We are now at the finish!
The distributed logic developed in Yakindu is nearly finished. We are now also finishing the MQTT based communication between the components. Valudation and verification helped us to find design errors in the developed protocol! IncQuery and VIATRA really helped our work. The integration testing of the distributed protocol will be conducted tomorrow, stay tuned!
The hardware system is also under design. Many of the components have already produced and integrated, most of the BeagleBone devices are built into the system. Now, we have som problem caused by a short circuit, but hopefully we will solve also these problems in the next few days!
Computer vision can recognize the movement of the trains and also the EMF metamodell is developed to feed the VIATRA-CEP engine with complex events. Our contribution to the open-soruce complex event processing engine is on the way, we have used some cool formal stuff to enhance the language and also the execution. New timing extensions can be used in the language and the semantics were also changed. Our improvements will probably be presented at the 1st Workshop on Monitoring and Testing of Cyber-Physical Systems , we have sent an abstract there. So hopefully we can meet at the CPS Week in Vienna!
We have some problems with the real-time chip of the BeagleBone, so we now plan to use a real-time operating system in the BBB-s and we will use the runtime monitors on the application processor.
Our Lego robot used to help the transportation is also under development. Computer vision was tested and the controller is also finished. However, we are now debugging the MQTT communication between the components.
OpenModelica models are used to simulate the movement of the robot. We can predict not only the movement of the robot, but also the validate the commands we plan to send!
After this hard working weekend, we plan to integrate the components together! Follow our work in this blog, and watch the pictures and videos here!