AIDE User`s Manual
Contents
1. directory you see on the left is where you can create new projects and save them A typical project may consist of several files containing source files C code header files h extension or library files lib extension Ha hE Piit Vis L sd Heb Hori Corel iD iai Frei pe FIGURE 15 Project Builder start up screen Your first task is to add a new project Select Project 2 Add Project from the menu as shown in Fig 16 You will be prompted for the name of the new project as shown below Fig 17 In this example the name of the project is test dsp The project AIDE User s Manual 15 FIGURE 16 Adding a project name is the name given to the executable for example test dsp out SSS AO H hE Pigil lima ei Hed Hert Corre De mmn Pri ain kemi re io a hi Propecia E rmi FIGURE 17 Naming a new project When you enter the project name and hit OK you will see the project test dsp show up in the directory tree structure as shown below Fig 18 Notice that there are 3 sub directories that are automatically created for the project one each for the source header and library files 16 4 PROJECT BUILDER i pE foe fn Ve Hes Herr Corel DL iai Preci te Beren AI ti utin is qe FIGURE 18 Recently created project Note The default location for these files is specified in the 9 arcsware props file specifically in the Progr2. Use the Or buttons first then you are free to update If you attempt to while the appli cation is running the interface will refuse your request and provide an appropriate warning message As seen in Fig 62 the new display of Available Parameters now shows the new variable freq 48 9 MODIFYING THE APPLICATION FIGURE 61 Updating the Current Application bi Om iri mire ion imans ENTE scales Raids para wee sa 1 issu Flee R mi ds Pas cate am FIGURE 62 New variable req from modification AIDE User s Manual 49 10 Linking Remote Processes Linking an external process to the application running on the ARCS Light ning DSP Board can be easily performed The main steps to link are summarized below 1 Activate the Remote Process 2 Launch AIDE in Remote Mode Start the Hardware Host server and connect the Controlling Client to it 3 Load but do not yet start the desired application to the ARCS Light ning DSP Board 4 Connect the Remote Process to the Hardware Host server 5 Link variables of the Remote Process to variables in the application program Linking a variable means that the value of the Remote Pro cess variable will be synchronized with the value of the corresponding application variable 6 Start the application on the ARCS Lightning DSP Board The details of each step are described below Unless otherwise specified these steps should be issued
3. there may be ap plications already in the Application List or a Current App or even an application currently running You as the current Controlling Client user will be able to use these applications even though you do not have direct access to the executables or the source files gt Tip If you are operating in Remote Mode and do not wish other users to use your applications when your session is fin ished your running application if any and your applications from the Application List prior to conclud ing your session You can continue to add other applications to the list In Fig 29 three applications have been selected As you add each application 24 5 HOST CONTROL hl Hs a luam We Hm Versi Conseil Op mm Fios Pei Beast fue been I Jeri apum a es adc FIGURE 28 Selecting an application to add to the Application List the message window will display the message Application added application name FIGURE 29 Additional applications in the Application List 2 Load the application to the ARCS Lightning DSP Board i e Set the current application a First ensure that the hardware is ready to run an application Press in the Operations panel You will see the follow AIDE User s Manual 25 ing message in the message window Hardware has been rebooted b You may wish to check the communication between the hardware host and hardware see Sec c Select one o
4. 0 7230322 4 15E 5 04 0 7442636 4 15E 5 049999997 0 7641387 4 15E 5 06 0 7833135 4 15E 5 06999999 0 80235374 4 15E 5 08 0 820052 4 15E 5 089999996 0 83753276 Ass FIGURE 53 Sample data acquisition result 41 42 8 MISCELLANEOUS OPERATIONS 8 Miscellaneous Operations In this section some of the various operations which round out a complete development environment are briefly described 8 1 Controlling Displays The Look and Feel of the system can be adjusted on the fly The Look and Feel refers to the windowing operating system which AIDE will re semble Currently AIDE will behave like either a win32 system Windows 95 98 NT or a Motif windowing system AIDE also supports Javasoft s neutral scheme Metal Fig 54 shows how to select the look and feel FIGURE 54 Look and Feel The ability to clear out the message consoles in both the Host Control and the Project Builder views has been provided This can be done with the menu sequences View Clear messagesHardware or ViewClear messages Tool respectively This view is shown in Fig 55 FIGURE 55 Clearing message windows AIDE User s Manual 43 8 2 Saving and Restoring AIDE has the capability to save and restore its local operational state This is done via the File Save orFile 2 Save As Sequences shown in Fig 56 Note this works only if one of the following views is current Host Control On Line Data or Data Acqu
5. ARCS Advanced Realtime Control Systems Inc ARCS INTEGRATED DEVELOPMENT ENVIRONMENT AIDE USER S MANUAL VERSION 1 2 4 March 2001 http www arcsinc com Copyright 2001 by Advanced Realtime Control Systems Inc All Rights Reserved Contents 9 Introduction Overview of ARCS Control System 2 1 Advantages to ARCS Remote Mode Launching AIDE 3 1 Local Mode so ow aa Se BFP AE AA LS SS 3 2 Remote Mode Lair aes as a ee al RA E da 3 2 1 Connecting the Controlling Client to the Hardware Host SERVER DIA AAA AE ADE ra Project Builder Host Control 5 1 Loading an Application 5 2 Starting Stopping an Application 5 3 Check Communication Between the Hardware Host and Hard WATE S heed ena oe b Sc ae ee die Bae dote taa 5 4 AboutlUupdatel On Line Data 6 1 Monitor DSP variables during run time 6 2 Adjust DSP variables during run time Go Plotting Data vxo e ser ca eating uL ese dew Data Acquisition Miscellaneous Operations 8 1 Controlling Displays 4 4 usa uo xo ox WR VR Ro ad 8 2 Saving and Restoring aa aaa e sa we le ono 9 9 POTS Se a aaa ES A RA Se ORE n Modifying the application 10 Linking Remote Processes AIDE User s Manual 1 1 Introduction This is the user s manual for the ARCS Integrated Development Environ ment or AIDE AIDE is a ready to use graphical user interfa
6. O m qm B beris E s j Jungs LE E d nu a rami um O Is Vers carers Ibn a pi FIGURE 35 Selecting a variable for monitoring The selected variable is removed from the Available list and now appears in the Monitored Parameters panel as shown in Fig 36 30 6 ON LINE DATA pi FIGURE 36 Monitored variable You can continue adding other variables for monitoring as shown Fig 37 You can also remove variables by selecting the variable from the Moni tored Parameters panel and clicking on the see Fig 37 This will put the variable back on the Available list Once on the Available list the variable can be selected again for monitoring or adjustment Ha be lm Wem Hle ei ore ll BLLIL dig ee ne aS D mam hm Tia i Vau Tri EBRE Ira a x m eri lar Ka ung em a e haie na pe O ber o Tei aa th D a mm jasa d Es ahorra wie ar A rad A pe a D Wb redi Lama sein ado Cia ew 3 weno m r papm BRA de o dE a H FIGURE 37 Removing a parameter for monitoring There is an additional step for variables of type pointer or array as shown in Fig 38 AIDE User s Manual 31 fag n ecg ami os ees A iz aji te e Ham rm a inda Er am FIGURE 38 Selecting a variable of type pointer or array IS Tip If access is only required for the 0 element use the Assume Zero Offset menu button show
7. ab You can perform the fol lowing operations when you select this tab e Monitor DSP variables during run time e Adjust DSP variables during run time e Plot Data When you click the tab you will see the screen as shown below in Fig 33 peed Diada i a bE lun Vemm hi rin Comi E Pr seni Ber kemma cmn ou desinis armies bim mr Cs Ta O Lr Seri A 2S oh A livres Tes E kr FIGURE 33 Initial On Line Data Screen Double click on the Available Symbols your host PC name will be dis played Expand the directory by double clicking until you see the source file that the controller is executing in the example here this is test dsp c Expand the test dsp c file by clicking on the dot to its left and all available variables will be displayed in the example these are pi amp1 myValue etc as shown in Fig 34 An available variable may then be selected for monitoring or adjusting AIDE User s Manual 29 ES AAS tego Dente E i m lau a Hee Hess core iii aly M Pragas mm Tea FIGURE 34 Listing available variables in the application 6 1 Monitor DSP variables during run time To select a variable for monitoring click on the variable in the Available list myValue in Fig 35 and then click on the double arrows gt gt in the Monitored Parameters panel mga E Fryers Pix D Hm he i ea He led a E Pre baie EL i lcd iden Viri dy MAE Mm mua m are a O Tua T
8. amming Files entry See Sec 3 3 for details on configuration The stan dard header files libraries and default linker command file are found in the dsp directory within the ARCS root direc tory By clicking on the dot next to the project name you can expand the direc tory to see all sub directories or close them The Tool Message will also display the project added message Now that you have created a new project you are ready to add files to this project Select highlight the project you wish to add files to and go to the menubar on top and select Project Add File as shown in Fig 19 AIDE User s Manual 17 FIGURE 19 Adding files to your project In the screen below Fig 20 you will see the source file test dsp c being added from the directory called arcs client Type or select the name of the file and click Open Hm be foe limi Ven Hp Herida De mm ini ci Po TL p uii L sce D sna ii Jumi ke B Lj inmi dro lar rne rau ur darmi FIGURE 20 Selecting the file to add Note that the system automatically defaults to Files of type Source c as shown below You may want to set it to either Files of all type or the specific header or library files 18 4 PROJECT BUILDER Us Tip By using the file extension convention the system will guarantee that all files are properly added to the build specification The Tool Message window will dis
9. another computer If the equipment detects that a part is defective it can broadcast that information to the server and your controller can make the appropriate adjustments 6 3 3 LAUNCHING AIDE Launching AIDE This section describes how to launch AIDE AIDE can be used to control your system and or for project building 1 2 3 US Tip You should be launching AIDE from the com puter you will be using to perform Controlling Function ality see Sec 2 Recall when in Remote Mode you can have the Controlling Client reside on the Hardware Host or on a different computer in your network From the Start Menu Select AIDE as shown in Fig 3 If your machine has been configured for more than one TCP IP net work you will be presented with a screen showing your computer s IP Internet Protocol addresses corresponding to each of the networks to which it can connect as shown in Fig 4 Select the network con nection you will be using for network communication for your control system Note this screen is relevant only if you plan to take advan tage of ARCS Remote Distributed capabilities Next choose the desired mode for the Hardware Host Local Mode or Remote Mode as shown in Fig 5 and follow the steps given in the appropriate subsection of this manual to continue launching AIDE ed FIGURE 3 AIDE Start Menu Entry AIDE User s Manual 7 En Multiple Hetwork Address FIGURE 4 Which netw
10. ation There are three steps to accomplish this 1 Modify your source files 2 Rebuild your project 3 Update your application For this example we have been using an application which generates a sine wave Now we introduce a new parameter freq so that the fre quency can be adjusted via the On Line Data Panel Again use your favorite editor to modify your file After you have modified a file highlight it The file is updated by using the menu Project Update File or using the right mouse button to click Update as shown in Fig 59 fs du Puga li Ven Map Verri Corral iOa Le ini Pri a FIGURE 59 File Update The update is reflected in the message window through the File Updated message shown in Fig 60 Now the project can be compiled or built as shown previously AIDE User s Manual 47 fi E Prosa dam Ven Map bimi Cami Ca je ain 7 i Prii FIGURE 60 Successfully updated file c Tip acts on the currently selected file or folder Therefore the entire project can be updated by selecting the project test dsp in this example and pressing This action will cause all files which are part of the project to be reloaded Now go to the Host Control panel click on Host Control tab and high light test dsp in the Applications panel see Fig 61 and click This will ensure that the latest updates are reflected in AIDE Note You cannot an application while it is run ning
11. ce that can be used to control your system AIDE also provides a project builder for creating compiling and organizing your control applications It is advised that you read Sec 2 even if you do not plan on using AIDE That section provides an overview of the system key terms and a sum mary of the system capabilities Conventions Describe document conventions here e This is a to push e Selecting a menu item under a top level menu entry is denoted by menu entry menu item 2 2 OVERVIEW OF ARCS CONTROL SYSTEM 2 Overview of ARCS Control System Even if you do not plan to use AIDE it will be helpful to read this section as it discusses key terms and descriptions of the system e Hardware ARCS Lightning DSP Board Also referred to as the con troller hardware or just controller e Hardware Host The computer that houses the ARCS Lightning DSP Board e Controlling Functions what you can do with the system include Develop and organize application code for the hardware Project Builder Load an application to the hardware Start stop application Monitor DSP variables during run time Adjust DSP variables during run time Data acquisition Data plotting Check communication between the Hardware Host and Hard Ware Link and coordinate Remote Processes Remote Mode only Controlling Functions can be performed from the hardware host itself or from another computer on the network e The Har
12. cifications for data acquisition need to be adjusted The acquisition can be keyed or triggered from either of the two timer based interrupts Note a call to the data acquisition module in the interrupt service routine ISR is required details are provided in the Programmer s Reference Period is used to specify the number of ISR executions between data acquisitions In this ex ample the timer channel 0 is set to generate an interrupt every 10 mSec By setting the period to 1 data is acquired every 10 mSec If the period is AIDE User s Manual 37 FIGURE 46 Example available symbols set to 12 data would be acquired every 120 mSec Finally the No Points is set This value specifies the number of times the data is measured and recorded After the specification is complete press to setup the data acquisition specification FIGURE 47 Configuring data acquisition It is possible that insufficient heap space was made available for the de sired amount of data to be acquired In this case dialog will be displayed indicating the problem as shown in Fig 48 There are two possible solu 38 7 DATA ACQUISITION tions 1 Reduce the number of points to be acquired 2 Re link the application program with more heap space The Programmer s Reference contains details on estimating the required space and adjusting the available heap space FIGURE 48 Failure of data acquisition configurati
13. dware Host can be in one of two modes Le Local Mode Controlling Functions can be performed only from the Hardware Host itself No networking is involved or permit ted This typical configuration of a PC based motion controller is shown in Fig 1 AIDE User s Manual 3 HostComputer FIGURE 1 Stand Alone Controller System ARCS Local Mode 2 Remote Mode Activates ARCS remote distributed capability in the form of a client server architecture thus enabling network ing among the clients and server This is illustrated in Fig 2 Remote Hard SD OL 1 TCP IP Controlling Monitoring 29929 Monitoring Client w Tools Client 1 Client tn FIGURE 2 Distributed Controller System ARCS Remote Mode lag a In Remote Mode the Hardware Host acts as a server to A Controlling Client which can perform full Controlling Func tions The Controlling Client may be on the same computer as the Hardware Host server or on a different computer in the network One or more Monitoring Clients Monitoring Client s give users on other computer s in the network the ability to ob serve but not control what is going on in the system A Mon itoring Client can just monitor DSP variables during run time and do data plotting 4 2 OVERVIEW OF ARCS CONTROL SYSTEM Any number of Remote Processes These processes broad cast publish information that is picked up and used by the Hardware Host server and the application runn
14. e ARCS Installation Guide From the ARCS root directory type and enter the command HdwHostApp The message as shown in Fig 9 indicates that the server has been suc cessfully started If instead you receive an er ror message it may be that the server was already started LI a eem db dr Tea linii FIGURE 8 HdwHostApp Start Menu Entry l Register the Hardware Host server as follows a Double click in the center of the Network Configurator screen 10 3 LAUNCHING AIDE Hanswure Host ZITCEITE ETUITTT FIGURE 9 Server at hardware host successfully started b Fill in the fields of the dialog box Fig 10 as follows e Type HdwHost in the field labeled Name Enter the URL of the Hardware Host in the field labeled la beled URL Select HdwHost in the field labeled NodeType Select the number of Remote Processes that this Hardware Host server can take information from in the field labeled Receiving Clients If this Hardware Host can also be a Remote Process to an other Hardware Host Server check the box labeled ProvideR emoteNode Click when you are done If the registration of the Hardware Host Server is successful the HdwHost block with the corresponding URL will appear see ex ample shown in Fig 11 The blocks may be moved around by pointing the mouse pointer to the interior of the block and hold ing down the left mouse button D
15. e a file has been saved or the system restored in a session the configu ration has been established for future saves This means that the aspects to be saved and the file to save it in are set For example if the sys tem defaults and the applications are loaded from a file configO7 cfg this will be the assumed information for future save operations Therefore if Filesave is selected the current defaults and the current registered ap plications will be saved in config07 cfg replacing the previous information If File2Save As is chosen the configuration will be the starting point however you will be provided the dialogs to modify these settings US Tip Starting condition The starting condition of the interface is determined by a file default located in the Configuration Files directory This will hold the screen size and location the default plot specification and the current look and feel of the interface AIDE User s Manual 45 8 3 Printing Some printing capability is available Text oriented views from the Host Control On Line Data and Project Builder can be printed Also the plots can be printed gray scale version Fig 58 shows the different printing options Note the current plot is the plot which had the window focus last mos Ti mime i erTi FIGURE 58 Printing from AIDE 46 9 MODIFYING THE APPLICATION 9 Modifying the application During development you may want to modify your applic
16. f the applications in the Application List for loading i e set the current application To do this highlight the applica tion e g test dsp out in Fig 31 and press The message in the window will indicate the change example below Current application changed test dsp FIGURE 30 Checking Communication between Hardware Host and Hard ware 26 5 HOST CONTROL FIGURE 31 Set the Current App As soon as you load an application it is ready to execute and thus the is enabled 5 2 Starting Stopping an Application You can now start the application that has been loaded to the ARCS Light ning DSP Board by pressing Start Once the application is running you can stop it by pressing Stop This is shown in Fig 32 5 3 Check Communication Between the Hardware Host and Hardware You may do this whenever the is enabled Press this allows you to check the communication between the Hardware Host and ARCS Lightning DSP Board If everything is working well you should see the message in the window Communication is working well AIDE User s Manual 27 FIGURE 32 Starting the Application Controller is running the KERNEL This is shown in Fig 30 If an application is running when you make the check the message will also indicate this 5 4 About This handy feature is best described by the example given in Sec 9 28 6 ON LINE DATA 6 On Line Data This section describes the On Line Data t
17. g values 32 monitoring selecting 29 plotting configuration 34 creating 34 pointers 31 starting stopping monitor 32 timed see data acquisition timing 34
18. ing on its ARCS Lightning DSP Board A Remote Process may be running on the same computer as the Hardware Host server or on a dif ferent computer Note A Remote Process can publish information to more than one Hardware Host server Note also that while the Hardware Host acts as a server to the above clients it in turn can act as a Remote Process to other servers thus creating a very powerful and sophisticated dis tributed network 2 1 Advantages to ARCS Remote Mode The possibilities are virtually limitless but here are just a few ways to take advantage of Remote Mode capabilities e Remote Servicing and Repair Diagnose and fix problems from a sin gle location in the network e Remote Monitoring Authorized agents may monitor the exposed components of the controller An agent may be a person such as a factory supervisory who wishes to check the current machine through put or an agent could be an application which monitors multiple ma chines and stores the results in a database e Remote Process Coordination the idea here as illustrated in Fig 2 is that the controller hardware may need to take some action or in some way modify its response based on the results of another process This other remote process could be another controller hardware a AIDE User s Manual 5 vision application a database driven application or any other pro cess For example suppose you have inspection equipment running at
19. is a maximum rate bounded further by network traffic and processor load 52 10 LINKING REMOTE PROCESSES a Click on the RemoteNode Configurator selection tab As shown in Fig 64 The left portion of the panel entitled RemodeNode Parm shows the variables of the Remote Process The untitled right portion of the panel shows all the available global variables from the application Highlight the Remote Process variable of interest then highlight the desired application variable Press Add Change The application variable will appear in the App Symbol panel showing that the Remote Process variable and the application variable will be linked b After all the selections are done press to finalize the linkage Fis Edi Timu ew Hao mid conii der Data rss Seras Cor tent jes Cr nto Fosse eher Leto apani iP MATCH aj Spee A rara Seek ere a peer cee FIGURE 64 Remote Process variable and Host Application Variable Link age 6 Starting Application on Host The application is now ready to be used together with the Remote Pro cess Go back to the Host Control Panel Press to start the application The variables in the host application are now automat ically updated by the remote variables For details please refer to AIDE User s Manual Section 5 53 Index Local Mode 2 Remote Mode 3 Remote Process 4 activating 49 linking w application 51 Remote Processes 49 Look and Fee
20. isition E ANES NE FIGURE 56 Selecting run time save Assuming that the save configuration has not been previously established more on this to follow a Save Options dialog is displayed shown in Fig 57 There are two ways one can interact with this dialog First there are a number of predefined save types selected with the radio buttons For example Online Configuration will save all of the parameters in the monitor and adjustment table plus the update rate pr Droit urinar o eria Cear ram Deniers erdt Us Apra Lanom eee TEn Epiri Appbratirma A Mna pd Pacamei ers Dad Sete FIGURE 57 Run time save dialog box 44 8 MISCELLANEOUS OPERATIONS t Tip When in doubt use Workspace This will save every setting with the exception of networked connec tions this capability is planned for a future release Much fine control over the aspects to be saved is possible with Select In this case the various check boxes are enabled The sys tem will control the availability of individual check boxes for consistency For example will not be able if either or is not selected Restoring from a file is easy First be sure to have one of these views current Host Control On Line Data or Data Acquisition Next use the menu sequence File Open This can be seen in Fig 56 Using the file dialog box select the desired configuration file The system will automatically be configured Onc
21. l 42 appearance 42 applications Remote Processes see Remote Process building 14 current 25 naming convention 15 restoring 44 saving 43 customizing 44 options 43 starting 26 stopping 26 updating 47 variables see variables ARCSRemoteProcessClient linking 49 arcsware props 12 compiler messages 18 compiling a file 18 controller check communication 26 current application 25 loading application 23 rebooting 24 remote applications 23 starting applications 26 stopping applications 26 Controlling Client 3 8 Controlling Functionality 2 data acquisition 36 application requirements 36 configuring 36 enabling 36 heap 37 memory 37 sample output 40 saving 40 selecting variables 36 starting 38 stopping 39 timing 36 file locations 12 Hardware Host 2 Hardware Host Server 3 launching Local Mode 7 Remote Mode 8 linker messages 18 linking a project 19 messages clearing 42 Monitoring Client 3 printing 45 projects adding 14 adding files 16 building 19 compiling 18 compiling results 18 editing files 46 linking 19 linking results 18 naming convention 15 opening 21 saving 20 templets 21 updating files 46 updating many files 47 remote processes connecting 50 54 AIDE User s Manual 55 Starting Hardware Host Server 9 system preferences saving 44 user preferences 12 variables 28 accessing 28 available 28 changin
22. n below This will avoid the additional dialog box t View Help cm m nam Doa fecais mos CT TT ad all empti ca ir dupla im Caution There is no boundary check made for pointers or arrays Incorrectly accessing read or write memory can CRASH the controller card So make sure you are specifying the correct offset location Note Since more than one parameter can be ac cessed via a single array or pointer the symbol IS NOT removed from the available list when an entry is estab lish for either monitoring or adjusting At any time the button can be pressed If the application is run ning the monitored variables will be displayed immediately as shown in 32 6 ON LINE DATA Fig 39 Otherwise the data will be displayed when the application is started 6 2 Adjust DSP variables during run time You can change the value of a variable on the fly i e as the application is running To select a variable for adjustment click on the variable in the Available list and then click on the double arrows gt gt in the Adjustable Parame ters panel The selected variable is removed from the Available list and will then appear in the Adjustable Parameters panel In Fig 39 the variable run is added to the Adjustable Parameter panel Other variables can be added or removed from either the Monitor or Ad justable Panels at anytime Removing a variable means putting it back on
23. on When the configuration is successful the is enabled as shown in Fig 49 Now the acquisition may be started at any time by pressing Start AIDE User s Manual 39 anfi LU ELLA dae e lar FIGURE 49 Successful data acquisition configuration Immediately upon data acquisition start data is acquired AIDE enables the button shown in Fig 50 This button will terminate the data acquisition without completing the specified number of points FIGURE 50 Stopping data acquisition After acquisition begins AIDE periodically queries the dsp application program to determine when acquisition has terminated Note termina tion can occur if either the specified data has been collected or because a stop command has been issued Once termination has been detected the 40 ATA ACQUISITION button is enabled as seen in Fig 51 FIGURE 51 Saving data from acquisition A familiar file dialog box Fig 52 is provided to specify the file name and location for the data FIGURE 52 Dialog box for data file A sample of the data collected from this program is shown in Fig 53 The first column of data is the time relative to the start of the acquisition The parameters are columnated in the order in which they appear on the specification table AIDE User s Manual OOO OOOO OO c 20 0 6566624 2 0599999E 5 01 0 6791898 4 15E 5 02 0 70179075 4 15E 5 03
24. on the Controlling Client computer 1 Activating Remote Process The activating steps must be issued on the computer the Remote Process will execute For details on how to write a Java program for the Remote Process interface refer to the Programmers Reference Manual a A java remote process service must be established so that it can broadcast publish variables from any Remote Processes execut 50 10 LINKING REMOTE PROCESSES ing on that computer Start the RMI service that comes with JRE by executing the rmiregistry exec b For each Remote Process to be activated on this computer type java lt classname gt where classname is the Remote Process java class name 2 Launching AIDE Follow the steps in Section 3 Section 3 2 and Section 3 2 1 3 Loading but not yet starting the Application to ARCS Lightning DSP Board Refer to Section 5 9 Caution Important Do not press the Start button yet 4 Connect Remote Process to Hardware Host server Go back to the Network Configurator panel and follow the steps be low a Double click on an empty space in the screen This will bringup a dialog box as shown in Fig 10 except now you will be registering the Remote Process instead of the Hardware Host server e Type the name of the Remote Process in the field labeled Name e Enter the URL of the computer on which the Remote Process will be executing in the field labeled URL e Select Remo
25. op an application e Check communication between the Hardware Host and Hardware When you select the Host Control tab you will see a screen as shown in Fig 27 ii Tem ae imarizanm tine ala 5 or Bida ore ted eee aa Dial dn Bram Chri FIGURE 27 Initial Host Control Screen In the Applications panel of this screen you will notice that the only en abled button is Add This is because there is no application currently loaded to the ARCS Lightning DSP Board AIDE User s Manual 23 5 1 Loading an Application Loading an application to the ARCS Lightning DSP Board is a two step process 1 Add the application to the Application List if it is not already there and 2 Load set the application 1 Add application to Applications List When you add an application to the Applications List a copy of the code is sent over to the Hardware Host One of the advantages of having an Application List is that any user who becomes the current Controlling Client of this Hardware Host will be able to use any appli cation in this list This advantage is available when Hardware Host is in Remote Mode To add an application select from your directory the application you want to add Then press to add the application to the list In Fig 28 the file test dsp out is selected from the directory arcs client Note If you are running the system in Remote Mode and there was a previous Controlling Client user
26. ork do you wish to use JESH ratios FIGURE 5 In which mode Local Mode or Remote Mode do you wish the Hardware Host to be 3 1 Local Mode Note for Remote Mode operations see Sec 3 2 Your initial display will be the Host Control panel as shown in Fig 6 8 3 LAUNCHING AIDE A A ii ei F TI FIGURE 6 Initial Screen for Local Operations 3 2 Remote Mode The first screen that will be displayed is the Network Configurator as shown in Fig 7 It shows you as the Controlling Client If you intend to use only the Project Builder function at this computer you can skip this screen as well as the steps outlined in Sec 3 2 1 H laa vm a VERAS 8 er ee iia leer tire Er Jal a re vasa iens FIGURE 7 Initial Screen for Remote Mode Operations AIDE User s Manual 9 3 2 1 Connecting the Controlling Client to the Hardware Host server Caution If it hasn t already been started start the server at the Hardware Host This can be done by one of two methods Either method must be done on the Hardware Host computer itself e Start Server Method 1 press the Hardware Host selection as illustrated in Fig 8 The message as shown in Fig 9 indicates that the server has been successfully started If you do not get this mes sage it may be that the server was already started Start Server Method 2 Go to the ARCS root direc tory The root directory was specified during the ARCS installation Se
27. play the message indicating the file has been added as seen in Fig 21 FIGURE 21 File successfully added You can add other files to this project as needed In the screen shown in Fig 22 several header and library files have also been added Remember that by clicking on the dot you can expand the tree associated with any directory or sub directory By highlighting a particular file test dsp c in Fig 22 and clicking the right mouse button you can display the options available for operations on that file as shown in Fig 22 In this case Compile has been selected for compiling test dsp c The messages from the compiler are shown in the Tool Message window If your compilation is unsuccessful as is the case in Fig 23 shown be low examine the Tool Message screen where the compiler messages are reported The screen in Fig 23 below shows that the compilation is unsuc AIDE User s Manual 19 s pE ee i Wwe Map Herri Corre Da Lame Oats Premiado kemma rose na wr a Ji FIGURE 22 Compiling the selected source file cessful because the include file interrupt h the cursor points the specific message could not be found fj be Puga le Ven Hale biri lore mf mem ee FIGURE 23 Unsuccessful compilation Now the missing header file is added to the project The various tool actions can alternatively be reached from the the menubar In Fig 24 the project test dsp is selected and Project Build i
28. rag the block to the desired location and then double click on the block again to finalize on the new position If the Hardware Host has not been successfully registered the AIDE User s Manual 11 Name Doo URL o O Node type HdwHost v onnections 0 Receiving clients _ Provide RemoteNode FIGURE 10 Registering Hardware Host Server Dialog Em vos Tos View ai IE LL LLL lada DOS O O Td a ra FIGURE 11 Example showing Hardware Host Server successfully regis tered HdwHost block does not appear this could mean that the hard ware host server has not been started or the URL was incorrectly specified or the TCP IP connection to the network that you said you would use is not currently active 2 Next connect the Controlling Client to the Hardware Host server by placing the mouse pointer directly over the right connector of the HdwHost block Click and drag a line over to the left connector of the Controlling Client block Release mouse After the hour glass disappears the line connecting the two blocks should remain intact as shown in Fig 12 Note if the HostControl tab on this screen is 12 3 LAUNCHING AIDE not lit after the line is intact it means that the Hardware Host is not available for your control For example someone else may be controlling the hardware host Ei To View aig A mentale ere ae 1 hc ha da ni A FIGURE 12 HdwHost connection completed 3 3 User Prefe
29. rences You may wish to configure your system to start with specific locations for different files These locations can be changed by either editing the file arcsware props in either the current directory or in your home directory or by using the interface To use the interface select File Preferences is run as shown in Fig 13 The dialog box shown in Fig 14 is displayed Any changes made in this dialog box will take effect the next time this program f Note An initial arcsware props file was created during system installation Refer to ARCS Lightning Hardware and Software Installation Manual Now you are ready to run existing control applications or create new ap plications AIDE User s Manual 13 FIGURE 13 Selecting the Aide Preferences dwserstibbetsrarcsclientisre MATTE EN FIGURE 14 Changing the Aide Preferences 14 4 PROJECT BUILDER 4 Project Builder You will see several panels displayed on top of the AIDE Graphical User Interface In this section we will focus on the Project Builder which helps you create control programs and compile them Due to the wide variety of preferences in editors and their wide availability the AIDE does not have any internal editing capability You should just use the editor which you are most comfortable Click on the Project Builder Tab on the screen You will see the Project Builder screen as shown in Fig 15 The My Projects
30. s chosen to complete the compilation and linking process 20 4 PROJECT BUILDER FIGURE 24 Starting the build The results of the build process are shown in the Tool Message window shown in Fig 25 A successful build is indicated pointed to by the cursor fj dus Puga le ee Hel bimi Careri e mm oni Prsmci ater FIGURE 25 Project build results When you have finished you can save the entire project tree using the File2Save command on the menubar as shown in Fig 26 for future use AIDE User s Manual FIGURE 26 Project tree save menu 4 Caution The save operation only saves the paths to the files in your project If you move your files the links will no longer work When opening a project tree File Open com mand relocated files will not be found and not be added to the projects A message in the Tool Message Window will be provided US Tip Instead of creating a project from scratch modify an existing project Simply load a saved project tree rename the project select the project right click the mouse and chose Rename and add remove the required files Finally use File Save As to save your new project 21 22 5 HOST CONTROL 5 Host Control This section describes the Host Control tab You can perform the follow ing operations when you select this tab e Load an application to the ARCS Lightning DSP Board i e to the Hardware e Start St
31. teNode in the field labeled NodeType e Ignore the remaining fields of the dialog box e Click when you are done A block with the named Remote Process will appear on the screen If it does not you may want to check the TCP IP connection that you are using for control communication AIDE User s Manual 51 b Next connect the Remote Process to the Hardware Host server by placing the mouse pointer directly over the left connector of the HdwHost block Click and drag a line over to the right con nector of the Remote Process block Release mouse After the hour glass disappears the line connecting the two blocks should remain intact as shown in Fig 63 Note also the Remote Node Configurator selection tab is now enabled If not try drawing and dragging the line again ARCS Integrated Development Lasica ADE RER mis Ed Toms View be Howl Crrergi Crise Conta Pmi Biter Remnshone Cari gsrrtr Piston Confguraia Iira AC mirai FIGURE 63 Remote Node Connection Screen 5 Linking Remote Process variables to Application Variables Variables published by the Remote Process can be linked to any global variables of the application running on the ARCS Lightning DSP Board see Programmer s Reference Manual for details The maximum rate of synchronization can be specified in milliseconds in a field named REMOTE_NODE_UPDATE in the arcsware props file Arcware props is created during the ARCS installation This rate
32. the Available list Once on the Available list it can be selected for monitoring or adjustment LR LIE eram Tes alan gt ala a T UE iei FiGURE 39 Adding variable for adjustment To change the variable do the following AIDE User s Manual 33 1 Highlight the variable in the Adjustable Parameters panel 2 Click on the variable s Value 3 Type in the new value and hit Enter Fig 40 4 IMPORTANT press in order for the change to take effect Fig 41 alternatively you can hit Enter twice E beter B maa B nd TE em Verl narii FII EE dd d merged aur rend Ful wh pu a mr clamd gets Fu a nas FIGURE 41 Setting the value of an adjustable parameter 34 6 ON LINE DATA 6 3 Plotting Data You can plot the values of a monitored variable The Update sec field in the Monitored Parameters panel is the rate at which the variable is sampled for plotting This rate can be changed Fig 42 a b and c show how the plots change as the sampling interval Update sec goes from 1 0 sec to 0 2 sec a Update 1 0 sec b Update 1 0s gt 0 2s c Update 0 2 sec FIGURE 42 Plots illustrating Update time To plot select the variable in the Monitored Parameters panel and right click the mouse button There are two plot options Plot and Advanced Plot Fig 43 Selecting Plot will use the plot configurations specified in
33. the Tools menu option Plot Config When Advanced Plot is selected you can tailor the plot for this monitored variable variable The screen shown in Fig 44 will be displayed Advanced Plot allows you to tailor your plot AIDE User s Manual 35 FIGURE 43 Plotting a monitored variable FIGURE 44 Options available in Advanced Plot 36 7 DATA ACQUISITION 7 Data Acquisition The AIDE provides a built in interface for the data acquisition system which may be compiled into a particular application program Please see the Programmer s Reference for details on building programs with the data acquisition module The first step to acquire data is to enable the Data Acquisition panel This step is shown in Fig 45 Simply select the check box area of the Data Acquisition menu entry Also the application program MUST be started prior to configuring the data acquisition Tas vem Hot FIGURE 45 Enabling data acquisition The tab of Data Acquisition panel will now indicate an active panel By selecting this panel one sees a layout similar to the On Line Data panel Again all exposed variables can be seen in the Available Symbols tree by selecting the desired folders The interesting module for the example program is shown in Fig 46 Similarly you can choose the desired variables for data acquisition Fig 47 shows two variables selected wave and execTime Next the spe
Download Pdf Manuals
Related Search