ASDP_Core_Module

This repository implements the Core Module of the ASDP project, controlling a camera system and producing data for one or more network-connected clients.

The TR-006v16_Software_Architecture document describes the overall architecture of the project and includes diagrams showing how the modules interact. It also includes descriptions of the APIs used to communicate between modules.

System setup

This module derives from the CoreServerBase class, which is defined in the ASDP_Core_API library. That library must have been installed on the system before this module can be compiled. The base class implements most of the functionality of the server, so this module only needs to override virtual methods, update the server state, and handle operations that continually run (sending temperature and pose messages). The library is available at https://github.com/arizonaCameraLab/ASDP_Core_API

sudo apt install cmake
cd; mkdir src; cd src; git clone https://github.com/arizonaCameraLab/ASDP_Core_API
cd; mkdir -p build/ASDP_Core_API; cd build/ASDP_Core_API
cmake ../../src/ASDP_Core_API
make
sudo make install

This module uses an instance of the ASDP_BSP_API to control the hardware, so an instance of that must have been installed on the system before this module can be compiled. A simulated library is available at https://github.com/arizonaCameraLab/ASDP_Camera_Simulator

One way to do this is to install the Camera_Simulator repository, as follows:

sudo apt install cmake
cd; mkdir src; cd src; git clone --recursive https://github.com/arizonaCameraLab/ASDP_Camera_Simulator
cd; mkdir -p build/ASDP_Camera_Simulator; cd build/ASDP_Camera_Simulator
cmake ../../src/ASDP_Camera_Simulator
make
sudo make install

Another way is to install the actual BSP library for the camera being used, once these become available.

Building

Once the above installations are complete, CMake is used to configure the build. The following commands can be used to build the project:

sudo apt install cmake
cd; mkdir src; cd src; git clone https://github.com/arizonaCameraLab/ASDP_Core_Module
cd; mkdir -p build/ASDP_Core_Module; cd build/ASDP_Core_Module
cmake ../../src/ASDP_Core_Module
make

Installing

The application can be installed on the system by running the following command:

sudo make install

The dynamically-loaded library for ASDP_BSP must be copied into the same directory as the executable or into a location specified in the load-library path.

Running

The ASDP_Core_Module program runs the server and it must be given a command-line argument specifying the network name or IP address of the network interface card to use (for example, localhost for testing).

So that the program can find the require shared library, you need to specify that the installation library directory is in the library load path. This can be done in user configuration files or on the command line when running: LD_LIBRARY_PATH=/usr/local/lib ASDP_Core_Module localhost --verbosity 2 for example.