On programming transputers to capture Ada multitasking for the NPS autonomous underwater vehicle.
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Authors
Richmond, Clay A.
Subjects
ADA
Channels in ADA
Multitasking
Processor Communication
Task
Transputer
Channels in ADA
Multitasking
Processor Communication
Task
Transputer
Advisors
Shukla, Shridhar B.
Date of Issue
1991-12
Date
Publisher
Monterey, California. Naval Postgraduate School
Language
en_US
Abstract
This thesis is in support of the on-going Autonomous Underwater Vehicle (AUV)
project at the Naval Postgraduate School in Monterey, California. This work investigates
the development of a transputer-based multiprocessor and how to program it using Ada.
The objective is to create a software layer that enables intertask communication over
a network of transputers to be location invariant and to make the communication process
transparent to the user. Ada, being a concurrent high level language, was chosen as the
language in which this software layer is to be written. The method of intertask communication developed here captures the Ada
rendezvous semantics, provides reliable and efficient delivery of messages between tasks
regardless of their locations, and uses a common message format for all communicating
tasks. The location invariant property makes the software layer particularly suitable for
developing higher level allocation algorithms. The communication is handled by generic
tasks common to each transputer and a common mapping function that has the locations
of all the tasks. The programmer needs only to conform to a common format of
communication when sending messages between tasks and not be concerned with the
actual delivery of the message. The software developed was successfully tested and its
performance analyzed for a five transputer ring network using the AUV-II data-flow
diagram.
Type
Thesis
Description
Series/Report No
Department
Electrical Engineering
Organization
Naval Postgraduate School
Identifiers
NPS Report Number
Sponsors
Funding
Format
92 p.;28 cm.
Citation
Distribution Statement
Approved for public release; distribution is unlimited.