The Cuddlebot Control Server cuddled is implemented using the Go Programming Language as a RESTful API.

This version of the Control Server is an update from mikepb's version. It includes server control implementation for the smooth command, as well as detailed and improved build instructions for Ubuntu systems (up to date as of August 2015 for Ubuntu 14.04). This build is used in conjunction with instructions of the Cuddlebot Yocto system image.

Open up terminal and check if Go exists

go version

If version is below 1.4, or gives an error, install Go with the following steps. If not, it may be possible to proceed directly to Package Dependencies.

If Go version exists, remove it:

# Remove base directories:
sudo rm -rf /usr/lib/go
# or
sudo rm -rf /usr/local/go
# or wherever go had been stored

# Remove existing golang directories:
sudo apt-get remove golang-go

Install correct Go version:

## Install by source

# Navigate to Go build location
cd /usr/lib/
# Clone source code
sudo git clone https://go.googlesource.com/go
# Navigate in to folder
cd go
# Checkout correct version
sudo git checkout go1.4.1
# Prepare for build
cd src
# Build
sudo ./all.bash


## Setup Go environment

# Make go directory in home directory
cd ~
mkdir go
# Setup paths
# It should be of note that if the terminal is closed these may have to be set up again
export PATH=$PATH:/usr/lib/go/bin
export GOPATH=$HOME/go
export GOROOT=/usr/lib/go
# Check environment setup completion
go env
go version


## Setup build environment

# Navigate to environment setup location
cd /usr/lib/go/src/
# Setup make build environment for cuddled and cuddlespeak
GOOS=linux GOARCH=arm GOARM=7 ./make.bash --no-clean

Install the Go package dependencies:

go get github.com/codegangsta/negroni
go get github.com/phyber/negroni-gzip/gzip
go get github.com/stretchr/graceful
go get github.com/mikepb/go-crc16

These packages include the Negroni HTTP Middleware for Go and supporting packages.

To build binaries for Linux on ARM, you'll also need to install the GNU Tools for ARM Embedded Processors. Make sure that the tools are available on your PATH.

A Makefile is available with the following targets:

• build compile cuddled and cuddlespeak for the current platform and for Linux/ARM
• clean remove the build directories

The binaries under bin-arm-linux/ are used as part of the Yocto Embedded Linux build process. More details are available as part of the Cuddlebot system image project.

• bin/ compiled binaries for the current platform
• bin-arm-linux/ compiled binaries for the Linux/ARM
• cuddle implements the control server library
• cuddled implements the control server daemon
• cuddlespeak implements a command-line tool to control the motors

This program is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.

This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
GNU General Public License for more details.

You should have received a copy of the GNU General Public License
along with this program.  If not, see <http://www.gnu.org/licenses/>.