# Server-Class Installation

## Required packages and repositories (software developed by the laboratory)

1. [x_logger](https://github.com/ohara-lab-su/x_logger.git): Log management.
2. [ese774_frame](https://github.com/ohara-lab-su/ese774_frame.git): Framework for communication with the COBOTTA control server (ESE774 implementation).
3. [cobotta2](https://github.com/ohara-lab-su/cobotta2.git): COBOTTA control server software using ORiN2.
4. [cobotta2_client](https://github.com/shimane-dev/cobotta2_client.git): Example client programs.
5. [cobotta_joypad](https://github.com/ohara-lab-su/cobotta2_joypad.git): Joypad control with high-speed gRPC communication.

## x_logger

[x_logger](https://github.com/ohara-lab-su/x_logger.git): Log management. Extract `x_logger.zip` and move to the extracted directory before running:
```
pip install x_logger
```


## ese774_frame

[ese774_frame](https://github.com/ohara-lab-su/ese774_frame.git): Communication framework for the COBOTTA control server. Extract `fastapi_frame.zip` and change to the extracted directory before running:
```
pip install ese774_frame
```

## cobotta2

[cobotta2](https://github.com/ohara-lab-su/cobotta2.git): COBOTTA control server using ORiN2. Install the control package:
```
pip install cobotta2
```

## Starting the server directly from Python

```python
#!/usr/bin/env python
from cobotta2.config import Config
from cobotta2.cobotta_ctrl_state import CobottaState
from cobotta2.server_fastapi import CobottaRouterState
from cobotta2.server_fastapi import cobotta_state_api_spec

from ese774_frame.api_server import FastApiServer
from x_logger.x_logger import XLogger

if __name__ == "__main__":
    Config.load_yaml("config_cobotta2_state.yaml")

    logger = XLogger(
        log_level="debug",
        logger_name=Config.SERVER_LOGGER_NAME,
        log_mode="rotate",
        # log_mode="file",
        log_name=f"c:/opt/log/{Config.SERVER_LOGGER_NAME}.log",
    )

    logger.info(f"COBOTTA IP = {Config.COBOTTA_IP}")
    logger.info(f"SERVER IP = {Config.SERVER_IP}")
    logger.info(f"SERVER PORT = {Config.SERVER_PORT}")

    server = FastApiServer(
        device_cls=CobottaState,  # Control class
        router_cls=CobottaRouterState,  # Router implemented through inheritance
        config=Config,
        api_spec=cobotta_state_api_spec,
        device_kwargs={
            "cobotta_ip": Config.COBOTTA_IP
        },  # Constructor arguments for the COBOTTA control class
        logger=logger,
        logger_name=Config.SERVER_LOGGER_NAME,
        lifespan_msg_prefix="COBOTTA",
    )
    server.run(host=Config.SERVER_IP, port=Config.SERVER_PORT)

```

### Testing with a local client

### Testing communication through FastAPI

## Creating directories for server logs and services

- Create the server log directory.
- Create the server application directory.

## Registering cobotta-server as a Windows service

## Registering aandd-server as a Windows service



---
## Author
- Kengo NAKADA