Readme for running Soar on the Lego Ev3

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Directory Contents
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agents 		- holds code for soar agents developed for the robot
bin 			- holds binaries for the various end programs
include 	- holds headers with lego information/constants
lcmlite 	- source code and makefiles for making the lcmlite libraries
lib 			-	holds compiled libraries used in the end programs (lcmlite, soarev3)
libSoar.a - a precompiled version of soar for the arm architecture
lms_api 	-	example code found online from the bricxcc project, 
						not directly used but useful for a reference
lmsasm 		- lms assember
						compiles rbf programs that can be executed from the brick menu
setup.sh 	- should be executed once to create the lib/bin directories
soarev3 	- source code and makefiles for the soarev3 library
src 			- source code and makefiles for the final programs

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Setup Guide
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Guide to how to get things running (Assuming linux)

1. Compiling arm programs
If you want to be able to compile programs for the Ev3 robot, 
you need to get the arm compiler.

Download CodeSourcery G++ Lite:
https://sourcery.mentor.com/GNUToolchain/release858

Find the version for your processor and download the latest version.
We're assuming yours is for linux and you download a tar.bz2 file

extract the file to wherever you want  
tar jxf arm-2009q1-203-arm-none-linux-gnueabi-i686-pc-linux-gnu.tar.bz2

Add the arm-2009q1/bin folder to the $PATH environment variable:
export PATH=$PATH:/$PATH_TO_ARM/arm-2009q1/bin

If you're on a 64bit architecture, you will need to install ia32-libs


2. lcmlite

There are two makefiles you run with make -f <filename>

arm-make-lcmlite.mak creates lib/arm/liblcmlite.a for the arm
x86-make-soarev3.mak creates lib/x86/liblcmlite.so for intel x86


3. soarev3

There are two makefiles you run with make -f <filename>

arm-make-soarev3.mak creates lib/arm/libsoarev3.a for the arm
x86-make-soarev3.mak creates lib/x86/libsoarev3.so for intel x86


4. src

There are 3 makesfiles you can run with make -f <filename>

native.mak - This creates a native (arm) version which does not have soar
	but uses LCM to communicate
	Creates bin/native_ev3

soar.mak - This creates the soar only version which runs on a laptop
	and communicates with the robot over LCM
	creates bin/soar_ev3
	Run with 1 argument - a soar file to source

standalone.mak - This creates an arm version which includes soar and can
	run all by itself on the robot without LCM
	creates bin/standalone
	Run with 1 argument - a soar file to source


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Running
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1. Connecting to the robot

First, telnet into the robot
Username is root
Password is blank

To enable ssh access (or scp), execute the command dropbear

2. Transfer files to the robot

Use scp to copy files over:

scp bin/standalone root@IP:/media/card
scp bin/native_ev3 root@IP:/media/card

scp agents/test_remove.soar root@IP:/media/card/agents

3. Running with soar remotely

Connect to the robot and navigate to /media/card
Run ./native_ev3

On your computer, run:
bin/soar_ev3 agents/AGENT_FILE.soar

4. Running with soar natively

Connect to the robot and navigate to /media/card
Run ./standalone agents/AGENT_FILE.soar

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Soar Interface
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Color modes
reflect, ambient, color

Remote modes
proximity, remote, beacon