Modern embedded systems are designed for multiple and increasingly demanding tasks. Complex concurrent software is required by multi-task automated service robotics for implementing their challenging (control) algorithms. TERRA is a communicating Sequential Processes (CSP) algebra-based Eclipse graphical modelling tool suite which is capable of C++ code generation. It is designed to ease tedious and error-prone concurrent software development for robotics. However, sufficient simulation and visualization supports are not provided yet in TERRA. A hybrid simulation approach is proposed in this paper to provide simulation capabilities for the TERRA tool suite with respect to the Cyber-Physical Systems (CPS) co-design. Moreover, a visualization for the simulation is designed as well to provide animation facilities which enable users to visually trace simulated execution flows. Finally, we use an example to test the hybrid simulation approach as well as visualization facilities. The simulation approach is shown to be sufficient and the visualization works as intended.
|Title of host publication||Communicating Process Architectures 2016: proceedings of the 38th WoTUG Technical Meeting|
|Editors||K. Chalmers, J.B. Pedersen|
|Publisher||Open Channel Publishing Ltd|
|Number of pages||20|
|Publication status||Published - 21 Aug 2016|
|Event||Communicating Process Architectures, CPA 2016: 38th WoTUG Conference on Concurrent and Parallel Programming - Copenhagen, Denmark|
Duration: 21 Aug 2016 → 23 Aug 2016
Conference number: 38
|Publisher||Open Channel Publishing Ltd.|
|Conference||Communicating Process Architectures, CPA 2016|
|Period||21/08/16 → 23/08/16|
- CSP algebra
Lu, Z., Ran, T., & Broenink, J. F. (2016). Simulation and visualization tool design for robot software. In K. Chalmers, & J. B. Pedersen (Eds.), Communicating Process Architectures 2016: proceedings of the 38th WoTUG Technical Meeting (pp. 63-82). Open Channel Publishing Ltd.