SYSTEM AND METHOD FOR THREAD PROCESSING ROBOT SOFTWARE COMPONENTS

• US 20100115524A1
• Filed: 06/30/2009
• Published: 05/06/2010
• Est. Priority Date: 10/31/2008
• Status: Active Grant

• Current Assignee: Electronics and Telecommunications Research Institute
• Original Assignee: Electronics and Telecommunications Research Institute
• Inventors: JANG, Choul Soo, Kim, Sung Hoon, Song, Byoung Youl, Jung, Seung-Woog
• Granted Patent: US 8,689,217 B2
• Time in Patent Office: Days
• US Class Current: 718/103
• CPC Class Codes: B25J 9/1602 characterised by the control system, structure, architecture
• CPC Class Codes: G05B 2219/23219 Different tasks in different memory, called as function of priority of tasks
• CPC Class Codes: G05B 2219/23389 Modular program, each process has corresponding program module
• CPC Class Codes: G05B 2219/39381 Map task, application to behaviour, force tracking, singularity to motion to actuator
• CPC Class Codes: G06F 9/485 Task life-cycle, e.g. stopping, restarting, resuming execution G06F9/4881 takes precedence

Abstract

An apparatus for thread processing robot software components includes a data port unit for storing input data in a buffer and then processing the data in a periodic execution mode or in a dedicated execution mode; an event port unit for processing an input event in a passive execution mode; and a method port unit for processing an input method call in the passive execution mode by calling a user-defined method corresponding to the method call. In the periodic execution mode, the data is processed by using an execution thread according to a period of a corresponding component. In the dedicated execution mode, a dedicated thread for the data is created and the data is processed by using the dedicated thread.

Claims

1. An apparatus for thread processing robot software components, the apparatus comprising:

a data port unit for storing input data in a buffer and then processing the data in a periodic execution mode, in which the data is processed by using an execution thread according to a period of a corresponding component, or in a dedicated execution mode, in which a dedicated thread for the data is created and the data is processed by using the dedicated thread;

an event port unit for processing an input event in a passive execution mode; and

a method port unit for processing an input method call in the passive execution mode by calling a user-defined method corresponding to the method call.

2. The apparatus of claim 1, wherein for the period execution mode, the period and a priority of the corresponding component are set in component setting information.

3. The apparatus of claim 2, wherein in the period execution mode, components having an identical period and an identical priority are processed by using a single thread.

4. The apparatus of claim 2, wherein in the period execution mode, components having an identical period but different priorities are sequentially processed in an order of the priorities by using a single thread.

5. The apparatus of claim 1, wherein in the dedicated execution mode, the dedicated thread is suspended after executed for one time, and then re-executed when a resume method is called.

6. The apparatus of claim 1, wherein in the passive execution mode, the event is processed by using a finite state machine.

7. The apparatus of claim 6, wherein in the passive execution mode, a new thread for the event is created and the event is processed by using the new thread.

8. The apparatus of claim 1, wherein in the passive execution mode, a new thread for the method call is created and the method call is processed by using the new thread.

9. A method for thread processing robot software components, the method comprising:

communicating with outside via a data port, an event port and a method port;

processing data received via the data port in a periodic execution mode or in a dedicated execution mode;

processing an event received via the event port in a passive execution mode; and

processing a method call received via the method port in the passive execution mode.

10. The method of claim 9, wherein in said processing the data in the periodic execution mode, the data is processed by using an execution thread according to a period of a corresponding component.

11. The method of claim 10, wherein for the periodic execution mode, the period and a priority of the corresponding component are set in component setting information.

12. The method of claim 11, wherein in said processing the data in the period execution mode, components having an identical period and an identical priority are processed by using a single thread.

13. The method of claim 11, wherein in said processing the data in the periodic execution mode, components having an identical period are sorted in an order of priorities and sequentially processed in the order of the priorities by using a single thread.

14. The method of claim 13, wherein in said processing the data in the periodic execution mode, an error is reported if the execution thread fails to process the data according to the period of the corresponding component.

15. The method of claim 9, wherein in said processing the data in the dedicated execution mode, a dedicated thread for the data is created and the data is processed by using the dedicated thread;

and wherein the dedicated thread is suspended after executed for one time, and then re-executed when a resume method is called.

16. The method of claim 15, wherein in said processing the data in the dedicated execution mode, the dedicated thread is suspended and waits for the resume method call by using a mutual exclusion object.

17. The method of claim 9, wherein in said processing the event in the passive execution mode, the event is processed by using a finite state machine.

18. The method of claim 17, wherein in said processing the event in the passive execution mode, a new thread for the event is created and the event is processed by using the new thread.

19. The method of claim 9, wherein in said processing the method call in the passive mode, a user-defined method corresponding to the method call is called to process the method call.

20. The method of claim 19, wherein in said processing the method call in the passive mode, a new thread for the method call is created and the method call is processed by using the new thread.