Hivexplore

Mapping rooms with drone swarms!

The repo is structured as 4 subprojects:

• client: the web front-end
• server: the back-end server used to communicate with the drone swarm
• drone: the Crazyflie drone firmware
• argos: the ARGoS simulation used to test the drones

Setup

Clone the repo with its submodules:

git clone --recurse-submodules https://gitlab.com/KRMisha/Hivexplore

Or, if you already cloned the repo but forgot the --recurse-submodules option, use the following command to fetch the submodules manually:

git submodule update --init --recursive

Production - single-command startup

Prerequisites

• Linux
• Bash
• Docker
• Docker Compose
• x11docker

Usage

Crazyflie-specific startup steps

1. Setup:

   1. Make sure the USB permissions are correct for the Crazyradio to function properly
   2. Plug in the Crazyradio PA USB dongle
   3. Make sure all the drones are flashed with the latest version of the firmware
   4. Assign a unique address to each Crazyflie
   5. Set each Crazyflie's offset relative to the base in the server/server/config/crazyflies_config.json file

2. Start Hivexplore in drone mode:

   ./start.sh drone

ARGoS-specific startup steps

1. Setup - no prior setup is needed

2. Start Hivexplore in ARGoS mode:

   ./start.sh argos

Common steps

3. Open the web client by heading to localhost:3995 in your browser's address bar

4. Using another device on the LAN (including a mobile device):

   1. Find your host machine's local network IP address with the following command:

      ip route get 1.2.3.4 | awk '{print $7}'

   2. On your other device, head to <ip>:3995, replacing <ip> with the IP address you found in the last step

5. Shutdown

   1. Press Ctrl+C to perform a graceful shutdown of all the containers
   2. The server logs can still be read after shutting down the program by accessing their Docker volume, in /var/lib/docker/volumes/hivexplore_logs/_data

Other commands

• Rebuild containers after an update:

  ./start.sh build

• See help information:

  ./start.sh --help

Development

Usage

To open the project in VS Code, use the multi-root workspace for best results:

code Hivexplore.code-workspace

This lets you take advantage of integration with extensions, language support, debugging, formatting, linting, and settings directly within VS Code.

Alternatively, you can double-click on the Hivexplore.code-workspace file in your file explorer.

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See each subproject's README for more information.