Buck and Feanil TODO

From HotDec

>>>CURRENT PLANS (in order) <<<
These are improvements beyond the minimum truck functionality
ans also general tasks for our systems maintenance / development:

	DONE> Enable DHCP and VPN on the truck (so it can connect to UIUCnet)
		DHC
		VPN
		can connect to elegy
		can recieve connections from elegy
	DONE> Convert code to C++ (pretty classes!)			(fpatel)
Current Date: 6/6/06 <---<<--
	* Setup Testing Infrastructure					(fpatel:2 days)
	* Enable GPS measurements for the truck				(dbking: 3 days)
	* Split the controller and truckdaemon programs			(golemon & dbking: 12 days)
		truck is able to kill controller
		daemon preparses and forwards TCP data
		controller uses predefined library functions only
			(this allows refactoring at lower levels)
	* Basic controller for servo/motor velocity/position	(dbking: 5 days)
	* NEEDTODO: stuff on whiteboard:
		Target: Simple movement on ground
			1. FWD X ft, at angle theta
			2. BWD Y ft, at angle kappa
		Need to have:
			1. Access to HW (encoder, SCC, via ssh, nfs on elegy for data)
			2. Mount electronics:
				a. HD -> flash disk
				b. physical mounting
				c. battery cut-off problem (see above)
	* automatic cut-off or warning on battery power on truck
	* Learn Troy's vision system:							(fpatel:10 days) 
      	- modules / hardware Issues
		- APIs for math and vision
		- basics of algorithm implementation
		- create a test application
	* Write Tests for all current software.					(fpatel: 10 days)
	* Report actual steering angle.							(fpatel:1 day)
	* Add a GUI to the client								(golemon & fpatel: 7 days)
		- GUI needs to be cross-platform
		- GUI needs to be modular and extremely EASY to add on to
  		- must include possible field-of-view image windows
		- API for command-sending
		- API for energy-bar style and numerical feedback
	* Add RTAI to the SBC kernel							(dbking: 1 day)
		- make the controller realtime
Total:
		fpatel: 23 days
		golemon: 19 days
		dbking: 28 days
		Tentative Due Date: July 17, 2006	( = 6/6/06 + 28 * 1.4)



Optional / Future work:14:06, 9 June 2006 (CDT)14:06, 9 June 2006 (CDT)14:06, 9 June 2006 (CDT)14:06, 9 June 2006 (CDT)14:06, 9 June 2006 (CDT)14:06, 9 June 2006 (CDT)14:06, 9 June 2006 (CDT)14:06, 9 June 2006 (CDT)14:06, 9 June 2006 (CDT)14:06, 9 June 2006 (CDT)14:06, 9 June 2006 (CDT)~
	* Add a gauranteed speed function.				(dbking: 3 days)
	* Add Sonar and IR to the truck sensors			(golemon: 2 days)
	* Add a streaming webcam to the truck			(golemon: 2 days)
		connect to SBC
		truckd recieves data
		send data over TCP
		client displays
	* Convert truck wiring to I2C					(golemon & dbking: 18 days)
	* Port encoders to mega88 chips					(dbking: 3 days)


Total:
		fpatel: 0 days
		golemon: 22 days
		dbking: 23 days
		Tentative Due Date: August, 2006	( = 6/6/06 + (28 + 23) * 1.4)




Completed tasks14:06, 9 June 2006 (CDT)14:06, 9 June 2006 (CDT)14:06, 9 June 2006 (CDT)14:06, 9 June 2006 (CDT)14:06, 9 June 2006 (CDT)14:06, 9 June 2006 (CDT)14:06, 9 June 2006 (CDT)14:06, 9 June 2006 (CDT)14:06, 9 June 2006 (CDT)14:06, 9 June 2006 (CDT)14:06, 9 June 2006 (CDT)14:06, 9 June 2006 (CDT)[[User:Golemon|Buck]] 14:06, 9 June 2006 (CDT)
>> Truck 'daemon'
	runs on the SBC and operates the truck
	DONE>be able to control servos	(fpatel: 5days)1
	DONE>interact w/ module		(fpatel: 9days)3
	DONE>interact w/ server		(done)
	DONE>send/recieve messages		(fpatel: 4days)2

>> Truck server
	runs on elegy and forwards data between the truck and client
	DONE> allow connections from truck and client	(done)
	DONE> forward data between the two			(done)
	DONE> run on a long-term basis			(golemon: 5days)1

>> Client
	runs on a PC and allows a user to interact w/ the truck
	DONE> connect to server					(done)
	DONE> send instructions					(golemon: 3days)7
	DONE> get truck output					(fpatel: 2days)4
	DONE> get and send at the same time (use select() ?)	(golemon: 5days)6

>> MCU
	handles the interaction of the SBC and the encoders
	DONE> read encoders						(golemon: 6days (?? talk to derek))2
	DONE> share memory w/ SBC					(done)
	DONE> interrupt SBC when new measurements are ready		(golemon: 1day)3

>> Module
	handles interaction of truckdaemon and MCU
	DONE> ioctl to read encoders				(golemon: 4days)4
	DONE> recieve interrupts from MCU				(done)
	DONE> copy MCU shared memory to user			(golemon: 1day)5


TOTAL:
	fpatel:		7days
	golemon:	17days
	Due date:	May 31 2006	
	FINISHED:	May 23 2006