Design and Implementation of Trace and Debug Model in RTAI-based CNC

For improving the capability of debugging in CNC,this paper presented a trace and debug model for real-time task in RTAI-based CNC,with the inter-process communication of RTAI and ring buffer technology.The model can trace real-time task dynamically,and obtain the useful debug information to analyze.The impact on performance of real-time task is as little as possible in tracing and is null when no tracing.The proposed has been used in the debugger of CNC that we developed.