RHD:Features - Revision history

Jca at 07:54, 18 September 2011

2011-09-18T07:54:11Z

← Older revision		Revision as of 09:54, 18 September 2011
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	** Fast and efficient development of interfaces for new hardware		** Fast and efficient development of interfaces for new hardware
	** Easy plug-in updates using shared libraries		** Easy plug-in updates using shared libraries

			==Basic functions==

			The RHD is intended to convert interfaces to robotics hardware to a variable database of 32-bit integers.

			The database is split into ''read variables'' (from hardware through a plugin to the rhd clients) and
			''write variables'' (from rhd ''writer'' clients).

			Each variable in the database is named (max 32 characters) and may have one or more 32-bit integer values.

			The data transfer from hardware to clients is updated at a fixed time interval - typically every 10-100 ms - as defined in the ''rhdconfig.xml'' file.

			When a ''writer'' client updates some variable and sets the ''updated'' flag, then that variable (with all values defined for that variable) are transferred to the rhd, and is thus available for the rhd plug-ins. The updated flag is set for the variable, if the variable is transferred from the writer-client to the rhd. The changed flag is set if any of the variables is changed since last transfer.
			The changed write variable is send bach to all clients, but the update flag is not set in the client (the changed flag may be set if the variable is changed). Other clients the the ones based on ''librhd'' should be carefull not to see received write variables as updated by the client, and thus trigger a transmission bach to the rhd.

			When a rhd-plugin changes a read variable (sets the updated flag), then the variable and all its elements and update-timestamp is send to all the clients.

S021786 at 08:48, 28 January 2009

2009-01-28T08:48:25Z

← Older revision		Revision as of 10:48, 28 January 2009
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	RHD is developed as a flexible hardware abstraction layer framework, that could be used in any application where interaction between a high-level control program and hardware devices are needed in real-time.		[[RHD]] is developed as a flexible hardware abstraction layer framework, that could be used in any application where interaction between a high-level control program and hardware devices are needed in real-time.

	The main philosophy of RHD is the idea of a distributed variable database, making all communication variable oriented. A plug-in structure makes it simple to write interfaces to new hardware.		The main philosophy of [[RHD]] is the idea of a distributed variable database, making all communication variable oriented. A plug-in structure makes it simple to write interfaces to new hardware.

	== Feature list ==		== Feature list ==

S021786 at 08:47, 28 January 2009

2009-01-28T08:47:52Z

← Older revision		Revision as of 10:47, 28 January 2009
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	** Low communication overhead in protocol		** Low communication overhead in protocol
	* Plug-in interface with a range of plugins avalible (see [[RHD:Plug-ins]])		* Plug-in interface with a range of plugins avalible (see [[RHD:Plug-ins]])
			** Fast and efficient development of interfaces for new hardware
	** Easy plug-in updates using shared libraries		** Easy plug-in updates using shared libraries

S021786 at 08:38, 6 August 2008

2008-08-06T08:38:08Z

← Older revision		Revision as of 10:38, 6 August 2008
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	* ~~Hard~~ real-time operation possible		* Soft and hard real-time operation possible
	** Linux or RTAI scheduling support		** Linux or RTAI scheduling support
	** Fixed and accurate timebase		** Fixed and accurate timebase

S021786 at 08:37, 6 August 2008

2008-08-06T08:37:36Z

← Older revision		Revision as of 10:37, 6 August 2008
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	* Hard real-time operation possible		* Hard real-time operation possible
	* Linux or RTAI scheduling support		** Linux or RTAI scheduling support
	* 32-bit signed database variables		** Fixed and accurate timebase
			* Two-way variable database
			** 32-bit signed database variables
			** Timestamps for all variable updated
	* TCP / IP Socket interface		* TCP / IP Socket interface
	* Only one write-client accepted (first in, first access)		** Only one write-client accepted (first in, first access)
	* Theoretically up to 256 read-clients		** Theoretically up to 256 read-clients
	* Low communication overhead in protocol		** Low communication overhead in protocol
	* Plug-in interface with a range of plugins avalible (see [[RHD:Plug-ins]])		* Plug-in interface with a range of plugins avalible (see [[RHD:Plug-ins]])
			** Easy plug-in updates using shared libraries

S021786 at 08:18, 6 August 2008

2008-08-06T08:18:32Z

← Older revision		Revision as of 10:18, 6 August 2008
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	* Theoretically up to 256 read-clients		* Theoretically up to 256 read-clients
	* Low communication overhead in protocol		* Low communication overhead in protocol
	* Plug-in interface with a range of plugins avalible (see [[RHD:~~Plugins~~]])		* Plug-in interface with a range of plugins avalible (see [[RHD:Plug-ins]])

S021786 at 08:18, 6 August 2008

2008-08-06T08:18:10Z

← Older revision		Revision as of 10:18, 6 August 2008
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	The main philosophy of RHD is the idea of a distributed variable database, making all communication variable oriented. A plug-in structure makes it simple to write interfaces to new hardware.		The main philosophy of RHD is the idea of a distributed variable database, making all communication variable oriented. A plug-in structure makes it simple to write interfaces to new hardware.

			== Feature list ==


			* Hard real-time operation possible
			* Linux or RTAI scheduling support
			* 32-bit signed database variables
			* TCP / IP Socket interface
			* Only one write-client accepted (first in, first access)
			* Theoretically up to 256 read-clients
			* Low communication overhead in protocol
			* Plug-in interface with a range of plugins avalible (see [[RHD:Plugins]])

S021786: New page: RHD is developed as a flexible hardware abstraction layer framework, that could be used in any application where interaction between a high-level control program and hardware devices are n...

2008-08-06T08:11:23Z

New page: RHD is developed as a flexible hardware abstraction layer framework, that could be used in any application where interaction between a high-level control program and hardware devices are n...

New page

RHD is developed as a flexible hardware abstraction layer framework, that could be used in any application where interaction between a high-level control program and hardware devices are needed in real-time.

The main philosophy of RHD is the idea of a distributed variable database, making all communication variable oriented. A plug-in structure makes it simple to write interfaces to new hardware.