RoadNarrows Robotics BotSense Package

1.2.0

Introduction

The BotSense package is a collections of libraries, API header files, commands, and drivers for communication and control of robots containing RoadNarrows BrainPack components.

Package List

bsproxy: The BotSense IP Proxy Server.
API Headers: The API headers files installed <includedir>/botsense.

bsproxy

The BotSense IP Proxy Server (bsproxy) provides an IP interace to a target robot's sensors and effectors. By providing an IP interface, the robot can be read and controller remotely, anywhere.

The bsproxy can support 8 simultaneous clients, with each client having access to 8 proxied devices. Different clients can have access to the same proxied device. The bsproxy provides mutual exclusion mechanisms to ensure device and message correctness.

A proxied device is a target system resource, typcially a device driver controlling a specific hardware device, supported by bsprox. For example, a target system's I²C Bus and an RS-232 serial port are proxied devices. In addition, higher software level proxied devices are support. For example, the BrainPack Foot is proxied device with a specific set of operatations over an I²C Bus, while the RCB-3 Controller proxied device supports specific operations on an RS-232 over USB port.

Table 1 list the proxied devices that are or will be supported by the BotSense Proxy server by version 1.2.0.

BSPROXY_DEVTYPE_I2C	I²C Bus
BSPROXY_DEVTYPE_BPFOOT	BrainPack left or right foot I²C device
BSPROXY_DEVTYPE_BPIMU	BrainPack Inertia Measurement Unit I²C device
BSPROXY_DEVTYPE_BPHAND	BrainPack left or right hand I²C device
BSPROXY_DEVTYPE_BPCOMPASS	BrainPack compass I²C device
BSPROXY_DEVTYPE_RS232	RS-232 serial port
BSPROXY_DEVTYPE_RCB3	RCB-3 Controller
Table 1: Proxied Device Types

See also:: BotSense IP Proxy Client-Server Protocol

API headers

botsense/bsproxy_if.h: Defined server - client messaging interface

Requirements

librnr - RNR standard libray 1.
libi2c - RNR I²C library.
libRCB3 - RNR RCB-3 library.

Supported Platforms

i386 - any Intel (backwards) compatible 32-bit architecures
x86_64 - any AMD 64-bit architectures
armpxa - Intel XScale PXA Arm architecures.
cygwin - Windows systems with installed cygwin.

Tested Systems

Fedora Core 5 and 6 Linux for the i386 and x86_64 architectures.
Familiar Linux (K-Team KoreBot version) for the XScale PXA 255 Arm
Window XP for Intel processors.

RoadNarrows RCB3 End-User License Agreement

The EULA

Permission is hereby granted, without written agreement and without license or royalty fees, to use, copy, modify, and distribute this software and its documentation for any purpose, provided that (1) The above copyright notice and the following two paragraphs appear in all copies of the source code and (2) redistributions including binaries reproduces these notices in the supporting documentation. Substantial modifications to this software may be copyrighted by their authors and need not follow the licensing terms described here, provided that the new terms are clearly indicated in all files where they apply.

IN NO EVENT SHALL THE AUTHOR, ROADNARROWS LLC, OR ANY MEMBERS OR EMPLOYEES OF ROADNARROW LLC OR DISTRIBUTORS OF THIS SOFTWARE BE LIABLE TO ANY PARTY FOR DIRECT, INDIRECT, SPECIAL, INCIDENTAL, OR CONSEQUENTIAL DAMAGES ARISING OUT OF THE USE OF THIS SOFTWARE AND ITS DOCUMENTATION, EVEN IF THE AUTHORS OR ANY OF THE ABOVE PARTIES HAVE BEEN ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

THE AUTHOR AND ROADNARROWS LLC SPECIFICALLY DISCLAIM ANY WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE. THE SOFTWARE PROVIDED HEREUNDER IS ON AN "AS IS" BASIS, AND THE AUTHORS AND DISTRIBUTORS HAVE NO OBLIGATION TO PROVIDE MAINTENANCE, SUPPORT, UPDATES, ENHANCEMENTS, OR MODIFICATIONS.

Generated on Wed Nov 28 11:01:08 2007 for botsense by

1.4.6