Basics

Project Management

Motivation

• organize your work in a project
  • define tasks
  • define milestones
  • track bugs
• documentation: wiki
  • specifications
  • development history
• http://www.redmine.org

CITEC redmine

• https://projects.cit-ec.uni-bielefeld.de
• accessible from with Uni Bielefeld only
• use VPN (TechFak or HRZ) to connect from outside

Configuring a project: Settings

• Overview: describe your project to the world
• Modules: choose redmine modules to be used
• Members: project members and their roles
• Versions: define target versions / milestones for your project issues can be associated to those milestones
• Issue categories and associated assignees
• Repositories: create git or subversion repo(s) hosted by redmine permissions are derived from project permissions
  • reporter can read
  • developer can read + write
  • manager can configure redmine
  • coordinate can create sub projects

Creating issues: New issue

• Choose the type: bug, feature, meeting, task, to-do, etc.
• Specify the Subject
• Describe the issue
• Choose Status, Priority, Assignee
• Assign parent task
• Define deadline and estimated workload

Project Managment

• Activity: monitor project development history
• Roadmap: list issues sorted by associated version / milestone
• Issues: list issues in table view
• Gantt: list issues in calender view, grouped by milestones
• News: announce new, latest ones will show up on overview page
• Wiki
• Repository

Integrated Development Environment (IDE)

Requirements

code handling

• syntax highlighting
• code completion (context-sepcific)
• code navigation
  • finding files
  • finding definitions
  • folding
• version control

development

• project config management
• compiling from editor
  • navigation to errors
  • online syntax checking
• integrated debugging
  • set + visualize breakpoints
  • evaluate expressions
• code coverage analysis
• profiling

Options

• kate
• qtcreator
• Visual Studio code
• geany
• NetBeans
• eclipse
• emacs cedet+ecb
• vim / gvim

Comparison

	kate	qtcreator	geany	emacs	gvim
highlighting	x	x	x	x	x
completion		x	(x)	p	p
file browser	x	x	x	p	p
methods browser		x	x	p	p
folding	x	x	x	p	p
refactoring		x			p
project mgmt		x	x	p	?
version control		x	p	p	p
compilation		x	x	x	p
syntax check		x		p
debugging		x	p	x	p

Suggestions

• C/C++: Visual Studio code, qtcreator, or clion Code is highly customizable via a multitude of plugins. qtcreator is highly optimized for C++ development and natively supports Qt's signals+slots.
• python: pycharm
• Java: eclipse or IntelliJ IDEA

Sanetizers

• accessing bad pointers or stack addresses
  • leads to unpredictable behaviour
  • often will crash your program
• check validity of pointer + stack addresses
  • valgrind: external tool, monitoring all memory allocation + deallocation nicely integrated in QtCreator, but slow
  • AddressSanetizer
    • augments code during compilation, much faster
    • activate with: -DCMAKE_CXX_FLAGS="-fsanitize=address -fno-omit-frame-pointer -O1"
    • disable leak detection: export ASAN_OPTIONS="detect_leaks=0"
    • augment existing binaries: export LD_PRELOAD=/usr/lib/x86_64-linux-gnu/libasan.so

CMake

Overview

• meta-make system
• creates build config for make, Visual Studio, Eclipse, etc. (cross-plattform)
• CMakeLists.txt $\rightarrow$ cmake $\rightarrow$ CMakeCache.txt + Makefiles
• powerful scripting language
  • to locate libraries,
  • configure your project
  • catkin (from ROS) builds on top

Typical CMakeLists.txt

cmake_minimum_required (VERSION 3.2)
project (<name> VERSION 0.1 LANGUAGES CXX)

include_directories(src/include)
find_package(Qt5 REQUIRED COMPONENTS Widgets)

add_library(lib${PROJECT_NAME} foo1.cpp foo2.cpp)
add_executable(${PROJECT_NAME} main.cpp bar.cpp)
target_link_libraries(${PROJECT_NAME} lib${PROJECT_NAME})

enable_testing()
add_subdirectory(test)
add_test(testMaster toDo)

Resources

• CMake - Introduction and best practices
• Tutorial
• Documentation

vdemo

Motivation

• start, stop, monitor, inspect processes ... in a multi-machine environment ... from a central place
• common interface to start / stop components
• shell + tcltk based scripting
• one ssh connection to each host machine
  • remote shell invocation
  • launching X windows on local or remote machine
• screen to hide/show processes

Example

example component_script

function component {
   # switch on lights
   dmxGui $ON --no-gui
   read
}

function on_stop {
   # switch off lights
   dmxGui -c M0 --no-gui
}

source "$VDEMO_root/vdemo_standard_component_suffix.sh"

component script functions

• component: start a component
• stop_component
• on_stop: called after stopping
• on_check alive test
  • return 0 (success)

master demo script

export VDEMO_demoRoot="${BASH_SOURCE[0]%/*}"
...
export VDEMO_components="\
gefen_matrix,$basepc,-v CFG=$cfgdir/$DEMO_CFG/gefen.conf -L 0 -n:\
$(SPREAD_COMPONENTS $basepc $armpc $handpc $visionpc):\
$(XCF_COMPONENTS $MEDIATOR):\
$SPEECH_COMPONENTS:\
hardware:\
$ROSCORE_COMPONENTS:\
$MOTORHAND_COMPONENTS:"

folder layout of ni-system-start

• README.md
• generic
  • vdemo
    • components
  • hsm
  • python
  • server
  • postures
• demo
  • vdemo
    • components