Subject:
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Re: 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 18:23:51 GMT
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Viewed:
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3668 times
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Cool! I'll add this to the HOWTO when I do the 0.2.0 update. Are there
any plans on the horizon for either emuLegOS or LegOSim to update to
0.2.0 anytime soon?
Luis
On Fri, 29 Oct 1999, Frank Mueller wrote:
> Date: Fri, 29 Oct 1999 15:06:22 GMT
> From: Frank Mueller <mueller@informatik.hu-berlin.de>
> To: lugnet.robotics.rcx.legos@lugnet.com
> Subject: RELEASE: LegoSim -- another LegOS Simulator
>
> 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
>
>
#######################################################################
Profanity is the one language that all programmers understand.
-Anonymous
#######################################################################
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 | | RELEASE: LegoSim -- another LegOS Simulator
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| RELEASE: LegoSim A UNIX-based Simulator for LegOS with an Applet-GUI LegoSim is (yet another) simulator for LegOS. URL: (URL) another simulator? At the time the project started, there was no other simulator. Once Emulegos was announced, we did not (...) (27 years ago, 29-Oct-99, to lugnet.robotics.rcx.legos)
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