Installation

>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"

Installation

The DCM installation is done with the NAOqi installation. The DCM is a library of the NAOqi core program.

At first, the DCM reads two preference files: the device.xml (with all data about devices and subDevices) and the dcm.xml (with DCM specific information).

Warning:	Even if it's possible to run the DCM as a remote object with Soap communication, it'll be very CPU consuming to do that, as the link between ALMemory and the DCM is highly used.

Copyright © 2010 Aldebaran-Robotics - All rights reserved