Full-Speed Simulator Meeting

			      1 April 2015


Project Labor Budget Remaining: 64%

********Recent Progress and News:

* Speed up is now *** x 17 *** on a full-on simulation that includes octree ray-tracing.

* Rich and Kent have solved the "interrupted function call" error.


*******Decisions:

* Expend the effort to get TRN working with event callbacks,  before combining
  the big 3 into a single GNC process? (No, work on both in parallel)

* Merge event-callback code with the CVS head before we have fast TRN? (Yes)

* If Rich is too busy, Rob or Kent to start on merging big three into GNC, or
  to work on fast TRN? (Rob will start on fast TRN)


********Next Tasks:

* Rich: Add flags -fastsim and (optional) -sim that run the simulator fast
  	and real-time, respectively.

* Rob:  - Polish up Simulator.cc so that we can more easily switch between
  	  missions, e.g. wall following versus bottom following.
	- Start on fast TRN.

* Rob: (minor)
       -xFree86 on Mac?
       -xCode/CVS on Mac?
       -Or, instead of the above two items, install a Linux VM like
        sandpiper.
       -Can't set PDT on sandpiper-qnx.  It keeps hanging on
       	compilations/installs on Atlas.





* Rob/Rich:  Review the difference between the -bisim and -sim arguments.  Merge
  	     them if possible.

* Rich/Rob: (Optional for now) Create a triggered version of
  	TerrainAidDriver.  Get TRN to run in the fast simulation.

* Rich: (Phase II) Massage the big three GNC tasks into a single task that
  	runs real-time for flight, fast for simulation.

* Rob:  Download xcode and get CVS running on the Mac.  Checkout the code
  	tree.  

* Rob: 	Get the Qnx Vm to share memory with the Mac.  If this works, I can
        checkout the code tree from CVS on the Mac, then compile it with the
        Qnx vm.

* Rob:  Assist Rich where possible.

* Kent: (If time permits) Come up to speed on the code.  Rob will help.

* Kent: (If time permits) Run a sim.  Rob will help.

* Hans: (If time permits) Provide example code showing how to link the GNC
    	process with the simulated sensor IFs and the simulator to create a
    	single process for simulation. The GNC code is unchanged between
    	flight and simulation.

* Rob: (Skip) Merge the CVS head into the FastSim branch.  The objective is
        to keep the branch up to date so that the eventual merge back into
        the head will take minimum effort.

*******Last Meeting:

The group consensus was that, at least for the short term, we will continue
to debug the "interruped function call" error.  The other option is to drop
this and start trying to merge the big three + the simulator into a single
process (Phase II).

Rich pointed out that this error only appears when the code runs at full
speed.

Rich will work on the code to switch between real-time flight versus
full-speed sim.

Rob will bring Kent up to speed on compiling and running simulations on
mvc-bi. 

Rob and Kent will investigate the Qnx debugger.  We'll see if we can
replicate the error and use the debugger to obtain a stack trace.


*******Notes:

To merge our branch with the head we need to:
 * Finish code that triggers Nav on real-time versus sim completion.
 * Down-merge the ongoing head development first.  
 * Review changes with Hans and make a test plan.
 * Possibly piggy back a sea-trial.

******Overall Objectives:

     1. Qnx Vm (Rob)  (DONE)
     	-Desktop
	-Laptop
     2. Synchronize Layered Control(Rich)  (DONE)
     	-Done using event call backs.
     3. Non blocking operation (Rich, Rob, Kent, Hans)
     	-First pass using event callbacks.
	-Second pass moves GNC processes into a single process.
     4. TRN Integration (Rich, Rob)
     5. Testing and Validation (Rob)

********Meeting Notes:

Kent - Run original sim on head; results to compare to fast sim.
     - Devise auv-in-lab tests to validate flight code after merge, before
       sea-trials. 

Rich: Hopes to have added real/fast flags in 2 weeks - 16th.
Kent: Will look at test plan for CVS merge of event-callback code.
Rob:  Will work on how to do fast TRN.