- The robot begins with coordinates (2, 1).
- We submit a trajectory with points ((4, 3), (5, 3)).
- The robot starts to move to (4, 3).
- We submit a trajectory with points ((3, 3), (5, 4)).
- The robot starts to move to (3, 3) instead of (4, 3).
- The robot arrives at (3, 3), and starts to move towards (5, 4).
- The robot receives a trajectory with points ().
- The robot stops.
Goal : Free flow of Robot and controller thread while simulating interrupt messages for robot
Robot is self sufficient to perform basic movement tasks. It does the following. - Only receives relevant position from the mission controller - Aware of its current position - Verifies if Received position is same as current position - Manage its own state and memory - Listen to Mission Controller on demand
Mission controller is the kernel of the operation. Commands the robot to move based on the trajectory received from the user - A Single flow control to maneuver the robot - Aware of the state of Robot operation - Managed its own state and memory - Only sends the relevant position in the trajectory for robot to move - Takes care of passing necessary interrupts, signals and event information - Has the ability to stop the robot ( kill the robot thread )
- Using Queues to transfer data between the threads -> Thread safe data struct, has internal RLock mechanism
- Using Events to control the flow between the thread
