System Introspection for System Analysis on Mobile Devices

8 ConclusionsIn the context of this thesis two systems were designed and implemented. Thefirst system is a probe attached to the software of a running robot system.This probe collects data of the components of the robot and publishes thisin<strong>for</strong>mation. The second system is the client receiving the data on request. Thedescribed design and the implementation allow to extend the system by usingpredefined elements. New components or changes on the existing elements canbe applied on both systems.By designing and implementing a communication interface both systems canexchange and understand data the same way. Also this interface makes theunderlying communication framework replaceable. The use of XMPP as underlyingcommunication framework offers all needed elements to support thedesigned communication interface. The only weakness here is the missing support<strong>for</strong> exchanging complex data structures (e.g. binary attachments). Forthe implementation several tests showed that even this problem could be solvedin an acceptable way (e.g. compress data to Base64). However <strong>for</strong> complexdata (e.g. video steams) the created system should only establishes a way <strong>for</strong>the communication and leave the communication itself to a better technique.The probe offers two different ways to look at the inner processes of the robot.With the live observation elements designed and implemented, the differentcomponents of the robot can published their data on request. The developercan directly monitor the output and make a decision if applied changes workas expected. Due to the possibility to receive commands from the client, eachcomponent can also change its state or how its data is published. The createdlogging cycles allow the developer to choose from the the component of therobot and to collect only data of interest. Different outputs of different componentscan be combined into one output file <strong>for</strong> further processing. Due tothe use of an threaded architecture multiple users can use the live observationor the logging cycles in parallel.Live observation and the logging cycles are presented inside correspondingviews on the client side. Using a tabbed navigation allows the developer tochoose from the different view at any time. Each view can also be used tosend a command to the corresponding component on the probe. This allows64