Beta Release 1.1

Introduction

This release features some big changes in the way the controller specific part is handled and the C part is compiled. With the introduction of MC2ML (more below) and the first version of the MC2ML parser the controller specific parts, that have to be written for every controller, are now written in XML with the control routines written in C but embedded in the XML document. This also changes the way the specific part is compiled, which now happens through the MC2ML parser.

Besides the inclusion of MC2ML this version is more stable and has increased performance compared to the previous release. The biggest bug fixed was the memory leak in the RSAL.

MC2ML

MC2ML or MissionControl Controller Markup Language is our way of using XML (with a little bit of C embedded within the XML) to provide a standardized and easy way of writing the controller specific parts required by the MissionControl Server. An MC2ML file contains the controlling routines that are called by the defined controls as well as the sensor access functions and the layout definition. The MC2ML parser takes a chosen MC2ML-file, generates the ConnLAO out of it, converts it all into a compilable C file and compiles it with the RSAL.c to create the controller specific program that runs as a subprocess of the server. We'll release a detailed MC2ML guide very soon.

Problems

• ~30% CPU usage under load on KIPR Link (might be due to limited hardware)

Planned

• Installer tool
• KIPR Wallaby support
• Asynchronous bot control mechanism
• Easier way to create your own custom readout and controls (part of RSAL)
• Easier way to port the server to your controller of choice (also part of RSAL)

Beta Release 1

Introduction

This is the first beta-release of the MissionControl server. After 3 months a point has been reached where the server runs stable and error handling is improved enough so that most crashes should be prevented. We still only support the KIPR Link but plan on releasing support for the KIPR Wallaby as soon as possible.

Features

• Read sensor values from the KIPR Link in "real time" via a compatible MissionControl client
• Control motors and sensor of the KIPR Link via a compatible MissionControl client
• Write your own custom readouts and control routines

Problems

• RSAL uses large amounts of memory over long periods of time (about 1.5MB per minute)
• 30% CPU usage under load on KIPR Link (might be due to limited hardware)

Planned

• Installer Tool
• KIPR Wallaby support
• Easier way to create your own custom readout and controls (part of RSAL)
• Easier way to port the server to your controller of choice (also part of RSAL)

Version 0.1-dev - KIPR Link Test Release

Version 0.1-dev is a test release for the KIPR Link. Support for WebSocket clients was added and genreal stability was improved. There is currently no way to control the Link since controlling messages are not sent to RSAL.
The release is intended for tests of the clients. More stability improvements and the control ability will be added.

Version 0.0/5 KIPR Link Testing Version

Release 0.0/5 is a test release for the KIPR Link. It is capable of performing the MIDaC-protocol handshake (without checking the input) and transmitting sensor values to connected clients.