Rebuilding the Source Code of the Tutorials

Recompiling a single service can result in exceptions when trying to start a tutorial, because we used a different Public Key Token for compiling the service than you do. We could ignore this token by setting the ‘Specific Version’ flag in the properties of the involved references to ‘false’, but we encountered different and pretty obscure errors while testing this. To avoid this, we left the ‘Specific Version’ flag ‘true’, and handle the reference problems when they arise. This tutorial shows how the education framework code has to be rebuilt so it can be easily changed afterwards.

 

Example: Arm Tutorial 1

After opening ArmTutorial1 and rebuilding the ‘ArticulatedArm’ service, which has no dependency to other services or classes of the Educational Framework, you get the following error message when you try to run the tutorial:

 

 

Note the message: “Could not load file or assembly ‘…ArticulatedArm…Proxy’ …The located assembly reference does not match the assembly reference…’. This shows that the current reference to the articulated arm assembly within the project does not match the newly generated articulated arm assembly anymore.

 

To solve this error you have to rebuild all services that reference the ArticulatedArm service. (Afterwards all services that reference any of the newly build services have to be rebuilt and so on…)

 

This tutorial shows how to rebuild “ArmTutorial1”, all other tutorials are to be recompiled in a similar way. For this reason every tutorial starts with a table of services, which needs to be recompiled when you want to modify them.

 

Rebuilding ArmTutorial1

As seen in the figure above, rebuilding the articulated arm service leads to an error when running the tutorial. The tricky thing about this is that the “References” Folder in your project does not indicate a warning, even though we have seen that the reference is not correct anymore:

 

But when trying to compile it, you get the following errors and warnings:

To resolve this problem, you have to delete the reference to the “KUKA.Tutorials.ArticulatedArm.Y2007.M05” and add it to the project again.

Afterwards you can compile the service. Now the other projects for this tutorial need to be rebuild.

The Util class library can be compiled without adjusting the references. But in the “KUKATutorial1MotionPlanning” project and the “KUKAArmTutorialSimulation” project you have to delete and add the assemblies highlighted in the figures below:

KUKATutorial1MotionPlanning:

 

 

 

KUKAArmTutorialSimulation:

 

 

KUKATutorial1Dashboard:

 

 

Finally, ArmTutorial1 is executable again. If you now change the source code, you only have to recompile the changed service itself and not all services that have dependencies (as long as you only change the service behaviour and not the state or the supported operations).

 

 

Rebuilding the other Tutorials

For rebuilding the other tutorials, you have to remove all assembly references that begin with “KUKA” and add them again. Afterwards, you can compile the services in the order that is shown in the table of each tutorial description.

 

As an example, the next picture shows the build order for arm tutorial 3. If you went through all the rebuilding for arm tutorial 1 and 2 already, then only column ‘A’ needs to be rebuild for arm tutorial 3. If you start with arm tutorial 3, then you need to rebuild all the projects that are shown in column ‘B’.