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<?php
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$cacheFile="cache/platform.html";
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if (file_exists($cacheFile)) //we can read this cache file back reduce database load
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{
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   header("Content-Type: text/html");
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   readfile($cacheFile);
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   exit;
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} else {
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   ob_start(); //start buffering so we can cache for future accesses
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}
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?>
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<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "http://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd"> 
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<html xmlns="http://www.w3.org/1999/xhtml" xml:lang="en" lang="en"><head> 
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                <meta http-equiv="Content-Type" content="text/html; charset=iso-8859-1"/>        
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                <meta name="description" content="Scout uses a dual chip architecture of an ARM9 and an AVR."/> 
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                <meta name="keywords" content="ARM9, linux, rtos, real time, processing, pcb, Scout"/> 
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<?php include("header.php"); ?>
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                <title>Software Platform | ColonyScout.com</title> 
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</head>
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<body bgcolor="#eeeeee"> 
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<div id="general">
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<?php include("nav.php"); ?> 
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        <div id="body">
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                <div id="body-boxes">
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                        <div class="box-row">
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                                <div class="white-top"></div>
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                                <div class="white-body text-box">
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                                        <a href="javascript:;" title="Click to Expand" onmousedown="toggleDiv('hardware');">
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                                        <h1>Hardware Platform</h1><img src="images/btn_expand.png" /></a>
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                                        <p><span class="description">Scout uses a dual chip architecture to support a vast array of 
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                                        devices and provide computational prowess. The system flash memory is expandable and can grow to 
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                                        meet storage demands.
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                                        <br/><br/><a href="javascript:;" onmousedown="toggleDiv('hardware');"><em>learn more &gt;&gt;</em></a>                                                                                
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                                        </span></p>
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                                        <div id="hardware">
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                                        <div class="content-box">
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                                                <h2>System Overview</h2>
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                                                <p>The Scout mainboard pairs an 8-bit AVR as an IO node with an 32-bit ARM Cortex A8 for heavy computational 
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                                                tasks.</p>
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                                                <p><img src="images/software_blockdiagram.png" alt="Scout board design couples an ARM9 and AVR together."/></p>                                        </div>
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                                        <div class="side-box">
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                                                <h3>System Specifications</h3>
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                                                        <ul>
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                                                                <li>ARM Cortex&trade; A8 (TI OMAP 3503)</li>
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                                                                        <ul>
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                                                                                <li>Clocked at 600Mhz</li>
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                                                                                <li>32-bit</li>
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                                                                                <li>MMU</li>
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                                                                        </ul>
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                                                                <li>ATMega&trade; 128RFA1</li>
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                                                                        <ul>
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                                                                                <li>Clocked at 16Mhz</li>
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                                                                                <li>8-bit</li>
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                                                                                <li>Inbuilt Zigbee&reg; Wireless</li>
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                                                                        </ul>
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                                                                <li>256MB SDRAM</li>
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                                                                <li>256MB Flash + microSD Support</li>
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                                                        </ul>
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                                        </div>                                        
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                                        </div><!--end 'hardware' collapse-->                        
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                                </div>
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                                <div class="white-body text-box">
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                                        <div class="hr"></div>
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                                        <a href="javascript:;" title="Click to Expand" onmousedown="toggleDiv('os');">
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                                        <h1>Software Architecture</h1><img src="images/btn_expand.png" /></a>
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                                        <p><span class="description">Scout runs on a Gumstix (Overo) port of <a href="http://www.ros.org/"/>ROS</a> 
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                                        (robot operating system), which provides the infrastructure necessary to control a complex robotic system. ROS has 
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                                        an active developer community, and the Scout team is proud to be a part of the developer network. The Scout port of ROS 
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                                        runs on top of Ubuntu (ARM).
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                                        <br/><br/><a href="javascript:;" onmousedown="toggleDiv('os');"><em>learn more &gt;&gt;</em></a>                                        
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                                        </span></p>
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                                        <div id="os" style="display:none;">
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                                        <div class="content-box">
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                                                Multitasking will allow the software that runs on the robot to be split up into tasks which can each handle a 
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                                                subsystem such as wireless communication or odometry. Users will be able to write high level programs and 
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                                                depend on the operating system and Scout library to create robot behaviors.
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                                                <p>The operating system will also provide abstractions like virtual memory which will prevent errors in 
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                                                behaviors from crashing the robot. If a user application fails, the system can recover and continue running tasks 
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                                                which will do things like cliff detection or even autonomous recharging.</p>
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                                        </div>
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                                        <div class="side-box">                                        
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                                                <h3>POSIX compliant OS</h3>
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                                                <ul>
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                                                        <li>Use standard UNIX tools (ssh, bash, compile on the robot)</li>
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                                                        <li>IPv6 6LoWPAN Networking</li>
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                                                        <li>Program behaviors in any language</li>
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                                                        <li>Emulate with QEMU</li>
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                                                </ul>
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                                        </div>
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                                        </div><!--end 'os' collapse-->                        
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                                </div>
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                                <div class="white-body text-box">
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                                        <div class="hr"></div>                                
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                                        <div id="bottom-nav">
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                                                <ul id="pagenav">
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                                                        <li class="previous">
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                                                                <a href="<?php echo $nav[$nav_id['plat']-1]; ?></a></li>
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                                                        <li class="next">
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                                                                <a href="<?php echo $nav[$nav_id['plat']+1]; ?></a></li>
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                                                </ul>
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                                        </div>
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                                </div>
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                                <div class="white-bottom"></div>
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                        </div>                                                
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                </div>        
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        </div> <!--BODY!--> 
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<?php include("footer.php"); ?>
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</div><!--GENERAL!--> 
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</body></html>
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<?php
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$buffer = ob_get_contents();
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ob_end_flush();
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$fp = fopen($cacheFile, "w"); fwrite($fp, $buffer); fclose($fp);
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?>