MARTe2 » MARTe2-core

.. date: 20/12/2022

   author: José M Gómez

   copyright: Copyright 2017 F4E | European Joint Undertaking for ITER and

   the Development of Fusion Energy ('Fusion for Energy').

   Licensed under the EUPL, Version 1.1 or - as soon they will be approved

   by the European Commission - subsequent versions of the EUPL (the "Licence")

   You may not use this work except in compliance with the Licence.

   You may obtain a copy of the Licence at: http://ec.europa.eu/idabc/eupl

   warning: Unless required by applicable law or agreed to in writing, 

   software distributed under the Licence is distributed on an "AS IS"

   basis, WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express

   or implied. See the Licence permissions and limitations under the Licence.

Tutorial

===============================

In this tutorial you will be able to use some of the main features of MARTe2.

The first step will be to set up the environment using the repository containing 

all the demos for MARTe2 Training Session

Setting up environment 

----------------------

It is assumed that a clean CentOS 7 installation is being used (https://www.centos.org/download/).

Alternatively, there is also a Dockerfile available (see below).

Download all the needed software

--------------------------------

Open a terminal, install epel repository and update the distribution: ::

    yum -y install epel-release

    yum -y update

Install git: ::

    yum -y install git

Install all the standard development tools, the cmake3 compiler and octave: ::

    yum -y groups install "Development Tools"

    yum -y install wget cmake3 octave libxml2 libxml2-devel bc

Solve dependencies for MARTe2 and EPICS:  ::

    yum -y install ncurses-devel readline-devel

Install Python and Perl Parse utilities for open62541: ::

    yum -y install python-dateutil python-six perl-ExtUtils-ParseXS

Install MDSplus ::

    yum -y install http://www.mdsplus.org/dist/el7/stable/RPMS/noarch/mdsplus-repo-7.50-0.el7.noarch.rpm

    yum -y install mdsplus-kernel* mdsplus-java* mdsplus-python* mdsplus-devel*

Create a folder named Projects and clone MARTe2 Core,  MARTe2 components and the MARTe2 demos: ::

    mkdir ~/Projects

    cd ~/Projects

    git clone https://vcis-gitlab.f4e.europa.eu/aneto/MARTe2.git MARTe2-dev

    git clone -b \master https://vcis-gitlab.f4e.europa.eu/aneto/MARTe2-components.git

    git clone https://vcis-gitlab.f4e.europa.eu/aneto/MARTe2-demos-padova.git

Download EPICS R70.2: ::

    git clone -b R7.0.2 --recursive https://github.com/epics-base/epics-base.git epics-base-7.0.2

Clone open62541 v1.0 library: ::

    git clone -b 1.0 https://github.com/open62541/open62541.git

Download SDN: ::

    wget https://vcis-gitlab.f4e.europa.eu/aneto/MARTe2-demos-padova/raw/develop/Other/SDN_1.0.12_nonCCS.tar.gz

    tar zxvf SDN_1.0.12_nonCCS.tar.gz

Building libraries and frameworks

---------------------------------

Build Open623541:

    cd ~/Projects/open62541

    Open the CMakeLists.txt file and comment the lines marked with # below

        if("${CMAKE_VERSION}" VERSION_GREATER 3.9)

            cmake_policy(SET CMP0069 NEW) # needed as long as required cmake < 3.9

            #include(CheckIPOSupported)

            #check_ipo_supported(RESULT CC_HAS_IPO) # Inter Procedural Optimization / Link Time Optimization (should be same as -flto)

            #if(CC_HAS_IPO)

            #    set(CMAKE_INTERPROCEDURAL_OPTIMIZATION ON)

            #endif()

        endif()

    Start building the open62541 library: ::

    mkdir ~/Projects/open62541/build

    cd ~/Projects/open62541/build

    cmake3 -DUA_ENABLE_AMALGAMATION=ON ..

    make

Compile EPICS: ::

    cd ~/Projects/epics-base-7.0.2

    echo "OP_SYS_CXXFLAGS += -std=c++11" >> configure/os/CONFIG_SITE.linux-x86_64.Common

    make

Compile SDN: ::

    cd ~/Projects/SDN_1.0.12_nonCCS

    make

Docker (optional) 

-----------------

In the root folder of this project there is a Dockerfile which includes all the demo dependencies. ::

    cd ~/Projects/MARTe2-demos-padova

    docker build -t <DOCKER_IMAGE> .

For instance, you can use "docker build -t marte2-demos-padova/centos:7 ."

Note that you need to map your local Projects directory with the /root/Projects directory in the container.

Also, the docker daemon needs to be running.

To execute the image with your host folder mapped into the container, run: ::

    docker run -it -e DISPLAY=$DISPLAY -w /root/Projects -v ~/Projects:/root/Projects:Z -v /tmp/.X11-unix:/tmp/.X11-unix <DOCKER_IMAGE>

Following the previous example, the command should be "docker run -it -e DISPLAY=$DISPLAY -w /root/Projects -v ~/Projects:/root/Projects:Z -v /tmp/.X11-unix:/tmp/.X11-unix marte2-demos-padova/centos:7"

where <DOCKER_IMAGE> is the name of the image in the form [REPOSITORY]:[TAG]. For instance, "docker.io/centos:7"

Compilings the MARTe and the examples

-------------------------------------

Make sure that all the environment variables are correctly exported. ::

    export MARTe2_DIR=~/Projects/MARTe2-dev

    export MARTe2_Components_DIR=~/Projects/MARTe2-components

    export OPEN62541_DIR=~/Projects/open62541

    export OPEN62541_LIB=~/Projects/open62541/build/bin

    export OPEN62541_INCLUDE=~/Projects/open62541/build

    export EPICS_BASE=~/Projects/epics-base-7.0.2

    export EPICSPVA=~/Projects/epics-base-7.0.2

    export EPICS_HOST_ARCH=linux-x86_64

    export PATH=$PATH:$EPICS_BASE/bin/$EPICS_HOST_ARCH

    export SDN_CORE_INCLUDE_DIR=~/Projects/SDN_1.0.12_nonCCS/src/main/c++/include/

    export SDN_CORE_LIBRARY_DIR=~/Projects/SDN_1.0.12_nonCCS/target/lib/

    export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:$MARTe2_DIR/Build/x86-linux/Core/:$EPICS_BASE/lib/$EPICS_HOST_ARCH:$SDN_CORE_LIBRARY_DIR

    cd ~/Projects/MARTe2-dev

    make -f Makefile.linux

    cd ~/Projects/MARTe2-components

    make -f Makefile.linux

    cd ~/Projects/MARTe2-demos-padova

    make -f Makefile.x86-linux

Disable firewall rules (otherwise the communication with EPICS may not work): ::

    iptable -F

Export all variables permanently (assumes that the relative paths above were used!). ::

    cp marte2-exports.sh /etc/profile.d/