|
DUECA/DUSIME
|
The simulation facilities operated by Control&Simulation at the Delft University of Technology, such as the SIMONA Research Simulation (SRS) and the Human Machine Interaction Laboratory (HMILab), currently use Ubuntu Linux distributions. Besides DUECA, these installations sometimes use several in-house developed, 3rd party commercial or publicly available software libraries. This page provides some hints on which libraries are typically used, and how to install them.
The DUECA software is distributed through a number of packages, available for (currently) Ubuntu 18.04 and Ubuntu 20.04:
| Package | Description |
|---|---|
dueca2 | Base DUECA package |
dueca2-dusime | DUSIME extension |
dueca2-extra | Various support, integration, etc. |
dueca2-hdf | HDF5 logging module and tools |
dueca2-udp | Network communication |
dueca2-inter | Multi-simulation connection |
dueca2-websock | Websocket communication |
The websocket communication offers the possibility to export your DUECA data to web browsers. If you want to produce live plots with your data, you can use an additional package:
| Package | Description |
|---|---|
dplotter | Web code for live plots |
If you find you need to install this software on Ubuntu, ensure you have configured the repository (see the README files on the dueca software server, and use the supplied dueca-xUbuntu_??.??.list file. Then issue the commands:
apt-get update
apt-get install dueca2 dueca2-dusime dueca2-extra \
dueca2-hdf dueca2-udp dueca2-inter dueca2-websock
In case you miss one or more DUECA packages, the Makefile for a project together with the DUECA configuration scripts will try to tell you that one or more packages are missing. For example you get a message like:
/tmp/bin/dueca-config Some packages missing or with incomplete dependencies /tmp/bin/dueca-config packages with problems: dueca-websock-py /tmp/share/dueca/data/MakefileTail.app:17: *** dueca-config problem. Stop.
DUECA uses the pkg-config program to indicate to the compilation system which components are present. Sometimes the package is missing completely, or there is something else wrong. Use pkg-config manually to get some more information. In this case, the problem was with the dueca-websock-py configuration, so try that:
$ pkg-config --libs dueca-websock-py Package dueca-websock-py was not found in the pkg-config search path. Perhaps you should add the directory containing `dueca-websock-py.pc' to the PKG_CONFIG_PATH environment variable
In this case the dueca2-websock package simply has to be installed.
Over the years, students and staff at Control and Simulation have created additional software, usually libraries, which is being used in a number of DUECA projects. These are also available from the abovementioned software repository. You need these in some cases when developing new modules, or when borrowing or using existing module and DUECA projects.
| Package | Description |
|---|---|
airportdb | Database facility for airport locations |
airportdb-dev | Development package airportdb |
airportdb-data | Data for airportdb |
airportdb-doc | Documentation |
clodterrain | Lightweight terrain viewer with CLOD |
clodterrain-dev | development package for clodterrain |
clodterrain-doc | Documentation |
flightplan | FMS/flightplan library |
flightplan-dev | Development package for flightplan |
flightplan-dueca-dev | DUECA connection for flightplan |
flightplan-data | Data for flightplan |
flightplan-doc | Documentation |
hmilib | Flight deck interface development |
hmilib-dev | Development package for hmilib |
hmilib-dueca2 | DUECA connection for hmilib |
hmilib-ftgl | FreeType font for hmilib |
hmilib-glfont | GL font for hmilib |
hmilib-data | Data for hmilib |
hmilib-doc | Documentation |
sami | Eurocontrol SAMI base package |
libsami | Eurocontrol's SAMI wrapper |
libsami-dev | Development files for libsami |
libsami-data | Data for sami |
libsami-doc | Documentation |
srsfms | Flight Management System base package |
srsfms-fmc | FMS Flight Management Computer library |
srsfms-fmc-dev | Development files for srsfms-fmc |
srsfms-cdu | FMS Command and Display Unit library |
srsfms-cdu-dev | Development files for srsfms-fmc |
srsfms-cdu-gtk2 | Gtk2 graphics library implementation of the CDU |
srsfms-cdu-gtk3 | Gtk3 graphics library implementation of the CDU |
srsfms-cdu-serial | Serial interface to CDU hardware |
srsfms-common | Common facility for srsfms |
srsfms-common-dev | Development files for srsfms-common |
srsfms-data | Data for srsfms |
srsfms-doc | Documentation |
Several openly available libraries are useful tools in developing DUECA modules, and when using someone's existing project or borrowing a module you need these libraries installed.
You may find that compiling or linking a DUECA project fails when one of these libraries is missing. Usually you can see from the compiler errors that a header file is missing, and then guess (or try Google) to which library this file corresponds.
This section lists a common, but my no means exhaustive list of these libraries. Only the -dev packages are listed, note that the corresponding library packages will be automatically added when you install one of the -dev packages.
| Package | Description |
|---|---|
libtinyxml-dev | XML parsing and writing library |
libtinyxml2-dev | XML parsing and writing library (v2, both can be installed in parallel) |
libpugixml-dev | XML parsing and writing library |
libopenal-dev | 3D audio library |
libalut-dev | 3D audio support library |
mtl-dev | Math Template Library (older version, do not use on new projects) |
libeigen3-dev | Linear algebra library. Is installed by default when installing DUECA |
libsdl2-dev | Media/device library, often needed for joystick IO |
libopencv-dev | Computer vision library |
freeglut3-dev | GL support library |
libmatio-dev | Matlab file writing/reading, do not use on new projects. |
It is possible to take most Simulink models, and use the Matlab coder to generate C code from these models. DUECA offers modules with templates for embedding and calling these C code models. To complete this, an appropriate library needs to be linked with DUECA.
| Package | Description |
|---|---|
librtw70-dev | RealTimeWorkshop version 7.0 |
librtw76-dev | RealTimeWorkshop version 7.6 |
librtw81-dev | RealTimeWorkshop version 8.1 |
librtw83-dev | RealTimeWorkshop version 8.3 |
librtw88-dev | RealTimeWorkshop version 8.8 |
librtw8-13-dev | RealTimeWorkshop version 8.13 |
librtw9-0-dev | RealTimeWorkshop version 9.0 |
librtw9-2-dev | RealTimeWorkshop version 9.2 |
Inspect the version in the generated code, and link the appropriate library, by adding an --rtwv... (see the dueca-config script for the available versions) to DCOMPONENTS in the main Makefile.
Note that even older versions of Matlab/Simulink generated code are also still supported. However, you should obviously avoid these. When developing a project for the SIMONA simulator, ask which Simulink version is currently used by the motion filters. To ensure that people will later still be able to run your project, please add the simulink model, any supporting Matlab m scripts (e.g., for setting parameters and trimming) to the version controlled software in your project.
To show out-of-the-window views, scene graph libraries are often used. These are often quite complex and extensive; a "scene graph" is a logical tree with objects that can be visualized, often at the hand of 3D files created with software like Blender or Maya. The WorldView module that is used in a number of DUECA project can use a number of these scene graph libraries to create an outside scene with stationary and moving objects.
Commonly used scene graph libraries are:
| Package | Description |
|---|---|
libogre-1.9-dev | OGRE library |
ogre-media | Pack of commonly used media files for OGRE |
openscenegraph | OpenSceneGraph library |
libopenscenegraph-dev | Development files for OpenSceneGraph |
libosgearth-dev | Earth extension for OpenSceneGraph |
libplib-dev | A very simple scene graph library |
libirrlicht-dev | IrrLicht scene graph library |
flightgear | Not a scene graph, but flight simulator, sometimes used as backend for the graphics |
A number of DUECA components or modules are re-used in many projects. These are general enough to be used and re-used without modifications to the C++ code, and they are often highly configurable through the startup script.
| Module | Description |
|---|---|
FlexiStick/flexi-stick | Programmable joystick interface |
SRSMotion/motion-limiter | Motion limiter for the SRS |
SRSMotion/motion-viewer | 3D view of the motion system |
SRSMotion/simple-motion-logger | Simple log for the motion system |
Generic/multi-stick | Another joystick interface, simpler than flexi-stick, but less capable |
HMILabHardware/PedalsIO | IO for car pedals in the lab |
HMILabHardware/SteeringWheelIO | IO for steering wheel |
UDPSlave/udp-reader | UDP network message receiver |
UDPSlave/udp-writer | UDP network message sender |
HeliControls/CyclicCollectiveController | Control interface to helicopter controls |
WorldView/WorldView | Main module for 3D visualisation |
WorldView/HMILabViewFiles | Datafiles and scripts for HMI lab visualization |
WorldView/OgreViewer | OGRE interface for 3D visualisation |
WorldView/OSGViewer | OpenSceneGraph interface for 3D visualisation |
WorldView/PlibViewer | Plib interface for 3D visualisation |
WorldView/SpecificationBase | Support file for 3D visualisation |
WorldView/FlightGearViewer | Interface to communication with FlightGear |
WorldListener/WorldListener | Main module for 3D sound generation |
WorldListener/OpenALListener | OpenAL interface for 3D sound |
In the SRS, the HMIlab and the PHLAB laboratory, a number of computers interface with hardware devices. A number of libraries are used for this interfacing. Note that these will be installed on the computers that need them, typically there will be no special hardware to interface with on your development computer.
| Package | Description |
|---|---|
dd42992 | Interfacing for a DDC ARINC card |
dd42992-dkms | Kernel module code for ARINC card |
libdd42992-dev | Development library for ARINC card |
libdd42992 | Library for ARINC card |
ethercat | Interfacing with EtherCAT stacks |
libethercat-dev | Development library for EtherCAT |
libethercat1 | Library for ethercat |
libsynchro-dev | Development library for synchro card |
libsynchro | Library for DDC synchro card |
sb3624x-dkms | Kernel module for DDC synchro card |
sb3624x | Software for DDC synchro card |
mxser | Tools for MOXA serial card |
mxser-dkms | Kernel module for MOXA serial card |