EV3RTとEV3RT上で動作するmrubyについての紹介2018年度版

1. EV3RT
EV3 mruby
2018/04/28(12/23 update)
ET
TOPPERS
(team yamanekko)
ET 2018

2. • TOPPRES/EV3RT
• ET mruby

3. • mruby
•
•
• RTOS

4. mruby
• Ruby
•
•
• OS

5. EV3 mruby
• ev3dev
• Linux( OS)
• Ruby
• TOPPERS/EV3RT
• RTOS
•

6. RTOS
•
•
•
https://www.toppers.jp/etrobo_seminar15.html

7. EV3RT

8. TOPPERS + ->

9. TOPPERS
•
TOPPERS/HRP3
https://www.toppers.jp/press/press_et2017_001_doc.pdf

10. •
•
•
SPF RTOS 2017
https://dev.toppers.jp/trac_user/ev3pf/attachment/wiki/seminar_text/
SPF%E3%81%A8RTOS%E3%81%AE%E5%9F%BA%E7%A4%8E2017.pdf
downloading

11. HRP2
• TOPPERS
• HRP "High Reliable system Profile"
• 2
• EV3RT
•
•
• https://www.toppers.jp/hrp2-kernel.html
HRP3

12. or
https://dev.toppers.jp/trac_user/ev3pf/wiki/WhatsEV3RT
ev3way_cpp

13. or
•
•
•
•

14. EV3RT
•
•
•
https://dev.toppers.jp/trac_user/ev3pf/wiki/WhatsEV3RT

15. TOPPERS (1/2)
• ET ML (etrobo@toppers.jp) usersML
• URL TOPPERS ET
https://www.toppers.jp/etrobo.html
• ET TOPPERS
https://www.toppers.jp/community.html
•
https://www.toppers.jp/etrobo_seminar15.html
• TOPPERS EV3RT
• https://dev.toppers.jp/trac_user/ev3pf/wiki/WhatsEV3RT
• EV3RT
https://dev.toppers.jp/trac_user/ev3pf/wiki/seminar_text

16. TOPPERS (2/2)
• TOPPERS ( )
• ET
https://qiita.com/kaizen_nagoya/items/908df06d1a9aa9535d00
• TOPPERS/EV3RT
• Ex. TOPPERS/EV3RT EV3
• EV3
• ET
• Ex.ET 1 with EV3
• https://qiita.com/pulmaster2
• &
•

17. TOPPERS
•
•
• TOPPERS ML
• ML
•
https://dev.toppers.jp/trac_user/ev3pf/wiki/seminar_text

18. Advent Calendar
https://qiita.com/advent-calendar/2017/etrobo

19. "EV3RT "mruby
https://github.com/ETrobocon/etroboEV3/blob/master/SampleCode/EV3way_EV3RT_sample/sample_c4
mruby
https://github.com/yamanekko/mrb_way_2018

20. CC
mruby(Ruby)
https://github.com/yamanekko/mrb_way_2018/blob/master/balance2.rb#L67
https://github.com/ETrobocon/etroboEV3/blob/master/SampleCode/EV3way_EV3RT_sample/sample_c4/app.c

21. C
mruby(Ruby)
https://github.com/ETrobocon/etroboEV3/blob/master/SampleCode/EV3way_EV3RT_sample/sample_c4/app.c
https://github.com/yamanekko/mrb_way_2018/blob/master/balance2.rb#L76
yamanekko mruby
mruby
motor_r, motor_l

22. mruby(Balancer.auto)
https://github.com/yamanekko/mruby-ev3rt/blob/master/src/balancer_class.c#L127
mruby

23. mruby(Balancer.auto)

24. mruby(Balancer.auto)

25. C
https://github.com/ETrobocon/etroboEV3/blob/master/SampleCode/EV3way_EV3RT_sample/sample_c4/app.c
update

26. mruby
•
• mruby mrbc
mrbc -B -o Ruby
• yamanekko *.h
•
• *.rb
"-c check syntax only",
"-o<outfile> place the output into <outfile>",
"-v print version number, then turn on verbose mode",
"-g produce debugging information",
"-B<symbol> binary <symbol> output in C language format",
"-e generate little endian iseq data",
"-E generate big endian iseq data",
"--verbose run at verbose mode",
"--version print the version",
"--copyright print the copyright",
mrbc mrbc.c

27. mrbc extern const uint8_t
https://github.com/yamanekko/mrb_way_2018/blob/master/build_mod.sh#L10
https://qiita.com/yamanekko/items/
c2adb87031bf38bb8a13#%E3%83%90%E3%82%A4%E3%83%88%E3%82%B3%E3%83%BC%E3%83%89%
E3%81%AE%E4%BF%AE%E6%AD%A3

28. TOPPERS mruby
• mruby on EV3RT+TECS(TECS )
https://www.toppers.jp/tecs.html#mruby_ev3rt
※ 2018 (12/23 )
ML
• mrbgem
• yamanekko ( )
• 2018
https://github.com/yamanekko/mruby-ev3rt
• SCSK
https://github.com/mimaki/mruby-toppers-ev3rt

29. mruby on EV3RT+TECS
• mruby
• 2.0.1
• mruby1.2
• EV3RTβ7
•
• Ruby
• API
• TECS TECS

30. • mruby on EV3RT+TECS
•
• mrbgem
• mruby EV3RT

31. mrbgem
• mruby EV3RT
• mruby : GitHub ?
• EV3RT : β7 C++
• mrbgem
• https://github.com/yamanekko/mruby-ev3rt
• OK

32. 2
mruby

33. mruby
• mruby on EV3RT+TECS
• Makefile APP_NAME= *.rb
• Ver makefile *.cdl
• yamanekko
• C

34. TECS Makefile
ev3rt+tecs-2.0.1/hr-tecs/workspace/mruby_app/Makefile
7

35. CDL
• tEV3Sample.cdl
ev3rt+tecs-2.0.1/hr-tecs/workspace/sample1/tEV3Sample.cdl
17

36. EV3RT (app.cfg)
https://github.com/yamanekko/mrb_way_2018/blob/master/app.cfg#L5
TOPPERS DOMAIN()
JSP, ASP
(mruby )

37. C mruby
https://github.com/yamanekko/mrb_way_2018/blob/master/app.c#L54

38. Ruby mruby
https://github.com/yamanekko/mruby-ev3rt/blob/master/src/motor.c#L72
https://github.com/yamanekko/mruby-ev3rt/blob/master/src/task.c#L139

39. 2
RTOS mruby

40. •
•
• TECS RTOS
• yamanekko Task

41. • TECS
@WakeupTask = TECS::TsTask.new( 'MrubyWakeupTaskeTaskBridge' )
@WakeupTask.activate
• yamanekko
• Task
EV3RT::Task.wakeup(EV3RT::MAIN_TASK_ID)

42. • 2015 TOPPERS
https://www.toppers.jp/docs/etrobo15/
ev3rt_seminar_05.pdf