152 lines
3.6 KiB
Markdown
152 lines
3.6 KiB
Markdown
# CMVR-ES
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## 简介
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CMVR-ES 工程。
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## 安装
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### 1. 拉取 Git 子模块
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```
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git submodule update --init --recursive
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```
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### 2. 安装系统依赖
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```shell
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# 基础工具
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sudo apt-get update
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sudo apt install -y build-essential cmake git pkg-config patchelf libboost-all-dev libssl-dev
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# OpenCV
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sudo apt install -y \
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libjpeg-dev libpng-dev libtiff-dev \
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libavcodec-dev libavformat-dev libswscale-dev \
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libv4l-dev libxvidcore-dev libx264-dev \
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libgtk-3-dev
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# PulseAudio
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sudo apt-get install libpulse-dev
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# OpenGL
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sudo apt-get install libgl1-mesa-dev
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# GLFW
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sudo apt-get install libglfw3-dev
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# Assimp
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sudo apt-get install libassimp-dev
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# visp
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sudo apt-get install -y libx11-dev liblapack-dev libzbar-dev libpthread-stubs0-dev libdc1394-dev nlohmann-json3-dev
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# RealSense
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sudo apt-get install -y \
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libusb-1.0-0-dev libudev-dev \
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libglu1-mesa-dev
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# Matplot++
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sudo apt install gnuplot-qt
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```
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### 3. 配置 IgH EtherCAT
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工程已内置 IgH EtherCAT 1.7.0 的 userspace 文件：
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```text
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dependency/x86/third_party/ethercat/v1.7.0
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```
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先设置本机路径：
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```shell
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export CMVR_ES_ROOT=/path/to/cmvr-es
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export IGH_ETHERCAT_ROOT=$CMVR_ES_ROOT/dependency/x86/third_party/ethercat/v1.7.0
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```
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安装当前内核的 header：
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```shell
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sudo apt-get update
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sudo apt-get install -y linux-headers-$(uname -r)
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```
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如果内置目录里已经有当前内核版本的 EtherCAT 内核模块，直接安装到系统：
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```shell
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sudo mkdir -p /lib/modules/$(uname -r)/ethercat
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sudo cp -r $IGH_ETHERCAT_ROOT/lib/modules/$(uname -r)/ethercat/* /lib/modules/$(uname -r)/ethercat/
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sudo depmod
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```
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内置内核模块只适用于相同内核版本。如果 `$IGH_ETHERCAT_ROOT/lib/modules/$(uname -r)` 不存在，说明这台机器的内核版本不匹配，需要在这台机器上重新编译安装 IgH EtherCAT：
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```shell
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sudo apt-get update
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sudo apt-get install -y \
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build-essential autoconf automake libtool pkg-config git \
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linux-headers-$(uname -r)
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cd /tmp
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git clone --branch stable-1.7 --depth 1 https://gitlab.com/etherlab.org/ethercat.git ethercat-stable-1.7
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cd ethercat-stable-1.7
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./bootstrap
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./configure \
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--prefix=$IGH_ETHERCAT_ROOT \
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--libdir=$IGH_ETHERCAT_ROOT/lib \
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--includedir=$IGH_ETHERCAT_ROOT/include \
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--sysconfdir=$IGH_ETHERCAT_ROOT/etc \
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--with-systemdsystemunitdir=$IGH_ETHERCAT_ROOT/lib/systemd/system \
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--enable-generic \
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--with-linux-dir=/lib/modules/$(uname -r)/build
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make -j$(nproc) all modules
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make install
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sudo make modules_install
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sudo depmod
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```
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启动 EtherCAT。`eno1` 换成实际连接 EtherCAT 从站的网卡：
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```shell
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sudo script/ethercat/start_ethercat.sh eno1
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```
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脚本会写入内置 IgH 配置文件：
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```text
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$IGH_ETHERCAT_ROOT/etc/ethercat.conf
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```
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脚本会把该网卡的 MAC 写到 `MASTER0_DEVICE`，使用 `DEVICE_MODULES="generic"`，把网卡从 NetworkManager 断开，并通过 `ethercatctl -c` 启动 IgH master。
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查看状态：
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```shell
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script/ethercat/status_ethercat.sh
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$IGH_ETHERCAT_ROOT/bin/ethercat master
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$IGH_ETHERCAT_ROOT/bin/ethercat slaves
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$IGH_ETHERCAT_ROOT/bin/ethercat pdos
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```
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停止 EtherCAT：
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```shell
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sudo script/ethercat/stop_ethercat.sh eno1
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sudo script/ethercat/stop_ethercat.sh eno1 --restore-network
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```
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## 组件文档
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具体能力、配置、协议和安全边界由对应代码目录下的 README 维护：
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- [MotorService gRPC 接口](cmvr-es/service/README.md#motorservice)
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- [电机设备模块](cmvr-es/devices/motor/README.md)
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- [AUBO 控制柜 Standard 数字 IO](cmvr-es/devices/arm/aubo_arm/README.md)
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- [配置与部署规则](cmvr-es/config/README.md)
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AUBO JSON 接口只访问控制柜 Standard 数字 IO，不访问安全 IO。
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