System and method for thread processing robot software components responsive to periodic, dedicated, and passive modes

• US 8,689,217 B2
• Filed: 06/30/2009
• Issued: 04/01/2014
• 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, Jung, Seung-Woog, Song, Byoung Youl, Kim, Sung Hoon
• Primary Examiner(s): An, Meng
• Assistant Examiner(s): TEETS, BRADLEY A
• Application Number:
  US12/494,819
• Publication Number:
  US 20100115524A1
• Time in Patent Office: 1,736 Days
• Field of Search: None
• US Class Current: 718/100
• 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, when an input data is inputted, storing the input data in a buffer and then processing the input data in a periodic execution mode or in a dedicated execution mode;

an event port unit for, when an input event is received, processing the input event in a passive execution mode; and

a method port unit for, when a method request is received by the method port unit, processing a requested method in the passive execution mode by calling a user-defined method corresponding to the requested method,

wherein, in said passive execution mode, using a finite State machine or a new created thread for processing the input event received or the method requested,

wherein, in said periodic execution mode, the input data is processed periodically by using a single execution thread according to a period and a priority of a corresponding component set in component setting information,

wherein, in said dedicated execution mode, the input data is processed by using a dedicated thread, dedicated to a corresponding component, such that the dedicated thread is suspended after being executed one time, and then re-executed when a resume method is called.

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

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

4. The apparatus of claim 2, wherein in the periodic 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 passive execution mode, the input event is processed by using a finite state machine.

6. The apparatus of claim 1, wherein in the passive execution mode, a new thread is requested to process the input event when a reception thread processes the input event.

7. The apparatus of claim 1, wherein in the passive execution mode, a new thread is requested to process the requested method when a reception thread processes the requested method.

17. The apparatus of claim 1, wherein configuration threads executing one of the robot software components are changed according to a port type of the component.

8. 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 an input data received via the data port in a periodic execution mode or in a dedicated execution mode;

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

processing a requested method call received via the method port in the passive execution mode by calling a user-defined method corresponding to the requested method,

wherein, in said passive execution mode, using a finite State machine or a new created thread for processing the input event received or the method requested,

wherein, in said periodic execution mode, the input data is processed periodically by using a singled execution thread according to a period and a priority of a corresponding component set in component setting information,

wherein, in said dedicated execution mode, the input data is processed by using a dedicated thread, dedicated to a corresponding component, such that the dedicated thread is suspended after being executed on time, and then re-executed when a resume method is called.

9. The method of claim 8, wherein for the periodic execution mode, the period and a priority of the corresponding component are stored in component setting information.

10. The method of claim 9, wherein in said processing the input data in the periodic execution mode, components having an identical period and an identical priority are sequentially processed by using a single thread.

11. The method of claim 9, wherein in said processing the input 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.

12. The method of claim 11, wherein in said processing the input data in the periodic execution mode, an error is reported if the execution thread fails to process the input data according to the period of the corresponding component.

13. The method of claim 8, wherein in said processing the input data in the dedicated execution mode, the dedicated thread is suspended and waits for the resume method call by using a mutual exclusion object.

14. The method of claim 8, wherein in said processing the input event in the passive execution mode, the event is processed by using a finite state machine.

15. The method of claim 8, wherein in said processing the input event in the passive execution mode, a new thread is requested to process the input event when a reception thread processes the input event.

16. The method of claim 8, wherein in said processing the requested method in the passive mode, a new thread is requested to process the requested method when a reception thread processes the requested method.

18. The method of claim 8, wherein configuration threads executing one of the robot software components are changed according to a port type of the component.