A Framework for Design and Implementation of Control Software

J. Estrela da Silva (Portugal)


Software Methodologies, Applications, Software forDistributed Systems.


This paper describes a framework which was used in the implementation of software for the control of autonomous vehicles and whose principles could make it suitable for other kind of applications. The framework acts as a layer over the operating system, hiding its relative complexity from the developer. The framework is based on a location transparent multicast message passing paradigm. This mechanism is valid for communications between modules residing on the same processor or on different machines, making it also a candidate for distributed systems. The current version of the framework is implemented over the QNX 4.25 real time operating system.

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