Event management systems and methods for motion control systems
A motion control system comprising a machine platform, at least one event destination, and an event handler. The machine platform carries out automated tasks and generates events. The event handler is configurable to receive at least one event from the machine platform and send the at least one event to the at least one event destination.
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This application is a continuation of U.S. patent application Ser. No. 11/368,231 filed on Mar. 3, 2006 now abandoned, which claims priority of U.S. Provisional Application Ser. No. 60/658,746 filed on Mar. 3, 2005, and the '231 application is a continuation-in-part of U.S. patent application Ser. No. 10/074,577 filed on Feb. 11, 2002, now U.S. Pat. No. 7,031,798, and which claims priority of U.S. Provisional Application Ser. No. 60/267,645 filed on Feb. 9, 2001. The contents of all related applications listed above are incorporated herein by reference.
TECHNICAL FIELDThe present invention relates to motion control systems and, more specifically, to an event management system optimized for the processing and distribution of events associated with a motion control device.
BACKGROUND OF THE INVENTIONElectromechanical systems are used in numerous environments to translate electrical signals into mechanical movement. As examples, factory automation systems, toys, appliances, and the like all may use one or more electromechanical transducers that move in response to electrical control signals.
Typically, an application programmer familiar with a specific environment creates an application program defining a desired sequence of movements. U.S. Pat. Nos. 5,691,897, 5,867,385, and 6,209,037 to Brown et al. disclose systems and methods for generating, processing, and/or distributing control commands to one or more motion control devices based on such an application program.
The present invention may be embodied as a part of an overall motion control system as described in the Brown et al. patents and will be described herein in that context. However, as described below, the principles of the present invention may have broader application to other motion control systems and methods, and the scope of the present invention should be determined by the claims appended hereto and not the following detailed description.
SUMMARY OF THE INVENTIONThe present invention may be embodied as a motion control system comprising a machine platform, at least one event destination, and an event handler. The machine platform carries out automated tasks and generates events. The event handler is configurable to receive at least one event from the machine platform and send the at least one event to the at least one event destination.
Referring initially to
In the context of the motion control systems described herein, data is often associated with events. The term “data” (or data items) includes any numeric or string data values collected from a target machine or device in an analog or digital format that is made compatible for computer systems. For example, BIT, BYTE, WORD, DWORD, LONG, REAL, DOUBLE, FLOAT, STRING, ASCII STRING are a few data types that represent data items. Data may be collected from data sources by reading register values on the data source, reading shared memory provided by the data source, sending commands to the data source for which a data response is given containing the data requested, reading variables provided by the data source, reading and writing to variables in a sequence necessary to produce data values, querying data using a proprietary or standard data protocol, calling a function provided by the target data source, etc. The term “variable” as used herein refers to a data item that has both a name and optionally associated data. A data item may be a function call, a named data variable, a tag within a database, or the like. The terms “variable” and “data item” are used interchangeably to refer to a data point that includes one or more atomic data elements.
In the following discussion, the components or objects that form the motion control system 120 and the basic operation of the system 120 will first be described. After that will follow a discussion of the interaction between those objects and several detailed scenarios of typical actions of this system 120.
Referring initially to
The system 120 is adapted to be run on a general purpose computer platform comprising computer hardware and an operating system 140. The exemplary operating system 140 is a Windows variant and comprises a registry 142.
The web site 136 and media creation tool 138 provide access to one or more motion media files 144. The motion media files 144 contain what will be referred to herein as motion media.
The term “motion media” includes motion scripts, motion application programs, and/or individual motion instructions capable of causing the target device 122 to perform a desired motion operation comprising a discrete movement or sequence of movements.
The motion media comprises what will be referred to as motion commands. The term “motion commands” will be used herein to refer to both control commands and media commands associated with a desired motion operation. The term “control commands” as used herein refers to device-specific commands that may be directly run by a target device to obtain a desired motion operation.
The term “media commands” used herein refers to machine independent instructions that generically define a desired motion operation. Normally, media commands are converted into control commands before the target device executes the desired motion operation corresponding to a particular media command or set of media commands.
The term “application program” will be used to refer to a set of control and/or media commands associated with a sequence of discrete movements. In general, the term “application” refers to client software that uses the functionality of the example motion control systems described herein. An application is typically an executable, but may also be a DLL, component, or other module that takes advantage of the functionality of the motion control systems described herein.
The term “module” as used herein refers to a binary block of computer logic that contains functions, objects, components, ActiveX components, .NET source, HTML, XML and/or other computer code that can be executed in real-time or in script form. Several examples of a module include an executable EXE, a dynamic link library DLL, an OLE component or set of components housed within a DLL or EXE, an ActiveX Control, an HTML or XML based Control, a VB script source file, a Java Serverlet, Java Control, Java Object, .NET Package, etc.
The motion event manager 130 comprises a motion control component 150 and an event handling component 152. The motion event interface 134 further comprises a event provider configuration control 154 and a media view control 156. As used herein, the term “component” refers to a logical organization of computer logic designed to perform a set of operations. Several examples of a component are an OLE Component, an ActiveX Control, an HTML or XML based Control, an HTML or XML based object, a NET object, a Visual Basic based object, etc.
The motion control system 120 operates basically as follows. The motion event providers 132 generate what will be referred to as event tokens based on the occurrence of a predetermined event. The event token is associated with the predetermined event in advance and thus identifies the predetermined event. The event token may also contain additional information such as the source of the predetermined event, parameters associated with the predetermined event, and the like.
The event tokens are sent to the motion event manager 130. The motion event providers 132 and motion event manager 130 run in separate processes and could perhaps run on separate physical machines connected over a network. As used herein, the term “network” refers to a link between two or more computer systems and may be in the form of a packet based network, a streaming based network, broadcast based network, or peer-to-peer based network. Several network examples include a TCP/IP network, the Internet, an Intranet, a wireless network using WiFi, a wireless network using radio waves and/or other light based signals, etc.
The motion event providers 132 and motion event manager 130 thus use the system for the inter-process communication provided by the operating system to transmit the event tokens from the event providers 132 to the motion event manager 130.
The motion event manager 130 notifies the motion control component 150 when the event token is received and the identity of the event token. The action taken by the motion control component 150 upon receipt of an event token depends upon the nature of the event token. The received event token may contain or identify a particular control command, and the motion control component 150 can simply pass that control command to the target device 122. The received event token may contain or identify a particular media command, in which case the motion control component 150 may be required to convert the media command into a control command capable of being run by the target device 122. Another event token may start, stop, or otherwise control a separate application program run by the motion control component 150.
In the exemplary system 120, the association of motion media with event tokens is preferably made by the motion event manager 130. This association is typically represented by a table, spreadsheet, or other data storage means capable of defining relationships between event tokens and motion media. Upon receipt of each event token, the motion event manager 130 will identify the motion media previously associated with the received token and send the identified motion media to the motion control component 150 for control of the target device 122.
With the foregoing understanding of the basic operation of the system 120, the details of this exemplary motion control system 120 will now be described.
The motion event manager 130 handles the creation of each event provider 132 installed on the system by creating in-proc providers or injecting other providers into their target processes. The event manager 130 also catches events fired from each provider 132 and initiates the appropriate motion request for each event. In the exemplary system 120, the event manager 130 is the only object that communicates directly with the motion control component 150, as will be described in further detail below. The exemplary event manager 130 is accessible by double clicking its icon in the Windows System Tray in a conventional manner.
The purpose of the event handling component 152 is to handle the inter-process communications between the motion event manager 130 and the motion event providers 132. The exemplary event handling component 152 is or may be a conventional software object referred to as a message pump.
The motion event provider objects 132 are individually designed to monitor user configurable events from a given source. The exemplary system 120 employs two types of motion event providers 132: simple in-proc servers 132a,b hosted by the motion event manager 130 and specialty DLLs 132c,d that are injected into a target process to monitor event cases. Each motion event provider object 132 also contains an event configuration control 154 that, as will be described below, allows a user to configure all events supported by the motion event provider objects 132. The motion event provider objects 132 notify the motion event manager 130 of each event caught by the objects 132.
The motion event manager 130 and motion control component 150 operate together to allow interaction between the motion event providers 132 and the target device 122.
The motion control component 150 may be or incorporate parts of a software system as disclosed, for example, in U.S. Pat. Nos. 5,691,897 and 5,867,385. The systems disclosed in the '897 and '385 patents are capable of generating device-specific control commands based on hardware independent media commands written to a predetermined application programming interface.
As an alternative, the motion control component 150 may act as a conduit that passes device-specific control commands and query responses between the motion event providers 132 and the target device 122. A motion control component implemented in this manner would not convert between hardware independent media commands and device specific control commands.
A preferred implementation of the motion control component 152 would be to be for the component 152 to function in both a translation mode and in a pass-through mode. In the translation mode, the component 152 converts media commands into control commands. In the pass-through mode, the component 152 simply passes control commands from the motion event providers 132 to the target devices 122. In either mode, query responses are returned from the target devices 122 to the event provider 132 in an appropriate format.
The motion event configuration interface 134 is preferably a visual interface displayed on a screen to allow a user to configure all motion event providers 132 installed on the system 120. The exemplary interface 134 also provides access to the motion web site 136 where new motion media and motion event providers 132 may be downloaded and installed.
As will be described in more detail below, the configuration options allowed by the interface 134 include the ability to enable/disable event providers 132 and map motion media to particular events supported by each provider 132. The interface 134 also provides access to the motion web site 136, allowing for new motion media and motion event providers 132 to be downloaded and installed onto the current system.
Each motion event provider 132 contains a visual configuration control 158 that allows the user to configure the events supported by each provider 132. The exemplary configuration controls 158 use the media view control object 156 to gain access to the available motion media in the motion media file 144 that can be mapped to each available event.
These controls may also be configured to allow the user to add new, customized events to the motion event providers 132. The dynamic events can be defined using parameters such as text (usernames, messages, email, etc.), date/time, or any other parameter particular to an event provider's event source.
The media view control object 156 provides access to all installed motion media scripts as represented by the motion media file 144. Preferably, the media view control object 156 displays a conventional browse/select dialog to allow identification and selection of the available motion media. This object 156 is used by the event provider configuration controls 158 and allows the configuration controls 158 to remain independent of the motion media format.
The media creation tool application 138 allows the user to customize and/or create motion media. This application 138 preferably implements a graphical, easier to use, front-end user interface design.
The motion web site 136 provides a location for the user to download new motion media as well as new and/or updated motion event providers 132. The motion media is preferably stored in a single meta file. New motion media downloaded from the motion web site 136 will be added to this meta file.
The present invention is preferably embodied using the Windows registry; typically, a component category is created for each of the motion event providers 132, allowing the motion event manager 130 to enumerate all providers 132 installed on the system. Primary event sources 132 are user actions (in any active application supported via a motion event provider) and operating system tasks.
With the foregoing understanding of the modules that form the exemplary system 120, various scenarios in which these modules typically interact will now be described.
Referring now to
The motion event manager 130 process 130 begins on system startup. The motion event manager 130 process 130 next queries the MOTION_EVENT_PROVIDER component category in the Windows Registry to enumerate all motion event providers 132 installed on the system.
Third, the registry entry of each of the event providers 132 contains startup information indicating if the particular event provider is either a standard in-proc provider or a specialty provider that is injected into a target process to monitor event conditions.
Fourth, the motion event manger 130 creates a new instance of each provider 132. If the event provider 132 is a specialty provider that is injected into a target application process, the event manger 130 will read the target-process information from the provider's registry entry, find the target process, and perform the DLL-injection. If the target process is not active, the motion event manager 130 will continually monitor the creation of new applications, and perform the injection when/if the requested application is launched.
Fifth, once the event providers 132 are created, the motion event manager 130 will send the appropriate initialization information to each provider 132, including callback information to allow the event providers 132 to post event messages back to the event manager 130.
Finally, the event provider 132 reads initialize message data and establish the necessary event syncs to monitor the events. The initialize message data includes a registry key identifying the location of the event configurations and preferences as last set by the motion event configuration interface 134 or the default installed set.
Referring now to
As shown in
Once the target process has been identified, the next step is for the event manager 130 to install a Windows message hook in the target process. This causes the event provider DLL to be loaded into the target address space of the target process. The event provider DLL has now been loaded into the required process, and will now wait for the “initialize” message from the motion event provider 132.
Referring now to
First, the user launches the motion event configuration interface 134 from system tray interface of the motion event manager 130.
Each event provider object 132 supports a custom visual control 154 that can be used to edit the object's supported events. The event configuration interface 134 creates and hosts these visual controls 154 for the user.
Next, when the event provider configuration control 154 is created and initialized, it will receive the location in the Windows Registry 142 of its persisted event data, which will be loaded into the control 154.
Next, the user will select an event provider 132 to configure. Individual events may be mapped to motion actions, and particular events (as well as the entire event provider itself) may be deactivated if desired. As noted above, these event configuration controls 154 may also provide the means to add additional, customized events based on input user parameters (custom text strings, buddy chat names, email messages, etc).
When the user selects an event to configure, the event provider configuration control 154 will defer to the media view control object 156. The media view control object 156 displays all available motion media via a dialog box, allowing the user to make a selection.
Finally, once the user makes a motion media selection, the media view control object 156 returns data back to the event provider configuration control object 154 (including human-readable description text of the event for display as well as a data token which can later be used to identify media selection). The configuration control object 154 then persists this information to the Windows Registry 142.
Referring now to
The scenario depicted in
The event provider 132 then fires a event token associated with this event to the event manager 130. The event token has previously been stored in the registry during the event configuration process. If the provider 132 requires queried data to be returned, the provider 132 will also pass the necessary callback data to the event manager 130.
The event manager 130 next receives the event and passes the requested media information to the motion control component 150. The motion control component 150 then executes the specified motion media on the target motion device 122.
Finally, if a query action was requested, the motion control component 150 will return the appropriate data. The motion event manger 130 will send the data through the specified event provider callback mechanism.
Depicted in
This process may be started when users visit the motion web site 136 to browse currently available motion event providers 132 and new motion media. In
Next, the user selects the desired provider/media download option, and the new software is installed into the motion event manager 130 including the motion control component 150.
The next time the motion event configuration interface 134 is launched, the user will be able to configure the new event provider 132 or motion media in the local motion media file 144a.
Alternatively, users may download new event providers 132 and motion media directly from within the motion event Configuration dialog interface. This configuration dialog will provide the following options to the user: Download new Motion Media and/or Download/install new motion event providers 132. The user or the motion event manager 130 may also check for new versions of currently installed motion media and/or event providers 132.
Next, the user selects the desired provide/media download or update option, and the configuration dialog interface object 134 automatically downloads and installs the new software from the media web site 136.
Finally, once the new software is installed the configuration dialog 134 will automatically update to provide access to the new components and/or media.
Referring now to
Upon operating system shutdown, the motion event manager 130 will prepare to terminate.
The event manager 130 next posts a shutdown message to each event provider 132 currently being managed by the manager 130. Specialty event providers 132 that have been injected into external processes may have already finished if the target process has been shutdown. In this case those event providers 132 would have already notified the event manager 130 that they are no longer available.
Each event provider 132 performs any required shutdown tasks.
Upon finishing any shutdown tasks, each provider 132 will notify the event manager 132 that the provider 132 is now finished.
Once the event manager 130 receives notifications that each of the event providers 132 managed thereby have been shutdown, the event manager 130 itself is now finished.
Referring now to
The first step of this process is for a text based event situation to occur. This text could be one or more of the following: (a) a particular sub-string in an Instant Message or the entire message string itself; (b) an Instant Message sent from a target screen or ‘buddy’ name; (c) a text string converted from a speech-to-text engine installed on the user's machine; and/or (d) an email message meeting previously configured criteria (Sent From, Subject, message content, etc). In the case of an event created using a peer-to-peer networked application such as Instant Messenger-type process, text is entered at a remote source application and sent as a text message to a receiving application.
The motion event provider 132 monitoring the specific text based event catches the event, and performs any pre-processing of the text required to identify the particular event. In the peer-to-peer application described above, a DLL functioning as the event provider 132 is injected into the receiving application; the DLL event provider 132 intercepts the message received by the receiving application and treats the received message as an event.
Once an event has been identified, the event provider 132 will lookup the corresponding motion event token as previously configured. As generally described above, the motion event tokens are pre-loaded upon initialization. In the peer-to-peer example described above, the DLL functioning as the event provider 132 sends the text message as part of the event token to the event manager 130 using a process-to-process communication system as generally described above.
After the event token containing the text message is sent to the motion event manager 130, the event manager 130 determines the type of event represented by the received token.
If the event manager 130 determines that the received event token corresponds to a text event, the event manager 130 next parses the text parameter from the event token. The motion event manager 130 looks up the motion media associated with the event type and event text parameter. The appropriate motion media is then sent to the motion control component 150 for execution on the target motion device 122 as described above with reference to
The process described above with reference to
The event provider 132 in turn then causes the receiving application to sent a message to a remote peer-to-peer application; again, the receiving and remote peer-to-peer applications may be Instant Messenger compatible applications.
An example of the use of the present system to verify motion status would be for the event manager 130 to continually or periodically query the target device 122 through the motion control component 150 for status parameters that indicate a fault condition. Once a fault condition occurs, the event manager 130 builds a text message that describes the fault and then sends the text message to a remote application, such as an Instant Messenger user, using process-to-process communication system and the peer-to-peer networked application.
The following Table A describes the interface specifications for components of the exemplary motion control system 120 described above using the exemplary motion control component 150.
In the following discussion, the details of a number of the exemplary components of the system 120 will now be described.
The Windows Registry 142 is used to persist event management with motion control configuration data.
Data associated with the motion event providers 132 is persisted to the Windows Registry 142 primarily to accommodate event provider DLLs that need to be injected into a target process, an environment where those DLLs may not be able to rely on standard COM storage alternatives.
At runtime, when the motion event manager 130 initializes an event provider, the provider will receive a location in the registry where it should read its previously configured event data.
At design time, when hosted within the motion event configuration interface 134, the event configuration controls 156 of the event providers 132 receive the registry location, and will persist configuration changes to that location.
Event providers will persist both standard (hard coded) and custom events to their registry storage location. Associated with each event will be the configured motion event token data, which the provider will use when firing event notifications back to the motion event manager 130.
The motion event manager 130 manages all registry locations for the event provider objects.
The event manager provides a mechanism to support different event schemes. This allows configurations unique for several different users, situations, or motion devices. When a new scheme is selected via the motion event configuration interface 134, the event manager 130 will pass the new scheme registry location to each event provider object 132, allowing access to the new scheme data. Each scheme will be located in a unique sub key under the primary event manager registry location.
The user interface components 154 and 156 of the system 120 may be implemented in many different forms. The motion event configuration control 154 is used to configure all motion event providers 132 installed on the system, as well as to provide access to the motion web site 136 where new motion media and motion providers may be downloaded and installed. The interface of the media creation tool 138 is a preferably graphical representation of the motion device or system, where simple drag-drop, click, and record operations will facilitate the creating and modification of motion media.
The system 120 is designed to be easily extendible via new motion event provider and motion media components. The system 120 is also capable of supporting any number of additional event sources with the addition of new motion event providers 132 by registering these new providers with the system 120. These event providers 132 can link to virtually any event source to a target system 122.
The motion media formats can be modified and extended without requiring changes to any event provider objects. For example, a XMCMediaCtrl object proxies the raw motion media format to the event providers. Accordingly, once the XMCMediaCtrl component is updated to handle any new media formats, the event providers 132 may, by design, make use of the changes.
Instead of triggering entire motion programs as described above with reference to
Very large motion programs may be downloaded in partial form and then either downloaded in full over time or as certain specified events occur in the system.
Similar to streaming media support, single motion operations may also be supported in which a specified event causes a single motion operation to take place immediately. One example of this would be an event that causes movement of one axis in the clockwise direction.
Referring now to
The machine platform 222 may be implemented using a controller neutral platform technology as described, for example, in U.S. Pat. Nos. 5,691,897, 5,867,385, 6,209,037, 6,480,896, 6,513,058, 6,516,236, 6,542,925 and/or 6,571,141, which are incorporated herein by reference. However, the machine platform 222 is or may be any motion control system, whether controller dependent or controller neutral, that comprises a machine converts motion commands into movement of an object.
In the context of the present application, the term “controller” refers to the hardware or software that contains the logic used to run the machine. Typically the controller one or more of a PLC, CNC Controller, or Motion Controller. The controller contains the main control loop used to position, monitor, or otherwise direct a machine to carry out useful automated tasks.
The term “machine” is used herein to refer to a physical machine or device asset used to perform a specified task. For example, a machine may be a CNC Mill used to shape metal, a pick-n-place machine used to position parts on a circuit board, a robotic machine used to perform surgery, a medical data input device used to collect the vitals from a human being (i.e. blood glucose meter, asthma meter, etc), a gaming device used when playing a game, a robotic toy, an animatronics figure, a robotic machine used to deliver goods to a warehouse or to people, an automobile, truck or farm vehicle, a boat or ship that maneuvers in water, a airplane, jet, helicopter and/or spacecraft. Any self powered machine or device (mobile or not) that is either directly controlled by humans or automatically controlled via a computer based system falls within the definition of “machine” as used herein. The term “device” as used herein is essentially synonymous with the term “machine,” but may be used in reference to a machine with a relatively small footprint.
The example event notification system 224 comprises a main event handler 230, one or more event handler applications 232, and one or more event handler property pages 234. The example main event handler 230 comprises a data queue 236.
The main event handler 230 is a component that is in communication with the machine platform 222 such that the main event handler 230 receives one or more events from the machine platform 222. The example data queue 236 within the main event handler 230 is a standard data queue that employs first-in/last-out technology. Optionally, the data queue 236 may be implemented as a priority queue that allows the items in the queue to be organized based on given priorities associated with the data contents of each item in the queue. The data queue 236 may optionally use a timing scheme that ensures that all items within the queue are processed within a given time frame, such that no items within the queue are ‘starved-out’ when a high frequency of higher priority items are received.
The event handler application 232 is used to configure and run the main event handler 230. The example event handler application 232 is a Windows System Tray application. The event handler application 232 is optional, and the main event handler 230 may be run and configured using other systems and methods. The event handler property page 234 is used to configure the settings of the main event handler 230 by presenting a user interface that allows the user to see the settings of the main event handler 230 and/or to change these settings.
The main event handler 230 is also in communication with one or more possible event destinations such as an upstream event handler 240 and/or a downstream event handler 242.
The example upstream event handler 240 is a module similar to the main event handler 230 that serves data to the main event handler 230. The example downstream event handler 242 is also a module similar to the main event handler 230, but one that receives data from the main event handler 230. From the perspective of the upstream event handler 240, the main event handler 230 is a downstream event client. From the perspective of the downstream event handler 242, the main event handler 230 is an upstream event client.
The main event handler 230 may also be in communication with one or more event destinations through an intermediate destination such as a shared memory system 250, a memory queue 252, and/or a network protocol 254. The shared memory system 250 is a block of memory that is accessible to different modules and/or applications. The example memory queue 252 uses Microsoft Message Queue (MSMQ) technology or a similar technology. MSMQ allows for communication with other modules and/or applications using a delayed messaging technology called Message Queuing. The example network protocol 254 is formed using TCP/IP or UDP broadcast protocols as a mechanism of sending output data to another target. The TCP/IP protocol specifies specific data target(s), and the UDP protocol broadcasts data to all nodes on a given network.
The main event handler 230 delegates one or more events received from the machine platform 222 to one or more event destinations such as the upstream event handler 240 and/or the downstream event handler 242. In addition or instead, the main event handler 230 may delegate one or more events received from the machine platform 222 to additional event destinations using one or more of the intermediate destinations such as the shared memory system 250, the memory queue 252, and/or the network protocol 254.
The main event handler 230 may further be in communication with an alternate event source such as a data transport system 260. The data transport system may be implemented using the data router technology described in co-pending U.S. patent application Ser. No. 10/844,025, which is incorporated herein by reference. The data transport system 260 routes data outputs to various output sources, one of which may be the main event handler 230.
If the motion control system 220 employs the data transport system 260, the main event handler 230 may also be configured to delegate events from the data transport system 260 to the event destinations such as the upstream client 240 and/or the downstream event handler 242 and/or to intermediate destinations such as the shared memory system 250, the memory queue 252, and/or the network protocol 254.
The event notification system 224 may use an event handler, such as the main event handler 230, which is internally configured to handle communications with the event destinations and/or intermediate destinations as shown in
In particular, the example modular main event handler 230a further comprises at least one event communication component 270 configured to handle the details of communicating with one or more of the event destinations and intermediate destinations.
More than one event communication component 270 of the same type may be used simultaneously. For example, the event handler 230a may use two event client components configured to communicate with a network protocol where each component is capable of sending data to a different destination network address.
Once configured, the event handler 230 must be initialized to prepare it for use.
In practice, the data items specified in the configuration data must be data that are published by the machine platform 222, or failures may occur. As used herein, the term “publish” (or publish/subscribe) refers to a method of receiving data updates where the client subscribes to data published by the server. For example, a server may have three data items available for subscriptions: A, B, C. The client may then subscribe to any of these data items upon which the client may receive data updates based upon certain criteria such as the data value of the subscribed data item changing, a time period passing, or some other event occurring in the system such as a trigger variable firing, etc. The term “trigger variable” refers to variable or data item that causes the registered actions to be carried out when the variable or data item's event conditions are met.
Once configured and initialized the event handler 230 is ready to receive events for each of the subscribed data items.
Upon receiving the event, the data is optionally placed at the back of the internal data queue 236. If a queue is not used, the data is immediately sent to all event destinations, such as shared memory system 250 or the network protocol 254, that are in an enabled state for that event. If the internal data queue 236 is used, data items are pulled off the data queue according to the rules for that queue and sent to all outputs that are in an enabled state for that event. As described above, the data queue 236 may be a first-in/last-out queue, a priority queue, and/or a queue implementing a timing scheme.
In addition to processing events, the event handler 230 may also process commands via API calls to one of its interfaces. For example, the data transport 260 may direct the event handler 230 to send data to an event destination by calling an API of the event handler 230.
Optionally, the main event handler 230 may be daisy chained with one or more upstream event handlers 240 and/or one or more downstream event handlers 242. In this case, data is received from upstream event handlers 240 and/or sent to downstream event handlers 242.
First, if an event handler is connected upstream to the main event handler 230, the data is received from that upstream event handler 240 as an event and/or as an API call. If an upstream event handler 240 is not used, data may be received in the normal manner either via an event or API call. Next, upon receiving the data as an event and/or as an API call, the data may be placed at the back of an internal data queue 236 if used. If a data queue is not used, the data is sent directly to all outputs (such as shared memory system 250 or network protocol 254) that are in an enabled state.
Third, when using the internal data queue 236, the data is pulled from the data queue and sent to all enabled outputs. Again, the data queue may be a first-in/last-out queue, a priority queue, and/or a queue implementing a timing scheme.
Fourth, if a shared memory 306 output is used and is enabled, the data is sent to a shared memory block.
Fifth, if a network protocol 254 is used and is enabled, the data is sent to zero, one, or more event destinations previously configured for this output in the case of a TCP/IP network. As described above, the data may be sent as a UDP broadcast to all nodes on a network or group of networks. TCP/IP may also be used to send the data via a tunneling mechanism, such as is used within a Virtual Private Network (like those implemented with Microsoft RRAS), from the current event handler 230 to another event handler 230 (or even to a group of event handlers 230), where the receiving component receives the TCP/IP or UDP data and then translates it into an event or API input.
Sixth, if a message queue 252, such as a MSMQ, event destination is used and enabled, the data is sent via the message queue 252 to another application or component, or even to another event handler 230 (or group of components).
Seventh, if one or more upstream event handlers 240 and/or one or more downstream event handlers 242 are used and enabled, the main event handler 230 sends data directly to any such event handlers 24- and/or 242.
As an optional eighth step, a downstream event handler 242 may be configured to communicate with the upstream event handler 230 via the shared memory 306 and/or other standard synchronization events such as the event object supported within Win32.
When daisy chaining event handlers, it may also be important to pass configuration data (and other data) between the event handler components. When configuring any such event handler components as depicted in
The event handler 230 is preferably a modular system made up of a set of components (i.e. each component is based on a component technology such as OLE/COM from Microsoft Corporation). Optionally, each component may use a separate ‘parallel’ ActiveX component and/or a property page component to implement all user interface aspects of the main component. Each ActiveX and/or property page component may be implemented either within the main component module or separately in its own module. Bundling each object within one module is not required as they may be located at any location (i.e. across a network, and so forth), but doing so may optimize all communication between modules. How and where components are implemented is a logistical decision. Once components are built and deployed to the field, it is difficult to update a single component if all components are implemented within a single DLL or EXE module.
OLE Categories are used to determine how many components fall into a certain group of components. Currently, components used to form the event handler components use what will be referred to herein as the XMC Data Router components. The XMC Data Router components are general data router components support the general read, write, and configure API.
The IXMCDirect interface is used for most communications between all components making up the event handler 230. The following methods make up this interface (as specified in the standard OLE/COM IDL format).
The IXMCDirect interface is made up of the following functions.
-
- GetProperty—This method is used to query a specific property from the component implementing the interface.
- SetProperty—This method is used to set a specific property from the component implementing the interface.
- InvokeMethod—This method is used to invoke a specific action on the component implementing the interface. It should be noted that an action can cause an event to occur, carry out a certain operation, query a value and/or set a value within the component implementing the method.
A more detailed description of each method implemented by the object is described below.
The IXMCDirect::GetProperty method is used to query the property corresponding to the property name ‘pszPropName’. Each component defines the properties that it supports.
This IXMCDirect::SetProperty method is used to set a property in the component corresponding to the ‘pszPropName’ property. For the set of properties supported by the component, see the specific component description.
The IXMCDirect::InvokeMethod method is used to call a specific method implemented by the component. For more information on the methods supported, see the description of the specific component.
The IXMCDirectSink interface is an event reception point on which one component can send event data to another. The component implementing this interface is the event receiver, and the event source calls the interface passing to it event data.
The IXMCDirectSink interface is made up of the following functions:
-
- OnEvent—This method is called by the event source when an event occurs (i.e. the conditions defining the event are met).
- OnError—This method is called by the event source when an error occurs.
A more detailed description of each method implemented by the object is described below.
The IXMCDirectSink::OnEvent method is called by the event source and passed the event data in a SAFEARRAY form for easy marshalling across process boundaries.
The IXMCDirectSink::OnError method is called by the event source when an error occurs and passed the event error data in a SAFEARRAY form for easy marshalling across process boundaries.
In order to receive events directly from the machine platform 222, the event handler 230 also supports the IXMCaCNCEventDataSink interface as specified in the machine platform 222 product sold by ROY-G-BIV Corporation.
Referring now to
The following methods make up the IXMCaCNCEventDataSink interface.
The OnData event is called each time the event condition for an enabled subscription is met for a subscription configured by a client application. Deadlock can occur when running in multi-application mode and calls to other XMC API are made from within this event hander or another event raised by this event handler. To avoid this situation, applications that implement this method should copy all data from this method into a temporary buffer and immediately return without calling other XMC API.
The OnError event is called each time an error occurs for a subscription configured by a client application. Applications that implement this method should immediately copy the data received in a temporary buffer and or array and immediately return so as to not cause deadlock within their application. Deadlock can occur when running in multi-application mode and calls to other XMC API are made from within this event handler or another event raised by this event handler.
The Methods and properties exposed by the XMC Event Client component will now be described in further detail.
This section describes the general component properties of each property supported by the event handler 230 component.
This section describes the general component methods supported by the majority of the components. For the specific list of methods supported by any given component, see the section describing that given component.
The XMC_DE_BROWSE_GET_COUNT method returns the number of data items in the browse set supported by the component.
The XMC_DE_BROWSE_GET_ITEMS method returns the number of data items in the browse set supported by the component.
The XMC_DE_SYSTEM_CONNECT_CMPNT method is used to connect one server to another so that they may interact with one another.
The XMC_DE_SYSTEM_DISCONNECT_CMPNT method is used to disconnect one server to another so that they stop interacting with one another.
The XMC_DE_DATA_PROCESS method is called by a client to process data where a data set is input, processed in some way by the server, and then the resulting data is returned as output.
The XMC_DE_DATA_PROCESS_CONFIGURE method is used to configure what type of data is returned when processing a given data item. For example in the server may be configured to return the minimal amount of data on each read (i.e. just the data item value), or the server may be requested to return more substantial data.
The XMC_DE_DATA_READ method is called by a client application to poll for data from the server. As used herein, the term “poll” refers to the process of continually reading a data item so that the most recent value of the data is always on hand.
The XMC_DE_DATA_READ_CONFIGURE method is used to configure what type of data is returned when reading a given data item. For example in the server may be configured to return the minimal amount of data on each read (i.e. just the data item value), or the server may be requested to return more substantial data.
The XMC_DE_DATA_WRITE method is used to write data to a server.
The XMC_DE_EVENT_ENABLE method enables/disables a previously subscribed data item in the subscription list maintained by the server. Only enabled subscriptions actually fire.
The XMC_DE_EVENT_RECEIVE_DATA method is called by the server (and implemented by the client) when each subscribed event fires.
The XMC_DE_EVENT_RECEIVE_DATA_CONFIGURE method is used to configure what type of data is returned on each event that is fired. For example in the server may be configured to send the minimal amount of data on each event (i.e. subscription cookie and data item value), or the server may be requested to return more substantial data.
The XMC_DE_EVENT_SUBSCRIBE method subscribes to a given data item activating the event interface when the subscription criteria are met for the data item. All subscribing components must use the IXMCDirect interface to receive events received from the server for which they are subscribed.
The XMC_DE_EVENT_UNSUBSCRIBE method removes a previously subscribed data item from the subscription list maintained by the server.
The XMC_DE_SYSTEM_INITIALIZEHW method is used to initialize any hardware systems associated with the component.
The XMC_DE_SYSTEM_SHUTDOWNHW method is used to shutdown any hardware systems associated with the component.
The event handler 230 component implements the following general methods listed in the General Component Methods section above.
The following methods have special notes for this component. The XMC_DE_EVENT_SUBSCRIBE method is only needed when daisy chaining components together. The XMC_DE_EVENT_UNSUBSCRIBE method is only needed when daisy chaining components together.
The visual elements presented by the event handler 230 component, namely the event handler property pages 234, will now be described in further detail.
The example property page depicted in
As shown in
A “map variables” check box 328 specifies whether or not to load mapped variables from a file when connecting using OPTIONS, (OF_MAPVARIABLES_ENABLED), and VARMAPFILE properties. When checked, a dialog appears allowing the user to select the file to load mapped variables from.
An “enable auto load” check box 330 specifies whether or not the auto load feature should be enabled and, when enabled, from which file to load the settings from as identified in a “file” field 332 using OPTIONS, (OF_AUTOLOAD_ENABLED), CONFIGFILE properties.
An “enable auto start” check box 334 specifies whether or not to enable auto start using OPTIONS (OF_AUTOSTART_ENABLED) properties.
An event monitoring property page 340 depicted in
A “variables” box 342 contains a list of all variables that are available for monitoring. A “test” button 344 directs the application to test a selected (highlighted) variable by reading it using a READ method. An “attributes” 346 button retrieves the attributes of the selected (highlighted) variable using the READ(‘attrib’) method.
A “variables” (to monitor) box 350 contains a list of all variables that have been selected for monitoring using VAR_MONITOR_COUNT and VAR_MONITOR_properties.
A first “add . . . ” button 352 directs the event handler 330 to add a variable from the “variable” list in the box 342 to the “variables (to monitor)” list in the box 350. A first “remove” button 354 directs the event handler 330 to remove the selected variable from the “variables (to monitor)” list in the box 350. When a first “all” check box 356 is checked, pressing the first “remove” button 354 directs the event handler 330 to remove all variables from the “variables (to monitor)” list box 350.
A “variables (to read)” box 360 contains a list of all variables that have been selected for reading using VAR_READ_COUNT and VAR_READ_properties. A second “add . . . ” button 362 directs the event handler 330 to add a variable from the “variable” list in the box 342 to the “variables (to read)” list in the box 360. A second “remove” button 354 directs the event handler 330 to remove the selected variable from the “variables (to read)” list in the box 360. When a second “all” check box 366 is checked, pressing the second “remove” button 364 directs the event handler 330 to remove all variables from the “variables (to read)” list box 360.
Referring now to
A “queue event results up to:” check box 372 and associated edit field 374 specify the maximum number of items to be placed in the optional data queue 236 using the following properties: OPTIONS (OF_QUEUE_API_CALLS_ENABLED), OPTIONS (OF_QUEUE_EVENTS_ENABLED), and QUEUEMAXSIZE.
A “wait for data received event:” check box 374 and associated edit field 374 specify the amount of time to wait for the recipient of the data to respond by signaling the data ready event using the following properties:
OPTIONS (OF_WAIT_FOR_DATA_RECEIVED) and DATARECEIVEDTIMEOUT method.
A “delete old items after:” check box 380 and associated edit field 372 specify the amount of time that data items may remain in the queue after which they are purged, using the following properties: OPTIONS (OF_DELETE_OLD_QUEUE_ITEMS) and DATAOLDTIMEOUT method.
The “collect data always” check box 384 specifies whether or not data should always be collected, even when the data does not change, using the following properties: OPTIONS (OP_COLLECT_DATA_ALWAYS).
The present invention may be embodied in forms other than those described above. The scope of the present invention should thus be determined with reference to the following claims and not the foregoing exemplary detailed description.
Appendix A Data TypesThis Appendix A contains the definitions of all special types used by the methods and properties of each component making up the example XMC Program Engine system that may form a part of the present invention.
XMC_PARAM_DATA Structure
All methods exposed by each component in the XMC Program Engine system use the standard XMC parameters set to describe data used to set and query properties as well as invoke methods. The standard parameters are in the following format:
pObj→InvokeMethod(LPXMC_PARAM_DATA rgData, DWORD dwCount);
Each element in the rgData array corresponds to a parameter, with the first element in the array corresponding to the first parameter. The XMC_PARAM_DATA structure can contain either a numerical or a string value and is defined as follows:
-
- typedef struct tagXMC_PARAM-DATA
- {
- LNG_PARAM_DATATYPE adt;
- union
- {
- double df;
- LPTSTR psz;
- };
- }XMC_PARAM_DATA;
The ‘adt’ member of the XMC_PARAM_DATA structure describes the data contained within the XMC_PARAM_DATA structure. The values are described below:
Boolean Types
When querying and setting boolean TRUE/FALSE values, any non-zero value is considered TRUE, whereas a zero value is considered FALSE.
Claims
1. A motion system comprising:
- a set of motion data;
- a set of motion control devices capable of storing motion data;
- a set of motion events;
- a set of text events, where at least one text event corresponds to at least one of the motion events;
- a text event source capable of generating at least one text event;
- a set of selectable first components, where each selectable first component is associated with at least one motion control device, and implements at least one first component function capable of exchanging motion data with at least one motion control device;
- a second module, where the second module allows the selection of at least one first component, calls at least one first component function implemented by at least one first component, and implements at least one second component function that is capable of exchanging motion data with at least one first component; and
- an event manager, where the event manager receives at least one text event from the text event source, maps at least one text event to at least one second component function, and causes the second module to call at least one second component function that exchanges motion data with at least one first component.
2. A system as recited in claim 1, wherein the second component is capable of calling at least one first component function to receive motion data and convert the motion data into a motion device independent motion data.
3. A system as recited in claim 1, wherein the second component converts a motion data in a motion device independent format into a motion data that is compatible with at least one first component.
4. A system as recited in claim 1, wherein at least one first component is capable of reading motion data from at least one motion control device.
5. A system as recited in claim 1, wherein at least one first component is capable of writing motion data to at least one motion control device.
6. A system as recited in claim 1, further comprising motion data that, when exchanged with at least one second component, causes at least one motion control device to move an object.
7. A system as recited in claim 1, further comprising motion data that, when exchanged with at least one second component, causes at least one motion control device to move.
8. A system as recited in claim 1, in which the text event source is an element of a user interface.
9. A system as recited in claim 1, in which the text event source is a software element within an operating system.
10. A system as recited in claim 1, further comprising a user interface that allows the selection of at least one first component.
11. A motion system comprising:
- a set of motion data;
- a set of motion control devices capable of storing motion data;
- a set of motion events;
- a set of text events, where at least one text event is associated with at least one motion event;
- a text event source capable of generating at least one text event;
- a set of selectable components, where each selectable component is associated with at least one motion control device, and implements at least one component function capable of exchanging motion data with the motion control device;
- a module, where the module calls at least one component function implemented by at least one selectable component, and implements at least one module function capable of exchanging motion data with at least one selectable component; and
- an event manager, where the event manager receives at least one text event, maps at least one text event to at least one module function, and causes at least one component function to be called from the module to exchange motion data with at least one selectable component.
12. A system as recited in claim 11, wherein the module is capable of calling at least one component function to receive motion data and convert the motion data into a motion device independent motion data.
13. A system as recited in claim 11, wherein the module converts a motion device independent motion data into a motion data that is compatible with at least one selectable component and then exchanging the motion data with the at least one selectable component.
14. A system as recited in claim 11, wherein at least one selectable component is capable of reading motion data from at least one motion control device.
15. A system as recited in claim 11, wherein at least one selectable component that is capable of writing motion data to at least one motion control device.
16. A system as recited in claim 11, further comprising motion data that, when exchanged with at least one module, is capable of causing at least one motion control device to move an object.
17. A system as recited in claim 11, further comprising motion data that, when exchanged with at least one module, is capable of causing at least one motion control device to move.
18. A system as recited in claim 11, in which the text event source is an element of a user interface.
19. A system as recited in claim 11, in which the text event source is a software element within an operating system.
20. A system as recited in claim 11, further comprising a user interface that allows selection of at least one selectable component.
21. A motion system comprising:
- a set of motion data;
- a set of motion control devices capable of storing motion data;
- a set of motion events;
- a set of text events comprising at least one event descriptor that describes at least one motion event;
- a text event source capable of causing the generation of at least one text base event;
- a set of selectable components, where each selectable first component is associated with at least one motion control device, and implements at least one component function capable of exchanging motion data with at least one motion control device;
- a module capable of calling at least one component function implemented by at least one selectable component, implementing at least one module function, and exchanging motion data with a software application; and
- an event manager capable of receiving at least one text event, mapping at least one text event to at least one module function, and causing at least one module function to be called from the module to exchange motion data with one of the selectable components.
22. A system as recited in claim 21, wherein the module is capable of calling at least one component function to receive motion data and convert the motion data into a motion device independent motion data.
23. A system as recited in claim 21, wherein the module is capable of converting a device independent motion data into a motion data that is compatible with at least one selectable component and then exchanging the motion data with the at least one selectable component.
24. A system as recited in claim 21, wherein at least one selectable component is capable of reading motion data from at least one motion control device.
25. A system as recited in claim 21, wherein at least one selectable component is capable of writing motion data to at least one motion control device.
26. A system as recited in claim 21, further comprising motion data that is capable of causing at least one motion control device to move an object.
27. A system as recited in claim 21, further comprising motion data that is capable of causing at least one motion control device to move.
28. A system as recited in claim 21, in which the text event source is an element of a user interface.
29. A system as recited in claim 21, in which the text event source is a software element within an operating system.
30. A system as recited in claim 21, further comprising a user interface used for the selection of at least one selectable component.
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Type: Grant
Filed: Mar 26, 2007
Date of Patent: Mar 10, 2009
Assignee: Roy-G-Biv Corporation (Bingen, WA)
Inventors: David W. Brown (Bingen, WA), Skylar Stein (Bingen, WA)
Primary Examiner: M. N. Von Buhr
Attorney: Schacht Law Office, Inc.
Application Number: 11/728,801
International Classification: G06F 19/00 (20060101);
