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You use scp to copy files from one host to another on a network. Designed to replace rcp, scp actually uses ssh to transfer data and employs the same authentication and encryption (see Table 40-12). If authentication requires it, scp requests a password or passphrase. scp operates much like rcp. Directories and files on remote hosts are specified using the username and the host address before the filename or directory. The username specifies the remote user account that scp is accessing, and the host is the remote system where that account is located. You separate the user from the host address with a @, and you separate the host address from the file or directory name with a colon, :. The following example copies the file party from a user current directory to the user aleina's birthday directory, located on the rabbit.mytrek.com host:

Table 40-12: scp Options Description Turns off statistics display. Turns on statistics display. Recursively copies entire directories.

FIGURE 17.10 The GPS module from Parallax is not nearly as accurate as the one in our simulated robot.

Table 40-12: scp Options Description Verbose mode. Selects batch mode (prevents asking for passwords or passphrases). Compression-enabled. Specifies the port to connect to on the remote host. Specifies the path to sch program.

Of particular interest is the -r option (recursive), which enables you to copy whole directories. In the next example, the user copies the entire reports directory to the user justin's projects directory:

In the next example, the user george copies the mydoc1 file form the user cecelia's home directory.

from a real-world robot to a RobotBASIC array. Advanced users can then use the mathematical and matrix capabilities of RobotBASIC to analyze and react to pictures in ways often only done at professional research and development laboratories. The skilled user could easily create a color image on RobotBASIC s terminal screen from the camera data, allowing for remote observation of the robot s environment. 17.2.9 BEACON DETECTION To our knowledge no one currently offers a beacon detection system for hobby robots. As you saw in Chap. 15, an appropriate beacon system can provide excellent navigational capabilities for a home or of ce based robot. Our simulated robot can detect a beacon mounted above other objects in the room, meaning that it can be seen even if there are objects on the oor between the robot and the beacon. The RobotBASIC simulation also provides the distance to the beacon if you wish to use it. In the simulation, the beacon is just an object of a speci ed color. Our realworld robot could actually use its camera to perform this function by looking for a speci c color. The vertical position of the color on the camera s image can be used to give an approximate distance to the beacon (the beacon color should appear higher on the image as the robot gets closer). There are many options for beacon detection. For example, instead of making the beacon a speci c color, it could be a visible light ashing at a xed frequency such as two pulses per second. The microcontroller could detect the beacon with the camera by comparing two pictures taken 1/4 second apart.

[george@turtle george]$ scp cecelia@turtle.mytrek.com:mydoc1 cecelia@turtle.mytrek.com's password: mydoc1 0% | | 0 --:-ETA mydoc1 100% |*****************************| 17 00:00 [george@turtle george]$ .

If, for some reason, you can only connect to a secure host by going through an unsecure host, ssh provides a feature called port forwarding. With port forwarding, you can secure the unsecure segment of your connection. This involves simply specifying the port at which the unsecure host is to connect to the secure one. This sets up a direct connection between the local host and the remote host, through the intermediary unsecure host. Encrypted data is passed through directly. You can set up port forwarding to a port on the remote system or your local system. To forward a port on the remote system to a port on your local system, use the ssh -R option, followed by an argument holding the local port, the remote host address, and the remote port to be forwarded, each separated by a colon. This works by allocating a socket to listen to the port on the remote side. Whenever a connection is made to this port, the connection is forwarded over the secure channel, and a connection is made to a remote port from the local machine. In the following example, port 22 on the local system is connected to port 23 on the rabbit.mytrek.com remote system: