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projects:3dmosaic:server_program
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projects:3dmosaic:server_program [2012/07/23 10:12] claes |
projects:3dmosaic:server_program [2021/08/14 04:21] |
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| - | ====== The Server Program ====== | ||
| - | < | ||
| - | digraph Overview { | ||
| - | subgraph cluster_0 { | ||
| - | style=filled; | ||
| - | color=lightgrey; | ||
| - | node [style=filled, | ||
| - | Server [shape=box]; | ||
| - | ETH [shape=hexagon]; | ||
| - | ATB [shape=hexagon]; | ||
| - | ETH -> Server; | ||
| - | Server -> ETH; | ||
| - | ATB -> Server; | ||
| - | Server -> ATB; | ||
| - | label = " | ||
| - | } | ||
| - | size=" | ||
| - | node [shape = box]; | ||
| - | GNSS [shape=hexagon]; | ||
| - | Mission -> MobotWare; | ||
| - | GNSS -> MobotWare; | ||
| - | GNSS -> Server; | ||
| - | Server -> MobotWare; | ||
| - | MobotWare -> Server | ||
| - | } | ||
| - | </ | ||
| - | ==== Specs and consideration ==== | ||
| - | === TCP or UDP === | ||
| - | All data that is transmitted should also be received. If the tractor starts to drive before the cameras are done it will cause error in the images. | ||
| - | |||
| - | Error handling is already implemented in the TCP Protocol. Communication is therefore more secure when using TCP than when using UDP. | ||
| - | |||
| - | There are no Hard Real-Time demands in the communication between the programs, so the time the TCP uses on error handling is not going to be an issue. | ||
| - | |||
| - | The protocol is going to be based on a Socket interface using TCP. | ||
| - | |||
| - | === Network and IP-range === | ||
| - | The Network will be a private network using 16-bit IPv4. IP-range on the network will start at 192.168.0.0. The network will be using static IP addresses, the address list is specified below. | ||
| - | |||
| - | The connection between the programs are made with a standard socket on a specified port. | ||
| - | |||
| - | The network is made with a switch | ||
| - | TrendNet | ||
| - | 10/100 Mbps Fast Ethernet Switch | ||
| - | Te100-S88Eplus | ||
| - | The network will be tested in January, beacause the current network is also for the [[robots: | ||
| - | |||
| - | ^ Program | ||
| - | | Server | ||
| - | | Client - Bumblebee | ||
| - | | Client - 2D Cam | 192.168.0.53 | Not defined | | ||
| - | | Client - LaserScanner | 192.168.0.54 | Not defined | | ||
| - | | Ibeo - LaserScanner | ||
| - | | Trimble AGGps542 | ||
| - | If anything is missing please let me know so I can update the list. | ||
| - | |||
| - | |||
| - | === Protocol === | ||
| - | The protocol will be based on the XML format((http:// | ||
| - | |||
| - | Most guidelines recommend that data goes in elements, metadata in attributes. This protocol will be compliant with these guidelines((http:// | ||
| - | |||
| - | == Tags & Attributes == | ||
| - | < | ||
| - | Is used to indentify each program connected to the server. | ||
| - | [Program ID] | ||
| - | is the name you chose for your program. The server will use this name for identification. It is stored as a string in the server program. It may contain letters (a-z), numbers (0-9) and spaces ( ). I do not not how Java deals with special charecters (ä, | ||
| - | |||
| - | It will be encoded in ISO-8859-1 (ISO Latin Alphabet No. 1, a.k.a. ISO-LATIN-1) see [[http:// | ||
| - | |||
| - | == Detailed description == | ||
| - | Programs that want to communicate with the server must send this after succesful connecting to the Socket of The Server Program | ||
| - | <sxh xml;> | ||
| - | < | ||
| - | </ | ||
| - | if the program needs to take a picture, pictureStatus should be true otherwise false.\\ | ||
| - | The server will respond with | ||
| - | <sxh xml> | ||
| - | < | ||
| - | </ | ||
| - | When the server is ready it will send this to the client | ||
| - | <sxh xml> | ||
| - | < | ||
| - | < | ||
| - | < | ||
| - | < | ||
| - | </ | ||
| - | </ | ||
| - | when the server has transmitted the < | ||
| - | This will be sent at 20 Hz to all clients | ||
| - | |||
| - | Latitude and longitude will be given in degrees; 17 15' 30" -> 17.2583 | ||
| - | <sxh xml> | ||
| - | <!--Sent from the server--> | ||
| - | < | ||
| - | < | ||
| - | < | ||
| - | < | ||
| - | < | ||
| - | < | ||
| - | <height unit=" | ||
| - | </ | ||
| - | < | ||
| - | < | ||
| - | < | ||
| - | </ | ||
| - | < | ||
| - | < | ||
| - | < | ||
| - | </ | ||
| - | < | ||
| - | < | ||
| - | < | ||
| - | </ | ||
| - | </ | ||
| - | </ | ||
| - | |||
| - | When the tractor has stopped and is waiting for the cameras to take their pictures, the server will wait for this command from the clients | ||
| - | <sxh xml> | ||
| - | < | ||
| - | </ | ||
| - | There will be a 2 min timeout on this command. So if there is a problem with one of the clients the rest will continue with the mission. If anyone need more than 2 min let me know. | ||
| - | |||
| - | If one of the clientprograms need a break from the data send this to the server | ||
| - | <sxh xml> | ||
| - | <break id=" | ||
| - | </ | ||
| - | This will stop the data transmission to the client, but the client will still be connected to the server. The sever will respond with | ||
| - | <sxh xml> | ||
| - | <break id=" | ||
| - | </ | ||
| - | |||
| - | When the client wants to receive data again send | ||
| - | <sxh xml> | ||
| - | < | ||
| - | </ | ||
| - | The sever will respond with | ||
| - | <sxh xml> | ||
| - | <break id=" | ||
| - | </ | ||
| - | and transmit data in the next 20 Hz program cycle. | ||
| - | |||
| - | If the client wants to disconnect from the server send this | ||
| - | <sxh xml> | ||
| - | < | ||
| - | </ | ||
| - | The sever will respond with | ||
| - | <sxh xml> | ||
| - | < | ||
| - | </ | ||
| - | and disconnect the client from th socket. The Server Programm will close the socket 1 second after transmitting the last command. | ||
| - | |||
| - | == Download examplefile == | ||
| - | <file xml protocol.xml> | ||
| - | <!--Sent from the server--> | ||
| - | < | ||
| - | < | ||
| - | < | ||
| - | < | ||
| - | < | ||
| - | < | ||
| - | <height unit=" | ||
| - | </ | ||
| - | < | ||
| - | < | ||
| - | < | ||
| - | </ | ||
| - | < | ||
| - | < | ||
| - | < | ||
| - | </ | ||
| - | < | ||
| - | < | ||
| - | < | ||
| - | </ | ||
| - | </ | ||
| - | |||
| - | <!--Sent from the clients--> | ||
| - | < | ||
| - | |||
| - | <!--when connected to the server sent your program ID to the server--> | ||
| - | < | ||
| - | |||
| - | <!--the server will respond with--> | ||
| - | < | ||
| - | < | ||
| - | < | ||
| - | < | ||
| - | < | ||
| - | |||
| - | <!--If the client program needs a break--> | ||
| - | <break id=" | ||
| - | <!--the server will respond with--> | ||
| - | <break id=" | ||
| - | |||
| - | <!--When the break is over--> | ||
| - | < | ||
| - | <!--the server will respond with--> | ||
| - | <break id=" | ||
| - | |||
| - | < | ||
| - | < | ||
| - | |||
| - | </ | ||
| - | |||
| - | ==== The Server Program ==== | ||
| - | The program will be developed in Java. It will accept multiple clients. | ||
| - | |||
| - | Each new tag will be sent in a new string. This means that the < | ||
| - | <sxh xml> | ||
| - | < | ||
| - | < | ||
| - | < | ||
| - | < | ||
| - | < | ||
| - | < | ||
| - | < | ||
| - | < | ||
| - | </ | ||
| - | < | ||
| - | < | ||
| - | < | ||
| - | </ | ||
| - | < | ||
| - | < | ||
| - | < | ||
| - | </ | ||
| - | < | ||
| - | < | ||
| - | < | ||
| - | </ | ||
| - | </ | ||
| - | </ | ||
| - | |||
| - | The < | ||
| - | <sxh xml> | ||
| - | < | ||
| - | </ | ||
| - | |||
| - | The < | ||
| - | <sxh xml> | ||
| - | < | ||
| - | < | ||
| - | < | ||
| - | < | ||
| - | </ | ||
| - | ==== References ==== | ||
| - | [[http:// | ||
| - | |||
| - | [[http:// | ||
| - | |||
| - | [[http:// | ||
projects/3dmosaic/server_program.txt · Last modified: 2021/08/14 04:21 (external edit)
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