17. Robot Execution Pipeline

Robot Execution Pipeline

This batch script automates the Wheelly robot execution workflow, from configuration loading to robot execution and inference data generation.

Overview

The pipeline performs the following stages:

1. Load the execution configuration.
2. Clean previous temporary execution data.
3. Run the robot executor application.
4. Generate inference data and execution artifacts.

The workflow starts from a clean temporary environment by removing previous temporary data before launching a new robot execution.

Prerequisites

Before running the script, ensure that:

• The project has been built.
• Java is installed and available.
• The Wheelly application dependencies are available.
• The configuration script bin/setConfig.cmd is correctly configured.
• All required environment variables are defined.

Configuration Variables

The pipeline uses the following configuration variables, initialized by:

bin\setConfig.cmd

Variable	Description
TEMP	Temporary workspace used during robot execution.
INFERENCE	Output directory containing inference data generated by the robot executor.

Pipeline Stages

1. Load Configuration

The script starts by loading all required configuration variables.

call bin\setConfig.cmd

---

2. Clean Previous Temporary Data

Before starting a new execution, previous temporary data is removed.

rmdir /S /Q %TEMP%

This ensures that the execution starts with a clean working directory.

---

3. Run Robot Executor

The robot execution application is started using:

org.mmarini.wheelly.apps.RobotExecutor

Command:

call bin\runnit.cmd org.mmarini.wheelly.apps.RobotExecutor ^
    -w ^
    -d %INFERENCE% ^
    %*

Parameters:

Option	Description
-w	Enable multi-window panels.
-d	Output directory where inference data is generated.
%*	Additional command-line arguments forwarded to the application.

The executor runs the robot workflow and generates inference data in the directory referenced by INFERENCE.

Generated Artifacts

After a successful execution, the following artifacts are available:

• Generated inference data (INFERENCE)
• Temporary execution workspace (TEMP)
• Application-specific outputs generated by RobotExecutor

Execution Flow

The following diagram illustrates the sequence of operations performed by the pipeline.

flowchart TD

    START([Start])

    CFG["Load Configuration"]

    CLEAN["Remove Temporary Data"]

    EXEC["Run RobotExecutor"]

    END([End])

    START --> CFG
    CFG --> CLEAN
    CLEAN --> EXEC
    EXEC --> END

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Data Flow

The following diagram illustrates how data moves through the pipeline.

flowchart LR

    ROBOT["RobotExecutor"]

    TEMP[(Temporary Workspace)]

    INF[(Generated Inference Data)]

    OUT[(Execution Output)]

    ROBOT --> INF
    ROBOT --> OUT

    ROBOT -.-> TEMP

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Release

Current release: 0.26.0