1. IST 37652 Hard Real-time CORBA HRTC 1 WP3: Robot Control Testbed 1. 1.Physical Testbed 2. 2.Virtual Testbed 3. 3.Demo Klas Nilsson

2. Copyright © 2002 The HRTC Consortium. www.hardrealtimecorba.org. All rights reserved.www.hardrealtimecorba.org IST 37652 / Hard Real-time CORBA 2 Hardware 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

3. Copyright © 2002 The HRTC Consortium. www.hardrealtimecorba.org. All rights reserved.www.hardrealtimecorba.org IST 37652 / Hard Real-time CORBA 3 ORB in RTOS  To achieve hard real- time the ORB (or parts of it) must run in an RTOS (RTAI)  Not part of this project  However, in the testbed the ETRAX and PPC application code need to run in RTAI!  Fix needed! Ethernet Interface IP TCP IIOP RT-ORB RTE OCI CORBA client & server application code ThrottleNet RT RTOS (RTAI)

4. Copyright © 2002 The HRTC Consortium. www.hardrealtimecorba.org. All rights reserved.www.hardrealtimecorba.org IST 37652 / Hard Real-time CORBA 4 ORB in Linux/RTAI  Use the ORB to establish connection  Extract handle to transport layer  Send and receive directly using handle  Sends only the necessary data (not GIOP) RTAI Linux Hard RT Application Code getTransportHandle() IP TCP IIOP RT-ORB RTE OCI Ethernet Interface RT Soft RT Code Non-RT Code

5. Copyright © 2002 The HRTC Consortium. www.hardrealtimecorba.org. All rights reserved.www.hardrealtimecorba.org IST 37652 / Hard Real-time CORBA 5 Demo Setup ETRAX Linux/RTAI ORB ETRAX Linux/RTAI ORB Sensor (resolver) node Actuator (motor) node Two PowerPC Boards Controller node Cameras GlobeThrottle Linux PC Internet Windows PC image proc. non-RT ORB Switch Linux RTAI ORB Fast parts of controller STORK RTOS Slow parts of controller Shared Memory

6. Copyright © 2002 The HRTC Consortium. www.hardrealtimecorba.org. All rights reserved.www.hardrealtimecorba.org IST 37652 / Hard Real-time CORBA 6 Demo Scenario  Catch ball experiment  Bo Lincoln, Johan Bengtsson,Tomas Olsson

7. Copyright © 2002 The HRTC Consortium. www.hardrealtimecorba.org. All rights reserved.www.hardrealtimecorba.org IST 37652 / Hard Real-time CORBA 7 Ball trajectory prediction

8. Copyright © 2002 The HRTC Consortium. www.hardrealtimecorba.org. All rights reserved.www.hardrealtimecorba.org IST 37652 / Hard Real-time CORBA 8 Original experiment system

9. Copyright © 2002 The HRTC Consortium. www.hardrealtimecorba.org. All rights reserved.www.hardrealtimecorba.org IST 37652 / Hard Real-time CORBA 9 Experiment

10. Copyright © 2002 The HRTC Consortium. www.hardrealtimecorba.org. All rights reserved.www.hardrealtimecorba.org IST 37652 / Hard Real-time CORBA 10 Communication Structure  Hard RT Channel: Sensor  Controller (sensor values)  Hard RT Channel: Controller  Actuator (control signals)  IIOP communication from Image Processing PC to Controller (ball data)  Soft RT Channels: ?? ??

11. IST 37652 Hard Real-time CORBA HRTC 11 Virtual Testbed Mathias Haage

12. Copyright © 2002 The HRTC Consortium. www.hardrealtimecorba.org. All rights reserved.www.hardrealtimecorba.org IST 37652 / Hard Real-time CORBA 12 Simplified environment  Arbitrary dynamics  Simple vision  Simple controller  IIOP for simulated RT communication  Standard ORB  Non-RTOS  One computer can contain several system nodes

13. Copyright © 2002 The HRTC Consortium. www.hardrealtimecorba.org. All rights reserved.www.hardrealtimecorba.org IST 37652 / Hard Real-time CORBA 13 Dataflow

14. Copyright © 2002 The HRTC Consortium. www.hardrealtimecorba.org. All rights reserved.www.hardrealtimecorba.org IST 37652 / Hard Real-time CORBA 14 IDL interface 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 ); };

15. Copyright © 2002 The HRTC Consortium. www.hardrealtimecorba.org. All rights reserved.www.hardrealtimecorba.org IST 37652 / Hard Real-time CORBA 15 Nodes / Transports i386 Linux ICa ORB ETrax Linux ICa ORB PPC Linux ICa ORB ETrax Linux ICa ORB JavaIDL IIOP OCI SoftRT transport (fast rate) IIOP OCI SoftRT transport (slow rate)

16. Copyright © 2002 The HRTC Consortium. www.hardrealtimecorba.org. All rights reserved.www.hardrealtimecorba.org IST 37652 / Hard Real-time CORBA 16 Development road Java Partial hardware Full experiment Simplified dynamics Simplified vision Simplified controller JavaIDL with IIOP Actuate in virtual environment ETrax, PPC running Linux OS ICa RTORB with OCI SoftRT transport ETrax, PPC running Linux-RTAI RTOS ThrottleNet ethernet driver Linux-RTAI controller IEEE1394 cameras with vision system ICa RTORB with OCI HardRT transport Actuate in real environment

17. Copyright © 2002 The HRTC Consortium. www.hardrealtimecorba.org. All rights reserved.www.hardrealtimecorba.org IST 37652 / Hard Real-time CORBA 17 Conclusions  CORBA can be extended with hard real- time transport 8 kHz, 64 Byte messages with hard real-time guarantees 8 kHz, 64 Byte messages with hard real-time guarantees  However, we are not certain that the approach chosen is the correct way to go  Minimum CORBA (or even smaller – Micro CORBA) with selected features from RT-CORBA a better alternative

18. Copyright © 2002 The HRTC Consortium. www.hardrealtimecorba.org. All rights reserved.www.hardrealtimecorba.org IST 37652 / Hard Real-time CORBA 18 Demo of the Day

19. Copyright © 2002 The HRTC Consortium. www.hardrealtimecorba.org. All rights reserved.www.hardrealtimecorba.org IST 37652 / Hard Real-time CORBA 19 Remaining Issues  Fix the current ThrottleNet Problem – maybe done already √  Compile under ETRAX – moderate, half-day - Martin Will everything fit into ETRAX? Will everything fit into ETRAX?  Compile under PPC (incl writing/porting Ethernet RTAI device driver) – moderate, half-day and full night √  Fix memory map problem – crucial for demo √  Port the current resolver (sensor) code to RTAI – easy, little time  Port the existing actuator (motor) code to RTAI – easy, little time  Integrating the parts  Porting the ball catch demo to the new system