- Pharo-dev - lists.pharo.org

Re: [Pharo-dev] Minheadless VM flavour status update

by Alexandre Bergel

Thanks Ronie! Alexandre > On Dec 24, 2016, at 10:25 PM, Ronie Salgado <roniesalg(a)gmail.com> wrote: > > Hi all, > > I am happy to announce that my latest VM refactoring experiment is almost complete. I am only missing adding traditional style Makefiles to make Eliot happy ;), and making this work with MSVC. > > The minheadless is a VM variant that unifies a lot of the code for Windows, Linux and OS X. To the point that I am using the same CMake scripts for building on the three platforms. > > The minheadless VM is a completely headless by default VM, unless the configure script finds SDL2. > > If the configure script finds SDL2, and the legacy display interface is enabled(which is by default), then this VM will be built using SDL2 to implement the normal diplay primitives. The SDL2 backend work with normal Pharo and Squeak image. > > If SDL2 is not found by the configure script, or the legacy display primitives are disabled in the configure script, or the VM is started in headless mode, then the traditional display primitives are just going to be a /dev/null. > > Currently I am commiting this VM variant to the MinimalisticHeadless branch at: https://github.com/ronsaldo/opensmalltalk-vm/tree/MinimalisticHeadless > > For building using CMake it can be done in two ways: > > ------------------------------------ > Calling CMake directly > > mkdir build > cmake .. -DCMAKE_BUILD_TYPE=<The build type> (or cmake-gui ..) > make > > The supported build types are: > - Debug > - Assert > - RelWithDebInfo > - Release > > If you are on an x86_64 system and you want to build 32 bits version, you have to pass the -DBUILD_I386_VERSION=True option to cmake. > > mkdir build > cmake .. (or cmake-gui ..) > make > > ------------------------------------ > Using mvm style scripts > > Easy mode: > > cd build.minheadless.cmake/<x86 or x64>/vm_variant > ./mvm > > A bit more complicated/flexible mode: > > This mvm will configure and build the vm for the four build types. This behavior was present on the mvm for Windows, so I am replicating it. > > In these same folders that are two other scripts: mvm_configure (calls cmake to only configure the build types), and mvm_configure_variant > > mvm_configure_variant is used to actually call cmake and configure the VM for building. The syntax of mvm_configure_variant is the following: > > mvm_configure_variant <BuildDirectory> <BuildType> > > Currently my workflow for using these scripts is the following with MSys/Cygwin/Linux: > > ./mvm_configure > make -j8 > > The makefile at build.minheadless.cmake/<x86 or x64>/vm_variant is only used for delegating to the makefiles created by CMake. > > ------------------------------------ > I am leaving some prebuilt Pharo VMs with the SDL2 backend for Windows for experimenting at: http://ronie.cl/files/vm/ > > Using OSWindow with this VM requires loading the latest version of OSWindow by reloading the ConfigurationOfOSWindow manually in Monticello, and then doing ConfigurationOfOSWindow load. With this VM, there are finally no more duplicated events. > > My TODO list for this includes adding plain Makefile. BTW: during the following week I will continue working with Lowcode. I really need it working again. > > Happy longest/shortest day of the year > Ronie -- _,.;:~^~:;._,.;:~^~:;._,.;:~^~:;._,.;:~^~:;._,.;: Alexandre Bergel http://www.bergel.eu ^~:;._,.;:~^~:;._,.;:~^~:;._,.;:~^~:;._,.;:~^~:;.

Dec. 26, 2016

Re: [Pharo-dev] Q: any work around ROS has been done on Pharo?

by Igor Stasenko

Hmm okay, i created own ros package and started an example nodelet that prints 'hello world' , when i push messages from outside by ros.. now the question is how i should gracefully stop these nodelets and let them unsubscribe/die gracefully.. because i now have 4 instances of ROSMaster in my image and all locked by waiting for some mutex/semaphores and telling them 'stop' waits forever and blocks everything.. How i can clean this up? -- Best regards, Igor Stasenko.

Dec. 26, 2016

Re: [Pharo-dev] Q: any work around ROS has been done on Pharo?

by Igor Stasenko

Cool, i installed it, and now i have some questions. What i should do in order to: - connect with ros master - get list of available topics - subscribe to a chosen topic - and finally receive some data from it On 25 December 2016 at 06:25, Igor Stasenko <siguctua(a)gmail.com> wrote: > > > On 24 December 2016 at 14:07, Johan Fabry <jfabry(a)dcc.uchile.cl> wrote: > >> Hi Igor, Alex, >> >> we are actually using PhaROS underneath, which was built by the guys at >> Douai (Luc, Noury, et.al.). They deserve all the ROS interfacing credit :-) >> See http://car.mines-douai.fr/2014/06/how-to-install-pharos/ >> >> >> Yeah.. i will no doubt check it.. once i get managed to establish > bullet-proof connection with our drone.. today i spent day&night hacking my > unix box to bring up connection automatically, > once i plug the modem.. > I just don't see how else i could use ROS :) The perspective of sitting in > python for it frightens me to deepest depths :) > > >> -- >> Does this mail seem too brief? Sorry for that, I donât mean to be rude! >> Please see http://emailcharter.org . >> >> Johan Fabry - http://pleiad.cl/~jfabry >> PLEIAD and RyCh labs - Computer Science Department (DCC) - University >> of Chile >> >> > On 24 Dec 2016, at 07:49, Alexandre Bergel <alexandre.bergel(a)me.com> >> wrote: >> > >> > Hi Igor, >> > >> > Johan Fabry and his group have been working on a complete environment >> on top of ROS to steer robots. >> > https://pleiad.cl/research/software/lrp >> > >> > Cheers, >> > Alexandre >> > >> > >> >> On Dec 22, 2016, at 9:38 PM, Igor Stasenko <siguctua(a)gmail.com> wrote: >> >> >> >> Hi, >> >> >> >> i wonder, are there any projects to run/connect Pharo with ROS(robot >> operating system) >> >> i'm interested in any bits, starting from basic ones, >> >> since i'm gonna to work with it in closest future, so would be nice to >> use Pharo >> >> & stand on a shoulders of others, of course, to learn it fester and >> understand it better. >> >> >> >> -- >> >> Best regards, >> >> Igor Stasenko. >> > >> > -- >> > _,.;:~^~:;._,.;:~^~:;._,.;:~^~:;._,.;:~^~:;._,.;: >> > Alexandre Bergel http://www.bergel.eu >> > ^~:;._,.;:~^~:;._,.;:~^~:;._,.;:~^~:;._,.;:~^~:;. >> > >> > >> > >> > >> >> >> > > > -- > Best regards, > Igor Stasenko. > -- Best regards, Igor Stasenko.

Dec. 25, 2016

Re: [Pharo-dev] How stable 64-bit VM?

by Thierry Goubier

I have used significantly the 64 bits VM on Ubuntu 16.04 and 16.10. It reliably segfault when building a new image (when loading packages). Pre-existing images (I did around the beginning of November) do work fine. Reverting to older 64bits VMs and images do not solve the segfaults. Thierry Le 25 dÃ©c. 2016 5:30 AM, "Igor Stasenko" <siguctua(a)gmail.com> a Ã©crit : > ah, yeah, forgot to mention that i run it on ubuntu 16.04 > > On 25 December 2016 at 06:28, Igor Stasenko <siguctua(a)gmail.com> wrote: > >> Hi, >> sorry for my ignorance, >> i downloaded fresh build of 64-bit VM and has strange hiccups (crash on >> downloading/installing a package)... >> is it stable, or it is just me, too ignorant & stupid? >> >> -- >> Best regards, >> Igor Stasenko. >> > > > > -- > Best regards, > Igor Stasenko. >

Dec. 25, 2016

Re: [Pharo-dev] How stable 64-bit VM?

by Igor Stasenko

ah, yeah, forgot to mention that i run it on ubuntu 16.04 On 25 December 2016 at 06:28, Igor Stasenko <siguctua(a)gmail.com> wrote: > Hi, > sorry for my ignorance, > i downloaded fresh build of 64-bit VM and has strange hiccups (crash on > downloading/installing a package)... > is it stable, or it is just me, too ignorant & stupid? > > -- > Best regards, > Igor Stasenko. > -- Best regards, Igor Stasenko.

Dec. 25, 2016

How stable 64-bit VM?

by Igor Stasenko

Hi, sorry for my ignorance, i downloaded fresh build of 64-bit VM and has strange hiccups (crash on downloading/installing a package)... is it stable, or it is just me, too ignorant & stupid? -- Best regards, Igor Stasenko.

Dec. 25, 2016

Re: [Pharo-dev] Q: any work around ROS has been done on Pharo?

by Igor Stasenko

On 24 December 2016 at 14:07, Johan Fabry <jfabry(a)dcc.uchile.cl> wrote: > Hi Igor, Alex, > > we are actually using PhaROS underneath, which was built by the guys at > Douai (Luc, Noury, et.al.). They deserve all the ROS interfacing credit :-) > See http://car.mines-douai.fr/2014/06/how-to-install-pharos/ > > > Yeah.. i will no doubt check it.. once i get managed to establish bullet-proof connection with our drone.. today i spent day&night hacking my unix box to bring up connection automatically, once i plug the modem.. I just don't see how else i could use ROS :) The perspective of sitting in python for it frightens me to deepest depths :) > -- > Does this mail seem too brief? Sorry for that, I donât mean to be rude! > Please see http://emailcharter.org . > > Johan Fabry - http://pleiad.cl/~jfabry > PLEIAD and RyCh labs - Computer Science Department (DCC) - University > of Chile > > > On 24 Dec 2016, at 07:49, Alexandre Bergel <alexandre.bergel(a)me.com> > wrote: > > > > Hi Igor, > > > > Johan Fabry and his group have been working on a complete environment on > top of ROS to steer robots. > > https://pleiad.cl/research/software/lrp > > > > Cheers, > > Alexandre > > > > > >> On Dec 22, 2016, at 9:38 PM, Igor Stasenko <siguctua(a)gmail.com> wrote: > >> > >> Hi, > >> > >> i wonder, are there any projects to run/connect Pharo with ROS(robot > operating system) > >> i'm interested in any bits, starting from basic ones, > >> since i'm gonna to work with it in closest future, so would be nice to > use Pharo > >> & stand on a shoulders of others, of course, to learn it fester and > understand it better. > >> > >> -- > >> Best regards, > >> Igor Stasenko. > > > > -- > > _,.;:~^~:;._,.;:~^~:;._,.;:~^~:;._,.;:~^~:;._,.;: > > Alexandre Bergel http://www.bergel.eu > > ^~:;._,.;:~^~:;._,.;:~^~:;._,.;:~^~:;._,.;:~^~:;. > > > > > > > > > > > -- Best regards, Igor Stasenko.

Dec. 25, 2016

Minheadless VM flavour status update

by Ronie Salgado

Hi all, I am happy to announce that my latest VM refactoring experiment is almost complete. I am only missing adding traditional style Makefiles to make Eliot happy ;), and making this work with MSVC. The minheadless is a VM variant that unifies a lot of the code for Windows, Linux and OS X. To the point that I am using the same CMake scripts for building on the three platforms. The minheadless VM is a completely headless by default VM, unless the configure script finds SDL2. If the configure script finds SDL2, and the legacy display interface is enabled(which is by default), then this VM will be built using SDL2 to implement the normal diplay primitives. The SDL2 backend work with normal Pharo and Squeak image. If SDL2 is not found by the configure script, or the legacy display primitives are disabled in the configure script, or the VM is started in headless mode, then the traditional display primitives are just going to be a /dev/null. Currently I am commiting this VM variant to the MinimalisticHeadless branch at: https://github.com/ronsaldo/opensmalltalk-vm/tree/MinimalisticHeadless For building using CMake it can be done in two ways: ------------------------------------ Calling CMake directly mkdir build cmake .. -DCMAKE_BUILD_TYPE=<The build type> (or cmake-gui ..) make The supported build types are: - Debug - Assert - RelWithDebInfo - Release If you are on an x86_64 system and you want to build 32 bits version, you have to pass the -DBUILD_I386_VERSION=True option to cmake. mkdir build cmake .. (or cmake-gui ..) make ------------------------------------ Using mvm style scripts Easy mode: cd build.minheadless.cmake/<x86 or x64>/vm_variant ./mvm A bit more complicated/flexible mode: This mvm will configure and build the vm for the four build types. This behavior was present on the mvm for Windows, so I am replicating it. In these same folders that are two other scripts: mvm_configure (calls cmake to only configure the build types), and mvm_configure_variant mvm_configure_variant is used to actually call cmake and configure the VM for building. The syntax of mvm_configure_variant is the following: mvm_configure_variant <BuildDirectory> <BuildType> Currently my workflow for using these scripts is the following with MSys/Cygwin/Linux: ./mvm_configure make -j8 The makefile at build.minheadless.cmake/<x86 or x64>/vm_variant is only used for delegating to the makefiles created by CMake. ------------------------------------ I am leaving some prebuilt Pharo VMs with the SDL2 backend for Windows for experimenting at: http://ronie.cl/files/vm/ Using OSWindow with this VM requires loading the latest version of OSWindow by reloading the ConfigurationOfOSWindow manually in Monticello, and then doing ConfigurationOfOSWindow load. With this VM, there are finally no more duplicated events. My TODO list for this includes adding plain Makefile. BTW: during the following week I will continue working with Lowcode. I really need it working again. Happy longest/shortest day of the year Ronie

Dec. 24, 2016

Re: [Pharo-dev] Q: any work around ROS has been done on Pharo?

by Johan Fabry

Hi Igor, Alex, we are actually using PhaROS underneath, which was built by the guys at Douai (Luc, Noury, et.al.). They deserve all the ROS interfacing credit :-) See http://car.mines-douai.fr/2014/06/how-to-install-pharos/ -- Does this mail seem too brief? Sorry for that, I donât mean to be rude! Please see http://emailcharter.org . Johan Fabry - http://pleiad.cl/~jfabry PLEIAD and RyCh labs - Computer Science Department (DCC) - University of Chile > On 24 Dec 2016, at 07:49, Alexandre Bergel <alexandre.bergel(a)me.com> wrote: > > Hi Igor, > > Johan Fabry and his group have been working on a complete environment on top of ROS to steer robots. > https://pleiad.cl/research/software/lrp > > Cheers, > Alexandre > > >> On Dec 22, 2016, at 9:38 PM, Igor Stasenko <siguctua(a)gmail.com> wrote: >> >> Hi, >> >> i wonder, are there any projects to run/connect Pharo with ROS(robot operating system) >> i'm interested in any bits, starting from basic ones, >> since i'm gonna to work with it in closest future, so would be nice to use Pharo >> & stand on a shoulders of others, of course, to learn it fester and understand it better. >> >> -- >> Best regards, >> Igor Stasenko. > > -- > _,.;:~^~:;._,.;:~^~:;._,.;:~^~:;._,.;:~^~:;._,.;: > Alexandre Bergel http://www.bergel.eu > ^~:;._,.;:~^~:;._,.;:~^~:;._,.;:~^~:;._,.;:~^~:;. > > > >

Dec. 24, 2016

Re: [Pharo-dev] Q: any work around ROS has been done on Pharo?

by Alexandre Bergel

Hi Igor, Johan Fabry and his group have been working on a complete environment on top of ROS to steer robots. https://pleiad.cl/research/software/lrp Cheers, Alexandre > On Dec 22, 2016, at 9:38 PM, Igor Stasenko <siguctua(a)gmail.com> wrote: > > Hi, > > i wonder, are there any projects to run/connect Pharo with ROS(robot operating system) > i'm interested in any bits, starting from basic ones, > since i'm gonna to work with it in closest future, so would be nice to use Pharo > & stand on a shoulders of others, of course, to learn it fester and understand it better. > > -- > Best regards, > Igor Stasenko. -- _,.;:~^~:;._,.;:~^~:;._,.;:~^~:;._,.;:~^~:;._,.;: Alexandre Bergel http://www.bergel.eu ^~:;._,.;:~^~:;._,.;:~^~:;._,.;:~^~:;._,.;:~^~:;.

Dec. 24, 2016