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ROS code generator and code generation method based on formal model

A code generator and code generation technology, applied in the direction of model-driven code, parser generation, creation/generation of source code, etc., can solve the problem that the formal detection function of model and operation code has not been supported, and avoid easy introduction. Error, improve efficiency, improve the effect of accuracy

Active Publication Date: 2019-08-09
CAPITAL NORMAL UNIVERSITY
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Problems solved by technology

However, the code conversion unit is only responsible for extracting the business logic code embedded in the model and placing it in the corresponding part of the generated skeleton, and the strict formal detection function for the model and operation code has not yet been supported

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  • ROS code generator and code generation method based on formal model
  • ROS code generator and code generation method based on formal model
  • ROS code generator and code generation method based on formal model

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Embodiment Construction

[0028] specific implementation plan

[0029] The technical solutions of the present invention will be further described below in conjunction with the accompanying drawings and examples of implementation.

[0030] (1) Implementation platform

[0031] The formal modeling tool used in the present invention is UPPAAL, which is suitable for systems that can be described as a product of non-deterministic parallel processes. The generated code is used on the ROS platform under the Linux system to test its correctness and effectiveness.

[0032] Such as figure 1 As shown in , firstly, the timed automaton model describing the timing control of the robot system is input into the code generation tool, and secondly, the parser in the code generation tool extracts the data elements in the model and thus builds a series of data tables; Next, the logic controller defines a series of mapping rules related to the conversion control logic of the model according to the data elements in the da...

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Abstract

The invention discloses an ROS code generator based on a formal model. The ROS code generator is composed of four parts of an input module, a Java parser, a logic controller and an output module. Theinvention further discloses an ROS code generation method based on the formal model. The method comprises the following steps: S1, establishing a model; S2, analyzing the model data and constructing adata table; S3, defining a mapping rule from the model to codes; s4, code generation is carried out. The method has the advantages and effects that: according to the method, the executable C++ codescan be quickly and efficiently generated from the timed automaton model verified by the UPPAAL tool, so that the situation that errors are easily introduced into handwritten codes is avoided, the codegeneration efficiency is extremely high, the accuracy is improved, and the software development period is shortened.

Description

technical field [0001] The invention relates to a ROS code generator and a code generation method based on a formalized model, which is an automatic code generation technology in the field of software development, and is mainly used in the automatic realization system from design model to code of high reliability robot system, It belongs to the field of software development. Background technique [0002] In recent years, robots have been widely used in various industries and fields of life, which has greatly promoted the development of society. However, while robots are promoting the rapid development of society, there are also many potential safety hazards, which requires the development of robot systems to meet their strict safety and reliability requirements. [0003] A typical approach is to use model verification techniques to verify the security requirements and behavior specifications of the system. This method first uses timed automata to model the internal interac...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06F8/30G06F8/35
CPCG06F8/315G06F8/35G06F8/37
Inventor 王瑞张芮关永李晓娟施智平李欣欣
Owner CAPITAL NORMAL UNIVERSITY
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