Aim - Developed a model using TERRA-CSP, studied ROS-LUNA communication.
Developed a producer-consumer TERRA-CSP model, checked for deadlocks, if any.
Added necessary C++ code to send stream of data from producer to consumer.
Investigated model behavior for processes running in parallel & processing running alternatively.
Developed a TERRA application that uses a timer.
Extended previously-built producer-consumer model with an external timer port.
Developed a basic control loop system consisting of a sequence controller, loop controller & plant using CSP processes in TERRA.
Studied behavior of the control loop system, behavior of different processes, deadlocks, if any.
Added necessary C++ code to log intermediary information results in the control loop system.
Developed a ROS-ROS-LUNA-Bridge-LUNA application, one sending information, other receiving information.
Extended the application by allowing the LUNA part synchronize with an external timer, studied information exchange and deadlocks, if any.
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