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 look like this.
+
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/download/packages/i386 ./
+
API2 for
deb http://old-releases.ubuntu.com/ubuntu/ jaunty main restricted
+
* [http://packages.openrobotino.org/windows/robotino-api2/msvc-12 Visual Studio 2013]
deb-src http://old-releases.ubuntu.com/ubuntu/ jaunty main restricted
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* [http://packages.openrobotino.org/windows/robotino-api2/msvc-140 Visual Studio 2015]
</pre>
+
* [http://packages.openrobotino.org/windows/robotino-api2/msvc-141 Visual Studio 2017]
 +
* [http://packages.openrobotino.org/windows/robotino-api2/msvc-142 Visual Studio 2019]
  
<pre>
+
==Build examples==
echo "deb http://doc.openrobotino.org/download/packages/i386 ./" > /etc/apt/sources.list
+
The API2 package comes with examples showing how to use the C/C++ interface.
echo "deb http://old-releases.ubuntu.com/ubuntu/ jaunty main restricted" >> /etc/apt/sources.list
 
echo "deb-src http://old-releases.ubuntu.com/ubuntu/ jaunty main restricted" >> /etc/apt/sources.list
 
</pre>
 
  
After setting up the sources.list
+
===Linux===
 
<pre>
 
<pre>
apt-get update
+
mkdir examples
apt-get install rec-rpc-qt4.5.0 robotino-common robotino-daemons robotino-api robotino-examples
+
cd examples
 +
cp -R /opt/robotino/examples/cpp/circle/ circle
 +
cd circle
 +
mkdir build
 +
cd build
 +
cmake ..
 +
make
 
</pre>
 
</pre>
  
Questions during the installation process
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===Windows===
<pre>
+
* Download and install [https://cmake.org/ cmake].
Install these packages without verification [y/N]? y
+
* Copy c:\program files\rec gmb\api2\examples to a user writable directory.
Do you want to install symlinks? -> Yes
+
* Run cmake-gui
</pre>
+
* Choose source and destiantion directory
This will remove the API1 daemons and install the API2 counterparts. Reboot the system when installation is finished.
+
* Configure and Generate
 +
* Open the generated Visual Studio Solution
  
Alternatively you can download the packages to your computer. Replace * by the latest version.
+
==Quick links==
<pre>
+
* [https://doc.openrobotino.org/download/RobotinoAPI2/rec_robotino_api2/ Documentation]
wget http://doc.openrobotino.org/download/packages/i386/rec-rpc-qt4.5.0_*_i386.deb
 
wget http://doc.openrobotino.org/download/packages/i386/robotino-common_*_i386.deb
 
wget http://doc.openrobotino.org/download/packages/i386/robotino_daemons_*_i386.deb
 
wget http://doc.openrobotino.org/download/packages/i386/robotino-api_*_i386.deb
 
wget http://doc.openrobotino.org/download/packages/i386/robotino-examples_*_i386.deb
 
</pre>
 
  
Then copy the files to Robotino using scp or ftp. On Robotino do
+
==C++ example==
 
<pre>
 
<pre>
dpkg -i rec-rpc-qt4.5.0_*_i386.deb
+
#include <iostream>
dpkg -i robotino-common_*_i386.deb
+
#include "rec/robotino/api2/all.h"
dpkg -i --auto-reconfigure robotino-daemons_*_i386.deb
 
dpkg -i robotino-api_*_i386.deb
 
dpkg -i robotino-examples_*_i386.deb
 
</pre>
 
  
===API2 for Windows===
+
rec::robotino::api2::Com com;
 +
rec::robotino::api2::Bumper bumper;
  
===API2 for Linux===
+
int main( int argc, char **argv )
Setup your '''/etc/apt/sources.list'''. On i386 system
+
{
<pre>
+
  std::string hostname = "172.26.1.1";
deb http://doc.openrobotino.org/download/packages/i386 ./
+
  if( argc > 1 )
<pre>
+
  {
 +
    hostname = argv[1];
 +
  }
  
On amd64 systems
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  com.setAddress( hostname.c_str() );
<pre>
+
  com.connectToServer( true );
deb http://doc.openrobotino.org/download/packages/amd64 ./
+
 
<pre>
+
  while(com.isConnected() && false == bumper.value())
 
+
  {
Install the packages
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    std::cout << "Bumper is " << (bumper.value()?"":"not") << " pressed" << std::endl;
* robotino-api
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    com.processEvents();
* robotino-examples
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    rec::robotino::api2::msleep( 100 );
* libqt4-dev
+
  }
<pre>
 
apt-get install robotino-api robotino-examples libqt4-dev
 
</pre>
 
  
Pre build binaries are in ''/usr/local/robotino/examples/bin''
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  com.disconnectFromServer();
  
Build the circle example see section below.
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  rec::robotino::api2::shutdown();
  
===Building the API2 examples on Robotino===
+
  return 0;
<pre>
+
}
mkdir -p build/circle
 
cd build/circle
 
ccmake /usr/local/robotino/examples/src/c++/circle/
 
configure(c) 2x, generate(g)
 
make
 
target/example_circle 127.0.0.1
 
 
</pre>
 
</pre>
  
Right now you can run the example as root only. If you change permissions manually
+
==C example==
 
<pre>
 
<pre>
chmod 777 /tmp/*
+
#include <stdio.h>
</pre>
+
#include <stdlib.h>
you can run the example as user robotino.
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#include <string.h>
  
===Build Robotino tools and daemons===
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#ifdef WIN32
 +
#include <windows.h>
 +
#else
 +
#include <unistd.h> //usleep
 +
#endif
  
Windows:
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#include "rec/robotino/api2/c/Com.h"
* Get the latest Qt libraries from [http://qt.nokia.com/downloads Digia]
 
* Alternatively build Qt from source
 
  
Linux:
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void msleep( unsigned int ms )
* Install libqt4-dev
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{
 +
#ifdef WIN32
 +
  SleepEx( ms, FALSE );
 +
#else
 +
  usleep( ms * 1000 );
 +
#endif
 +
}
  
====Build REC-RPC====
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ComId com;
Get the source via SVN:
+
BumperId bumper;
<pre>
 
svn co http://svn.servicerobotics.eu/rec_rpc/trunk source/rec_rpc
 
</pre>
 
Configure the build environment with cmake, build and install:
 
<pre>
 
mkdir build/rec_rpc
 
cd build/rec_rpc
 
ccmake ../../source/rec_rpc
 
make install
 
</pre>
 
  
On Windows:
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int main( int argc, char **argv )
In case you used a 32bit compiler set the environment variable '''RECRPC32_DIR''' to the installation directory. When you compiled the library with a 64bit compiler set the environment variable '''RECRPC64_DIR''' The environment variable is used by the other packages to find the FindRecRpc.cmake scripts. Example: On my system I got
+
{
<pre>RECRPC32_DIR=E:\build\rec-rpc_win32_vc100\install</pre>
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  com = Com_construct();
  
On Linux:
+
  if( argc > 1 )
<pre>
+
  {
make ALL_CREATE_INSTALLER
+
    Com_setAddress( com, argv[1] );
sudo dpkg -i rec-rpc-*.deb
+
  }
</pre>
+
  else
 +
  {
 +
    Com_setAddress( com, "172.26.1.1" );
 +
  }
  
====Build Robotino Common====
+
  if( FALSE == Com_connect( com ) )
Get the source via SVN:
+
  {
<pre>
+
    printf( "Error on connect" );
svn co http://svn.openrobotino.org/common/trunk source/common
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    exit(1);
</pre>
+
  }
Configure the build environment with cmake, build and install:
+
  else
<pre>
+
  {
mkdir build/common
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    char addressBuffer[256];
cd build/common
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    Com_address( com, addressBuffer, 256 );
ccmake ../../source/common
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    printf( "Connected to %s\n", addressBuffer );
make install
+
  }
</pre>
 
  
On Windows:
+
  while( Com_isConnected( com ) && FALSE == Bumper_value( bumper ) )
In case you used a 32bit compiler set the environment variable '''ROBOTINOCOMMON32_DIR''' to the installation directory. When you compiled the library with a 64bit compiler set the environment variable '''ROBOTINOCOMMON64_DIR''' The environment variable is used by the other packages to find the FindRobotinoCommon.cmake scripts.
+
  {
Example: On my system I got
+
    printf("Value of bumper is %d\n",Bumper_value( bumper ) )
<pre>ROBOTINOCOMMON32_DIR=E:\build\robotino_common_win32_vc100\install</pre>
+
    msleep( 50 );
 +
  }
  
On Linux:
+
  Bumper_destroy( bumper );
<pre>
+
  Com_destroy( com );
make ALL_CREATE_INSTALLER
 
sudo dpkg -i robotino-common-*.deb
 
</pre>
 
  
====Build Robotino Daemons====
+
  return 0;
Get the source via SVN:
+
}
<pre>
 
svn co http://svn.openrobotino.org/daemons/trunk source/daemons
 
</pre>
 
Configure the build environment with cmake, build and install:
 
<pre>
 
mkdir build/daemons
 
cd build/daemons
 
ccmake ../../source/daemons
 
make install
 
 
</pre>
 
</pre>

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;
}