A new real-time message scheduling tool for control networks

Purpose - This paper aims to describe the development of a new software tool for the scheduling of real-time control messages in a time-triggered control network. The prime application area for such a solution is in real-time robotic controllers and other similar machine control systems. Design/methodology/approach - The design of a scheduling tool, called SMART-Plan, is described. The tool is based on a "least slack time" scheduling policy. A prototype tool for the time-triggered controller area network (TTCAN) is developed. The design is validated against Society of Automotive Engineers Benchmark and a formal verification of the message schedule is also proposed. Findings - The research findings show that it is feasible to develop such a message scheduling tool and the performance of the tool is comparable with other research solutions, which have been applied in the past to simple periodic schedulers, as opposed to time-triggered networks. Research limitations/implications - Although the prototype solution assumes a TTCAN control network, the concept will also be feasible for other types of time-triggered control networks. The availability of such a tool might encourage developers of robotic equipment to adopt the time-triggered network approach for the architectural development of such control systems. To date, the problems associated with the message scheduling of such time-triggered systems have been an inhibitor to such developments. Originality/value - This is a new scheduling approach to the message scheduling of time-triggerred control networks.