lidarconfig

Lidar Config

A lidar configuration is stored in a directory named lidarconfig-name which lives in the same directory-level as lidartool and lidaradmin.

This directory lidarconfig-name contains the config subdirectory name, which stores several automatically generated files and additional files like the floor plan images used in the Web UI.

Create a Configuration

To create a new lidar configuration directory lidar/lidarconfig-myconf with default files:

cd lidar/lidarconfig
./editConfig.sh create myconf

Change to the newly created configuration directory:

cd ../lidarconfig-myconf

Check out Samples

To create a new lidar configuration directory lidar/lidarconfig-myconf and initialize it with one of the samples use editConfig.sh with option create path_to_sample/conf.

For example: to check out the OSC sample, type:

cd lidar/lidarconfig
./editConfig.sh create samples/osc

Change to the newly created configuration directory:

cd ../lidarconfig-osc

See samples/README for details.

Start the Lidar Server

./StartServer.sh +v

In a web browser, open page http://localhost:8080

Start the Lidar Admin Server:

./StartAdmin.sh +v

In a web browser, open page http://localhost:8000

Stop the Lidar Admin Server:

The Lidar Admin Server can be manually stopped by:

./StopAdmin.sh

Stop and Restart the Lidar Server

The Lidar Server is usually started and stopped out of the web interface of the Lidar Admin Server. In case it has to be manually started (e.g. at boot time) or stopped, you can:

./StartServer.sh
./StopServer.sh

Edit a Configuration

The file config.txt contains several settings as variable definitions.

You can use a guided edit of the config.txt file in your config directory:

./editConfig.sh

See CONFIG for details.

This file is also copied to the client nodes, which use the server address for registering. You have to set the server address on which the admin server runs before copying.

Observers

Put your observer definitions in a text file observer.txt in the configuration directory. The script StartServer.sh sources the files observer.txt and conf/observer.txt if they exist.

Using Floor Plans

If you want to use a Floor Plan in the background of the Web UI, you need a pixel image of the floor plan as PNG image. A second floor plan image is used to simulate sensors during the planning phase.

See BLUEPRINTS for more information.

Define Client Nodes

Client nodes virtualize physical sensors in order to place them in a larger space. The Lidar Admin communicates with these client nodes during setup. The nodes (virtual sensors) which the system should manage, are defined in the sensorDB.txt.

sensorDB.txt

The file sensorDB.txt interfaces between physical or simulated client nodes and their appearance in the lidar system. Client nodes are identified by their MAC address.

Each node is defined by a single text line in sensorDB.txt. Node names are combinations of field values in the text line:

Group Name	Lidar Model	Nr in Group	Port Offset	enabled (+/-)	Mac Address
intr	ld	01	001	+	b8:27:eb:55:df:59

A sensor entry could look like that:

intr ld 01 001 + b8:27:eb:55:df:59

The node name is constructed as $GroupName_$LidarModel$NrInGroup. The entry above would result in the node name intr_ld01 and would use UDP port (40)001 (while 40 is defined as portBase in config.txt).

If a client node with MAC address b8:27:eb:55:df:59 registers to Lidar Admin, the port number and lidar device type to use is returned.

Available Sensor Types (defined in modelMap.txt):

Lidar Model	Device Type
ld	ld06, ld19
st	st27
ms	ms200
tg	tg50, tg30, tg15
tm	tmini
g4	g4
a1	a1m8
a3	a3m1

Use + or - to enable or disable nodes, e.g. if their MAC addresses are not known yet or if they should not be used by the system.

Once you have changed the file sensorDB.txt, you have to update the database.

Update Sensor Entries

When thesensorDB.txt is modified, the button Apply Config in the LidarAdmin UI changes color to red. You can update all fies and restart the server by pressing this button.

In case you want to do it manually, the command manageSensors.sh creates and updates all files related to the enabled nodes (groups.json, nikNames.json or nikNamesSimulationMode.json):

For updating Simulation Mode related files:

./manageSensors.sh +s update

For updating Physical Nodes related files:

./manageSensors.sh update

Client Node Remote Login

In order for lidarAdmin to manage the client nodes, it must have permissions to remote login via ssh.

You can either store the password of the remote clients in the config directory in the file sshPasswd.txtor log into to the server and copy its ssh id with:

ssh-copy-id [email protected]

See lidarnode how to set up a client node.

Files

The configuration directory contains application-specific files:

• config.txt contains configuration parameter. See CONFIG for details. Please edit if needed.

• StartServer.sh script for starting the Lidar Server. Please edit if needed.

• LidarRunMode.txt contains the current run mode (simulation, setup, production). Modified by Lidar Admin. Do not edit.

• nodeDB.txt contains information about physical nodes. Automatically generated. Do not edit.

• modelMap.txt contains the mapping of Lidar Model shortcuts to device types. Please edit if needed.

The configuration subdirectory name contains application specific files:

• blueprints.json references the floor plan image for simulation and production mode and an image with colored layers of the floor plan. See BLUEPRINTS for more information. Modified by editConfig.sh. Please edit if needed.

• groups.json contains sensor grouping information. Automatically generated. Do not edit.

• nikNames.json and nikNamesSimulationMode.json contain sensor name alias information. Automatically generated. Do not edit.

• observer.txt contains observer definitions as bash commands, it is sourced on startup if it exists

• observer.json contains observer definitions in json format, it is used on startup if it exists

• error.log logs error messages

• run.log logs starting/stopping of Lidar Server and starting/stopping of sensors

For each sensor the following files are created in the configuration subdirectory name:

• LidarEnv_devicenikname.txt, the measured ambient physical environment. Automatically generated when saving an environment scan. Do not edit

• LidarEnv_devicenikname_Simulation.txt, the ambient environment in simulation mode. Automatically generated when saving an environment scan in simulation mode. Do not edit

• LidarMatrix_devicenikname.txt, translation and rotation of sensor in space. Automatically generated when saving the registration. Do not edit

nodeDB.txt

The file nodeDB.txt stores information of physical nodes. It is automatically managed by lidarAdmin. Do not change it by hand.

When nodes register with MAC and IP addresses, they get their UDP port offset and lidar type as return values.

MAC	IP	Current Port Offset	Login User	Pi Model
b8:27:eb:56:c5:f6	192.168.1.23	013	rock	RockPiS