MATE_ROV

Code for The Harvard Undergraduate Robotics Club's MATE ROV team.

The code consist of separate modules that are run on either the ROV or on a ground base. Inter-module communications are orchestrated by the Server (server.py). Modules send messages to the server and subscribe to certain message types. When the server receives a message of a certain type, it forwards it to all the modules that have subscribed to that message type.

Dependencies

1. Install google protocol buffers for python
2. Install the DHT22 sensor library
   • https://github.com/adafruit/Adafruit_Python_DHT

How to run

1. Execute ./server.py
2. Execute all of your modules

Adding new modules

1. If necessary, create a new protocol buffer for your data.
   • Create a new .proto file describing your buffer in the messages folder.
   • Add your new .proto file to the Makefile in the messages folder.
     • Before:

     protobuf: first.proto
         protoc -I=./ --python_out=./ ./first.proto

     • After:

     protobuf: first.proto second.proto
         protoc -I=./ --python_out=./ ./first.proto
         protoc -I=./ --python_out=./ ./second.proto

   • Run the make command in the comm folder.
   • In messages/__init__.py do the following:
     • Import your new compiled buffer.
     • Add a message type enum for your new buffer.
     • Add the new message type and the associated buffer to message_buffers.
     • Example:
       • Before:

       import struct
       from .first_pb2 import FirstMsg
       
       class MsgType(Enum):
           FIRST = 0
       
       message_buffers = {
           MsgType.FIRST: FirstMsg
       }
       
       __all__ = ['MsgType', 'message_buffers', 'FirstMsg']

       • After:

       import struct
       from .first_pb2 import FirstMsg
       from .second_pb2 import SecondMsg
       
       class MsgType(Enum):
           FIRST = 0
           SECOND = 1
       
       message_buffers = {
           MsgType.FIRST: FirstMsg,
           MsgType.SECOND: SecondMsg
       }
       
       __all__ = ['MsgType', 'message_buffers', 'FirstMsg', 'SecondMsg']

2. Make a new module class that inherits from robomodules.ProtoModule. Look at MockGuiModule.py and MockSensorModule for examples on modules.