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 The BioMAV Project
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Authors
  Sjoerd Lagarde
  Jurriaan Langevoort
  Paul Konstantin Gerke
  Robert-Jan Drenth
  Laurie Bax
  Tijl Grootswagers
  Vincent Slieker
  
Content
  1.0 Project description
    1.1 Structure of the repository
  2.0 General build guide
  3.0 Todos

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 1.0 Project description
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The BioMAV project repository contains all code used for creating, evaluating and executing the
autonomous control engine used for the Internation Micro-Air Vehicle Conference and Flight 
Competition 2011 by the student team from the Radboud University in Nijmegen. The software packet
contains control software that can be used together with the Parrot AR.Drone from Parrot. We
consistently used for our project the firmware version for the drone that comes together with the
official SDK version 1.6. To up or downgrade download the SDK from Parrot. The archive available
via their website contains the correct firmware. You can up or downgrade you SDK following the 
instructions on their website (http://ardrone.parrot.com/parrot-ar-drone/uk/support/update).

This project is still work-in-progress. At the moment we are busy documenting all our code which
had to be completed in a rush before the conference with no or incomplete documentation.

If you use our code, please refer to our paper: Gerke, P. K., Langevoort, J., Lagarde, S., Bax, L., Grootswagers, T., Drenth, R.-J., Slieker, V., Vuurpijl, L., Haselager, P., Sprinkhuizen-Kuyper, I. van Otterlo, M., & de Croon, G. (2011, September). Biomav: bio-inspired intelligence for autonomous flight. In Proceedings of the international micro air vehicle conference and flight competitions 2011 (still in press).

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 1.1 Structure of the repository
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[TODO]

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 2.0 General build guide
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All our projects are using standard GNU Make Makefiles as build tool. At the Java code is working on
Windows, Linux and Mac OS-X. However, projects using a JNI have not been tested and do not
work on Mac OS-X systems, so the C/C++ bits of the project only work on Windows and Linux systems. 
Since only Windows and Linux are officially supported only build guides for these two systems are
included in this project.

- Building for Linux - 

Requirements
 - Oracle JDK or OpenJDK (6 or higher)
 - Javadoc
 - GNU Make
 - GNU Compiler Collection (for C++ and C)

In order to build a pure Java project you can use the Makefile supplied in the different project
directories. Most Java-based projects depend on the base-project which contains shared interfaces
and algorithms for other projects of the BioMAV project. To build java, the Makefile assumes that
the java compiler and other java related programs are found in the path-environment variable. You
can supply a different command that is used to invoke the Java compiler and other tools by 
setting environment variables. Important environment variables and their default values are:

Environment variable  Def. Value     Description
JAVA_COMPILER         javac          Java compiler used to build the java code
JAVADOC_COMPILER      javadoc        Javadoc compiler used to build the java doc
JAR_COMPRESSOR        jar            Jar file compressor
BIN_DIR               bin            Directory where the compiled files and products will be placed
DOC_DIR               doc            Directory where the compiled javadoc is placed
###_JAR               BioMAV_###.jar Path to required java package ### (for example "base")

If your path environment variable is set up to point to the required binaries (javac, javadoc, 
etc.), you can simply change to the directory of the sub project you want to build:

  cd (project-directory)

and invoke make

  make

The compiled product(s) will be placed in the bin/ directory by default (or in the directory 
defined by the environment variable BIN_DIR if you have overridden the default).


- Building for Windows -

Requirements
 - JDK (6 or higher)
 - MinGW
 - MSYS
 
To build on windows you first need to make sure that MSYS, the JDK binaraies (like javac etc.)
and MinGW, all are found from the command line. If neccessary include the in the required paths
in the PATH environment variable. 

After these preconditions are met, the instructions for building are the same as for linux: 
navigate to the project directory you want to build and start make (see the linux section for
command examples).

Do not forget to consult the sub-project specific README files for additional project specific
build instructions or parameters.

[When this text was written, these instructions were not tested. Still must be verified!]

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 3.0 Todos
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Make makefiles for all sub-projects

Complete this README