Differences

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--- run [2019/08/07 16:02] – [Run the Application not on Startup - only for testing] visentin
+++ run [2021/10/05 14:40] – [Running the Delta Application] ursgraf
@@ Line 3: / Line 3: @@
 ====== Running the Delta Application ======
-Starting the application on the Delta robot will do a homing first, see [[sequencer#homing|Homing]]. After homing the Delta is in //system ready// mode which is indicated by the green and blue LED. \\
-\\
-If you press the green button, the Delta starts its [[sequencer#auto_moving_sequence|Auto Moving Sequence]]. In between shuffling and sorting the blocks you can take control by using a mouse, see [[sequencer#mouse_sequence|Mouse Sequence]]. By moving the mouse you can move the tool center point (TCP). You can raise and lower the TCP by scrolling. By pressing the left or right mouse button you enable the electromagnet. Releasing the mouse button will disable it. If you do not perform any action with the mouse for 2 seconds, the robot will start it's auto sequence operating mode again.\\
-\\
-Press the blue button to stop the [[sequencer#auto_moving_sequence|Auto Moving Sequence]] or [[sequencer#mouse_sequence|Mouse Sequence]]. This will stop the current sequence, raise the TCP and put it back to it's homing position. The robot is again in //system ready// mode. \\
-\\
-Press the red button in case of an emergency and the red LED lights up. In this case you have to press the green button to continue. The Delta will repeat its homing and go to //system ready// mode.\\
-\\
-If you press the blue button 3 times in the //system ready// mode, the robot will move to it's parking position and power down. When pressing the green and blue button together in the //system ready// mode, the Delta can be calibrated.\\
+Next, ssh into the target. Before you start the delta application you have to make sure that your mouse works with
+<code>
+ost@bblue:$ sudo cat /dev/input/event1
+</code>
+Start your application in a second terminal while the above command is still running
-===== Run the Application on Startup =====
-To run Delta application on startup just copy the //start.sh// from the //bbblue-scipts// folder on your target:
 <code>
-scp ./bbblue-scripts/start.sh debian@192.168.7.2:/opt/eeros/bin
+ost@bblue:$ cd bin
+ost@bblue:$ sudo ./bin/delta -c bin/HwConfigBBBlue.json
 </code>
-and make sure that it's executable:
+===== Autostart =====
+Usually you want run the application upon startup of the board after you applied power.
+For this purpose you have to copy two files from the //bbblue-scripts// folder of [[https://github.com/eeduro/eeduro-scripts|]] to your target:
 <code>
-debian@beaglebone:$ sudo chmod +x /opt/eeros/bin/start.sh
+$ scp ./bbblue-scripts/start.sh ost@192.168.7.2:bin
+$ scp ./bbblue-scripts/delta-startup.service ost@192.168.7.2:bin
 </code>
-In the ''rc.local'' file on your target add the following line:
+Make sure that ''start.sh'' is executable on the target. ssh into the target and run:
 <code>
-sudo screen -dmS delta /opt/eeros/bin/start.sh
+ost@bblue:$ chmod +x bin/start.sh
 </code>
-This script will start the Delta application in a detached screen. To see the log output from the application just reattach to this screen session.
+Further, copy the file ''delta-startup.service'' to the right location, so that your systemd can find it upon initialization.
 <code>
-debian@beaglebone:$ sudo screen -r delta
+ost@bblue:$ sudo mv bin/delta-startup.service /etc/systemd/system/
 </code>
-If the Delta application terminates the BeagleBoneBlue will shutdown.
+As a final step you have to enable the service with
-===== Run the Application not on Startup - only for testing =====
-If you want to test the application without start-up script, you can type on one terminal the following:
 <code>
-cd /dev/input
+ost@bblue:$ sudo systemctl enable delta-startup
-sudo cat event1
 </code>
+and reboot with
+<code>
+ost@bblue:$ sudo /sbin/reboot
+</code>
+Now, the Delta application will start 20s after the board is powered up and the operating system finished its bootup procedure. When the Delta application terminates the Beaglebone Blue will shutdown after 30s. You can terminate the application as described in [[user_interface|]].
-And in a second terminal
+:!: Please note that upon termination of the program the BeagleBoneBlue will shutdown and you will loose your ssh connection.
+===== Get Output of Loggers after Autostart =====
+The Delta application periodically logs various state information. To see this output the application was started in a detached screen. To see the log output from the application just reattach to this screen session. First connect to your target with
+<code>$ ssh ost@192.168.7.2</code>
+then reattach with
 <code>
-cd /opt/eeros/bin
+ost@bblue:$ sudo screen -r delta
-sudo ./delta -c HwConfigBBBlue.json
 </code>
+You could also terminate the application by pressing ''CTRL-C''. \\
+:!: Please note that upon termination of the program the BeagleBoneBlue will shutdown and you will loose your ssh connection.
 ----
 **Next: [[dev|]]**