groundStation
Make Process
First, if submodules were not recursevly added through git. Run this command if you have made any attempt to make vrpn manually. run 'git submodule update --init --recursive'
Now that you have all of the files necissary.
cd into the groundstation folder. cd groundStation make vrpn make
run the program with sudo privledges ./BackEnd
If you wish to change the way the backend communicates to the quad and vice versa, look at src/config.h. This provides a list of environment variables which you can set and use for your computer or time of use.
Modifying
See MODIFYING for the software architecture/organization and how to add new functionality.
Using
First, the backend daemon must be running. Run the backend with ./BackEnd. Note the environment variables in config.h, especially the backend socket path. The backend requires root for bluetooth, but can run as a normal user with TCP, as long as the socket path is writable by the user.
Once the backend is running, various CLI tools can be used to view the state of the
quad and send commands. Each of these tools is given as the first argument
to the CLI program, for example, to get a node output the quad, use cli getoutput
. Note that
the backend socket environment variable must be set to the same value as it
was for the backend. The CLI program also supports busybox-style symbolic links.
For example, if there is a symlink named getoutput
that points to the cli
binary,
running the getoutput
program will effectively run cli getoutput
.
The names of the binaries is subject to change.
For a list of cli commands and more in depth usage explainations, use the --help flag. './Cli --help'
For help with the specific cli command you are running, use the --help flag once again. './Cli getoutput --help'
Example
In one terminal or screen, run the backend:
./BackEnd
This will activate the quad and the backend, and the backend will be available for connections from the frontend tools. One useful tool is the getnodes. In another terminal window, run
./Cli getnodes
or alternatively with symlinks
./getnodes
This will fetch the block_id, type_id and name of every node in the current graph
You can run any number of any combination of frontend tools at the same time.