DIANASOFTWARE

DIANA Software is a software suite crafted by DIANA Computer Science Dept. to operate and monitor ARDITO. It employs a microservice architecture: multiple services on the MOBC interact through the MQTT or SHMEM, with services organized into distinct layers of abstraction.

CONFUSION
Ackermann-based controller used to coordinate steering and differentiate the speed of the six wheels during a maneuver based on the turning radius.
POCO
It uses tracking data to compute a trajectory towards any specified goal, without performing obstacle avoidance maneuvers or planning.
Stack la Test
Suite of softwares used to test the rover
YASS
YASS (Yet Another Stream Service) is a service which aim is to capture and stream up to four different HD cameras over WiFi directly to the team’s ARCTIC Webapp.
MOQUETTE
A core library developed in-house to mange MQTT communication
SHMEM
A core library developed in-house for fast, onboard-only inter-process communication.
PROBEFINDER
Dedicated service to exploiting a convolutional neural network to analyze video feeds, enabling faster and accurate probe identification
ALBERTOOL
A command line tool for handling deployment and status assessment of the current rover service configuration, used by Boot Sequence.
LUMBERJACK
A shared library for logging the DIANA software activity as God intended.
DFA
State machine employed to manage the correct system execution between the rover's different states and modes.
AZZERATOR
Program to reset topics to an initial or a desired state, used by Boot Sequence.
BOOT SEQUENCE
Master program running boot setup configuration. It depends on Azzerator, Albertool, and SIMOne.
DIANARM
Arm controller implementing inverse kinematics in both position and velocity. Available both in cartesian space and in joint space.
ARCTIC
New human machine interface to control the rover.
Scroll to Top