Requirements:

LAAS/OpenRobots tools

• mkdep

• pocolibs

• libedit (on platform that don't provide it, ie Linux, Solaris)

• eltclsh

• genom

External tools

These tools are generally available on most systems. If not, download them from the indicated web sites.

• autoconf version 2.59 or later

• make version 3.79 or later

• pkgconfig version 0.15 or later (Usually part of Gnome development packages).

• groff 1.10 or later (Usually part of system packages).

• Tcl/Tk 8.0 or later development files (for eltclsh).

User environment:

Three environment variables need to be set in order to use the OpenRobots tools, when they are installed in a specific directory (ie not directly in /usr).

For instance at LAAS we install all the softwares in /usr/local/openrobots. Is is this value, ${prefix}, which is given to the option --prefix for GNU configure script. By default, the path for the architecture-dependent files, ${exec_prefix}, is equal to ${prefix}. However, this path can also be explicitely specified using the option --exec-prefix (eg, ${prefix}/i386-linux). It can be usefull if you compile for different architectures.

• PATH: add ${exec_prefix}/bin to your PATH environment variable.

• PKG_CONFIG_PATH: add ${exec_prefix}/lib/pkgconfig to your PKG_CONFIG_PATH environment variable, or set it to this value if it was not already defined.

• LD_LIBRARY_PATH: add ${exec_prefix}/lib:${exec_prefix}/lib/openprs to your LD_LIBRARY_PATH environment variable, or set it to this value if it was not already defined.

Quick start guide

For a new module

1. write module.gen, moduleConst.h, moduleStruct.h

2. generate empty module + tcl client with genom -i -t module.gen

3. if your module foo depends on another module bar:

   • use -Pbar on the genom command line. One -P for each dependency

   • or better, you can use the require directive in the .gen file.

4. create a build dir and cd to it

    <path_to_src_dir>/configure --prefix=/home/<me>/openrobots/installed
    make
    make install

* This prefix means simply that your executable files will be placed there prefix/bin

Adding code files

1. You put your files in codels/

2. Edit the codels/Makefile.in ,adding at codels_src= the name of these files.

Modyfying a module

• If you just changed the codels files, call

   make
   make install

from the build/ directory of the module.

• If you just changed the <module>.gen file or the files included in the .gen file ( like <module>Struct.h file ) or codels/Makefile.in then call

•  make regen
   make
   make install

  from the build/ directory of the module.

For an existing module, just checked out of git

• generate the module server part once using either :

  • genom [options] module.gen

  You need to figure out the correct options for your environment (dependencies, using TCL or OpenPRS, specific defines, etc.).

  • or genom-regen if your environemnt matches the environment where the module was last generated. Check GENOMFLAGS in autoconf/genom.mk for the list of arguments.

• sometimes you need to specify for which robot you compile the module, use the -D option followed by the robot name : genom [options] -DROBOTNAME module.gen

• create a build dir and cd to it

   <path_to_src_dir>/configure --prefix=/home/<me>/openrobots/installed
   make
   make install

Running the module & a simple client

 h2 init
 <module> -b
 <module>Test 1

Running the module & tcl client

 h2 init
 tclserv
 <module> -b
 eltclsh -package genom
 connect localhost
 lm <module>
 mboxInit

Now it's ready to send requests: ::<module>::....

End:

In eltclsh:

 kill <module>
 exit

You can also use the die command, which kills tclserv and returns from the tcl interpreter

• if the module has not been killed in eltclsh: killmodule <module> 

• killmymodules kills all the modules of a user

• if tclserv has not be died in eltclsh: pkill tclserv

 h2 end