High Tech Seat in mruby

2016/09/10 Yurie Yamane

About Me

•Yurie Yamane

•@yuri_at_earth

•TOPPERS Project

•SESSAME

•野良(NORA) mrubyist

What's Sessalet?• Sessalet(せされっと)

• SESSAME + Washlet -> Sessalet

• LEGO Mindstorms

• EV3RT(TOPPERS HRP2 kernel)

SESSAME

http://www.sessame.jp/

25th Open SESSAME SeminarUML2.0 State Machine Diagram design

Seminar~ Let's design the "executable" model ~

Society of Embedded Software Skill Acquisition for Managers and Engineers

Team Sessalet

• Toshihiro Shima(model) http://saltheads.blog134.fc2.com/archives.html

• Noboru Watanabe(hardware) comming soon :)

• Yurie Yamane(software)

Why Sessalet?• the best model for State Machine Diagram

• nested states(状態が入れ子になっている)

• Orthogonal State(直交状態をもつ)

Ref:State Machine Diagram Design Seminar

State Machine Diagram

✅analysis model? 　design model?

variability • State Machine Diagram • ステートマシン図、状態マシン図、状態機械図

• entry • 入場、入状、entry

• trigger • トリガー、トリガ、イベント

Beautiful code, beautiful model• Is this correct? • Is this beautiful?

Let's write start point

Sessalet Analysis Model

Sessalet Analysis Model

Sessalet Analysis Model

Sessalet Analysis Model

Sessalet Analysis Model

Implementation

RTOS : EV3RT

What's RTOS?

• not Throughput

• guarantee of deadline

• TOPPERS（Toyohashi OPen Platform for Embedded Real-time Systems）

• TOPPERS’ Products

• RTOS(Real-time OS) Kernel

• AUTOSAR(OS, middleware, tool etc...)

• other tools

• TOPPERS + TSUBAME(swallow) -> TOPAME

TOPPERS Project

TOPAME

http://toppers.jp/en/index.html

Who uses TOPPERS?

http://ev.nissan.co.jp/LEAF/?pfa=01http://www.ricoh.co.jp/printer/sg/3100ke/

http://www.korg.com/jp/products/dj/electribe/http://music.casio.com/ja/products/digital_pianos/ghs/products/

https://en.wikipedia.org/wiki/H-IIBfrom: http://toppers.jp/applications.html

TECS

TOPPERS Kernel Roadmap

ATK1 ATK2 ATK3?

FMP3

HRP3

ASP3

2000 2010 2020

1st generation 3rd generation2nd generation

ITRON

Automotive

FDMP

HRP

FI4

JSP

ASP Safety

HRP2FMP

ASPSSP

SSP3

20152004https://www.toppers.jp/docs/conference/2016/toppers-conf16_takada.pdf

TOPPERS EV3RTunprivileged mode (user mode)

privileged mode (kernel mode)

http://dev.toppers.jp/trac_user/ev3pf/wiki/WhatsEV3RT

ApplicationTask Task

mruby for TOPPERS

Application

Task Task Task

Load Ruby file

app

Use EV3 Hardware in Ruby

mruby-ev3rt

mruby-Sessalet

app

Use RTOS Task in Ruby

mruby-ev3rt

app

app

Priority

main_task

flush_task

seat_task

HIGH priority

LOW priority

demo

Conclusion

• Let's design the "executable" model

• Let's write mruby code on RTOS

Thank you!

ZZZ...

You can contact us on Twitter: @yuri_at_earth Special Thanks to: @saltheads, Noboru Watanabe ワタナベ技研(https://www.facebook.com/watanabegiken/)