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Minimal Robot Control App Example

This app is intended as a minimal example and as a base for new app development.

The features shown in this sample are available from iRC V14-001 but the API (AppClient.h) will be updated for the newest feature set. Check the other samples for other features.

Files

Base directory

  • rcapp.xml - app definition file, this tells RobotControl all it needs to start and integrate your app.
  • ui.xml - the UI definition, this is optional if your app does not need user input
  • CMakeLists.txt - Definition for compiling with CMake
  • vcpkg.json - Dependency definition for vcpkg. This is intended for building for Windows but may also work for Linux-native builds.
  • The protos directory contains the gRPC definition file. CMake will use it to automatically generate the C++ interface.

src directory

In the src directory you will find the following files:

  • main.cpp - this contains the main function, initialize your app here
  • AppClient.h / .cpp - this contains an interface to the robot control. You should not need to change this, simply derive your own class and implement the abstruct methods.
  • MinimalApp.h / .cpp - this contains a sample implementation of AppClient. It shows how to handle commands and UI events coming from the robot control, as well as how to send messages and UI changes back to the robot control.
  • DataTypes - this directory contains helper classes for matrices, program variables etc.

How to write a new app

Copy the code of the minimal app and derive your own class from AppClient. You will need to override AppFunctionHandler() (this is called when a robot program calls a function of your app) and UiUpdateHandler() (this is called on UI events).

The most important functions of the app interface can be used via the methods of AppClient - read the comments of the public methods in AppClient.h for more info. Other functions may require you to build GRPC AppAction messages and send them via SendAction(). Please refer to the robotcontrolapp.proto file for the message structure. Classes MinimalApp and AppClient contain examples on how to create these messages.

Create an instance of your app class in main.cpp and remove MinimalApp and the examples there. Delete MinimalApp.h / .cpp when you don't need the examples anymore.

Compiling

Read the Building guide on how to compile C++ apps for Windows, Linux and Raspberry Pi (embedded robot control).