TracNav(TOC:BTR)

BabyTigers - R : LLSF-refbox

• The following link provides you the ubuntu iso file with RefBox.
  • [DOWNLOAD] ​modified Ubuntu 12.10 instalation dvd image with refbox (1.1GB) --- 2014/07/01 updated.
    • 27cae760aa7300c4ac302f40eb337b22 install-refbox_2014_07_15.iso
  • Openssh-server is automatically reconfigured after booting up.
    • sudo dpkg-reconfigure opnssh-server
  • Then the SSH2 keys are cleared. So please delete key data from ~/.ssh/known_hosts of your client computer.

---

LLSF: communication program between ProtoBuf and !RoboView2

• In 2014 LLSF requires the communication between RefBox and your robots using ProtoBuf.
• However, !RoboView2 cannot connect to the RefBox because communication format of !RoboView2 is not variable length.
• Now I provide you the relay program between ProtoBuf and !RoboView2.
  
  
• src/tools/llsf-view2.cpp is the relay program which is made from llsf-fake-robot.cpp.

• This program uses 3 virtual IPs related to robotinos.
  • So please use this program with 4 arguments which includes 3 robotinos' names and 1 team name.
  • And you need enter following commands as root (llsf-refbox/view2/mkif.sh).

    ifconfig eth0:0 (virtual IP #1)
    ifconfig eth0:1 (virtual IP #2)
    ifconfig eth0:2 (virtual IP #3)
    

  • Then setup config.yaml at the robotino1 to robotino3 fields.
  • And both view2send and view2recv fields shows the file name from/to communication of ProtoBuf.
• If you use roboView2 on Windows-OS, then please run samba (sudo smbd).
  • And you can access the Linux file system via your explorer.
  • Please use refbox-view2.rvw2 as the sample program (at llsf-refbox/view2).

---

communication format between RefBox and View2 via the file

• file format is
  • fprintf(fp, "%d\t%d\t", sendData.phase, sendData.state);
  • for(int i = 0; i < 3; i++) fprintf(fp, "%d\t", sendData.quantity_requested[i]);
  • for(int i = 0; i < 3; i++) fprintf(fp, "%d\t", sendData.quantity_delivered[i]);
  • for(int i = 0; i < 5; i++) for(int j = 0; j < 3; j++) fprintf(fp, "%d\t", sendData.lspec_state[i][j]);
  • for(int i = 0; i < 24; i++) fprintf(fp, "%d\t", sendData.mType[i]);
  • for(int i = 0; i < 24; i++) fprintf(fp, "%d\t", sendData.mColor[i]);

---

At RefBox-view2 uses these variables.

• <BeaconSignal>
  • std::string view2_robots;
    • view2_robots = "Detected robot: " + b->team_name() + ":" + b->peer_name();
• <GameState>
  • std::string view2_time;
    • sprintf(time, "%02i:%02i:%02i", hour, min, sec);
    • view2_time = time;
  • std::string view2_phase;
    • view2_phase = llsf_msgs::GameState::Phase_Name(gs->phase());
  • std::string view2_state;
    • view2_state = llsf_msgs::GameState::State_Name(gs->state());
  • std::string view2_points;
    • sprintf(point, "%u:%u", gs->points_cyan(), gs->points_magenta());
    • view2_points = point;
• <OrderInfo>
  • std::string view2_oa[12];
    • sprintf(u, "%u", o.quantity_delivered());
    • view2_oa[o.id() - 1] = u;
  • std::string view2_ob[12];
    • sprintf(u, "%u", o.quantity_requested());
    • view2_ob[o.id() - 1] = u;
  • std::string view2_otime[11];
    • view2_otime[o.id() - 1] = time;
  • std::string view2_odest[11];
    • view2_odest[o.id() - 1] = llsf_msgs::Order::!DeliveryGate_Name(o.delivery_gate());
• <VersionInfo>
• <ExplorationInfo>
  • sendData.lspec_state[es.type()[1] - '1'][lspec.color()] = lspec.state();
• <MachineInfo>
  • sendData.mType[std::atoi(m.name().substr(1, 2).c_str())] = std::atoi(m.type().substr(1, 2).c_str());
• <MachineReportInfo>
• <RobotInfo>
• Others
  • std::string view2_message;
  • std::string view2_log[10];
  • std::string view2_p[24];
  • std::string view2_t[10];
  • std::string view2_sigG[16];
  • std::string view2_sigY[16];
  • std::string view2_sigR[16];
  • std::string view2_pk[10];
  • int m_type[11];
  • unsigned int gameHour, gameMin, gameSec;

---

Advice for install of RefBox

• If you use Ubuntu 12.10, please install following packages.

  apt-get install libncurses5-dev libprotoc-dev
  

---

install RefBox to your machine easily

• Please use this [DOWNLOAD] ​modified Ubuntu 12.10 instalation dvd image
• You can install Ubuntu 12.10 with RefBox by using this ISO to your desktop, laptop, and/or virtual computer.
• After boot this ISO, default selecting is live - boot the Live System. So please select install - start the installer directly, if you want to make your machine using this ISO.
• username : robotino, password : robotino.

---