MyPleo Installation and Deployment
Contents
1. ray N In Ant Window open up MyPleo e w Run update shiva LA P Go to Project gt Clean KA UI Select Clean projects selected below ma eu Select Pleo if not already selected and click OK KA N Connect the Smartphone to your computer and enable an option that does NOT mount its SD Card 18 Select the Pleo project in the Package Explorer 19 Go to the Run menu and select Debug or Run according to the desired deployment 20 In Select a way to debug release Pleo select Android Application and click OK The application will automatically start after installed Subsequent deployment can be performed by the same steps although step 20 will be automatically skipped for a mode debug or release after you have deployed once in that mode However when Shiva module has not changed been one can simply execute step 19 PhyPleo Deployment In order to perform a complete deployment to PhyPleo you will need a computer with an SD Card reader However creating an urf file with the behaviour can be performed using workspace phypleo needs_behaviour compile bat The steps to deploy PhyPleo s software are the following 1 Connect an empty SD card or containing previous behaviour version in your computer 2 Edit workspace phypleo my_behaviors needs_behavior compileAndStore bat with a text editor and replace F with the letter assigned to the mounted SD Card drive 3 Run the bat file Wi2. MyPleo Still in the Data Explorer go to Export gt Export Game If not already defined set Export name to MyPleo ao oe E Leave Export version empty 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 Select Local folder and browse to a workspace viPleoShivaOutput Select Runtime Package stk and select Android profile Click Export and wait for the Export succeeded message to be displayed Launch Shiva Authoring Tool Select the Android tab Select the Or get started now option In Step 1 Content for the option Application pack browse to workspace viPleoShivaOutput and select the MyPleo file For Icon browse to the folder vipleo and select the pleolcon png For Startup splashscreen browse to the folder vipleo and select the pleoSplash png Select Next In Step 2 Authoring in the Authoring type option select Project In the Signing gt Bundle identifier type eu lirec pleo Go to Step 3 Build In the Build type option select Development Unselect option Install in connected device Inthe Minimum OS support select Android 2 2 API level 8 In the option Output folder browse to the workspace viPleoShivaOutput and select it Click Build Wait for the Build finished successfully message to be displayed in the log Exit Authoring Tool and save the
3. Warning suppression of minor issues of Shiva3D interface e Options added to ant build file Bluetooth Installation In this sub section we describe how to enable a Pleo robot to receive commands via Bluetooth You only need to read it if you intend to create more PhyPleo s It is greatly inspired in a previously online web page housed at Robotstuf com The last time the website was consulted 14 07 2011 it seemed to be offline There is an offline version of the cached page in the doc folder Pleo bluetooth htm Installation was performed with the help of an electric technician The modifications to the Pleo robot 1 1 1 presented here have not been approved by Innvo Labs and most likely void the warranty By taking them the reader takes full responsibility of any damage or malfunction occurring to the Pleo robot used Furthermore the author is not responsible for any injury or health problem caused by trying to the follow these instructions The parts and material needed to install the Bluetooth are the following e 1 Bluetooth module Figure 1 recommend the Bluetooth DIP Module Roving Networks http www sparkfun com products 8550 WRL 08550_ WALA Figure 1 Bluetooth module 7 http robostuff com diy projects pleo hacking how to control pleo wirelessly via Bluetooth consulted 11 03 2011 e 1crimp housing Figure 2 1 25mm 7 way http il farnell com molex 51021 0700 crimp housing 1 25mm 7way d
4. select USB debugging Go to Settings gt Applications and select Unknown sources Turn on ViPleo In the HTC go to Settings gt Wireless amp networks gt Bluetooth settings select Scan for devices Select PleoBluetooth 7231 or PleoBluetooth 1255 depending on which PhyPleo you wish to connect with When requested to enter a code use 1234 Pleo robot Configuration In order for the PhyPleo deployment to work one should be sure that the correct firmware version is installed in the Pleo robot The process described here has already been performed for two Pleo robots with installed Bluetooth and thus is unnecessary for those It might come in handy if another Pleo robot is to be enhanced with Bluetooth Beforehand make sure to have a fully charged and cooled down battery ready the battery will typically be a bit warn just after full charge and that the Pleo robot is turned off The folders mentioned here consider lt pleo sdk installation folder gt as root Follow these steps 1 Put the fully charged battery into the Pleo robot 2 Copy the contents of firmware 1 0 2_ Downgrade folder to an empty SD card just the contents not the folder itself 3 Insert the SD card into the Pleo robot 4 Turn Pleo on It will probably take a while to install the behaviour It will emit a series of twinkling sounds until it emits a final longer twinkling sound The Pleo robot will start to move Turn the Pleo robot off Re
5. Bluetooth module 5 Pleo s serial interface is hidden under a plastic cover next to the power switch see Figure 6 Take out that cover with a snap off blade Figure 6 Serial interface plastic cover 6 Connect the crimp housing to the robot s serial interface with the help of the tweezers Cover the wires and Bluetooth module with electric tape Surround the wires at the removed cover hole with the modelling clay Strap the collar around the robot s neck securing the Bluetooth module Configuration of the Bluetooth module requires the following steps So oS 8 9 Perform a PhyPleo Deployment see Deployment chapter Turn on PhyPleo and immediately try to connect with it via using putty see Bluetooth Configuration Type and Enter This way you can access the module s configuration This functionality can only be accessed until one minute has passed since the module has been turned on For more details consult the modules documentation Roving Networks Bluetooth Product User Manual in doc Enter D Take note of the BTA value Enter S 0012 This command sets the inquiry scan window to 1 of the duty cycle Enter SJ 0800 This command sets the page scan window to the maximum Enter SN PleoBluetooth XXXX in which XXXX are the 4 last digits of the BTA This step is optional but will help identify the module more easily Enter SC 1101 This command sets the service class to 1101 Enter R 1 Reboots the
6. GAIPS INESC ID MyPleo Installation and Deployment version 1 05 October 18 2011 Paulo F Gomes AL BY This work is licensed under a Creative Commons Attribution 3 0 Unported License Contents WAVE O GUCCI ON 2 Legd ee ENEE NEE EE ERA E etieeeoe cae 2 Installation and Confteuration 3 SOtWarre INS EE 3 Pre lnstallation EE 3 Shiva Tools Installationen ae ioa EE VE E 4 Shiva Editor Configuration cccccccsssssssscececessessnneceeeeecsssecaaeceseesesssesauaeseeecsseeseesaeeeeeesseeseaeas 4 Java Eclipse amp Android SDK Installation c ccccccccsccssssececeeecessesseaeseceescesseseeaeeeeeesesesesseaeeeeess 5 Shiva Authoring Tool Configuration cccccccccssssececsessececeeeeeecsesaeeeceesaeeeceesaeeecsesaeeeceesaeeeeeeaas 5 Eclipse Configuratio siisissrmiisisginiieeeiaesa piin ak i aE EE Er ERARE EE ENEE EKREN 5 PhyPleo Installation and Confteuration 6 Bluetooth ContiguratiOMeeieressines rRe EERE Ea EEEE REEE Eea A AARE NEEE 6 Smartphone Configuration 7 PLEO OBOE CONTIQUPATION dace iessen enaena dereen 7 Eclipse Project Creati mses eisccccesss s2uleusadsesesb2ace0s egendeN eege eieiei ee 8 Bluetooth lh DIE Le DEE 10 Ree te EE 14 VIPIEO De PlOVIMEN E eege AEN 14 PhyPleo De ployMeNts s2scccc ccecedsseadecicecsueee besaaec cgentesvensGedeca cecbtendenseacce ge E e Eaa 14 Acknowledgements mrret renane aa a aaar aa EAE a aaa E EAA EE LRE ARTES 16 Introduction This document presents a summary d
7. e pack 1 installed with an SD Card reader and Bluetooth The Bluetooth configuration and PhyPleo Installation and Configuration were only tested in the PC with Windows 7 Software installed In the installation the following software packages will be installed configured used e Shiva 3D 1 9 0 1 e JDK 6 update 26 e Eclipse IDE for Java Developers e Android SDK Tools e ADT plug in for Eclipse e Android NDK version 6 e Apache Ant 1 8 2 e Gygwin e Putty e SVN client For software that does not need explicit installation but rather just unzipping to a folder suggest doing so to a safe location without space characters in the path Pre Installation The pre installation can either be performed from the MyPleo bundle or with a checkout from LIREC s svn server Pre installation from the MyPleo bundle e Copy the MyPleo bundle to your computer e Move the workspace folder to a safe location without spaces Pre installation from the svn server e Checkout the miniBundle folder to your computer from https svn lirec eu scenarios MyFriend MyPleo miniBundle using an svn client e Checkout the workspace to a safe location without spaces in your computer from https svn lirec eu scenarios MyFriend MyPleo workspace using an svn client In this document unless mentioned otherwise references to folders assume that you are already in the bundle folder References to the workspace folder refer to the location whe
8. escription of the necessary steps that need to be taken in order to create new versions of MyPleo Although reading MyPleo System Description is highly recommended will try to make a summary description of the prototype here MyPleo is an artificial pet with two embodiments a robotic one consisting of a modified Pleo robot and a virtual one consisting of an Android application for an HTC Desire These two embodiments will be referred to as PhyPleo and ViPleo respectively PhyPleo has been developed from Pleo robot version 1 1 1 and ViPleo was developed for Android 2 2 The manual was originally created to enable LIREC developers researchers to extend MyPleo However it may also serve other individuals that want to try to recreate it In either case reiterate that reading MyPleo System Description is essential Only LIREC developers researchers will have access to the complete MyPleo bundle with all the prototype s resources but most of the resources are available in http trac lirec org browser scenarios MyFriend MyPleo Furthermore all the code is there and has been licensed under GNU GENERAL PUBLIC LICENSE Version 3 29 June 2007 http www gnu org copyleft gpl html This manual is licensed under a Creative Commons Attribution 3 0 Unported License http creativecommons org licenses by 3 0 Readers are encouraged to create new versions of the document updating it for instance Future authors are asked to maintain a re
9. ext Select Pair without using a code After the device is linked click Close Go to Bluetooth Devices in the Tray Bar and select Show Bluetooth Devices Right click on PleoBluetooth 1255 and select properties Go to the Hardware tab and write down the name of the created serial port e g COM6 Close the properties and exit from Bluetooth devices 11 12 Launch putty Go to Connection gt Serial and fill the fields with the following values a Serial line to connect to the name of the port you written down b Speed baud 115200 c Data bits 8 d Stop bits 1 e Parity None f Flow Control None Go back to the Session menu In the Connection type select Serial In the Saved Sessions space type PleoBluetooth 1255 settings Click Save Double Click on PleoBluetooth 1255 settings Allow the Bluetooth device to connect by clicking on the balloon popping out of the system tray Type 1234 as the key and continue Wait for command black window to appear In the end of the configuration you can type help and enter to test it A list of the monitor commands should appear Smartphone Configuration Running the necessary software on the HTC Desire requires a little effort of configuration Most of the devices already used for MyPleo will probably already have been configured If you are using another device do the following steps Saale ae ee 6 Go to Settings gt Applications gt Development and
10. ference to the original author in the first page and include their names in the first page as u D well Additionally have used the pronoun I when presenting personal suggestions These should probably be changed to We if other authors contribute to the document start by describing the necessary steps to prepare your development system to deploy new versions of MyPleo Installation and Configuration Afterwards explain how after modifying one component one can deploy to the robot and to the Smartphone Deployment Copyright Innvo Labs Corporation S Copyright Google Inc gt Copyright HTC Corporation The device used will also be referred to simply as Smartphone Installation and Configuration In this chapter it is described what one should install in a PC in order to be able to deploy MyPleo s software to the modified Pleo robot and to a Smartphone recommend following the steps in the order they are presented There are various references to the software folder along the description Only LIREC developers researchers will have access to the complete MyPleo bundle in which such folder is included However almost all the software can be downloaded free of charge from the internet and if not alternatives are mentioned Most of the steps were tested in a PC with Windows XP 32 bit service pack 3 installed without an SD Card reader nor Bluetooth as well as in a PC with Windows 7 64 bit servic
11. fresh or press F5 PhyPleo Installation and Configuration Deployment of PhyPleo s software requires installing the Pleo Development Kit as well as doing some additional configurations The needed steps are the following 1 Install PleoDevelopmentkit from the zip file in the software folder to a safe folder will be named lt pleo sdk installation folder gt e g C ProgramsWI PleoDevelopmentkKit Create a new environment variable named PLEO_HOME and set it to lt pleo sdk installation folder gt e g C ProgramsWI1 PleoDevelopmentkit Browse to workspace phypleo needs_ behavior Edit needs_behavior upf replacing the entries of C ProgramsWI PleoDevelopmentkKit by the actual folder path using slash characters Bluetooth Configuration The following instructions enable you to connect to PhyPleo trough your computer via Bluetooth Of course your computer will need to have Bluetooth in order to do so Note that USB SD Card readers are inexpensive The instructions described assume putty is installed but an alternative serial port terminal could be used the binary file for putty has been placed in the software folder for completeness The instructions to establish the connection are the following 1 2 3 Turn on PhyPleo Go to Bluetooth Devices in the Tray Bar and select Add Device Wait for the devices to be detected O 00 or or 13 14 15 16 17 18 19 20 Select PleoBluetooth 1255 and click N
12. module recommend taking a look at the modules documentation Roving Networks Bluetooth Product User Manual in doc specifically at the Configuration and Command Reference sections Further details on the inner workings of the module can be found in doc Class 1 Bluetooth Module pdf Tam unsure if that might eventually affect the Bluetooth communication but from the testing done it did not seem so Deployment After the necessary installation and configuration steps described in the previous chapter have been performed deploying a new software version to ViPleo or PhyPleo should be a relatively straightforward process We described such process bellow Note that changes to MyPleo s software should only be made after reading MyPleo System Description ViPleo Deployment These are the instructions necessary to deploy ViPleo for the first time Launch the ShiVa Editor In General gt Game Editor go select Open or Drop a Game MyPleo should appear selected Click OK In General gt Data Explorer go to the Games sub folder and select MyPleo Still in the Data Explorer go to Export gt Export Game If not already defined set Export name to MyPleo Leave Export version empty Select Local folder and browse to a workspace viPleoShivaOutput O Doe Oy Or eS Select Runtime Package stk and select Android profile KA oO Click Export and wait for the Export succeeded message to be displayed LA LA Launch Eclipse
13. move the SD Card from the Pleo robot Erase the SD Card s contents Copy the contents of firmware 1 1 0_Upgrade folder to the SD card O 00N O n Insert the SD card into the Pleo robot 10 Turn the Pleo robot on The process is similar to the previous installation It will make some twinkling sounds and eventually the robot will start to move 11 Turn the Pleo robot off 12 Remove the SD Card from Pleo 13 Erase the SD Cards contents 14 Copy the contents of firmware pleo 1 1 1 folder to the SD card 15 Insert the SD card into the Pleo robot 16 Turn Pleo on In this case it will just start up the behaviour 17 Turn the Pleo robot off 18 Remove the SD Card from the Pleo robot Additionally recommend installing the MySkit application available in the software folder in order to visualize and edit the robot s animations Eclipse Project Creation The eclipse project available in the workspace was created with Shiva Authoring Tool Bellow are the instructions to create such a project These instructions might come in handy if you need to update your eclipse or Shiva version In a regular installation of the development environment there is no need to follow these instructions as the eclipse project is already available Launch the ShiVa Editor In General gt Game Editor go select Open or Drop a Game MyPleo should appear selected Click OK In General gt Data Explorer go to the Games sub folder and select
14. oject into Workspace and click Next In Select root directory browse to workspace Pleo and select it Make sure that Copy projects into workspace is NOT selected Click Finish Alternatively you can use http developer android com sdk eclipse adt html Alternatively you can use http www stonetrip com developer doc authoringtool installation 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 Select the Pleo project in the Package Explorer Select Project gt Build Automatically if not already selected Go to Window gt Preferences Select Android In the Android Preferences gt SDK Location browse to lt android installation folder gt and select it Click Apply and then Ok Right click on Pleo in the Package Explorer and select Android Tools gt Fix Project properties Go to Project gt Clean Select Clean projects selected below Select Pleo if not already selected and click OK Open build properties Edit the cygwin dir value so it matches the directory in which cygwin was installed Edit the ndk dir value so it matches the directory in which ndk was installed Select Window gt Show View gt Ant Drag and drop the build xml file from the Package Explorer to the Ant window In the Ant window open up the MyPleo ant build options Double click on setup project and wait a success message in the Console window Select Pleo project in the Package Explorer Select File gt Re
15. p 615110 Figure 2 Crimp housing e 4crimp socket contacts http uk farnell com molex 50058 8100 crimp socket contact dp 17042469 Figure 3 Figure 3 Crimp socket contacts e 2 two pin fem headers http www sparkfun com products 115 e 4 wires of different colours and about 8cm long e Green modelling clay e Green cat collar e Electrical tape All the material apart from the cat collar and the wires should be available at GAIPS INESC ID s offices The electronic parts should be in a box labelled PhyPleo Parts Additionally you will also need a basic soldering iron pliers a snap off blade crimping tool tweezers and a SD Card 8 As mentioned on the website the image presented there is only an illustration The crimp has actually 7 entrances As mentioned on the website the image presented there is only an illustration The crimp has actually 7 entrances Installation itself consists of the following steps 1 Use the crimping tool and pliers to attach the crimp socket contacts to the wires one per each wire 2 Insert the crimped wires at positions 1 3 4 and 5 of the crimp housing see Figure 4 hs Figure 4 Wire positions 3 Solder the extremities of wires connected to positions 1 and 4 to one two pin fem header and wires connected to positions 3 and 4 to the other fem header see Figure 5 Figure 5 Bluetooth wire connections 4 Connect the fem headers to the
16. profile as MyPleoProject Launch eclipse Select Project gt Build Automatically if not already selected Go to File gt Switch Workspace gt Other Browse to workspace folder and select it Select File gt New gt Project Select General gt Project and click Next In project name type Pleo Click Finish Right click on Pleo in the Package Explorer and select Import Select General gt Archive File and click Next In From archive file browse to workspace viPleoShivaOutput and double click MyPleo_Android zip Click Finish Go to Window gt Preferences Select Android In the Android Preferences gt SDK Location browse to the folder in which the Android SDK was installed and select it Click Apply and then Ok Go to Windows gt Show View gt Ant Drag and drop the build xml file from the Package Explorer to the Ant window Double click on Build debug apk wait for success log on Console Right click on Pleo in the Package Explorer and select Android Tools gt Fix Project properties Double click on Build release apk The eclipse project available in the workspace has the following main modifications e Changes in the AndroidManifest xml namely the activity corresponding to the ShiVa module MyPleo no longer is the main one or is launched at start up PleoMainActivity would is e The S3SSurfaceView was modified so that when the ShiVa module pauses there is an attempt to migrate to PhyPleo e Several classes added e
17. re this folder was placed or checked out Shiva Tools Installation LIREC only has a single user license for ShiVa 1 9 0 1 ADVANCED Thus when migrating a license as mentioned bellow be sure no other developer researcher is using it Alternatively you can install the free Shiva 1 9 0 1 PLE version Note however that the manual was not tested with this version and deployed software using it would have overlay messages stating the use limitations of the software The installation steps for the Shiva tools are the following Install ShiVa_1 9 0 1 ADVANCED from the setup file in the software folder Launch the ShiVa Editor When asked to activate product copy the computer id presented Go to web site http www stonetrip com Select Log In upper right corner Type the username and password found in software Shiva account txt Select Licenses management Select migrate a license WON DONA WN Paste the copied computer id and press migrate 10 Copy the generated key to the activation product form 11 Activate product Shiva Editor Configuration One needs to add a ShiVa project existing in the workspace to the set of available projects in the Shiva Editor The steps for doing so are the following 1 Launch the ShiVa Editor 2 Goto Main gt Projects 3 Select Add browse to the workspace viPleoShivaModule folder and select it Alternatively you can re import an older version of the project from an available archive following
18. taller_r12 windows setup file in the software folder The installation folder must not have spaces it will be named in this document as lt android installation folder gt Make sure to install the SDK Platform Android 2 2 API 8 revision 2 Create a new environment variable named ANDROID_HOME and set it to lt android installation folder gt e g C ProgramsNS android sdk Install the ADT eclipse plug in by following the instructions in doc eclipse adt installation htmP Shiva Authoring Tool Configuration Deployment of the Shiva module requires installing several tools and configuring the Shiva Authoring Tool 3d so it can later be used on Android Installation instructions can be checked in doc Shiva 3D Authoring Tool installation htm Zipped installation folders for ant and ndk were placed in the software folder for completeness Note that some of the installation steps have already been performed and that the critical elements are in Required third party tools for Android target suggest also installing Required third party tools for Windows target Eclipse Configuration We will use the checked out or copied workspace folder as an eclipse workspace The steps for doing so are the following O 00 N OT nai bi Run the updateProperties bat in workspace Pleo Launch eclipse Go to File gt Switch Workspace gt Other Browse to workspace folder and select it Go to File gt Import Select General gt Existing Pr
19. th Windows XP 32 bit service pack 3 an error message has appeared during the deployment process The procedure entry point _except_handler4_common could not be located in the dynamic link library msvcrt dll However deployment seems to occur normally You can deploy a version of PhyPleo s behaviour without sound This might come in handy if you wish to discharge the battery completely before charging it again To disable sound you just need to use automon sound disabled txt instead of automon txt Acknowledgements This work is partially supported by the European Community EC and was funded by the EU FP7 ICT 215554 project LIREC Living with Robots and IntEractive Companions and FCT INESC ID multiannual funding through the PIDDAC Program funds The authors are solely responsible for the content of this publication It does not represent the opinion of the EC and the EC is not responsible for any use that might be made of data appearing therein
20. these steps Launch the ShiVa Editor Go to Main gt Projects Select Add browse to the desired folder and select it Go to Data Explorer gt Import gt Archive Browse to vipleo and select MyPleo Select Import When prompted override existing files Exit the Shiva Editor Browse to vipleo folder and copy the files folder to the project folder Eil a Ate Et Je Java Eclipse amp Android SDK Installation Deployment to the Smartphone requires installing a Java Development Kit JDK the Eclipse IDE and the Android SDK The suggested steps for doing so are the following 1 Install the JDK version 6 update 26 from the jdk 6u26 windows i586 setup file in the software folder installation folder will be named lt jdk installation folder gt Create a new environment variable named JAVA_HOME and set it to lt jdk installation folder gt e g C Program Files x86 Java jdk1 6 0_ 26 Install Eclipse Indigo from the eclipse java indigo win32 zip file in the software folder to a safe folder will be named lt eclipse installation folder gt suggest using a shortcut to launch eclipse so that you can specify the jdk used An example is included in the software folder eclipse java indigo win32 launcher You will have to define the Target as lt eclipse installation folder gt eclipse exe um Y JAVA_HOME bin javaw and the Start in as lt eclipse installation folder gt Install the Android SDK release 12 from the ins
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