.. _Installation:


***************
Installation
***************

The next steps show how to install the EtherCAT Client under **Ubuntu operating system**. It's also possible to use the framework under **Windows OS** using the **WSL (Windows Subsystem for Linux)**.

**Important:** Some dependency packages are available by github cloning. The suggestion to follow these steps helping the user for finding the packages:

Download manually create_ws.sh from ecat-client-advr repository inside the scripts directory and then::

 chmod +x create_ws.sh

Prepare the workspace::

  ./create_ws.sh [name_ws] [dir_ws, default=HOME]
  
Source into .bashrc the new workspace::

  source ~/name_workspace/setup.bash 
  
Then use the **src** dir for downloading the packages and **build** dir, creating the relative package sub-directory (**mkdir package_name**) for compiling them.

Git, CMake and Google test
=============================

Install git packages::

   sudo apt update
   sudo apt install -y git gitg git-gui
   sudo apt install -y build-essential curl cmake cmake-curses-gui
   sudo apt install -y libgtest-dev 
   
Network and Terminator
=============================

Install network and terminator packages::

   sudo apt install -y net-tools openssh-server sshpass curl gnome-terminal terminator
   
YAML and FMT
================================

Install yaml utils and fmt::

   sudo apt install -y libyaml-cpp-dev libfmt-dev 
   
EtherCAT Master Server
=============================

SOEM
-------------------------------

Install SOEM library::

   git clone https://github.com/alessiomargan/SOEM
   
actual branch **xeno3**.

Zmq, Protobuf, Msgpack, Boost
-------------------------------

Install mechanism protocols::

   sudo apt install -y libzmq3-dev protobuf-compiler libmsgpack-dev libboost-system-dev
   git clone https://github.com/zeromq/cppzmq
   
Eigen3
-------------------------------

Install Eigen3::

   sudo apt install -y libeigen3-dev
   
ecat-master-advr
-------------------------------

Install ecat-master-advr::

   git clone https://github.com/Advanced-Robotics-Facility/ecat-master-advr
   
**Note:** This is a private repository. Ask to Advanced-Robotics-Facility for the access.
  
MatLogger
=============================

Install matlogger library::

   sudo apt install -y libmatio-dev python3-pip
   git clone https://github.com/ADVRHumanoids/MatLogger2
      
      
QT and GUI Tools
========================================

Install GUI tools::

  sudo apt install -y qt6-tools-dev qt6-declarative-dev libqt6charts6-dev uuid-dev libtiff-dev qttools5-dev 
  

Matlab and Simulink
========================================

Install Matlab/Simulink tools::

  sudo dpkg --install ecat-client-advr/src/matlab/ec_block/external/blockfactory/(OS)/blockfactory_package-0.8.3-r0.0.1-amd64.deb
 

Build and install the EtherCAT Client Library from source
==========================================================

Download and compile EtherCAT Client::

  git clone https://github.com/Advanced-Robotics-Facility/ecat-client-advr
  
Note: Select the variable to compile (EtherCAT Client Examples an Gravity compensation, the EtherCAT Client GUI and EtherCAT client block [Matlab/Simulink]):

.. image:: _static/EtherCAT_Installation_Img/EtherCAT_Installation_Img_0.png

**Note: It's possible to compile the EtherCAT Client Library with Xenomai Real-Time OS or Preempt-RT Real Times OS.**


Install the EtherCAT Client Library from debian package
==========================================================

Download from this site the latest version of EtherCAT Client Debian Package and install it::

   https://github.com/Advanced-Robotics-Facility/ecat-client-advr/releases

Install EtherCAT Client Librarys::

  sudo dpkg --install ecat-client-advr_nrt_package-0.0.1-r0.0.1-amd64.deb
  

Create environment variable EC_CFG
==========================================================

Export environment variable EC_CFG::

 export EC_CFG=~/code_ws/src/ecat-client-advr/config/ec_cfg.yaml