Real-Time Systems: Running the Carts Demo
University of Massachusetts, Amherst
You must have a window:
rlogged into rtl4 (to be able to do 'kb')
xterm on epoch for running the debugger on rtl4's system processor
xterm on epoch for running the debugger on rtl4's application processor 1
xterm on epoch for running the debugger on rtl4's application processor 2
xterm on epoch for running the debugger on rtl4's application processor 3
xterm on robin for running of xdemo itself
xterm on robin for running sch_mem2log process (cd to ~carts/sch_pasieka)
xterm on robin for running the remote processes (cd to ~carts/remote_processes/Really)
xterm on robin for running either LispWorks (cd to ~carts) OR
the 'C' version of the ai planner (cd to ~carts/ai-planner-development/pasieka)
There is no password for becoming the super user on rtl4. Log into rtl4 as yourself and type 'su -' to switch users to root. When prompted for the password type a return only.
The sdl database is in epoch:~humphrey/carts/release/processes/spring. You must cd to this directory in all xterms where you will be running a debugger process.
The xdemo executable is in robin:~carts/xdemo94
The sch_mem2log executable is in robin:~carts/sch_pasieka
The robotics_All executable, which runs all of the remote processes, is in robin:~carts/remote_processes/Really.
The LispWorks initialization file is in ~carts/.lispworks. To run LispWorks, you must cd to ~carts.
The 'C' version of the ai planner is in carts/ai-planner-development/pasieka. The executable is 'Planner'.
Order of startup:
run 'kb' in the rtl4 window
run the debugger on all three of the application processor after cd'ing to the right place (see note 2 above). The command is:
'sbug -h rtl4 -l full.db -P ./ -m -c -t -r -b'
'sbug -h rtl2 -l full.db -P ./ -m -c -t -r -b'
run the debugger on the system processor after cd'ing to the right place (see note 2 above). The command is:
'sbug -h rtl4 -l full.db -P ./ -m -c -t -r -b0'
run 'xdemo -m -l
' after cd'ing to the right place (see note 3 above).
run 'sch_mem2log -c -m -f
' after cd'ing to the right place (see note 4 above). Note that the filename given must be the same one given on the 'xdemo' command line.
Wait for 'RPI configuration complete' message on rtl4's system processor
Run 'robotics_All' (see note 5 above).
Wait for 'Entering System Scheduler' message on rtl4's system processor
run 'LispWorks' (see note 6 above) OR 'Planner' (see note 7 above).
For the xdemo:
on the xdemo bar, click left on the status, draw, in/out, and analysis buttons
click left on the 'start' button on the xdemo bar, status, draw and analysis windows
*** Simple help is available on the keystrokes recognized by both the draw and analysis screens by typing 'h' while the mouse is over the screen.
To put a ball on the table: move the mouse to the in/out window, click left on the upper left button until 'Arrival' is displayed and then click left on the ball color desired. You may have to wait for the table to rotate such that a bin is free to place a ball.
To place an order: move the mouse to the in/out window and click left on the upper-left button until 'Request' is displayed. Then click left on 'Setup'. Move the mouse to the Request_Setup window thus created and setup the parameters of the order to be placed. Move the mouse back to the in/out window and click on the ball colors to specify the order to be placed.
If no errors have yet to occur, watch the fun. Otherwise you will have to shutdown and restart the whole process.
**** To cleanly shutdown:
Type a ^C in the window running the 'sch_mem2log' process
Type a ^C in the window running the 'robotics_All' process
click left on the Quit button in the xdemo bar window
Type a ^C in each of the debugger windows
run 'kb' in the rtl4 window