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![JavaFX
• Now included in the JRE
• Create graphics and sound effects
• Use CSS to specify visual properties
children += new Label => [
text = 'XRobots'
styleClass += #['boxed-label', 'logo']
effect = new InnerShadow => [
color = Color.RED
width = 3.2
height = 3.2
]
]
.boxed-label {
-fx-background-radius: 3.0;
-fx-padding: 4.0;
-fx-text-fill: white;
}](https://image.slidesharecdn.com/xrobots-150312172438-conversion-gate01/85/XRobots-55-320.jpg)
Uploaded byDr. Jan Köhnlein
XRobots
This document describes the development of XRobots, a robot wrestling game where players write programs to control robots. It discusses the robot hardware which uses Lego Mindstorms EV3 kits with motors, sensors, and Bluetooth connectivity. An operating system runs the Java-based robot API to control movement and sensors. A game server facilitates networked communication between robots and handles game state and security. Xtext is used to define a programming language and web editor for writing robot control scripts. JavaFX provides graphics and OpenCV enables robot vision processing. The goal is to create an engaging and secure platform for programming and playing with robot battles.
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XRobots
- 1. The Making ofXRobots Jan Köhnlein Miro Spönemann
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- 3. • A showcasefor Xtext • Robot wrestling: push the opponent off the arena or tip him over • Players write programs to control the robots • Web-based editor • A distributed real-time system
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- 5. Lego Mindstorms EV3 4motors 4 sensors USB Bluetooth SD card slot lego.com
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- 8. Robot Design 2 drivingmotors 2 arms with 1 motor infrared sensor color sensor marker
- 9. Operating System + ExecutesJava programs + Supports network communication + Open source o Eclipse plug-in − Still beta − More than 2 min. booting time First choice: LeJOS (lejos.org)
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- 24. •Keeps the game’sstate •Referee / Security •Interprets player scripts in a sandbox •Sends commands to robots •Receives state from robots ➡Need for very fast communication Server Side
- 25. Average Latency Bluetooth java.io~250ms Bluetooth Java RMI ~120ms Bluetooth java.nio ~40ms WiFi (USB dongle) java.nio ~12ms
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- 27. • Programming languagebased on Java • Write cleaner code • Integrated in the Eclipse IDE • Compiled to Java • Active Annotations xtend-lang.org
- 28. Generated RMI @SimpleRMI class Robot{ ! def drive(double distance) { ... } ! def rotate(double angle) { ... } ! } IRobot.java Robot.java RobotExecutor.java RobotClientState.java RemoteRobotProxy.java RobotServerState.java
- 29. Changing the Interface @SimpleRMI classRobot { ! def drive(double distance) {…} ! def rotate(double angle) {…} ! ! ! ! ! } def setDrivingSpeed(double speed) {…} def double getGroundColor() {…} command protocol is updated state protocol is updated
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- 31. • Define yourown language • Xtext generates a text editor with syntax highlighting, code completion, error markers, etc. • Add a code generator or interpreter xtext.org
- 32. An XRobots Script robot'Hello, World!' author Miro ! TurnToOpponent on opponentBearing.length > 35 { rotate(opponentBearing.angle) drive(10) } ! Destroy { if (abs(opponentBearing.angle) < 90) drive(100) else drive(-100) }
- 33. The XRobots Language grammarorg.xtext.xrobot.dsl.XRobotDSL with org.eclipse.xtext.xbase.Xbase generate xRobotDSL ".../XRobotDSL" ! Program: 'robot' (name=ID | name=STRING) 'author' (author=ID | author=STRING) (modes+=Mode)*; ! Mode: name=ID ('on' condition=XExpression)? action=XBlockExpression; Xbase: connect your language to the JVM
- 34. XRobots & • Canuse all expressions of Xtend • A Program instance is mapped to a class implementing IRobot • Can access all methods of IRobot: drive(double), rotate(double), etc.
- 35. Simple Game Loop public void gameLoop() { while(!isGameOver()) { readSensorData(); performSomeMove(); } } • Enforces boring face and hit strategy • Hard to implement sequences of moves • Finite moves unappealing
- 36. Execution Model • Modeconditions are checked periodically • The first mode with satisfied condition is the active mode • If the active mode changes, the previous mode is canceled • Cancellation is built into the runtime
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- 39. Infrared Sensor Sender Receiver detectsangle (± 40°) and distance lego.comlego.com
- 40. Infrared Sensor: Angle -25-20 -15 -10 -5 0 5 10 15 20 25 -40° -30° -20° -10° 0° 10° 20° 30° 40° -25.00 -20.00 -15.00 -10.00 -5.00 0.00 5.00 -40.00 -30.00 -20.00 -10.00 0.00 10.00 20.00 30.00 40.00 f(x) = 1.6981305442x + 3.3567996758 measured value corresponding angle lego.com
- 41. Infrared Sensor: DistanceCharts 2025 30 35 40 45 50 55 60 0 cm 20 cm 40 cm 60 cm 80 cm 100 cm 120 cm measured value corresponding distance lego.com
- 42. Image Recognition Image processinglibrary: OpenCV (opencv.org) + Read and process camera images + Very fast + Open source − Image recognition methods are quite fuzzy
- 43. Fiducial Tracking reacTIVision (reactivision.sourceforge.net) •Tracking positionand angle of fiducial markers •Broadcast tracking data via UDP (TUIO protocol) •C++ library
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- 48. Orion freepik / CCBY Server Browser Eclipse + Xtext + Orion JavaScript eclipse.org/orion
- 49. XRobots in theWeb • Click the button → server generates a script file • Browser communicates with server for text coloring, code completion, error markers, etc. xrobots.itemis.de
- 51. Executing Scripts freepik /CC BY game server displays token A6X1 player enters token into browser token is reserved on server A6X1 game server requests script for token
- 52. The Big Picture freepik/ CC BY xrobots.itemis.de github.com/JanKoehnlein/XRobot
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- 55. JavaFX • Now includedin the JRE • Create graphics and sound effects • Use CSS to specify visual properties children += new Label => [ text = 'XRobots' styleClass += #['boxed-label', 'logo'] effect = new InnerShadow => [ color = Color.RED width = 3.2 height = 3.2 ] ] .boxed-label { -fx-background-radius: 3.0; -fx-padding: 4.0; -fx-text-fill: white; }
- 56. Image generated fromcamera tracking application
- 57. Graphics overlaid byJavaFX
- 58. Robots Can Talk Text-to-speechlibrary: FreeTTS (freetts.sourceforge.net) say('Come get some!') Come get some!
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- 61. Security? robot 'Dr. Evil' authorMiro ! BlackMagic { System.exit(0) } shut down the game server
- 62. Security Manager • Blockaccess to System.exit, file system, network, threads, etc. • Throws SecurityException game over System.setSecurityManager(...)
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