Command Server – Run Tasks and obtain Status-Infos

The software of the MSRTK system is broken down into several packages.

  • Firmware: very low-level code that runs on a Micro Controller Unit (MCU). This is needed for communication and measurement time stamps.
  • Driver: low-level code that runs on the Micro Processor Unit (MPU). It collects data from hardware interfaces and uses inter-process communication to make the sensor data available to other packages.
  • PAD Software: The Positioning and Attitude Determination software. It gets its data from the Driver.
  • Maintenance tool: Is responsible for all the non real-time critical tasks.

The maintenance tool provides a command server, that other applications can use to run tasks and obtain status information. You can access this capability on the command line of the MSRTK-System using the MSRTKF command:

$ MSRTKF version

Groups of commands free for customer usage:
Navigation Commands Commands regarding the navigation software
System Commands Commands regarding the MSRTK-System on a system level
Role Commands Commands for defining a specific customer role of the MSRTK-System on a system level


The TMUX Terminal:
tmux is a terminal multiplexer. It lets you switch easily between several programs in one terminal, detach them (they keep running in the background) and reattach them to a different terminal.
We use it for example for our navigation software. In the following some commands for controlling the navigation software:

List all tmux sessions:
$ tmux ls

Output of the navigation software in your console window:
$ tmux a -tn

Restarting the navigation software if you are in his tmux output window:

Exit from the navigation output window:
STR+B and D

Killing the navigation tmux session:
$ tmux kill-session -tn