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| [](https://travis-ci.org/jredmondson/madara) | ||
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| 0. ABOUT MADARA | ||
| # About MADARA | ||
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| The Multi-Agent Distributed Adaptive Research Allocation (MADARA) suite is a | ||
| collection of middleware and tools for real-time system developers. Included | ||
| in MADARA is a state-of-the-art knowledge and reasoning engine (KaRL) that | ||
| is capable of evaluating over 5 million knowledge operations per second on | ||
| a single core, a deployment and automated testing suite (KATS) that can | ||
| perform distributed testing with microsecond precision, two APIs for | ||
| instrumenting Android smartphones (MAML and MAAL), and a suite of heuristics | ||
| and genetic algorithms for approximating certain types of constraint | ||
| satisfaction problems within milliseconds. | ||
| The Multi-Agent Distributed Adaptive Resource Allocation (MADARA) Project is a middleware designed to provide core knowledge sharing capabilities for multi-agent robotics and real-time systems. MADARA includes a distributed knowledge base that aggregates changes to knowledge and sends them over an extensible transport system that currently supports UDP unicast, broadcast, and multicast, 0MQ, and RTTI DDS and PrismTech DDS. | ||
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| These tools are released under a BSD license which should be included in | ||
| this directory. If you have any questions, comments, or concerns, please | ||
| feel free to contact our development team. You can either email me directly | ||
| at the email address below, or you can file an issue on our project site, | ||
| the url of which is also included below. | ||
| We currently support compilation on Windows, Linux, Mac, and Android architectures using a variety of compilers such as clang, g++, and Visual Studio. We also support Java and Python ports of the C++ code base for portable multi-agent programming anywhere. | ||
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| Thanks, | ||
| *** | ||
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| James Edmondson (jedmondson@gmail.com) | ||
| MADARA Project (http://madara.googlecode.com) | ||
| # Installation | ||
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| 1. GETTING STARTED WITH YOUR FIRST PROJECT | ||
| [Installation](https://github.com/jredmondson/madara/wiki/Installation) | ||
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| If you've run the Windows installer, or you've followed the installation | ||
| instructions for Windows or Linux installations, you already have everything | ||
| you need to run MAML, MAAL, and the blackbox testing portions of KATS. But | ||
| there's so much more to MADARA! | ||
| The MADARA project works closely with the Group Autonomy for Mobile Systems (GAMS) project. The installation scripts we have created there will automate installations for [Mac](https://github.com/jredmondson/madara/wiki/Installation#mac) and [Linux](https://github.com/jredmondson/madara/wiki/Installation#linux) users. For Android users, you will have to install the NDK / Android Studio separately and then you can use the same [Linux scripts](https://github.com/jredmondson/madara/wiki/Installation#linux). For [Windows users](https://github.com/jredmondson/madara/wiki/Installation#windows), the guide is a bit more user-error prone. We do have build scripts that use the Visual Studio command line, but VS2017 appears to have slowed down the build process with msbuild to a crawl, and we recommend simply building the projects generated by MPC directly to get everything compiled quickly. | ||
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| Let's get you into a MADARA KaRL "Hello World" knowledge and reasoning | ||
| application! | ||
| *** | ||
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| 1.a. FOR THOSE WHO USED THE WINDOWS INSTALLER | ||
| # Help | ||
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| If you've used the Windows installer, we've included ACE and Open Splice | ||
| DDS inside of the MADARA installation directories. This should make | ||
| setting up your project a bit easier. If you're copy of Visual Studio | ||
| was running during the install process, try closing it and restarting | ||
| it to reload environment variables. Then try doing the following: | ||
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| 1.) Create a new Win32 Console Application with "HelloWorld" as the | ||
| Name. Press OK and then Press Next. | ||
| 2.) Uncheck "Precompiled header" and then check "Empty Project". Press | ||
| the Finish button. This should create a new Project called | ||
| "HelloWorld" | ||
| 3.) Right click on "Source Files" and click "Add New Item". Select a | ||
| new CPP file, name it "HelloWorld" and copy and paste the following: | ||
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| #include "madara/knowledge/Knowledge_Base.h" | ||
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| int main (int argc, char * argv[]) | ||
| { | ||
| madara::knowledge::Knowledge_Base knowledge; | ||
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| knowledge.evaluate ("++hello"); | ||
| knowledge.evaluate ("++world"); | ||
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| knowledge.print ("hello={hello} world={world}\n"); | ||
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| return 0; | ||
| } | ||
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| 4.) Now, you should be in debug solution mode, which is perfect for early | ||
| development. Let's go ahead and setup the include and library dirs to | ||
| reference MADARA and ACE. | ||
| 5.) Right click your project "HelloWorld" and go to Properties. Click | ||
| C/C++ under the Configuration Properties and then add | ||
| $(MADARA_ROOT)/include to the Additional Include Directories. | ||
| 6.) ACE uses a bunch of stdlib functions which cause Visual Studio | ||
| to issue a lot of warnings. Let's suppress those with some | ||
| preprocessor definitions. Expand the C/C++->Preprocessor tab and and | ||
| add the following to "Preprocessor Definitions" (click the little | ||
| "..." button to the right on that line to open up an editor). | ||
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| _CRT_NONSTDC_NO_WARNINGS | ||
| _CRT_SECURE_NO_WARNINGS | ||
| _CRT_SECURE_NO_DEPRECATE | ||
| _CRT_NONSTDC_NO_DEPRECATE | ||
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| 7.) Click Linker->General and add $(MADARA_ROOT)\lib to Additional Library | ||
| Directories | ||
| 8.) Click Linker->Input and add "MADARAd.lib, ACEd.lib" to Additional | ||
| Dependencies. | ||
| 9.) Now, switch to Release Mode (the dropdown next to the one that says | ||
| "Win32") and repeat steps 5-7. Go to Linker->Input and add | ||
| "MADARA.lib, ACE.lib" to Additional Dependencies. | ||
| 10.) You've now configured your project for both Debug and Release modes | ||
| in Visual Studio. Go ahead and build your project by pressing F7. | ||
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| 1.b. FOR THOSE WHO BUILT MADARA AND INSTALLED ACE 6.0.1 AND OPENSPLICE 5.4.1 | ||
| ON WINDOWS | ||
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| 1.) Create a new Win32 Console Application with "HelloWorld" as the | ||
| Name. Press OK and then Press Next. | ||
| 2.) Uncheck "Precompiled header" and then check "Empty Project". Press | ||
| the Finish button. This should create a new Project called | ||
| "HelloWorld" | ||
| 3.) Right click on "Source Files" and click "Add New Item". Select a | ||
| new CPP file, name it "HelloWorld" and copy and paste the following: | ||
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| #include "madara/knowledge/Knowledge_Base.h" | ||
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| int ACE_TMAIN (int argc, char * argv[]) | ||
| { | ||
| madara::knowledge::Knowledge_Base knowledge; | ||
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| knowledge.evaluate ("++hello"); | ||
| knowledge.evaluate ("++world"); | ||
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| knowledge.print ("hello={hello} world={world}\n"); | ||
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| return 0; | ||
| } | ||
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| 4.) Now, you should be in debug solution mode, which is perfect for early | ||
| development. Let's go ahead and setup the include and library dirs to | ||
| reference MADARA and ACE. | ||
| 5.) Right click your project "HelloWorld" and go to Properties. Click | ||
| C/C++ under the Configuration Properties and then add | ||
| "$(MADARA_ROOT)/include, $(ACE_ROOT)" to the Additional Include | ||
| Directories. | ||
| 6.) ACE uses a bunch of stdlib functions which cause Visual Studio | ||
| to issue a lot of warnings. Let's suppress those with some | ||
| preprocessor definitions. Expand the C/C++->Preprocessor tab and and | ||
| add the following to "Preprocessor Definitions" (click the little | ||
| "..." button to the right on that line to open up an editor). | ||
|
|
||
| _CRT_NONSTDC_NO_WARNINGS | ||
| _CRT_SECURE_NO_WARNINGS | ||
| _CRT_SECURE_NO_DEPRECATE | ||
| _CRT_NONSTDC_NO_DEPRECATE | ||
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| 7.) Click Linker->General and add $(MADARA_ROOT)\lib, $(ACE_ROOT)\lib | ||
| to Additional Library Directories | ||
| 8.) Click Linker->Input and add "MADARAd.lib, ACEd.lib" to Additional | ||
| Dependencies. | ||
| 9.) Now, switch to Release Mode (the dropdown next to the one that says | ||
| "Win32") and repeat steps 5-7. Go to Linker->Input and add | ||
| "MADARA.lib, ACE.lib" to Additional Dependencies. | ||
| 10.) You've now configured your project for both Debug and Release modes | ||
| in Visual Studio. Go ahead and build your project by pressing F7. | ||
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| 1.c. FOR THOSE WHO BUILT MADARA AND INSTALLED ACE 6.0.1 AND OPENSPLICE 5.4.1 | ||
| ON LINUX | ||
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| 1.) Make sure you've set your environment variables as indicated in the | ||
| Installation Wiki. Most notably, ensure that your LD_LIBRARY_PATH | ||
| now includes $MADARA_ROOT/lib and $ACE_ROOT/lib. | ||
| 2.) Create a file called HelloWorld.cpp and copy and paste the following: | ||
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| #include "madara/knowledge/Knowledge_Base.h" | ||
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| int ACE_TMAIN (int argc, char * argv[]) | ||
| { | ||
| madara::knowledge::Knowledge_Base knowledge; | ||
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| knowledge.evaluate ("++hello"); | ||
| knowledge.evaluate ("++world"); | ||
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| knowledge.print ("hello={hello} world={world}\n"); | ||
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| return 0; | ||
| } | ||
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| 3.) Use your favorite compiler (e.g., g++) and add an include for | ||
| $MADARA_ROOT/include and $ACE_ROOT. | ||
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| 2. HOW FAST CAN KARL RUN ON MY COMPUTER? | ||
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| We include several tests in the $MADARA_ROOT/bin directory that you | ||
| can use to test KaRL on your system. To run the throughput tests for | ||
| KaRL on your system, try the following: | ||
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| test_reasoning_throughput | ||
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| If that doesn't work, try the following: | ||
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| $MADARA_ROOT/bin/test_reasoning_throughput (on Linux) | ||
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| or | ||
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| %MADARA_ROOT%/bin/test_reasoning_throughput (on Windows) | ||
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| 3. HOW DO I START DISSEMINATING KNOWLEDGE OVER A NETWORK | ||
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| We include several different transports including IP multicast, IP | ||
| broadcast, Prism Tech Open Splice DDS, and RTI DDS. Tests for IP-based | ||
| protocols can be found inside of tests/transports. To get started, try | ||
| looking at test_primitive_types.cpp, which shows how to modify strings, | ||
| integers, and doubles and read them across the network using IP multicast. | ||
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| Other tests that may be interesting are test_synchronization, which forms | ||
| a self-healing network of processes using Dijkstra's N-state self- | ||
| stabilizing algorithm, and test_synchronization_three_state, which uses | ||
| Dijkstra's three-state self-stabilizing algorithm. | ||
| Most of the Wiki pages have not been moved from their hosting on [SourceForge](https://sourceforge.net/p/madara/wiki/Home/). This is the best place to currently find visualizations, examples, and answers. | ||
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| [Youtube Guide to Multi-Agent Autonomy](https://www.youtube.com/watch?v=Qvl3YriLMYI&list=PLSNlEg26NNpwi4ggcPYU8JvS1aVtV60_z) | ||
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| [C++ API Docs](http://madara.sourceforge.net/docs/cpp) | [C++ Tutorial](https://sourceforge.net/p/madara/wiki/MadaraArchitecture/) | ||
| [Java Docs](http://madara.sourceforge.net/docs/java) | [Java Tutorial](https://sourceforge.net/p/madara/wiki/JavaMadaraArchitecture/) |