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Quickstart

Run the random block example

This (silly) example creates a random number generator block. It's output is hexdump'ed (using the hexdump interaction block) and also logged using a file_logger block.

$ luajit examples/trig_rnd_to_hexdump.lua
...

Browse to http://localhost:8888

Explore:

  1. clicking on the node graph will show the connections
  2. clicking on blocks will show their interface
  3. start the file_log1 block to enable logging
  4. start the ptrig1 block to start the system.

Create your first block

Generate block

$ tools/ubx_genblock.lua -d std_blocks/myblock -c examples/block_model_example.lua
     generating ...

Run ubx_genblock -h for full options.

The following files are generated:

  • Makefile standard makefile (you can edit this file)
  • myblock.h block interface and module registration code (don't edit)
  • myblock.c module body (edit and implement functions)
  • myblock.usc simple microblx system composition file, see below (can be extended)
  • types/vector.h sample type (edit and fill in struct body)
  • robot_data.h sample type (edit and fill in struct body)

Compile the block

$ make    # could also be run inside std_blocks/myblock

Launch block using ubx_launch

$ tools/ubx_launch -webif -c std_blocks/myblock/myblock.usc

Run ubx_launch -h for full options.

Browse to http://localhost:8888

Notes

  • Commands must be run from root of source tree. This will change in the future when blocks and libraries are installed.

  • Note the "random block example" uses a plain script to launch the system, while ubx_launch uses a declarative system model to launch, connect and configure blocks.