电子科技大学：《嵌入式系统设计 Embedded Systems Design》课程教学资源（课件讲稿）Case Analysis - Use DARTS to Design a S/W System of Robot Controller

2 University of Electronic Science Technology of China(UESTC) Case Analysis:Use DARTS to Design a S/W System of Robot Controller Real-Time Systems Lab LIAO Yong

2 Real-Time Systems Lab LIAO Yong University of Electronic Science & Technology of China (UESTC) Case Analysis: Use DARTS to Design a S/W System of Robot Controller

3 1 Control Panel of Robot Controller University of Electronic Science Technology of China(UESTC) PROGRAM : The robot controller POWER POWER ON SELECT OFF controls up to six axes of motion,and interacts with digital I/O sensors MANUAL RUN STOP END Internal Controller External Control Panel Control of axes and I/O is effected by the Internal Controller External Control Panel Push buttons+selector switch Real-Time Systems Lab LIAO Yong

3 Real-Time Systems Lab LIAO Yong University of Electronic Science & Technology of China (UESTC) 1 Control Panel of Robot Controller  Internal Controller + External Control Panel  Control of axes and I/O is effected by the Internal Controller  External Control Panel = Push buttons+ selector switch The robot controller controls up to six axes of motion, and interacts with digital I/O sensors POWER ON PROGRAM SELECT MANUAL RUN STOP END POWER OFF

4 2 State Transfer University of Electronic Science Technology of China(UESTC) Power On POWERED POWERING OFF UP Successful Power Up Power Off Run MANUAL RUNNING Program Select 堂 Program Termination End TERMINATIN G SUSPENDED Real-Time Systems Lab LIAO Yong

4 Real-Time Systems Lab LIAO Yong University of Electronic Science & Technology of China (UESTC) 2 State Transfer POWERED OFF POWERING UP MANUAL RUNNING TERMINATIN G Power On Run Successful Power Up Program Termination Program Select SUSPENDED Stop Ru En n d Power Off

5 3 Data Flow Diagram (DFD) University of Electronic Science Technology of China(UESTC) PROGRAM Push READ Input Buttons PANEL READ Sensor Value SONSORS INTERPRET Panel Input PROGRAM Run, I/o Sensor Input VALIDATE Star, Command PANEL End INPUT PROCESS Valid Panel Inputs PANEL PROCESS INPUT I/O COM Motion Sensor Output COM PROCESS Motion Output Panel Run, OUTPUT Output Stop, MOTION ACK TO SONSORS COM Resume Lights Motion OUTPUT Block RECEIVE TO PANEL OUTPUT ACK AXIS DATA Axis Block Axis ACK AXIS CONTROLL Axis Input Axis Output Real-Time Systems Lab LIAO Yong

5 Real-Time Systems Lab LIAO Yong University of Electronic Science & Technology of China (UESTC) 3 Data Flow Diagram (DFD) READ PANEL Push Buttons VALIDATE PANEL INPUT Panel Input PROCESS PANEL INPUT Valid Panel Inputs READ SONSORS Sensor Value Input Sensor Input PROCESS I/O COM OUTPUT TO SONSORS I/O Command Sensor Output Output PROGRAM INTERPRET PROGRAM Run， Star， End Panel Output OUTPUT TO PANEL Lights Motion ACK RECEIVE ACK Axis ACK Axis Input AXIS CONTROLL Axis Block Axis Output PROCESS MOTION COM OUTPUT AXIS DATA Motion COM Run， Stop， Resume Motion Block

6 4 Task Decomposition University of Electronic Science Technology of China(UESTC) PROGRA I/O Push M READ Input Buttons PANEL READ SONSORS INTERPRET Sensor Value Panel Input PROGRAM Run, Star, I/o Sensor Input VALIDATE End Command PANEL INPUT PROCESS Motion Function PROCESS PANEL COM cohesion INPUT I/O COM yali时Panel Input PROCESS Sensor Output MOTION Time COM Output Run, Motion OUTPUT cohesion Panel Stop, TO SONSOR Output ACK Resume Motion Lights Block OUTPUT OUTPUT RECEIVE TO PANEL AXIS ACK DATA Axis Block Axis ACK Time cohesion Time-Critical AXIS Axis Input CONTROLL Axis Output Real-Time Systems Lab LIAO Yong

6 Real-Time Systems Lab LIAO Yong University of Electronic Science & Technology of China (UESTC) 4 Task Decomposition READ PANEL Push Buttons VALIDATE PANEL INPUT Panel Input PROCESS PANEL INPUT Valid Panel Inputs READ SONSORS Sensor Value Input Sensor Input PROCESS I/O COM OUTPUT TO SONSOR I/O Command Sensor Output Output PROGRA M INTERPRET PROGRAM Run， Star， End Panel Output OUTPUT TO PANEL Lights Motion ACK RECEIVE ACK Axis ACK Axis Input AXIS CONTROLL Axis Block Axis Output PROCESS MOTION COM OUTPUT AXIS DATA Motion COM Run， Stop， Resume Motion Block I/O Time cohesion Function cohesion Time cohesion Time-Critical

7 5 Task Structure University of Electronic Science Technology of China(UESTC) PROGRAM Push Buttons CONTROL PANEL INPUT HANDLER Panel Inputs, Start Prog CONTROL CONTROL PANEL Input PANEL INTERPRTER INPUT PROCESSOR HANDLER End Panel Outputs Stop, Resume SENSORY IO DATA STORE Lights CONTROL CONTROL Output PANEL OUTPUT Motion Block PANEL INPUT HANDLER Motion Acknowlegment HANDLER AXIS MANAGER Axis Axis Block Acknowledgment AXIS CONTROLLE R Real-Time Systems Lab LIAO Yong

7 Real-Time Systems Lab LIAO Yong University of Electronic Science & Technology of China (UESTC) 5 Task Structure CONTROL PANEL INPUT HANDLER CONTROL PANEL PROCESSOR INTERPRTER AXIS MANAGER AXIS CONTROLLE R CONTROL PANEL OUTPUT HANDLER CONTROL PANEL INPUT HANDLER CONTROL PANEL INPUT HANDLER Panel Inputs Panel Outputs Push Buttons Start Prog End PROGRAM SENSORY I/O DATA STORE Input Output Stop, Resume Axis Block Axis Acknowledgment Lights Motion Acknowlegment Motion Block

8 6 Task Design University of Electronic Science Technology of China(UESTC) PROGRAM SELECT PROGRAM ID Program No. Start Prog Message START PROGRAM Run,Start Manual Off,Run On Panel Inputs GET VALIDATE PUT Panel Outputs Panel Input End END End on PANEL PANEL PROGRAM PANEL INPUT INPUT Stop OUPUT Run,Resume Run Off,Stop on STOP End Signal PROGRAM Stop Off,Run on Stop Signal RESUME PROGRAM Resume Signal Real-Time Systems Lab LIAO Yong

8 Real-Time Systems Lab LIAO Yong University of Electronic Science & Technology of China (UESTC) 6 Task Design PROGRAM SELECT START PROGRAM END PROGRAM STOP PROGRAM RESUME PROGRAM VALIDATE PANEL INPUT GET PANEL INPUT Panel Inputs Panel Input Program No. Run, Start End Stop Run, Resume PUT PANEL OUPUT Panel Outputs Start Prog Message PROGRAM ID Manual Off, Run On End on Run Off, Stop on Stop Off, Run on Stop Signal Resume Signal End Signal

9 6 Module Design University of Electronic Science Technology of China(UESTC) CONTROL PANEL PROCESSOR Panel Input Action Panel Input Status Action GET PANEL INPUT VALIDATE PANEL INPUT PROCESS TRANSACTION (state Transition Manager) Program No. SELECT PROGRAM START PROGRAM END PROGRAM STOP PROGRAM RESUME PROGRAM Panel Outputs PUT PANEL OUTPUT Real-Time Systems Lab LIAO Yong

9 Real-Time Systems Lab LIAO Yong University of Electronic Science & Technology of China (UESTC) 6 Module Design CONTROL PANEL PROCESSOR GET PANEL INPUT SELECT PROGRAM START PROGRAM END PROGRAM STOP PROGRAM RESUME PROGRAM PUT PANEL OUTPUT VALIDATE PANEL INPUT (state Transition Manager) PROCESS TRANSACTION Panel Input Action Panel Input Status Action Program No. Panel Outputs

10 Criteria for task Decomposition University of Electronic Science Technology of China(UESTC) Purpose of task decomposition >Identify the parallel functions according to the DFD >Determine the concurrent tasks What's the criteria of task decomposition Dependence on I/O >Time-critical functions >Computational requirements Functional cohesion >Temporal cohesion >Periodic execution How to apply the criteria in the robot controller design Real-Time Systems Lab LIAO Yong

10 Real-Time Systems Lab LIAO Yong University of Electronic Science & Technology of China (UESTC) Criteria for task Decomposition  Purpose of task decomposition Identify the parallel functions according to the DFD Determine the concurrent tasks  What’s the criteria of task decomposition ? Dependence on I/O Time-critical functions Computational requirements Functional cohesion Temporal cohesion Periodic execution  How to apply the criteria in the robot controller design

11 University of Electronic Science Technology of China(UESTC) Device I/O Task App/Task Real-Time Systems Lab LIAO Yong

11 Real-Time Systems Lab LIAO Yong University of Electronic Science & Technology of China (UESTC) Device I/O Task App/Task