View source for Apogy/UserGuide

= Table Of Contents =
__TOC__

= Introduction =
Apogy was originally developed at the Canadian Space Agency to control space exploration rovers and their associated sensors. Integrating all these systems developed by many different contractors and allowing them to be controlled as an integrated entity represented a challenge. In order works, a tool to plan, validate, execute and monitor integrated operations to support multiple missions was required. The technical team soon realized that a reusable framework could save a lot of work and allow for future growth. Apogy is the result of this thinking.

Apogy was built to:

# Be an organizationally neutral core framework (we did not want to be locked in with any particular contractor proprietary tool);
# Maximizes reuse between missions (keep the work to the specifics of each mission);

In order to so, Apogy :

# Is a component-based architecture that allows systems (ex: instruments, rovers, satellites) to “plug-in” and allow the system developer to concentrate on their system specific needs and the tooling to use them.
# Makes use of Open Source librairies that are Eclipse Public License compatible;

= Overview =

In Apogy, users control Systems by invoking commands (through Programs) and monitor the System's health through telemetry (i.e. states). 

These Systems are operated in a Environment which defines such things as Digital Elevation Maps, orbit models, sun position, etc (i.e. what the Environment contains).

{| class="wikitable"
|-
|  colspan="1" style="text-align:center; | [[File:Apogy_User_Systems_Environment_Diagram.png |500px|alt=]]
| User, System, Environment and Data Product.
|}

The System's command produces result (i.e. returned value, such as an Image, an error code, etc.) that Apogy geo and time tags. This allows the results to be displayed within the 3D Environment. This helps in maintaining the situational awareness of the operator and keep the data in context.

== Installing Apogy ==

== Launching Apogy ==

= Quick Start =

To get started quickly, we will import an existing session (one of the example) and then used it to command the Rover example.

== Importing an Existing Session ==

#Launch Apogy.
#Open the ''Welcome'' perspective if not already opened:
##In the top menu bar, select [[Image:Apogy_Perspective_Icon.png|Open New Perspective]]. This will open the ''Add Perspective'' pop-up.
## In the pip-up, select the '''''Projects''''' perspective;
## Press ''OK''.
#In the ''Welcome'' perspective, select the '''''Projects''''' view;
#In the ''Registry'' list, select '''''org.eclipse.apogy.example.rover.apogy''''';
#Press ''Import'' . This will bring up the ''New Apogy Project'' wizard;
#Change the name of the project to '''''MyFirstProject''''', then press ''Finish''.
#In the ''Workspace'' list, select the project you just created, then press ''Open''.
#Verify that the ''Workspace'' list displays your project as '''''<Active> MyFirstProject'''''

You now have you first Apogy Session loaded ! This session contains a Rover System, a Surface Worksite (the Mars Emulation Terrain at the Canadian Space Agency) and a few Programs. 

== Instanciating the Variables ==

Before we start our system, we will open the ''Programs'' perspective to get ready for invoking commands.
#Open the ''Programs'' perspective if not already opened:
##In the top menu bar, select [[Image:Apogy_Perspective_Icon.png|Open New Perspective]]. This will open the ''Add Perspective'' pop-up.
## In the pip-up, select the '''''Programs''''' perspective;
## Press ''OK''.

The ''Programs'' perspective provides the view required to created, edit, delete and invoque Programs. At this point, we will bring up the 3D Viewer to show what is in the Environment:
#In the top menu bar, select Window-Show View. This will open the ''Add View'' pop-up.
## In the pip-up, select the '''''Apogy Views-3D Viewer''''' view;
## Press ''OK''.

The 3D Viewer should show the terrain, the sky, and possibly the Sun, the Moon and the stars (depending on the time-of-day). We are ready to instantiate our system:

#On the status bar, confirm that the Context shows Simulated.
#Press ''Start''. The ''Start'' button should become disabled, and the ''Stop'' button enabled.

The ''rover'' Variable has now been instanciated. In the 3D Viewer, you should see the rover standing on the corner of the terrain. We are almost ready to roll!

== Invoking Existing Commands ==

We are now ready to invoke commands on the rover. For now, we will used the commands (or ''Operation Call'' in Apogy parlance) :

#In the ''Programs'' perspective, select the '''''Programs''''' view;
#In the ''Programs'' list, select ''A.B''; 
#Select the ''Program'' view: it should be display a list of ''Operation Call''.
#In the ''Operation Call'', select ''Start'', then press ''Invoke''. This will start the rover.
#Ensure you have the 3D Viewer showing the rover and the terrain.
#In the ''Operation Call'', select ''Move Forward'', then press ''Invoke''. The rover should start moving forward.
#In the ''Operation Call'', select ''Stop Motion'', then press ''Invoke''. The rover should stop moving.

== Preventing the rover from moving through the terrain ==

You may have noticed that the rover wheels where driving through the terrain, and not on top of it. This is due to the very simple simulation that is updating the rover position based on its speed (the rover only moves on the XY plane and changes its azimuth). This is of course, not very realistic.

Apogy provides a PoseCorrector concept that can be used to maintain a System wheels (or feet in the case of the example Lander) in contact with the ground. Lets enable the pose corrector. For this, we will use the Vehicle Pose view:
#In the top menu bar, select Window-Show View. This will open the ''Add View'' pop-up.
## In the pip-up, select the '''''Vehicle Pose''''' view;
## Press ''OK''.
#In the ''Vehicle Pose'' view, press ''Select...''. This will bring up the ''Variable Feature Reference'' wizard.
#In the wizard, under ''Variable'', select '''''rover''''', then under Sub-Type, select '''''mobilePlateform''''';
#Press ''OK''
#In the ''Vehicle Pose'', select the ''Pose Corrector'' tab;
#Check ''enabled''

Invoke the ''Operation Call'' used before : The rover wheels should now follow the terrain !

== Creating New Commands ==

Up to now we have been invoking ''Operation Call'' that were already defined in a program. Lets now create our own ''Operation Call'':

#In the ''Programs'' perspective, select the '''''Programs''''' view;
#Select the ''TODO Program Group'', then press ''New Program''. This will bring up the ''New Program Wizard'':
#On the left side, select OperationCallsList (this is a ''Program'' that is a simple list of ''Operation Call'')
#Press ''Next'';
#Change the program's name to '''''MyFirstProgram'''''; press ''Finish''.
#In the Program List, select the program you just created.
##Select the ''Program'' view, then press ''New''. This will bring up the ''New Operation Call'' wizard;
#Change the name to ''Deploy Arm'', then press ''Next'';
#Select the roboticArm sub-system as the system we want to use:
##Under Variable, select '''''rover''''';
##Under Sub-Type, select '''''integratedRoboticArm-roboticArm''''';
#Now lets select the operation we want to call:
## Under Operation, select '''''moveTo(EDouble, EDouble, EDouble, EDouble)''''', then press ''Next'';
#Lets set the operation parameters (here the destination joint angles values):
#In the left end side, select the first argument ('''''turretAngle''''') and type its value ('''''10''''' degrees) in the Value field on the right.
#Repeat the previous step for each of the arguments:
## '''''shoulderAngle''''' = '''''10''''' degrees
## '''''elbowAngle''''' = '''''10''''' degrees
## '''''wristAngle''''' = '''''10''''' degrees

== Browsing the Data Product ==