JP2011086182A - Method and program for generating rt component for data relay - Google Patents

Abstract

An object of the present invention is to easily create a data relay RT component that absorbs a communication port mismatch and data specification difference between two RT components on a primary side and a secondary side.
The specification of the output port of the first data on the primary side, the specification of the input port of the second data on the secondary side, the data type of the first data and the second data, the information of the multiplication coefficient and the offset value are input. Information input procedure (S1) to be performed, first data input processing, numerical conversion processing with a multiplication coefficient and an offset value, and data type conversion processing to the data type of the second data are performed on the first data. Source code generation procedure for automatically generating the source code of the RT component for data relay for causing the computer included in the robot to execute the data conversion process for deriving the two data and the output process of the second data, and storing it in the storage device (S2 to S7) are executed by the computer.
[Selection] Figure 2

Description

  The present invention relates to a data relay RT component generation method for generating a data relay RT component that operates in RT (Robot Technology) middleware, and a program thereof.

  Recently, RT middleware, which is comprehensive platform software for robots, has been provided to improve the efficiency of robot development. RT middleware makes it possible to combine RT components that realize various functions as elements of a robot through a communication network. Therefore, if RT middleware is used, various robot systems can be easily constructed using existing RT components. A typical example of this RT middleware is OpenRTM-aist provided by Japan National Institute of Advanced Industrial Science and Technology.

  Note that the term “robot” in this specification is not just a term that means an integrated intelligent device such as a mobile robot or a humanoid robot. The term “robot” in this specification is a generic term for networked intelligent systems having a function of working in the real world using robot technology. For example, a system in which sensors and actuators distributed in a human living space cooperate with each other via a network to realize life support and nursing care is also included in the robot in this specification.

  FIG. 9 is a schematic diagram showing the relationship between RT middleware and RT components in the robot. The RT component 20 operates on the RT middleware 120, and the RT middleware 120 operates on a predetermined operating system 110. The RT component 20, the RT middleware 120, and the operating system 110 are programs executed by a processor included in the robot. The RT component 20 realizes various functions that are elements of the robot, such as a function of performing imaging by a camera, a function of recognizing an object by image processing of a captured image, or a function of controlling an actuator or sensor such as a robot arm. In the RT middleware 120, a plurality of RT components 20 connected via a communication network operate while performing data communication with each other.

  As shown in Non-Patent Document 1, the specification of RT components in RT middleware is being standardized by OMG (Object Management Group). OMG is a consortium established for the purpose of standardizing distributed object-oriented systems. RT components compliant with the specifications defined by the OMG are provided from various companies and institutions. In addition, the RT component can be made by itself according to a standard specification that has been determined in advance. For example, Non-Patent Document 2 indicates that an RT component has been created that performs simple processing such as type conversion or addition / subtraction on input data.

  Then, by creating a robot using a plurality of existing RT components, it is possible to efficiently create a robot that realizes various functions. In particular, it is preferable that a robot that performs a desired process can be realized by combining only a plurality of existing RT components via a communication network.

  For example, consider the case where the following four RT components are provided in advance. That is, the first RT component realizes a function of performing imaging with a camera. The second RT component realizes a function of recognizing an object by image processing based on an image captured by a camera. The third RT component realizes the function of controlling the robot arm and its basic movement. The fourth RT component realizes a function of controlling the robot arm so as to hold an object recognized by image processing.

  In the above case, it is preferable that a robot that recognizes an object on the basis of an image obtained by a camera and holds the recognized object by a robot arm can be formed by simply combining four RT components. In addition, it is preferable that a robot that performs a desired operation with respect to a recognized object by a robot arm can be created simply by replacing the fourth RT component with another self-made RT component.

  However, in practice, it is often impossible to realize a robot that performs a function as expected simply by connecting a plurality of existing RT components. The first reason for obstructing the connection of the existing RT component is a mismatch between the specification of the output port of the RT component that provides data and the specification of the input port of the RT component that receives data. Hereinafter, the RT component that provides data is referred to as a primary RT component, and the RT component that receives data is referred to as a secondary RT component.

  FIG. 10 is a schematic diagram showing the types of communication ports standardized by OMG. In the OMG standard, a first communication port 201 called “OutPort”, a second communication port 202 called “InPort”, a third communication port 203 called “Provider”, A fourth communication port 204 called “Consumer” is prepared. The first communication port 201 and the third communication port 203 are communication ports of the primary RT component 21. The second communication port 202 and the fourth communication port 204 are communication ports of the secondary RT component 22. The combination of the first communication port 201 and the second communication port 202 is called “Data Port”, and the combination of the third communication port 203 and the fourth communication port 204 is “Service”. Port ".

  As shown in FIG. 10A, the second communication port 202 can receive data output by the first communication port 201. Further, as shown in FIG. 10B, the fourth communication port 204 can receive data output from the third communication port 203. The fourth communication port 204 can also deliver data to the third communication port 203.

  More specifically, in the combination of “Data Port”, data is transferred at regular intervals from the data buffer of the first communication port 201 to the data buffer of the second communication port 202 by RT middleware. On the other hand, in the combination of “Service Port”, in response to a data acquisition request from the fourth communication port 204 side by RT middleware, from the data buffer of the third communication port 203 to the fourth communication port 204. The data is transferred to the data buffer. Further, in the combination of “Service Port”, the RT middleware makes the third communication port 203 from the data buffer of the fourth communication port 204 in response to a data provision request from the fourth communication port 204 side. Data may be transferred to the other data buffer.

  However, as shown in FIG. 10C, the combination of the first communication port 201 and the fourth communication port 204 is a mismatch combination. Also, as shown in FIG. 10D, the combination of the third communication port 203 and the second communication port 202 is also a mismatch combination. Under these mismatch combinations, data cannot be transferred.

  The second reason for hindering the connection of the existing RT component is a mismatch between the output data specification of the primary RT component and the input data specification of the secondary RT component. Here, the data specification includes a data type and a data range as a physical quantity. If there is a mismatch in the specification of this data, even if data is exchanged, a robot that performs the expected function is not realized.

  Therefore, a conventional robot developer has created (programmed) a data relay RT component for each combination of the primary RT component and the secondary RT component. Here, the RT component for data relay acquires the output data of the primary RT component, converts the data so as to meet the specifications of the input data of the secondary RT component, and provides the RT to the secondary RT component It is a component. Then, a conventional robot developer has realized a robot that performs a desired function by interposing a self-made data relay RT component between the primary RT component and the secondary RT component.

Tetsuo Shintoku, Makoto Mizukawa “Invitation to RT Middleware Standardization Activity-Report of OMG Washington Technology Conference 2008” ROBOMEC2008, 1P1-E23, June 2008 Tsutomu Watanabe, Yasumichi Aiyama “SimuLike: Development of adapter tools for improving data connectivity of components” Society of Instrument and Control Engineers SI2008, 1L4-2, December 2008

  However, there is a problem that it is very troublesome to create a data relay RT component for each combination of the primary side RT component and the secondary side RT component. Therefore, conventionally, the use of existing RT components has often not led to sufficient efficiency in robot development.

  On the other hand, a plurality of existing RT components that perform simple processing such as type conversion or addition / subtraction as shown in Non-Patent Document 2 are serially arranged between the main primary RT component and the secondary RT component. It is possible to connect to. In this case, a plurality of existing RT components connected in series perform data conversion. However, in this case, there is a problem that data transmission is likely to be delayed because many RT components communicate while the data reaches the final transmission destination from the transmission source.

  In order to solve the above-mentioned problems, it is possible to easily generate a data relay RT component that absorbs the communication port mismatch and the data specification difference between the primary RT component and the secondary RT component. The tool is effective.

  The present invention relates to a data relay RT component generation method capable of easily creating a data relay RT component that absorbs a communication port mismatch and a data specification difference between a primary RT component and a secondary RT component, and a method thereof The purpose is to provide a program.

  In order to achieve the above object, a data relay RT component generation method according to the present invention is a method of generating a data relay RT component. Each procedure shown in the following (1) and (2) is performed by a computer. It is characterized by performing. Here, the data relay RT component converts the first data provided from the first RT component into the second data, and performs processing for providing the second data to the second RT component on the RT middleware. A program module to be executed by a processor.

  (1) In the first procedure, the specification of the output port of the first data in the first RT component and the specification of the input port of the second data in the second RT component through predetermined data input means It is an information input procedure for inputting data relay condition information including the data type of the first data, the data type of the second data, and information for numerical conversion. (2) The second procedure includes a first data input process for inputting the first data corresponding to the specification of the output port, and a numerical value conversion process using the numerical value conversion information for the first data. And a data conversion process for deriving the second data by performing a data type conversion process from the data type of the first data to the data type of the second data, and the specification of the input port. 2 is a source code generation procedure for automatically generating the source code of the RT component for data relay for causing the processor included in the robot to execute the second data output processing to be output corresponding to the above and storing it in the storage means.

  More specifically, it is conceivable that the numerical value conversion information includes information on multiplication coefficients and information on offset values. In this case, the numerical value conversion process includes a multiplication process using the multiplication coefficient information and an addition process using the offset value information. Note that the present invention can also be understood as a data relay RT component generation apparatus provided with means for executing the procedures (1) and (2). The present invention can also be understood as a data relay RT component generation program for causing a computer to execute the procedures (1) and (2).

  According to the present invention, the RT component for data relay that absorbs the difference in data specifications between the first component that is the primary RT component and the second component that is the secondary RT component can be simplified. Can be created. As a result, it becomes easy to make a robot using RT middleware and existing RT components.

1 is a schematic block diagram of a computer 100 that executes a data relay RT component generation program according to an embodiment of the present invention. The 1st flowchart showing an example of the procedure of the RT component production | generation process for data relays which the computer 100 performs. FIG. 10 is a second flowchart illustrating an example of a procedure of data relay RT component generation processing executed by the computer 100. FIG. The 3rd flowchart showing an example of the procedure of RT component production | generation process for data relays which the computer 100 performs. The schematic diagram showing the data relay type of the RT component for data relay which belongs to a 1st group. The schematic diagram showing the data relay type of RT component for data relay which belongs to a 2nd group. The schematic diagram showing the data relay type of the RT component for data relay which belongs to the 3rd group. The figure by which the candidate of the starting event for every pattern of the combination of communication ports was displayed as a list. The schematic diagram showing the relationship between RT middleware and RT component in a robot. The schematic diagram showing the kind of communication port standardized by OMG.

  Embodiments of the present invention will be described below with reference to the accompanying drawings for understanding of the present invention. The following embodiments are examples embodying the present invention, and the technical scope of the present invention is not limited to the contents of the following embodiments.

  First, a schematic configuration of a computer 100 that executes a data relay RT component generation program according to an embodiment of the present invention will be described with reference to a block diagram shown in FIG. That is, the computer 100 is a data relay RT component generation apparatus according to an embodiment of the present invention. The data relay RT component generation apparatus X is a computer such as a personal computer or a workstation. As shown in FIG. 1, the computer 100 includes a CPU 1, a data input device 2, a display device 3, and a storage device 4.

  The CPU 1 is a calculation unit that executes a program stored in the storage device 4. The data input device 2 is an example of a data input unit that inputs data to the computer 100. The data input device 2 is, for example, a keyboard or a mouse that inputs data to the computer 100 according to an operation by an operator of the computer 100. Further, a communication means such as a network interface card for inputting data from an external device via a network may be adopted as part or all of the data input device 2. The display device 3 is a liquid crystal display, a CRT, or the like, and is a device that displays various types of information according to the contents of a program executed by the CPU 1. The storage device 4 is a storage means such as a hard disk or a RAM disk. In the storage device 4, for example, an operating system 10, a data relay RT component generation program 11, a compiler 12, and the like are stored in advance. Further, the data relay RT component 23 generated by the processing of the CPU 1 is recorded in the storage device 4.

  The data relay RT component 23 is an RT component that relays data transmission from the primary RT component 21 on the data providing side to the secondary RT component 22 on the data receiving side. The primary RT component 21, the secondary RT component 22, and the data relay RT component 23 are all software that operates on the RT middleware 120.

  The data relay RT component 23 is a program module for causing the microprocessor included in the robot to execute the following three processes. The first process is a process of acquiring primary data provided from the primary RT component 21. The second process is a process of converting the primary data into secondary data provided to the secondary RT component 22. The third process is a process for providing the secondary data to the secondary RT component 22. The data relay RT component generation program 11 is a program for causing the CPU 1 to execute processing for automatically generating the data relay RT component 23 based on predetermined information input through the data input device 2. It is.

  Next, referring to the flowcharts shown in FIG. 2, FIG. 3, and FIG. 4, the procedure of the data relay RT component generation processing realized by the CPU 1 executing the data relay RT component generation program 11 will be described. An example will be described. In the following description, S1, S2,... Represent process procedure identification codes. The data relay RT component generation process is started when an operation for starting the data relay RT component generation program 11 is performed on the data input device 2.

  First, the CPU 1 executes a process of inputting data relay condition information through the data input device 2 and recording it in the storage device 4 (S1). The data relay condition information includes information related to the specifications of the primary RT component 21 and the secondary RT component, and information related to numerical conversion from the primary data to the secondary data. . Hereinafter, the former is referred to as component specification information, and the latter is referred to as numerical value conversion information. Further, the data relay condition information includes event designation information described later.

  The component specification information includes the output port specification of the primary data and the data type information of the primary data in the primary RT component 21. The component specification information also includes the output port specification of the secondary data and the data type of the secondary data in the secondary RT component 22. Further, the component specification information includes a service name that the primary RT component 21 and the secondary RT component 22 provide to other RT components, a name of a function group that realizes the service, It contains information on arguments and return values of functions.

  In a software environment compliant with CORBA, which is a specification of the distributed object technology defined by the OMG, the component specification information is included in the interface files of the primary RT component 21 and the secondary RT component 22 respectively. . Therefore, the CPU 1 may input the component specification information by batch processing that reads the interface file stored in the storage device 4.

  For example, when each RT component conforms to the OMG standard, which of the four types of communication ports shown in FIG. 10 corresponds to each of the primary data output port and the secondary data input port? Are input as part of the component specification information. Furthermore, when each RT component conforms to the OMG standard, information indicating which of the 13 types of data types the primary side data and the secondary side data corresponds to is also included in the component specification information. Entered as part. The 13 types of data types are “Character”, “Double”, “Float”, “Long”, “LongDouble”, “LongLong”, “Octet”, “Short”, “UnsignedLong”, “UnsignedLongLong”, UnsignedShort ” , "WideCharacter" and "WideString".

  On the other hand, the information for numerical conversion includes information on a multiplication coefficient used for a multiplication process on the value of the primary side data and information on an offset value used for an addition process on the value of the primary side data. The multiplication coefficient and the offset value are numerical values for converting the primary side data into data suitable for the data input range in the secondary side RT component 22.

  For example, the specification of the output range of the primary RT component 21 is a specification for outputting a physical quantity in the range of 0 (mm) to 1000 (mm) as a value in the range of 0 to 255, and the secondary RT component 22 Suppose that the input range specification is a specification for inputting a physical quantity in the range of −1000 (mm) to +1000 (mm) with a value in the range of 0 to 255. In this case, in order to convert the primary side data into data suitable for the data input range in the secondary side RT component 22, 0.5 is input as the multiplication coefficient and 127.5 is input as the offset value. Is done.

  The numerical value conversion information may be indirect information that can uniquely identify the multiplication coefficient and the offset value. For example, combinations (x1, y1) and (x2, x2) of the two sample values (x1, x2) of the primary data and the two sample values (y1, y2) of the secondary data corresponding to each y2) may be input as the numerical value conversion information. In this case, the CPU 1 sets the multiplication coefficient k and the offset value h to “k = (y1−y2) / (x1−x2)” and “h = (x2 * y1−x1 * y2) / (x2−). x1) "is calculated by each formula. Note that “*” is a sign representing multiplication.

  The component specification information, the numerical value conversion information, and the event designation information may be input through different routes. For example, the component specification information may be input via a network or by reading data from the storage device 4, and the numerical value conversion information and the event designation information may be input in response to an operation of a keyboard or the like. Conceivable.

  Next, the CPU 1 generates a framework of the data relay RT component 23 based on the component specification information, and records the framework in the storage device 4 (S2). Hereinafter, the framework of the data relay RT component 23 generated in step S2 is simply referred to as a framework. A program for generating the framework of the RT component is provided as, for example, “RtcTemplate” from the National Institute of Advanced Industrial Science and Technology, and the program can be adopted as a program for performing the process of step S2. “RtcTemplate” is a part of a program group provided as “OpenRTM-aist”.

  The framework transmits source code corresponding to the communication port of the primary RT component 21 and data corresponding to the communication port of the secondary RT component 22 and the source code of the primary communication interface that receives the data. Secondary source communication interface source code.

  For example, the source code of the primary-side communication interface includes source code defining an input-side data buffer. The source code of the secondary communication interface includes source code that defines an output data buffer. The data buffer on the input side is a data buffer in which the primary data transferred from the primary RT component 21 by the RT middleware 120 is stored. The output data buffer is a data buffer in which the secondary data is to be stored. The secondary data stored in the secondary data buffer is transferred to the secondary RT component 22 by the RT middleware 120.

  The source code of the primary side communication interface is a source of a program for causing a processor included in the robot to execute a process of inputting the primary side data corresponding to the specification of the output port of the primary side RT component 21 It is an example of code. The source code of the secondary side communication interface is for causing a processor included in the robot to execute a process of outputting the secondary side data corresponding to the specification of the input port of the secondary side RT component 22. It is an example of the source code of a program.

  Hereinafter, the combination of the primary data output port and the secondary data input port will be described with reference to FIGS. 5, 6, and 7. In the example shown below, the primary RT component 21 and the secondary RT component 22 are RT components having communication ports standardized by OMG. In this case, combinations of the output port of the primary data and the input port of the secondary data that can be passed data through the data relay RT component 23 are shown in FIGS. Street patterns are possible. The primary data output port and the communication port through which the primary RT component 21 transmits the primary data have the same meaning. The secondary data input port and the communication port through which the secondary RT component 22 receives the secondary data have the same meaning.

  FIG. 5 shows three patterns <P1> to <P3> when the primary data output port is the first communication port 201 called "OutPort" in the OMG standard. Yes. FIG. 6 shows three patterns <P4> to <P6> when the primary data output port is the third communication port 203 called "Provider" in the OMG standard. ing. FIG. 7 shows three patterns <P7> to <P9> when the primary data output port is the fourth communication port 204 referred to as “Consumer” in the OMG standard. Yes. The first communication port 201 cannot be an input port for the secondary data due to its nature. Similarly, the second communication port 202 cannot be the primary data output port due to its nature.

  In the pattern <P1>, the pattern <P2>, and the pattern <P3>, the secondary data is transmitted by the second communication port 202, the fourth communication port 204, and the third communication port 203, respectively. It is a received pattern. In the pattern <P4>, the pattern <P5>, and the pattern <P6>, the secondary data is transmitted from the second communication port 202, the fourth communication port 204, and the third communication port 203, respectively. It is a received pattern. Similarly, in the pattern <P7>, the pattern <P8>, and the pattern <P9>, the secondary data includes the second communication port 202, the fourth communication port 204, and the third communication port 203, respectively. Is a pattern received by

  In step S2, the CPU 1 generates the framework including source codes of the primary side communication interface and the secondary side communication interface corresponding to any of the patterns <P1> to <P9>. That is, when the combination of ports is any one of the patterns <P1> to <P3>, an interface for operating as the second communication port 202 is set as the primary-side communication interface. When the combination of the ports is any one of the patterns <P4> to <P6>, an interface for operating as the fourth communication port 204 is set as the primary-side communication interface. When the combination of the ports is any one of the patterns <P7> to <P9>, an interface for operating as the third communication port 203 is set as the primary-side communication interface.

  When the combination of communication ports is any one of the pattern <P1>, the pattern <P4>, and the pattern <P7>, an interface for operating as the first communication port 201 is the secondary side Is set as the communication interface. When the pattern <P2>, pattern <P5>, or pattern <P8> is set, an interface for operating as the third communication port 203 is set as the secondary-side communication interface. When the pattern <P3>, pattern <P6>, or pattern <P9> is set, an interface for operating as the fourth communication port 204 is set as the secondary-side communication interface.

  Next, the CPU 1 performs a process of determining an event as a precondition for executing a data conversion process from the primary data to the secondary data (S3). Hereinafter, this event is referred to as an activation event. The activation event is determined based on the types (specifications) of the primary data output port and the secondary data input port, and the event designation information. The event designation information is information for designating at least one of an event caused by the operation of the primary side RT component 21 and an event caused by the operation of the secondary side RT component 21.

  The activation event is determined by selecting one of the following five candidates. The first candidate is an event that occurs immediately after the primary RT component 21 writes the primary data to the data buffer through the first communication port 201. Hereinafter, this event is referred to as a “Write” event. The second candidate is an event that occurs immediately after the primary RT component 21 transmits the primary data through the fourth communication port 204. Hereinafter, this event is referred to as a “Set” event. The third candidate is an event that occurs immediately before the secondary RT component 22 reads the secondary data from the data buffer through the second communication port 202. Hereinafter, this event is referred to as a “Read” event. The fourth candidate is an event that occurs immediately before the secondary RT component 22 receives the secondary data through the fourth communication port 204. Hereinafter, this event is referred to as a “Get” event. The fifth candidate is an event generated by the data relay RT component 23 itself at a constant cycle. Hereinafter, this event is referred to as an “Execute” event.

  Here, the “Write” event and the “Set” event are primary events caused by the operation of the primary RT component 21. The “Read” event and the “Get” event are secondary events that occur due to the operation of the secondary RT component 22. The “Execute” event is an event generated by the data relay RT component 23 itself at a constant cycle. FIG. 8 is a diagram in which the activation event candidates are listed for each communication port combination pattern.

  In step S <b> 3, the CPU 1 selects a candidate designated by the event designation information as the activation event from the activation event candidates according to the combination pattern of communication ports. The event designation information includes any one of the primary side event, the secondary side event, and the own event as the start event when there are a plurality of start event candidates corresponding to a combination pattern of communication ports. It is information that specifies whether to select as. Various exception processing can be considered when there is no candidate designated by the event designation information. As the exception processing, for example, interruption processing by outputting an error message, processing for selecting the own event, or the like can be considered.

  Next, the CPU 1 sets an event-driven function corresponding to the activation event, which is the determination result in step S3, in the framework (S4). Hereinafter, this event-driven function is referred to as a function “Fi”. In this step S4, a function “Fi” in a state in which a source code for executing a specific process is not yet included is defined in the framework. Further, in step S4, a predetermined registration process is performed for the function “Fi” to be activated by the RT middleware 120 in response to the occurrence of the activation event.

  For example, when the activation event is a “Write” event, the callback function “OnWrite” is set as the function “Fi”. The callback function “OnWrite” is a function activated by the RT middleware 120 immediately after the primary RT component 21 writes the primary data to the data buffer via the first communication port 201. When the activation event is a “Read” event, the callback function “OnRead” is set as the function “Fi”. The callback function “OnRead” is a function that is activated by the RT middleware 120 immediately before the secondary RT component 22 reads the secondary data from the data buffer through the second communication port 202. When the activation event is an “Execute” event, the callback function “OnExecute” is set as the function “Fi”. The callback function “OnExecute” is a function that is activated by the RT middleware 120 at a constant cycle. The period is set separately.

  Next, the CPU 1 adds a source code that defines the content of specific processing executed by the function “Fi” in the function “Fi” (S5). The details of the processing in step S5 will be described below with reference to the flowchart shown in FIG.

  In step S5, the CPU 1 determines whether or not the following first condition is satisfied (S11). The first condition is a condition that one or more of the following two conditions of condition 1.1 and condition 1.2 are satisfied.

  First, the condition 1.1 is that the activation event is the secondary event or the own event, and the primary communication port of the data relay RT component 23 can control reception of the primary data. It is a condition that it is a port. Here, the case where the primary communication port of the data relay RT component 23 is the fourth communication port 204 is a case where reception of the primary data can be controlled. Other communication ports cannot control the data reception timing by the RT component itself. Next, the condition 1.2 is a condition that the activation event is the primary event. More specifically, the primary event is a “Set” event or a “Write” event.

  If it is determined that the first condition is satisfied, the CPU 1 adds a source code for receiving the primary data to the function “Fi” (S12). More specifically, the following three types of source codes can be considered as the source code added in step S12.

  The first is source code for requesting data from the primary RT component 21 through the fourth communication port 204. This source code is added when the condition 1.1 is satisfied. For example, the CPU 1 adds a source code for requesting the primary data by using a service function “Get” provided by the primary RT component 21. In the robot control execution environment, the RT middleware 120 transfers the primary data from the primary RT component 21 to the data relay RT component 23 in response to the request.

  The second is source code for acquiring data from the primary RT component 21 through the second communication port 202. This source code is one of the source codes added when the condition 1.2 is satisfied. For example, the CPU 1 adds source code for acquiring the primary data delivered from the primary RT component 21 as an argument of the callback function “OnWrite”.

  The third is source code for acquiring data from the primary RT component 21 through the third communication port 203. This source code is one of the source codes added when the condition 1.2 is satisfied. For example, the CPU 1 adds a source code for acquiring the primary data delivered from the primary RT component 21 by using the service function “Set” provided by the data relay RT component 23. The data is delivered as an argument of the service function “Set”, for example.

  By the way, the situation where the first condition is not satisfied is that the activation event is the secondary event and the source code for receiving the primary data, that is, the primary event is voluntarily generated. There is no source code to generate them in the first place. Therefore, the primary communication port of the data relay RT component 23 is not the fourth communication port 204. In this case, the data relay RT component 23 cannot independently receive data. That is, the timing of data reception is controlled by the RT middleware 120.

  On the other hand, when it is determined that the first condition is not satisfied, the CPU 1 adds source code for reading the primary data from the internal data buffer for input to the function “Fi” ( S13).

  Further, the CPU 1 adds a source code for data conversion processing to the function “Fi” (S14). The procedure of the process in step S14 is shown in FIG. 4 and will be described later.

  Further, the CPU 1 determines whether or not the following second condition is satisfied as part of the process of step S5 (S14). The second condition is a condition that one or more of the following two conditions 2.1 and 2.2 are satisfied.

  First, the condition 2.1 is that the start event is the primary event or the own event, and the secondary communication port of the data relay RT component 23 controls the transmission of the secondary data. It is a condition that it is a possible port. Here, the case where the secondary communication port of the data relay RT component 23 is the fourth communication port 204 is a case where the transmission of the secondary data can be controlled. Other communication ports cannot control the data transmission timing by the RT component itself. Next, the condition 2.2 is a condition that the start event is the secondary event. More specifically, the secondary event is a “Read” event or a “Get” event.

  If it is determined that the second condition is satisfied, the CPU 1 adds a source code for transmitting the secondary data to the function “Fi” (S15). More specifically, the following three types of source codes can be considered as the source code added in step S15.

  The first is source code for requesting data transmission to the secondary RT component 22 through the fourth communication port 204. This source code is added when the condition 2.1 is satisfied. For example, the CPU 1 uses the service function “Set” provided by the secondary RT component 22 to add source code for requesting transmission of the secondary data. In the robot control execution environment, the RT middleware 120 transfers the secondary data from the data relay RT component 23 to the secondary RT component 22 in response to the request.

  The second is source code for transferring data to the secondary RT component 22 through the first communication port 201. This source code is one of the source codes added when the condition 2.2 is satisfied. For example, the CPU 1 adds source code that delivers the secondary data to the secondary RT component 22 as an argument of the callback function “OnRead”.

  The third is source code for transferring data to the secondary RT component 22 through the third communication port 203. For example, the CPU 1 uses the service function “Get” provided by the data relay RT component 23 to supply the source code that passes the data requested by the secondary RT component 22 to the secondary RT component 22. to add. The data is delivered as a return value of the service function “Get”, for example.

  By the way, the situation where the second condition is not satisfied is that the activation event is the primary side event and the source code for transmitting the secondary side data, that is, the secondary side event is voluntarily generated. In the first place, there is no source code to generate. Therefore, the secondary communication port of the data relay RT component 23 is not the fourth communication port 204. In this case, the data relay RT component 23 cannot independently transmit data. That is, the data transmission timing is controlled by the RT middleware 120.

  On the other hand, if it is determined that the second condition is not satisfied, the CPU 1 adds a source code for writing the secondary data to the internal data buffer for output in the function “Fi” ( S17). In step S5, the processes from step S11 to step S17 described above are performed. The execution order of the procedure from step S11 to step S13, the procedure of step S14, and the procedure from step S15 to step S17 may be interchanged.

  Hereinafter, the details of the process of step S14 will be described with reference to the flowchart shown in FIG. In step S14, the CPU 1 determines whether or not the numerical value conversion information is input in step S1, that is, whether or not the numerical value conversion information is included in the data relay condition information (S21). When it is determined that the numerical value conversion information has been input, the CPU 1 adds source code for performing numerical value conversion processing based on the numerical value conversion information to the function “Fi” (S22). More specifically, a source representing an expression for substituting a converted value obtained by multiplying the value of the primary data by the multiplication coefficient k and adding the offset value h to a predetermined variable Add code. On the other hand, when it is determined that the numerical value conversion information is not input, the CPU 1 skips the process of step S22.

  Further, the CPU 1 determines whether the data type of the primary data needs to be converted, that is, whether the data type of the primary data is different from the data type of the secondary data. (S23). When it is determined that the data type needs to be converted, the CPU 1 performs a cast process for converting the data type to the data type of the secondary data for the converted value data. Is added to the function "Fi" (S24). On the other hand, when it is determined that the data type conversion is unnecessary, the CPU 1 skips the process of step S24. In step S14, the processes from step S21 to step S24 described above are performed.

  In addition, the execution order of the procedure of step S21 and step S22 and the procedure of step S23 and step S24 may be reversed. It is also conceivable that the CPU 1 performs the process of step S22 and the process of step S24 after converting the data type of the primary data to the data type with the highest resolution. Thereby, the occurrence of a large rounding error in the data conversion process is avoided.

  Further, in addition to the processes of steps S1 to S5 described above, the CPU 1 executes the processes of step S6 and step S7 shown in FIG. That is, whether or not the CPU 1 needs to add communication source code for transmitting or receiving data to or from one or both of the primary RT component 21 and the secondary RT component 22 is determined. Discriminate (S6).

  More specifically, the CPU 1 determines that it is necessary to add source code for receiving the primary data to the framework when the following third condition is satisfied ( S6). The third condition is that the start event is the secondary event, and the primary communication port of the data relay RT component 23 is a port that cannot control reception of the primary data. is there. When this condition is satisfied, the primary communication port of the data relay RT component 23 is the second communication port 202 or the third communication port 203.

  When the third condition is satisfied, the CPU 1 adds source code for receiving the primary data to the framework (S7). For example, when the primary data reception port is the second communication port 202, the CPU 1 uses the callback function “OnWrite” to acquire the primary data from the primary RT component 21. Add code. Alternatively, when the primary data reception port is the third communication port 202, the CPU 1 uses the service function “Set” provided by the data relay RT component 23 to use the primary RT component 21. Add source code to get data provided by.

  Further, the CPU 1 determines that the source code for transmitting the secondary data needs to be added to the framework when the following fourth condition is satisfied (S6). The fourth condition is that the start event is the primary event, and the secondary communication port of the data relay RT component 23 is a port that cannot control the transmission of the secondary data. It is. When this condition is satisfied, the secondary communication port of the data relay RT component 23 is the first communication port 201 or the third communication port 203.

  When the fourth condition is satisfied, the CPU 1 adds source code for transmitting the secondary data to the framework (S7). For example, when the secondary data transmission port is the first communication port 201, the CPU 1 uses the callback function “OnRead” to send the secondary data to the secondary RT component 22. Add the source code to be sent. Alternatively, when the secondary data transmission port is the third communication port 202, the CPU 1 uses the service function “Get” provided by the data relay RT component 23 to use the secondary RT Source code for passing data requested by the component 21 to the secondary RT component 21 is added.

  On the other hand, when both the third condition and the fourth condition are not satisfied, the CPU 1 skips the process of step S7. As described above, the CPU 1 executes the processing of step S1 to step S7 by executing the data relay RT component generation program 11. Note that the order in which the steps S4 to S7 are performed may be an order other than that shown in FIG. For example, the procedures of steps S4 and S5 are performed after the procedures of steps S6 and S7 are performed, or the procedures of steps S6 and S7 are performed between steps S4 and S5. It is done.

  In addition to the program for executing the procedures shown in FIGS. 2 to 4, the data relay RT component generation program 11 executes error processing that is performed when processing does not proceed as expected. Includes programs. For example, in the data relay RT component generation program 11, a situation in which no data exists in the data buffer after a reference to the data buffer storing the primary data or the secondary data is started for a certain period of time. A program or the like for canceling the data reference and notifying the error when it continues is included.

  When the CPU 1 executes the data relay RT component generation program 11, the source code of the data relay RT component 23 is recorded in the storage device 4. The source code is converted into an object code by the compiler 12 to become the data relay RT component 23 that can be executed by the processor provided in the robot. It is also conceivable that the data relay RT component generation program 11 is a program that causes the CPU 1 to execute processing up to source code compilation processing by the compiler 12.

  In the flowcharts shown in FIGS. 2, 3 and 4, step S1 is an example of an information input procedure for inputting the data relay condition information. Steps S2 to S7 cause the processor included in the robot to execute the input process of the primary data (first data), the data conversion process, and the output process of the secondary data (second data). 5 is an example of a source code generation procedure for automatically generating a source code of the data relay RT component 23 and storing the source code in the storage device 4. In steps S2, S12 and S7, source code for causing the processor to execute a first data input process for inputting the primary data corresponding to the specification of the output port of the primary data is automatically generated. It is an example of a procedure for generating and storing in the storage device 4. Steps S2, S15, and S7 automatically generate source code for causing the processor to execute a second data output process for outputting the secondary data corresponding to the specifications of the input port. It is an example of a procedure for storing in the storage device 4.

  According to the data relay RT component generation process, the source code of the data relay RT component 23 that absorbs the difference in data specifications between the primary RT component 21 and the secondary RT component 22 is simplified. Can be created. As a result, it becomes easy to make a robot using the RT middleware 120 and the existing RT component 20 (the primary RT component 21 and the secondary RT component 22).

  In the data relay RT component generation process, the timing at which the data conversion process is executed can be adjusted by inputting the event designation information. As a result, the operation content of the data relay RT component 23 can be set with a high degree of freedom. For example, when the occurrence frequency of the primary event is different from the occurrence frequency of the secondary event, the number of execution times of the data conversion process is required by designating the event with the lower occurrence frequency as the activation event. Minimized. As a result, the processing load on the processor provided by the robot can be reduced.

  In addition, the primary data may be a plurality of matrix elements constituting a matrix. For example, the primary data is array data composed of a set of data corresponding to a plurality of matrix elements. In this case, in step S1 in the above-described embodiment, it is conceivable that information on the transformation matrix is input as a part of the numerical value conversion information. The information of the conversion matrix is information for specifying a matrix used for converting a matrix specified by the primary side data into another desired matrix (the secondary side data). In this case, in step S22, the CPU 1 derives the secondary side data by performing matrix transformation processing using the transformation matrix on the primary side data which is a plurality of matrix elements.

  By performing such matrix conversion processing as numerical value conversion processing (S22), affine conversion from the primary data to the secondary data becomes possible. This affine transformation is effective when the coordinate system of data adopted in each of the RT component 21 and the secondary RT component 22 is different.

  It can be used to generate RT components.

1 CPU
2 Data Input Device 3 Display Device 4 Storage Device 10 Operating System 11 Data Relay RT Component Generation Program 12 Compiler 100 Computer 201 First Communication Port 202 Second Communication Port 203 Third Communication Port 204 Fourth Communication Port 20 RT component 21 Primary RT component 22 Secondary RT component 23 Data relay RT component 110 Operating system 120 RT middleware

Claims (5)

The first data provided from the first RT component is converted into the second data, and a data relay RT component is generated that causes the processor to execute processing for providing the second data to the second RT component on the RT middleware. An RT component generation method for data relay,
The specification of the output port of the first data in the first RT component, the specification of the input port of the second data in the second RT component, the data type of the first data, and the data type through predetermined data input means An information input procedure for inputting data relay condition information including the data type of the second data and information for numerical conversion;
From the first data input process for inputting the first data corresponding to the specifications of the output port, the numerical value conversion process using the numerical value conversion information for the first data, and the data type of the first data Data conversion processing for deriving the second data by performing data type conversion processing to the data type of the second data, and second data for outputting the second data corresponding to the specifications of the input port A source code generation procedure for automatically generating the source code of the RT component for data relay for causing the processor included in the robot to execute the output process and storing it in the storage means;
Is executed by a computer. A method for generating an RT component for data relay. The numerical value conversion information includes multiplication coefficient information and offset value information,
The numerical value conversion process includes a multiplication process using information on the multiplication coefficient and an addition process using information on the offset value.
The method for generating an RT component for data relay according to claim 1. The data relay condition information includes event designation information for designating at least one of an event caused by the first RT component and an event caused by the second RT component,
The source code generation procedure automatically generates the source code for causing the processor to execute the data conversion process in response to an event specified based on the event designation information.
The data relay RT component generation method according to claim 1 or 2. The information for numerical conversion includes information of a conversion matrix,
The numerical value conversion process includes a matrix conversion process using the conversion matrix for the first data which is a plurality of matrix elements constituting a matrix.
The method for generating an RT component for data relay according to any one of claims 1 to 3. The source of the data relay RT component that converts the first data provided from the first RT component into the second data and causes the processor to execute processing for providing the second data to the second RT component on the RT middleware A data relay RT component generation program for causing a computer to execute a code generation process,
The specification of the output port of the first data in the first RT component, the specification of the input port of the second data in the second RT component, the data type of the first data, and the data type through predetermined data input means An information input procedure for inputting data relay condition information including the data type of the second data and information for numerical conversion;
From the first data input process for inputting the first data corresponding to the specifications of the output port, the numerical value conversion process using the numerical value conversion information for the first data, and the data type of the first data Data conversion processing for deriving the second data by performing data type conversion processing to the data type of the second data, and second data for outputting the second data corresponding to the specifications of the input port A source code generation procedure for automatically generating the source code of the RT component for data relay for causing the processor included in the robot to execute the output process and storing it in the storage means;
RT component generation program for data relay for causing a computer to execute

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