OUTech code

General

Install protoc on your machine:

apt install protoc # OR pacman -S protobuf

Clone submodules:

git submodule init && git submodule update

Regenerate protobuf files:

make protoc

High level

The python projects run on python 3.7, make sure you have it installed.

Install pipenv:

sudo pip3 install pipenv

See pipenv documentation for how to work with it.

Install the python dependencies:

pipenv install -d # Equivalent to `pip install -r requirements.txt`

On Raspberry Pi you might have to:

sudo apt-get install libatlas-base-dev

Running the code

Enter into the virtual environment:

pipenv shell # Equivalent to `source ./bin/activate`

Run it!

If you want to run the highlevel code in a simulation:

make run-simulation

If you want to run the highlevel code on hardware:

export STUB_LIDAR=true # If you don't have a LIDAR connected.
export STUB_SOCKET_CAN=true # If you don't have ISO-TP server online.

make run

Go to https://outech-robotic.github.io/replay/?replay=ws://localhost:8080 to see what the robot "sees".

Replace localhost with your IP if you are not running it locally.

If you want to run the tests:

make jenkins

You are done!

Low Level

Prerequisites

Install cmake, arm-none-eabi-{gcc, gdb, newlib, binutils}, or equivalents on your platform (this assumes archlinux or Windows)

On Linux, follow the installation procedure for openocd in their Readme (Compiling OpenOCD):
https://sourceforge.net/p/openocd/code/ci/master/tree/

Build & Upload

Setup CLion

Open the root code directory as the root of the project.
In the project hierarchy, right-click on lowlevel/CMakeLists.txt and "Load Cmake project".

For Windows only:
Add the following CMake Options (File>Settings>Build, Execution, Deployment>CMake):
-DCMAKE_SYSTEM_NAME=Generic -DCMAKE_C_FLAGS=--specs=nosys.specs -DCMAKE_CXX_FLAGS=--specs=nosys.specs
This is because CLion uses a default system name for CMake that makes it use the full standard library, but we don't want any of that.

Run CMake from CLI

In the root directory, run the following to setup the make files and commands:

cmake -B lowlevel/cmake-build-debug lowlevel

From CLion, you can just use Build configurations, and use the build hammer on the ones needed.

Build the projects on CLI

From the command line, still in the root directory, you can now make the following targets:

make -C lowlevel/cmake-build-debug build_motor/motor_g4/servo/servo_nucleo
Builds the required project.

make -C lowlevel/cmake-build-debug flash_motor/motor_g4/servo/servo_nuclo
Uploads the corresponding program to the board, using openocd.

The flash_ targets should automatically detect modifications and rebuild if needed, as they have their respective build_ target as a dependency.

Debugging

We will be using arm-none-eabi-gdb as a client, and openocd as a server. In CLion:

• Go to your Configurations (next to the build hammer/run button).
• Edit Configurations
• Click + to add a new configuration > Embedded GDB Server
• Give it the name you want, preferably different than the existing targets.
• Select the build target & executable you want.
• 'target remote' args: localhost:PORT (PORT being the port that will be used for GDB)
• GDB Server: openocd
• GDB Server args: -f lowlevel/scripts/board/BOARD.cfg -c "gdb_port PORT" (BOARD being one of the board files used)
• In Advanced GDB Server options:
  • Working directory: Set it to the root directory of the project (code)

If the project is already built, press the Debug button next to configurations, while the new configuration is selected.

Automation of this setup is a WIP.