Hi, I'm having problems finding the output for the output stream for the commands. Basically i modified the SRV1Console to connect to a basic java server application. It connects. I forwarded the variable:
 
cmdBytes
 
in _sendSRVCommand()
 
as i saw that to be the finalised command.
 
But it didn't send anything.
So i made a new connection within the client code and sent the variable:
 
cmd
 
in the same function. which is the variable before it gets run through the process. and that outputs for example forward = 4D323200
 
So i guess my question is, could you tell me what happens between cmd variable and the final output to the socket? And what the output would be for forward.
 
Thanks for your time.

Quote from admin on 04/19/09 at 7:02am:

 
I'm sorry, i hope you can be patient with me, but i have a couple more questions that i can't figure out. Even after hours of looking for the answers.
 
The first is. How does the robot get the command such as "move forward" if SRV1Console.java doesn't send a command to it other than I(send Image)?  
 
The second is, what is the exact string or integer that is sent to the robot for each of the buttons? Where would i find this?  
 
the SRV1Test and SRV1Console connects to the server application i have made, but what i cant get is either of the two clients to send any commands to the server application.  
 
 

Quote from admin on 04/19/09 at 1:12pm:

 
I'm sorry, i didnt mean a response from the robot. Basically this is what i've done:
 
Modified the SRV1Console application to connect to 'localhost' on a different port ie (3019)
i have written an application, which acts as a server application. This listens on port 3019.  
 
I start the server app which automatically listens on that port.
The modified SRV1Console connects to that server application.
The server app recognises a connection is made.
But it wont register the data as being sent from SRV1Console.
 
so should it work if i further develop on my server application to include new sockets, to connect to the robot. and just forward on to the robot what is sent from the SRV1Console.  
 
For example:  
 
button.2=buttons/forward.png
command.2=4D323200
 
4D323200 as the move forward command?
Or does that need to be modified to be registered as a command from the robot?
 
Again, i apologise for this, i am just on a deadline and having severe issues.
 
Thank you.

I am probably still confused about your objective.  
 
SRV1Console has a built-in web server.  Are you trying to remotely send commands to that server which are relayed to the robot ?  If so, you need to take a look at the web page that is generated by SRV1Console -
    http://localhost:8888/view
 
If you view the page source, you'll see a variety of CGI commands that effectively activate the buttons remotely.
 
<a href="/cgi-bin/srv.cgi?button=1" target="srv_status"><img border=0 src="/buttons/driftleft.png"></a>
</td>
<td>
<a href="/cgi-bin/srv.cgi?button=2" target="srv_status"><img border=0 src="/buttons/forward.png"></a>
</td>
 
Does this help ?
 

While the firmware's SRV_protocol command set has changed from http://www.surveyor.com/SRV_protocol_arm7.html to http://www.surveyor.com/SRV_protocol.html, SRV1Console is basically unchanged from the original ARM7 robot support, except that it has TCP as well as serial connection support.  
 
You won't find a cgi-bin directory - this functionality is built into the webcamsat module that is internal to SRV1Console.