LRAUV  revA
Tethys/LRAUV System Software

Introduction

The Tethys/LRAUV system software is really cool for a number of really good reasons.

Building

Build Dependencies

  • g++ package
  • build-essential package
  • lua5.1
  • libreadline-devel
  • libhdf5-devel, at least version 1.8.7
  • gawk
  • doxygen (for building documentation)
  • astyle (for pretty printing)
  • gccxml (for cxxcheck style checking)
  • g++-4.2 (for cxxcheck style checking)
  • g++-4.1 (for backwards-compatability checking)

Building for host simulation

from ../workspace/LRAUV/Build/ "make host"

from ../workspace/LRAUV/ "make -C Build/ host"

Building for target simulation

from ../workspace/LRAUV/Build/ "make lpc3sim"

from ../workspace/LRAUV/ "make -C Build/ lpc3sim"

Building for target execution

from ../workspace/LRAUV/Build/ "make lpc3180"

from ../workspace/LRAUV/ "make -C Build/ lpc3180"

SimDaemon

The simulator must be running on a host machine, unless the code is being run on a real AUV. By default, the same machine is tested to see if SimDaemon is is running on it. If not, the SimDaemon running on another machine (currently tellum.shore.mbari.org) will be used.

SimDaemon can be launched from the LRAUV folder as "bin/SimDaemon &" or from the LRAUV/bin folder as "SimDaemon &"

Execution

Execution must commence from the LRAUV folder.

Example: "bin/LRAUV"

This will give you a Tethys> prompt, from which you can enter commands such as "help" or "run" or "exit" or "quit". The "run" command can be followed by the name of a mission to run, such as "Mission.lua"

The existing slate and syslog will be appended, so you may want to delete them before running, with a "rm s*" command.

A useful command line option is -x, which executes the argument that follows it. So you could enter, for example:

rm s*; bin/LRAUV -x "run Mission.lua"