About C++ Client API

imamunet

Hi,

GCC and PCs are connected in the configuration shown in the figure. SSH connection is available on each PC.
In addition, when accessing GCC from a laptop PC (Windows 10) or VirtualBox (Ubuntu 20.04) with Google Chrome at IP address 192.168.2.100, "Motorcortex Generic App" and "Motorcortex Robot App" can be confirmed.

When I run the "Robot C++ API" sample program "movej_test" from VirtualBox (Ubuntu) in the same environment, the following error occurs.
How can I resolve this error and run movej_test?

【Error Description】
$ ./movej_test
Motorcortex Robot Control library version: 0.0.1-unknown-g0000000_release
Status code: 65280
Error code: 9
Error description: Not supported
terminate called after throwing an instance of 'std::runtime_error'
what(): REQ failed to connect to the server: wss://192.168.2.100:5568
Aborted (core dumped)

alexey

Hello. You are missing mbedtls on your system, which is required for websocket security protocol.
Could you please install nng and mbedtls according this installation guide.
https://git.vectioneer.com/pub/motorcortex-cpp/-/blob/master/INSTALL.md

imamunet

Hi, alexey.

Thank you very much for your answer.
I was able to make the API call successfully.

I had compiled the file referring to the following, but found that some of the steps were different.
https://docs.motorcortex.io/docs/developing-client-applications/cpp/install/

Best Regards,
imamunet

alexey

Hello Imamunet.
Great! Could you please let me know, which steps were different, that we can improve our documentation.

imamunet

Hi, alexey

I don't know much about it, so it may be obvious.
The following "#optional" was actually a necessary setting.
This was not implied and communication was failing.
Therefore, we initially mistakenly thought that there was a failure in the network environment.

■URL
https://docs.motorcortex.io/docs/developing-client-applications/cpp/install/

[Linux] > [nng - nanomsg-next-gen]
(NG) cmake .. -DBUILD_SHARED_LIBS=1 #optional: -DNNG_ENABLE_TLS=1
↓
(OK) cmake .. -DBUILD_SHARED_LIBS=1 -DNNG_ENABLE_TLS=1

alexey

Thanks we will update our documentation