Embedded-case-study

This repository is to reproduce CAN communication between the Raspberry Pi (sometimes called Robot) and the micro-controllers on PCB representing systems. This part is what we call the Commander, it's hosted in the Rasberry Pi in the robot, managing the scheduled actions of meals creation.

The robot systems are:

• Box
• Assembler
• Sampling
• Cooking zone
• Sauce
• TER (bringing pasta out of the robot to the food team)

The code is in Python and use AsyncIO to manage infinite loop and async requests.

Requirements

• Python >= 3.7.11

Instructions

The goal of this case study is to reproduce the sequence (the picture below) sending CAN message needed to prepare a dish depending on requeriements. A task receiving an arrow on the sequence needs to wait for the end of the previous task to be started let's call it a requirement. A task can have more than 1 requirement like the BRING_BOX_TO_FLIPPER, so you will have to wait for all the requirements acknowledgement to start this task. In your case you are in charge of a part of meal creation, that's why the sequence is short. You will receive STRAINER_TO_FLIPPER acknowledgement message every ARBITRARY_DURATION's value (stored in commander file) from the system Arm and you will have to manage all the tasks until BOX_TO_SAUCE. Print the can message you send and the acknowlegement you receive in the format

Message sent from {system} data: {can_message}

Message recieved data: {acknowledgement}

You will have to:

• fork this project to work on it
• reproduce the sequence sending can message and waiting for their acknowledgement.
• create a system adaptable to additionnal systems
• create a system time efficient

Development

Start the project

python3 main.py

Sequences

CAN messages and aknowledgements are array of 4 bytes

Assembler

System code: 0x02

Assembler Can messages

Name	message[0]	message[1]	message[2]	message[3]
OPEN_WINDOW	0x0	0x0	0x0	0x02
CLOSE_WINDOW	0x0	0x0	0x0	0x04

Assembler Acknowledgements

Name	message[0]	message[1]	message[2]	message[3]
OPEN_WINDOW_DONE	0x02	0x0	0x0	0x02
CLOSE_WINDOW_DONE	0x02	0x0	0x0	0x04

Cooking zone

System code: 0x04

Cooking zone Can messages

Name	message[0]	message[1]	message[2]	message[3]
FLIP_THE_STRAINER	0x0	0x0	0x0	0x01
BRING_BOX_TO_FLIPPER	0x0	0x0	0x0	0x02
BOX_TO_ASSEMBLER	0x0	0x0	0x0	0x04
BOX_TO_SAUCE	0x0	0x0	0x0	0x08

Cooking zone Acknowledgements

Name	message[0]	message[1]	message[2]	message[3]
FLIP_THE_STRAINER_DONE	0x04	0x0	0x0	0x01
BRING_BOX_TO_FLIPPER_DONE	0x04	0x0	0x0	0x02
BOX_TO_ASSEMBLER_DONE	0x04	0x0	0x0	0x04
BOX_TO_SAUCE_DONE	0x04	0x0	0x0	0x08

Arm

System code: 0x08

Arm can messages

Name	message[0]	message[1]	message[2]	message[3]
STRAINER_TO_FLIPPER	0x0	0x0	0x0	0x01
REPLACE_STRAINER	0x0	0x0	0x0	0x02

Arm Acknowledgements

Name	message[0]	message[1]	message[2]	message[3]
STRAINER_TO_FLIPPE_DONE	0x08	0x0	0x0	0x01
REPLACE_STRAINER_DONE	0x08	0x0	0x0	0x02

Box

System code: 0x20

Box can messages

Name	message[0]	message[1]	message[2]	message[3]
DROP_BOX	0x0	0x0	0x0	0x01

Box Acknowledgements

Name	message[0]	message[1]	message[2]	message[3]
DROP_BOX_DONE	0x20	0x0	0x0	0x01