Projects / emss / Linux Scripts

From emss Framework - iRobot Create C++ Framework

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Contents 1 emss Interface via Network on emss Hardware 2 Webcam Driver and Streamer 3 Webcam image extract 4 Serial Port Test App 5 TTS Interface 6 Start inadyn for dyndns 7 emss Startup Script Template 8 Install Startup Script 9 G++ emssCore Build for Qt 10 Compile a Static Version of Qt 4.5 10.1 Linux 10.2 Windows 11 Get Qt dependencies for binary file 12 Blacklist internal wlan driver 13 Figuring out the Working Directory Safely

[edit] emss Interface via Network on emss Hardware

ssh -C -X emss@152.96.232.92 /home/emss/emss/Binaries/Unix/emssInterface

[edit] Webcam Driver and Streamer

sudo apt-get install gst-launch

[edit] Webcam image extract

gst-launch-0.10 v4l2src ! xvimagesink
gst-launch-0.10 v4l2src ! videorate ! video/x-raw-yuv,framerate=1/1 ! jpegenc ! filesink location=out.jpg
gst-launch-0.10 v4l2src ! ffmpegcolorspace ! pngenc ! filesink location=out.png

[edit] Serial Port Test App

sudo apt-get install minicom
mincom -p ttyUSB0

[edit] TTS Interface

sudo apt-get install espeak
espeak -v english_rp -a 10 -p 50 -s 150 "hello world"

[edit] Start inadyn for dyndns

sudo apt-get install inadyn
inadyn --background --username dankrusi --password PWD --update_period_sec 600 --alias emssrobot.dyndns.org

[edit] emss Startup Script Template

#!/bin/sh

inadyn --background --username dankrusi --password PWD --update_period_sec 10 --alias emssrobot.dyndns.org

cpufreq-selector -g powersave &

/home/emss/emssframework/bin/emssInterface &

[edit] Install Startup Script

• start is the argument given to the script (start, stop).
• 99 is the start order of the script (1 = first one, 99= last one)
• 2 3 4 5 are the runlevels to start

# update-rc.d -f my_script start 99 2 3 4 5 .

[edit] G++ emssCore Build for Qt

g++ -c -pipe -g -fPIC -Wall -W ...

• -c do not link
• -pipe pipe to next chaintool instead of using tmp files
• -g produce debug info
• -fPIC emit position independent code, for shared libraries
• -Wall all warnings

[edit] Compile a Static Version of Qt 4.5

The following describes how to compile a static version of Qt fit for releasing emss Framework version on different OS's.

[edit] Linux

1. Step 1: Get all the required dev libs:

sudo apt-get install g++
sudo apt-get install libx11-dev
sudo apt-get install libxinerama-dev
sudo apt-get install libxrandr-dev
sudo apt-get install libxrender-dev
sudo apt-get install libxcursor-dev
sudo apt-get install libfontconfig-dev
sudo apt-get install libsm-dev
sudo apt-get install libgtk2.0-dev
sudo apt-get install xorg-dev
sudo apt-get install libasound2-dev

1. Step 2: Remove dynamic libasound2 libs (so that it is statically linked):

sudo mv /usr/lib/libasound2.so /usr/lib/_libasound2.so
sudo mv /usr/lib/libasound2.so.2 /usr/lib/_libasound2.so.2
sudo mv /usr/lib/libasound2.so.2.0.0 /usr/lib/_libasound2.so.2.0.0

1. Step 3: Re-configure and build Qt:

cd /opt/qtsdk-2009.02-static/qt
sudo ./configure -release -static -nomake tools -nomake examples -nomake demos -nomake docs -nomake translations -fast
sudo make sub-src
sudo make install

[edit] Windows

1. Step 1: Re-configure and build Qt:

cd C:\Qt\2009.01\qt\
configure -static -release -no-exceptions
mingw32-make sub-src

[edit] Get Qt dependencies for binary file

ldd emssInterface | egrep 'qt' | cut -d' ' -f3

[edit] Blacklist internal wlan driver

In /etc/modprobe.d/blacklist add:

blacklist rt61pci

[edit] Figuring out the Working Directory Safely

TMP=`pwd`; cd `dirname $0`; SCRIPTS=`pwd`; cd $TMP;