robertalab-ev3dev

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robertalab-ev3dev

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roberta lab connector for ev3dev

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# intro #
A connector to use a LEGO Mindstorms EV3 running the ev3dev firmware
(http://www.ev3dev.org) from the Open Roberta lab (http://lab.open-roberta.org).
This is now included by default with ev3dev images (Thanks @dlech).

Step-by-step instruction to help you get ev3dev up and running can be found here
(https://www.ev3dev.org/docs/getting-started/).

Important note for Step 1 of the manual: You have to download the ev3dev
operating system for your EV3 robot via the following link:
[ev3dev - Github releases](https://github.com/ev3dev/ev3dev/releases/tag/ev3dev-jessie-2017-09-14).
Select there the file ev3dev-jessie-ev3-generic-2017-09-14.zip.

As soon as everything is installed, the connector is not enabled by default
(to save memory), so you do have to enable it once:

1. Connect to the LEGO brick using SSH: (Read this for the [default password](http://www.ev3dev.org/docs/tutorials/connecting-to-ev3dev-with-ssh/))
```bash
ssh robot@ev3dev.local
```
2. On the brick run:
```bash
sudo systemctl unmask openrobertalab
sudo systemctl start openrobertalab
```

After running the commands above, it will start automatically after a reboot.
You can turn it back off by running:

```bash
sudo systemctl stop openrobertalab.service
sudo systemctl mask openrobertalab.service
```

If the ``openrobertalab`` package is installed and the service is running, the
``Open Roberta Lab`` menu item in brickman will allow you to connect to an Open
Roberta server. This is how the menu will look like:

![Main Menu](https://raw.githubusercontent.com/OpenRoberta/robertalab-ev3dev/develop/docs/MenuMain.png).

Once you selected the ``Open Roberta Lab`` menu item you'll get to this screen:

![Open Roberta Lab](https://raw.githubusercontent.com/OpenRoberta/robertalab-ev3dev/develop/docs/RobertaLabDisconnected.png).

This offers to connect to the public server as the first item, or to a custom
server as a 2nd item. The 2nd choice is mostly for developers or for using a
local server. When clicking connect, the screen will show a pairing code:

![Pairing Code](https://raw.githubusercontent.com/OpenRoberta/robertalab-ev3dev/develop/docs/RobertaLabConnecting.png).

This code will have to be entered on the web-ui to establish the link. Once that
has been done a beep-sequence on the EV3 confirms the link and this screen is
shown:

![Connected](https://raw.githubusercontent.com/OpenRoberta/robertalab-ev3dev/develop/docs/RobertaLabConnected.png).

When a program contains an infinite loop, it can be ``killed`` by pressing
the ``enter`` and ``down`` buttons on the ev3 simultaneously. If this is not
enough to terminate the program, holding the ``back`` button for one second
will kill it, but together with it the connector. The connector will restart
automatically, but one needs to reconnect to the Open Roberta server again.

# build status #

[![Build Status](https://travis-ci.org/OpenRoberta/robertalab-ev3dev.svg?branch=develop)](https://travis-ci.org/OpenRoberta/robertalab-ev3dev/builds)
[![Test Coverage](https://codecov.io/gh/OpenRoberta/robertalab-ev3dev/branch/develop/graph/badge.svg)](https://codecov.io/gh/OpenRoberta/robertalab-ev3dev)

# development #

The package consist of two parts:

1. [roberta/lab.py](https://github.com/OpenRoberta/robertalab-ev3dev/blob/develop/roberta/lab.py): the connector to the open roberta lab
    * this is started as a systemd service at startup
    * it provides a dbus interface
    * the [brickman ui](https://github.com/ev3dev/brickman) uses dbus for the `Open Roberta` menu
2. [roberta/ev3.py](https://github.com/OpenRoberta/robertalab-ev3dev/blob/develop/roberta/ev3.py): a hardware abstraction library
    * provides the implementation for the NEPO blocks in the program

The connector talks with two main components, the server and the local brickman UI:

![Architecture](https://raw.githubusercontent.com/OpenRoberta/robertalab-ev3dev/develop/docs/architecture.png).

## prerequisites ##
python3-ev3dev
python3-bluez
python3-dbus
python3-gi

## dist ##

VERSION="1.3.2" python setup.py sdist

Resulting file is under ./dist/openrobertalab-${VERSION}.tar.gz

Now you can also build a debian package using ``debuild`` or
``debuild -us -us``. The new package will be in the parent folder.

To build a release for the openroberta server run

rm roberta/*~
    zip -r roberta.zip roberta -x roberta/test*.py -x *__pycache__*

## upload to ev3 ##
The easiest is to upload the debian package and install it.

scp ../openrobertalab_1.3.2-1_all.deb maker@ev3dev.local:
    ssh -t maker@ev3dev.local "sudo dpkg --install openrobertalab_1.3.2-1_all.deb;"

Alternatively after changing single files you can do:

scp roberta/ev3.py robot@ev3dev.local:
    ssh -t robot@ev3dev.local "sudo mv ev3.py /usr/lib/python3/dist-packages/roberta/; sudo systemctl restart openrobertalab"

Finally you can also upload through a local open roberta server (assuming
your git checkout of the openroberta-lab is at the same parent dir):

mkdir -p ../openroberta-lab/RobotEV3/updateResources/
   cp roberta.zip ../openroberta-lab/RobotEV3/updateResources/ev3dev/

## configuration ##
The brickman ui will store configuration data under /etc/openroberta.conf. All
configuration can be edited from the UI. If there is a need to manually change
the configuration, it is advised to stop brickman.

## Testing ##
``python3 -m unittest discover roberta`` or ``nosetests``.
The test require ``python3-httpretty``, but run without ``python3-ev3dev``.

## Logging ##
The service writes status to the system journal.

sudo journalctl -f -b0 -u openrobertalab

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