複数CPUのための共有メモリコンポーネント取扱説明書 - OpenRTM-aist
Contents
1.2.
3. e Read and write client
4. request control byte explain 1 getShmID 1 getSemID getRequestFlag Table 1 interface requestID
5. 3 2 000 3 2 1
6. 11 000000 RT RT CPU 1 2 0000 CPU CPU 2 00
7. GUI onActivate GUI GUI onExecute onDeactivate GU GUI 6 2 000000000 P 6 3 0000 SHM CPU SEM CPU SEM e sharedMemoryManager DO E B 00600 int add int memorySize const char explanation memorySize byte explain 1 memory id
8. 5 SHM CPU CPU 41 000000 SHM SHM CPU
9. id id 2 ID pathAndFilename or 1 0 int lock int sem id int target 0 id sem id id target 1 0 int lock int semphore_id double timeOutSec int target 0 id sem id id timeOutSec 0 1 target 1 0 15
10. ttatching 2 Table 2 Each Virtual H8 component s amp H8GUI component s property H8 GUI H8 ID NameServiceview os G RT 192 168 11 20 9876 8 25 Communications S communication 90 TP VirtualHDummyO rtc G Q database2 S SHMserver lrtc Fig 8 The systemDiagram gt 3 E VitualHSDummyO SHMserver0 H8_communication_GUI0 connection of each component 10 H8 communication Recieve Data Joint 1 Joint 2 Joint 3 Joint 4 Joint 5 Joint 6 Gonman
11. 2 3 0000 SHM 1000000000000 SHM 000 000 0000 0000000 ooo 0000 000 SHM lID ooo 000000 SHM 00000000000 SHM 000000000 CPU 8 0000000000 RT CPU 3 SHMI DIDDOnDnOOULUU 31 00000000 SHM sharedMemoryClient sharedMemoryManager
12. Fig 3 sequence diagram in solving request Fig 4 sequencd diagram in synchronization unagmmuuiubluutuiuiiiiiiliuiuiuiliisliuiiiiiitttutuLibilLli Hd CPU Fig 4 10000 IDOL OD B LO ELE D SHM Hd ud Hut Hd LLL LI
13. 3 1 1 sharedMemoryManager sharedMemoryManager SHM Windows sharedMemoryManager Windows ID 3 1 2 sharedMemoryClient sharedMemoryClient SHM
14. f 0 e sharedMemoryClient int read const char dir const char filename id id ID 14 dir filename 0 public sharedMemoryID semaphoreID int read const char pathAndFilename
15. CPU SHM SHM SHM 2 1 SHM CPU SHM CPU CPU SHM Fig 1 Fig 2 1 2 2 JU LH HL B D U LIU LI SHM Fig 3 SHM synchronize Virtual Memory B Fig 1 synchronizing shared memorys Fig 2 Virtual shared memory Request I Make Inform update Make Request Synchronize Access
16. int unlock int sem id int target 0 id sem id id target int unlock int semphore id double timeOutSec int target 0 id sem id id timeDutSec 0 1 target 1 0 typename lt SHARED MEMORY STRUCT SHARED MEMORY STRUCT return Pointer int id
17. consumer control request sharedmemory to consumer from provider in function set requestFlag 1 void request in short control in long byte in string explain get shared memory ID amp get sempahore ID long getShmID long getSemIDO each component using function get request flagment which tells its phase 0 no request 1 requested 2 made shm 3 process finished short getRequestFlag inform finishing from cosumer void setRequestFlag in short condition provider control get request sharedmemory s explain to make key string getExplain get request byte to make key amp size long getByteO get control 1 1 erase short getControl shared memory amp semaphore ID set set request flag 2 void setIDs in long shmID in long semID
18. void erase int memorySize const char explain memorySize byte explain void eraseAll shared memory void outputList FILE fp Shared memory list stdout stderr void display int returnShmID int memorySize const char explanation ID memorySize byte explain
19. 4 3 1 2 sharedMemoryClient 4 3 2 Ra AUN de ow e 4 BL 6 4 ee ase ae ae Sree 5 3 2 2 4 EY cine ay om eom m B Ea ots 6 522 8 DD A nus Bae e 6 3 3 ue m Nb Q Sense UV DE eo Ka S kN d o 7 4 SHM 7 VTE EL EAE Pe BAD ee SER a P HER 7 4 22 WIE s A 8 43s DIESE BOE BP EE BE EI EI eect m RC e t ERR 8 4 4 CPU 10 5 11 5 1 ele 11 5 2 ut et Gee ch EROS AREIS 11 6 12 6 1 GUI FEE OH 0 18 2224x233 S Os a 12 6 2 12 a sauna o eos erg ot aeo o SOUS Qm Gs the we awe ps 12 1 0000
20. 7 Table 1 getRequestFlag function s return value and condition 0 1 ON request 2 ON SHM 3 ON 3 2 2 SHM CPU CPU CPU SHM SHM struct update inform connector 1 Time stamp RTC Time updt tm explanation of roll for shared memory string explain shared memory s byte Short byte ID 3 2 3 SHM CPU syn explain syn byte syn data struct synchronize database connector 1 Time stamp RTC Time tm explanation of roll for shared memory string syn explain shared memory s byte Short syn byte shared memory s data sequence lt char gt syn data T3 33 O00000 SHM ID
21. 42 0000 e Read only client
22. ID 13 int returnSemID int memorySize const char explanation ID memorySize byte explain 1 ID void write int memSize const char explain ID C txt void write const char path const char filename filename txt dir filename void write const char filepathAndName filename txt pathAndFilename or
23. Shared memory id id NULL int semaphoreCheck int id 16
24. Control 1 explain test structure size 60byte sharedmemory id 14548996 semaphore id 8683520 AME EE e i let 1 SHW 10 14548996 SEM 1D 8683520 Size 60 byte Roll test structure Attaching 1 Send test structure 60byte shm id 14548996 sem id 8683520 Send test structure 60byte shm id sem id 8683520 Send test structure 60byte shm id sem id 8683520 structure 60byte shm id 14548996 id 8683520 tyvay RE XR 27529 2 RE ANT 0 angle 1 0 angle 3 0 angle 5 0 Shared memory ID angle 1 angle 3 angle 5 angle 1 angle 3 angle 5 58 B database2 cl ient Read only 0 0 0 0 0 0 14581765 semaphore 1D 8716289 lt Reply sharedmemory id 14516227 semaphore id 8650752 Net 1 gt 5 4 10114516227 SEM 1018650752 Size 60 byte Roll test structure Attaching 1 gt Request Control 1 explain test structure size 60byte K Reply sharedmemory id 1 semaphore id 1 m 1181 Sync Rev test structure 60byte No match data Sync Rev test structure 60byte No match data gt Request Control 1 explain test structure size 60byte K Reply sharedmemory id 14581765 semaphore id 8716289 Waneging list K1 SHW ID 14581765 SEM 1D 8716289 Size 60 byte Roll test structure Attaching 1 Sync Rev test structure 60byte shm id 14581765 id 8716289 E database2 server
25. Fig 7 The situation SEM Client Componet request SEM Component to make shared memory and SEM component is synchoronzing Left top SHM Client component Read and write Right top SHM Component Left bottom SHM Client component only read Right bottom SHM component 44 000 00 0000000 OU 0000 H8 GUI H8 SHM H8 SHM Fig 10
26. e Server SHM e Server SHM SHM 43 0000000000000 1 omniNames 2 3 RTC 4 RTC SHM 5 RTC SHM ID SHM SHM SHM Fig 7 CPU CPU RTC Link rtc conf CPU CPU SHM request Fig 5 Fig 6 removeSHM amp SEL sh sharedMemory Manager 8 NemeServiceview 25 gt ul 192 168 1 8 9876 8 05 database T SHMdiento rtc 22 SHMserver rtc database T SHMdlentolrte 2 SHMserver0lrtc NameServiceview 255 el RT 192 168 11 20 9876 amp Q database T SH dentolrtc S3 SHttserver0lrtc S RT 192 168 11 23 9876 amp Q database 33 SHdent Readlrtc S3 SHMserver rtc Fig 5 The four test components in single CPU Fig 6 The four test components in two CPUs ow nom angle 1 angle 3 angle 5 angle 1 angle 3 angle 5 e mo 5 angle 1 angle 3 angle 5 own nom Onn o list SHA_ID 14483458 SEM 1D 8617985 Size 60 byte Roll test structure Attaching 1 Control 1 explain test structure size 60byte sharedmemory id 1 semaphore id 1 managing list
27. HH CPU LEVEE EE HE EE 0000000000 0000000000000 00000 00 00 20070 120 10 1 2 T uot ue xa CERO 2 1 2 vit att ao a debeo hts AL S Se Te pala 2 2 CPU 2 2 1 ad vete Pese heb lasa Q bee Bee HE 2 222 Ed EE Eo m a So 2 2 9 SERE S Sa as oh su ak h oe eoe HL RE SENS 3 3 SHM 4 ao 22 k a us IL SS rud o 4 3 1 1 sharedMemoryManager
28. d 10 00 20 00 30 00 Target Angle Sent Data last data Now angle Now speed Sent angle Sent speed 0 000000 0 000000 Joint 1 0 000000 0 000000 0 000000 0 000000 Joint 2 0 000000 0 000000 0 000000 0 000000 Joint 3 0 000000 0 000000 0 000000 0 00000 Joint 4 0 000000 0 000000 0 000000 0 000000 Joint 5 0 000000 0 000000 9 000000 0 000000 Joint 6 0 000000 0 000000 STOP Command STOP Set send data Load last data Send Command Stop Target Speed 40 00 sa 10 00 4jo o0 50 00 2 0 00 50 0 S 60 0 amp 30 00 60 0 S Send new data Fig 9 GUI for communicating H8 takashi localhost rtmDevelop move ShmServer 5 1 0 3 Konsole tyvay RR 7 2 2 BE W2 gt Request Control 1 explain H8ComReceiveData size 60byte lt Reply sharedmemory id 18939907 semaphore id 11796480 managing list K1 SHM 1D 18939907 5 10111796480 Size 60 byte Rol H8ComReceiveData Attaching 1 gt Request Control 1 explain H8ComSendData size 60byte K Reply sharedmemory id 18972676 semaphore id 11829249 anm mg 110 K1 SHM_ID 18939907 SEM 10111796480 Size 60 byte Rol H8ComReceiveData Attaching 1 K2 SHM 1D 18972676 SEM 10 11829249 Size 60 byte Roll HBComSendData Attaching 1 gt Request Control 1 explain H8ComReceiveData size 60byte lt Reply sharedmemor
29. y id 18939907 semaphore id 11796480 managing list K1 SHM_ID 18939907 SEM 10111796480 Size 60 byte Rol H8ComReceiveData Attaching 2 K2 SH ID 18972676 SEM 10111829249 Size 60 byte Roll H8ComSendData Attaching 1 gt Request Control 1 explain HBComSendData size 60byte K Reply sharedmemory id 18972676 semaphore id 11829249 managing list lt 1 gt SHM_ID 18939907 SEM_ID 11796480 Size 60 byte Rol H8ComReceiveData Attaching 2 2 gt SHM_ID 18972676 SEM 1D 11829249 Size 60 byte Rol H8ComSendData Attaching 2 e l z 3 Bz No 4 Fig 10 The SHM component s console 5 51 DDDU e OS Fedora core 6 kernel 2 6 18 1 2798 e 0000 gce 4 1 1 30 e CORBA omniORB 4 0 7 e ACE ace 5 5 4 e OpenRTM aist OpenRTM aist 0 4 1 RELEASE 5 2 0000 openRTM aist 0 4 10 00000000000 Linux HH 0000000000000000 windows sharedMemoryManager sharedMemoryClient Hl D HH B BH H BH B DU D U OpenRTM aist 0 4 0 0 InPort OutPort 0 000000 RingBuffer 0 4 00 000000 00 outPort InPort 000 OutPort lt dataport gt OutPort lt dataport RTC RingBuffer gt 0 0 000 0 Uirtm RingBuffer h OO 11 6 000 61 0000000
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