RHD

Project page for Robot Hardware Daemon (RHD)

RHD is the realtime hardware abstraction layer, that is replacing SMRD (and it's devirates).Testing and implementations are in full progress, and within 2008 RHD will be the default realtime hardware interface of the RSE architecture. RHD was developed in a special course at Automation, DTU Electro by Anders Billesø Beck in close cooperation with supervisor Nils A. Andersen.

Project details RHD:Features RHD:Downloads RHD:Changelog and roadmap RHD:Plug-ins

Documentation RHD:Variable database RHD:TCP/IP Server RHD:Realtime Scheduler RHD:Plug-in architecture RHD:Project report (PDF) RHD:Code documentation

News 18 September 2011: A new option is added to allow more than one write client, this is usefull if some variables - like a robot arm - is to be controlle from another client - set in server-clients group, like <clients number="10" allwriters="1"/>. 22 March 2010: RHD 2.2 is now fully operational and considered the new choice for implementations. It has been moved to the SVN trunk and is required to use the new Stage3 simulation plugin. 12 October 2009: RHD 2.2 work is in full progress. A substantial upgrade in the communications protocol will make it possible to observe write-variables from read-clients and furthermore provide better data security for slower updating clients (non real-time read-clients) 07 January 2009: RHD 2.0 is now considered stable and has been moved to svn trunk. Version 1.1 is still avaliable through svn tags, however it is deprecated. 29 September 2008: rFLEX plug-in is completed and ready for use (see doc here rFLEX plugin) See all news RHD:News