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IST 37652 Hard Real-time CORBA HRTC 1 WP3: Robot Control Testbed 1. 1.Physical Testbed 2. 2.Virtual...
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Transcript of IST 37652 Hard Real-time CORBA HRTC 1 WP3: Robot Control Testbed 1. 1.Physical Testbed 2. 2.Virtual...
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IST 37652 Hard Real-time CORBA
HRTC
WP3: Robot Control TestbedWP3: Robot Control Testbed
1. Physical Testbed
2. Virtual Testbed
3. Demo
Klas Nilsson
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IST 37652 / Hard Real-time CORBA
Hardware SetupHardware Setup
ETRAX• Linux/RTAI
ETRAX• Linux/RTAI
Sensor (resolver) node
Actuator (motor) node
PPC * 2• Linux/RTAI & STORK
Controller node
Cameras
GlobeThrottle• Linux PC
InternetWindows PC
Switch
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IST 37652 / Hard Real-time CORBA
ORB in RTOSORB in RTOS
To achieve hard real-To achieve hard real-time the ORB (or parts of time the ORB (or parts of it) must run in an RTOS it) must run in an RTOS (RTAI)(RTAI)
Not part of this projectNot part of this project However, in the testbed However, in the testbed
the ETRAX and PPC the ETRAX and PPC application code need to application code need to run in RTAI!run in RTAI!
Fix needed!Fix needed!EthernetInterface
IP
TCP
IIOP
RT-ORB
RTEOCI
CORBA client &server application code
ThrottleNet
RT
RTOS (RTAI)
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ORB in Linux/RTAIORB in Linux/RTAI
Use the ORB to Use the ORB to establish connectionestablish connection
Extract handle to Extract handle to transport layertransport layer
Send and receive Send and receive directly using handledirectly using handle
Sends only the Sends only the necessary data (not necessary data (not GIOP)GIOP)
RTAI
Linux
Hard RTApplicationCode
getTransportHandle() IP
TCP
IIOP
RT-ORB
RTEOCI
EthernetInterface
RT
Soft RTCode
Non-RTCode
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IST 37652 / Hard Real-time CORBA
Demo SetupDemo Setup
ETRAX• Linux/RTAI• ORB ETRAX
• Linux/RTAI• ORB
Sensor (resolver) node
Actuator (motor) node
Two PowerPC Boards
Controller node
Cameras
GlobeThrottle• Linux PC
InternetWindows PC• image proc.• non-RT ORB
SwitchLinux
RTAI
ORB
Fast partsof controller
STORK RTOS
Slow partsof controller
Sha
red
Mem
ory
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IST 37652 / Hard Real-time CORBA
Demo ScenarioDemo Scenario
Catch ball experimentCatch ball experiment Bo Lincoln, Johan Bengtsson,Tomas Bo Lincoln, Johan Bengtsson,Tomas
Olsson Olsson
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Ball trajectory predictionBall trajectory prediction
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IST 37652 / Hard Real-time CORBA
Original experiment systemOriginal experiment system
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IST 37652 / Hard Real-time CORBA
ExperimentExperiment
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IST 37652 / Hard Real-time CORBA
Communication StructureCommunication Structure
Hard RT Channel: Hard RT Channel: Sensor Sensor Controller (sensor values) Controller (sensor values)
Hard RT Channel: Hard RT Channel: Controller Controller Actuator (control signals) Actuator (control signals)
IIOP communication from Image IIOP communication from Image Processing PC to Controller (ball data) Processing PC to Controller (ball data)
Soft RT Channels:Soft RT Channels: ???? ????
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IST 37652 Hard Real-time CORBA
HRTC
Virtual TestbedVirtual Testbed
Mathias Haage
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IST 37652 / Hard Real-time CORBA
Simplified environmentSimplified environment
Arbitrary dynamicsArbitrary dynamicsSimple visionSimple visionSimple controllerSimple controllerIIOP for simulated IIOP for simulated
RT communicationRT communicationStandard ORBStandard ORBNon-RTOSNon-RTOSOne computer can One computer can
contain several contain several system nodessystem nodes
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DataflowDataflow
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IST 37652 / Hard Real-time CORBA
IDLIDLinterface Activity { oneway void start(); // More control parameters}; module visualcontrol { // Vision
interface Vision : Activity { // Fresnel JavaIDL }; interface VisualControl : Activity { // Fresnel JavaIDL oneway void setObjectPos(in Point3D objectPos); };};
module armcontroller { // Controller interface Resolver : Activity { // IOR Etrax }; interface Servo : Activity { // C3PO PPC oneway void setArmPos( in Joint6D armPos ); oneway void setArmRef( in Joint6D armRef ); }; interface Actuator : Activity { // PUH Etrax oneway void setTorqueRef( in Torque6D torqueRef ); };};
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IST 37652 / Hard Real-time CORBA
Nodes / TransportsNodes / Transportsi386 Linux ICa ORB
ETrax Linux ICa ORB PPC Linux ICa ORBETrax Linux ICa ORB
JavaIDL
IIOPIIOP
OCISoftRT transport (fast rate)
OCISoftRT transport (fast rate)
IIOP
OCISoftRT transport (slow rate)
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Development roadDevelopment road
Java
Partial hardware
Full experiment
Simplified dynamicsSimplified visionSimplified controllerJavaIDL with IIOPActuate in virtual environment
ETrax, PPC running Linux OSICa RTORB with OCI SoftRT transport
ETrax, PPC running Linux-RTAI RTOSThrottleNet ethernet driverLinux-RTAI controllerIEEE1394 cameras with vision systemICa RTORB with OCI HardRT transportActuate in real environment
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ConclusionsConclusions
CORBA can be extended with hard real-CORBA can be extended with hard real- time transport time transport 8 kHz, 64 Byte messages with hard real-time 8 kHz, 64 Byte messages with hard real-time
guaranteesguarantees However, we are not certain that the However, we are not certain that the
approach chosen is the correct way to go approach chosen is the correct way to go Minimum CORBA (or even smaller – Minimum CORBA (or even smaller –
Micro CORBA) with selected features Micro CORBA) with selected features from RT-CORBA a better alternative from RT-CORBA a better alternative
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Demo of the DayDemo of the Day
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Remaining IssuesRemaining Issues Fix the current ThrottleNet Problem – maybe done Fix the current ThrottleNet Problem – maybe done
already already √√ Compile under ETRAX – moderate, half-day - MartinCompile under ETRAX – moderate, half-day - Martin
Will everything fit into ETRAX?Will everything fit into ETRAX? Compile under PPC (incl writing/porting Ethernet RTAI Compile under PPC (incl writing/porting Ethernet RTAI
device driver) – moderate, half-day and full night device driver) – moderate, half-day and full night √√ Fix memory map problem – crucial for demo Fix memory map problem – crucial for demo √√ Port the current resolver (sensor) code to Port the current resolver (sensor) code to
RTAI – easy, little time RTAI – easy, little time Port the existing actuator (motor) code to Port the existing actuator (motor) code to
RTAI – easy, little time RTAI – easy, little time Integrating the partsIntegrating the parts Porting the ball catch demo to the new systemPorting the ball catch demo to the new system