https://github.com/advrhumanoids/zmq-protobuf_ethercat
Test library for the EtherCAT master non-RT/RT API
https://github.com/advrhumanoids/zmq-protobuf_ethercat
Last synced: about 1 month ago
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Test library for the EtherCAT master non-RT/RT API
- Host: GitHub
- URL: https://github.com/advrhumanoids/zmq-protobuf_ethercat
- Owner: ADVRHumanoids
- Created: 2020-04-21T12:51:52.000Z (over 6 years ago)
- Default Branch: master
- Last Pushed: 2020-09-28T16:52:48.000Z (almost 6 years ago)
- Last Synced: 2025-09-09T00:26:23.086Z (11 months ago)
- Language: C++
- Homepage:
- Size: 2.81 MB
- Stars: 3
- Watchers: 1
- Forks: 1
- Open Issues: 2
-
Metadata Files:
- Readme: README.md
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README
# ZMQ-Protobuf_EtherCAT
# ZMQ
ZeroMQ (also spelled ØMQ, 0MQ or ZMQ) is a high-performance asynchronous messaging library, aimed at use in distributed or concurrent applications. It provides a message queue, but unlike message-oriented middleware, a ZeroMQ system can run without a dedicated message broker.
More information here: [ZMQ Information](https://zeromq.org/)
## Installation
Build steps:
Build [libzmq](https://github.com/zeromq/libzmq) via cmake. This does an out of source build and installs the build files download and unzip the lib, cd to directory:
```
mkdir build
cd build
cmake ..
sudo make -j4 install
```
Build [cppzmq](https://github.com/zeromq/cppzmq) via cmake. This does an out of source build and installs the build files
download and unzip the lib, cd to directory:
```
mkdir build
cd build
cmake ..
sudo make -j4 install
```
Here more details: [ZMQ Installation](https://github.com/zeromq/cppzmq)
# Protobuf (Protocol Buffer)
Protocol buffers are a flexible, efficient, automated mechanism for serializing structured data – think XML, but smaller, faster, and simpler. You define how you want your data to be structured once, then you can use special generated source code to easily write and read your structured data to and from a variety of data streams and using a variety of languages. You can even update your data structure without breaking deployed programs that are compiled against the "old" format.
More information here: [Protobuf Information](https://developers.google.com/protocol-buffers)
## Installation
Build steps:
```
sudo apt install protobuf-compiler
```
# Additional Installation
```
sudo apt install libboost-all-dev libzmq5 libyaml-cpp-dev libjsoncpp-dev libprotobuf-dev
```
# EtherCAT Integration
## ZMQ-Protobuf Server
Using the superbuild is possible to download and build ec_master_test, ec_master_advr and soem_advr repositories:
Here the repositories:
[https://gitlab.advr.iit.it/xeno-ecat/ec_master_test](https://gitlab.advr.iit.it/xeno-ecat/ec_master_test)
Note: Use this branch MultiDOF-superBuildInt.
[https://gitlab.advr.iit.it/xeno-ecat/ecat_master_advr](https://gitlab.advr.iit.it/xeno-ecat/ecat_master_advr)
[https://gitlab.advr.iit.it/xeno-ecat/soem_advr](https://gitlab.advr.iit.it/xeno-ecat/soem_advr)
## ZMQ-Protobuf Client
Download the client here:
[https://gitlab.advr.iit.it/python-stuff/Ecat-Repl](https://gitlab.advr.iit.it/python-stuff/Ecat-Repl)
Install python:
```
sudo apt-get install python3.7
Note: Useful to select the python version
sudo update-alternatives --install /usr/bin/python3 python3 /usr/bin/python3.6 1 ("if you have it or insert others")
sudo update-alternatives --install /usr/bin/python3 python3 /usr/bin/python3.7 2
Selection version:
sudo update-alternatives --config python3
python3 -V
```
Install Python Virtual Environment:
```
sudo apt install python3-venv
```
Move into Ecat-Repl directory
```
python3 -m venv Ecat-Repl-env
source Ecat-Repl-env/bin/activate
pip3 install -r requirements.txt
make install-dev
```
Install jupyter
```
pip3 install jupyterlab
pip3 install notebook
```
Add the enviroment to Jupyter
```
pip3 install --user ipykernel
python3 -m ipykernel install --user --name=Ecat-Repl-env
```
Note: Verify the associtation is corret doing:
```
gedit ~/.local/share/jupyter/kernels/ecat-repl-env/kernel.json
{
"argv": [
"PATH_OF_/Ecat-Repl/Ecat-Repl-env/bin/python3",
"-m",
"ipykernel_launcher",
"-f",
"{connection_file}"
],
"display_name": "Ecat-Repl-env",
"language": "python"
}
```
# RUN
Run the master:
```
cd ~/MultiDoF-superbuild/build/external/ec_master_test/examples/repl/
./repl /home/user/MultiDoF-superbuild/external/ec_master_test/configs/config.yaml
```
Run the jupyter:
```
jupyter notebook
```
move into: http://localhost:8888/tree/Ethercat/Ecat-Repl/notebooks
Then start for istance: ft6_msp32.ipynb .
# RESULT
STOP MASTER:
START MASTER:
