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IST 37652 Hard Real-time CORBA

HRTC

WP3: Robot Control TestbedWP3: Robot Control Testbed

1. Physical Testbed

2. Virtual Testbed

3. Demo

Klas Nilsson

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IST 37652 / Hard Real-time CORBA

Hardware SetupHardware Setup

ETRAX• Linux/RTAI

ETRAX• Linux/RTAI

Sensor (resolver) node

Actuator (motor) node

PPC * 2• Linux/RTAI & STORK

Controller node

Cameras

GlobeThrottle• Linux PC

InternetWindows PC

Switch

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IST 37652 / Hard Real-time CORBA

ORB in RTOSORB in RTOS

To achieve hard real-To achieve hard real-time the ORB (or parts of time the ORB (or parts of it) must run in an RTOS it) must run in an RTOS (RTAI)(RTAI)

Not part of this projectNot part of this project However, in the testbed However, in the testbed

the ETRAX and PPC the ETRAX and PPC application code need to application code need to run in RTAI!run in RTAI!

Fix needed!Fix needed!EthernetInterface

IP

TCP

IIOP

RT-ORB

RTEOCI

CORBA client &server application code

ThrottleNet

RT

RTOS (RTAI)

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IST 37652 / Hard Real-time CORBA

ORB in Linux/RTAIORB in Linux/RTAI

Use the ORB to Use the ORB to establish connectionestablish connection

Extract handle to Extract handle to transport layertransport layer

Send and receive Send and receive directly using handledirectly using handle

Sends only the Sends only the necessary data (not necessary data (not GIOP)GIOP)

RTAI

Linux

Hard RTApplicationCode

getTransportHandle() IP

TCP

IIOP

RT-ORB

RTEOCI

EthernetInterface

RT

Soft RTCode

Non-RTCode

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IST 37652 / Hard Real-time CORBA

Demo SetupDemo Setup

ETRAX• Linux/RTAI• ORB ETRAX

• Linux/RTAI• ORB

Sensor (resolver) node

Actuator (motor) node

Two PowerPC Boards

Controller node

Cameras

GlobeThrottle• Linux PC

InternetWindows PC• image proc.• non-RT ORB

SwitchLinux

RTAI

ORB

Fast partsof controller

STORK RTOS

Slow partsof controller

Sha

red

Mem

ory

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IST 37652 / Hard Real-time CORBA

Demo ScenarioDemo Scenario

Catch ball experimentCatch ball experiment Bo Lincoln, Johan Bengtsson,Tomas Bo Lincoln, Johan Bengtsson,Tomas

Olsson Olsson

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IST 37652 / Hard Real-time CORBA

Ball trajectory predictionBall trajectory prediction

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IST 37652 / Hard Real-time CORBA

Original experiment systemOriginal experiment system

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IST 37652 / Hard Real-time CORBA

ExperimentExperiment

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IST 37652 / Hard Real-time CORBA

Communication StructureCommunication Structure

Hard RT Channel: Hard RT Channel: Sensor Sensor Controller (sensor values) Controller (sensor values)

Hard RT Channel: Hard RT Channel: Controller Controller Actuator (control signals) Actuator (control signals)

IIOP communication from Image IIOP communication from Image Processing PC to Controller (ball data) Processing PC to Controller (ball data)

Soft RT Channels:Soft RT Channels: ???? ????

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IST 37652 Hard Real-time CORBA

HRTC

Virtual TestbedVirtual Testbed

Mathias Haage

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IST 37652 / Hard Real-time CORBA

Simplified environmentSimplified environment

Arbitrary dynamicsArbitrary dynamicsSimple visionSimple visionSimple controllerSimple controllerIIOP for simulated IIOP for simulated

RT communicationRT communicationStandard ORBStandard ORBNon-RTOSNon-RTOSOne computer can One computer can

contain several contain several system nodessystem nodes

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IST 37652 / Hard Real-time CORBA

DataflowDataflow

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IST 37652 / Hard Real-time CORBA

IDLIDLinterface Activity { oneway void start(); // More control parameters}; module visualcontrol { // Vision

interface Vision : Activity { // Fresnel JavaIDL }; interface VisualControl : Activity { // Fresnel JavaIDL oneway void setObjectPos(in Point3D objectPos); };};

module armcontroller { // Controller interface Resolver : Activity { // IOR Etrax }; interface Servo : Activity { // C3PO PPC oneway void setArmPos( in Joint6D armPos ); oneway void setArmRef( in Joint6D armRef ); }; interface Actuator : Activity { // PUH Etrax oneway void setTorqueRef( in Torque6D torqueRef ); };};

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IST 37652 / Hard Real-time CORBA

Nodes / TransportsNodes / Transportsi386 Linux ICa ORB

ETrax Linux ICa ORB PPC Linux ICa ORBETrax Linux ICa ORB

JavaIDL

IIOPIIOP

OCISoftRT transport (fast rate)

OCISoftRT transport (fast rate)

IIOP

OCISoftRT transport (slow rate)

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IST 37652 / Hard Real-time CORBA

Development roadDevelopment road

Java

Partial hardware

Full experiment

Simplified dynamicsSimplified visionSimplified controllerJavaIDL with IIOPActuate in virtual environment

ETrax, PPC running Linux OSICa RTORB with OCI SoftRT transport

ETrax, PPC running Linux-RTAI RTOSThrottleNet ethernet driverLinux-RTAI controllerIEEE1394 cameras with vision systemICa RTORB with OCI HardRT transportActuate in real environment

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ConclusionsConclusions

CORBA can be extended with hard real-CORBA can be extended with hard real- time transport time transport 8 kHz, 64 Byte messages with hard real-time 8 kHz, 64 Byte messages with hard real-time

guaranteesguarantees However, we are not certain that the However, we are not certain that the

approach chosen is the correct way to go approach chosen is the correct way to go Minimum CORBA (or even smaller – Minimum CORBA (or even smaller –

Micro CORBA) with selected features Micro CORBA) with selected features from RT-CORBA a better alternative from RT-CORBA a better alternative

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IST 37652 / Hard Real-time CORBA

Demo of the DayDemo of the Day

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IST 37652 / Hard Real-time CORBA

Remaining IssuesRemaining Issues Fix the current ThrottleNet Problem – maybe done Fix the current ThrottleNet Problem – maybe done

already already √√ Compile under ETRAX – moderate, half-day - MartinCompile under ETRAX – moderate, half-day - Martin

Will everything fit into ETRAX?Will everything fit into ETRAX? Compile under PPC (incl writing/porting Ethernet RTAI Compile under PPC (incl writing/porting Ethernet RTAI

device driver) – moderate, half-day and full night device driver) – moderate, half-day and full night √√ Fix memory map problem – crucial for demo Fix memory map problem – crucial for demo √√ Port the current resolver (sensor) code to Port the current resolver (sensor) code to

RTAI – easy, little time RTAI – easy, little time Port the existing actuator (motor) code to Port the existing actuator (motor) code to

RTAI – easy, little time RTAI – easy, little time Integrating the partsIntegrating the parts Porting the ball catch demo to the new systemPorting the ball catch demo to the new system