Pleading for open modular architectures - Lirmm

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First National Workshop on Control Architectures of Robots - April 6,7 2006 - Montpellier The studio : graphical programming The Studio is RT Maps’ graphical interface. Applications are represented by diagrams made of components which can be parametrized. Efficient and simple to use, the Studio is one of the many advantages of the software: a few minutes are enough to set up a complex application. Components, libraries, diagrams, data bases and scénarii can be exchanged and integrated. Components and connections The components, symbolized by blue boxes, are set up by simple drag and drop onto the scene. They interface the sensors, represent the algorithms and connect the actuators. The mouse allows to draw «lines» connecting the output of a component to the input of another. The dataflows are then etablished. Setting Many parameters are accessible by dialogboxes. The setting determines the component’s behavior. Documentation A simple click is enough to insert a comment in a diagram or to get help. Modularity When the user wishes to remplace or add a component in a diagram, it does it graphically, without any coding. Recording and replaying A «record» button launches the recording process. The VCR allows to play back the data bases. The replay speed and direction can be chosen. A cursor allows to select the position in the timeline. Master Slaves RT MAPS, TECHNOLOGY 74 Embedded technology The programming graphical interface can be removed for a «hidden» use of the software. The orders of construction and parameter setting of diagrams are passed through scripts. Specific graphical interfaces can be developed to execute applications : they replace the usual workspace. Synchronized distributed operation RT Maps V3 breaks a technological barrier by allowing the operation of distributed and synchronized platform on several machines. A «master» system manages the whole application. A single clock supervises and synchronizes those of the various «slaves». The «Master» clock can be the one of the «master» host or coming from an external source: clock of an acquisition board, GPS clock... RT Maps technology is independant of the operating system used, even in a distributed configuration. Thanks to this new flexibility, RT Maps can satisfy the processing needs of the most demanding applications.
The library: components ready to be employed The RT Maps libraries are sets of components which provide elementary functions necessary to most applications: - Data acquisition - Standard protocole decoding - Data processing - Real time displaying - Data recording and replaying - Data exportation - Interfacing with third party software - Communication The software supports the majority of the market’s available sensors. Intempora provides many modules to interface sensors/actuators of very different natures and performances. If an hardware is suitable for connection with a computer, its integration in a RT Maps application is possible. Exemples of supported sensors: Webcams, DV camcorders, FireWire DCAM digital cameras, analog and digital cameras, stereo-vision devices, GPS, inertial measurements units, radars, laser telemeters, CAN bus, analog and digital input/output devices, microphones… Exemples of supported actuators: Analog and digital controls, electric motors, step by step motors, brake or other car system, barriers, hooters, light, variable messages indicators… New developed components are regularly added to the libraries. Intempora First National Workshop on Control Architectures of Robots - April 6,7 2006 - Montpellier More Informations Please contact us ! Marketing: Gilles MICHEL Technical aspect: Nicolas du LAC Tel: +33 1 41 90 03 59 Web Site: www.intempora.com Email: info@intempora.com The SDK extension: breaking the limits The «Software Development Kit» allows the user to create its own components. The programming is done in C++; it is facilitated by the skeletons’ code and macro. Moreover, a complete API (Application Programming Interface) allows you to reach all the engine’s function and to remain independant of the operating system (file system or real time programming for example). Unless specify otherwise, each component runs in its own thread. The developer is released from the problems of data protection and inherent concurrent accesses of multithreads applications. Many data exchanges policies between components are integrated (circular buffers, unblocking, D-sampling, etc...), thus offering the behavior choice fitting to each application type (recording, real time processing, data conversion, control...). The user can, for example, include the variables parameter setting or make dynamic the inputs/ outputs number suggested by the graphic component. The SDK includes the API’s complete documentation and examples or skeletons code for the specific components development. Finally, integrated assistants are included into the development environments (such as Microsoft’s Visual Studio ). They facilitate the generation of compilation projects. RT Maps, a responsible and durable choice, an opening towards new projects and a renewed effectiveness... 75 Test RT Maps Version 3…
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Organization This first national wo
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Contents Organization…………
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Program April 6, 2006 8:30-9:00 Rec
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First National Workshop on Control
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1 User requirements defined 2 Syste
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Coordination programming in Horocol
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References First National Workshop
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