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Proceedings Paper

On-line data display
Author(s): Sherman Y. T. Lang; Martin Brooks; Marc Gauthier; Marceli Wein
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Paper Abstract

A data display system for embedded realtime systems has been developed for use as an operator's user interface and debugging tool. The motivation for development of the On-Line Data Display (ODD) have come from several sources. In particular the design reflects the needs of researchers developing an experimental mobile robot within our laboratory. A proliferation of specialized user interfaces revealed a need for a flexible communications and graphical data display system. At the same time the system had to be readily extensible for arbitrary graphical display formats which would be required for data visualization needs of the researchers. The system defines a communication protocol transmitting 'datagrams' between tasks executing on the realtime system and virtual devices displaying the data in a meaningful way on a graphical workstation. The communication protocol multiplexes logical channels on a single data stream. The current implementation consists of a server for the Harmony realtime operating system and an application written for the Macintosh computer. Flexibility requirements resulted in a highly modular server design, and a layered modular object- oriented design for the Macintosh part of the system. Users assign data types to specific channels at run time. Then devices are instantiated by the user and connected to channels to receive datagrams. The current suite of device types do not provide enough functionality for most users' specialized needs. Instead the system design allows the creation of new device types with modest programming effort. The protocol, design and use of the system are discussed.

Paper Details

Date Published: 4 May 1993
PDF: 13 pages
Proc. SPIE 1831, Mobile Robots VII, (4 May 1993); doi: 10.1117/12.143788
Show Author Affiliations
Sherman Y. T. Lang, National Research Council Canada (Canada)
Martin Brooks, National Research Council Canada (Canada)
Marc Gauthier, National Research Council Canada (Canada)
Marceli Wein, National Research Council Canada (Canada)


Published in SPIE Proceedings Vol. 1831:
Mobile Robots VII
William J. Wolfe; Wendell H. Chun, Editor(s)

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