Graphic Interface

Vulcan uses the same graphic interface as Flat (see Section 1.5.2, page ). The Flat display is contacted via a socket connection and data is sent from Vulcan to this display. The file $VULCAN/src/display.scm defines the functions for interacting with the display. These functions include:^3.4

(clear-display display)
(draw-points points display color key)
(draw-segment s display color key)
(draw-line P0 P1 display key)
(draw-lines lines display key)
(draw-lines-default lines)
(draw-segments l display key)
(draw-circles l display color thickness key)

The display argument in the function above indicate whether is the ''LEFT'' or ''RIGHT'' window where the data is shown. The data that can be shown in a display includes: points, line segments and circles. The interface with the Flat display is described in

http://www.cs.utexas.edu/users/qr/robotics/flat/flat5-display.html

You will notice that the current rangefinder readings and blobs are always displayed. This functionality is defined in the file $ARGUS/splats/display-points.scn. In particular, the variable *system::display-points-sleep-time* defines how often (in seconds) the data should be displayed. The functions,

 (system::start-display-points)
 (system::end-display-points)

are provided to turn on/off the display of rangefinder readings and blobs.