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Welcome to the tools-rock_bridge wiki! (Work in progress ...)

Installation:

Having loaded the environment variables of ESROCOS: From the main directory, run amake and the executable will be installed.

Usage:

To understand the process easyly there are some files/folders in tools/rock_bridge/test that is going to be used as a tutorial, copy the content of this folder to (for example) ~/Desktop/rock_bridge_tutorial to avoid overwriting original files):

$ cp -R ~/esrocos_workspace/tools/rock_bridge/test/ ~/Desktop/rock_bridge_tutorial/
$ cd ~/Desktop/rock_bridge_tutorial/camera_simulator; amake

1. Create your TASTE model

• One function will be the bridge (PI->output_port and RI->input_port)
• One parameter per interface (this will be checked anyways)
• In deployment view bind the bridge function (and others you want) to a x86.linux_dll partition.
• Build your model.

$ cd ~/Desktop/rock_bridge_tutorial/taste_clean; ./build-script.sh

2. Run create_rock_bridge script (no matter where):

• 1st param: absolute path to your taste model skeletons.
• 2nd param: The name of the function that will be the bridge.
• 3rd param: absolute path to iv.py (usually absolute-path-taste-model/binary.c/iv.py)
• 4th param: absolute path to shared-library.so (usually absolute-path-taste-model/binary.c/binaries/x86_linux.so)
• Check [INFO] or [ERROR] messages during the process.

$ cd ~/Desktop/rock_bridge_tutorial
$ create_rock_bridge ~/Desktop/rock_bridge_tutorial/taste_clean camera_rock_bridge ~/Desktop/rock_bridge_tutorial/taste_clean/binary.c/iv.py ~/Desktop/rock_bridge_tutorial/taste_clean/binary.c/binaries/x86_partition.so

3. Re-build your TASTE model:

cd ~/Desktop/rock_bridge_tutorial/taste_clean; ./build-script.sh

4. Now, you have created (and installed) a Rock orogen task that initialize the taste model and ports are connected to its interfaces.

$ cd ~/Desktop/rock_bridge_tutorial/scripts; ruby SimCamera-Taste.rb