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<H1><A NAME="SECTION00200000000000000000">
RTiC-Lab for the Impatient</A>
</H1>
<P>
Controller implementation in the Real Time Controls Laboratory
(RTiC-Lab) entails the creation of two distinct files in the ``<TT>user</TT>'' directory in the main source tree of the RTiC-Lab source
distribution. These are used to define two distinct parts of a
controller: the <I>embedded</I> part (the part that must meet hard
deadlines) and the <I>reactive</I> part (the part that interfaces to
the user via a graphical user interface) in accordance with the Real
Time Linux paradigm (
<A NAME="tex2html24"
HREF="http://www.rtlinux.org"><TT>www.rtlinux.org</TT></A>
). The files and their use are enumerated in what
follows:
<P>
<OL>
<LI><TT>user_controller.c</TT>: code written in this file is
run in the embedded real time controller. For example, a user
may write a PID controller to run in this file. Then, via the
use of some pre-specified tokens, the user can update and
retrieve information passed to and from the reactive systems.
<P>
</LI>
<LI><TT>user_GUI.par</TT>: this file is based on a simple
scripting language designed explicitly for RTiC-Lab. It allows
the users to easily design the graphical user interface which
will be used to pass parameters to the real time tasks. It
also allows the user to bypass some RTiC-Lab default values
and features<A NAME="tex2html23"
HREF="footnode.html#foot821"><SUP>2.1</SUP></A>.
</LI>
</OL>
<P>
Then, the entire RTiC-Lab source tree is recompiled with these files
within the source tree. Upon completion of the compilation, two files
will be generated:
<P>
<OL>
<LI><TT>rtic.o</TT>: this is the embedded part of the
controller. This must be inserted into kernel memory.
<P>
</LI>
<LI><TT>xrtic</TT>: this is the graphical user
interface. Through this interface, the user can update
parameters, start tasks, stop tasks, change run-time
frequency, sample data, store data to disk, and plot data.
</LI>
</OL>
<P>
Several other utilities will be created for the benefit of
the user:
<P>
<UL>
<LI>
<A NAME="tex2html25"
HREF="../man/rtlinux.1.html"><TT>rtlinux</TT></A>
: this is perhaps
the most useful utility. It is used to insert, remove, and check the
status in kernel space of all of the RTLinux modules as well as to the
user's <TT>rtic.o</TT> module. Please refer to the
<A NAME="tex2html26"
HREF="../GettingStarted/GettingStarted.html">Getting Started with
RTLinux</A>
document supplied with your <I>RTLinux 3.0 CD</I>CD.
<P>
</LI>
<LI><TT>relog</TT>: this script reinitializes the logging
capabilities of Linux. Most users will never have to use this script file.
<P>
</LI>
<LI><TT>mkrtf</TT>: this script file is used to create the real time
FIFOs. Assuming that Real Time Linux was installed correctly, users
will never have to use this particular script file.
</LI>
</UL>
<P>
In the following subsections, the information will be presented
necessary to get started using the RTiC-Lab software.
<P>
<BR><HR>
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<LI><A NAME="tex2html221"
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<LI><A NAME="tex2html222"
HREF="node12.html">Installing from CD</A>
<LI><A NAME="tex2html223"
HREF="node13.html">Installing from the Web</A>
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<BR>
<LI><A NAME="tex2html224"
HREF="node14.html">Initializing the Source Tree</A>
<LI><A NAME="tex2html225"
HREF="node15.html">Compiling</A>
<LI><A NAME="tex2html226"
HREF="node16.html">Inserting <TT>rtic.o</TT></A>
<LI><A NAME="tex2html227"
HREF="node17.html">Running <TT>xrtic</TT></A>
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HREF="node18.html">Removing <TT>rtic.o</TT></A>
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<ADDRESS>
Michael Barabanov
2001-06-19
</ADDRESS>
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