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Monitor#

The Monitor is used to monitor the robot behavior during the game.

It communicates on the /monitor and /dashboard namespaces of the SocketIO server from the cogip-server tool.

In emulation mode, it also uses Shared Memory to write Lidar data and read dynamic obstacles.

Only one Monitor can be connected to the SocketIO server at the same time.

It can also provide fake Lidar data to Detector in emulation mode.

The monitor provides a graphical interface, featuring:

  • a 3D view of the table and the robot

  • a menu giving access to the tools menus

  • a button to add virtual obstacles (in orange) which can be moved and resized

  • save and load virtual obstacles using JSON files

  • visualization of LIDAR (red dots) sensors detections

  • visualization of fix and dynamic obstacles (in transparent red)

  • different artifacts depending of current game rules

GUI Overview

Data Flow#

Monitor Data Flow

Run Monitor#

To connect the Monitor to the Server running on the same development PC, run:

cogip-monitor http://localhost:8091

To connect the Monitor to the Server running on the Raspberry Pi in the robot, run:

cogip-monitor http://robot1:8091

Adapt URL and port depending on Server configuration

Command line options#

$ cogip-monitor --help
Usage: cogip-monitor [URL]

  Launch COGIP Monitor.

Arguments:
  [URL]        Socket.IO Server URL
               env var: COGIP_SOCKETIO_SERVER_URL
               default: http://localhost:8091