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Re: [plexil-support] Interfacing for integration with a real robot
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From: Fry, C. R. {C. (ARC-TI)[S. INC] <chu...@na...> - 2015-07-22 17:42:26
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[Resending in hopes that SF mail lists are alive again - no changes in content] [Added back plexil-support to share your comments with others on the team] Hello Héctor. Thanks for the feedback on compiler flags. IPC is not very actively maintained by its creators. I'll merge your fix into our version. The PLEXIL website issues are probably problems within Sourceforge. I tried to look at the website and got an error page: The sourceforge.net website is temporarily in static offline mode. Only a very limited set of project pages are available until the main website returns to service. The issues you report suggest that SF temporarily restored an older backup of the site. I have noticed that the default download link SF shows you depends on the platform you are using. 4.0.1 is supposed to be current for OS X, Linux, and FreeBSD. When the site is back up, I will try to figure out why you got an obsolete download link. You should always be able to go into the Files section of the site to find the latest. And of course read-only anonymous SVN access is available. The PLEXIL language itself has not changed very much, other than adding some Real to Integer conversions, and the SF website should be current - when it is accessible. I will take another look later when the site is available. -- Chuck On Jul 17, 2015, at 8:39 AM, Hector Fabio Cadavid Rengifo <hec...@gm...> wrote: > Dear Chuck, > > Excuse me for the late reply!, and yes, I’m still in touch with Cesar, but only by sporadic email interchanges. > > Thank you for your clarification about the dynamic libraries. Now I’m working in a library that get/write information from a Intel Galileo’s GPIO (which is connected to a real robot micro-controller and a bunch of sensors). > I don’t know if it could be useful for your documentation, but I had to change a compilation flag in order to be able to compile Plexil in Linux Yocto (the official distribution for the Galileo board): -"mtune=i486" instead of “-m486” (this is used in the ‘ipc’ target). > > Just a couple of questions… do you know why the last Plexil version (4.0.1) was removed from Sourceforge website (it shows 2.5 as the latest one) ?, on the other hand, do you know where could I get an updated reference of the Plexil language?, unfortunately Sourceforge’s link seems to be also broken... > > > As always, thank you so much for your support, > > sincerely yours, > Héctor > > > > On Jun 23, 2015, at 4:55 PM, Fry, Charles R. {Chuck} (ARC-TI)[SGT, INC] <chu...@na...> wrote: > >> I remember you, Héctor. I'm happy to see you are still working with PLEXIL. Are you still in touch with Cesar? >> >> The convention for naming libraries is simple. If you have an adapter or listener named "MyRobot", the dynamic library would be named "libMyRobot.so'' (or .dylib on Mac), and the library initialization routine is called "initMyRobot". >> >> Of course the directory containing the dynamic libraries must be on the library path: LD_LIBRARY_PATH for Linux and Unix, DYLD_LIBRARY_PATH on Mac. >> >> The library initialization routine must register the adapter (or listener). Typical examples are in src/interfaces/IpcAdapter/initIpcAdapter.cc and src/interfaces/GanttListener/GanttListener.cc . >> >> This is not new, but much about PLEXIL 4 is new, and I would appreciate your comments on the documentation. We are always happy to see new applications. >> >> -- Chuck >> >> On Jun 23, 2015, at 2:20 PM, Hector Fabio Cadavid Rengifo <hec...@gm...> wrote: >> >>> Dear Chuck, >>> >>> Thank you so much for your advice, I have been ‘playing' with the examples and plexil’s interfacing is way clearer to me now!, >>> >>> However, I still have a question… as far I understand, in order to link the execution of a Plexil plan with a certain interface (defined in a dynamic library), a configuration file is required (interface-config.xml by default). However, after looking such file content, I can’t figure how the dynamic library is linked to such configuration. So, I would like to know, are there any naming conventions for dynamic libraries in order to make them work with a Plexil plan? >>> >>> By the way, it is a nice surprise to receive the reply of my message from you. I don’t know if you remember me, but few years ago I was involved with a Plexil-related research project with NIA, under the supervision of Cesar Muñoz, and back then we exchanged a couple of emails … >>> >>> Now I’m working (from Colombia) in a robotic prototype for "precision agriculture”, and we want to use Plexil and the executive as the processing core, so I would really appreciate if you can help us with your advice (about this technology) in the future. In the same way, we hope being able to share with you our progress with the project soon! >>> >>> >>> Sincerely yours, >>> >>> Héctor Cadavid >>> >>> >>> >>> >>> >>> On Jun 19, 2015, at 5:49 PM, Fry, Charles R. {Chuck} (ARC-TI)[SGT, INC] <chu...@na...> wrote: >>> >>>> Hello Héctor. We are aware that the UDP adapter has a number of shortcomings. Another project here at Ames is using it for interfacing to other hardware, and has pointed out several possible improvements. >>>> >>>> There are simple examples of custom interface adapters in the sample-app and sample-app1 example directories. >>>> >>>> You could implement a socket-based adapter, but of course some C++ code will be necessary to integrate it. >>>> >>>> Please feel free to contact me if you have any other questions. >>>> >>>> -- Chuck >>>> >>>> On Jun 19, 2015, at 3:18 PM, Hector Fabio Cadavid Rengifo <hec...@gm...> wrote: >>>> >>>>> Dear support team, >>>>> >>>>> My name is Héctor, and I’m involved in a robotics project. We are interested in using Plexil as the core language for the specification of robot’s tasks, but a little advice is required... >>>>> >>>>> We already have configured the universal executive in the robot’s controller hardware (an intel galileo board) and everything is working well, but now I’m looking for a way to integrate such executive with robot’s sensing devices and actuators (gears, servomotors, etc). I was able to perform the integration through the UDP adapter, but as far I understand this intended only for interoperability between executives, not for interfacing with external systems. >>>>> >>>>> Now I’m looking for a way to integrate ‘lookupOn’/‘lookUpOnChange’ events with information provided by a micro controller trough a serial port. The official documentation (http://plexil.sourceforge.net/wiki/index.php/Advanced_PLEXIL_Interfacing#Construction) states that we have to create a C++ shared library that implements the ‘InterfaceAdapter’ in order to enable an interface with external systems. I understand the idea, but, could you please provide us a sample implementation of a custom InterfaceAdapter, and an example of how to integrate the generated dynamic library in the <Interfaces> configuration file?… If there is already an example in the distribution, I would appreciate if you indicate me where it is located... >>>>> >>>>> Just for curiosity, could it be possible to use a a socket-based adapter -as an alternative to the C++ adapters- in order to achieve the same interfacing scenario? (in this case, I would implement a socket server that ‘talk’ directly with the hardware according with the received events). >>>>> >>>>> >>>>> Sincerely yours, >>>>> >>>>> Héctor >>>>> >>>>> >>>>> >>>>> ------------------------------------------------------------------------------ >>>>> _______________________________________________ >>>>> plexil-support mailing list >>>>> ple...@li... >>>>> https://lists.sourceforge.net/lists/listinfo/plexil-support >>>> >>>> Chuck Fry | QTS Inc. >>>> Office: 650 604 1882 Mobile: 408 230 2715 >>>> M/S 269-1, Building N269/260-7 >>>> NASA Ames Research Center >>>> Moffett Field, CA 94035-1000 >>>> >>>> I do not speak for QTS Inc., SGT, Code TI, or NASA, nor do they speak for me. >>>> >>>> >>>> >>> >> >> Chuck Fry | QTS Inc. >> Office: 650 604 1882 Mobile: 408 230 2715 >> M/S 269-1, Building N269/260-7 >> NASA Ames Research Center >> Moffett Field, CA 94035-1000 >> >> I do not speak for QTS Inc., SGT, Code TI, or NASA, nor do they speak for me. >> >> >> > Chuck Fry | QTS Inc. Office: 650 604 1882 Mobile: 408 230 2715 M/S 269-1, Building N269/260-7 NASA Ames Research Center Moffett Field, CA 94035-1000 I do not speak for QTS Inc., SGT, Code TI, or NASA, nor do they speak for me. |