G15 PMN INSTALLATION--most updated info!
Also all about installing G15 PMN
app# 100400, the Ann programming language,
written in G15 PMN and coherent with it throughout,
for G15 PMN FCM Robotics work. This also contains
notes about G15BATCH, which is designed to work
with Ann, allowing batch robotic processes to be
steered eg via Termux in Android even though the
main robotic processes are running in Linux;
and notes about graphical G15PMN w/mousesim
for Android, and analogous approaches for
G15 hardware

This text updated: 2021:11:28
setup_1000400_linux.txt
at g15pmn.com, ie,
norskesites.org/fic3/fic3inf3.htm

MOST UPDATED INFO ABOUT INSTALLATION OF G15 PMN:
You can install any of the G15 PMN in any of
the platforms, and all the standard G15 PMN
programs will work in every one. To do robotics,
there will be some hardware commands tuned to
just some platforms; we favour the distribution
called Neon KDE Linux for this provided that
you choose 'Wayland session' when you log in.
To install G15 PMN in Neon KDE Linux
and highly compatible platforms:
Have SDL2 installed, as this ensures access to
screen, keyboard, mouse for the G15 PMN platform:
either install the exactly up-to-date version
number, or install the larger bundle by the
general versionless command for SDL2:
  sudo apt install libsdl2-dev
Reboot and log in choosing Wayland Session
on the login-screen, consistently.
Unzip neong15ways.zip in a normal home folder
with normal read/write/executable permissions.
Open terminal eg with CTR-ALT-T and there type
  cd neong15ways
  ./neong15pmn
Type
  car
press ENTER some times and CTR-W to activate
mouse to press on the slash or arrow symbols
to start programs, eg C/599 for B9edit editor.
Press [del] key to switch between fullscreen
and frame mode in Wayland sessions with this
form of G15 PMN. This works well. However in
some Linuxes, and given some intricate
changes of frame eg by the frame's inner
'Move' command, the mouse gets out of its
proper coordinates due to frame-size-changes.
It must be put back to fullscreen mode to
click correctly and the G15 PMN should be
restarted to fix this. This arises rarely and
is predictable, which means that we consider
this not an issue that is in need of fix.
  To exit G15 PMN, press CTR-Q and type
  reb
and press ENTER. Restart often during intense
work and very often when developing new programs;
and restart at least twice pr day.

GOOD NEWS ABOUT G15 PMN w/mousesim FOR ANDROID:
When you install intraplates.com/scientific_apks
the g15pmn.apk there [easy way in present Android
eg on Samsung phones and similar is to adjust
setting of eg the often excellent Edge browser
in Android to allow installation of new programs;
click on the line that says g15pmn.apk there, and
after the Download has completed, it will suggest
'open', and the affirmation of that by a
finger-touch will lead to the question of
Install], you will find that there is a new
ease of getting files into and out from this
package. What you do is that you get
norskesites.org/neong15ways.zip and unzip
it exactly into the download folder of Android.
You can use 7zipper [only unselect when 7zipper
suggests creating an extra folder for it] or
such as the unzip command in Termux. All the
.g15 files are now in the download folder.

THE ONLY QUIRK IS THIS: the 'mnt' command,
menu #1, used to mount an app in G15 PMN
assumes continuous database access to the
files that it mounts, and while Android
grants this access to an app in general,
it may do so reluctantly as it were [it
didn't work right after install but when
it was checked some weeks later it did work;
on unrooted, normal, plain phone Androids].
WORKAROUND, which can be made very elegant
and fast by making a little .sh script in
Termux:
  RENAME THE .G15 FILES IN THE
  download/neong15ways
  FOLDER IN THE WAY YOU WANT TO MOUNT
  WHAT YOU WANT AND PROTECT AND
  BACKUP WHAT YOU WANT. For example,
  if you load in 1235555.zip from
  g15pmn.com, which gives you a way
  to show larger font, MORECARS,
  it contains two files,
  h1235555.g15
  i1235555.g15
  SO TO START THIS PROGRAM WHAT YOU
  DO IS THIS: rename your existing
  hdisk.g15 and idisk.g15 to eg
  hdisk_main.g15 and idisk_main.g15.
  Copy the new files to hdisk.g15
  and idisk.g15 and you are up
  and running them speedily. Rename
  back when done handling these
  files. Eg, in Termux,
    cd /sdcard/download/neong15ways
    unzip 1235555
    mv hdisk.g15 hdisk_main.g15
    mv idisk.g15 idisk_main.g15
    cp h1235555.g15 hdisk.g15
    cp i1235555.g15 idisk.g15
    ..start using them in
    graphical G15 PMN w/mousesim..
    Afterwards, restore normal
    files like this:
    cd /sdcard/download/neong15ways
    mv hdisk_main.g15 hdisk.g15
    mv idisk_main.g15 idisk.g15
    You can make scripts for this,
    and elaborate on these scripts,
    eg by the simple text editor
    'micro' in Termux. Type
    chmod 755 scriptname1
    chmod 755 scriptname2
    and eg put these files
    to the ../usr/bin folder
    so that you can run them
    any time from anywhere in
    Termux with great ease.
    In Termux:
    The program lftp is good
    for handling ftp for also
    very large files while the
    command ftp handles small
    files well. Lftp is however
    way too restrictive on certificates
    and when you know the FTP
    sites well, you can do this:
    put this line in a file called rc
    set ssl:verify-certificate no
    and put this file rc to
    ~/.config/lftp
    and the login procedures will
    work well. Make a note that you
    have done this change so that
    you can undo it to increase the
    security of your FTP when called
    for.
See the intraplates.com/scientific_apks
for ready-made scripts about this, and
a variety of alternative forms of
X windows oriented G15 PMN, including
for Raspberry PI OS for Raspberry PI 3
and 4.


GOOD NEWS ABOUT WAYLAND: WHEN
neong15ways.zip WAS MADE, WAYLAND
WORKED ONLY PARTIALLY WITH A NUMBER
OF MAJOR APPLICATIONS BUT NOW MORE
AND MORE APPLICATIONS WORK FULLY
WITH WAYLAND LOGIN, WHICH IS A
DESERVED WIN FOR WAYLAND, ELEGANT
SIMPLICITY AS IT HAS, IN TUNE
FAR MORE WITH WHAT WE CALL
"FIRST-HAND PROGRAMMING" THAN THE
CONVENTIONAL LINUX LOGIN
Be aware though, that when you
use Wayland there may be very
subtle issues with some applications
that vanishes when you log in to
X Windows [ie, a font in LibreOffice
may drop out or Gimp may take unusual
time on some actions].


SETUP INSTRUCTIONS FOR APP#1000400
THE ANN PROGRAMMING LANGUAGE
FOR G15 PMN FCM ROBOTICS
WHEN STARTED IN A LINUX PC
DRIVING ROBOTS

for Ann Programming Language
app# 1000400

The Ann Programming Language
for G15 PMN FCM robotics work
[[[Ann is still in prototype form.
This setup will be expanded
and made more complete as
Ann is getting nearer completion.
G15 PMN is of course wholly
complete and has long been.]]]

Ann programming language builds on
the PMWORK app, which expands the
Third Foundation, and with some extra
two-letter words added. This is
similar to the batch-oriented G15BATCH,
which is designed to work with Ann.
G15BATCH runs G15 PMN programs that
does not require keyboard, mouse,
screen i/o, but which can run in
the background and with text
output. G15BATCH can serve also
as a 'relay station' for commands
you enter, conveying them to the
robot through eg Termux in Android,
or similar for G15 hardware, to
the main PC with full graphical
platform doing the robotics; or
you can set up the robot to work
with G15BATCH, allowing Ann to
run the G15BATCH.

*************************************
Some notes when installing neong15ways.zip
at Neon KDE Linux:
The 015inneon.txt tells of installation
of a certain version number of SDL 2;
in most recent versions of Neon Linux,
it is preferrable to load in libsdl2-dev
as that brings the most recent version
number of SDL2 into the machine.
Also:
* Wayland login isn't strictly
speaking necessary with superbly
simple forms of Linux X-Windows
desktops like LXDE, as long as
switching between the fullscreen
mode and frame mode isn't in focus.
[or, when exiting it by a click on
the Del key, you are sticking to
keyboard rather than mouse]: but the
mouse-handling is distinct in Wayland
and X Windows mode as regards frames,
and g15rwx.zip handles X Windows. But you
must use something like the 'neong15rworks'
startup of G15 to get the full
functionality required to drive robots
with G15.
The less cluttered the window/frame
handling is, generally the better.
Lxde, eg started instead of Neon login
eg by a command like startx startlxde
is eminent, fast, simple, works
flawlessly as long as X Windows is
the orientation.
* You can run the G15 PMN program in
a folder that you do 'cd' at, in a
terminal, provided that there is read/
write access in that folder. The program
itself, when Linux, eg neong15rworks,
can be copied eg into /usr/bin area,
perhaps under a shorter name. When
started, it will look into the .g15
files, that are its disks, in the
present folder. A technique for
putting stuff like 'mynewfunction'
into /usr/bin goes about like this,
but only do it when you know what
you're doing:
  sudo -i
  cd /usr/bin
  ll mynewfunction
This is to check that is not already
something there, called the same.
  cp -i /home/whatevermyusernameis/folder/mynewfunction .
  chmod 755 mynewfunction
  exit
* By putting the startup commands
for G15 there, you can run the G15 PMN
platform on a pluggable device even
when it is not formatted to permit
program performance from it. However,
when you run something like 'rworks',
to start robotic interaction programs
through terminal command from G15 PMN,
which includes camera-read programs,
you may find that some of these may
work best in the computer's home
disk. This you must check for each
platform, with each external program
[eg with some versions of snap-
installed fswebcam in some linux'es
configured in a standard way that
program can store files at home
disk and usb card yet not at sdcard;
other variations of this sort may
arise from time to time].
*************************************



In this setup.txt, the hardware
input/output for robotic 
cameras, robotic engines
etc are all Linux oriented,
and oriented towards running
inside the folder that comes
when you unzip the neong15ways.zip
package at norskesites.org/fic3/fic3inf3.htm
which is oriented towards Wayland sessions
in Neon KDE Linux or one that is 
extremely compatible. There are
some BMP conversion routines included
there. The other programs referred to
in the .sh are very usual standard
installable-over-the-net linux commands.

Start with neong15ways.zip package,
ideally performed in Wayland login modus
in Neon KDE Linux or one very similar:

./neong15rworks
or similar there to access command line.




SETUP OF MAIN SOUND
AND SOME IMAGE CONVERT
USEFUL FOR CAMERA INPUT

Install sox, eg by
sudo apt install sox
in order to enable the
command 'play'.
By installing the
package 'imagemagick',
you enable the command
'convert'.


For the time being, the hardware
input/output for robotic cameras, engines
etc are all Linux oriented, and the
interaction with servos etc is as suggested
here by means of connecting many
Arduino Uno R3 together and steering
them as a group handling many PWM
servos, that in turn direct strong
engines.


SETUP OF CAMERAS

Example: command MOTIONDETECT in Ann

Depending on the choice of camera-reader,
and the powers of the PC, the stability
of the camera connection, and such, there
is a certain amount of hours a loop of
reading from the camera can go on without
the need of restarting the terminal in
Linux, or the PC as a whole. 

When you use MOTIONDETECT .. WITH THRESHOLD,
in a Linux context, the command ./tisignal.sh
is called whenever motiondetect detects a
motion, in addition to the sound which is
being played. This tisignal.sh should be
set up before you try that command. It can
contain anything you please :)

Depending on intensity of usage,
orientation of cameras, and more,
you will want to find a proper
configuration for each application
of Ann to robotics.

In Neon KDE Linux, camtogem_std_s.sh
can be copied to camtogem.sh and
the line with goodclear.sh can either
be deleted or you can set it up as
described further in this text to
clear cache during continous run of
PC in many hours. G15 PMN with Ann
is perfectly able to perform flawlessly
over many hours but it requires good
hardware, and good configuration of
surrounding software.



Good programs to capture one
image at a time from cameras,
eg /dev/video0, /dev/video15 etc,
connected eg with USB to a PC
are 'fswebcam' and 'streamer'.
While hour-long use of fswebcam
repeatedly gives consistent use,
it seems some versions of streamer
leaves a residue in RAM so that
the image from the camera changes
in brightness over time. However,
fswebcam requires clever
configuration work in some linux
contexts. A solution is 'ffmpeg',
which is usually installed with
ease and which appears fairly
stable and which can be configured
in very many ways; however fswebcam
appears more stable when you get it
to work.
Copy camtogem_std_f.sh to camtogem.sh
in case you wish to use fswebcam.
In some cases, when, in Linux,
something is installed using the
'snap' rather than the 'apt' approach,
the program gets a 'shielding' from
hardware. To make fswebcam reach out
and actually connect to /dev/video ..
channels, it may be necessary to type
in something like this, once, after
install:

sudo snap refresh fswebcam --edge
sudo snap connect fswebcam:camera

STREAMER
Copy camtogem_std_s.sh to use
streamer.

FFMPEG
copy camtogem_std_g.sh to camtogem.sh.



In each of the camtogem_std*sh,
you find the line 'goodclear.sh'.

Initially, you may omit the line
with 'goodclear.sh', read below
about it.
In all cases, it seems that it is
best to turn off 'scrollback'
options for a terminal, like
Konsole, from which such a repeat-
script is started, so it doesn't
use more and more RAM.

FOR EACH CAMERA explore the settings
inside each line in the script as
to what part of the image is being
shown, and to what extent it is
tilted, treated for brightness,
and such, before a standard
greentone BMP is created of it
of size 500x500. It may for instance
have an active area that is 350x350,
usually more than enough for robotic
pattern matching of an efficient type.
The greentone is the approach of
G15 PMN; to get differentiation
of colours, use filters on the way
from a colour camera to the input
and treat them separately inside
the G15 PMN program.

HARDWARE: some cameras heat up
or get their internal
electronics a bit clogged
after continous usage over
some time. Experimentation
will show which types are best.

TERMINAL TEXT SCROLL: it is
almost certainly the best
that there is no saving of
text output when you wish
to run a script which does
have text output in a loop
for hours. The effect may
be very significant.

To be sure, you can do
chmod 755 camtogem.sh

Modify the statements about resolution,
about which video--eg 0 for the most
'native' webcam during startup, or
eg 'video2' for the first connected to the
PC laptop after startup. Also modify
rotation and brightness and contrast
statements connected to the 'convert'
command inside it to suit the webcam. 

So, that, through these commands,
something kept within 500x500
pixels are generated as a standard
green BMP suitable for GEM import.
For driving many USB elements, you
may have to have a powerful power
supply for the PC, and not longer
cables than necessary. For
important work, a clean boot and
no other programs open are
advsiable.




command MOTIONDETECT in Ann

create rsound001.wav
as a 16- or 32-bit WAV
file [eg exported by audacity
in linux from a suitable sound
recording].
The command 'pkill play' should stop
playing. The argument in 
favour of Wav format is that
it is very near the 'first-hand
relationship to data' approach,
entirely unlike mp3. 



SETUP OF MAIN ROBOTIC ENGINES

We use the established Arduino 32 
gate miniboard which allows the
steering of servos; these servos
steer voltage controls of larger
engines in the typical Avenuege
G15 1000400 robotic setup. We have
servos as 'air locks' between the
low-voltage, low-ampere PWM output
from the digital electronics and
the high-ampere power supplies
that power the engines of the
Avenuege G15 PMN Ann robots.






TO ENHANCE PERFORMANCE DURING HOURS
SUITABLE FOR KDE NEON LINUX AND THE LIKE

NOTE: consult with experts as to
security in case you are using a PC
which must be set up to be very secure
and you wish to edit things in the /etc
region of it.


Create a text file eg in gedit called goodclear.sh,
let it contain:

sysctl vm.drop_caches=1
sysctl vm.drop_caches=2
sysctl vm.drop_caches=3

Save it to ~ which is /home/yourusername
Go into administrator mode using your password:

sudo -i

cd /usr/bin
cp /home/yourusername/goodclear.sh . -i
sudo 755 goodclear.sh
cd /etc

Open text file /etc/sudoers in a text editor
that works in administrator mode with great care
after making a backup of it, or, with great care
copy it to a local area, edit it eg with kwrite,
and copy it back while in Administrator mode
and give it back its proper permissions with
chmod. In the editor you add a last line to it,
namely

yourusername ALL=(ALL) NOPASSWD: /usr/bin/goodclear.sh

Having done this, leave the administrator mode
by this command:

exit

Do a reboot to ensure that sudo goodclear.sh now
can be performed inside a batch file without
passwords having to be typed in each time.

You can now enhance stability by allowing these to
be the completing two lines eg in camtogem.sh, with eg
sleep 0.15s being used higher up in it, adding up
to sleep 0.35s:

sudo goodclear.sh
sleep 0.25s

Remember though that Linux is a vast system and
that there are more processes than those covered
by such simple commands that ideally should having 
their caches refreshed for even better performance.
















at g15pmn.com => norskesites.org/fic3/fic3inf3.htm