Abstract
This paper proposes the C++-based binary compatibility object model(CBCOM) to maintain the binary compatibility of software components that share objects among C++-based executable codes, such as .exe and .dll, for reusability of robot-software components. In addition, the proposed model provides methods such as overriding and overloading, multiple inheritances of interfaces, and exception handling. This paper illustrates how to use the proposed model via a simple example in the Windows environment. The proposed method is validated by application examples and comparisons with known object models, such as C++, COM, and CCC, in terms of the call time of a method during execution and binary compatibility for reusability of robot software components independent of the interface version or the types of compilers. Additionally, this paper shows that CBCOM-based components that are compiled with Microsoft Visual C++ and GCC can call each other and that any interface version problems are resolved.
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