CSC 499	Grinnell College	Fall, 2013
	Bluetooth Communication with C

Current Timeline — Tentative Schedule of Activities

Week index: 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, spring

Although the project will evolve over the semester, the following schedule outlines a possible time line for this project.

Color code:

assigned with little progress
work with some progress
work that is mostly done
completed work
brainstorming activities requiring more detailed specification

Week	Dates	Activities	Status	Product(s)
Week 1:	29 August– 4 September	Reading concerning Bluetooth Communications	On-line text book read	—
		Review low-level and file-stream approaches for Bluetooth communications	Experimentation with low-level programs, modified from code by Hugan and Rudolph `simplescan.c`, scan for available Bluetooth devices `rfcomm-client.c`, send 9-byte message to Scribbler 2 to beep Experimentation with open system call `rfcomm-led.c` , toggle LED; original program by Keith O'Hara, modified by Henry Walker `rfcomm-serial-open.c` , use open with 9-byte message to beep Use of file open (fopen) with 9-byte string arrays; code by Henry Walker `rfcomm-serial-fopen.c` , send 2 beep commands `rfcomm-serial-getname.c` , set robot name `fcomm-serial-setname.c` , retrieve robot name	Mechanics of Bluetooth Communication reviewed
		Explore available packages for text-to-speech synthesis on Workstation in C (callable from C programs)	Experiments with eSpeak program, written in C++	Available from http://espeak.sourceforge.net/
Week 2:	5–11 September	Review sample C programs to communicate with Scribbler 2 robot at low level and file-stream level	Edits made to sample program; other programs fine	Development Notes document reviewed Programs reviewed and run Experimentation with low-level programs, modified from code by Hugan and Rudolph `simplescan.c` , scan for available Bluetooth devices `rfcomm-client.c`, send 9-byte message to Scribbler 2 to beep Experimentation with open system call `rfcomm-led.c` , toggle LED; original program by Keith O'Hara, modified by Henry Walker `rfcomm-serial-open.c` , use open with 9-byte message to beep Use of file open (fopen) with 9-byte string arrays; code by Henry Walker `rfcomm-serial-fopen.c` , send 2 beep commands `rfcomm-serial-getname.c` , set robot name `rfcomm-serial-setname.c` , retrieve robot name
		Plan poster on basic Bluetooth communication	Poster framework outlined Overview of content discussed	Draft 1 prepared and reviewed
		Determine reliable approach for text-to-speech synthesis on Workstation in C (callable from C programs)	Exploration underway	http://espeak.sourceforge.net/ downloaded and run on a Macintosh
Week 3:	12–18 September	Write draft poster on basic Bluetooth communication	Draft (version 2.7) completed	Draft (version 2.7) reviewed
		Create svn repository for code development	MyroC repository established	svn repository MyroC created initial MyroC.h and MyroC.c files have header and stubbs for rConnect, rDisconnect, rSetName, rGetName general svn documentatiopn svn command summary access notes
		Install http://espeak.sourceforge.net/ on Linux; run in both stand-alone mode within context of a callable procedure	Code installed by Dr. Stone	Code available on all MathLAN workstations espeak program in /usr/bin static libraries installed at /usr/lib/x86_64-linux-gnu/libespeak.a dynamic libraries installed at /usr/lib/x86_64-linux-gnu/libespeak.so.1.1.46 header file installed at /usr/include/espeak/speak_lib.h
		Experiment with eSpeak program and procedures	Basic code developed eSpeak program run as delivered Program for simple speech developed, based on eSpeak library functions	simple-speech.c program developed to use eSpeak library (help obtained from eSpeak author Jonathan Duddington
		Develop test program for sending and receiving commands to multiple robots	Program available	multipleRobot.c
Week 4:	19–25 September	Write/polish poster on basic Bluetooth communication	Draft (version 2.9) refined	poster (version 2.9) completed
		Develop `rConnect, rDisconnect,` and byte-level procedures for sending and receiving commands	Completed for socket communication	Basic version of MyroC.h and Myro.c checked into svn
		Write procedure(s) headers and implementation for text-to-speech synthesis on Workstation in C (callable from C programs)	Requires installation, sample runs	Package implemented and tested eSpeakPackage.h provides definitions for functions eSpeakConnect(), eSpeakDisconnect(), eSpeakTalk( string ) eSpeakPackage.c implements calls to eSpeak functions eSpeakTest.c tests the eSpeakPackage code startPulseAudio starts pulseaudio channel, as required by espeak stopPulseAudio closes the pulseaudion channel textlines-to-speech.c started by eSpeakConnect, starts program utilizing espeak functions to read successive lines and convert them to speech as received Makefile allows systematic compilation of the eSpeak package
Week 5:	26 September– 2 October	Write/polish poster on basic Bluetooth communication	Final version forthcoming	Final version in process odp format pdf format
		Add basic capabilities to MyroC.h and MyroC.c	Socket communcation implemented	Undated MyroC.h and MyroC.c checked into svn, with these capabilities: rConnect (MyroC.h and MyroC.c) rDisconnect (MyroC.h and MyroC.c) rSend (MyroC.c only) rReceive< (MyroC.c only)/font> rBeep (MyroC.h and MyroC.c)
		Refine espeak capabilities	Basic testing completed	Speech adjustments made spacing between words expanded by default, speaker is radonably male or female speaker may be set to either male or female with Technical adjustments eSpeakSetGender function added to eSpeakPackage.h user is checked, so remote users not allowed to generate speech on local workstation actions of user synchronized with speech synthesis scripts checked into svn and libraries updated
		eSpeak tested and prepared for CSC 161 context	Examples, documentation completed	Desired Products Test examples eSpeakExample1.c eSpeakExample2.c Test runs in different accounts Web-based documentation/instructions eSpeakIntro.html
Week 6:	3–9 October	Develop general commands	Completed	Specifications added to MyroC header file checked into svn Desired capabilities: rConnect rDisconnect rSetConnection rBeep rBeep2 rSetName rGetName rSetForwardness rGetForwardness rSetLEDFront rSetLEDBack rGetBattery
		Document byte code for general commands	Completed	Add byte code details for general commands to Scribbler Byte-Code Commands Web page
		Implement general commands	Checked into svn	Implementation added to MyroC.c
		Develop extensive test suite for general commands	Completed	general-test.c available
Weeks 7-8:	10–18 October	Develop commands for robot movement	Completed	Specifications added to MyroC header file Desired capabilities: rTurnLeft rTurnRight TurnSpeed rForward rBackward rMotors rStop rHardStop
		Document byte code for movement commands	Completed	Add byte code details for movement commands to Scribbler Byte-Code Commands Web page
		Implement movement commands	Checked into svn	Implementation added to MyroC.c
		Develop extensive test suite for movement commands	Completed	movement-test.c available
Fall Break
Weeks 9-10:	28 October– 15 November	Design sensor commands	Completed	Specifications added to MyroC header file Desired capabilities: rGetLightsAll rGetLightTxt rGetStall rGetObstacleAll rGetObstacleTxt rGetLine rGetBrightAll rSetBrightTxt rSetIRPower rGetIRAll rSetIRTxt
		Document byte code for sensor commands	Underway	Add byte code details for sensor commands to Scribbler Byte-Code Commands Web page
		Implement sensor commands	Checked into svn	Add implementation to MyroC.c
		Develop extensive test suite for sensor commands	Completed	Test suites developed and checked into svn sensor-test-1-newC.c for testing new MyroC.c implementation sensor-test-1-oldCpp.c for producing parallel tests with old C++ implementation sensor-test-2.c testing utilizing eSpeakPackage
Weeks 11-12:	16 November– 1 December	Investigate Linux libraries for images	Basic search conducted	Identified libjpeg packagesfor Linux
Weeks 11-12:	16 November– 1 December	Identify procedure headers for pictures	Preliminary draft determined	Draft procedure signatures identified: Picture * rTakePicture() success/failure (0/1) rSavePicture (filename, Picture ) Picture * rLoadPicture (filename) rShowPicture (Picture, NULL (blocking) or name of frame (non-blocking) rCreateBlankPicture (height, width, Pixel (default color) rJPEGPictureTo2DStruct(Picture , structure pict e2DStructToJPEGPicture (structure pict , Picture ) rPictureGetPixel (Picture , row, col) rPictureSetPixel (Picture , row, col, Pixel) rPictureJPEGTo1DArray (Picture , array[][]) rPicutre1DArrayToJPEG (array[][], Picture int rgetPictureHeight (Picture ) int rgetPictureWidth (Picture ) Picture * rClonePicture (Picture *)
Weeks 13-14:	2–8 December	Review byte command table	Completed	scribbler-commands.shtml
		Conduct integration testing of all code for general commands, movement commands, and sensor commands	Completed	All tests passed
		Paper written and refined for next development team	Completed	Full paper available for next team
Spring 2013	January / February	Communicate with Myro team regarding byte command table	Correspondence required	Possible distribution within roboteducation.org
Spring 2013	January / February	Presentation to a Thursday Extra	Scheduled April 15, 2014	Notes available

This time line will be updated regularly throughout the project.

created 24 April 2013 last revised 6 April 2014
For more information, please contact Henry M. Walker at walker@cs.grinnell.edu.