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install.cm
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install.cm
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!
! Copyright (c) 2017, TU Delft Robotics Institute
!
! Licensed under the Apache License, Version 2.0 (the "License");
! you may not use this file except in compliance with the License.
! You may obtain a copy of the License at
!
! http://www.apache.org/licenses/LICENSE-2.0
!
! Unless required by applicable law or agreed to in writing, software
! distributed under the License is distributed on an "AS IS" BASIS,
! WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
! See the License for the specific language governing permissions and
! limitations under the License.
!
! --------------------
!
! ROS-Industrial Fanuc Driver 'Exp' setup script.
!
! author: G.A. vd. Hoorn (TU Delft Robotics Institute)
!
! version: ROS//r3b
!
! NOTE: THIS FILE MUST BE IN THE ROOT OF THE REMOVABLE MEDIUM (USB STICK,
! PCMCIA CARD) OR IT WILL NOT WORK.
!
! --------------------
!
PRINT "ROS-I V0.1 (FDE V0.1.0-R3B)"
!
! Check for and report on required options:
!
! - R632: Karel
! - R648: User Socket Messaging
!
! If the controller doesn't have R632, we can continue, but USM is
! absolutely necessary.
!
WR_FILE install.log "INFO | install start"
WR_FILE install.log "INFO | prereqs"
IF ORDER R632 ! has Karel
PRINT "R632 (Karel): OK"
WR_FILE install.log "INFO | R632 (Karel): OK"
ELSE
! R632 is not strictly needed
PRINT "R632 (Karel): missing, continue"
WR_FILE install.log "WARN | R632 (Karel): missing"
ENDIF
!
IF ORDER R648 ! has User Socket Messagin
PRINT "R648 (USM): OK"
WR_FILE install.log "INFO | R648 (USM): OK"
ELSE
PRINT "R648 (USM): missing -> FATAL"
WR_FILE install.log "FATAL | R648 (USM): missing, FATAL"
WR_FILE install.log "FATAL | abort"
ABORT
ENDIF
WR_FILE install.log "INFO | end prereqs"
!
! Copy new files
PRINT "Installing driver files"
WR_FILE install.log "INFO | start file copy"
PCLOAD product\fdexp\libindlog.pc
PCLOAD product\fdexp\libmathex.pc
PCLOAD product\fdexp\librosfanuc.pc
PCLOAD product\fdexp\libssock.pc
PCLOAD product\fdexp\libsm_hdr.pc
PCLOAD product\fdexp\libsm000a.pc
PCLOAD product\fdexp\libsm000b.pc
PCLOAD product\fdexp\libsm000d.pc
PCLOAD product\fdexp\ros_state.pc
PCLOAD product\fdexp\ros_traj.pc
TPLOAD product\fdexp\ros.tp
TPLOAD product\fdexp\ros_movesm.tp
WR_FILE install.log "INFO | end file copy"
!
! Set sysvars
! TODO: decide whether this is something we want to do here
!PRINT "Updating sysvars"
!WR_FILE install.log "INFO | start update sysvars"
!SETVAR $KAREL_ENB 1
!WR_FILE install.log "INFO | end update sysvars"
!
PRINT "Loading default configs"
WR_FILE install.log "INFO | start config update"
!
PRINT " ros_state"
WR_FILE install.log "INFO | ros_state .."
PCLOAD product\fdexp\rstate_cfg.pc
RUNPC RSTATE_CFG
DELPC RSTATE_CFG
VRCLEAR RSTATE_CFG
!
PRINT " ros_traj"
WR_FILE install.log "INFO | ros_traj .."
PCLOAD product\fdexp\rtraj_cfg.pc
RUNPC RTRAJ_CFG
DELPC RTRAJ_CFG
VRCLEAR RTRAJ_CFG
!
WR_FILE install.log "INFO | end config update"
!
PRINT "install complete"
WR_FILE install.log "INFO | install complete"
!
EXIT