Segment names are used to identify DTK shared memory segments.
Segment name:
joystick
Size:
7 floats
description:
Crane operator input
Writing module:
DTK server
Reading module:
Crane Controller
Segment Name:
buttons
Size:
1 byte
description:
state of 8 buttons from the crane operator
Writing module:
DTK server
Reading module:
Crane Controller
Segment Name:
head
Size:
6 floats
description:
position and orientation data from the head tracker
Writing module:
DTK server
Reading module:
Render
Segment Name:
wand
Size:
6 floats
description:
position and orientation data from the wand tracker
Writing module:
DTK server
Reading modules:
Render
Xwand
Segment Name:
crane
Size:
5 to 12 floats
description:
crane dynamics model state
Writing module:
Crane Model
Reading modules:
Fun Filter
LAMP
Segment Name:
wave
Size:
about 2000 floats, depends on ocean grid size
description:
ocean wave heights in the ocean grid
Writing module:
Wave
Reading module:
Render
Segment Name:
graphics
Size:
12 to 30 floats
description:
position and orientation of the virtual ship hull,
position and orientation of all the moving crane parts,
position and orientation of all other moving parts on the ship
Writing module:
Fun Filter
Reading module:
Render
Segment Name:
ship
Size:
18 floats
description:
position and orientation of the ship hull
the derivative of the
position and orientation of the ship hull
the second derivative of
the position and orientation of the ship hull
Writing module:
LAMP
Reading modules:
Fun Filter
Crane Model
Crane Controller
Segment Name:
configure
Size:
about 56 bytes, sizeof(struct Configure) defined in configure.h
description:
Contains configuration data that describes the system
Writing module:
Configure
Reading modules:
all other modules read this at start up
In addition to the above DTK shared memory segments there are 6 DTK
shared memory segments associated with the MOOG Motion Base Controller. The
segment names are not needed for programming since there is a C++ API
that hides the details for the user.