Re: [plexil-support] Interfacing for integration with a real robot

[Fry, C. R. {C. (ARC-TI)[S. INC] <chu...@na...>]

Hello Héctor. We are aware that the UDP adapter has a number of shortcomings. Another project here at Ames is using it for interfacing to other hardware, and has pointed out several possible improvements.

There are simple examples of custom interface adapters in the sample-app and sample-app1 example directories.

You could implement a socket-based adapter, but of course some C++ code will be necessary to integrate it.

Please feel free to contact me if you have any other questions.

-- Chuck

On Jun 19, 2015, at 3:18 PM, Hector Fabio Cadavid Rengifo <hec...@gm...<mailto:hec...@gm...>> wrote:

Dear support team,

My name is Héctor, and I’m involved in a robotics project. We are interested in using Plexil as the core language for the specification of robot’s tasks, but a little advice is required...

We already have configured the universal executive in the robot’s controller hardware (an intel galileo board) and everything is working well, but now I’m looking for a way to integrate such executive with robot’s sensing devices and actuators (gears, servomotors, etc). I was able to perform the integration through the UDP adapter, but as far I understand this intended only for interoperability between executives, not for interfacing with external systems.

Now I’m looking for a way to integrate ‘lookupOn’/‘lookUpOnChange’ events with information provided by a micro controller trough a serial port. The official documentation (http://plexil.sourceforge.net/wiki/index.php/Advanced_PLEXIL_Interfacing#Construction) states that we have to create a C++ shared library that implements the ‘InterfaceAdapter’ in order to enable an interface with external systems. I understand the idea, but, could you please provide us a sample implementation of a custom InterfaceAdapter, and an example of how to integrate the generated dynamic library in the <Interfaces> configuration file?… If there is already an example in the distribution, I would appreciate if you indicate me where it is located...

Just for curiosity, could it be possible to use a a socket-based adapter -as an alternative to the C++ adapters- in order to achieve the same interfacing scenario? (in this case, I would implement a socket server that ‘talk’ directly with the hardware according with the received events).


Sincerely yours,

Héctor



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Chuck Fry | QTS Inc.
Office: 650 604 1882  Mobile: 408 230 2715
M/S 269-1, Building N269/260-7
NASA Ames Research Center
Moffett Field, CA 94035-1000

I do not speak for QTS Inc., SGT, Code TI, or NASA, nor do they speak for me.