System integration

Note

Started in week 09 with a large update in week 11. I'll update this page to reflect more on the sub systems that make up RoboDuck 3000 (mentioned as the device).

alt text — C4 model of RoboDuck 3000 www.c4

technology can of course still change

Goal: to get the device from A to B.

Controls: motor, rudder

Public interfaces

void upd_CurrentLocation (gps location) {
    // stores current location as current location
}

void navigate(gps destination, int max_speed, bool geofenced) {
    // loop
    // calculate speed/ direction to reach destination based on current location
    // ERROR: if geofenced AND destination is outside geofenced
    // set power of the motor not exceeding max speed
    // set position of ruddder
    // end loop
}

void set_Geofence (geofence (list of gps coordinates)) {
    // stores geofence
}

Interrupts: none

Object detection

Goal: to detect objects based on image(s)

The objects are: boey, duck, human head in water, boat, swan, ...

Based on the most likely implementation (like using a vision AI model) this module will detect zero or more objects using camera images. Each object will be described by a bounding box, class id and probability.

Even if I use Sensecraft it will listen to commands like invoke and stop. If I'm able to have complete control over it, using other techniques like using a Tensorflow Lite model for instance, than I could implement a similar public interface by myself. So for now I assume this syb system will have some kind of interface.

Public interfaces:

void activate_ObjectDetection(bool logClassification, bool logImages) {
    // initializes the vision model and starts interpreting images from the camera
    // when log is enabled it means the image and/or classification is stored
}

void stop_ObjectDetection() {
    // pretty obvious; stops interpretation of the images
}

Private functions:

void detectObjects() {
    // based on the output of the AI model it decides per possible object on
    // - probability as integer number (between 0 and 100)
    // - distance in meters (which depends on the part of the object inside the image)
}

Interrupts: calls function detectedObjects() from the Control Room sub system when something is found

Sound & Visuals

Goal: responsible for all lights above (ships, vessels) and under water

Public interfaces:

void makeQuackSound() {
    // makes a quack sound
}

void flashBack() {
    // shows a bright light inside the duck that flashes for 4 seconds
} 

(optional)
void enable/disableNavigationLights() {
}

void enable/disableGuidanceLights() {

}

void enableLowBatteryWarning() {

}

The brain

Goal: Combine information and guide the different sub systems

Public interfaces:

void detectedObjects(objects) {
    // objects is an array/list each with bounding boxes and probablity
    // The objects are: boey, duck, human head in water, boat, swan, ...
}

void processCommand(String cmd) {
    // starts to behave according to the command
    // cmd contains a pre defined command like
    // as a general acknowledgement it will flahs the back of the duck

    // GENERAL
    // `stop` = stops everything; no movement; no images etc; just floats
    // `come home` = stops everything; navigates to the home coordinates
    // `update geofence c1, c2, c3, c4, ..., cz`
    // `

    // STEALTH MODE
    // '
    // `follow route` = stops everything; navigates according to predefined route
    // `...`

}

Storage

Goal: responsible for storing and retrieving different kind of data

Public interfaces:

void logImage (binary image, coordinates) {
    // logs image with date, time, coordinates
    // maybe that's possible inside the image or a seperate log file is necessary
}

Remote control

Goal: provides a way to give commands to the duck from a distance.

***assumption is that there is already a connection with the device

Public interfaces:

void logFeedback(plain text) {
    // when the device has been given a command it will acknowledge it has received that command
    // the device will call this function with plain text
}