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= Important Programs =

Here is a list and short description of some of the more important programs/scripts in CBSystem.

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[[cb_remote]] - used to read remote data queues off of the network (usually from UDP packets) and publish the data to local shared memory queues.

[[cbsim]] - built using [http://www.ode.org/ ODE] to fully simulate CajunBot's world. Vehicle dynamics, sensors, terrain, and other objects are all simulated to create an accurate representation of how the simulated vehicle would behave under real world conditions.

[[cbstat]] - GUI frontend for managing the CajunBot software running on the bot's computers. It manages the startup and shutdown of programs on all the computers, displays queue information, error messages, and allows real time visualization using cbviz.

[[cbviz]] - portal into CajunBot's world. The visualizer is used to view the output of simulation data, playback data from prior runs, or real time data while the bot is operating autonomously. The visualizer allows the user to view the sensor data in an understandable manner, as well as visualize output from other programs such as the planned path.

[[clean_shared_mem]] - used to erase the contents of the shared memory data queues used in cbsystem. 

[[control_logd]] - used to enable and disable logging, as well as change the destination log directory. 

[[daemonize]] - a UNIX daemon server program that can run processes in the background. It works by using the fork-exec technique used in UNIX/LINUX and then detaching itself as the owner of the child process. This is used for starting the programs on the bot computers without having to maintain a continuous connection open.

[[data_logd]] - used for writing data from the shared memory data queues to disk in the form of binary log files. 

[[pause_logd]] - used to suspend the logging operations, has similar functionality to control_logd.

[[play_back]] - used for playback mode in which log data files are read from disk a populated to local shared memory queues.

[[provide_blocked_lane]] - attempts to map sensor input onto traffic lanes to determine which lanes are blocked and where at on the lane the blockage occurred.

[[provide_lane]] - used to populate lane data for the steering controller to follow, such as in the situation where there are sparse GPS waypoints.

[[read_log_data]] - used to convert a binary log file into a human-readable format. The human-readable format is similar to the output that test_shared_mem gives. 

[[sensor_gp_driver]] - transforms raw sensor input into a world-referenced frame (global points). 

[[sick_driver]] - one of many driver programs that get data directly from sensors, this one in particular from a SICK sensor. 

[[start_playback]] - script used for recreating and playing back logged data from either simulation or real world runs.

[[start_simulator]] - script used for starting the simulation world containing the virtual CajunBot and virtual sensors. It also starts all AGV programs normally used while on the bot. The visualizer can be started using this script as well.

[[test_shared_mem]] - used to read and write from shared data queues in cbsystem.

[[uc_planner]] - path planner designed by Team CajunBot for the DARPA Urban Challenge 2007.

[[uc_steering]] - steering controller developed for RaginBot to use in the 2007 Urban Challenge. It is a PID-based controller. 
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