Planner

The Planner tool is running on the Raspberry Pi embedded in the central beacon.

It is in charge computing the strategy and giving orders to the robot during the game.

It communicates on the /planner namespace of the SocketIO server.

Data Flow

Run Planner

$ cogip-planner

Parameters

Planner default parameters can be modified using command line options or environment variables:

$ cogip-planner --help
Usage: cogip-planner [OPTIONS]

Options:
  -i, --id INTEGER RANGE          Robot ID.
                                  env var: ROBOT_ID
                                  default: 1; x>=1

  --server-url TEXT               Socket.IO Server URL
                                  env var: COGIP_SOCKETIO_SERVER_URL
                                  default: None

  --obstacle-radius INTEGER       Radius of a dynamic obstacle
                                  env var: PLANNER_OBSTACLE_RADIUS
                                  default: 500

  --obstacle-bb-margin FLOAT      Obstacle bounding box margin in percent of the radius
                                  env var: PLANNER_OBSTACLE_BB_MARGIN
                                  default: 0.2

  --obstacle-bb-vertices INTEGER  Number of obstacle bounding box vertices
                                  env var: PLANNER_OBSTACLE_BB_VERTICES
                                  default: 6

  --obstacle-sender-interval FLOAT
                                  Interval between each send of obstacles to dashboards (in seconds)
                                  env var: PLANNER_OBSTACLE_SENDER_INTERVAL
                                  default: 0.2

  --path-refresh-interval FLOAT   Interval between each update of robot paths (in seconds)
                                  env var: PLANNER_PATH_REFRESH_INTERVAL
                                  default: 0.2

  -r, --reload                    Reload app on source file changes
                                  env var: COGIP_RELOAD, PLANNER_RELOAD

  -d, --debug                     Turn on debug messages
                                  env var: COGIP_DEBUG, PLANNER_DEBUG