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\begin{document}

\begin{labcover}
\labtitle{Connecting with a PABLO Box}
\vspace{0.1in}
\labdate{August 2017}
\vspace{0.1in}
\labauth{Alon Yaari, ayaari@mit.edu}
\labauth{Michael Benjamin, mikerb@mit.edu}
\labauth{Department of Mechanical Engineering}
\labauth{MIT, Cambridge MA 02139}
\labtoc{small}
\end{labcover}

\wikidoc{file=PavLab.PabloConnect}
\wikidoc{auth=mikerb@mit.edu}


%=================================================================
\section{Overview Connecting with a PABLO Box}
%=================================================================
\label{sec_background}

The Pablo box is a self-contained, portable unit that embodies payload
autonomy. The embedded computer runs a back-seat mission inside a
waterproof enclosure that is connected to the front-seat controller of
a vehicle. Network connection is provided by the host vehicle, or in
the case of emulation, the laptop computer.

This document summarizes the steps for how to connect a laptop or
desktop computer with a Pablo box. Only a high-level overview is
described. It is assumed that the reader can research details unique
to the computer's operating system.

%=================================================================
\section{Pablo Computer Configuration}
%=================================================================
\label{subsec_raspi_config}

The Ethernet port on the Pablo unit computer is configured with two
different options:

\paragraph{DHCP.} Vehicle or computer connected to the Pablo unit will assign 
an IP address.

\paragraph{Fallback.} IP address \var{192.168.254.100}. To connect, the 
computer connected to the Pablo must have an IP address in the
\var{192.168.254.xxx} subnet.

\vspace{0.2in}

\begin{tabular}{|l|l|l|} \hline
  {\bf Connected to} &amp; {\bf Address Assigned to PABLO} &amp; {\bf Host Address} \\ 
  \hline
  M200 Evan  &amp; \var{192.168.5.100} &amp; \var{192.168.5.1} \\ \hline
  M200 Felix &amp; \var{192.168.6.100} &amp; \var{192.168.6.1} \\\hline
  Router with DHCP &amp; Next available IP address &amp; router-dependent \\\hline
  Mac with Internet Sharing &amp; \var{192.168.2.2} &amp; \var{192.168.2.1} \\ \hline
  Computer with static IP &amp; \var{192.168.1.100} &amp; computer-dependent \\\hline 
\end{tabular}

%=================================================================
\section{Preparing the Computer}
%=================================================================
\label{subsec_computer_prep}

A computer connected via an Ethernet cable can reach the Pablo unit
using the fallback address or by enabling a DHCP server.

%=================================================================
\subsection{Fallback Connection}
The host computer network connection is manually configured onto the
fallback subnet.

\paragraph{Step 1.} Verify that internet sharing is turned off. In GNU/Linux, 
verify that a DHCP service is not running.

\paragraph{Step 2.} Set the computer IP address to \var{192.168.254.111} and 
the subnet mask to \var{255.255.255.0}. Gateway, router, or server
addresses can remain blank.

\paragraph{Step 3.} Connect the Pablo unit via Ethernet cable, power on the 
unit, and verify the connection using \var{ping 192.168.254.100}.

%=================================================================
\subsection{DHCP Connection}
The host computer acts as a DHCP access point, providing network settings to 
the Pablo unit.

\paragraph{Step 1.} Set up internet sharing so that the {\em from} connection 
is the computer's internet source and the {\em to} is the Ethernet
port that will connect to the Pablo box. On Apple OS X, a DHCP server
is created automatically. In GNU/Linux, the DHCP server may need to be
created independently.

\paragraph{Step 2.} On OS X, set the Ethernet address on the computer to 
\var{ping 192.168.2.1}. For GNU/Linux, use the default DHCP subnet IP
address.

\paragraph{Step 3.} Connect the Pablo unit via Ethernet cable, power on the 
unit, and verify the connection using \var{ping 192.168.254.100}.


%=================================================================
\section{Troubleshooting}
\label{subsec_troubleshooting}
Things to try if \var{ping} fails.

\paragraph{Cabling.} Verify that the Ethernet connection is valid end-to-end. 
This may require opening the lid on the Pablo unit. On OS X, in the
Network Preferences Control Panel, the Ethernet connection should show
a green dot and the word "Connected." If not, the cabling is not
correct.

\paragraph{Log onto the Pablo.} Once cabling is validated, log onto the Pablo 
unit using a keyboard and screen. Verify the
\var{/etc/network/interfaces} file is correct (see Pablo unit
documentation). Try connecting the unit directly to a known working
internet connection, bypassing the computer.


\end{document}




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