Generic Programming Paradigm for Open Architecture Controllers

This paper presents a generic programmingparadigm, called the control plan paradigm, based on Nested Finite State Machines (NFSMs) and event-driven mechanisms. In this paradigm, a control program can be divided into two non-overlapping parts: behavior and operation speciications. This division allows machine-dependent and machine-independent control programs to be designed and implemented independently of each other, and integrated when an application program is constructed. Our evaluation on an open-architecture machine controller testbed shows that such programming paradigm improves signiicantly the reconngurability and reusability of control programs.