rUNSWift Infrastructure

The infrastructure is for our code base is based on the 2010 rUNSWift code release. Details can be found [here] (https://github.com/UNSWComputing/rUNSWift-2010-release)

Python Infrastructure

We use python as a high level language for writing behaviour code. The reasons for this are discussed in depth at: <insert paper reference>

In order to enable this, we use the boost python libraries to set up an embedded python interpreter within our runswift executable that has access to parts of our blackboard. In every perception cycle, an entry tick() function is called by our c++ code within the python interpreter instance with a reference to the blackboard. The expected return value is a BehaviourRequest object that contains any information to pass back into the C++ code (primarily actions for motors & leds).