Design And Implementation Of The Trace And Debug Tool In RTAI-based CNC System

Based on the study of computer numerical control (CNC) system on RTAI platform, this dissertation discusses the design and implementation of the trace and debug tool, which is an important tool of LT-CNC system. According to the actual needs of the topic, the dissertation presents a trace and debug model for real-time task in RTAI-based CNC system, with the inter-process communication of RTAI and ring buffer technology. The model can trace real-time task dynamically, and obtain the useful debug information to analyze. The impact on performance of real-time task is as little as possible in tracing and is null when no tracing. On the basis of the above model, the dissertation has fulfilled the design and implementation of the trace and debug tool, which has been applied to LT-CNC system successfully. Now the system runs smoothly. This dissertation is mainly focused on solving the following problems:1.Design of the trace and debug model for real-time task of RTAI. With the inter-process communication of RTAI and ring buffer technology, this dissertation presents a trace and debug model for real-time of RTAI. It includes real-time trace module, real-time trace patches, user trace program and trace analysis module. The model is feasible and convenient throught experiments.2.Design and implementation of the data manipulation APIs. According to the needs of debugging controller software, data manipulation API library encapsulates a set of APIs of operating shared memory to transfer trace data from kernel space to user space.3.Design and implementation of the trace and debug tool in the LT-CNC system. The trace and debug tool includes trace module and data analysis module. Trace module obtains the trace data and saves them to log files. Data analysis module shows the trace data to the unique graphics way. It consists of one main module and six sub-modules. They provide a detailed analysis of the trace data to facilitate the developer to debug.