Åland Sailing Robot is a research project at Åland University of Applied Sciences that develops autonomous sailing boats. This repository contains the embedded software executed on the different autonomous boats of the project and various useful tools for its development (simulator, unit-tests, UI...).

The following Autonomous sailboats are equipped with this software :

• Janet
• ASPire

The sailingrobot repository is divided into different directories :

• ArduinoSketches contains the code executed on the arduino boards of the autonomous sailboats (Janet, ASPire,...).
• CBoat is tool that displays the current boat state.
• Mission regroups predefined missions.
• Navigation System contains the source code of the control system running on the Raspberry Pi of the autonomous sailboats.
• sailing_simulator contains the simulation environment used to test and develop the control system. (Submodule)
• Xbee remote contains the code used to establish a radio communication between the embedded system and a laptop by using XBee modules.

Additional packages are required for building the Navigation System.

• With Ubuntu :

$ sudo apt-get install libncurses5-dev libncursesw5-dev libgps-dev

• With Arch Linux :

$ pacman -S i2c-tools gpsd

If you clone the repository, either use:

$ git clone --recursive https://github.com/AlandSailingRobots/sailingrobot.git

or if you have already cloned it, use:

$ cd sailingrobot  
$ git submodule init # Initialises all the submodules (Only need to be done once)  
$ git submodule update # Updates the submodule to the latest version

Install the wiringPi library:

$ cd NavigationSystem/Libs/wiringPi
$ ./build #Install wiringPi as a dynamic library
$ cd ../../..

Install the database:

$ ./installdb.sh

To build the Control system in NavigationSystem, type:

$ make [target] [ext variable 1] [ext variable 2]

Targets:

• all: Default, same as make ASPire
• ASPire: Build the control system for ASPire
• Janet: Build the control system for Janet
• unit_tests: Build the unit tests
• integration_tests_ASPire: Build the integration test for ASPire

External Variables (Only for building a control system):

• USE_SIM:
  • =1: To run with the sailing_simulator
  • =0: To run on the Pi (default)
• USE_LNM: Chooses which navigation algorithm you want to use.
  • =1: Local Navigation Module (Voter System)
  • =0: Line-follow algorithm (default)

Logger Variables:

• FILE_LOG_SEV_LVL: Chooses which severity level are logged by the logger.
  • =0/1/2/3/4/5: Logs to file when severity >= trace/debug/info(default)/warning/error/fatal
• CONSOLE_LOG_SEV_LVL: Chooses which severity level are logged by the logger.
  • =0/1/2/3/4/5: Logs to console std::out when severity >= trace/debug/info(default)/warning/error/fatal

Example :
Build the ASPire control system with the line-follow algorithm, to be executed with the simulator.

$ make ASPire USE_SIM=1

The database has two functionalities:

• Logging navigation data
• Storing the sailboat parameters and mission

To update the configuration tables in the database, you run the update_config.py script with one of the configuration json files as a parameter.

$ ./update_config.py config_ASPire.json

To change the waypoints you use the waypoints.py together with one of the json in the Mission Folder.

$ ./update_waypoints.py Mission/ASS.json

To run the control system previously build, use (no parameters needed):

$ ./NavigationSystem/sr

Complete installation before proceeding with the setup.

Update waypoints.

$ ./update_waypoints.py Mission/Unit_tests.json

Compile

$ make unit_tests

Run unit tests

$ ./unit-tests.run

Drink coffee ☕

GNU GPL v2

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