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Wiki source code of Dependencies and Compilation

Version 3.1 by stu120505 on 2020/04/03 00:33
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stu120505 3.1 1 = Building and Running the Pinball Autopilot on the Pi =
2
3 The source code lies and building happens inside the folder called {{code language="none"}}pinballProject{{/code}}. For a fresh built, you need a not too old version of {{code language="none"}}make{{/code}}, a C++ compiler (we only tested {{code language="none"}}g++{{/code}}), a internet connection (for downloading the Kieler Compiler), the libraries {{code language="none"}}wiringPi{{/code}} and {{code language="none"}}opencv{{/code}} as well as the command-line tools [[mega-cmd>>url:https://mega.nz/cmd||shape="rect"]] and {{code language="none"}}python2{{/code}}. The tool for mega.nz (and also {{code language="none"}}python2{{/code}}) can be omitted (see below on how to compile without them), everything else except for {{code language="none"}}opencv{{/code}} comes pre-installed with Raspbian. For {{code language="none"}}opencv{{/code}} you need a 4.x version, 4.2.0 ought to work for example. Make sure to enable the option that the entries for {{code language="none"}}pkg-config{{/code}} get configured. It can be built from source on the Raspberry Pi in a few hours, make sure not to use too many threads for compilation because of limited RAM, also perhaps increase the swap.
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5 With all the pre-requisits met, you can use the {{code language="none"}}Makefile{{/code}} to build everything.
6
7 |=(((
8 Command
9 )))|=(((
10 Functionality (All the builds are incremental, i.e. only happen once when the source code is unchanged.)
11 )))
12 |(((
13 {{code language="none"}}
14 make
15 {{/code}}
16 )))|(((
17 same as 
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19 {{code language="none"}}
20 make build_all
21 {{/code}}
22 )))
23 |(((
24 {{code language="none"}}
25 make build_all
26 {{/code}}
27 )))|(((
28 Build the main executable as well as the tools 
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30 {{code language="none"}}
31 video_capture
32 {{/code}}
33
34 and 
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36 {{code language="none"}}
37 calibrate
38 {{/code}}
39
40 .
41 )))
42 |(((
43 {{code language="none"}}
44 make build
45 {{/code}}
46 )))|(((
47 Build the main executable “
48
49 {{code language="none"}}
50 main
51 {{/code}}
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53 ”.
54 )))
55 |(((
56 {{code language="none"}}
57 make run
58 {{/code}}
59 )))|(((
60 Build and execute the main executable.
61 )))
62 |(((
63 {{code language="none"}}
64 make ...xyz
65 {{/code}}
66 )))|(((
67 Make file called “
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69 {{code language="none"}}
70 ...xyz
71 {{/code}}
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73 ”, if a recipe exists. Most notably for 
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75 {{code language="none"}}
76 ...xyz
77 {{/code}}
78
79 ~= 
80
81 {{code language="none"}}
82 calibrate
83 {{/code}}
84 )))
85 |(((
86 {{code language="none"}}
87 make capture
88 {{/code}}
89 )))|(((
90 Build {{code language="none"}}video_capture{{/code}} and execute it. This tool can only be executed on the Pi and can record a video
91 during manual gameplay which is then uploaded to mega.nz with a new numerical file-name.
92 )))
93 |(((
94 {{code language="none"}}make get{{/code}}
95 )))|(((
96 Executes a python script that can (interactively) get a recorded video from the mega.nz folder.
97 Intended for getting video input files transferred to a different machine (not the Pi) for testing the image detection.
98 )))
99 |(% colspan="1" %)(% colspan="1" %)
100 (((
101 {{code language="none"}}
102 make clean
103 {{/code}}
104 )))|(% colspan="1" %)(% colspan="1" %)
105 (((
106 Removes all generated files except for
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108 {{code language="none"}}
109 _pi_logged_in
110 {{/code}}
111
112 , downloaded videos and the downloaded Kieler Compiler.
113 )))
114 |(% colspan="1" %)(% colspan="1" %)
115 (((
116 {{code language="none"}}
117 make clean_all
118 {{/code}}
119 )))|(% colspan="1" %)(% colspan="1" %)
120 (((
121 Like
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123 {{code language="none"}}
124 make clean
125 {{/code}}
126
127 , but without the exceptions. This will delete everything in the folder 
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129 {{code language="none"}}
130 video
131 {{/code}}
132
133 !
134 )))
135
136 For instructions on how to use the {{code language="none"}}./calibrate{{/code}}, see [[doc:World Coordinate System]].
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138 Working without mega.nz (and python): On the pi, you need to create a file called {{code language="none"}}_pi_logged_in{{/code}} (e.g. with {{code language="none"}}touch _pi_logged_in{{/code}}) before calling {{code language="none"}}make{{/code}} for the first time. On a different machine, you don’t need to do this. You cannot use {{code language="none"}}make capture{{/code}} or {{code language="none"}}make get{{/code}} without these command-line tools.
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140 If future updates of {{code language="none"}}mega-cmd{{/code}} or the command-line Kieler Compiler {{code language="none"}}kico.jar{{/code}} include relevant breaking changes, you might need to resolve those problems (work without {{code language="none"}}mega-cmd{{/code}} or acquire a {{code language="none"}}kico.jar{{/code}} from around March 2020).
141
142 = Setting up the Pi for Better Real Time Performance =
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144 The program will stick its latency-sensitive threads for controlling the IO pins and for image processing to the cores 3 and 4 of the 4-core Raspberry Pi. To ensure best real-time performance, please configure the kernel parameter (% style="color: rgb(0,0,0);font-family: SFMono-Medium , SF Mono , Segoe UI Mono , Roboto Mono , Ubuntu Mono , Menlo , Courier , monospace;" %)2,3{{code language="none"}}isolcpus={{/code}}(%%) (they count from 0) to the file {{code language="none"}}/boot/cmdline.txt{{/code}} and reboot. This will make sure that the operating system doesn’t schedule any tasks on those cores.
145
146 = Building and Running on Any Other Linux Machine =
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148 The program can be built and partially run on other machines. There you potentially need to install all the requirements yourself. Just {{code language="none"}}wiringPi{{/code}} is not needed. Also don’t use a machine where the current user is called {{code language="none"}}pi{{/code}}. We’ve observed problems with a too old version for {{code language="none"}}make{{/code}}, for example 4.2 should be new enough. Possibly {{code language="none"}}python2{{/code}} needs to be installed on your machine. Compared to a Raspberry Pi, compilation of {{code language="none"}}opencv{{/code}} on your machine is going to be a lot more fun (way faster and no issues with too little RAM) Regarding versions, see the relevant section above, note that {{code language="none"}}pkg-config{{/code}} is needed, too, in case you don’t have that already.
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150 Running works like on the Pi. The main program will prompt you for the name (without extension) of a video file in the {{code language="none"}}video{{/code}} folder. Make sure to get some file, at the time of this writing there is a file called {{code language="none"}}1{{/code}} that you can get via {{code language="none"}}make get{{/code}} as well as a few more named files that were created before we had the {{code language="none"}}make capture{{/code}} command.
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152 After choosing a video file, the program starts using the video input in “real time”; since things are not really real-time, the controller does not work too well. (Simulating time properly is not fundamentally a problem but something we didn’t finish implementing.) This means you can mostly ignore the debug-printouts about ticks happening. What you can do is test the image processing / ball detection. This works better than on the Pi, because we are providing controls for pausing or changing the playback speed.
153
154 |=(((
155 Key
156 )))|=(((
157 Playback effect
158 )))
159 |(((
160 {{code language="none"}}
161 <space>
162 {{/code}}
163 )))|(((
164 play/pause
165 )))
166 |(((
167 {{code language="none"}}
168 +
169 {{/code}}
170 )))|(((
171 increase playback speed ×2
172 )))
173 |(((
174 {{code language="none"}}
175 -
176 {{/code}}
177 )))|(((
178 decrease playback speed ×0.5
179 )))
180 |(% colspan="1" %)(% colspan="1" %)
181 (((
182 {{code language="none"}}
183 .
184 {{/code}}
185 )))|(% colspan="1" %)(% colspan="1" %)
186 (((
187 while paused, advance by one frame
188 )))
189
190 If you recalibrate the coordinate system on the Pi, you might want to transfer the config file for the coordinate system (however there is nothing really depending on the coordinate transformation being correct inside the image detection anyways).