Participants : Daniel Simon [correspondant] , Soraya Arias [SED] , Roger Pissard-Gibollet [SED] .
Orccad is a software environment that allows for the design and implementation of the continuous and discrete time components of complex control systems, e.g. robotics systems which provided it first ground  . It also allows the specification and validation of complex missions to be performed by the system. It is mainly intended for critical real-time applications, in which automatic control aspects (servo loops) have to interact narrowly with the handling of discrete events (exception handling, mode switching). Orccad offers a complete and coherent vertical solution, ranging from the high level specification to real-time code generation. The Orccad V3 software was designed with proprietary tools that moreover are now becoming obsolete. Orccad V4 is currently deeply re-engineered to be compliant with open-source and free software tools (Java/Eclipse). Current targets are Linux (Posix threads) and Xenomai, a real-time development framework cooperating with the Linux kernel (http://www.xenomai.org ). Orccad is supported by the Support Expérimentations & Développement (SED) service of Inria -Rhône-Alpes. Orccad is used by the experimental robotics platforms of Inria -Rhône-Alpes and by the Safenecs ANR project in a real-time simulator of a X4 drone. New functionalities and updates are developed jointly by the SED service and researchers of the NeCS and Sardes teams. Web page: http://orccad.gforge.inria.fr .