Description

>DCM

Introduction

What is the DCM?

Architecture overview

How the DCM handles various NAO models and versions

Upper level architecture

Timed command interpolation algorithm

Low level architecture

Device and subDevice definitions

List of communication bus

Type of subdevice

List of devices

List of subDevices

Architecture of the pref file Device.xml / of key/values in ALMemory

Default ALMemory keys for all subDevices

Default value for all devices

Specific ALMemory keys for each device type

Description of the mandatory and specific ALMemory keys for each subDevice type

Configuration keys for robots

Pref files and sub pref files

Possible actions

DCM architecture

DCM start sequence

Example of use

DCM bound methods

DCM Synchronization methods

"onPreProcess" and "onPostProcess"

Description

Pref files

Device.xml and DCM.xml are read from the naoqi/preference directory. The DCM keeps a copy of them in its RAM, and send them to ALMemory.

Then the DCM reads the sub pref files:

Device_Head.xml is read from the same directory, kept in memory, and its key/value are send to ALMemory over the key/values that already exist.
The DCM reads the Device_Body from the chest board flash memory, writes a copy (Device_Body.xml) in the naoqi/preference directory, and sends key/value to ALMemory over the key/values that already exists.

Whatever happened then, ALMemory always has a copy of what the DCM has in memory, with the difference that the DCM keeps all Pref and SubPref as separate files.

Note:	If the same key is on both Device_Head and Device_Body with a different value, the result will be unpredictable.

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