUTION_ER last error message std strin ROR which occur during g urbiscript execution EXECUTION_OU output of the std strin only top level echo calls are TPUT urbiscript code g processed within Executor node others are not possible with current setup node execution any for more details see corresponding event numeric node documentation type CHANNEL choose which channel will be used int 44 Directory structure Onboard This describes directory structure under installation prefix C Program FilesXX Copter Studio onboard on Windows and usr on Linux bin data dfgs logs scripts settings doc include lib share xcs examples urbiscript bin all binaries and dynamic libraries necessary for X Copter Studio data
33. source it s found among other urbiscript nodes information about its path Adding own nodes to X Copter Studio C nodes Resulting libraries of nodes must reside inside directory specified by URBI_UOBJECT_PATH environment variable In default installation it resolves to C Program Files X Copter Studio onboard lib xcs xobjects for Windows and usr lib xcs xobjects for Linux urbiscript nodes urbiscript nodes are searched by default in subdirectory nodes within URBI_PATH After installation this variable is set for Onboard to C Program Files X Copter Studio share xcs urbiscript nodes for Windows or use share xcs urbiscript onboard nodes for Linux Creating configuration In order to have new nodes available in the DFG toolbox you must add them to the configuration file xobjects xs see Configuration for location of this file Nodes with generic inputs Some nodes cannot have their input interface defined in advance Datalogger or Gui for instance Such nodes should provide methods registerXVar that takes arguments describing dataflow metadata input name syntactic and semantic types and an XVar that is intended to be connected to the input of such a generic node and a method unregisterXVar See API documentation of XDatalogger for details Implementation note It s not possible to register handler on UVar or XVar as well not in constructor or init method Furthermore it s problem to use a functor as a hand
34. struct field names which you want to bind This macro should be called immediately after struct declaration so if the struct is 11 Sections 5 3 Creating new instances page 56 36 declared in header file this macro should be called here too See Syntactic type section for more info how to create your own structure syntactic type X_GENERATE_STRUCT If you already call X_REGISTER_STRUCT macro then you will want struct to call this macro too in most cases This macro will create urbiscript structure there is nothing like structure in urbiscript so it is just pseudoclass with correctly set prototypes that you can use in urbiscript and convert it to or from your C struct You should use this macro only once call it in a cpp file See Syntactic type section for more info how to create your own structure syntactic type If you want to create your own node and use its outputs and inputs in DFG you should use XObject XInputPort XUvar classes and X macros Source code Basically all you need is to create a class that extends xcs nodes XObject supplied by XCS You can find example demonstrating necessary includes in C Program Files X Copter Studio onboard share xcs examples nodes pid xob on Windows or in usr share xcs examples pid xob on Linux Compilation You must set correct include paths and link with XCS libraries If you have default installation you can use provided CMakeLists txt
35. t XBindVar XNotifyChange XBindFunction which do the same but with XObject XInputPort and XVar classes There is a list of our macros in the following table ecto Peseription o 8 Sections 5 The UObject API page 53 9 Sections 5 6 Data flow based programming exchanging UVars and 5 7 Data flow based programming InputPort pages 58 60 10 Sections 4 1 2 Wrapping into UObject pages 44 46 and 5 5 Notification of a variable change or access page 58 and 5 18 2 Casting simple structures page 66 35 XStart class XStartRename class name XBindVar variable XBindVarRename variable name XBindPrivateVar variable XNotifyChange variable function XBindFunction class function XBindVarF variable function XBindPrivateVarF variable function X_REGISTER_STRUCT struct It is an alternative to UStart for XObject This macro must be called for each XObject which you want to use in urbiscript or DFG but use it just once call it in cpp file in global scope It binds XObject to urbiscript with default name it is same like XObject class name It is an alternative to UStartRename for XObject It is same like XStart but it binds XObject to urbiscript with custom class name It is an alternative to UBindVar for XVar and XInputPort This macro must be called for each XVar and XInputPort but use it only once call it in C constructor or in init function see official docum
36. ter by cursor keys and A S D W explanation in Keyboard tooltip and either see real x copter moving or at least kinematics data changing case of dodo_manual 18 Nodes DFG toolbox contains by default few nodes which are described in this section Furthermore DFG toolbox can contain nodes from other programmers For general information about nodes see Dataflow graph section Onboard maintainer can change Parameters values in X Copter Studio onboard settings directory in xobjects xs file There is no way how to change nodes parameters for common user it means user which has no access to Onboard it is potentially a dangerous action CheckpointMovement Generates velocity control for x copter that depends on inserted checkpoints so that x copter may reached all checkpoints from internal queue in the same order in which they were placed CheckpointMovement evaluates checkpoint as reached when x copter actual position will be in 10 cm sphere around the checkpoint Inputs checkpoint CHECKPOINT checkpoint structure on the input will be inserted at the end of the checkpoints queue command COMMAND ClearCheckpoint cancel actual checkpoint flight and remove all checkpoints from queue dronePosition POSITION_ABS actual x copter position droneRotation ROTATION actual x copter rotation Outputs reachedCheckpoint EVENT publish true whenever actual checkpoint was reached velocityControl VELOCITY_CONTROL
37. that sets up paths for you It can be found in C Program Files X Copter Studio onboard share xcs examples nodes pid xob on Windows or in use share xcs examples pid xob CMakeLists txt on Linux Writing own nodes in urbiscript It is possible to write nodes purely in urbiscript as pseudoclasses extending pseudoclass XObject DFG interface of the node is specified via variables inputs_ and outputs_ Those are dictionaries with keys being names of inputs or outputs and values are Pairs lt has following structure e first is urbiscript object representing the syntactic type e second is a string name of the semantic type it can be your own or already existing one 12 On Windows you must have Developer files component installed On Linux be sure you have xcs core dev package installed 13 See official Urbi SDK documentation 12 4 Defining Pseudo Classes p 118 14 String Float or fully qualified name of vector type e g xcs FlyControl note the necessary quotation marks as it represents an urbiscript class 37 Node s state is set inside state_ variable For correct operation you have to define this variable slot locally on node instance State is an integer and possible values are shown in the table below 1 started node stopped node It is recommended to use urbiscript at construct to handle state changes KN freshly created node For example of complete urbiscript node see Executor node
38. threshold This value can be set under Settings button on the left Onboard navbar This navbar serves to operate directly on Onboard It consists of dataflow graph panel console panel and x copter control section Dataflow graph By default only DFG control buttons are visible and DFG editor can be shown on demand DFG button DFG toolbox In the DFG you can use nodes with predefined configurations see Configuration the variety of them is displayed in the toolbox You add new instances of nodes to DFG by drag and drop The toolbox is filled upon pressing Load nodes Reload nodes with nodes that are available on the connected Onboard Default DFG nothing more than DFG named default is loaded together with the available nodes DFG lifecycle Suppose you have designed a DFG this DFG exists only in the Client in the editor After you press Create DFG the designed nodes and connections are created on onboard It only means that nodes do exist however they don t produce any data or react to them this makes it easier to manipulate the graph Start Flow button enables nodes operation The order in which individual nodes are started is not defined Consequently Stop Flow disables nodes operation Neglecting internal state of the nodes which of course is important DFG is similar to the situation after creation and can be started again Stopping order is not defined neither When you finished your task or nee
39. tic type of sensor s data see Semantic types for its meaning In order to pass data from sensors into dataflow one uses xcs xci DataReceiver class whose instance is available to XCI constructor It has method notify that ought to be called upon sensor value updates with data of the type that was declared for the sensor Commands General control of x copter is realized via commands A command is just a string and XCI implementation should provide a list of existing commands for particular x copter 15 This is a subset of DFG lifecycle when not yet constructed or already destroyed nodes cannot hold any state 16 On Windows you must have Developer files component installed On Linux be sure you have xcs driver dev package installed 17 Currently only forbidden name is flyControlPersistence 39 Configuration XCI assumes that x copter s behavior can be affected by configuration parameters From XCl s point of view configuration has simple key value format with both keys and values being strings It is important that x copter configuration has read only parameter XCI_PARAM_FP_PERSISTENCE that specifies effective duration in milliseconds of fly control command applied via XCI on x copter Typical behavior is that for safety reasons x copter keeps the fly control only for limited period of time if not set again Skeleton of XCI implementation Header file include lt xcs xci xci hpp gt class XciFoo public
40. virtual xcs xci Xci Source file using namespace xcs xci SensorList XciFoo sensorList SensorList result result push_back Sensor alive ALIVE int result push_back Sensor altitude ALTITUDE double result push_back Sensor rotation ROTATION xcs Eulerianvector return result extern C 4 Xci CreateXci DataReceiver amp dataReceiver return new XciFoo dataReceiver 40 Appendix Syntactic and semantic types Each nodes output and input has semantic and syntactic type Syntactic type is determined by semantic type in many cases but it is not a rule There can be two values with a same semantic type but with e g different precision integer vs decimal number Input and output types for connections must be compatible Typically it means name of syntactic type and semantic type must match There is also special wildcard character for inputs that accept any type it can be used both for semantic and syntactic types Syntactic types XCS contains some basic syntactic types derived from C e std stringorconst char text int integer double decimal number bool truth value and std list or std vector list of values XCS also contains some structures The most important of them are in the following table Syntactic type Structure C syntax xcs BitmapType const size_t width const size_t height uint8_t const data CartesianVector d
41. y for calls of echo on the top level See more in Scripting console 21 Inputs control CONTROL commands controlling urbiscript execution available commands are in following table run start urbiscript execution stop stop urbiscript execution freeze pause urbiscript execution unfreeze resume urbiscript execution code URBISCRIPT urbiscript which will be executed Outputs output EXECUTION_OUTPUT text from echo function see description for this node error EXECUTION_ERROR contains error message which may occur during execution state EXECUTION_STATE state of executed urbiscript see semantic type EXECUTION STATE Parameters lobby urbiscript will be executed in this lobby for more information about lobby see official urbiscript documentation It is necessary to set to DFG lobby i e this for scripting console functioning FlyControl Switches between inputs and passes data from selected input to the single output After creation it is set on inputi When data on higher input arrives node automatically switches on this input and ignore all data from lower inputs Inputs input1 FLY_CONTROL input data input2 FLY_CONTROL input data 22 Outputs output data from selected input Parameters unsigned int number of inputs bool if data from higher input will cause switch to turn on this input string semantic type of the inputs FlyControlDual Switch between inputs
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