Ka-Boost

Ka-Boost

This is repository of a collection of FANUC Karel libraries. Each package is formatted to work with the karel package manager rossum.

[!IMPORTANT] Documentation is currently fairly sparse. If no documentation exists for the package, look in the “/tests” folder for usage.

[!IMPORTANT] Some modules are formatted as classes or templates, and can be identified with the “.klc” file extension. These heavily use the preprocessor GPP in order to define generics, as generics are not a part of the Karel language. Definition of the generics can be found in the “/tests/config” folder in each module.

Dependencies

• Install rossum (https://github.com/kobbled/rossum). Alternatively, a convenience distribution can be downloaded here.
• Install TP-Plus (https://github.com/kobbled/tp_plus) to use high level functionality for creating TP programs.

[!NOTE] TP-Plus is not required to use rossum, regular TP/LS files are also supported.

• yaml/json conversion to xml is also supported with the yamljson2xml package. This doesn’t need to be installed independently as it is included with rossum.

[!WARNING] While reading xml is supported in karel, and a helper package kl-xml is included in Ka-Boost, xml handling is still very difficult. Look through the test examples, and note the formatting of the xml file, and their corresponding karel structs.

Install

To install all of Ka-Boost’s modules use:

  git clone https://github.com/kobbled/Ka-Boost --recurse-submodules

Add the path where this is stored to the environment variable ROSSUM_PKG_PATH to start using.

Update

Update Ka-Boost submodules with:

git submodule update --recursive

Building

• Open the root folder of the interested package in a terminal.
• Set your roboguide configuration with:

del /f robot.ini
setrobot

• Create a build directory

mkdir build && cd build

Build and send to robot with the following:

• Build all source files

rossum .. -w -o
ninja
kpush

• Build all source files and tests. (This will include assosiated objects in the tests)

rossum .. -w -o -t
ninja
kpush

• Build all dependencies

rossum .. -w -o -b
ninja
kpush

Removing off of controller

All files in the build directory can be removed with:

kpush --delete

Alternatively the support folder /scripts contains windows batch files to remove all of the programs found in Ka-Boost from the controller. They can be run with:

cd ./scripts
./master_del.bat

[!IMPORTANT] Cross dependencies in Ka-Boost can sometimes lead to a MEMO-128 parameters are different error when trying to load the new programs onto the controller. This is specifically a problem when using the kl-draw, and kl-paths modules, as they are the most complicated. The best course of action is to run master_del.bat, and master_test_del.bat.

[!NOTE] Delete test programs off the controller with

cd ./scripts
./master_test_del.bat

They take up space, and are only useful for illustration/usage purposes.

Getting Started

Use rossum_examples_ws as a basic introduction to using rossum, and Ka-Boost. Proper documentation, and tutorials should be added.