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Software Design
The software that runs the Stingray is designed in a hierarchical structure: several subsystems continuously perform their duties in the background, while a central planning node interfaces with each of the subsystems and sends them updated status and commands.
The Planner
During autonomous operations, the planner software manages each of the other software subsystems. These subsystems include navigation, vision, and sonar. The planner continually decides on the next course of action based on the mission specifics and attempts to accomplish each of the objectives of the competition. More can be read about the software subsystems in the Navigation, Vision, and Sonar system pages.
GUI & Tethered Operation
To aid in controls development, the iBotics team developed a GTK-based GUI application for use while tethered to the vehicle. The Stingray dock control station allows for real time planner task assignment, data-logging, controller gain tuning, actuator testing, vision tuning, and camera displays. The control station works in a client-server configuration with the Stingray, and all communication is done over standard TCP/IP connections.
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