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

by Gazi, Veysel; Moore, Mathew L.; Passino, Kevin M.; Shackleford, Dave; Proctor, Frederick M.; Albus, James S.

• ISBN13: 9780471435655
• ISBN10: 0471435651
• Edition: 1st
• Format: Hardcover
• Copyright: 2001-06-08
• Publisher: Wiley-Interscience

Summary

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.

Author Biography

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

Table of Contents

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