GUI components for real-time simulation and control/RoadMap
From the Orocos mailinglist their come some valuable feedback:
- use a plugin- architecture for the transport layer
- use one of the (too many) "serialization" frameworks:
Google Protocol Buffers, Apache Thrift, LabComm,...?
Current roadmap:
Version 0.1
- finish the small set of working components, that are mentioned on the first page
- write an example, that shows the UDP communication with Matlab/ Simulink
- put the definition of the enumerations into a separate file (they are application dependant)
publish the source code (Version 0.1)
Hopefully this can happen in September or October 2011
Version 0.2
- implement a plugin architecture for the transport layer, using either a virtual class and/or .so plugins
- add a driver for a USB data aquisition system
add a driver for a JoyStick
Version 0.3
Add an OROCOS example with the following features:
- drivers for the following Ethercat components:
- EL3112, analog input, 2x 0..20 mA, 16 bit, 5 kHz input filter, 50μs conversion time
- EL4034, 4-channel analog output terminal -10…+10 V, 12 bit, 250μs conversion time
- EL5101, incremental encoder interface, RS485 inputs OR
- EL5152, incremental encoder interface, 2 channels, 24V inputs
- EL2004, 4-channel digital output terminal, 24 V DC, 0.5 A
- EL1004, 4-channel digital input terminal, 24 V DC, 3 ms
- joystick input for the set-value
- PI controller
- oscilloscope for the measured value
- simple motor model, so that you can test the software without the real hardware
Later
- GUI editor to connect the outputs and the inputs of the components
- Filter component (filtering as OROCOS component, but a nice GUI for it)
- advanced "Delay" component: Not only for fixed delay, but also for variable delays with given statistical properties
- PID controller component (as ORCOCOS component, but with a nice GUI)
- X/Y writer display component
BarGraph component
PhysicalModel component, based on a Modelica model description
- fast wireless link driver with monitoring of the quality of the link