Mavlink - Revision history

Jca: /* Prerequisites */

2018-11-09T16:09:33Z

Prerequisites

← Older revision		Revision as of 18:09, 9 November 2018
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	It is further needed to install "python future" to run the MAVgenerate python application.		It is further needed to install "python future" to run the MAVgenerate python application.
	$ ~~(sudo)~~ pip install future		$ pip install future


	=Adding messages to Flexbot=		=Adding messages to Flexbot=

Jca: /* UDEV device names */

2018-11-03T08:52:42Z

UDEV device names

← Older revision		Revision as of 10:52, 3 November 2018
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	find the ID_SERIAL_SHORT=xxxxx		find the ID_SERIAL_SHORT=xxxxx
	and insert that number into ATTRS{serial}=="xxxxx"		and insert that number into ATTRS{serial}=="xxxxx"
			to make udev read the changes you probably need:
	to ~~let~~ udev read the changes you probably need

	sudo udevadm control --reload-rules		sudo udevadm control --reload-rules

Jca: /* UDEV device names */

2018-11-03T08:50:38Z

UDEV device names

← Older revision		Revision as of 10:50, 3 November 2018
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	SUBSYSTEM=="tty", ATTRS{idVendor}=="16c0", ATTRS{idProduct}=="0483", ATTRS{serial}=="4145230", SYMLINK+="flexbot_leg1"		SUBSYSTEM=="tty", ATTRS{idVendor}=="16c0", ATTRS{idProduct}=="0483", ATTRS{serial}=="4145230", SYMLINK+="flexbot_leg1"
	SUBSYSTEM=="tty", ATTRS{idVendor}=="16c0", ATTRS{idProduct}=="0483", ATTRS{serial}=="4000001", SYMLINK+="flexbot_leg2"		SUBSYSTEM=="tty", ATTRS{idVendor}=="16c0", ATTRS{idProduct}=="0483", ATTRS{serial}=="4000001", SYMLINK+="flexbot_leg2"
	SUBSYSTEM=="tty", ATTRS{idVendor}=="16c0", ATTRS{idProduct}=="0483", ATTRS{serial}=="4000002", SYMLINK+="flexbot_leg3"		SUBSYSTEM=="tty", ATTRS{idVendor}=="16c0", ATTRS{idProduct}=="0483", ATTRS{serial}=="4000002", SYMLINK+="flexbot_leg3"
	SUBSYSTEM=="tty", ATTRS{idVendor}=="16c0", ATTRS{idProduct}=="0483", ATTRS{serial}=="4000003", SYMLINK+="flexbot_leg4"		SUBSYSTEM=="tty", ATTRS{idVendor}=="16c0", ATTRS{idProduct}=="0483", ATTRS{serial}=="4000003", SYMLINK+="flexbot_leg4"

	== Message definition ==		== Message definition ==

Jca: /* UDEV device names */

2018-11-03T08:50:12Z

UDEV device names

← Older revision		Revision as of 10:50, 3 November 2018
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	The rules in 99-fklexbot-legs.rules for the 5 Teensy processors look something like:		The rules in 99-fklexbot-legs.rules for the 5 Teensy processors look something like:

	SUBSYSTEM=="tty", ATTRS{idVendor}=="16c0", ATTRS{idProduct}=="0483", ATTRS{serial}=="4004150", SYMLINK+="flexbot_base"		SUBSYSTEM=="tty", ATTRS{idVendor}=="16c0", ATTRS{idProduct}=="0483", ATTRS{serial}=="4004150", SYMLINK+="flexbot_base"
	SUBSYSTEM=="tty", ATTRS{idVendor}=="16c0", ATTRS{idProduct}=="0483", ATTRS{serial}=="4145230", SYMLINK+="flexbot_leg1"		SUBSYSTEM=="tty", ATTRS{idVendor}=="16c0", ATTRS{idProduct}=="0483", ATTRS{serial}=="4145230", SYMLINK+="flexbot_leg1"
	SUBSYSTEM=="tty", ATTRS{idVendor}=="16c0", ATTRS{idProduct}=="0483", ATTRS{serial}=="4000001", SYMLINK+="flexbot_leg2"		SUBSYSTEM=="tty", ATTRS{idVendor}=="16c0", ATTRS{idProduct}=="0483", ATTRS{serial}=="4000001", SYMLINK+="flexbot_leg2"
	SUBSYSTEM=="tty", ATTRS{idVendor}=="16c0", ATTRS{idProduct}=="0483", ATTRS{serial}=="4000002", SYMLINK+="flexbot_leg3"		SUBSYSTEM=="tty", ATTRS{idVendor}=="16c0", ATTRS{idProduct}=="0483", ATTRS{serial}=="4000002", SYMLINK+="flexbot_leg3"
	SUBSYSTEM=="tty", ATTRS{idVendor}=="16c0", ATTRS{idProduct}=="0483", ATTRS{serial}=="4000003", SYMLINK+="flexbot_leg4"		SUBSYSTEM=="tty", ATTRS{idVendor}=="16c0", ATTRS{idProduct}=="0483", ATTRS{serial}=="4000003", SYMLINK+="flexbot_leg4"

Jca: /* UDEV device names */

2018-11-03T08:49:45Z

UDEV device names

← Older revision		Revision as of 10:49, 3 November 2018
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	sudo udevadm control --reload-rules		sudo udevadm control --reload-rules

	The rules for the 5 Teensy processors look something like:		The rules in 99-fklexbot-legs.rules for the 5 Teensy processors look something like:

	SUBSYSTEM=="tty", ATTRS{idVendor}=="16c0", ATTRS{idProduct}=="0483", ATTRS{serial}=="4004150", SYMLINK+="flexbot_base"		SUBSYSTEM=="tty", ATTRS{idVendor}=="16c0", ATTRS{idProduct}=="0483", ATTRS{serial}=="4004150", SYMLINK+="flexbot_base"
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	SUBSYSTEM=="tty", ATTRS{idVendor}=="16c0", ATTRS{idProduct}=="0483", ATTRS{serial}=="4000002", SYMLINK+="flexbot_leg3"		SUBSYSTEM=="tty", ATTRS{idVendor}=="16c0", ATTRS{idProduct}=="0483", ATTRS{serial}=="4000002", SYMLINK+="flexbot_leg3"
	SUBSYSTEM=="tty", ATTRS{idVendor}=="16c0", ATTRS{idProduct}=="0483", ATTRS{serial}=="4000003", SYMLINK+="flexbot_leg4"		SUBSYSTEM=="tty", ATTRS{idVendor}=="16c0", ATTRS{idProduct}=="0483", ATTRS{serial}=="4000003", SYMLINK+="flexbot_leg4"


	== Message definition ==		== Message definition ==

Jca: /* Adding messages to Flexbot */

2018-11-03T08:48:51Z

Adding messages to Flexbot

← Older revision		Revision as of 10:48, 3 November 2018
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	+-- 99-flexbot-legs.rules // definition of leg interface - should be linked from /udev/rules.d/		+-- 99-flexbot-legs.rules // definition of leg interface - should be linked from /udev/rules.d/

	== ~~Mesaage definition~~ ==		== UDEV device names ==

	All messages/signals to/from Flexbot are defined in ~~flexbot~~.xml.		The 99-flexbot-legs.rules holds rules that makes a teensy device unique, i.e. makes a symbolic link that is unique
			regardless of connection order.

			make a link in /etc/udev/rules.d/ to this file, e.g.

			cd /etc/udev/rules.d
			sudo ln -s /home/local/flexbot/code/99-fklexbot-legs.rules

			to find the serial number for a device, connect just one device and

			udevadm info -q all -n /dev/ttyACM0

			find the ID_SERIAL_SHORT=xxxxx
			and insert that number into ATTRS{serial}=="xxxxx"

			to let udev read the changes you probably need

			sudo udevadm control --reload-rules

			The rules for the 5 Teensy processors look something like:

			SUBSYSTEM=="tty", ATTRS{idVendor}=="16c0", ATTRS{idProduct}=="0483", ATTRS{serial}=="4004150", SYMLINK+="flexbot_base"
			SUBSYSTEM=="tty", ATTRS{idVendor}=="16c0", ATTRS{idProduct}=="0483", ATTRS{serial}=="4145230", SYMLINK+="flexbot_leg1"
			SUBSYSTEM=="tty", ATTRS{idVendor}=="16c0", ATTRS{idProduct}=="0483", ATTRS{serial}=="4000001", SYMLINK+="flexbot_leg2"
			SUBSYSTEM=="tty", ATTRS{idVendor}=="16c0", ATTRS{idProduct}=="0483", ATTRS{serial}=="4000002", SYMLINK+="flexbot_leg3"
			SUBSYSTEM=="tty", ATTRS{idVendor}=="16c0", ATTRS{idProduct}=="0483", ATTRS{serial}=="4000003", SYMLINK+="flexbot_leg4"


			== Message definition ==

			All messages/signals to/from Flexbot are defined in flexbot_2.xml.
	A message is defined by an ID, name and description. All signals related to this message is defined by a type (uint8_t, float, etc), name and signal description.		A message is defined by an ID, name and description. All signals related to this message is defined by a type (uint8_t, float, etc), name and signal description.

	E.g. to add a new message to Flexbot ~~identify the last listed message ID and append to it~~:		E.g. to add a new message to Flexbot:

	<message id="16" name="TestSignal">		<message id="16" name="TestSignal">
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	An important note which goes for all messages is that it must contain the ''publish'' signal. This signal allows clients to subscribe to different messages and will save bandwidth as the Teensy only will publish messages that has subscribers.		An important note which goes for all messages is that it must contain the ''publish'' signal. This signal allows clients to subscribe to different messages and will save bandwidth as the Teensy only will publish messages that has subscribers.

	By updating ~~flexbot~~.xml nothing magical will happen. In order to integrate the new version of the message definitions, C-headers must be generated and the source code on both Teensy and the GUI must be altered to support the new message definitions.		By updating flexbot_2.xml nothing magical will happen. In order to integrate the new version of the message definitions, C-headers must be generated and the source code on both Teensy and the GUI must be altered to support the new message definitions.

	== Generating C-headers & Python file==		== Generating C-headers & Python file==
	In order to generate the header files used by the Teensy and GUI, a MAVLink generator program is used. This translates the message definition file (~~flexbot~~.xml) into a bunch of files related to the chosen language. In order to run the generator, go to /code/MAVLink/Generator and type		In order to generate the header files used by the Teensy and GUI, a MAVLink generator program is used. This translates the message definition file (flexbot_2.xml) into a bunch of files related to the chosen language. In order to run the generator, go to /code/MAVLink/Generator and type

	cd code/MAVLink/Generator		cd code/MAVLink/Generator
	python mavgenerate.py		python mavgenerate.py

	This program should only depend on Python itself ~~(inc~~ future) and Tkinter. See https://github.com/mavlink/mavlink for references.		This program should only depend on Python itself future and Tkinter. See https://github.com/mavlink/mavlink for references.

	In the GUI, '''choose XML file'''		In the GUI, '''choose XML file'''

Jca: /* Adding messages to Flexbot */

2018-11-03T08:40:27Z

Adding messages to Flexbot

← Older revision		Revision as of 10:40, 3 November 2018
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	\| +-- mavgenerate.py // python code for MAV library generation		\| +-- mavgenerate.py // python code for MAV library generation
	+-- teensy_2 // code for teensy		+-- teensy_2 // code for teensy
	+-- src // source code		\| +-- src // source code
	+-- Makefile // normal makefile (not using arduino IDE)		\| +-- Makefile // normal makefile (not using arduino IDE)
	+-- teensy_2.hex // generated code for teensy		\| +-- teensy_2.hex // generated code for teensy
	+-- teensy3 // link to teensyduino installation: arduino-1.x.y/hardware/teensy/avr/cores/teensy3		\| +-- teensy3 // link to teensyduino installation: arduino-1.x.y/hardware/teensy/avr/cores/teensy3
	+-- libteensy // link to teensyduin0 installation: arduino-1.x.y/hardware/teensy/avr/libraries		\| +-- libteensy // link to teensyduin0 installation: arduino-1.x.y/hardware/teensy/avr/libraries
	+-- tools // link to teensyduino installation: arduino-1.x.y/hardware/tools		\| +-- tools // link to teensyduino installation: arduino-1.x.y/hardware/tools
			+-- 99-flexbot-legs.rules // definition of leg interface - should be linked from /udev/rules.d/

	== Mesaage definition ==		== Mesaage definition ==

Jca: /* Old C code */

2018-11-03T07:14:17Z

Old C code

← Older revision		Revision as of 09:14, 3 November 2018
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	Here it will make a subdirectory called flexbot_2 with the main file to include "mavlink.h"		Here it will make a subdirectory called flexbot_2 with the main file to include "mavlink.h"

	=Old C code=		=Old code=

	The old code generated by Jesper and Servet need this:		The old code generated by Jesper and Servet need this:

Jca: /* Generating C-headers & Python file */

2018-11-03T07:14:02Z

Generating C-headers & Python file

← Older revision		Revision as of 09:14, 3 November 2018
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	Here it will make a subdirectory called flexbot_2 with the main file to include "mavlink.h"		Here it will make a subdirectory called flexbot_2 with the main file to include "mavlink.h"

	~~===~~=Old C code~~===~~=		=Old C code=

	The old code generated by Jesper and Servet need this:		The old code generated by Jesper and Servet need this:

Jca: /* Generating C-headers & Python file */

2018-11-03T07:13:29Z

Generating C-headers & Python file

← Older revision		Revision as of 09:13, 3 November 2018
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	~/flexbot/code/base_node_ros/include		~/flexbot/code/base_node_ros/include

	Set the protocol to version 1.0 and choose the desired '''language (C)'''~~. By pressing generate, the program should generate a set of files if C has been chosen and a single file for Python~~.		Set the protocol to version 1.0 and choose the desired '''language (C)'''.

	~~What to do with these is broken down in~~ the ~~sections below~~.		By pressing generate, the program should generate a set of files if C has been chosen and a single file for Python.

			The generated MAV C files is generated into
	~~===C===~~

	The generated MAV C files ~~should be~~ generated to

	~/flexbot/code/base_node_ros/include		~/flexbot/code/base_node_ros/include

	Here it will make a subdirectory called flexbot_2 with the main file to include mavlink.h		Here it will make a subdirectory called flexbot_2 with the main file to include "mavlink.h"

	====Old C code====		====Old C code====