Abstract
The aim of the LACATRE graphical environment, described in this paper, is to facilitate the design of multitasking real-time applications. It covers the preliminary and detailed design steps of the software life-cycle. It permits an easy description of both the behaviour and the transformational aspects of an application. The introduction in this environment of task time characteristics offers the developer the possibility of choosing a scheduling policy adapted to a particular application, and of verifying the adequacy of a design relative to time constraints (for the respect of deadlines, etc.). The application of the environment to a mining robot is illustrated in the paper.
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