-
Notifications
You must be signed in to change notification settings - Fork 3
/
Copy pathmatsya1_soft.html
424 lines (339 loc) · 14.8 KB
/
matsya1_soft.html
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
273
274
275
276
277
278
279
280
281
282
283
284
285
286
287
288
289
290
291
292
293
294
295
296
297
298
299
300
301
302
303
304
305
306
307
308
309
310
311
312
313
314
315
316
317
318
319
320
321
322
323
324
325
326
327
328
329
330
331
332
333
334
335
336
337
338
339
340
341
342
343
344
345
346
347
348
349
350
351
352
353
354
355
356
357
358
359
360
361
362
363
364
365
366
367
368
369
370
371
372
373
374
375
376
377
378
379
380
381
382
383
384
385
386
387
388
389
390
391
392
393
394
395
396
397
398
399
400
401
402
403
404
405
406
407
408
409
410
411
412
413
414
415
416
417
418
419
420
421
422
423
424
<!doctype html>
<!--[if lt IE 7]> <html class="no-js lt-ie9 lt-ie8 lt-ie7" lang="en"> <![endif]-->
<!--[if IE 7]> <html class="no-js lt-ie9 lt-ie8" lang="en"> <![endif]-->
<!--[if IE 8]> <html class="no-js lt-ie9" lang="en"> <![endif]-->
<!--[if IE 9]> <html class="no-js ie9" lang="en"> <![endif]-->
<!--[if gt IE 9]><!--> <html class="no-js" lang="en"> <!--<![endif]-->
<head>
<meta charset="UTF-8" />
<meta name="viewport" content="width=device-width, initial-scale=1.0" />
<title>Matsya 1.0</title>
<link rel="shortcut icon" href="images/favicon.ico" type="image/x-icon">
<link rel="icon" href="/favicon.ico" type="image/x-icon">
<!-- Fonts -->
<!-- <link href="./fonts/fontAwesome/css/font-awesome.min.css" rel="stylesheet" type="text/css" media="screen" title="stylesheet" /> -->
<link rel="stylesheet" href="fonts/font-awesome/css/font-awesome.min.css">
<link href="./fonts/fontello/css/fontello.css" rel="stylesheet" type="text/css" media="screen" title="stylesheet" />
<link href='http://fonts.googleapis.com/css?family=PT+Sans:400,700,400italic,700italic' rel='stylesheet' type='text/css' />
<!-- CSS -->
<link href="./css/style.css" rel="stylesheet" type="text/css" media="screen" title="stylesheet" />
<link href="./css/responsive.css" rel="stylesheet" type="text/css" media="screen" title="stylesheet" />
<link href="./css/custom.css" rel="stylesheet" type="text/css" media="screen" title="stylesheet" />
<link href="./css/navbar.css" rel="stylesheet" type="text/css" media="screen" title="stylesheet" />
<!--[if lt IE 9]>
<script type="text/javascript" src="./js/modernizr.js"></script>
<link href="./css/ie.css" rel="stylesheet" type="text/css" media="screen" title="stylesheet" />
<![endif]-->
</head>
<body class="home">
<!-- SITE HEADER -->
<header id="site-header">
<div class="container">
<a href="index.html">
<img src="./images/AUV-Logo.png" alt="AUV-IITB" height="100px" width="128px" />
</a>
<a href="#" class="toggle-site-nav show-on-mobile show-on-tablet"><i class="icon-reorder"></i></a>
<!-- <nav id="site-nav">
<ul>
<li><a href="index.html">Home</a></li>
<li><a href="./index.html#about">AUVs</a>
<ul>
<li><a href="matsya1.html">Matsya 1.0</a>
<ul>
<li><a href="matsya1.html#elec">Electrical</a></li>
<li><a href="matsya1.html#mech">Mechanical</a></li>
<li><a href="matsya1.html#soft">Software</a></li>
</ul>
</li>
<li><a href="matsya2.html">Matsya 2.0</a>
<ul>
<li><a href="matsya2.html#elec">Electrical</a></li>
<li><a href="matsya2.html#mech">Mechanical</a></li>
<li><a href="matsya2.html#soft">Software</a></li>
</ul>
</li>
<li><a href="matsya3.html">Matsya 3.0</a>
<ul>
<li><a href="matsya3.html#elec">Electrical</a></li>
<li><a href="matsya3.html#mech">Mechanical</a></li>
<li><a href="matsya3.html#soft">Software</a></li>
</ul>
</li>
</ul>
</li>
<li><a href="./index.html#team">Team</a></li>
<li><a href="./index.html#gallery">Gallery</a></li>
<li><a href="./index.html#blog">Blog</a></li>
<li><a href="./index.html#sponsors">Sponsors</a></li>
<li><a href="./index.html#contact">Contact</a></li>
</ul>
</nav>
-->
<!-- end site nav -->
</div>
</header><!-- end site header -->
<div id='cssmenu'>
<ul>
<li ><a href='./index.html#'><span>Home</span></a></li>
<li><a href='./index.html#about'><span>AUVs</span></a>
<ul>
<li class='has-sub'><a href='#'><span>Matsya 1.0</span></a>
<ul>
<li><a href='./matsya1_elec.html'><span>Electrical</span></a></li>
<li><a href='./matsya1_mech.html'><span>Mechanical</span></a></li>
<li class='last'><a href='./matsya1_soft.html'><span>Software</span></a></li>
</ul>
</li>
<li class='has-sub'><a href='#'><span>Matsya 2.0</span></a>
<ul>
<li><a href='./matsya2_elec.html'><span>Electrical</span></a></li>
<li><a href='./matsya2_mech.html'><span>Mechanical</span></a></li>
<li class='last'><a href='./matsya2_soft.html'><span>Software</span></a></li>
</ul>
</li>
<li class='has-sub'><a href='#'><span>Matsya 3.0</span></a>
<ul>
<li><a href='./matsya3_elec.html'><span>Electrical</span></a></li>
<li><a href='./matsya3_mech.html'><span>Mechanical</span></a></li>
<li class='last'><a href='./matsya3_soft.html'><span>Software</span></a></li>
</ul>
</li>
</ul>
</li>
<li><a href='./index.html#team'><span>Team</span></a></li>
<li><a href='./index.html#gallery'><span>Gallery</span></a></li>
<li><a href='./index.html#blog'><span>Blog</span></a></li>
<li><a href='./index.html#sponsors'><span>Sponsors</span></a></li>
<li class='last'><a href='./index.html#contact'><span>Contact</span></a></li>
</ul>
</div>
<div id="about" class="panel">
<div class="container">
<header class="panel-heading">
<h2>Software Sub-Division</h2>
<!-- <h4>8 Departments | 4 Sub-Divisons | 1 Team | AUV-IITB</h4> -->
</header><!-- end heading -->
<div class="cols cols-third-twothirds">
<div class="col col-a">
<div class="col-inner">
<!-- <h5>A </h5> -->
<h3>Introduction</h3>
<p>
The software system is responsible for mission planing and all the higher level functionality. Matysa runs a custom middeware to provide a neat interface for the applications.
The linux kernel provides a complicated interface for safe interprocess communication. It would be very tedious for every software developer in the Matsya team
to manage safe interprocess communication and device IO.
<p >
<b>Middleware</b>
<p >
Our middleware abstracts out
<ol>
<li> Interprocess Communication
<li> Device IO
</ol>
<p >
Matsya's middleware is based on the philosophy of the Internet. The Matsya software system consists of 3 applications
<ol>
<li> Mission Planner : This process runs the mission planning algorithms and maintains the state of the machine
<li> Image Processor : This process receives the state of the machine from the mission planner
and runs the corresponding image processing algorithm
<li>Communicator : This process is the abstract interface to the other micro controller boards in the system
</ol>
<span style="display:block; height:100px;"></span>
<p><a href="pdf/Matsya1.pdf" class="button button-size-large">Find More in the Journal Paper</a></p>
<p> </p>
</div>
</div><!-- end col -->
<div class="vehicle-pic">
<img src="./images/matsya1/soft1.png" height="400px" width="540px" alt="" />
<p style="font-style:'PT Sans';font-size:24px">Matsya 1.0</p>
</div>
<div class="col col-b">
<div class="col-inner">
<!-- <p><img src="./images/1.png" height="500px" width="450px" alt="" /></p> -->
</div>
</div><!-- end col -->
</div><!-- end cols -->
</div>
</div>
<!-- Soft -->
<div id="soft" class="panel">
<div class="container">
<div class="cols cols-twothirds-third">
<div class="col col-a">
<div class="col-inner">
<img id='m1-soft' src="./images/matsya1/soft2.png" width="500px" height="300px" alt="" class="alignleft" />
</div>
</div>
<div class="col col-b">
<div class="col-inner">
<h3><br/>Software Subdivision</h3>
<br/>
<div class="accordion">
<div class="toggle toggle-active">
<h3 class="toggle-heading">
Prototyping
<i class="toggle-down fa fa-plus"></i>
<i class="toggle-up fa fa-minus"></i>
</h3>
<div class="toggle-content">
<p> The software system is responsible for mission planing and all the higher level functionality. Matysa runs a custom middeware to provide a neat interface for the applications. The linux kernel provides a complicated interface for safe interprocess communication. It would be very tedious for every software developer in the Matsya team to manage safe interprocess communication and device IO.</p>
</div>
</div><!-- end toggle -->
<div class="toggle">
<h3 class="toggle-heading">
Mission Planner
<i class="toggle-down fa fa-plus"></i>
<i class="toggle-up fa fa-minus"></i>
</h3>
<div class="toggle-content">
<p>This process runs the mission planning algorithms and maintains the state of the machine</p>
</div>
</div><!-- end toggle -->
<div class="toggle">
<h3 class="toggle-heading">
Image Processor
<i class="toggle-down fa fa-plus"></i>
<i class="toggle-up fa fa-minus"></i>
</h3>
<div class="toggle-content">
<p>This process receives the state of the machine from the mission planner and runs the corresponding image processing algorithm</p>
</div>
</div><!-- end toggle -->
<div class="toggle">
<h3 class="toggle-heading">
Communicator
<i class="toggle-down fa fa-plus"></i>
<i class="toggle-up fa fa-minus"></i>
</h3>
<div class="toggle-content">
<p>This process is the abstract interface to the other micro controller boards in the system</p>
</div>
</div>
<div class="toggle">
<h3 class="toggle-heading">
Debugging Platform
<i class="toggle-down fa fa-plus"></i>
<i class="toggle-up fa fa-minus"></i>
</h3>
<div class="toggle-content">
<p>Matsya's debug platform provides on a web-based interface. A web-server (Apache 2) runs on the Pandaboard and listens for user requests. A user can send requests through any browser. This means that any person with a browser and a network access can send requests to Matsya debugging platform</p>
</div>
</div>
<!-- end toggle -->
</div><!-- end accordion -->
</div>
</div><!-- end col -->
<!-- <img src="./images/matsya1/soft1.png" width="500px" height="300px" alt="" class="alignleft" /> -->
</div><!-- end cols -->
</div>
</div>
<!-- CONTACT SECTION -->
<div id="contact" class="panel">
<!-- Google Map, to set this up scroll down to the bottom of this file. -->
<div class="map-holder">
<div id="map" class="map"></div>
<div class="map-overlay"></div>
<a href="#" class="button open-map"><i class="fa fa-plus"></i></a>
</div><!-- end map -->
<div class="container">
<header class="panel-heading">
<h2>Contact</h2>
<h4>Interested in aiding us build better AUVs ?</h4>
</header>
<div class="cols cols-third-twothirds">
<div class="col col-a">
<div class="col-inner">
<div class="contact-details">
<p><i class="fa fa-home"></i>AUV-IITB<br/> Dept of Aerospace Engineering<br/>IIT-Bombay<br/>India 400076.</p>
<p><i class="fa fa-phone"></i>+91-9820718028</p>
<p><i class="fa fa-envelope"></i><a href="mailto:[email protected]">[email protected]</a></p>
</div><!-- end contact details -->
</div>
</div><!-- end col -->
<div class="col col-b">
<div class="col-inner">
<div class="contact-form">
<form action="includes/contact-form.php" method="post">
<ul class="response"></ul>
<div class="contact-form-left">
<p>
<input type="text" name="contact_name" id="contact_name" value="Name*" />
</p>
<p>
<input type="email" name="contact_email" id="contact_email" value="Email Address*" />
</p>
<p>
<input type="text" name="contact_subject" id="contact_subject" value="Subject*" />
</p>
</div>
<div class="contact-form-right">
<p>
<textarea name="contact_message" id="contact_message">Message*</textarea>
</p>
<div class="submit">
<input type="text" name="contact_are_you_human" id="contact_are_you_human" value="" />
<input type="submit" name="contact_submit" value="Send Message" />
</div>
</div>
</form>
</div><!-- end contact form -->
</div>
</div><!-- end col -->
</div><!-- end cols -->
</div><!-- end container -->
</div><!-- end contact -->
<!-- SITE FOOTER -->
<footer id="site-footer">
<div class="container">
<p style="font-size:16px; ">Copyright © 2014 AUV-IITB | Developed by Meet Shah</p>
<div class="social social-small">
<a href="#" class="social-icon social-icon-twitter"></a>
<a href="#" class="social-icon social-icon-facebook"></a>
<a href="#" class="social-icon social-icon-gplus"></a>
<a href="#" class="social-icon social-icon-github"></a>
</div>
</div><!-- end container -->
</footer><!-- end site footer -->
<!-- jQuery -->
<script type="text/javascript" src="./js/jquery.min.js"></script>
<!-- Isotope -->
<script type="text/javascript" src="./js/isotope.js"></script>
<!-- Pretty Photo -->
<link href="./js/prettyPhoto/css/prettyPhoto.css" rel="stylesheet" type="text/css" media="screen" title="stylesheet" />
<script type="text/javascript" src="./js/prettyPhoto/js/jquery.prettyPhoto.js"></script>
<!-- Custom JS -->
<script type="text/javascript" src="./js/script.js"></script>
<!-- Google Map, you can get latitude and longitude here: http://itouchmap.com/latlong.html -->
<script src='https://maps.googleapis.com/maps/api/js?sensor=false'></script>
<script type="text/javascript">
jQuery(function() {
/* Add your latitude value here 19°07'51.5"N 72°55'04.4"E */
var latitude = 19.1309722;
/* Add your longitude value here */
var longitude = 72.9178888888889;
/* Add the text you want to show on clicking the pin here */
var infowindow_text = 'AUV Lab, Department of Aerospace Engineering, IIT Bombay , India 400076';
/* Don't edit any of this unless you know what you're doing */
var myLatlng = new google.maps.LatLng(latitude, longitude);
var mapOptions = {
zoom: 16,
center: myLatlng,
scrollwheel: false,
mapTypeId: google.maps.MapTypeId.ROADMAP
}
var map = new google.maps.Map(document.getElementById('map'), mapOptions);
var marker_image = './images/marker.png';
var marker = new google.maps.Marker({
position: myLatlng,
map: map,
title: 'AUV Laboratory',
icon: marker_image
});
var infowindow = new google.maps.InfoWindow({ content: '<p>'+infowindow_text+'</p>' });
google.maps.event.addListener(marker, 'click', function() {
infowindow.open(map,marker);
});
});
</script>
</body>
</html>