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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

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1 Control Panel of Robot Controller
University of Electronic Science & Technology of China (UESTC)

PROGRAM POWER
The robot controller
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
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2 State Transfer
University of Electronic Science & Technology of China (UESTC)

Power On
POWERED POWERING
OFF UP

Successful Power Up

Run
MANUAL RUNNING

Program
Select

Program Termination

TERMINATIN
SUSPENDED
G

Real-Time Systems Lab LIAO Yong

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3 Data Flow Diagram (DFD)
University of Electronic Science & Technology of China (UESTC)
PROGRA
Push M Input
READ
Buttons PANEL READ
Sensor Value
SONSORS
INTERPRET
Panel Input PROGRAM

Run ， I/O Sensor Input

VALIDATE Star ， Command
PANEL End
INPUT
Valid Panel Inputs PROCESS PROCESS
PANEL I/O
INPUT COM Sensor Output
Motion
COM
Output
PROCESS Motion OUTPUT
Panel Run ，
MOTION ACK TO
Output Stop ，
Resume COM SONSORS

Lights Motion
OUTPUT Block RECEIVE
TO OUTPUT ACK
PANEL AXIS
DATA
Axis Block Axis ACK
AXIS
CONTROLLER
Axis Input Axis Output

Real-Time Systems Lab LIAO Yong

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4 Task Decomposition (Reading...)
University of Electronic Science & Technology of China (UESTC)
PROGRA
I/O M
Push READ I/O Input
Buttons PANEL READ
SONSORS
Sensor Value
INTERPRET
Panel Input PROGRAM
Run ，
Star ， I/O Sensor Input
VALIDATE End Command
PANEL
INPUT Motion Function
PROCESS PROCESS Function
PANEL COM
I/O cohesion
Valid Panel Inputs INPUT Sensor Output
cohesion
COM
PROCESS
MOTION
COM Output
Run ， OUTPUT
Motion
Time Panel Stop ， TO
Time Output Resume
ACK SONSORS
cohesio
cohesio Motion
n
n
Lights
Block
OUTPUT OUTPUT RECEIVE
TO AXIS ACK
PANEL DATA

Axis Block Axis ACK Time

Time
AXIS cohesion
Time-Critical cohesion
CONTROLLER
Time-Critical Axis Input Axis Output

Real-Time Systems Lab LIAO Yong

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5 Task Structure
University of Electronic Science & Technology of China (UESTC)
PROGRAM
Push Buttons CONTROL
PANEL
INPUT
HANDLER
Start Prog
CONTROL
Input
CONTROL PANEL
INTERPRTER
PANEL INPUT
PROCESSOR HANDLER
End

Stop, Resume
SENSORY I /O
DATA STORE
CONTROL CONTROL
Lights Output
PANEL PANEL
OUTPUT INPUT
HANDLER HANDLER

AXIS
MANAGER

Axis Axis
Block Acknowledgment

AXIS
CONTROLLE
R

Real-Time Systems Lab LIAO Yong

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6 Task Design
University of Electronic Science & Technology of China (UESTC)

PROGRAM
SELECT
PROGRAM ID

Start Prog Message

START
PROGRAM

Panel Inputs Panel Outputs

GET VALIDATE VALIDATE
Panel Input End END End on
PANEL PANEL PANEL
PROGRAM
INPUT INPUT INPUT

STOP
PROGRAM
Stop Signal

STOP
Resume Signal
PROGRAM

Real-Time Systems Lab LIAO Yong

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6 Module Design
University of Electronic Science & Technology of China (UESTC)

CONTROL PANEL
PROCESSOR

Panel Input Status Action

GET PANEL INPUT VALIDATE PANEL INPUT PROCESS TRANSACTION

(state Transition Manager)

RESUME
SELECT PROGRAM START PROGRAM END PROGRAM STOP PROGRAM
PROGRAM

Panel Outputs

PUT PANEL
OUTPUT

Real-Time Systems Lab LIAO Yong

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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
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University of Electronic Science & Technology of China (UESTC)

Device
Device I/O
I/OTask
Task
App/Tas
App/Tas
kk

Real-Time Systems Lab LIAO Yong

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University of Electronic Science & Technology of China (UESTC)

event 1
Task 1 deadline 1
event 2
Task 2 deadline 2

Task 3 Task 3

Real-Time Systems Lab LIAO Yong

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University of Electronic Science & Technology of China (UESTC)

Real-Time Systems Lab LIAO Yong

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University of Electronic Science & Technology of China (UESTC)

event event
1 F1(x) +2 F2(x)
F3(x)

Real-Time Systems Lab LIAO Yong

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University of Electronic Science & Technology of China (UESTC)

event
Clock Tick
F1(x) + F2(y) F4(x)+F5(y)
+F3(z)

Real-Time Systems Lab LIAO Yong

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University of Electronic Science & Technology of China (UESTC)

10HZ 10HZ
15HZ 15HZ
F2 F2
F1 F1

Real-Time Systems Lab LIAO Yong

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Definition of task interfaces
University of Electronic Science & Technology of China (UESTC)

 TCM (Task Communication Module)

(P345)
 TSM (Task Synchronization Module)

Real-Time Systems Lab LIAO Yong