Data Communication Support for Reusability of RT-Components – Converter Classification and Prototype Supporting Tool –
Tsuyoshi Suenaga, Kentaro Takemura, Jun Takamatsu,
and Tsukasa Ogasawara
Graduate School of Information Science, Nara Institute of Science and Technology, 8916-5 Takayama, Ikoma, Nara 630-0192, Japan
In RT-Middleware, a data-centric communication pipeline between RT-Components called Data Port is designed for improving software reusability. OMG standardization such as the Robotic Localization Service is also promoted. However, the actual I/O specification is different in each developer. In this paper, we first enumerate all connection patterns of possible communication by adjusting protocols. We then propose a supporting tool for flexible data communication. The proposed tool generates source code based on information on the desired conversion. We actually implement the prototype tool of the automatic source code generator and evaluate it.
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