Probe
[Utilities, C++, Linux]

A tool to browse and probe remote Orca interfaces. More...

A tool to browse and probe remote Orca interfaces.

Development status

Experimental

Provides

• none

Requires

• orca_interface_home

Drivers

• iostream Basic display driver to terminal window.
• iostream GUI driver using Qt

Operation

This utility connects to the registry and gets a list of components. The user can then select an component and get a list of its interfaces (if Home interface is available). Then choose an interface (if supported by Probe) and get a list of operations. Choose an operation to call, e.g. getData().

This utility loads plug-in libraries containing a probe per interface. Custom probes can be supplied with external factory libraries. The default library which comes with the Orca distribution supports the following interfaces:

• BinarySwitch
• orca_interface_camera
• orca_interface_cpu
• orca_interface_drivebicycle
• orca_interface_gps
• orca_interface_home
• orca_interface_laserscanner2d
• orca_interface_localise2d
• orca_interface_localise3d
• orca_interface_pathfollower2d
• orca_interface_power
• orca_interface_status
• orca_interface_tracer

Configuration

Note:

Probe is a tool which is frequently run without a dedicated .cfg file. It is convenient to place configuration parameters into the global config, i.g. .orcarc. This lets you customize Probe's behavior without messing around with a dedicated config file.

• Probe.Config.Driver (string)
  • Type of display driver
  • Valid values: { 'term-iostream', 'gui-qt' }
  • Default: 'term-iostream'

• Probe.Config.FactoryLibNames (string)
  • A space-separated list of libraries containing slave factories.
  • This list is ordered. Putting a custom library earlier in the list means that it will be used to instantiate interface probes before later factories.
  • Example: 'libMyProbeFactory.so libOrcaProbeFactory.so'. If MyProbeFactory implements the LaserScanner2d probe it will be used in place of the standard one.
  • Default: 'libOrcaProbeFactory.so'

• Probe.Config.TracePing (int)
  • Tracing level for pinging home interfaces. This option is currently used only by the term-iostream driver.
  • Valid values:
    • 0 : none
    • 1 : a dot per ping is printed to cout
    • >1 : proxy information for each home interface being pinged is printed to cout
  • Default: 0

An example configuration file is installed into [ORCA-INSTALL-DIR]/share/orca/cfg/ directory.

Basic display driver to terminal window.

Displays lists of options with available entries numbered. Here's an example of the Component menu. The platform agave has 6 components registered but only 3 could be reached (ice_pinged).

=======================================================
Platform : agave
-------------------------------------------------------
Select a component from the list:
        agave/brick
        agave/logger
 2      agave/roverapp
        agave/mastertest
 4      agave/pingserver
        agave/logreplaytest
 6      agave/systemadmindatabase
-------------------------------------------------------
 u      up
 U      top
 r      reload
 q      quit
=======================================================

GUI driver using Qt

A GUI driver which emulates the 'column view' of the MacOS X Finder.

Authors

Alex Makarenko