Rescue Project Software Architecture

1
Rescue Project Software Architecture

• João Frazão

2
System
3
Execution Modes

• Control
• Design
• Calibration
• Supervisory Control and monitoring
• Data logging and Debug

4
Example (Control)
5
Architecture Control Elements Implemented

• Blackboard (Name Server)
• Ports
• For control
• For Comunication
• Agents
• Control Loop Agent
• Concurrent Agent
• State Machine

6
Ports

• CORBA interface (distributed)
• Special Sample Fifos
• Value
• Timetag
• Sequence number
• OPERATION
• Read
• Blocking
• Non-Blocking
• Read
• By SeqNumber
• By Time
• Write Non Blocking

7
Futher Work

• ! Connect the several parts together !
• Make the other Generic Agents
• Agent guided by table
• Robot Agent
• Team Agent
• Make the other operation modes
• Implement Some simple algoritms