MARTe: A Multiplatform Real-Time Framework
MARTe: A Multiplatform Real-Time Framework
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DOI：
10.1109/tns.2009.2037815
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发表时间：
2010-04
影响因子：
1.8
通讯作者：
A. Neto;F. Sartori;F. Piccolo;R. Vitelli;G. De Tommasi;L. Zabeo;A. Barbalace;H. Fernandes;D. Valcárcel;A. Batista
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文献类型：
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作者：
A. Neto;F. Sartori;F. Piccolo;R. Vitelli;G. De Tommasi;L. Zabeo;A. Barbalace;H. Fernandes;D. Valcárcel;A. Batista
实时应用程序的开发通常与针对特定实时操作系统的不可移植代码相关联。硬件驱动程序、系统服务和用户代码之间的边界通常没有很好地定义，这使得在目标主机上进行开发变得非常困难。多线程应用程序实时执行器(MARTE)是一个构建在多平台库之上的框架，它允许在不同的操作系统上执行相同的代码。该框架提供了与硬件、外部配置程序和用户界面的高层接口，同时保证了硬实时性能。该框架的终端用户被要求在由实时调度器执行的名为通用应用模块(GAM)的定义良好的软件块内定义和实现算法。每个GAM可用一组预定义的配置元参数重新配置，并使用一组数据管道交换信息，这些数据管道被提供作为输入，并被要求作为输出。使用这些连接，可以串联或并联连接不同的凸轮。GAM可以在非实时系统中开发和调试，并且只有在验证了代码的健壮性和算法的正确性后，才能部署到实时系统中。该软件还提供了大量实用程序，大大简化了正在运行的系统的交互和调试。其中最有用的是高效的实时记录器、实时对象的HTTP自检和HTTP远程配置。目前，在世界上最大的磁约束聚变装置上，MARTE正在成功地驱动等离子体垂直稳定控制器，控制回路周期为50 S，抖动小于1 S。在这个特定的项目中，MARTE与采用新的？86多核处理器技术的实时应用接口/LINUX操作系统一起使用。
Development of real-time applications is usually associated with nonportable code targeted at specific real-time operating systems. The boundary between hardware drivers, system services, and user code is commonly not well defined, making the development in the target host significantly difficult. The Multithreaded Application Real-Time executor (MARTe) is a framework built over a multiplatform library that allows the execution of the same code in different operating systems. The framework provides the high-level interfaces with hardware, external configuration programs, and user interfaces, assuring at the same time hard real-time performances. End-users of the framework are required to define and implement algorithms inside a well-defined block of software, named Generic Application Module (GAM), that is executed by the real-time scheduler. Each GAM is reconfigurable with a set of predefined configuration meta-parameters and interchanges information using a set of data pipes that are provided as inputs and required as output. Using these connections, different GAMs can be chained either in series or parallel. GAMs can be developed and debugged in a non-real-time system and, only once the robustness of the code and correctness of the algorithm are verified, deployed to the real-time system. The software also supplies a large set of utilities that greatly ease the interaction and debugging of a running system. Among the most useful are a highly efficient real-time logger, HTTP introspection of real-time objects, and HTTP remote configuration. MARTe is currently being used to successfully drive the plasma vertical stabilization controller on the largest magnetic confinement fusion device in the world, with a control loop cycle of 50 ?s and a jitter under 1 ?s. In this particular project, MARTe is used with the Real-Time Application Interface (RTAI)/Linux operating system exploiting the new ?86 multicore processors technology.