A container collecting useful functions that help IOL accomplish its tasks.

A container collecting useful functions that help IOL accomplish its tasks.

Protocol

Available requests queried through the rpc port:

1. NAME. The format is: [name] "name_sm_0" "name_sm_1" ... This request allows merging the list provided by the State Machine within the request (i.e. "name_sm_0" "name_sm_1" ...) with further objects names stored within the objectsPropertiesCollector database.
   The format of the reply is: [nack]/[ack] "name_sm_0" "name_sm_1" ... "name_opc_0" "name_opc_1" ...
2. SET NAV LOCATION. The format is: [navs] "location_name" x y theta. This request allows creating a location within the database.
   The format of the reply is: [nack]/[ack].
3. GET NAV LOCATION. The format is: [navg] "location_name". This request allows retrieving a location from the database.
   The format of the reply is: [nack]/[ack] x y theta.
4. CLASS. The format is class. It serves the classification request to be forwarded to the external classifier.

Libraries

• YARP libraries

Parameters

–name <string>

• To specify the module's name; all the open ports will be tagged with the prefix /<moduleName>/. If not specified iolHelper is assumed.

–context_extclass <string>

• To specify the context where to search for memory file for the external classification scenario.

–memory_extclass <string>

• To specify the memory file name provided in the objectsPropertiesCollector database format for the external classification scenario.

Ports Created

• / <moduleName>/rpc to be accessed by SM.
• / <moduleName>/opc to be connected to the objectsPropertiesCollector port.
• / <moduleName>/extclass:o to be connected to the external classifier to forward classification requests.
• / <moduleName>/extclass:i to be connected to the external classifier to receive classification responses.

Tested OS

Linux and Windows.

Author

Ugo Pattacini