The simulation environment was created for the RS-232 control firmware of the six-wheel rover described in this paper. It works with with the same code used in the physical rover performing control tasks (actions + events handling) using an abtraction layer that allow switching from a RS-232(GPIO) interface -for the physical rover- to a WebSockets one -for the simulator-.
This environment servers two purposes: on the one hand, evaluating the control software itself (PLEXIL + a custom plexil adapter), and on the other, designing plexil plans tailored to the designed rover.
This project requires a working copy of PLEXIL 4.0.1 installed and configured in the server, with the PLEXIL adapter
The SoC code used to run the plan in the physical rover (the six-wheel rover with a command-based RS-232 interface described in the paper), is available at https://bitbucket.org/hcadavid/soc-plexil-hardware-adapter/src/master/