Visualisation Facilities of the Graphical CSP tool TERRA Zhou Lu - PowerPoint PPT Presentation

Visualisation Facilities of the Graphical CSP tool TERRA Zhou Lu and Jan Broenink Robotics and Mechatronics, University of Twente August 21, 2016

Way of Working Legend Electronics design Software design Controller design Mechanics design a) b) d) e) TERRA ECS software 1 Plant dynamics architecture 20-sim c) (G)UI, Supervisory, Control laws (co) simulation 2 Plant dynamics Sequence, Safety (Loop control,CT) Time Triggered & Plant dynamics 3a Discrete Event software & 3D animation Simulation time Real-time Target I/O Plant model 3b (RT sim) execution platform stub Target I/O Real plant 4 execution platform [ Z. Lu ] 2/6

Simulation and Visualization: Step 1 ◮ Model Integration Step1 Step2 Step3 Edit Models (Co) Simulation Visualization 20-sim Controller Plant FMU Model Dynamics Execution Animation FMI Wrapper LoggerServer Enviroment Plug-ins Platform LogInterpretor Speci fi c Plug-ins TERRA Executable SimCon Plug-ins TERRA TERRA TERRA CSP CSP CSP LUNA Lib [ Z. Lu ] 3/6

Simulation and Visualization: Step 2 ◮ Code generation and simulation Step1 Step2 Step3 Edit Models (Co) Simulation Visualization 20-sim Controller Plant FMU Model Dynamics Execution Animation FMI Wrapper LoggerServer Enviroment Plug-ins Platform LogInterpretor Speci fi c Plug-ins TERRA Executable SimCon Plug-ins TERRA TERRA TERRA CSP CSP CSP LUNA Lib [ Z. Lu ] 4/6

Simulation and Visualization: Step 3 ◮ Visualizing simulation results Step1 Step2 Step3 Edit Models (Co) Simulation Visualization 20-sim Controller Plant FMU Model Dynamics Execution Animation FMI Wrapper LoggerServer Enviroment Plug-ins Platform LogInterpretor Speci fi c Plug-ins TERRA Executable SimCon Plug-ins TERRA TERRA TERRA CSP CSP CSP LUNA Lib [ Z. Lu ] 5/6

Visualizing Simulation Results ◮ Overall structure of the visualization ◮ Execute models ◮ Logged data will be stored as CSV files ◮ Mapping model elements ◮ Parsing logged data ◮ Publishing states to a graphical view TERRA T ool Suite State Tree Signal Animation Structure Changes Values Mapping Parsing Execution Publishing Enviroment LUNA View Executable TERRA Console TERRA TERRA logger log receiver CSP CSP Development T arget Platform Platform [ Z. Lu ] 6/6

Thanks! [ Z. Lu ] 6/6