marsrover/document/evaluation.tex

   1 \section{Development Plan \& Evaluation}
   2 \subsection{Development Plan}
   3 The development plan is written following the spiral software development model
   4 in which all requirements are divided into small iterations. Each of the
   5 iterations will have an implementation phase, a testing phase, an analysis
   6 phase, and a design phase. Furthermore, each of the iterations will have goals
   7 and results. The iterations and their deliverables are listed in
   8 \autoref{tab:devit}. The schedule for finishing iterations are listed in
   9 \autoref{tab:deadli}. On the 6th of January the must-have should be finished
  10 and if they are we try to complete as many iterations as possible.
  11 \begin{table}[H]
  12         \centering
  13         \begin{tabu} to \linewidth{llX}
  14                 \toprule
  15                 Deadline & Iterations\\
  16                 \midrule
  17                 9 Dec 2015 & 1--2\\
  18                 16 Dec 2015 & 3--5\\
  19                 23 Dec 2015 & 6--9\\
  20                 6 Jan 2015 & 10--11\\
  21                 13 Jan 2015 & Demo\\
  22                 \bottomrule
  23         \end{tabu}
  24         \caption{Deadlines}\label{tab:deadli}
  25 \end{table}
  26 \begin{table}[H]
  27         \centering
  28         \begin{tabu} to \linewidth{rlXX}
  29                 \toprule
  30                 It. & Req. & Description & Deliverables\\
  31                 \midrule
  32                 1 & NR1 & Create a DSL for MarsRover's missions to use available
  33                         sensors and actuators. & \texttt{TaskDSL.xtext}\\
  34                 2 & ER3 & Implement diagnostic functions that print on the \emph{LCD}.
  35                         & A \emph{LCD} class that prints to the \emph{LCD} screen.\\
  36                 3 & -- & Implement functions in the code generation for basic motor the
  37                         motor actions: forward, backward, measure rock, measure lake and
  38                         wait. & Code
  39                         generation for motors\\
  40                 4 & -- & Implement functions in the code generation for communicating
  41                         the sensors from the slave to the master. & Functions in the master
  42                         program to read the slave's sensors.\\
  43                 5 & -- & Create functionality for sensor values and determine the
  44                         treshholds manually. & Code generation for sensors and threshhold
  45                         constants.\\
  46                 6 & CR1 & Create functionality to keep the MarsRover in the planet. &
  47                         A generatable behaviour to stay on the planet.\\
  48                 7 & MR3 & Create functionality for not bumping into rocks. & A
  49                         generatable behaviour to not bump into rocks.\\
  50                 8 & MR1 & Create functionality to find lakes. & A generatable mission
  51                         to find lakes.\\
  52                 9 & MR6 & Create functionality to perform missions in sequence. & A
  53                         generatable main program that performs missions.\\
  54                 10 & MR2, MR4& Create functionality to find rocks. & A generatable
  55                         mission to find rocks.\\
  56                 11 & MR5 & Create functionality to push rocks and detect when the
  57                         robots is pushing. & A generatable behaviour for pushing.\\
  58                 12 & MR7 & Create functionality to find the parking space. & A
  59                         generatable behaviour that can find the parking space.\\
  60                 13 & MR8, ER1 & Create functionality to map the environment and to
  61                         localize. & A generatable behaviour that can map while
  62                         performing.\\
  63                 14 & ER2 & Create functionality to play sounds. & Add a generatable
  64                         function for playing sounds.\\
  65                 15 & NR3, NR4 & Create functionality to calibrate the sensor
  66                         treshholds. & A generatable function to calibrate the sensors.\\
  67                 16 & NR5 & Create functionality that when the robot encounters bugs it
  68                         can restart itself. & Functionality in the main program to do so.\\
  69                 17 & -- & Speed up the behaviour of the robot within safety limits.\\
  70                 \bottomrule
  71         \end{tabu}
  72         \caption{Spiral model iterations}\label{tab:devit}
  73 \end{table}
  74
  75 \subsection{Evaluation}
  76 \subsubsection{Realisation}
  77 %implemented features and mission range
  78 The final implementation satisfies all the \emph{must have} requirements.
  79 Besides all the most important requirements it also supports all \emph{should
  80 have} requirements except \emph{MR8} in which the robot must be able to
  81 remember the locations of the lakes. This is because we encountered some
  82 problems during the development phase that lead to a shortage of time. Because
  83 of that mapping and localization was not implemented. In the end of the process
  84 we had some time left which we used to implement \emph{ER2} since it was
  85 relatively simple.
  86
  87 The range of missions the robot can support is a lot bigger then reflected by
  88 the met functional requirements. All actions specifiable in a behaviour consist
  89 of atomic operations that take very little time leading to the action being
  90 interruptible at all times. Together with the rudimentary variable storage we
  91 can make missions very complex. Possible combinations of behaviour can perform
  92 actions such as: counting, following moving objects and grouping objects.
  93
  94 In the beginning of the running program, the user need to press any button to start
  95 the program in the robot. This is because both bricks need to start the bluetooth
  96 communication pairing at the same time. If we were given more time we would make
  97 the bluetooth pairing automatically run from the beginning of the program without
  98 waiting button press in order to limit the user involvement in the robot.
  99
 100 The DSL can accomodate the improvement in the case of adding new sensors or actuators.
 101 For instance, if we want to add a new sensor, then it is easy to add new \emph{StoppingExpression}
 102 in the DSL. In addition, if we want to add a new actuator to the robot, we can just add
 103 a new action defined in the DSL and implement the use of the action in the program.
 104
 105 \subsubsection{Discussion}
 106 %development process, use of dsl/technologies, general lessons
 107 From our experience, the most important think in the development process was to
 108 start working from a small functionality and to test it. As soon as we knew
 109 something wrong with the program we can fix and test it again in order to ensure
 110 the functionality worked. This would be good for the development of the next
 111 functionality. The difficulty in the development was in the testing phase. The
 112 reason was sometimes we got an error when running the program in the robot (for
 113 example: sensor exception) and it took so much time for loading all sensors to be
 114 ready for testing. Moreover, there was a time when the robot was crashed and needed
 115 to be restarted which took some time from the development time.