水下机器人实验平台软件系统

基于QNX实时多任务操作系统，设计了机器人软件系统。该系统采用了RTM（实时监控）和DCP（设备控制）两个公共数据区，利用QNX的消息传送机制通过两个公共数据区的通信接口在RTM和DCP之间通信，这种数据隔离机制保障了程序的模块化和可扩展性。

On the basis of QNX real-time multi-task operating system, a software system for underwater robot is designed. It uses two common data zones: reai-time monitoring and equipment control. The communication between RTM and DCP uses QNX's message transffer mechanism via two data zones' communication interface, which garantees the programmes' modularity and expandability.