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SDK

The SDK provide a simple C++ class interface to send command to the masterboard via Ethernet or Wifi.

Prepare you interface

You first need to identify you interface name. To get a list of the interface on your computer, run ifconfig

Ethernet

A direct connection should me made between the master board and you computer. It is not possible to use the same interface for local network and master board connection.

Optional configuration:

Some packet will be sent by the OS to the master board. Their are not usefull since the master board only use raw MAC frame. To disable ARP packet run:

sudo ifconfig MY_INTERFACE -arp

where MY_INTERFACE is your lan interface name.

To disable IPV6 trafic, add this line into /etc/sysctl.conf

net.ipv6.conf.MY_INTERFACE.disable_ipv6 = 1

where MY_INTERFACE is your lan interface name.

Optional configuration (macOS):

To disable IPV6 and IPV4 you can use

networksetup -listnetworkserviceorder

to have the list of NetworkService (Hardware Port) related to the interface.

It is then possible to switch off IPV6 with:

networksetup -setv6off NetworkService

Wifi

Your interface should support monitor mode and injection since the procol used by the master board is not a standard wifi. You need to configure your interface. A script is available in the sdk folder. to use it run

sudo ./setup_wifi.sh MY_INTERFACE

where MY_INTERFACE your wlan interface name.

How to run the C++ example

main.cpp is a simple example to test the SDK, tested on ubuntu. It will execute a sinusoid trajectory on the first N_CONTROLLED_SLAVE to compile it go into the sdk folder and run:

make

a bin folder is created. to run the example run:

sudo ./bin/exec MY_INTERFACE

where MY_INTERFACE is the name of the network interface used to connect to the master board.

How to run the Python examples

  • Clone the repository: git clone --recursive https://github.com/open-dynamic-robot-initiative/master-board.git

  • Get into the repository: cd master-board

  • Set the number of controlled drivers by opening sdk/master_board_sdk/example/example.py and tuning the N_SLAVES_CONTROLED constant: N_SLAVES_CONTROLED 4 if you are using 4 driver boards (1 per leg)

  • Get in sdk/master_board_sdk/: cd sdk/master_board_sdk/

  • Create a build folder: mkdir build

  • Get into the folder: cd build

  • Two possibilities:

    • Using ccmake .. turn on Python bindings by setting BUILD_PYTHON_INTERFACE to ON and CMAKE_BUILD_TYPE to RELEASE. Then compile and create the bindings: cmake .. then make
    • Directly use cmake -DBUILD_PYTHON_INTERFACE=ON -DCMAKE_BUILD_TYPE=RELEASE .. then make. If you want to run the scripts with Python 3 then use cmake -DBUILD_PYTHON_INTERFACE=ON -DCMAKE_BUILD_TYPE=Release -DPYTHON_EXECUTABLE=$(which python3) .. instead.

  • Run the control script with the name of your Ethernet interface instead of name_interface (for instance enp1s0):

sudo PYTHONPATH=. python example/example.pyc -i name_interface

  • Run the listener script with the name of your Ethernet interface instead of name_interface (for instance enp1s0):

sudo PYTHONPATH=. python example/listener.pyc -i name_interface

  • Run the communication analyser script with the name of your Ethernet interface instead of name_interface (for instance enp1s0):

sudo PYTHONPATH=. python example/com_analyser.pyc -i name_interface

How to run an executable based on the SDK without root permissions

To run an executable named EXECUTABLE_NAME without root permissions, run :

sudo setcap cap_net_admin,cap_net_raw+ep EXECUTABLE_NAME

remember to reset the capabilities on python if you use it other you can get into trouble:

sudo setcap -r /usr/bin/python3.6