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…e the Medtech Reference Architecture. Add dockerfile scripts which allow for containerization
Integrated Vector CANoe example/demo and created README. Updated examples README
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| # To run the Docker container, run the following command: | ||
| # | ||
| # docker run --rm -it --network host -e DISPLAY -e SDL_AUDIODRIVER=dummy --device=/dev/ttyUSB0 --privileged --hostname rtimedtech -v $XAUTHORITY:/root/.Xauthority -v /tmp/.X11-unix:/tmp/.X11-unix -v $RTI_LICENSE_FILE:/root/rti_license.dat connext:medtech_ra bash |
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I did not have $XAUTHORITY set in my env so this command failed for me. After some brief research I found that $HOME/.Xauthority worked for me for a host-side value in the volume mount.
| # docker run --rm -it --network host -e DISPLAY -e SDL_AUDIODRIVER=dummy --device=/dev/ttyUSB0 --privileged --hostname rtimedtech -v $XAUTHORITY:/root/.Xauthority -v /tmp/.X11-unix:/tmp/.X11-unix -v $RTI_LICENSE_FILE:/root/rti_license.dat connext:medtech_ra bash | |
| # docker run --rm -it --network host -e DISPLAY -e SDL_AUDIODRIVER=dummy --device=/dev/ttyUSB0 --privileged --hostname rtimedtech -v $HOME/.Xauthority:/root/.Xauthority -v /tmp/.X11-unix:/tmp/.X11-unix -v $RTI_LICENSE_FILE:/root/rti_license.dat connext:medtech_ra bash |
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Long term, it may make sense to use a docker compose file to define all the options. I don't think this is necessary at this time.
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I tried that change but it doesn't work for me in my environment. There's a difference between $XAUTHORITY which resolves to /run/user/10633/.mutter-Xwaylandauth.FNAYK3 on my box. I think if Docker is being used, then it's running as root which might cause some issues when sharing a user level xauth. Probably the best way forward is to point the user to a definitive article online. (I'm looking for one)
| # The --device=/dev/ttyUSB0 option is used to give the container access to the USB device (e.g., joystick or xbox controller). | ||
| # The --privileged option is used to give the container additional privileges. | ||
| # The --hostname option is used to set the hostname of the container to rtimedtech. | ||
| # The -v $XAUTHORITY:/root/.Xauthority option is used to mount the X11 authentication file from the host to the container. |
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| # The -v $XAUTHORITY:/root/.Xauthority option is used to mount the X11 authentication file from the host to the container. | |
| # The -v $HOME/.Xauthority:/root/.Xauthority option is used to mount the X11 authentication file from the host to the container. |
| # | ||
| # To run the Docker container, run the following command: | ||
| # | ||
| # docker run --rm -it --network host -e DISPLAY --privileged --hostname rtimedtech -v $XAUTHORITY:/root/.Xauthority -v /tmp/.X11-unix:/tmp/.X11-unix -v $RTI_LICENSE_FILE:/root/rti_license.dat connext:medtech_ra bash |
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| # docker run --rm -it --network host -e DISPLAY --privileged --hostname rtimedtech -v $XAUTHORITY:/root/.Xauthority -v /tmp/.X11-unix:/tmp/.X11-unix -v $RTI_LICENSE_FILE:/root/rti_license.dat connext:medtech_ra bash | |
| # docker run --rm -it --network host -e DISPLAY --privileged --hostname rtimedtech -v $HOME/.Xauthority:/root/.Xauthority -v /tmp/.X11-unix:/tmp/.X11-unix -v $RTI_LICENSE_FILE:/root/rti_license.dat connext:medtech_ra bash |
| # The -e DISPLAY option is used to set the DISPLAY environment variable in the container to the host's DISPLAY variable. | ||
| # The --privileged option is used to give the container additional privileges. | ||
| # The --hostname option is used to set the hostname of the container to rtimedtech. | ||
| # The -v $XAUTHORITY:/root/.Xauthority option is used to mount the X11 authentication file from the host to the container. |
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| # The -v $XAUTHORITY:/root/.Xauthority option is used to mount the X11 authentication file from the host to the container. | |
| # The -v $HOME/.Xauthority:/root/.Xauthority option is used to mount the X11 authentication file from the host to the container. |
| [submodule "resource/cmake/rticonnextdds-cmake-utils"] | ||
| path = resource/cmake/rticonnextdds-cmake-utils | ||
| url = https://github.com/rticommunity/rticonnextdds-cmake-utils | ||
| [submodule "examples/lss_robot/LSS_Library_Python"] |
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For some reason the submodule didn't get added to the git index (maybe not committed?), so git submodule update --init ... didn't pull in the LSS submodule. I used this to add the submodule locally, but examples/lss_robot/LSS_Library_Python just needs to be committed.
git submodule add -f https://github.com/Lynxmotion/LSS_Library_Python.git examples/lss_robot/LSS_Library_Python
README.md
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| Check out the the [system_arch](./system_arch/) folder, where the system architecture artifacts live and are covered in more depth! | ||
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| Also see the [examples](./examples/README.md) folder for runnable, hands-on examples (Joystick, XBox, LSS Robot, Telemetry Bridge, and WIS) that demonstrate devices and services acting as first-class citizens in the reference architecture. |
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I think this is fine to leave here for now, but I want to eventually move all the examples into modules, offering more of a guided workflow/experience.
examples/WIS/scripts/variables.sh
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| export NDDSHOME=~/rti_connext_dds-7.3.0 | ||
| export PUBLIC_PORT=80 | ||
| export DOC_ROOT=./wis_root |
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NDDSHOME should already be set in the environment by the user (e.g. running the rtisetenv script), we don't want to override it here.
| export DOC_ROOT=./wis_root | |
| # export NDDSHOME=~/rti_connext_dds-7.3.0 |
examples/WIS/scripts/variables.sh
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| export NDDSHOME=~/rti_connext_dds-7.3.0 | ||
| export PUBLIC_PORT=80 | ||
| export DOC_ROOT=./wis_root |
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Not sure if the WIS example subfolder was copied elsewhere but this was required for me to get the docroot to be applied for my local machine without hardcoding a path.
| export DOC_ROOT=./wis_root | |
| export DOC_ROOT="$(realpath "$(dirname "${BASH_SOURCE[0]}")")/.." |
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I reformatted the style to align with the modules. I will commit these changes in a doc-only commit.
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I reformatted the style to align with the modules. I will commit these changes in a doc-only commit.
There was a problem hiding this comment.
I reformatted the style to align with the modules. I will commit these changes in a doc-only commit.
There was a problem hiding this comment.
I reformatted the style to align with the modules. I will commit these changes in a doc-only commit.
There was a problem hiding this comment.
I reformatted the style to align with the modules. I will commit these changes in a doc-only commit.
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I would like to incorporate this back into the system arch - a separate "telemetry" domain that is isolated from critical teleop/control. I will note this as a todo item.
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I reformatted the style to align with the modules. I will commit these changes in a doc-only commit.
I added a section on "setup" - this should be reviewed for accuracy.
| [DDS::Writer::Reliability=BEST_EFFORT] | ||
| [DDS::Writer::History=KEEP_ALL] |
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I'm unfamiliar with CANoe vCDL, but BEST_EFFORT + KEEP_ALL doesn't usually make sense. For telemetry data, we may want BEST_EFFORT + KEEP_LAST.
| [DDS::Reader::Reliability=RELIABLE] | ||
| [DDS::Reader::History=KEEP_ALL] |
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We should be using RELIABLE + KEEP_LAST if we want to align with the DataFlowLibrary::Command qos used for t/MotorControl elsewhere.
| [DDS::Reader::Reliability=RELIABLE] | ||
| [DDS::Reader::History=KEEP_ALL] |
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We should be using RELIABLE + KEEP_LAST if we want to align with the DataFlowLibrary::Command qos used for t/MotorControl elsewhere.
wcoleman-rti
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@ajmhs I made a first pass review. Mostly doc styling changes to the readmes, but a few minor tweaks to variables/config to get things running on my machine.
Please review the suggestions I made and if they're valuable to include, or would break your setup for demoing purposes (in which case we should more clearly document setup expectations and exceptions).
Co-authored-by: wcoleman-rti <108848592+wcoleman-rti@users.noreply.github.com>
Co-authored-by: wcoleman-rti <108848592+wcoleman-rti@users.noreply.github.com>
Co-authored-by: wcoleman-rti <108848592+wcoleman-rti@users.noreply.github.com>
Co-authored-by: wcoleman-rti <108848592+wcoleman-rti@users.noreply.github.com>
Co-authored-by: wcoleman-rti <108848592+wcoleman-rti@users.noreply.github.com>
Co-authored-by: wcoleman-rti <108848592+wcoleman-rti@users.noreply.github.com>
Co-authored-by: wcoleman-rti <108848592+wcoleman-rti@users.noreply.github.com>
… POSIX compliant option
…g demo. Updated xbox & joystick controllers, and telemetry bridge app for commonality.
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Additions of examples and dockerfiles to the main codebase of the Reference Architecture as discussed.