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RTMaps
Real Time Multisensor Advanced Prototyping Software
OVERVIEW
Time and measurement play an essential part in many applications domains (automotive, robotics, healthcare, training, virtual & augmented reality...). Whereas most measurement software gets periodic measures, RTMaps gets the data asynchronously i.e. “on the flow”, each data sample being got at its own frequency. Precise time stamps are given to every data which are then processed and/or recorded in so-called Synchronized Time stamped Data Bases (STDB). The playback of recorded data allows offline development activities and/or post-processing analysis.
RTMaps supports any type and quantity of sensors and actuators. Data fusion algorithms can be developed thanks to the real time capabilities of the software and to the data time stamps.
An intuitive graphical interface, RTMaps Studio, associated to a reliable and robust technology - engine and component library - makes RTMaps an efficient tool for R&D productivity.
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RTMaps GENERAL ARCHITECTURE
RTMaps relies on a powerful Engine developed in C++ thus providing excellent performance and low overhead. A library of Components offers a wide number of interfaces (from sensors and to actuations and displays) and functions. As is, RTMaps can be used through command lines. But for convenience and programming efficiency, RTMaps Studio provides a graphical interface which allows the easy and fast building of Diagrams (the name for RTMaps graphical representation of programs). Advanced Components are designed on user-dependant specific algorithms and functions with the help of the Software Development Kit (SDK). Their programming, in C++, is facilitated by the associated Wizard.
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STUDIO : RTMaps GRAPHICAL PROGRAMMING INTERFACE
The RTMaps Studio is the graphical development interface. Applications are represented by diagrams made of components provided by RTMaps Library. They can be parameterized. Efficient and simple to use, the Studio is one of the many advantages of the software: a few minutes are enough to set up a complex modular application. Components, libraries, diagrams, databases and scenarii can be exchanged and integrated.
Components and connections
Components (building blocks) are set up by simple drag and drop onto the diagram workspace. They interface the sensors, represent the algorithms and connect the actuators. The mouse allows drawing "lines" connecting the output of a component to the input of another figuring the dataflows.
Configuration & Documentation
Each component can be configured specifically according to its exported "properties". The behaviour of each component can be adapted to the situation to deal with.
A simple click is enough to insert a comment in a diagram or to get help.
 Recording and Playing Back
A "Record" button launches the recording process. The VCR allows to playback the databases. The playback speed and direction can be chosen. A slider allows the selection of the position in the timeline.
Embedded technology
The programming graphical interface can be removed for an "embedded" use of the software. The application is then controlled and configured via scripts (which can be generated automatically from graphical diagrams). Specific runtime graphical interfaces can be developed to execute RTMaps-based applications in order to deploy end-of-line software products.
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COMPONENT LIBRARY
RTMaps libraries are sets of components which provide elementary functions necessary to most applications:
- Data acquisition
- Standard protocol decoding
- Data processing
- Real time visualization
- Data recording and playback
- Data exportation
- Interface with third party software
- Communication...
The software supports the majority of the sensors available on the market. Intempora provides many modules to interface sensors/actuators of very different nature and performance. If a device is suitable for connection with a computer, its integration in an RTMaps application is possible.
Examples of supported sensors
Webcams, DV camcorders, FireWire DCAM cameras, stereo-vision devices, GPS, inertial measurements units, radars, laser telemeters, CAN bus, analog and digital input/output devices, microphones…
Examples of supported actuators
Analog and digital controls, electric motors, step by step motors, brakes or other car systems, barriers, hooters, light, variable message indicators…
Newly developed components are regularly added to the components library.
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SOFTWARE DEVELOPMENT KIT (SDK and Wizard): BREAKING THE LIMITS
The "Software Development Kit" allows the design of your own components and include them in your RTMaps Library. The programming is done in C++; it is facilitated by the code skeletons generated automatically by the RTMaps SDK Wizard. Moreover, a complete API (Application Programming Interface) allows you to reach all the engine functions and to remain independent from the operating system (file system or real time programming for example).
Unless otherwise specified, each component runs in its own thread. The developer is freed from the problems of data protection and inherent concurrent access of multithread applications.
The SDK includes the API's complete documentation and many code examples illustrating most of the available functions.
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RTMAPS ENGINE : THE HEART OF RTMAPS
The RTMaps engine is the core module of RTMaps. It provides basic services such as components dynamic loading, components instantiation, threads and buffers management, timestamping, command lines parsing, etc.
Time and Data Flow management
All digital data types can be handled by RTMaps which ensures data consistency when exchanged.
Every data is time stamped (the “Time Stamp”) when received by RTMaps. A second time stamping allocates the “Time of Issue” when the data output components. When recorded, the data is memorized with these two time stamps. The playback function sends the data as per its time stamps, hence reproducing the acquisition sequence.
Between components, several data exchange strategies are available using circular buffers, blocking/unblocking reads, re-sampling, etc.... Data Flow is adapted to fit each application needs: recording, real time processing, data conversion, control...
Performance indicators
The system permanently publishes performance indicators from the modules. They help optimizing and validating an application.
Sophisticated acquisition functions
Acquisition can be started or stopped at will, or when predefined events occur (pressing a key, crossing a threshold...). It is also possible to specify a recording duration around the event. This “black box mode” can record t time units before and t’ time units after, the chosen event. It automatically stops in case of disk saturation.
Databases management
The RTMaps database format is opened and documented. It is performance oriented: it allows distributing the data flow on several disks, according to constraints of flow and/or volume. Some specific flows can use more sophisticated formats like the Matlab formats for the scalars, or software compressed video formats.
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 SYNCHRONIZED DISTRIBUTED OPERATIONS
RTMaps allows the operation of distributed and synchronized platforms. A "master" system manages the whole application. A single clock supervises and synchronizes those of the various "slaves". The "Master" clock can be the default clock or can come from an external source: clock of an acquisition board, GPS clock...
RTMaps technology is independent of the operating system used, even in distributed configurations.
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