The ControlShell component-based real-time programming system, and its application to the Marsokhod Martian Rover

  • Authors:

  • Stan Schneider;Vincent Chen;Jay Steele;Gerardo Pardo-Castellote

  • Affiliations:

  • Real-Time Innovations, Inc. 954 Aster, Sunnyvale, California;Real-Time Innovations, Inc. 954 Aster, Sunnyvale, California;Recom Technologies, 1777 Saratoga Avenue, Suite 206, San Jose, CA;Recom Technologies, 1777 Saratoga Avenue, Suite 206, San Jose, CA

  • Venue:
  • LCTES '95 Proceedings of the ACM SIGPLAN 1995 workshop on Languages, compilers, & tools for real-time systems
  • Year:
  • 1995

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Abstract

Real-time system software is notoriously hard to share and reuse. This paper walks through the methodology and application of ControlShell, a component-based programming system for real-time system software development. ControlShell combines graphical system-building tools, an execution-time configuration manager, a real-time matrix package, and an object name service into an integrated development environment. It targets complex systems that require on-line reconfiguration and strategic control.ControlShell takes advantage of functional object hierarchies to enable code sharing and reuse. It gains flexibility by supporting easy interconnectivity of these objects. It features a unique configuration control system for changing operating modes.The paper concludes by examining the application of this framework to a teleoperated rover under development as a joint effort by NASA, several Russian space research institutes, and US industry. The rover is able to function remotely under control of a virtual reality interface.