Developing Client Applications
Motorcortex is especially created to allow easy and high-performance data exchange/interaction with this real-time control system. This can be done from any operating system/device using a programming language of your choice. Currently ready-made APIs are created for:
Using these API’s the user can create scripts to control a Motorcortex application. For example the user can create Robot control scripts, Data acquisition/analysis logs tools and Automatic test scripts/reports.
In a Motorcortex application all Modules and variables are organized in a tree structure; the Parameter Tree. The Parameter Tree is used to communicate data between tasks and to the outside world in a thread-safe manner. The Communication Server provided by Motorcortex has two parts:
- The first part is a Signaling Server which uses a Request/Reply reliable messaging pattern. A Signaling Server is required for Remote Procedure Calls and for managing the control application, for example updating parameter values. It is also responsible for managing the Publishing Server.
- The second part is a Publishing Server or Publisher which uses a Publish/Subscribe best effort delivery messaging pattern. The Publishing Server can organize data into groups and publish them with the requested frequency. The Publisher is used to send Real-time data continuously.