Deploying on NUC

[jgvictores]

For some reason, the NUC was always only seeing 169.254.206.16

Thus: docker run -it --rm -e HOST_IP=169.254.206.16 --network host pytrigno via #2

Notes regarding IP in C:\Program Files (x86)\Delsys, Inc\EMGworks\SensorBaseControl.exe:

• SensorBaseControl.exe shows IP(s) in Configure > Digital output (last line, in bold)
• Config in C:\Users\ROBOASSET\AppData\Roaming\SensorBaseControl\SensorBaseControl\ does not mention IP (only ports).
• Deactivate firewall
• Also turning wifi off seems useful
• Make sure sensors are paired and on, https://github.com/roboticslab-uc3m/pytrigno/issues/4

[jgvictores]

[jgvictores]

Despite apparently there, docker run -e HOST_IP=172.17.0.1 --network host pytrigno does not work.

[jgvictores]

apt update
apt install inetutils-ping iproute2 # ping, ip

[jgvictores]

[jgvictores]

Changed the IP4 static address of vEthernet (WSL) from the above to the misterious 169.254.206.1 (note the 1 not 16; netmask 255.255.255.0) and now have a nice working compact:

docker run -e HOST_IP=169.254.206.1 pytrigno

[jgvictores]

Also works changing BOTH to 169.254.206.16.

[jgvictores]

Also works changing BOTH to 172.254.206.16.

So, essentially, IP_HOST has to match the IP of the vEthernet (WSL)

• Note that we are NOT using --network host, which may be a completely different story
• Note that we are not reading the sent ROS2 messages anywhere, which may require the previous point.

In any case, fixing #2 was a good idea and has proved to be a very good tool due to its flexibility.

[jgvictores]

In SensorBaseControl.exe it is not required to press top Start Analog, our Python script does it (in fact, if you do, you get a warning that already done). Upon connection, bottom Stopped passes to Remote (1 user).

[jgvictores]

https://learn.microsoft.com/en-us/windows/wsl/networking

[jgvictores]

Don't get your hopes up, only the TCU is running on the NUC. Docker is on other linux machine because Docker on Windows uses WSL and communications with WSL are complicated:

docker run -it --rm -e HOST_IP=windows.machine.ip.address --network host pytrigno

Where --network host is only required to see the websocket externally, so exposing port 9090 would have been enough (however, in real life we'll probably not be running the bridge here, so network host seems reasonable).

[imontesino]

The correct command should be:

docker run -it --rm -e HOST_IP=windows.machine.ip.address --network host --ipc host --pid host pytrigno 

pid: host and ipc:host allow the docker process to function as host process and communicate using shared memory when two dockers containers are run in a single machine