Proposal for Restructuring of RHexLib Source Tree

Several weeks ago, UlucSaranli put together a new directory structure for the RHexLib sources. I am paraphrasing and extending the points he brought up in his e-mail, UlucDirRestructureEmail.

The main advantages of the new structure are:

• The core library is modified to include no robot-specific code
• Multiple robot trees can coexist for heterogeneous robots (id est, RHex and RiSE)
• New robots can be easily added at later dates, without modifying other trees
• Logical locations exist for addition of new code
• Incorporates the HWClass changes described in RHexLibHardwareRedesign

It will take a bit of work to put these changes into effect. The tasks that need to be done (to be checked off as they are done):

• initial version done - Reorganize source tree and revise Makefile system
• done, assigned to AlRizzi - Remove ModeSupervisor's dependance on CalibMachine and SitMachine
• partially done - Sort files into appropriate directories when needed

Proposed Directory Structure: Notations are made on any entries which may be new or need clarification.

• Libraries/ - Robot independent libraries
  • lib/ - symlinks to various libraries
  • include/ - symlinks to various include directories
  • RHexLib/ - Robot independent core components of RHexLib
    • include/
    • base/
    • libutils/ - RHexLib utilities such as ConfigFile etc.
    • libclient/ - Collection of tools for remote clients
    • tools/
    • doc/ - doxygen based core RHexLib documentation
    • examples/
  • VisLib/ - Clark's soon-to-be-released vision library
    • include/
    • examples/
    • lib/ - lib directory separate from ../lib because of plugins
    • src/
      • plugins/
  • GUILib/ - Common library for user interface design (PanelManager etc.)
  • SimLib/ - simulation library, wrapped around Arachi DE
  • flame/ - Runtime GUI design components
  • fltk/ - GUI toolkit used in most of our interfaces
• RHex/
  • doc/ - doxygen based documentation for all RHex specific components
  • lib/ - Symlinks to all RHex specific libraries
  • include/ - Symlinks to RHex specific include directories
  • Simulation/
    • SimSect++/ - RHex's legacy simulation code
    • RHexSimLib/ - version for use with simulation code using Arachi
  • RobotCode/
    • Hardware/ - hardware sources are completely separate from core
      • include/ - common inludes for all instantiations (interface definitions etc.)
      • CommonHW/ - common components (board access classes etc.)
      • ResearchHW/ - hardware instantiation for the research RHex
      • RuggedHW/ - hardware instantiation for the rugged RHex
      • SimSectHW/ - hardware instantiation for the legacy simulated RHex
      • RHexSimHW/ - to be done: hardware instantiation for Arachi based RHex simulation.
    • BehaviorLib/
      • modules/ - Library of RHex specific modules
      • modes/ - Library of RHex specific modes
      • include/ - common includes for RHex modules and modes
    • CalibTools/
    • TestTools/
  • OCUCode/
    • RHexGUI/ - RHex GUI executable
    • RuggedGUI/ - Rugged GUI executable
    • LogGUI/ - Old logging GUI
    • CLI/ - Command line tools
    • SWRILogger/ - Compact and fully featured logger executable
  • VisionCode/ - plugins/executables for VisLib specific to RHex
  • EmbeddedCode/ - Repository for embedded microcontroller code
    • RhIO/
  • SWRI/ - Operational executables
    • Operator/ - OCU executable and scripts
    • Supervisor/ - Robot executable and scripts
    • Config/ - Configuration RC files
• RiSE/
  • lib/
  • include/
  • Simulation/
    • RiSESimLib/ - RiSE will only use the Arachi simulation environment
  • RobotCode/
    • Hardware/ - hardware is separated from core library
      • include/
      • CommonHW/
      • RiSEHW/
      • RiSESimHW/ - virtual hardware for use with simulation environment
    • BehaviorLib/ - RiSE specific modes and modules
      • modules/
      • modes/
      • include/
    • CalibTools/
    • TestTools/
  • OCUCode/
    • RiSEGUI/
    • LogGUI/
    • CLI/
  • VisionCode/ - code for use with early vision system on RiSE
  • EmbeddedCode/ - code for all our MCU's and other embedded components
  • SWRI/
    • Operator/
    • Supervisor/
    • Config/

-- ClarkHaynes? - 29 Sep 2003