Overview   Package  Class  Use  Tree  Deprecated  Index  Help 
dLife Home Page
 PREV PACKAGE   NEXT PACKAGE FRAMES    NO FRAMES    

Package dlife.robot.pioneer.server

Server program that must be running on the Pioneer robot for dLife to communicate with it.

See:
          Description

Class Summary
PioneerServer This class defines the server that dLife uses to communicate with the Pioneer robot.
 

Exception Summary
PioneerServerException An exception thrown when the PioneerServer experiences a problem opening or closing a socket or sending or receiving packets.
 

Package dlife.robot.pioneer.server Description

Server program that must be running on the Pioneer robot for dLife to communicate with it. The PioneerServer program interacts with the Pioneer via the ARIA library provided by MobileRobots Inc., the manufacturer's of the Pioneer.

Dependencies

The PioneerServer requires on the ARIA library, which should have come installed on the Pioneer. It also relies on the ARIA Java Wrapper. You should ensure that both ARIA and the Java Wrapper are installed and working correctly. This can be done by connecting to the Pioneer and running the examples in /usr/local/Aria/examples and in /usr/local/Aria/javaExamples.

More information on ARIA and the Java Wrapper can be found on the ARIA web page.

Installing the PioneerServer

To install the PioneerServer do the following on the Pioneer's on-board computer:

  1. Ensure that ARIA and the ARIA Java Wrapper are installed on the Pioneer (See dependencies above).
  2. Download and unpack dlife.zip on the on-board computer.
  3. Set the environment variable DLIFE_HOME to point to the location of the dLifeDist directory.
  4. Add the dLifeDist/ServerScripts directory to your PATH environment variable.
  5. Open the dlifeDist/ServerScripts/StartPioneerServer script and edit the ARIA_JAR and ARIA_LIB variables so that they point to the correct locations on your Pioneer.

Starting the PioneerServer

To start the PioneerServer:

  1. Connect to the Pioneer using ssh or telnet.
  2. Issue a command like: DLifePioneerServer start 10000
      This command will start the server on port 10,000. The PioneerServer can be run on any port that is not being used by another service.

Stopping and Restarting PioneerServer

The DLifePioneerServer script can also be used to stop and restart the PioneerServer if there are problems. After logging into the Pioneer's on-board computer the following commands will stop or restart the PioneerServer:

Overview   Package  Class  Use  Tree  Deprecated  Index  Help 
dLife Home Page
 PREV PACKAGE   NEXT PACKAGE FRAMES    NO FRAMES