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The RCS handbook : tools for real-time control systems software development

Author: Veysel Gazi
Publisher: New York : Wiley, ©2001.
Series: Wiley series on intelligent systems.
Edition/Format:   Print book : EnglishView all editions and formats
Summary:

This text provides a description of a set of software tools from the National Institute of Standards and Technology (NIST) real-time control systems (RCS) library, useful in the development of  Read more...

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Additional Physical Format: Online version:
RCS handbook.
New York : Wiley, ©2001
(OCoLC)606561621
Online version:
RCS handbook.
New York : Wiley, ©2001
(OCoLC)609330757
Material Type: Internet resource
Document Type: Book, Internet Resource
All Authors / Contributors: Veysel Gazi
ISBN: 0471435651 9780471435655
OCLC Number: 45841543
Notes: "A Wiley-Interscience publication."
Description: x, 284 pages : illustrations ; 25 cm.
Contents: I RCS Tutorial 1 --
2 Getting Started Quickly: RCS Essentials 7 --
2.1 Process Control Experiment: The Tutorial Theme Problem 7 --
2.2 RCS Design Methodology 9 --
2.2.1 Task Decomposition Analysis 11 --
2.2.2 Defining the Controller Architecture 13 --
2.2.3 Defining State Tables 17 --
2.2.4 Implementing the RCS Controller 19 --
2.3 RCS Software Library Essentials 20 --
2.3.1 Overview of CMS and NML 21 --
2.3.2 NML Application Structure and Terminology 22 --
2.3.3 Structure of a Single Process Using NML 26 --
2.4 Generating Code via the RCS Design Tool 28 --
2.4.1 Specifying the Hierarchy and Generating the Code 29 --
2.4.2 Generated Files and Directory Structure 32 --
2.4.3 Files That Need To Be Modified 35 --
2.5 Code and Operation of the Process Control System 36 --
2.5.1 NML Configuration File for the Tank Experiment 36 --
2.5.2 Command and Status Message Classes for the Tank 39 --
2.5.3 Module Classes 43 --
2.5.4 Main Program 54 --
2.5.5 NML Servers for the Buffers 58 --
2.6 User Interface via the RCS Diagnostics Tool 60 --
2.6.1 Architecture File for the RCS Diagnostics Tool 60 --
2.6.2 Tank Diagnostics 61 --
3 Reference Model Architecture and RCS Applications 65 --
3.1 Reference Model Architecture 65 --
3.1.1 Basic Building Blocks for the RMA 66 --
3.1.2 RMA Hierarchical Organization and Timing 70 --
3.1.3 Implementation of RMA Using the RCS Library 73 --
3.2 Summary of RMA/RCS Applications 73 --
3.3 Summary of RCS Library Features 78 --
II RCS Handbook 81 --
4 Design Theme Problem: Automated Highway System 83 --
4.2 Possible Controller Designs 85 --
4.2.1 RCS Methodology-Based Design 85 --
4.2.2 Another Design Approach 88 --
4.3 Controller Hierarchy for an Intelligent Vehicle 91 --
4.3.1 Vehicle Supervisor Module 92 --
4.3.2 Maneuver Module 94 --
4.3.3 Drive Module 95 --
4.3.4 Attention Module 96 --
4.4 Vehicle Dynamics 98 --
4.5 Low-Level Controller Development 99 --
5 Programming in NML 103 --
5.2 Creating NML Message Classes 105 --
5.2.1 NMLmsg Base Class 105 --
5.2.2 Deriving Messages from NMLmsg 106 --
5.2.3 Command and Status Messages 109 --
5.2.4 Creating Messages for an Intelligent Vehicle 111 --
5.3 Setting NML Communication Channels 114 --
5.3.1 Creating an NML Object 114 --
5.3.2 Command and Status Channels 115 --
5.3.3 Sample Command and Status Channels: AHS Example 117 --
5.4 Reading and Writing NML Data 118 --
5.4.1 Basic Read and Write Functions 118 --
5.4.2 General NML Read/Write Procedure 120 --
5.4.3 Additional Read/Write Functions 121 --
5.5 Error Handling 123 --
5.5.1 Error Types of NML Read/Write Functions 123 --
5.5.2 Checking If an NML Object Is Valid 125 --
5.6 Spawning and Killing NML Servers 126 --
5.6.1 Server Program Without Application Code 126 --
5.6.2 Server Program with Application Code 127 --
5.7 User Command Utilities 128 --
5.7.1 Testing for the Existence of NML Buffers 128 --
5.7.2 Determining the Performance of NML on a Particular System 129 --
5.7.3 Removing Unwanted Buffers 129 --
6 RCS Control Module 131 --
6.1 NML_MODULE Members and Operation 132 --
6.2 Deriving a New Control Module from NML_MODULE 139 --
6.3 Writing the Main Loop(s) 148 --
7 Writing NML Configuration Files 151 --
7.1 Process and Buffer Types 152 --
7.2 Buffer Lines 155 --
7.3 Process Lines 157 --
7.4 Version 2 NML Configuration File Format 161 --
7.4.1 Configuration File Line Types 162 --
7.4.2 Buffer Variables 162 --
7.4.3 Process Variables 164 --
7.4.4 Tool Command Line Arguments 165 --
8 Other Classes and Functions 167 --
8.1 RCS_TIMER Class 167 --
8.2 Other Time Functions 170 --
8.3 RCS_SEMAPHORE Class 170 --
8.4 RCS_LINKED_LIST Class 173 --
8.5 RCS Print Functions 177 --
8.6 Windows Functions 179 --
9 RCS Diagnostics Tool 183 --
9.1 Speciala Rules for the Header Files 184 --
9.2 Using the Diagnostics Tool 185 --
9.3 Executing the Diagnostics Tool 193 --
10 Code Generation and Design Tool 197 --
10.1 NML Code Generator 198 --
10.1.1 Interactive Operation 198 --
10.1.2 Execution from Within a Makefile 199 --
10.1.3 Execution as an Applet 201 --
10.2 RCS Design Tool 203 --
10.2.1 Generated Files 203 --
10.2.2 RCS Directory Structure 204 --
10.2.3 Graphical Controls 206 --
10.2.4 Design Tool as an Applet 216 --
11.1 Modules 221 --
11.2 NML Servers 226 --
11.3 Options 227 --
A C++ Introduction 231 --
A.1 Classes 231 --
A.2 Constructors 233 --
A.3 Destructors 234 --
A.4 Function Overloading 235 --
A.5 Inheritance 236 --
A.6 Polymorphism and Virtual Functions 239 --
B Compilers and Makefiles 243 --
B.1 gcc/g++ Compilers 243 --
B.1.1 Invoking gcc 244 --
B.1.2 Special Command Line Arguments 245 --
B.2 Using make and Makefiles 247 --
B.2.1 How to Write Makefiles 248 --
B.2.2 Using Variables to Make Makefiles Easier to Read 250 --
B.3 RCS Makefiles 253 --
B.3.1 Makefile generic.def 253 --
B.3.2 Application Include Makefile 254 --
B.3.3 Top-Level Makefile 255 --
B.3.4 Subdirectory Makefiles 255 --
B.3.5 Variables Used in generic.def 258 --
B.3.6 Special Targets 260 --
C General Operating System Concepts 263 --
C.1 Computer Network Communication Protocols 263 --
C.1.1 TCP 263 --
C.1.2 UDP 264 --
C.2 Operating System Concepts 265 --
C.2.1 Processes (Tasks) and Multitasking 265 --
C.2.2 Critical Sections and Mutual Exclusion 265 --
D RCS Version Functions 267 --
E Platforms Tested 269.
Series Title: Wiley series on intelligent systems.
Responsibility: Veysel Gazi [and others].
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"This book serves as a user's guide for development engineers using the software library in industrial applications." (SciTech Book News, Vol. 25, No. 3, September 2001) "...clearly laid out...an Read more...

 
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