The topic of reusable software in robotics is now largely addressed. Components based architectures, where components are independent units that can be reused accross applications, have become more popular. As a consequence, a long list of middlewares and integration tools is available in the community, often in the form of open-source projects. However, these projects are generally self contained with little reuse between them. This paper presents a software engineering approach that intends to grant middleware independance to robotic software components so that a clear separation of concerns is achieved between highly reusable algorithmic parts and integration frameworks. Such a decoupling let middlewares be used interchangeably, while fully benefitting from their specific, individual features. This work has been integrated into a new version of the open-source G en oM component generator tool: G en oM3.
Concurrent and reactive systems often exhibit multiple time scales. For instance, in a discrete simulation, the scale at which agents communicate might be very different from the scale used to model the internals of each agent.We propose an extension of the synchronous model of concurrency, called reactive domains, to simplify the programming of such systems. Reactive domains allow the creation of local time scales and enable refinement, that is, the replacement of an approximation of a system with a more detailed version without changing its behavior as observed by the rest of the program.Our work is applied to the ReactiveML language, which extends ML with synchronous language constructs. We present an operational semantics for the extended language and a type system that ensures the soundness of programs.
Concurrent and reactive systems often exhibit multiple time scales. For instance, in a discrete simulation, the scale at which agents communicate might be very different from the scale used to model the internals of each agent.We propose an extension of the synchronous model of concurrency, called reactive domains, to simplify the programming of such systems. Reactive domains allow the creation of local time scales and enable refinement, that is, the replacement of an approximation of a system with a more detailed version without changing its behavior as observed by the rest of the program.Our work is applied to the ReactiveML language, which extends ML with synchronous language constructs. We present an operational semantics for the extended language and a type system that ensures the soundness of programs.
SCADE is an environment for developing critical embedded software that is used for more than twenty years in various application domains like avionics, nuclear plants, transportation, automotive. It comes with a language and a code generator which complies with the highest safety standards like DO-178C, IEC 61508, EN 50128, IEC 60880 and ISO 26262. The language has been founded on the pioneering work by Caspi and Halbwachs on Lustre. In 2008, a major revision of the language and compiler, named 'Scade 6', was released. One of its novelty was a smooth integration of the traditional dataflow style of Lustre with control-structures inspired from those of Esterel and SyncCharts, with static/dynamic semantics and a compilation inspired from Lucid Synchrone. In particular, it relies on four dedicated type systems-typing, clock calculus, causality analysis, initialization analysis-and a compilation through source-to-source transformations into a minimal clocked data-flow language, based on a Kahn semantics, that is translated to imperative code. One ongoing work is the generation of code for multi-core architectures. Because of the intrinsic deterministic parallelism of Scade, we propose a solution that relies on annotations that specify what must be executed concurrently but do not change the semantics. The paper is a survey of past to ongoing work on Scade 6 language definition and implementation. Index Terms-synchronous languages, compiler, multi-core. 1 SCADE stands for Safety-Critical Development Environment 2 http://www.ansys.com/products/embedded-software/ansys-scade-suite 3 To distinguish between the environment and its underlying programming language, we write SCADE for the former and SCADE (with small capitals) for the later.
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