[Anders Søborg]

My Xamarin studio version is 4.2.1 – this is the version that I used for the guide…

Anders

[Anders Søborg]

Hi again

I was under the impression that you used the WinSCP to copy the files to the EV3 over WiFi – I will try to reproduce the problem tonight. As for

Is it possible to SSH via USB? I don’t have a wifi dongle and my laptop’s Bluetooth is shot.

No this is not possible at the moment – but we will add USB and BT in one of the next releases.

Anders

[Anders Søborg]

Did you reboot your system after you installed GTK#?

I think that there might be some trouble when loading settings. I will post a more detailed answer once I get home from work.

Anders

[Anders Søborg]

No problem

Anders

[Anders Søborg]

Which version of GTK# are you using?

Anders

[Anders Søborg]

Hi

Try to ssh to the brick. Go to the apps folder and write “mono yourProgramname.exe” – What happens?

Anders

[Anders Søborg]

Although this forum is related to MonoBrick communication here are some Phyton code to send a message to the EV3 from a PC over Bluetooth

import struct
import ctypes
import binascii
import socket
import time
import StringIO
import serial
import struct
from array import array

from serial import * 
from threading import Thread 

class MailboxMessage(): 
    def __init__(self, mailboxName, msg): 
        self.MailboxName = mailboxName
        self.msg = msg
        mailboxNameLength = len(mailboxName)+1
        msgLength = len(msg) +1
        totalLength = mailboxNameLength + msgLength + 7
        self.data = bytearray(b"")
        self.data.append(totalLength)#length
        self.data.append(0)
        self.data.append(100)#sequence number
        self.data.append(0)
        self.data.append(129)#Command type - system command without reply 0x81
        self.data.append(158)#system command type - WriteMailbox 0x9e
        self.data.append(mailboxNameLength)
        self.data = self.data + bytearray(mailboxName)
        self.data.append(0)
        self.data.append(msgLength)
        self.data.append(0)
        self.data = self.data+ bytearray(msg)
        self.data.append(0)
    def Mailbox(self):
        return self.MailboxName
    def Data(self):
        return self.data        
    def Message(self):
        return self.msg

class Receiver(Thread): 
    def __init__(self, serialPort): 
        Thread.__init__(self) 
        self.serialPort = serialPort 
    def run(self): 
        message = []
        messageSize=0
        while True:
            for c in self.serialPort.read(size=1):
                message.append(ord(c))
            if len(message) == 2:
                bytes = array('B', message)
                messageSize = struct.unpack('<H',  bytes )[0]
                #print messageSize
                for c in self.serialPort.read(size=messageSize):
                    message.append(ord(c))
                      
                bytes = array('B', message[6:7])
                mailboxNameLength = struct.unpack('<B',  bytes )[0]
                #bytes = array('B', message[7+mailboxNameLength:7+mailboxNameLength+2])
                #mailboxTextLength = struct.unpack('<H',  bytes )[0]
                mailboxName = array('B', message[7:7+mailboxNameLength-1]).tostring()
                mailboxText = array('B', message[7+mailboxNameLength+2 :messageSize+1]).tostring()
                mailboxMessage = MailboxMessage(mailboxName, mailboxText)
                print mailboxMessage.Mailbox()
                print mailboxMessage.Message()
                message[:] = []
        self.serialPort.close() 

class Sender(Thread): 
    def __init__(self, serialPort): 
        Thread.__init__(self) 
        self.serialPort = serialPort 
    def run(self): 
        text = ""
        print "Enter text to send"
        while(text != "quit\n"): 
            msg = raw_input("")
            mailboxName = "mailbox1"
            self.sendMessage(mailboxName, msg)
        self.serialPort.close()
    def sendMessage(self, mailboxName,msg):
        mailboxMessage = MailboxMessage(mailboxName,msg)
        self.serialPort.write(mailboxMessage.Data())    

serialPort = Serial(port='/dev/tty.EV3-SerialPort', baudrate=9600)

send = Sender(serialPort) 
receive = Receiver(serialPort) 
send.start() 
receive.start()
    

        

To start a program you need to change the command to be a start program command. You can find more info on this and other direct commands here.

Anders

[Anders Søborg]

I don’t have my windows PC with me right now – but I downloaded the latest version about a month ago.

Anders

[Anders Søborg]

Hi

This is really amazing – I hope you succeed to help boost the popularity of MonoBrick firmware…

Isolate timer in even higher priority thread to improve accuracy?

I already think that your approach with the hight priority thread seems good enough (if I understand correctly)

How to debug this on the brick? Xamarin seems to have a bug with mono on windows currently.

Log values to an array and when done write these to a file to plot in matlab. This way you only spend time on “saving” values to the array. It would be nice to debug over a WiFi connection – but for a real-time system it does not make sense. So from your point of view it does not matter if debugging is working or not. Also make sure that when running tests use a release build to get the best performance.

How to use brick sounds which could support “oral debugging”?

Sound support will be available in the next release.

I hope this answers your questions.

Anders

[Anders Søborg]

Both – look at the guide. There are instructions for both Mac and Windows.

Anders

[Anders Søborg]

Did you unpack the zip file to a folder? I does not work when you run it from the zip folder.

Have you installed .Net 4.0 runtime?

Try to run the application as adminitrator!

Anders

[Anders Søborg]

Hi

Do you know about the problem? Any idea to get around it?

No sorry – I did what is shown here. For this I used Mono 2.10.9…

Anders

[Anders Søborg]

Yes copy the file on the SD card.

From the programming guide

With WinSCP copy all files to the apps folder on the EV3

Anders

[Anders Søborg]

Hi

Ok – did you copy the MonoBrick.dll as well? If not you will get an exception and the program will crash. We are working on some way to notify the user if you get an exception during runtime.

Anders

[Anders Søborg]

For NXT it is possible – but support for this on the EV3 has not been added. On the NXT you can ask for new messages but this is not how it works on the EV3 – so the communication layer has to be refactored – it can be done I just haven’t had the time. If you need to send data back and forth between a PC and the EV3 you could consider trying the MonoBrick firmware – with this you could send data with unlimited length.

Anders

[Author]

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