This document discusses the Sessalet project, which uses a state machine diagram model and mruby to control a motorized toilet seat (combining SESSAME and Washlet) on a LEGO Mindstorms robot. It introduces the members of Team Sessalet and explains their reasons for choosing a state machine diagram model. It then provides details about the SESSAME organization, TOPPERS real-time operating system, and how mruby can be used with TOPPERS to implement the Sessalet state machine control logic on the robot.

1. High Tech Seat in
mruby
2016/09/10
Yurie Yamane

2. About Me
•Yurie Yamane
•@yuri_at_earth
•TOPPERS Project
•SESSAME
•野良(NORA) mrubyist

3. What's Sessalet?
• Sessalet(せされっと)
• SESSAME + Washlet -> Sessalet
• LEGO Mindstorms
• EV3RT(TOPPERS HRP2 kernel)

4. SESSAME
http://www.sessame.jp/
25th Open SESSAME Seminar
UML2.0 State Machine Diagram design
Seminar
~ Let's design the "executable" model ~
Society of Embedded Software Skill
Acquisition for Managers and Engineers

5. Team Sessalet
• Toshihiro Shima(model)
http://saltheads.blog134.fc2.com/archives.html
• Noboru Watanabe(hardware)
comming soon :)
• Yurie Yamane(software)

6. Why Sessalet?
• the best model for State Machine Diagram
• nested states(状態が入れ子になっている)
• Orthogonal State(直交状態をもつ)
Ref:State Machine Diagram Design Seminar

7. State Machine Diagram
✅analysis model?
design model?

8. variability
• State Machine Diagram
• ステートマシン図、状態マシン図、状態機械図
• entry
• 入場、入状、entry
• trigger
• トリガー、トリガ、イベント

9. Beautiful code, beautiful model
• Is this correct? • Is this beautiful?
Let's write start point

10. Sessalet Analysis Model

11. Sessalet Analysis Model

12. Sessalet Analysis Model

13. Sessalet Analysis Model

14. Sessalet Analysis Model

15. Implementation

16. RTOS : EV3RT

17. What's RTOS?
• not Throughput
• guarantee of deadline

18. • TOPPERS（Toyohashi OPen Platform for
Embedded Real-time Systems）
• TOPPERS’ Products
• RTOS(Real-time OS) Kernel
• AUTOSAR(OS, middleware, tool etc...)
• other tools
• TOPPERS + TSUBAME(swallow) -> TOPAME
TOPPERS Project
TOPAME

19. http://toppers.jp/en/index.html

20. Who uses TOPPERS?
http://ev.nissan.co.jp/LEAF/?pfa=01
http://www.ricoh.co.jp/printer/sg/3100ke/
http://www.korg.com/jp/products/dj/electribe/
http://music.casio.com/ja/products/digital_pianos/ghs/products/
https://en.wikipedia.org/wiki/H-IIB
from: http://toppers.jp/applications.html

21. TECS
TOPPERS Kernel Roadmap
ATK1 ATK2 ATK3?
FMP3
HRP3
ASP3
2000 2010 2020
1st generation 3rd generation2nd generation
ITRON
Automotive
FDMP
HRP
FI4
JSP
ASP Safety
HRP2
FMP
ASP
SSP
SSP3
20152004
https://www.toppers.jp/docs/conference/2016/toppers-conf16_takada.pdf

22. TOPPERS EV3RT
unprivileged
mode
(user mode)
privileged
mode
(kernel mode)
http://dev.toppers.jp/trac_user/ev3pf/wiki/WhatsEV3RT
Application
Task Task

23. mruby for TOPPERS
Application
Task Task Task

24. Load Ruby file
app

25. Use EV3 Hardware in Ruby
mruby-ev3rt
mruby-Sessalet
app

26. Use RTOS Task in Ruby
mruby-ev3rt
app
app

27. Priority
main_task
flush_task
seat_task
HIGH priority
LOW priority

28. demo

29. Conclusion
• Let's design the "executable" model
• Let's write mruby code on RTOS

30. Thank you!
ZZZ...
You can contact us on Twitter: @yuri_at_earth
Special Thanks to: @saltheads, Noboru Watanabe
ワタナベ技研(https://www.facebook.com/watanabegiken/)