Changes between Initial Version and Version 1 of Therapy/IDE


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Timestamp:
Mar 3, 2017, 8:24:11 PM (2 years ago)
Author:
bz
Comment:

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  • Therapy/IDE

    v1 v1  
     1** Proficio Client (C#)
     2
     3A client program using CoAP/UDP to talk to the BURT robot.
     4
     5The program is a console application which reads in keypress mapped commands to send basic requests to the robot, e.g. `home`, `enable`, `disable` and prints out any debug information sent from the firmware.
     6
     7** Requirements
     8
     9To install the dependencies on Ubuntu 14.04 or 16.04:
     10
     11{{{
     12$ ./scripts/install-dependencies.sh
     13}}}
     14
     15To see the specific dependencies/packages please look at `scripts/install-dependencies.sh`
     16
     17** Library Dependencies
     18
     19- [msgpack-cli](https://github.com/msgpack/msgpack-cli) version [0.8.0](https://github.com/msgpack/msgpack-cli/releases/tag/0.8.0). We use the `unit` binary.
     20- mysql.data version 6.3.9.0 from Oracle
     21- CoAPSharp version 0.3.1.0 from EXILANT
     22- Newtonsoft.Json version 9.0.0.0 from Newtonsoft
     23
     24
     25** Building
     26
     27Project MonoDevelop Configurations
     28- Launch MonoDevelop application or open project directly by double-clicking the `.csproj` project file: `File > Open > <project-directory>.csproj`
     29- Attempt building the project: `Build > Build All (F8)`
     30  - if the build succeeds without errors, continue with `Usage (Console Application)` below.
     31  - if a build error exists:
     32      - Open Project Options
     33        - `Project > <project-name> Options`
     34          - `Build -> General -> target Framework -> Mono / .Net 3.5` or
     35          - `Build -> General -> target Framework -> Mono / .Net 4.0`
     36      - Add Missing References
     37        - Click References -> Edit References
     38          - Find the following system references using the Search Bar and click "Add" to add the selected references to the project.
     39            - `System.Data`
     40            - `System.Xml.*`, e.g. `System.Xml`, `System.Xml.Linq`
     41          - Open .Net Assemblies Tab
     42            - Browse to `the-project-directory/dll`
     43              - Add all `.dll` files
     44          - Click OK to close the dialog
     45
     46** Building Unit Tests from MonoDevelop
     47
     48`View -> Pads -> Unit Tests`
     49
     50And then double click on proficio-client-lib-cs which will run all unit tests
     51contained in the solution.
     52
     53
     54** Building from MonoDevelop
     55
     56Build -> Build ALL `F8`
     57
     58** Project Execution from MonoDevelop
     59
     60Run -> Start Debugging `F5`
     61
     62** Building From The Command Line
     63
     64To build the project (including examples and tests):
     65
     66{{{
     67$ ./scripts/build.sh
     68}}}
     69
     70To run the unit tests:
     71
     72{{{
     73$ ./scripts/run-tests.sh
     74}}}
     75
     76** Installation
     77
     78** Installing as a Unity Plugin
     79
     80To install to a new game you can use the copy script, which copies all required
     81dlls into the game's Assets/Scripts folder:
     82
     83{{{
     84$ ./scripts/copy.sh PATH/TO/UNITY_GAME
     85}}}
     86
     87** Usage (Console Application)
     88
     89** Connecting to the robot
     90
     91- Open Ubuntu Network Manager
     92
     93- Add a new `Wired` Connection.
     94
     95<img src="./doc/assets/img/network-manager-1.png" width="400"/>
     96
     97
     98- Edit `IPv4 Settings Tab`
     99
     100<img src="./doc/assets/img/network-manager-2.png" width="400"/>
     101
     102- Save and close dialog.
     103
     104- Change connection:
     105  - click the Ubuntu Network Manager icon to show the dropdown menu of available connections.
     106  - select (connect to) the new Wired connection e.g. `Fake 192.168.100.100`
     107  - disconnect from any other Ethernet connections which are not connected to the robot, e.g. `Wired Connection 1`.
     108
     109** Keyboard Control:
     110
     111|| **Key** || **Action** ||
     112|| h || sets robot home position (motor encoder offset) at preset values ||
     113|| e || 'enables' the robot (sets pucks to torque mode) ||
     114|| d || 'disables' the robot (sets pucks to resistive braking mode) ||
     115
     116
     117** Adding Packages (optional)
     118
     119- open mono project, double click on *.csproj file
     120- Right-click references folder
     121- Search for System.Data
     122- Add, close Dialog
     123
     124
     125** Resources
     126
     127- Unity DLL specifics: https://docs.unity3d.com/Manual/UsingDLL.html
     128- Unity unit test: https://docs.unity3d.com/Manual/testing-editortestsrunner.html