Data sharing

Communication of signals and data between software systems, which is indicated in Figure 10, is achieved using a data distribution service standard OMG DDS. In the following, we provide an overview of the various signals. This overview also includes the interface definition language (IDL) types used for the different signals. The IDL types are defined in the companion project RatatoskIDL.

Figure 10 Container diagram for Balder.

Signal overview

The diagram in Figure 10 only give a high-level view of the data sharing between the different systems. With focus on the two algorithm systems Mimir: Leadline and Mimir: Path planner, we provide a more complete signal list in Table 1. Source is a signal originator, it is the system that sends out the signal. Target is an intended signal receiver. The DCPS DDS interface (data-centric publish-subscribe) is designed to allow multiple recipients – one-to-many. Causality is one of input, output, parameter and describes the variable type. In our case, the variability for parameter in the table is always tunable, that is, they can be changed while algorithms are running. Please consult the documentation for the respective system/algorithm on how to specify the DDS topic and other settings in their configuration files. In the case of Balder, the DDS topic names are specified in FkinDdsTopics. Note that Name in the table below is not the topic name of a signal. It is the variable named used in the Mimir configuration file.

Table 1 Overview of signal flow between systems.

Name	Causality	IDL type	(S)ource/(T)arget
Mimir: Leadline
command	input	fkin::Command	S: Balder
command	output	fkin::CommandResponse	T: Balder
notifier	output	fkin::ProcessStateAutomaton	T: Balder
parameters	parameter	fkin::IdVec2d	S: Balder,
			Mimir: Path planner
depth	output	fkin::BatchIdVec1d	T: Balder
Mimir: Path planner
command	input	fkin::Command	S: Balder
command	output	fkin::CommandResponse	T: Balder
notifier	output	fkin::ProcessStateAutomaton	T: Balder
setting_speed_U_v	parameter	fkin::IdVec1d	S: Balder
setting_radii	parameter	fkin::IdVec2d	S: Balder
aim_distance_D_s	parameter	fkin::IdVec1d	S: Balder
fish_margin_d_f	parameter	fkin::IdVec1d	S: Balder
sink_margin_z_min	parameter	fkin::IdVec1d	S: Balder
leadline_tau_ll_z_d	parameter	fkin::IdVec2d	S: Balder
current_surface	parameter	ratatosk::types::Double2	S: Ratatosk
current_fish	parameter	ratatosk::types::Double2	S: Ratatosk
fish_velocity_over_ground	parameter	ratatosk::types::Double2	S: Ratatosk, Balder 1
fish_depth_z_s	parameter	fkin::IdVec1d	S: Ratatosk, Balder
GPS_origin	input	ratatosk::types::Double2	S: Balder 2
vessel_pos_info	input	ratatosk::types::PosInfo	S: Ratatosk
vessel_gyro_info	input	ratatosk::types::PosInfo	S: Ratatosk
fish_pos_info	input	ratatosk::types::PosInfo	S: Ratatosk
fish_relative_pos	input	ratatosk::types::Double3	S: Ratatosk
keep_solution	input	fkin::Bit	S: Balder
trajectory_vessel	output	fkin::BatchKinematics2D	T: Balder
trajectory_vessel_rot	output	fkin::BatchIdVec1D	T: Balder
trajectory_fish	output	fkin::BatchKinematics2D	T: Balder
nlp_config	output	fkin::NlpConfig	T: Balder
nlp_stats	output	fkin::OptiStats	T: Balder
vessel_speed	output	ratatosk::types::DoubleVal	T: Balder
vessel_course_rate	output	ratatosk::types::DoubleVal	T: Balder
deploy_position	output	ratatosk::types::Double2	T: Balder
collide_position	output	ratatosk::types::Double2	T: Balder
deploy_time	output	ratatosk::types::DoubleVal	T: Balder

Note

Balder currently does not support user configuration of topic names. Future improvements include moving FkinDdsTopics outside the compiled program, so that it can be loaded at runtime. This would allow configuration of topics without recompilation.

1

The user can set manually.

2

Calculated from vessel_pos_info.