Guide

Appearance

Config ​

CAN transport streams ​

See jsonCfg/_CAN.json for _USR_CANET and _SocketCAN examples. Both modules inherit _ModuleBase and use CANframeStreamIn for outgoing frames and CANframeStreamOut for received frames. Declare each stream with "type": "dataObject" and "class": "CANframeStream".

thread.FPS controls sending; threadR.FPS controls receiving and defaults to the send rate when omitted. _USR_CANET encodes frames into BytePacketStreamOut and decodes BytePacketStreamIn. Configure both links for each enabled direction: CANframeStreamIn with BytePacketStreamOut, or BytePacketStreamIn with CANframeStreamOut. _SocketCAN uses ifName (default can0) and supports either or both frame streams.

Producers append CAN_FRAME values with CANframeStream::add(), supplying an increasing, nonzero m_tStamp on each frame. Transport workers call the parameterless sendFrame() and readFrame() methods; received frames get timestamps from the transport. These transports support classical CAN payloads of up to eight bytes, including extended IDs and RTR flags.

Add user to dialout ​

bash
sudo adduser $USER dialout
#sudo gpasswd --add ${USER} dialout
sudo reboot now
#sudo chmod 666 /dev/ttyUSB0

When using multiple USB-Serial converter ​

bash
sudo apt remove brltty

HiK thermal camera config ​

add 99-hik.rules to /etc/udev/rules.d/

bash
sudo nano /etc/udev/rules.d/99-hik.rules
SUBSYSTEM=="usb", ATTRS{idVendor}=="2bdf", MODE:="0666"

Auto start using crontab ​

bash
crontab -e
@reboot /home/lab/start.sh

Auto startup using rc.local ​

Copy startup sh into home

bash
sudo chmod a+x $HOME/ok.sh

For startup on X, insert sleep before running OK to wait for X to be ready

bash
sleep 5
./ok.sh

Auto start up on boot

bash
sudo rm /etc/rc.local
set +H
sudo sh -c "echo '#!/bin/sh\n/home/lab/ok.sh\nexit 0\n' >> /etc/rc.local"
set -H
sudo chmod a+x /etc/rc.local

Screen ​

Disable wayland in Ubuntu ​

bash
sudo nano /etc/gdm3/custom.conf
#WaylandEnable=false

Screen and touch screen input rotate ​

bash
export DISPLAY=:0.0
xrandr -o left
xinput list
xinput set-prop 'GXTP7386:00 27C6:0113' 'Coordinate Transformation Matrix' 0 -1 1 1 0 0 0 0 1

Block unity touch gestures ​

bash
sudo apt install dconf-editor
dconf-editor
com > canonical > unity > gestures

Block on screen keyboard ​

bash
sudo apt install gnome-tweaks
sudo apt install gnome-shell-extensions
https://extensions.gnome.org/extension/3222/block-caribou-36/

OpenKAI project documentation