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SP In Depth
So now you hopefully have an idea of what SP is, let’s dig deeper into the core and the usages.
The code is divided into repositories with three main parts which this chapter will go through:
- Main SP (sp-comm, sp-domain, sp-control and sp-gui)
- Specific usages of Main SP in projects (sp-erica, sp-core)
- Communication between SP and robotics etc.
Fall 2017 we split the source code of SP into different sub-projects and published them as libraries to Sonatype. Now we can use the libraries as dependencies.
Example: You want to have an internal domain, control and communication but use sp-gui as a dependency? No problem, just add
”com.github.sequenceplanner” %%% "sp-gui" % "0.9.10"as a dependency.
JVM: The JVM-side have helpers for creating AvroSchemes, publishing and subscribing messages on the Akka-bus.
Shared: API:s for the Models and the Services.
TODO: ADD WIKI
Here we use services and widgets for controlling.
Example: The 26th of June 2018, TeknD Kristofer Bengtsson was presenting a demo at the Volvo Powertrain(?) how SP can be as an HMI in a cell with a human assembler and a collaborative robot.
TODO: UPDATE WIKI
The Graphical User Interface of SP.
TODO: UPDATE WIKI
sp-erica depends on COMM, DOMAIN and GUI, but are utilized for Online Planning.
sp-core depends on COMM and DOMAIN, should have a base collection of widgets that can be widely used.
ros_unification is an example of helpers for communicating between SP and other framework like ROS.