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* We have chosen to communicate with our [Protocol](https://git.fhict.nl/I312980/move-it/wikis/design/protocol).
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* We have chosen to put a deadlock while connecting the robot (after the handshake), this is done so we enforce waiting for the robot initialization.
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* We have chosen to start a thread after the robot is connected, this thread is listening for messages from the robot.
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* The communication with the robot is done using x, y and z variables. OpenTCS works with the name of this point. So we got a little problem here. To solve this we parse the x, y and z variables with the sent queue list. However this only contains the points which the robot has traveled. Which means we cannot update the robot's location if it traveled to a point which is not yet defined in the sent queue.
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The problem here lies with both OpenTCS as with us. We cannot get a proper list with all the available points from our warehouse. If we had this we could parse it so we can translate an x, y and z value to a point. This results in the bug that the OpenTCS map has an initial position. This means that you have to place the robot on this precise location in real life as well. This means that you cannot place your robot randomly in your warehouse, because OpenTCS cannot process this.
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* The communication with the robot is done using x, y and orientation variables. OpenTCS works with the name of this point. So we got a little problem here. To solve this we parse the x, y and orientation variables with the sent queue list. However this only contains the points which the robot has traveled. Which means we cannot update the robot's location if it traveled to a point which is not yet defined in the sent queue.
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The problem here lies with both OpenTCS as with us. We cannot get a proper list with all the available points from our warehouse. If we had this we could parse it so we can translate an x, y and orientation value to a point. This results in the bug that the OpenTCS map has an initial position. This means that you have to place the robot on this precise location in real life as well. This means that you cannot place your robot randomly in your warehouse, because OpenTCS cannot process this.
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[home](https://git.fhict.nl/I312980/move-it/wikis/home) |
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