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Robot Management

This guide is focused on explaining the purpose behind each game module. 
For a detailed documentation of the methods and attributes of the classes, 
check the doxygen documentation.

System Overview

The robot system is in charge of communicating with the robot and sending commands to control its movement.

{% plantuml %} interface RobotManager

Class MockRobotManager Class YarpRobotManager

RobotManager <|-- MockRobotManager RobotManager <|-- YarpRobotManager {% endplantuml %}

RobotManager class

The RobotManager class defines the interface required for communication with a Robot Devastation robot.

{% plantuml %} interface RobotManager { --Robot movement --
bool moveForward(int velocity = UNUSED) bool turnLeft(int velocity = UNUSED) bool stopMovement()

--Robot camera movement -- bool tiltDown(int velocity = UNUSED) bool panLeft(int velocity = UNUSED) bool stopCameraMovement()

} {% endplantuml %}

The main functions of a RobotManager are:

  • moveForward(): command the robot to move forward at the specified velocity.

  • turnLeft(): command the robot to turn left at the specified velocity.

  • stopMovement(): command the robot to stop.

  • tiltDown(): command the robot to move the camera down at the specified velocity.

  • panLeft() : command the robot to move the camera to the left at the specified velocity.

  • stopCameraMovement(): command the camera to stop moving.

YarpRobotManager class

YarpRobotManager is an implementation of the RobotManager interface using YARP as middleware for communications with the robot.

MockRobotManager class

MockRobotManager is an implementation of the RobotManager for unit testing purposes.

{% plantuml %} interface RobotManager class MockRobotManager {

--Robot status-- bool isConnected() bool isEnabled() --Robot movement-- bool isMoving() int getMovementDirection() const int FORWARD const int BACKWARDS const int LEFT const int RIGHT const int NONE --Camera movement -- bool isCameraMoving() int getCameraMovementDirection() const int CAMERA_UP const int CAMERA_DOWN const int CAMERA_LEFT const int CAMERA_RIGHT const int CAMERA_NONE } RobotManager <|-- MockRobotManager {% endplantuml %}

The MockRobotManager adds the following methods for testing:

  • isConnected(): checks if the game is connected to the robot.

  • isEnabled(): checks if the robot is enabled.

  • isMoving(): check if the robot is moving.

  • getMovementDirection(): returns the direction in which the robot is currently moving.

  • isCameraMoving(): check is the camera is moving.

  • getCameraMovementDirection(): returns the direction in which the camera is currently moving.