Gradle

Gradle wrapper

 Zajímavý koncept, který umožní automtické nastavení Gradle bez nutnosti instalace. Stačí nahrát projekt, jehož součástí je gradlew.sh nebo gradlew.bat. Ten již zajistí nahrání binárních souborů a spuštění Gradle.

V sobuoru build.gradle je potřeba přidat:

task wrapper(type: Wrapper) {
    gradleVersion = '2.3'
}

a následně spustit

gradle wrapper

Ten vytvoří výše zmíněný spustitelný soubor gradlew.

Grafické zobrazení maven závislostí

Viz http://mvnplugins.fusesource.org/maven/1.4/maven-graph-plugin/index.html

1) do pom.xml přidat

<project>
  <profiles>
  
    <profile>
      <id>graph</id>
      <pluginRepositories>
        <pluginRepository>
          <id>mvnplugins.fusesource.org</id>
          <url>http://mvnplugins.fusesource.org/repo/release</url>
          <releases>
            <enabled>true</enabled>
          </releases>
        </pluginRepository>
      </pluginRepositories>
      <build>
        <plugins>
          <plugin>
            <groupId>org.fusesource.mvnplugins</groupId>
            <artifactId>maven-graph-plugin</artifactId>
            <version>1.4</version>
          </plugin>
        </plugins>
      </build>
    </profile>
    
  </profiles>
</project> 

2) Nainstalovat graphviz

(Ubuntu 14.04) sudo apt-get install graphviz 

3) spustit 

$ mvn -P graph graph:project
 -- OR --
$ mvn -P graph graph:reactor

$ mvn -P graph graph:reactor -Dhide-scope=test -Dhide-optional=true 

Automatizované testy

Fitnesse

http://fitnesse.s3.amazonaws.com/tdd_net_with_fitnesse.pdf

Video Intro:
http://vimeo.com/3323573

Programování slim fixture:
http://butunclebob.com/FitNesse.UserGuide.FixtureCode

AutoIt

https://www.autoitscript.com/wiki/Best_coding_practices

Seznam užitečných knihoven

Zde jsem nalezl řešení pro naši úlohu vzdáleného volání mezi Fitnesse a AutoIt.

https://www.autoitscript.com/wiki/User_Defined_Functions

Napojení na Oracle

http://www.autoitscript.com/forum/topic/37381-connect-oracle/

JSON v AutoIt

Knihovna
http://www.autoitscript.com/forum/topic/148114-jsmn-a-non-strict-json-udf/


Zkoušel jsem také, ale moc to nefungovalo -
http://www.autoitscript.com/forum/topic/104150-json-udf-library-fully-rfc4627-compliant/
Upozornění:
- bez úpravy mi knihovna nefungovala, musel jsem:
1) V notepad++ jsem změnil kódování na UTF-8 bez BOM

HTTP v AutoIt

Client
http://brugbart.com/http-post-request-autoit
http://brugbart.com/http-get-request-autoit

Server
http://www.autoitscript.com/forum/topic/68851-powerful-http-server-in-pure-autoit/ - tento jsem použil jako základ pro implementaci RESTful service na testované straně
https://code.google.com/p/autoit-winhttp/downloads/list
http://www.autoitscript.com/forum/topic/26213-my-web-server-v01a/

WebSphere Applcation Server - how to get J2C authentication alias in Java code

Sometimes I need securely connect to external system from WebSphere Application server application. The secure connection usualy requires password as a credential. The WebSphere Application Server allows store the username and password inside its configuration as so called J2C Authentication Alias. If I need use the cofigured J2C Auth Alias I can use the following Java code fragment:

 public static final String USERNAME = "username";
 public static final String PASSWORD = "password";

 /** Return username and pasword for specific J2C authentication alias
  *
  * @param authenticationAlias
  * @return Map with "username" and "password" keys
  * @throws NotImplementedException
  * @throws LoginException
  */
      public Map<String,String> getCredentials(String authenticationAlias) throws NotImplementedException, LoginException {
     Map<String,String> map = new HashMap<String,String>();
     map.put(Constants.MAPPING_ALIAS, authenticationAlias);
     CallbackHandler callbackHandler = WSMappingCallbackHandlerFactory.getInstance().getCallbackHandler(map, null);
     LoginContext loginContext = new LoginContext("DefaultPrincipalMapping", callbackHandler);
     loginContext.login();
     Subject subject = loginContext.getSubject();
     Set credentials = subject.getPrivateCredentials();
     PasswordCredential passwordCredential = (PasswordCredential) credentials.iterator().next();
     String user = passwordCredential.getUserName();
     String password = new String(passwordCredential.getPassword());
     Map<String,String> result = new HashMap<String,String>();
     result.put(USERNAME, user);
     result.put(PASSWORD, password);
     return result;
      }

Robot simulace

GAZEBO - 3D simulace
http://gazebosim.org/

Stage - 2D simulace

http://playerstage.sourceforge.net/index.php?src=stage

Player - klient pro GAZEBO nebo STAGE

http://playerstage.sourceforge.net/index.php?src=player

Coppelia Robotics v-rep

http://www.coppeliarobotics.com/downloads.html

Robocode

http://robocode.sourceforge.net/



Instalace:
Vyzkouseno na Ubuntu 14.04 TLS ve virtualni image VMWare Player.

Instalace Gazebo 5.0.1 - bez problemu podle navodu z distribuce

Instalace Stage 4.1.1 - bez problemu, build projektu

Instalace Player 3.0.2 -
make hlasi chybu /usr/bin/ld: cannot find -lgeos


reseni: opraveno pridanim linku v /usr/lib:
cd /usr/lib
sudo ln -s libgeos_c.so.1.8.2 libgeos.so.1
sudo ln -s libgeos_c.so.1.8.2 libgeos.so


dale make hlasi:
playerclient.cc:171:34: error: expected unqualified-id before numeric constant

reseni: sleduj odkaz http://sourceforge.net/p/playerstage/mailman/message/32992365/

To work around this problem until the next Player release comes out, you
can just substitute "boost::TIME_UTC_" for "boost::TIME_UTC" in
client_libs/libplayerc++/playerclient.cc

dale make hlasi:
readlog.cc:714:62: error: cannot convert ‘FILE* {aka _IO_FILE*}’ to ‘gzFile’ for argument ‘1’ to ‘char* gzgets(gzFile, char*, int)’
reseni: sleduj odkaz http://sourceforge.net/p/playerstage/mailman/message/28994223/
v server/drivers/shell/readlog.cc

change the line
>
> ret = gzseek(this->file,0,SEEK_SET);
>
> to
>
> ret = gzseek((gzFile)this->file,0,SEEK_SET);

a take 

ret = (gzgets(this->file, this->line, this->line_size) == NULL); 

to

ret = (gzgets((gzFile)this->file, this->line, this->line_size) == NULL); 

dale make hlasi:
/usr/bin/ld: CMakeFiles/camera.dir/camera.o: undefined reference to symbol '_ZN5boost6system15system_categoryEv'

reseni: sleduj http://player-stage-gazebo.10965.n7.nabble.com/TIME-UTC-is-not-a-member-of-boost-td11642.html
For each error : undefined reference to symbol '_ZN5boost6system15system_categoryEv'
add the flag -lboost_system after -lboost_signals in the file player-3.0.2/build/examples/libplayerc++/CMakeFiles/*.dir/link.txt
For example : player-3.0.2/build/examples/libplayerc++/CMakeFiles/camera.dir/list.txt will be :
/usr/bin/c++ -Wall CMakeFiles/camera.dir/camera.o -o camera -rdynamic -L/usr/local/lib ../../client_libs/libplayerc++/libplayerc++.so.3.0.2 ../../client_libs/libplayerc/libplayerc.so.3.0.2 ../../libplayerinterface/libplayerinterface.so.3.0.2 ../../libplayercommon/libplayercommon.so.3.0.2 -lm -lz -lgeos -lgeos_c -lboost_thread -lboost_signals -lboost_system -lm ../../libplayerjpeg/libplayerjpeg.so.3.0.2 -ljpeg ../../libplayerwkb/libplayerwkb.so.3.0.2 ../../libplayercommon/libplayercommon.so.3.0.2 -lgeos -lgeos_c -Wl,-rpath,/usr/local/lib:/home/doizuc/Downloads/player-3.0.2/build/client_libs/libplayerc++:/home/doizuc/Downloads/player-3.0.2/build/client_libs/libplayerc:/home/doizuc/Downloads/player-3.0.2/build/libplayerinterface:/home/doizuc/Downloads/player-3.0.2/build/libplayercommon:/home/doizuc/Downloads/player-3.0.2/build/libplayerjpeg:/home/doizuc/Downloads/player-3.0.2/build/libplayerwkb 

Opravu provest v
examples/libplayerc++/CMakeFiles/camera.dir/link.txt
examples/libplayerc++/CMakeFiles/clientgraphics.dir/link.txt
examples/libplayerc++/CMakeFiles/clientgraphics3d.dir/link.txt
examples/libplayerc++/CMakeFiles/example0.dir/link.txt 
examples/libplayerc++/CMakeFiles/example1.dir/link.txt
examples/libplayerc++/CMakeFiles/example2.dir/link.txt
examples/libplayerc++/CMakeFiles/example3.dir/link.txt  
examples/libplayerc++/CMakeFiles/example4.dir/link.txt  examples/libplayerc++/CMakeFiles/goto.dir/link.txt
examples/libplayerc++/CMakeFiles/grip.dir/link.txt 
examples/libplayerc++/CMakeFiles/laserobstacleavoid.dir/link.txt 
examples/libplayerc++/CMakeFiles/ptz.dir/link.txt
examples/libplayerc++/CMakeFiles/randomwalk.dir/link.txt
examples/libplayerc++/CMakeFiles/sonarobstacleavoid.dir/link.txt
examples/libplayerc++/CMakeFiles/speech.dir/link.txt
examples/libplayerc++/CMakeFiles/speech_cpp_client.dir/link.txt
examples/libplayerc++/CMakeFiles/wallfollow.dir/link.txt
utils/playerjoy/CMakeFiles/playerjoy.dir/link.txt
utils/playerprint/CMakeFiles/playerprint.dir/link.txt
utils/playerprop/CMakeFiles/playerprop.dir/link.txt

priklad hromadneho prikazu na replace textu v souborech

cd ~/player-3.0.2/build

sed -i -- 's/-lboost_signals/-lboost_signals -lboost_system/g' examples/libplayerc++/CMakeFiles/camera.dir/link.txt
sed -i -- 's/-lboost_signals/-lboost_signals -lboost_system/g' examples/libplayerc++/CMakeFiles/clientgraphics.dir/link.txt
sed -i -- 's/-lboost_signals/-lboost_signals -lboost_system/g' examples/libplayerc++/CMakeFiles/clientgraphics3d.dir/link.txt
sed -i -- 's/-lboost_signals/-lboost_signals -lboost_system/g' examples/libplayerc++/CMakeFiles/example0.dir/link.txt
sed -i -- 's/-lboost_signals/-lboost_signals -lboost_system/g' examples/libplayerc++/CMakeFiles/example1.dir/link.txt
sed -i -- 's/-lboost_signals/-lboost_signals -lboost_system/g' examples/libplayerc++/CMakeFiles/example2.dir/link.txt
sed -i -- 's/-lboost_signals/-lboost_signals -lboost_system/g' examples/libplayerc++/CMakeFiles/example3.dir/link.txt 
sed -i -- 's/-lboost_signals/-lboost_signals -lboost_system/g' examples/libplayerc++/CMakeFiles/example4.dir/link.txt 
sed -i -- 's/-lboost_signals/-lboost_signals -lboost_system/g' examples/libplayerc++/CMakeFiles/goto.dir/link.txt
sed -i -- 's/-lboost_signals/-lboost_signals -lboost_system/g' examples/libplayerc++/CMakeFiles/grip.dir/link.txt
sed -i -- 's/-lboost_signals/-lboost_signals -lboost_system/g' examples/libplayerc++/CMakeFiles/laserobstacleavoid.dir/link.txt
sed -i -- 's/-lboost_signals/-lboost_signals -lboost_system/g' examples/libplayerc++/CMakeFiles/ptz.dir/link.txt
sed -i -- 's/-lboost_signals/-lboost_signals -lboost_system/g' examples/libplayerc++/CMakeFiles/randomwalk.dir/link.txt
sed -i -- 's/-lboost_signals/-lboost_signals -lboost_system/g' examples/libplayerc++/CMakeFiles/sonarobstacleavoid.dir/link.txt
sed -i -- 's/-lboost_signals/-lboost_signals -lboost_system/g' examples/libplayerc++/CMakeFiles/speech.dir/link.txt
sed -i -- 's/-lboost_signals/-lboost_signals -lboost_system/g' examples/libplayerc++/CMakeFiles/speech_cpp_client.dir/link.txt
sed -i -- 's/-lboost_signals/-lboost_signals -lboost_system/g' examples/libplayerc++/CMakeFiles/wallfollow.dir/link.txt
sed -i -- 's/-lboost_signals/-lboost_signals -lboost_system/g' utils/playerjoy/CMakeFiles/playerjoy.dir/link.txt
sed -i -- 's/-lboost_signals/-lboost_signals -lboost_system/g' utils/playerprint/CMakeFiles/playerprint.dir/link.txt
sed -i -- 's/-lboost_signals/-lboost_signals -lboost_system/g' utils/playerprop/CMakeFiles/playerprop.dir/link.txt


dale

make install bylo potreba volat s admin pravy: sudo make install



Otestovani funkcnosti Player/Stage

player ~/stg/share/stage/worlds/simple.cfg

Objevila se chyba:

error   : Sorry, no support for shared libraries, so can't load plugins.
error   : You should install libltdl, which is part of GNU libtool, then re-compile player.

reseni: nastavit export LD_LIBRARY_PATH=/usr/local/lib64:/home/tomas/stg/lib64 

Dale se objevila chyba:

error   : Failed to load plugin stageplugin.
error   : libtool reports error: file not found
error   : plugin search path: /home/tomas/player-3.0.2/build:/home/tomas/stg/share/stage/worlds:/usr/local/lib/
error   : failed to load plugin: stageplugin

reseni: doplneni cesty k plugin adresari do LD_LIBRARY_PATH

export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:/home/tomas/stg/lib64

Objevilo se okno Stage se zakladnim prostredim a jednim robotem.

Uff. Tim je prostredi a robot pripraveny na klientske pripojeni a rizeni. Dalo to trochu prace, ale nakonec se zdarilo. Simon bude mit radost...



 


Rizeni robota v playerv

Spustit prikaz

playerv -h marvin --position2d --laser

Bohuzel s parametrem --laser playerv okamzite ukonci cinnost, pri pouziti  
playerv -h marvin --position2d klient funguje. Zarizeni position2d i obe zarizeni ranger funguji.

Rizeni robota pouzitim playerc a jazyka Python

Priklad v Python zde:
http://playerstage.sourceforge.net/doc/Player-svn/player/group__libplayerc__py__example.html

Neco o nastaveni:
https://packages.debian.org/unstable/python-playerc

Instalace python-playerc:
sudo dpkg -i ~/python-support_1.0.14ubuntu2_all.deb
sudo dpkg -i ~/python-playerc_3.0.2+dfsg-3ubuntu2_amd64.deb

sudo chmod 755 /usr/local/lib/python2.7/site-packages/_playerc.so

export LD_LIBRARY_PATH=/usr/local/lib64:/home/tomas/stg/lib64:/usr/lib/pyshared/python2.7
export PYTHONPATH=/usr/local/lib/python2.7/site-packages:/usr/lib/pyshared/python2.7:/usr/share/pyshared


Python editor:

Eric6 - http://eric-ide.python-projects.org/eric-download.html

Velmi jednoduchy priklad pro pohyb:

# Jizda dopredu

import time
import math
from playerc import *

# Pripojeni k robot simulatoru
c = playerc_client(None, 'localhost', 6665)
c.connect()

# Prihlaseni se k zarizeni pohybu robota
p = playerc_position2d(c,0)
if p.subscribe(PLAYERC_OPEN_MODE) != 0:
  raise playerc_error_str()

# Rozjeti robota rychlosti 1
p.set_cmd_vel(1.0,0.0,0.0,1)

# Cekani 10 x 1 sekunda
for i in range(0,10):
 time.sleep(1)
 print i

# Zastaveni pohybu robota
p.set_cmd_vel(0.0, 0.0, 0.0, 1)

# Odhlaeni se od zarizeni pohybu
p.unsubscribe()

# Odpojeni od simulatoru
c.disconnect()

Instalace python player pro 32bit potřebuje tyto knihovny:
sudo dpkg -i libstdc++6_5.1.1-6_i386.deb
sudo dpkg -i libstdc++6_5.1.1-6_i386.deb
sudo dpkg -i gcc-5-base_5.1.1-6_i386.deb
sudo dpkg -i libstdc++6_5.1.1-6_i386.deb
sudo dpkg -i libgeos-3.4.2_3.4.2-7_i386.deb
sudo dpkg -i libgeos-c1_3.4.2-7_i386.deb
sudo dpkg -i libjpeg62-turbo_1.4.0-7_i386.deb
sudo dpkg -i libplayercommon3.0_3.0.2+dfsg-4.2+b1_i386.deb
sudo dpkg -i libplayerinterface3.0_3.0.2+dfsg-4.2+b1_i386.deb
sudo dpkg -i libplayerjpeg3.0_3.0.2+dfsg-4.2+b1_i386.deb
sudo dpkg -i libplayerwkb3.0_3.0.2+dfsg-4.2+b1_i386.deb
sudo dpkg -i libplayerc3.0_3.0.2+dfsg-4.2+b1_i386.deb