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plan_editor_tab.md

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Plan Editor tab

The Plan Editor tab allows you to create or edit a .fplan file to send to Astrobee. In the upper left the Plan Editor shows a table view of the Plan you are editing (gov.nasa.arc.verve.freeflyer.workbench.parts.planeditor.PlanEditorPart). On the right is a 3d view (gov.nasa.arc.verve.freeflyer.workbench.parts.liveTelemetryView.PlanEditor3dView). The section in the lower left shows a widget that corresponds to the Plan element that is selected in the Plan Editor. All the widgets are subclasses of gov.nasa.ensemble.ui.databinding.widgets.AbstractDatabindingWidget. When the Plan name is selected, the gov.nasa.arc.verve.freeflyer.workbench.widget.FreeFlyerPlanWidget shows. When you select a Station, StationAndPointWidget shows, and when you select a Segment, gov.nasa.arc.irg.plan.ui.widget.SegmentWidget shows. The other widgets, which are for commands, are all in the gov.nasa.arc.verve.freeflyer.workbench.widget package.

Create a Plan

  • From the Plan Editor Tab, go to File -> New Plan
    • Known bug: If you are on a Mac and the top menu bar does not say "FreeFlyer OCU", click on another window (for instance a Finder window) and then select the Control Station again and the menu will appear correctly. This happens when the Control Station is first started.
  • Enter a name for the plan and click Save
    • Known bug: error about SWT key 13 when you hit enter instead of clicking Save. Ignore the error and continue.
  • Set inertia and operating limits configuration files for the plan by clicking on the plan name in the table and then selecting from the drop-down menus in the FreeFlyerPlanWidget in the lower left corner. These menus are populated by InertiaConfigurations.json and OperatingLimitsConfigurations.json (See Config Files for information about the json files.)
  • Add plan elements (see below)
  • When you have finished making the plan, click the Validate button
    • This button calls compilePlan() in gov.nasa.arc.irg.plan.ui.plancompiler.PlanCompiler.
    • compilePlan() checks that the plan obeys keep-out and keep-in zones.
    • For each Segment, compilePlan() computes "waypoints" that the robot's control system needs to in order to execute the trajectory of the Segment
  • When the plan has been validated, go to File -> Save Plan. Saving the plan will also validate it, if it is not already validated.

Add Stations

  • Click the "Add" button. A new Station will be created.

    • If the Plan is selected or the last Station is selected, the new Station will be created at the position of the last Station in the plan.
    • If a Station that is not the last Station is selected, the new Station will be between the selected Station and the next Station
    • If a Segment is selected, the new Station will be created in the middle of the Segment

  • Right-click on an item in the Plan Editor

    • When the Plan is selected, you can "Append Station" to the end of the plan
    • When a Station is selected, you can "Append Station" to the end of the plan or "Insert Station" before this Station
    • When a Segment is selected, you can "Insert Station" in this Segment

  • Click "Add via 3d View" button. A translucent plane will show in the 3d view.

    • Click on the plane to add Stations where you click. New Stations are appended to the end of the Plan.
    • Change the height of the plane using the "Plane Adjustment: Z" text box.
    • When you are done adding Stations, click "Exit Add via 3d View" button.

  • Segments are created automatically when you add Stations.

Edit Plan Elements

Plan

  • Select the Plan itself by clicking the plan name in the Plan Editor table.
    • When the Plan is selected, you can change the inertia and operating limits configurations

Stations

  • Select a Station by clicking on the box in the 3D view or on the row in the table in the Plan Editor
  • When a Station is selected, you can do the following:
    • Move the station
      • "Location Based" tab: Set position according to ISS location coding.
      • "Coordinate Based" tab: use up and down arrows to adjust x, y, z, roll, pitch, yaw, or type numbers directly into the text boxes
      • "Coordinate Based" tab: select Drag to Translate or Drag to Rotate checkbox to display draggable arrows on the selected station.
      • "Bookmarks" tab: select the name of a bookmark from the dropdown menu and the Station will jump to the location of the Bookmark.
    • Add commands to the station
      • Click on "Commands" tab.
      • Select a command from the "Select command" dropdown. The selected command will be added to the plan.
      • You can delete commands with the "Delete" button, and you can reorder or delete them by right-clicking on them in the table.
    • Delete the Station
      • Click the "Delete" button
      • Right click on the row in the Plan Editor, and choose "Delete"
    • Reorder the station (if the plan has multiple stations)
      • Right click on the row in the Plan Editor, and choose "Reorder Down" or "Reorder Up"
    • Insert a Station halfway between the selected and the previous station
      • Right click on the row in the Plan Editor and choose "Insert Station"
    • Insert a Station halfway between the selected and the next station
      • Select the Station and click the "Add" button

Segments

  • Select a Segment by clicking on the cone in the 3D view or on the row in the table in the Plan Editor
  • When a Segment is selected, you can do the following:
    • Change the maximum speed of the segment in the Plan Editor
    • Uncheck Face Forward to tell the robot it doesn't need to face the direction of motion during this Segment
    • If you run with -engineering, you can also change acceleration, and angular velocity and acceleration limits.

Commands

  • Select a command by clicking on the line in the table in the Plan Editor

Undo

  • Some actions can be reversed by going to Edit -> Undo
    • Adding a Station and deleting a Station can be undone
    • Moving a Station via the Coordinate Based tab can be undone.

Preview

  • To preview the Plan, click Preview and a green preview model will follow the Plan trajectory at approximately ten times speed.
    • The preview cannot be paused.
    • If a Segment translates and rotates simultaneously, the preview will interpolate the translation only (the rotation will jump).

Manage Bookmarks

  • Under View menu, select Open Bookmark Manager. This opens gov.nasa.arc.verve.freeflyer.workbench.dialog.BookmarkManagerDialog.java
  • To delete a bookmark:
    • Select the bookmark from the drop-down labeled Delete Bookmark
    • Click Delete.
  • To create a new Bookmark:
    • Open a plan and select a Station in the plan.
    • Adjust the position of the current station using the Location Based or Coordinate Based tabs
    • Click on the Bookmarks tab and click "Make Bookmark..."
    • Enter a name for the new bookmark and click OK.
  • Bookmarks are called Locations on the Teleoperate Tab.