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公开(公告)号：US20210191840A1
公开(公告)日：2021-06-24
申请号：US16724977
申请日：2019-12-23
Applicant: X Development LLC
Inventor： Abhishek Shailesh Shah , Gregory J. Prisament , Michael Beardsworth , Dmytro Hrybenko
Abstract: Methods, systems, and apparatus, including computer programs encoded on computer storage media, for performing real-time code analysis. One of the methods includes receiving a request to perform real-time code analysis on source code, wherein the request identifies one or more target source code elements. A plurality of real-time annotation values occurring in the source code for the target source code elements are identified. A call graph is generated for the one or more target source code elements. The call graph is traversed to identify one or more real-time violations, wherein each real-time violation is an instance in the source code that violates one or more real-time safe criteria. An output is provided that identifies one or more of the real-time violations occurring in the source code.
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公开(公告)号：US20210197374A1
公开(公告)日：2021-07-01
申请号：US16730871
申请日：2019-12-30
Applicant: X Development LLC
Inventor： Gregory J. Prisament , Michael Beardsworth
Abstract: Methods, systems, and apparatus, including computer programs encoded on computer storage media, for a composability framework that supports the coordination of the low-level actions of multiple subsystems. One of the methods comprises receiving a multi-device application definition for a real-time robotic control system configured to perform operations comprising controlling a robotic execution environment having multiple robotic components, wherein the application definition comprises: one or more custom high-level software modules for each robotic component of the multiple robotic components; respective module interface definitions for each of the custom high-level software modules, wherein a module interface definition of a custom high-level software module specifies one or more asynchronous or real-time communication channels; and respective device interface definitions for each of the multiple robotic components; and processing the application definition to generate output programs to be executed respectively by the multiple robotic components.
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公开(公告)号：US11061801B1
公开(公告)日：2021-07-13
申请号：US16724939
申请日：2019-12-23
Applicant: X Development LLC
Abstract: Methods, systems, and apparatus, including computer programs encoded on computer storage media, for logging real-time data of a robot control system. One of the systems comprises a real-time robotic control system comprising one or more computers, programmed to perform operations comprising i) software module loops and ii) real-time data logging, wherein each software module loop comprises a plurality of software modules executed repeatedly in a predetermined sequence, each software module executes within a predetermined time window, and the real-time data logging comprises copying segments of real-time data used by a particular software module to a buffer accessible by a non-real-time downstream system, wherein each segment of real-time data is copied at a respective predetermined time relative to execution of the software modules in the software module loop; and the non-real-time downstream system comprising one or more computers, the non-real-time downstream system programmed to perform operations that consume the real-time messages.
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公开(公告)号：US20210191838A1
公开(公告)日：2021-06-24
申请号：US16724939
申请日：2019-12-23
Applicant: X Development LLC
Abstract: Methods, systems, and apparatus, including computer programs encoded on computer storage media, for logging real-time data of a robot control system. One of the systems comprises a real-time robotic control system comprising one or more computers, programmed to perform operations comprising i) software module loops and ii) real-time data logging, wherein each software module loop comprises a plurality of software modules executed repeatedly in a predetermined sequence, each software module executes within a predetermined time window, and the real-time data logging comprises copying segments of real-time data used by a particular software module to a buffer accessible by a non-real-time downstream system, wherein each segment of real-time data is copied at a respective predetermined time relative to execution of the software modules in the software module loop; and the non-real-time downstream system comprising one or more computers, the non-real-time downstream system programmed to perform operations that consume the real-time messages.
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