RNL Version 1.0 ALFA

[TheHarvard]

@RobotSigmund @AGus-RN

Here is my proposal for RNL version 1.0 ALFA.

We should talk and go through it, you should play around with it, and we should get it stable enough to be implemented on wiig as a BETA.

Features which this ALFA implements:

• DataPointers - A way to point to any data with a single universal datatype.

  • This is the core of the entire system. It solves RAPIDs issues of inflexible and static programming.

• Objects - a modern way of organizing modular code.

  • Dynamic allocation of object memory makes objects incredibly easy to use.
  • Object Inheritance allows for easy expandability and customization of standard code

• Events - a flexible, modern system for enabling loose coupling of code

  • Based on modern principles to allow code to scale efficiently.

• RMQ - an interface to communicate across tasks, and from tasks to remote clients

  • Current implementation aims to enable objects and resources to exist across multiple robot tasks and controllers while still being accessible to all of them.
  • RMQ allows for remote procedure calls

• Objectified (dynamically allocated) versions of:

  • Trap routines
  • World zones
  • Event routines

• State machines - An alternative to the "normal" way of programming, state machines allow wide complex programs to be broken down and simplified into paralell executing processes.

  • State machines are objects, meaning they can be integrated into objects and run in paralell with other state machines, or normal code

Features I am currently missing:

• logging - @RobotSigmund and @TheHarvard should decide on how to best implement this,

• UNIX epoch time - @RobotSigmund and @TheHarvard should decide on how to best implement this

• Automated testing - It is probably useful that we build the test modules together to best detect unclear and un-intuitive implementations. Also we need to decide on a standard format for them.

• Dynamic lists and dictionaries - I have a lot of ideas and visions for dynamically allocated linked lists, and hash table driven dynamic key-value dictionaries, but theese are not implemented yet.

• Objects - I have implemented very basic objects for grippers, but we should push to enable @RobotSigmund and @AGus-RN to create their own objects. To create a new object, copy the RNL__dataTypeReference Module and build the object from there.

There is still a lot of work to do, but I'm very happy to share this first (somewhat) functioning ALFA version with you.

[TheHarvard]

@RobotSigmund @AGus-RN

Noticed an issue with the branch, have comitted a fix so the RNL should be functioning now.

[TheHarvard]

RNL group meeting 2020/01/05 with: @TheHarvard @RobotSigmund

Current plan: Start implementing this alfa on Wiig Project, once baby issues have been resolved and features are working as expected that version will be pushed as a BETA.

BETA should be the first release for other memeer of the organization.