The RCS Handbook Tools for Real-Time Control

As control systems become increasingly complex, there is a growing need for software tools for use in their design and implementation. Introducing proven, free-to-use software from the NIST's real-time control systems (RCS) library, this practical resource arms readers with the tools they need to construct hierarchical and distributed RCSs for challenging industrial applications. Featuring numerous design and implementation examples, this is a complete reference to high-technology automation solutions. Market: Electronic Engineers and Computer Scientists involved with controls; Professionals in manufacturing, process control, and robotics.

VEYSEL GAZI, MATHEW L. MOORE, and KEVIN M. PASSINO are at The Ohio State University in Columbus, Ohio. <BR>

Preface

xi

I RCS Tutorial

1

(80)

Introduction

3

(4)

Getting Started Quickly: RCS Essentials

7

(58)

Process Control Experiment: The Tutorial Theme Problem

7

(2)

RCS Design Methodology

9

(11)

Task Decomposition Analysis

11

(2)

Defining the Controller Architecture

13

(4)

Defining State Tables

17

(2)

Implementing the RCS Controller

19

(1)

RCS Software Library Essentials

20

(8)

Overview of CMS and NML

21

(1)

NML Application Structure and Terminology

22

(4)

Structure of a Single Process Using NML

26

(2)

Generating Code via the RCS Design Tool

28

(8)

Specifying the Hierarchy and Generating the Code

29

(3)

Generated Files and Directory Structure

32

(3)

Files That Need To Be Modified

35

(1)

Code and Operation of the Process Control System

36

(24)

NML Configuration File for the Tank Experiment

36

(3)

Command and Status Message Classes for the Tank

39

(4)

Module Classes

43

(11)

Main Program

54

(4)

NML Servers for the Buffers

58

(2)

User Interface via the RCS Diagnostics Tool

60

(5)

Architecture File for the RCS Diagnostics Tool

60

(1)

Tank Diagnostics

61

(4)

The Reference Model Architecture and RCS Applications

65

(16)

Reference Model Architecture

65

(8)

Basic Building Blocks for the RMA

66

(4)

RMA Hierarchical Organization and Timing

70

(3)

Implementation of RMA Using the RCS Library

73

(1)

Summary of RMA/RCS Applications

73

(5)

Summary of RCS Library Features

78

(3)

II RCS Handbook

81

(148)

Design Theme Problem: Automated Highway System

83

(20)

Introduction

83

(2)

Possible Controller Designs

85

(6)

RCS Methodology-Based Design

85

(3)

Another Design Approach

88

(3)

Controller Hierarchy for an Intelligent Vehicle

91

(7)

Vehicle Supervisor Module

92

(2)

Maneuver Module

94

(1)

Drive Module

95

(1)

Attention Module

96

(2)

Vehicle Dynamics

98

(1)

Low-Level Controller Development

99

(4)

Programming in NML

103

(28)

Getting Started

103

(2)

Creating NML Message Classes

105

(9)

NMLmsg Base Class

105

(1)

Deriving Messages form NMLmsg

106

(3)

Command and Status Messages

109

(2)

Creating Messages for an Intelligent Vehicle

111

(3)

Setting NML Communication Channels

114

(4)

Creating an NML Object

114

(1)

Command and Status Channels

115

(2)

Sample Command and Status Channels: AHS Example

117

(1)

Reading and Writing NML Data

118

(5)

Basic Read and Write Functions

118

(2)

General NML Read/Write Procedure

120

(1)

Additional Read/Write Functions

121

(2)

Error Handling

123

(3)

Error Types of NML Read/Write Functions

123

(2)

Checking If an NML Object Is Valid

125

(1)

Spawning and Killing NML Servers

126

(2)

Server Program Without Application Code

126

(1)

Server Program with Application Code

127

(1)

User Command Utilities

128

(3)

Testing for the Existence of NML Buffers

128

(1)

Determining the Performance of NML on a Particular System

129

(1)

Removing Unwanted Buffers

129

(2)

RCS Control Module

131

(20)

NML_Module Members and Operation

132

(7)

Deriving a New Control Module from NML_Module

139

(9)

Writing the Main Loop(s)

148

(3)

Writing NML Configuration Files

151

(16)

Process and Buffer Types

152

(3)

Buffer Lines

155

(2)

Process Lines

157

(4)

Version 2 NML Configuration File Format

161

(6)

Configuration File Line Types

162

(1)

Buffer Variables

162

(2)

Process Variables

164

(1)

Tool Command Line Arguments

165

(1)

Examples

165

(2)

Other Classes and Functions

167

(16)

RCS_Timer Class

167

(3)

Other Time Functions

170

(1)

RCS_Semaphore Class

170

(3)

RCS_Linked_List Class

173

(4)

RCS Print Functions

177

(2)

Windows Functions

179

(4)

RCS Diagnostics Tool

183

(14)

Special Rules for the Header Files

184

(1)

Using the Diagnostics Tool

185

(8)

Executing the Diagnostics Tool

193

(4)

Code Generation and Design Tool

197

(32)

NML Code Generator

198

(5)

Interactive Operation

198

(1)

Execution from Within a Makefile

199

(2)

Execution as an Applet

201

(2)

RCS Design Tool

203

(26)

Generated Files

203

(1)

RCS Directory Structure

204

(2)

Graphical Controls

206

(10)

Design Tool as an Applet

216

(5)

Modules

221

(5)

NML Servers

226

(1)

Options

227

(2)

III Appendices

229

(42)

A C++ Introduction

231

(12)

A.1 Classes

231

(2)

A.2 Constructors

233

(1)

A.3 Destructors

234

(1)

A.4 Function Overloading

235

(1)

A.5 Inheritance

236

(3)

A.6 Polymorphism and Virtual Functions

239

(4)

B Compilers and Makefiles

243

(20)

B.1 gcc/g++ Compilers

243

(1)

B.1.1 Invoking gcc

244

(1)

B.1.2 Special Command Line Arguments

245

(2)

B.2 Using make and Makefiles

247

(1)

B.2.1 How to Write Makefiles

248

(2)

B.2.2 Using Variables to Make Makefiles Easier to Read

250

(3)

B.3 RCS Makefiles

253

(1)

B.3.1 Makefile generic.def

253

(1)

B.3.2 Application Include Makefile

254

(1)

B.3.3 Top-Level Makefile

255

(1)

B.3.4 Subdirectory Makefiles

255

(3)

B.3.5 Variables Used in generic.def

258

(2)

B.3.6 Special Targets

260

(3)

C General Operating System Concepts

263

(4)

C.1 Computer Network Communication Protocols

263

(1)

C.1.1 TCP

263

(1)

C.1.2 UDP

264

(1)

C.2 Operating System Concepts

265

(1)

C.2.1 Processes (Tasks) and Multitasking

265

(1)

C.2.2 Critical Sections and Mutual Exclusion

265

(2)

D RCS Version Functions

267

(2)

E Platforms Tested

269

(2)

Bibliography

271

(6)

Index

277

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The RCS Handbook Tools for Real-Time Control Systems Software Development

Summary

Author Biography

Table of Contents

Supplemental Materials