Microsoft Robotics Studio

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Robotic Studio

CCR

Concurrency and Coordination Runtime

DSS

Decentralized Software Services

VPL

Visual Programming Language

VSE

Visual Simulation Environment

Que es una aplicación de Robótica?

MotorBumper 1

(Sensor)

Orchestrator

MotorBumper 2

(Sensor)

Infrared

detector

(Sensor)

Message

Box

(Actuator)

CCRCoordination and Concurrency Runtime

CCR = 3 en 1var portInt = new Port<int>();

portInt.Post(10);

Console.WriteLine(portInt.ItemCount);

Dispatcher dispatcher = new Dispatcher();

DispatcherQueue taskQueue = new DispatcherQueue(“cola", dispatcher);

Arbiter.Activate(

taskQueue,

portInt.Receive(delegate (int item) {

Console.WriteLine("Received item:" + item);

}

));

// Continúa la ejecución en paralelo

Performance ?

Service-to-Service message throughput:

Same process (with full cloning): 50,000 msgs/second

Cross node, cross machine: 3,000 msgs/sec

Numbers from dual core 1.8GHz, 2GB RAM

CCR PrimitivesSingle item receiver

Executes code when a message arrives

Choice arbiter

Chooses one receiver (join or single item) from many, across different ports, executes only first one with conditions met, discarding others

Join expressions

Static join expressions

Dynamic over a runtime specified number of ports and messages

Interleave arbiter

Teardown group, Concurrent Group, Exclusive Group

ChoicePortSet<int, string> port = new PortSet<int, string>();

Activate(Arbiter.Choice(port, MyIntHandler, MyStringHandler)

);

void MyIntHandler(int i)

{

Console.WriteLine("Received: " + i);

}

void MyStringHandler(string s)

{

Console.WriteLine("Received: " + s);

}

Join

Port<double> balancePort = new Port<double>();

Port<int> depositPort = new Port<int>();

Activate(

Arbiter.JoinedReceive<int,double>(true,

depositPort, balancePort,

delegate(int b, double d){

balance.post(b + d);})

);

[ServiceHandler(ServiceHandlerBehavior.Concurrent)]

public IEnumerator<ITask> GetHandler(Get get)

{

get.ResponsePort.Post(_state);

yield break;

}

[ServiceHandler(ServiceHandlerBehavior.Exclusive)]

public IEnumerator<ITask> UpdateHandler(Update update)

{

_state.CurrentResult += update.Body.Value;

update.ResponsePort.Post(new UpdateResponse());

yield break;

}

Declarative Coordination for Services

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