Subject:
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RELEASE: LegoSim -- another LegOS Simulator
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Newsgroups:
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lugnet.robotics.rcx.legos
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Date:
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Fri, 29 Oct 1999 15:06:22 GMT
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Viewed:
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1258 times
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RELEASE: LegoSim
A UNIX-based Simulator for LegOS with an Applet-GUI
LegoSim is (yet another) simulator for LegOS.
URL: http://www.informatik.hu-berlin.de/~mueller/legosim/
Why another simulator?
At the time the project started, there was no other simulator.
Once Emulegos was announced, we did not like the
look-and-feel.
We wanted to separate the GUI from the simulator.
We prefer a GUI that closely resembles the RCX.
We wanted a flexible GUI that can also serve as a control unit, not
just as a simulator interface.
We wanted a simulator that can live without the GUI, for example,
to connect it to other RCXs via IR.
You may run the GUI on a different machine than the simulator.
How does it work?
There are two separate component, a Java-Applet GUI and a
simulator library, which are coupled by Perl scripts.
The simulator library
is a replacement for LegOS that can be linked with any
LegOS application.
Tasks are mapped onto POSIX Threads.
Input and ouput of any devices is simulated as a string on
stdin/stdout following a grammatical specification.
The Java-Applet GUI
displays the actions of the RCX received in stdin as closely
as possible.
accepts inputs and generates the appropriate stdout string
to forward the input to the RCX.
Perl scripts connect the GUI to the LegOS application and vice
versa.
What is or is not supported?
API based on LegOS 0.1.7.
sensors: touch (press black Lego brick of sensor 1/2/3) or enter
value in yellow input field above respective sensor.
actuators: last action is displayed in yellow fields below respective
actuators (motors).
IR: output of RCX displayed in to yellow field, input to RCX can be
entered into same filed, then press "ir send".
buttons: Press On-Off or Run. View and Prgm not supported yet.
LCD: basic LCD output, but not in 7 segment format. Refresh
ignored.
Sound: not at all.
Where do it get it, what kind of software is required, how do I install it?
Here are the bundled sources.
http://www.informatik.hu-berlin.de/~mueller/legosim/
Prerequisites:
Linux: gcc/egcs, glibc2 or some POSIX Threads, Java
JDK, Perl.
SunOS 4.1.x: gcc/egcs, FSU Pthreads, and (maybe on some other host)
Java JDK, Perl.
others: Tested under Linux but may run elsewhere with the same
requirements.
Install for Linux as follows (for SunOS 4.1.x, replace LINUX -> SUN4):
get two windows (xterms)
in window 1:
cd $HOME
tar xzf legosim.tgz
cd legosim
if your installation path is not $HOME/legosim, then edit
Makefile.common to set correct SIM_ROOT (and, if
using FSU Pthreads, also THREAD_ROOT)
cd LINUX
make
cd ../examples/LINUX
make simple-rover
../../tcp2stdout 4712 | simple-rover | ../../stdin2tcp
localhost 4711 5
now you have 5 seconds to execute the last command in window
2; if you see "Connection refused", enter
the previous command again
in window 2:
cd $GOME
cd legosim
tcp2stdout 4711 | appletviewer legosim.html | stdin2tcp
localhost 4712 5
Once you see "Connected to localhost, port #4711/4712", you have
done it! The simple-rover program is running in
the simulator.
Now click on the black Lego blick above sensor 1.
You should see the motors (and LCD) reverse, go left (A reverse, C
forward), and forward again.
Notice the required changes to your LegOS program: When you want to
test LegOS programs with this
simulator, you need to:
insert sim_init(); as the first thing in main()
replace kill -> sim_kill
#include "kmain.h" to get rid of a warning
How about Documentation and other Pointers?
Simulation Library Documentation (in German but specs summarized in a
table)
Java Applet-GUI Documentation (in German but specs summarized
Realtime-Robotics Project at Humboldt University Berlin
Bugs and a wish list:
On-Off clear the memory, i.e., the program cannot run again.
Run only toggles the walker. It does not run/stop the program.
View/Prgm do not work yet.
LCD refresh is ignored.
Sound does not work.
The simulator should really be a library, not just a collection of object
files.
The sensors and actuators should be displayed with symbols, directions
and slides bars (for speed).
Mail your enhancements to Frank Mueller.
Who is responsible for this software?
No liability, Mozarilla MPL license.
But we designed and implemented it:
Frank Mueller
Thomas Röblitz
Oliver Bühn
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