= Development Environment =
See [wiki:BuildingDevelopmentEnvironment Building Development Environment] for setting up the environment.
The rUNSWift development environment opens a TCP connection for communicating with the robot. The development tools listen on a number of TCP ports to accept data from the robot (e.g. CPlane display, world model) via the client program. The client program (in base/work/client) connects to the ports on both the robot and the development tools and ferrys data between them. Data from the robot is multiplexed over one or two streams.
{{{
| ] CPlane
| |
| |
AIBO [ <- client -> ] SimpleRoboCommander
| |
| |
| ] World Model
}}}
The robot and all the displays (SimpleRoboCommander, CPlane, world model) on your machine must be running before you run client.
{{{
Usage: client [vhrcygdf] [[IP_postfix_1] [IP_postfix_2] ...]
first argument are commands enabling sockets (except 'v'):
v = verbose mode
h = humanControl (local port: 5102)
r = roboCommander (5005)
c = cplane (5010)
y = yuvPlane (5011)
g = grapher (5014)
d = debug (5015)
f = frameRate (5006)
if no IP postfix is specified, they will be read from 'conf.cfg'.
}}}
Example 1:
{{{./client vrc 138 139}}}?BR
turns on verbose mode,?BR
enables sockets roboCommander and cplane,?BR
and specifies dog IP 192.168.0.138 and 192.168.0.139?BR
with default port number 54321.?BR
Example 2:
{{{./client hr}}}?BR
enables sockets humanControl and roboCommander,?BR
reads robot numbers, IPs and port number from 'conf.cfg'.?BR
Note: Max player number is 4.
1. [wiki:telnet Telnet]
You can telnet to a booted AIBO on port 59000.
2. SimpleRoboCommander (Python 2004 version)
Run {{{./ClientServer.py from base/SimpleRoboCommander}}}
3. RoboCommander (Java 2003 version)
3.1 WorldModel
3.2 CPlaneDisplay
3.3 RoboYUVDisplay
4. Debug head indicators
5. Memory stick stack trace if hardware crash
5.1 SimpleEmonParse
5.2 Griffth team's StackTrace
See: [wiki:JavaTools Java Tools]