== Requirements: ==
==== LAAS/OpenRobots tools ====
 * [[mkdep]]
 * [[pocolibs]]
 * [[editline|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.

 * [[http://www.gnu.org/software/autoconf/|autoconf]] version 2.59 or later
 * [[http://www.gnu.org/software/make/|make]] version 3.79 or later
 * [[http://pkgconfig.freedesktop.org/|pkgconfig]] version 0.15 or later (Usually part of Gnome development packages).
 * [[http://www.gnu.org/software/groff/groff.html|groff]] 1.10 or later (Usually part of system packages).
 * [[http://www.tcl.tk/|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''', ''module'''''Const.h''', ''module'''''Struct.h'''
 1. generate empty module + tcl client with {{{genom -i -t module.gen}}}
 1. 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.
 1. 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/
 1. 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}}}