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For
participants only. Not for public distribution.
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Note #40
Khian Hao Lim |
List of Programs, Watchdog IDs and Resources under Watchdog
| Computer | Watchdog ID | Binary Name | Program Description | Resources | Significant Comms with | Person In Charged |
| gcrear0 | WPGCREAR0 | watchpuppy | Initializes and resets the hardware watchdog on gcrear0 | Read and write to /dev/wdserver on gcrear0 to talk to the hardware watchdog |
Khian Hao Lim | |
| gcrear0 | OPENSTEER | opensteer | Client that performs high level steering decisions and informs MOVE about its decisions | ? | ROAD, MOVE, ? |
Craig Reynolds, Achut Reddy |
| gcrear0 | MOVE | move | Server that receives steering command from OPENSTEER Client that talks to SPEED, GEAR, DIR servers |
? | OPENSTEER | Achut Reddy |
| gcrear0 | BACKSEAT | backseat | ? | ? | Achut Reddy | |
| gcrear0 | MVP1 | mvpserver | Server that receives actuation commands from SPEED and talks to the brake MVP controller | /dev/ser1 to talk to RS232 to RS485 converters which talk to MVP motion controller | SPEED |
Celia Oakley |
| gcrear0 | MVP2 | mvpserver | Server that receives actuation commands from GEAR and talks to the transmission MVP controller | /dev/ser2 as above | GEAR | Celia Oakley |
| gcrear0 | MVP3 | mvpserver | Server that receives actuation commands from DIR and talks to the steering MVP controller | /dev/ser3 as above | DIR | Celia Oakley |
| gcrear0 | MVP4 | mvpserver | Server that receives actuation commands from SPEED and talks to the throttle MVP controller | /dev/ser4 as above | SPEED | Celia Oakley, Eser Chamoglu |
| gcrear0 | DIR | dirserver | Server that receives command from MOVE and gives actuation commands to MVPC for steering | corresponds directly to a MVP motion controller for steering | MVP3 | Celia Oakley |
| gcrear0 | SPEED | speedserver | Server that receives command from MOVE and gives actuation commands to MVPC for braking and throttle control | corresponds directly to a 2 MVP motion controllers for brake and throttle | MVP1, MVP4 |
Celia Oakley, Eser Chamoglu |
| gcrear0 | GEAR | gearserver | Server that receives command from MOVE and gives actuation commands to MVPC for transmission control | corresponds directly to a MVP motion controller for transmission | MVP2 | Celia Oakley |
| gcrear0 | ROAD | roadfollower | Server that does vision processing and generates information about road offset and road angle | Read and write to /dev/devfw-ohci to talk to the camera | OPENSTEER | John Nagle |
| gcrear0 | WATER | water | Server that gives info about whether the water sensors currently detect water by getting water detection status through one of the MVP* servers |
Water detectors are connected to digital input of MVP node | MVP? | Khian Hao Lim |
| Computer | Watchdog ID | Binary Name | Program Description | Resources | Significant Comms with | Person In Charged |
| gcrear1 | WD | watchdog | The program that spawns all the other programs and monitors them | A communication thread that processes msgs. One thread per program spawned for monitoring the program. A few other misc threads. |
all | John Nagle, Khian Hao Lim |
| gcrear1 | WPGCREAR1 | watchpuppy | same for all watchpuppy | same for all watchpuppy | same for all watchpuppy | |
| gcrear1 | LMS | lms | Server that gets laser range finder data from the Sick LMS | talks to serial ethernet server lmsserial which talks to the Sick LMS through rs422 | OPENSTEER | Eric Seidel |
| gcrear1 | GPSINS | gpsins | Server that integrates gps, ins, odometry data and offers location information | /dev/ser1 on gcrear1 to gps /dev/ser2 on gcrear1 to ins |
Khian Hao Lim | |
| gcrear1 | WAYPT | waypoint | Server that knows about waypoint information | opens and reads the file containing the waypoints | ? | |
| gcrear1 | MAP | map | Server that monitors our location on maps | opens and reads file containing map info | Tim Nicholson | |
| gcrear1 | RADAR | radar | Server that talks to the Eaton Vorad and gives radar information | /dev/ser3 on gcrear1 to Eaton Vorad | John Nagle | |
| gcrear1 | TILT | tilt | Client that gets vehicle pitch from GPSINS and tries to stabilize the Laser Range Finder by giving commands to MVP5 | GPSINS, MVP5 |
? | |
| gcrear1 | MVP5 | mvpserver | MVP server that talks to the MVP motion controller doing the tilt for the Laser Range Finder | /dev/ser4 on gcrear1 to RS232 to RS485 converter that talk to a MVP motion controller that controls the tilt of the Laser Range Finder | TILT | ? |
| Computer | Watchdog ID | Binary Name | Program Description | Resources | Significant Comms with | Person In Charged |
| gcchassis | WPGCCHASSIS | watchpuppy | same for all watchpuppy | same for all watchpuppy | same for all watchpuppy | |
| gcchassis | METER | meter | Server that gives odometry information | counter timer board on gcchassis connected to speedometer and drive shaft sensor | GPSINS | Eser Chamoglu |
| gcchassis | SONAR | sonar | Server that talks to the sonars and retrieves sonar data and gives sonar info | /dev/ser1 connects to the RS232-I2C converter which talks to the sonars | Khian Hao Lim | |
| gcchassis | SIGN | sign | Server that talks to the LED sign | /dev/ser2 connects to the LED sign | John Nagle |
Note: See startfiles for how the programs will be run.
Essential Programs not running under Watchdog
| Computer | Binary | Program Description | Resources | Used by (Watchdog ID above) | Person In Charged |
| gcrear0 | /usr/local/sbin/devfw-ohci | Started up in /etc/rc.d/rc.local Resource manager that communicates on the 1394 bus and creates /dev/devfw-ohci |
Firewire (1394) Controller | ROAD | John Nalge |
| gcrear0 | /usr/local/sbin/wdserver | Started up in /etc/rc.d/rc.local Talks to the hardware watchdog on machine and creates /dev/wdserver |
Hardware Watchdog on machine | WPGCREAR0 | Khian Hao Lim |
| gcrear1 | /usr/local/sbin/wdserver | same as above | same as above | WPGCREAR1 | same as above |
| gcchassis | /usr/local/sbin/wdserver | same as above | same as above | WPGCCHASSIS | same as above |
Port Setting Summary
Unless otherwise stated, the settings for rs232 are 8 data bits, Parity None, 1 Stop Bit. The following needs to be consistent with the data connection diagram below.
Note: COMx corresponds to /dev/serx on each of the computers. eg COM2 refers to /dev/ser2
| Computer | Com Port | Settings | Comms With | Program Using it |
| gcrear0 | COM1 | 19200 | RS232 to RS485 converter that talks to Brake MVP | MVPC1 on gcrear0 |
| gcrear0 | COM2 | 19200 | RS232 to RS485 converter that talks to Transmission MVP | MVPC2 on gcrear0 |
| gcrear0 | COM3 | 19200 | RS232 to RS485 converter that talks to Steering MVP | MVPC3 on gcrear0 |
| gcrear0 | COM4 | 19200 | RS232 to RS485 converter that talks to Throttle MVP | MVPC4 on gcrear0 |
| gcrear1 | COM1 | 38400 | RS232 to Novatel GPS Receiver | GPSINS on gcrear1 |
| gcrear1 | COM2 | 38400 | RS232 to Xbow AHRS | GPSINS on gcrear1 |
| gcrear1 | COM3 | 19200 | RS232 to Eaton Vorad Radar | RADAR on gcrear1 |
| gcrear1 | COM4 | 19200 | RS232 to RS485 converter that talks to LMS stabilization MVP | TILT |
| gcchassis | COM1 | 57600 | RS232 to I2C converter that talks to sonar controller | SONAR |
| gcchassis | COM2 | 9600 | RS232 to LED sign | SIGN |
| lmsserial | COM | ~500000 | RS422 to Sick LMS unit | LMS |