Robot GUI (MARG) - Revision history

Jca: /* keepucamserver.rule */

2011-01-28T18:44:13Z

keepucamserver.rule

← Older revision		Revision as of 20:44, 28 January 2011
Line 414:		Line 414:
	global.alive.camStarted = true		global.alive.camStarted = true
	allow = 30 # allow for start-up time		allow = 30 # allow for start-up time
	core.send("bash nice --adjustment=5 ./startserver ucamserver -p 24920")		core.send("bash nice --adjustment=5 /usr/local/smr/bin/startserver ucamserver -p 24920")
	</rule>		</rule>
	</init>		</init>

Jca: /* keeplmsserver.rule */

2011-01-28T18:43:37Z

keeplmsserver.rule

← Older revision		Revision as of 20:43, 28 January 2011
Line 365:		Line 365:
	global.alive.laserStarted = true		global.alive.laserStarted = true
	allow = 30 # allow for start-up time		allow = 30 # allow for start-up time
	core.send("bash nice --adjustment=4 ./startserver ulmsserver -p 24919")		core.send("bash nice --adjustment=4 /usr/local/smr/bin/startserver ulmsserver -p 24919")
	</rule>		</rule>
	</init>		</init>

Jca: /* startserver */

2011-01-28T18:42:37Z

startserver

← Older revision		Revision as of 20:42, 28 January 2011
Line 262:		Line 262:
	else		else
	serverName=$1		serverName=$1
	~~# echo starting a "$serverName"~~
	~~# if [ ! -x "$serverName" ]~~
	~~# then~~
	~~# echo executable "$serverName" not found~~
	~~# fi~~
	# if assumed dead process is still running, then kill it		# if assumed dead process is still running, then kill it
	if [ $( pgrep -x "$serverName" ) ]		if [ $( pgrep -x "$serverName" ) ]

Jca: /* startserver */

2011-01-28T18:41:32Z

startserver

← Older revision		Revision as of 20:41, 28 January 2011
Line 251:		Line 251:

	#! /bin/bash		#! /bin/bash
	~~export LD_LIBRARY_PATH="/usr/local/lib:/usr/local/smr/bin:/usr/local/lib/svs":$LD_LIBRARY_PATH~~
	if [ $# -eq 0 ]		if [ $# -eq 0 ]
	then		then
	echo		echo
	echo Start a nev version of the server in 1st parameter		echo Start a nev version of the server in 1st parameter
	echo use with at least one parameter, like:		echo use with at least one parameter, like:
	echo $ startserver ucamserver		echo $ startserver ucamserver
	echo $ startserver ulmsserver		echo $ startserver ulmsserver
	echo $ startserver auclientnox -p 24928		echo $ startserver auclientnox -p 24928
	echo		echo
	else		else
	serverName=$1		serverName=$1
	# echo starting a "$serverName"		# echo starting a "$serverName"
	# if [ ! -x "$serverName" ]		# if [ ! -x "$serverName" ]
Line 268:		Line 267:
	# echo executable "$serverName" not found		# echo executable "$serverName" not found
	# fi		# fi
	# if assumed dead process is still running, then kill it		# if assumed dead process is still running, then kill it
	if [ $( pgrep -x "$serverName" ) ]		if [ $( pgrep -x "$serverName" ) ]
	then		then
	echo trying to terminate "$serverName"		echo trying to terminate "$serverName"
	killall "$serverName" > /dev/null		killall "$serverName" > /dev/null
	echo zzz 1...		echo zzz 1...
	sleep 0.7		sleep 0.7
	if [ $( pgrep -x "$serverName" ) ]		if [ $( pgrep -x "$serverName" ) ]
	then		then
	echo zzzzzzz 2...		echo zzzzzzz 2...
	sleep 2.5		sleep 2.5
	fi		fi
	if [ $( pgrep -x "$serverName" ) ]		if [ $( pgrep -x "$serverName" ) ]
	then		then
	echo zzzzzzzzzzzzzz 3...		echo zzzzzzzzzzzzzz 3...
	sleep 7		sleep 7
	fi		fi
	if [ $( pgrep -x "$serverName" ) ]		if [ $( pgrep -x "$serverName" ) ]
	then		then
	echo trying to 9 kill "$serverName"		echo trying to 9 kill "$serverName"
	killall -9 "$serverName" > /dev/null		killall -9 "$serverName" > /dev/null
	echo "$serverName" killed		echo "$serverName" killed
	else		else
	echo "$serverName" terminated		echo "$serverName" terminated
	fi		fi
	fi		fi
	# aulogrotate "$serverName"_out		# aulogrotate "$serverName"_out
	# aulogrotate "$serverName"_err		# aulogrotate "$serverName"_err
	/usr/local/smr/bin/"$~~serverName~~" -a $2 $3 $4 > "$serverName"_out 2> "$serverName"_err &		/usr/local/smr/aurs/"$serverName" -s /usr/local/smr/bin/aursconf/"$servername".ini -a $2 $3 $4 > "$serverName"_out 2> "$serverName"_err &
	echo started /usr/local/smr/bin/"$serverName" -a $2 $3 $4		echo started /usr/local/smr/bin/"$serverName" -s /usr/local/smr/bin/aursconf/"$servername".ini -a $2 $3 $4
	fi		fi

Jca: /* Keeper files */

2011-01-28T18:39:18Z

Keeper files

← Older revision		Revision as of 20:39, 28 January 2011
Line 217:		Line 217:
	The aukeeper.ini could look like this:		The aukeeper.ini could look like this:

	server ~~imagepath="/root/keeper/log_keep"~~		# open server - port and path
	server ~~datapath~~=~~"/root/keeper/log_keep"~~		server port=24926
	module load='var'		module load='var'
	server ~~port~~=~~24926~~		server imagepath="/var/log"
	#server ~~serverlog~~		server datapath="/var/log"
	~~# interfaces~~
	#
	# load RHD interface		# load RHD interface
	module load="~~/usr/local/smr/bin/~~aurhdif.so.0"		module load="aurhdif.so.0"
	rhd hup		rhd hup
	rhd host=localhost:24902		rhd host=localhost:24902
	~~#rhd connect write=false~~
	#
	# cam		# cam
	module load="if" alias=cam		module load="if" alias=cam
Line 236:		Line 232:
	camonconnect cmd="cam push t=4 imageget"		camonconnect cmd="cam push t=4 imageget"
	camonconnect cmd="cam push t=3 cmd='var allcopy'"		camonconnect cmd="cam push t=3 cmd='var allcopy'"
	#		#laser
	#
	module load="if" alias=laser		module load="if" alias=laser
	var laser.runAliveTest=true		var laser.runAliveTest=true
	laser connect=localhost:24919		laser connect=localhost:24919
	laseronconnect cmd="laser push t=5 scanget"		laseronconnect cmd="laser push t=5 scanget"
	laseronconnect cmd="laser push t=3 cmd='var allcopy'"		laseronconnect cmd="laser push t=3 cmd='var allcopy'"
	#		# start rules
	module load="~~/usr/local/smr/bin/~~aurule.so.0"		module load="aurule.so.0"
	rule log=false		rule log=false
	rule load="./keepucamserver.rule"		rule load="/usr/local/smr/bin/aursconf/keepucamserver.rule"
	rule load="./keeplmsserver.rule"		rule load="/usr/local/smr/bin/aursconf/keeplmsserver.rule"
	rule load="./connectrhd.rule"		rule load="/usr/local/smr/bin/aursconf/connectrhd.rule"
	rule resume		rule resume

Jca: /* BOOT script */

2011-01-28T18:34:51Z

BOOT script

← Older revision		Revision as of 20:34, 28 January 2011
Line 151:		Line 151:
	====BOOT script====		====BOOT script====

	The MARG support is started on robot boot as a part of the ''/etc/rc.d/rc.~~local~~'' script, as follows:		The MARG support is started on robot boot as a part of the ''/etc/rc.smr/rc.smr'' script, as follows:

	/~~etc~~/~~rc.d~~/~~rc.~~local		#!/bin/bash
	...		# start rhd
	~~cd /root/~~keeper		/usr/local/smr/bin/rhd /usr/local/smr/bin/rhdconfig/rhdconfig.smrS1.xml&
	export LD_LIBRARY_PATH="/usr/local/smr/~~bin~~:/usr/local/smr/lib"		# start keeper - to provide data to MARG
	/usr/local/smr/bin/aukeeper -a >/~~dev~~/~~null~~ &		export LD_LIBRARY_PATH="/usr/local/smr/lib:/usr/local/smr/aurs/lib"
	# ~~replace title~~ and hostname ~~in robot.xml file for MARG (default in file is smrhost)~~		/usr/local/smr/bin/aukeeper /usr/local/smr/bin/aursconf/aukeeper.ini > /var/log/keeper_out &
	cp /usr/local/smr/marg/robot.xml /srv/httpd/htdocs/robot.xml		# get MARG startup-file, and modify hostname
	SMRHN=`hostname`		cp /usr/local/smr/marg/robot.xml /srv/httpd/htdocs/robot.xml
	sed -i "s/smrhost/$SMRHN.iau.dtu.dk/g" /srv/httpd/htdocs/robot.xml		SMRHN=`hostname`
	~~...~~		sed -i "s/smrhost/$SMRHN.iau.dtu.dk/g" /srv/httpd/htdocs/robot.xml
			exit 0

	~~The plugins needed by the aukeeper is placed in ''/usr/local/smr/bin'', so that is the reason for the ''LD_LIBRARY_PATH''. Then the aukeeper is started as a separate (root) process.~~
	The MARG configuration file ''robot.xml'' is copied to a local file in the apache directory ''/srv/httpd/htdocs/robot.xml'' and modified with the actual hostname using the string edit command ''sed''		The MARG configuration file ''robot.xml'' is copied to a local file in the apache directory ''/srv/httpd/htdocs/robot.xml'' and modified with the actual hostname using the string edit command ''sed''

Jca: /* INI-files */

2010-12-13T20:57:50Z

INI-files

Show changes

Jca: /* INI-files */

2010-12-13T20:51:50Z

INI-files

@@ Line 166: / Line 166: @@
 The plugins needed by the aukeeper is placed in ''/usr/local/smr/bin'', so that is the reason for the ''LD_LIBRARY_PATH''. Then the aukeeper is started as a separate (root) process.
 The MARG configuration file ''robot.xml'' is copied to a local file in the apache directory ''/srv/httpd/htdocs/robot.xml'' and modified with the actual hostname using the string edit command ''sed''
 ====INI-files====
 The aukeeper.ini could look like this:

Jca: /* INI-files */

2010-12-13T20:35:59Z

INI-files

← Older revision		Revision as of 22:35, 13 December 2010
Line 197:		Line 197:
	laseronconnect cmd="laser push t=5 scanget"		laseronconnect cmd="laser push t=5 scanget"
	laseronconnect cmd="laser push t=3 cmd='var allcopy'"		laseronconnect cmd="laser push t=3 cmd='var allcopy'"
			#
	module load="/usr/local/smr/bin/aurule.so.0"		module load="/usr/local/smr/bin/aurule.so.0"
	rule log=false		rule log=false
	rule load="./keepucamserver.rule"		rule load="./keepucamserver.rule"
	rule load="./keeplmsserver.rule"		rule load="./keeplmsserver.rule"
	rule load="./connectrhd.rule"		rule load="./connectrhd.rule"
	rule resume		rule resume

Jca: /* BOOT script */

2010-12-13T20:35:38Z

BOOT script

← Older revision		Revision as of 22:35, 13 December 2010
Line 166:		Line 166:
	The plugins needed by the aukeeper is placed in ''/usr/local/smr/bin'', so that is the reason for the ''LD_LIBRARY_PATH''. Then the aukeeper is started as a separate (root) process.		The plugins needed by the aukeeper is placed in ''/usr/local/smr/bin'', so that is the reason for the ''LD_LIBRARY_PATH''. Then the aukeeper is started as a separate (root) process.
	The MARG configuration file ''robot.xml'' is copied to a local file in the apache directory ''/srv/httpd/htdocs/robot.xml'' and modified with the actual hostname using the string edit command ''sed''		The MARG configuration file ''robot.xml'' is copied to a local file in the apache directory ''/srv/httpd/htdocs/robot.xml'' and modified with the actual hostname using the string edit command ''sed''

			====INI-files====

			The aukeeper.ini could look like this:

			server imagepath="/root/keeper/log_keep"
			server datapath="/root/keeper/log_keep"
			module load='var'
			server port=24926
			#server serverlog
			# interfaces
			#
			# load RHD interface
			module load="/usr/local/smr/bin/aurhdif.so.0"
			rhd hup
			rhd host=localhost:24902
			#rhd connect write=false
			#
			# cam
			module load="if" alias=cam
			var cam.runAliveTest=true
			cam connect=localhost:24920
			camonconnect cmd="cam push t=4 imageget"
			camonconnect cmd="cam push t=3 cmd='var allcopy'"
			#
			#
			module load="if" alias=laser
			var laser.runAliveTest=true
			laser connect=localhost:24919
			laseronconnect cmd="laser push t=5 scanget"
			laseronconnect cmd="laser push t=3 cmd='var allcopy'"

			module load="/usr/local/smr/bin/aurule.so.0"
			rule log=false
			rule load="./keepucamserver.rule"
			rule load="./keeplmsserver.rule"
			rule load="./connectrhd.rule"
			rule resume