Difference between revisions of "API2"

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The new API2 is currently under development. The main new features are
+
==Introduction==
- Support for up to 4 cameras
+
{|class="wikitable" cellpadding="20" vertical-align="top"
- Support for camera controls like brightness, contrast, auto white balance ... The supported controls depend on the camera used
+
|-
- Integrated web server for controlling Robotino by a web browser or your smartphone
+
|[[Image:Robotino_api2_icon_64.png]]
- Easy build process due to minimal dependencies to external libraries
+
|A C/C++ library to access Robotino's sensors and actors from your own program.
 +
|}
  
The new API2 is based on a RPC like infrastructure. The [http://servicerobotics.eu/weitere-projekte/rec-rpc-library/ REC-RPC] library is a interprocess communication middleware similar to ROS. It is based on Qt and does not have any other dependencies.
+
==Download and install==
 +
Check [[Robotino_OS|Robotino OS]] to find the link to the API2 library.
  
===API2 packages for Robotino===
+
===Windows===
In order to use the API2 you need to replace packages on Robotino. The easiest way is to give Robotino Internet access. The file '''/etc/apt/sources.list''' should already contain the line
+
On Windows (Visual Studio) you need to install the binary package that fits your compiler. Currently we support two compilers. Please open a command prompt and use ''set'' to see your Visual Studio or Visual Studio Tools version.
<pre>deb http://doc.openrobotino.org/packages ./</pre>
+
 
If not edit the file and put this line at the beginning. Then do
+
API2 for
 +
* [http://packages.openrobotino.org/windows/robotino-api2/msvc-12 Visual Studio 2013]
 +
* [http://packages.openrobotino.org/windows/robotino-api2/msvc-140 Visual Studio 2015]
 +
* [http://packages.openrobotino.org/windows/robotino-api2/msvc-141 Visual Studio 2017]
 +
* [http://packages.openrobotino.org/windows/robotino-api2/msvc-142 Visual Studio 2019]
 +
 
 +
==Build examples==
 +
The API2 package comes with examples showing how to use the C/C++ interface.
 +
 
 +
===Linux===
 
<pre>
 
<pre>
apt-get update
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mkdir examples
aot-get install rec-rpc robotino-common robotino-daemons robotino-api
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cd examples
 +
cp -R /opt/robotino/examples/cpp/circle/ circle
 +
cd circle
 +
mkdir build
 +
cd build
 +
cmake ..
 +
make
 
</pre>
 
</pre>
This will remove the API1 daemons and install the API2 counterparts.
 
  
===API2 for Windows===
+
===Windows===
 +
* Download and install [https://cmake.org/ cmake].
 +
* Copy c:\program files\rec gmb\api2\examples to a user writable directory.
 +
* Run cmake-gui
 +
* Choose source and destiantion directory
 +
* Configure and Generate
 +
* Open the generated Visual Studio Solution
 +
 
 +
==Quick links==
 +
* [https://doc.openrobotino.org/download/RobotinoAPI2/rec_robotino_api2/ Documentation]
 +
 
 +
==C++ example==
 +
<pre>
 +
#include <iostream>
 +
#include "rec/robotino/api2/all.h"
 +
 
 +
rec::robotino::api2::Com com;
 +
rec::robotino::api2::Bumper bumper;
  
===API2 for Linux===
+
int main( int argc, char **argv )
 +
{
 +
  std::string hostname = "172.26.1.1";
 +
  if( argc > 1 )
 +
  {
 +
    hostname = argv[1];
 +
  }
  
===Build API2 yourself===
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  com.setAddress( hostname.c_str() );
 +
  com.connectToServer( true );
 +
 
 +
  while(com.isConnected() && false == bumper.value())
 +
  {
 +
    std::cout << "Bumper is " << (bumper.value()?"":"not") << " pressed" << std::endl;
 +
    com.processEvents();
 +
    rec::robotino::api2::msleep( 100 );
 +
  }
  
Windows:
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  com.disconnectFromServer();
* Get the latest Qt libraries from [http://qt.nokia.com/downloads Digia]
 
* Alternatively build Qt from source
 
  
===Build REC-RPC===
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  rec::robotino::api2::shutdown();
Get the source via SVN:
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<pre>
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  return 0;
svn co http://svn.servicerobotics.eu/rec_rpc/trunk source/rec_rpc
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}
 
</pre>
 
</pre>
Configure the build environment with cmake, build and install:
+
 
 +
==C example==
 
<pre>
 
<pre>
mkdir build/rec_rpc
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#include <stdio.h>
cd build/rec_rpc
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#include <stdlib.h>
ccmake ../../source/rec_rpc
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#include <string.h>
make install
+
 
 +
#ifdef WIN32
 +
#include <windows.h>
 +
#else
 +
#include <unistd.h> //usleep
 +
#endif
 +
 
 +
#include "rec/robotino/api2/c/Com.h"
 +
 
 +
void msleep( unsigned int ms )
 +
{
 +
#ifdef WIN32
 +
  SleepEx( ms, FALSE );
 +
#else
 +
  usleep( ms * 1000 );
 +
#endif
 +
}
 +
 
 +
ComId com;
 +
BumperId bumper;
 +
 
 +
int main( int argc, char **argv )
 +
{
 +
  com = Com_construct();
 +
 
 +
  if( argc > 1 )
 +
  {
 +
    Com_setAddress( com, argv[1] );
 +
  }
 +
  else
 +
  {
 +
    Com_setAddress( com, "172.26.1.1" );
 +
  }
 +
 
 +
  if( FALSE == Com_connect( com ) )
 +
  {
 +
    printf( "Error on connect" );
 +
    exit(1);
 +
  }
 +
  else
 +
  {
 +
    char addressBuffer[256];
 +
    Com_address( com, addressBuffer, 256 );
 +
    printf( "Connected to %s\n", addressBuffer );
 +
  }
 +
 
 +
  while( Com_isConnected( com ) && FALSE == Bumper_value( bumper ) )
 +
  {
 +
    printf("Value of bumper is %d\n",Bumper_value( bumper ) )
 +
    msleep( 50 );
 +
  }
 +
 
 +
  Bumper_destroy( bumper );
 +
  Com_destroy( com );
 +
 
 +
  return 0;
 +
}
 
</pre>
 
</pre>
Set the environment variable '''REC_RPC_DIR''' to the installation directory. The environment variable is used by the other packages to find the FindRecRpc.cmake scripts.
 

Latest revision as of 08:24, 10 May 2019

Introduction

Robotino api2 icon 64.png A C/C++ library to access Robotino's sensors and actors from your own program.

Download and install

Check Robotino OS to find the link to the API2 library.

Windows

On Windows (Visual Studio) you need to install the binary package that fits your compiler. Currently we support two compilers. Please open a command prompt and use set to see your Visual Studio or Visual Studio Tools version.

API2 for

Build examples

The API2 package comes with examples showing how to use the C/C++ interface.

Linux

mkdir examples
cd examples
cp -R /opt/robotino/examples/cpp/circle/ circle
cd circle
mkdir build
cd build
cmake ..
make

Windows

  • Download and install cmake.
  • Copy c:\program files\rec gmb\api2\examples to a user writable directory.
  • Run cmake-gui
  • Choose source and destiantion directory
  • Configure and Generate
  • Open the generated Visual Studio Solution

Quick links

C++ example

#include <iostream>
#include "rec/robotino/api2/all.h"

rec::robotino::api2::Com com;
rec::robotino::api2::Bumper bumper;

int main( int argc, char **argv )
{
  std::string hostname = "172.26.1.1";
  if( argc > 1 )
  {
    hostname = argv[1];
  }

  com.setAddress( hostname.c_str() );
  com.connectToServer( true );
  
  while(com.isConnected() && false == bumper.value())
  {
    std::cout << "Bumper is " << (bumper.value()?"":"not") << " pressed" << std::endl;
    com.processEvents();
    rec::robotino::api2::msleep( 100 );
  }

  com.disconnectFromServer();

  rec::robotino::api2::shutdown();

  return 0;
}

C example

#include <stdio.h>
#include <stdlib.h>
#include <string.h>

#ifdef WIN32
#include <windows.h>
#else
#include <unistd.h> //usleep
#endif

#include "rec/robotino/api2/c/Com.h"

void msleep( unsigned int ms )
{
#ifdef WIN32
  SleepEx( ms, FALSE );
#else
  usleep( ms * 1000 );
#endif
}

ComId com;
BumperId bumper;

int main( int argc, char **argv )
{
  com = Com_construct();

  if( argc > 1 )
  {
    Com_setAddress( com, argv[1] );
  }
  else
  {
    Com_setAddress( com, "172.26.1.1" );
  }

  if( FALSE == Com_connect( com ) )
  {
    printf( "Error on connect" );
    exit(1);
  }
  else
  {
    char addressBuffer[256];
    Com_address( com, addressBuffer, 256 );
    printf( "Connected to %s\n", addressBuffer );
  }

  while( Com_isConnected( com ) && FALSE == Bumper_value( bumper ) )
  {
    printf("Value of bumper is %d\n",Bumper_value( bumper ) )
    msleep( 50 );
  }

  Bumper_destroy( bumper );
  Com_destroy( com );

  return 0;
}