Reconfigurable Communication Interface Between FASTER and RTSim

Dec0907

Team MakeupTeam Members:

Matthew McCollumMark KrauseDerek Keibler

Tyler Gustafson

Faculty Advisor:Dr. Steward

Client:John Deere

(Mark Klocke)

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Problem RTSim system was not easily configurable• Each simulation’s inputs & outputs had to be hard coded• Existing modules were interfaced directly to the virtual

reality module, limiting modularity Difficult to create/setup different simulations RTSim was not easily extendable to additional

modules

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Solution/Deliverables Create a new reconfigurable interface

• To control a variable number of inputs & outputs of modules and CAN bus• To handle a variable number of modules

A way to create/save/load different configurations (RTSim CoCoA)

Modify existing modules to comply with new reconfigurable interface solutions

Create documentation for future module development

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Requirements Interface shall have reconfigurable communication protocol

between current and future modules Interface shall conform to CAN standards (SAE J1939 and

ISO 11783) RTSim CoCoA shall allow users to:

• load/filter a CAN database• load resource files• create connections between resource and CAN inputs/outputs• create configurations for the Reconfigurable Interface• save/load settings for various interface configurations and CAN input/output

connections

Interface shall be able to interpret/use the configuration files

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Operating Environment Windows environment with JRE 6 and the .NET

framework

CAN-USB connection between Reconfigurable Interface and a CAN bus

TCP/IP network between Reconfigurable Interface and modules

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Project Schedule Familiarized ourselves with the original system Created ‘prototype’ to show our understanding

• Updated old interface to read a speed CAN message• Updated old simulation model to use speed

Created operation process Created “Resource” and “Config” file format Created RTSim CoCoA Attempted to update old interface Created new interface Tested entire system

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System Block Diagram

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Process ExampleDev. A (VR Lab)

Dev. B (Dynamic Analyst)

VR Simulation Setup

VR

VR Resource File

Model B

Dynamic Simulation Module

DSM Resource File

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Process Example Continued

VR

Model B

VR Resource File

DSM Resource File

CAN DatabaseCAN Log User (e.g. PV&V)

CoCoA

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Config. File

Process Example Continued

User (e.g. PV&V)

Interface

CoCoA

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CoCoA User Interface

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Reconfigurable Interface Class Diagram

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I/O Specifications Input configuration file is in XML Socket connections:

• have an unique port• send/receive byte arrays of a predefined size• output data on a specified interval

CAN messages:• sent on a 20ms interval• Received continually

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Test Plan CoCoA will mainly be tested through Scenario Testing• Load/Filter a CAN database (view CAN messages in window)

• Load a Resource file (view resource and packet info in window)

• Make connections (view the connections in window)

• Create a config file (look through output .xml file)

Modules will be tested with a simple server program• Confirm server accepts connection from the modules (view screen output)

• Confirm server sends a set packet correctly (view screen output)

• Confirm server data received from the module (view module output)

• Confirm module sends a set packet correctly (view screen output)

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Test Plan Continued Interface will be tested with simple modules• Configuration reading will be tested using various config files• Simple modules will have expected inputs• Simple modules will print out sent/received data• Compare expected with sent/received data

Complete system will be tested by combining the interface and all modules in order to run a VR simulation• View the VR monitor• Drive the tractor

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Implementation CoCoA:

• Java (Eclipse)• Swing controls for GUI creation• XML reading/writing• Some design patterns used:

• Adapter/Wrapper• Observer• Iterator

Modules:• Dynamic Simulation Model - C (MatLAB)

• Changed from server to client architecture• Integrated conversion logic of old interface

• Steering Wheel Module - C++ (Visual Studio)• Integrated steering logic from old interface• Added client architecture

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Implementation Continued Interface:

• C# (Visual Studio)• Server component

• Each module has its own ‘server’ thread• Configuration (XML) Reader

• Uses LINQ (Language Integrated Query)• CAN component

• Sends CAN messages onto the CAN bus• Receives and filters CAN messages from the CAN bus

• Some design patterns used:• Adapter/Wrapper• Observer• Iterator• Scheduler

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Obstacles Learning curve for CAN usage

Building on top of an existing project

Incompatible compiler versions

Bit manipulation in a high level environment

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Lessons Learned Project scope can be difficult to define with few

requirements Vague project scope can lead to feature creep

and create planning risks Starting from scratch can be better than reusing

existing projects Broadened knowledge of different programming

languages Professional relationship with an industrial client

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Test Results CoCoA testing:

• Went through several iterations as Resource and Config file formats evolved

• Config files were created correctly for given configuration setups

Module testing:• Performed client operations as expected

Interface testing:• Performed server type operations as expected

System testing:• A tractor was simulated and steerable• More extensive system testing is not possible with the

resources available to us

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Future Work What we have left:

• Meet with John Deere to demonstrate• Deliver project to John Deere

o Executableso Source codeo Manualo Example/existing modules (if desired)

Possibility for future projects:• Resource file creator/viewer• Unit conversion for connections

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Summary The RTSim CoCoA allows quick and simple

creation of simulation configurations

Increased modularity of the Reconfigurable Interface design allows for easy addition modules

John Deere will now be able to easily create and run various simulations

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Questions

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