Changes between Initial Version and Version 1 of BabyTigers-R/llsf-refbox


Ignore:
Timestamp:
Apr 5, 2019, 2:11:33 PM (15 months ago)
Author:
Wataru UEMURA (IP: 133.83.90.98)
Comment:

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  • BabyTigers-R/llsf-refbox

    v1 v1  
     1[[TracNav(TOC:BTR)]]
     2= !BabyTigers - R : LLSF-refbox =
     3 * The following link provides you the ubuntu iso file with !RefBox.
     4   * '''[DOWNLOAD]''' [http://friede.elec.ryukoku.ac.jp/~wataru/install-refbox_2014_07_15.iso modified Ubuntu 12.10 instalation dvd image with refbox] (1.1GB) --- 2014/07/01 updated.
     5     * 27cae760aa7300c4ac302f40eb337b22  install-refbox_2014_07_15.iso
     6   * Openssh-server is automatically reconfigured after booting up.
     7     * ~~sudo dpkg-reconfigure opnssh-server~~
     8   * Then the SSH2 keys are cleared. So please delete key data from ~/.ssh/known_hosts of your client computer.
     9----
     10== LLSF: communication program between !ProtoBuf and !RoboView2 ==
     11 * In 2014 LLSF requires the communication between !RefBox and your robots using !ProtoBuf.
     12 * However, !RoboView2 cannot connect to the !RefBox because communication format of !RoboView2 is not variable length.
     13 * Now I provide you the relay program between !ProtoBuf and !RoboView2.[[br]][[br]]
     14 * src/tools/llsf-view2.cpp is the relay program which is made from llsf-fake-robot.cpp.
     15
     16 * This program uses 3 virtual IPs related to robotinos.
     17   * So please use this program with 4 arguments which includes 3 robotinos' names and 1 team name.
     18   * And you need enter following commands as root (llsf-refbox/view2/mkif.sh).
     19{{{
     20ifconfig eth0:0 (virtual IP #1)
     21ifconfig eth0:1 (virtual IP #2)
     22ifconfig eth0:2 (virtual IP #3)
     23}}}
     24   * Then setup config.yaml at the robotino1 to robotino3 fields.
     25   * And both view2send and view2recv fields shows the file name from/to communication of ProtoBuf.
     26 * If you use roboView2 on Windows-OS, then please run samba (sudo smbd).
     27   * And you can access the Linux file system via your explorer.
     28   * Please use refbox-view2.rvw2 as the sample program (at llsf-refbox/view2).
     29----
     30=== communication format between !RefBox and View2 via the file ===
     31 * file format is
     32   * fprintf(fp, "%d\t%d\t", sendData.phase, sendData.state);
     33   * for(int i = 0; i <  3; i++) fprintf(fp, "%d\t", sendData.quantity_requested[i]);
     34   * for(int i = 0; i <  3; i++) fprintf(fp, "%d\t", sendData.quantity_delivered[i]);
     35   * for(int i = 0; i <  5; i++) for(int j = 0; j < 3; j++) fprintf(fp, "%d\t", sendData.lspec_state[i][j]);
     36   * for(int i = 0; i < 24; i++) fprintf(fp, "%d\t", sendData.mType[i]);
     37   * for(int i = 0; i < 24; i++) fprintf(fp, "%d\t", sendData.mColor[i]);
     38----
     39
     40 At !RefBox-view2 uses these variables.
     41 * <!BeaconSignal>
     42   * std::string view2_robots;
     43     * view2_robots = "Detected robot: " + b->team_name() + ":" + b->peer_name();
     44 * <!GameState>
     45   * std::string view2_time;
     46     * sprintf(time, "%02i:%02i:%02i", hour, min, sec);
     47     * view2_time = time;
     48   * std::string view2_phase;
     49     * view2_phase = llsf_msgs::GameState::Phase_Name(gs->phase());
     50   * std::string view2_state;
     51     * view2_state = llsf_msgs::GameState::State_Name(gs->state());
     52   * std::string view2_points;
     53     * sprintf(point, "%u:%u", gs->points_cyan(), gs->points_magenta());
     54     * view2_points = point;
     55 * <!OrderInfo>
     56   * std::string view2_oa[12];
     57     * sprintf(u, "%u", o.quantity_delivered());
     58     * view2_oa[o.id() - 1] = u;
     59   * std::string view2_ob[12];
     60     * sprintf(u, "%u", o.quantity_requested());
     61     * view2_ob[o.id() - 1] = u;
     62   * std::string view2_otime[11];
     63     * view2_otime[o.id() - 1] = time;
     64   * std::string view2_odest[11];
     65     * view2_odest[o.id() - 1] = llsf_msgs::Order::!DeliveryGate_Name(o.delivery_gate());
     66 * <!VersionInfo>
     67 * <!ExplorationInfo>
     68   * sendData.lspec_state[es.type()[1] - '1'][lspec.color()] = lspec.state();
     69 * <!MachineInfo>
     70   * sendData.mType[std::atoi(m.name().substr(1, 2).c_str())] = std::atoi(m.type().substr(1, 2).c_str());
     71 * <!MachineReportInfo>
     72 * <!RobotInfo>
     73 * Others
     74   * std::string view2_message;
     75   * std::string view2_log[10];
     76   * std::string view2_p[24];
     77   * std::string view2_t[10];
     78   * std::string view2_sigG[16];
     79   * std::string view2_sigY[16];
     80   * std::string view2_sigR[16];
     81   * std::string view2_pk[10];
     82   * int m_type[11];
     83   * unsigned int gameHour, gameMin, gameSec;
     84----
     85==== Advice for install of !RefBox ====
     86 * If you use Ubuntu 12.10, please install following packages.
     87{{{
     88apt-get install libncurses5-dev libprotoc-dev
     89}}}
     90----
     91=== install !RefBox to your machine easily ===
     92 * Please use this '''[DOWNLOAD]''' [http://friede.elec.ryukoku.ac.jp/~wataru/install-refbox.iso modified Ubuntu 12.10 instalation dvd image]
     93 * You can install Ubuntu 12.10 with !RefBox by using this ISO to your desktop, laptop, and/or virtual computer.
     94 * 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.
     95 * username : robotino, password : robotino.
     96----