RRS-II Interface Modules

VTM VRC modules are those that implement the RRS-II Spec's Virtual Time Management block of calls. The internal clocks of these modules are advanced by V6 through the RRS-II vrc_run call.

RTM VRC modules are those that do not implement the RRS-II specification's Virtual Time Management block of calls. These modules advance their internal clocks on their own and independent of V6. Simultaneously with VRC program execution, V6 "plays back" in virtual time, events that take place in real-time on the VRC following the start of a new simulation run. VRC module timing is passed to V6 through Time Stamp data sent by the VRC module.

V6 employs three different RRS-II interface modules to handle communication with these two different classes of VRC modules:

• DNBRRSVRC_IF and DNBRRSVRC_IF_SIM_RPC_VTM interfaces to communicate with VTM VRC modules.
• DNBRRSVRC_IF_SIM_RPC_RTM interface to communicate with RTM VRCmodules.

While there are some internal architectural differences between them (affecting performance etc.), either one of the DNBRRSVRC_IF or DNBRRSVRC_IF_SIM_RPC_VTM V6 RRS-II interface modules can be used to communicate with a VTM VRC module. In applications involving a large number of RRS-II connected robots, DNBRRSVRC_IF_SIM_RPC_VTM V6 RRS-II interface module should provide better performance.

Which RRS-II interface is to be used when connecting to a given VRC manager is controlled by the second field of the RRS-II Server entry in Delmia's V6 RRS-II.servers file. Set this field to:

• VRC_IF to use the DNBRRSVRC_IF V6 RRS-II interface module.
• VRC_IF_SIM_RPC_VTM to use the DNBRRSVRC_IF_SIM_RPC_VTM V6 RRS-II interface module.
• VRC_IF_SIM_RPC_RTM to use the DNBRRSVRC_IF_SIM_RPC_RTM V6 RRS-II interface module.

Example RRS-II Server entries might look like the following:

My_VRC_Mgr1	VRC_IF	socket	Mountdeu	200c0000
My_VRC_Mgr1_Using_VTM_IF	VRC_IF_SIM_RPC_VTM	socket	Mountdeu	200c0000
My_Real_Time_VRC_Mgr1	VRC_IF_SIM_RPC_RTM	socket	Mountdeu	200c0000

which is interpreted as:

• If the My_VRC_Mgr1 RRS-II server is selected, use the DNBRRSVRC_IF V6 RRS-II interface module when connecting to the (VTM) VRC manager running on the computer named Mountdeu and associated with the RPC program number of 0x200c000.
• If the My_VRC_Mgr1_Using_VTM_IF RRS-II server is selected, use the DNBRRSVRC_IF_SIM_RPC_VTM V6 RRS-II interface module when connecting to the (VTM) VRC manager running on the computer named Mountdeu and associated with the RPC program number of 0x200c000.
• If the My_VRC_Mgr1_Using_RTM_IF RRS-II server is selected, use the DNBRRSVRC_IF_SIM_RPC_RTM V6 RRS-II interface module when connecting to the (RTM) VRC manager running on the computer named Mountdeu and associated with the RPC program number of 0x200d000.

The operation of V6 RRS-II interface modules can be customized. Refer to the following sections in this manual for more details:

• Customizing VTM Interfaces
• Customizing RTM Interfaces

V6 RRS-II interface modules allow display of the Target ID of the most recent target the VRC module reached, as reported by the VRC through the sim_target_reached RRS-II call. To display the Target ID, select the Target Reached attribute group for display using the RRS-II Operations command. For further details refer to Displaying Controller Attributes.