From 1bc430c6a1b7406c7dcecba144b03e48c6440631 Mon Sep 17 00:00:00 2001 From: KusaReMKN <48670724+KusaReMKN@users.noreply.github.com> Date: Tue, 29 Nov 2022 12:12:52 +0900 Subject: [PATCH] Latest version --- Makefile | 20 + img/ish_qr.eps | 1277 ++++++++++++++++++++++++++++++++++++++++++++++++ runnowave.ms | 144 ++++++ 3 files changed, 1441 insertions(+) create mode 100644 Makefile create mode 100644 img/ish_qr.eps create mode 100644 runnowave.ms diff --git a/Makefile b/Makefile new file mode 100644 index 0000000..999fdf2 --- /dev/null +++ b/Makefile @@ -0,0 +1,20 @@ +TARGET= runnowave.pdf + +GROFF= groff +GROFFFLAGS= -dpaper=a4 -P-pa4 -ept -ma4 -ms -mpspic -mwww +PS2PDF= ps2pdf +PS2PDFFLAGS= -sPAPERSIZE=a4 +RM= rm -f +SHELL= /bin/sh + +all: $(TARGET) + +.SUFFIXES: +.SUFFIXES: .ms .pdf + +.ms.pdf: + $(GROFF) -Tps $(GROFFFLAGS) $< | $(PS2PDF) $(PS2PDFFLAGS) - $@ + +.PHONY: clean +clean: + $(RM) $(TARGET) diff --git a/img/ish_qr.eps b/img/ish_qr.eps new file mode 100644 index 0000000..faca182 --- /dev/null +++ b/img/ish_qr.eps @@ -0,0 +1,1277 @@ +%!PS-Adobe-3.0 EPSF-3.0 +%%Creator: (ImageMagick) +%%Title: (ish_qr.eps) +%%CreationDate: (2022-11-17T23:40:11+00:00) +%%BoundingBox: -0 -0 556 556 +%%HiResBoundingBox: 0 0 556 556 +%%DocumentData: Clean7Bit +%%LanguageLevel: 1 +%%Pages: 1 +%%EndComments + +%%BeginDefaults +%%EndDefaults + +%%BeginProlog +% +% Display a color image. The image is displayed in color on +% Postscript viewers or printers that support color, otherwise +% it is displayed as grayscale. +% +/DirectClassPacket +{ + % + % Get a DirectClass packet. + % + % Parameters: + % red. + % green. + % blue. + % length: number of pixels minus one of this color (optional). + % + currentfile color_packet readhexstring pop pop + compression 0 eq + { + /number_pixels 3 def + } + { + currentfile byte readhexstring pop 0 get + /number_pixels exch 1 add 3 mul def + } ifelse + 0 3 number_pixels 1 sub + { + pixels exch color_packet putinterval + } for + pixels 0 number_pixels getinterval +} bind def + +/DirectClassImage +{ + % + % Display a DirectClass image. + % + systemdict /colorimage known + { + columns rows 8 + [ + columns 0 0 + rows neg 0 rows + ] + { DirectClassPacket } false 3 colorimage + } + { + % + % No colorimage operator; convert to grayscale. + % + columns rows 8 + [ + columns 0 0 + rows neg 0 rows + ] + { GrayDirectClassPacket } image + } ifelse +} bind def + +/GrayDirectClassPacket +{ + % + % Get a DirectClass packet; convert to grayscale. + % + % Parameters: + % red + % green + % blue + % length: number of pixels minus one of this color (optional). + % + currentfile color_packet readhexstring pop pop + color_packet 0 get 0.299 mul + color_packet 1 get 0.587 mul add + color_packet 2 get 0.114 mul add + cvi + /gray_packet exch def + compression 0 eq + { + /number_pixels 1 def + } + { + currentfile byte readhexstring pop 0 get + /number_pixels exch 1 add def + } ifelse + 0 1 number_pixels 1 sub + { + pixels exch gray_packet put + } for + pixels 0 number_pixels getinterval +} bind def + +/GrayPseudoClassPacket +{ + % + % Get a PseudoClass packet; convert to grayscale. + % + % Parameters: + % index: index into the colormap. + % length: number of pixels minus one of this color (optional). + % + currentfile byte readhexstring pop 0 get + /offset exch 3 mul def + /color_packet colormap offset 3 getinterval def + color_packet 0 get 0.299 mul + color_packet 1 get 0.587 mul add + color_packet 2 get 0.114 mul add + cvi + /gray_packet exch def + compression 0 eq + { + /number_pixels 1 def + } + { + currentfile byte readhexstring pop 0 get + /number_pixels exch 1 add def + } ifelse + 0 1 number_pixels 1 sub + { + pixels exch gray_packet put + } for + pixels 0 number_pixels getinterval +} bind def + +/PseudoClassPacket +{ + % + % Get a PseudoClass packet. + % + % Parameters: + % index: index into the colormap. + % length: number of pixels minus one of this color (optional). + % + currentfile byte readhexstring pop 0 get + /offset exch 3 mul def + /color_packet colormap offset 3 getinterval def + compression 0 eq + { + /number_pixels 3 def + } + { + currentfile byte readhexstring pop 0 get + /number_pixels exch 1 add 3 mul def + } ifelse + 0 3 number_pixels 1 sub + { + pixels exch color_packet putinterval + } for + pixels 0 number_pixels getinterval +} bind def + +/PseudoClassImage +{ + % + % Display a PseudoClass image. + % + % Parameters: + % class: 0-PseudoClass or 1-Grayscale. + % + currentfile buffer readline pop + token pop /class exch def pop + class 0 gt + { + currentfile buffer readline pop + token pop /depth exch def pop + /grays columns 8 add depth sub depth mul 8 idiv string def + columns rows depth + [ + columns 0 0 + rows neg 0 rows + ] + { currentfile grays readhexstring pop } image + } + { + % + % Parameters: + % colors: number of colors in the colormap. + % colormap: red, green, blue color packets. + % + currentfile buffer readline pop + token pop /colors exch def pop + /colors colors 3 mul def + /colormap colors string def + currentfile colormap readhexstring pop pop + systemdict /colorimage known + { + columns rows 8 + [ + columns 0 0 + rows neg 0 rows + ] + { PseudoClassPacket } false 3 colorimage + } + { + % + % No colorimage operator; convert to grayscale. + % + columns rows 8 + [ + columns 0 0 + rows neg 0 rows + ] + { GrayPseudoClassPacket } image + } ifelse + } ifelse +} bind def + +/DisplayImage +{ + % + % Display a DirectClass or PseudoClass image. + % + % Parameters: + % x & y translation. + % x & y scale. + % label pointsize. + % image label. + % image columns & rows. + % class: 0-DirectClass or 1-PseudoClass. + % compression: 0-none or 1-RunlengthEncoded. + % hex color packets. + % + gsave + /buffer 512 string def + /byte 1 string def + /color_packet 3 string def + /pixels 768 string def + + currentfile buffer readline pop + token pop /x exch def + token pop /y exch def pop + x y translate + currentfile buffer readline pop + token pop /x exch def + token pop /y exch def pop + currentfile buffer readline pop + token pop /pointsize exch def pop + x y scale + currentfile buffer readline pop + token pop /columns exch def + token pop /rows exch def pop + currentfile buffer readline pop + token pop /class exch def pop + currentfile buffer readline pop + token pop /compression exch def pop + class 0 gt { PseudoClassImage } { DirectClassImage } ifelse + 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+.IP \(ci +パスワード: \fCuser\fP +.RE +.IP 2. +最新版の Jeedo をビルドする +.RS +.IP \(ci +レポジトリのディレクトリは \(lq\fC\(ti/projects/jeedo/\fP\(rq +.DS L +.fam C +$ \fBcd \(ti/projects/jeedo/\fP +$ \fBgit status\fP\t\t\t\t# git のレポジトリか確かめる +$ \fBgit fetch\fP\t\t\t\t# リモートレポジトリと同期 +$ \fBgit checkout\fP __________\t# 指定ブランチにチェックアウトする +$ \fBgit status\fP\t\t\t\t# ブランチ名を確かめる +$ \fBcd test\fP +$ \fBmake nowave\fP\t\t\t# バイナリをビルドする +.fam +.DE +.RE +.IP 3. +Nowave を再配置する +.RS +.IP \(ci +Nowave を再配置するディレクトリは \(lq\fC\(ti/\fP\(rq +.DS L +.fam C +$ \fBpwd\fP +/home/user/projects/jeedo/test +$ \fBls nowave\fP +nowave +$ \fBinstall nowave \(ti/\fP +$ \fBcd\fP +$ \fBpwd\fP +/home/user +$ \fBls nowave\fP +nowave +.fam +.DE +.RE +.IP 4. +経路情報を配置する +.RS +.IP \(ci +経路情報を格納するファイルは \(lq\fC\(ti/route.json\fP\(rq +.IP \(ci +すでに配置されているけど内容を覚えていない +.RE +.bp +.NH 1 +実際に動かす +.IP 1. +外に行く +.RS +.IP \(ci +持ち物は｛ 車、タブレット、SSH クライアント ｝ +.RE +.IP 2. +GNSS センサを初期化する +.RS +.IP \(ci +DGNSS で fix すると精度が良い +.RE +.IP 3. +自動実行スクリプトを実行する +.RS +.IP \(ci +自動実行スクリプトは \(lq\fC\(ti/boot.sh\fP\(rq +.DS L +.fam C +$ \fBsh \(ti/boot.sh\fP +.fam +.DE +.RE +.IP 4. +コンパスモジュールのキャリブレーション +.RS +.IP \(ci +カウントダウンされるまでぐるぐるする +.RE +.IP 5. +走行前カウントダウン +.RS +.IP \(ci +キャリブレーションが完了するとカウントダウンが始まる +.RE +.IP 6. +車が走りだす +.RS +.IP \(ci +しかし、Wi-Fi の接続が切れると死ぬので注意すること +.RE +.NH 1 +実際に動かすときの注意 +.IP \(bu +普通に動かすと Wi-Fi が切れて爆死するので（非常停止すらしない）注意する +.IP \(bu +これを回避するには、前章 5. の時点で +.BX Ctrl ++ +.BX Z +を押下し、\fCbg; disown\fP を実行する +.IP \(bu +iSh で ssh を使うためには \fCapk add openssh\fP を実行する必要がある