Information processing device, information processing method, and non-transitory computer-readable recording medium

An information processing method comprising:

• simulating, by a first actuator emulator, a behavior of a first drive apparatus that drives a first control target;
• simulating, by a second actuator emulator, a behavior of a second drive apparatus that drives a second control target;
• storing, by a storage device, a first control program written in a cyclic execution type programming language that comprises a first instruction group having a plurality of instructions to be executed in a cyclical manner within a predetermined first control period with respect to the first actuator emulator,
• storing, by the storage device, a second control program written in a sequential execution type programming language that comprises a second instruction group to be executed in a predetermined execution order and comprises a first instruction and a second instruction with respect to the second actuator emulator;
• generating, by a timer, a virtual time to be used by a first control emulator for executing repeatedly the first instruction group comprised in the first control program in each of the predetermined first control period in accordance with measurement using the virtual time and to be used by a second control emulator for executing sequentially the second instruction group comprised in the second control program in the predetermined execution order in accordance with the virtual time,
• calculating, by the second controller emulator, a first execution time necessary for executing the first instruction comprised in the second control program in accordance with measurement using the virtual time and executing the first instruction;
• executing, by the first controller emulator, the plurality of instructions repeatedly during the first execution time;
• transmitting, by the second controller emulator, a completion of the first instruction to the first control emulator in response to the first instruction having been completed;
• calculating, by the second control emulator after the second controller emulator transmits the completion of the first instruction to the first controller emulator, a second execution time necessary which is different from the first execution time for executing the second instruction comprised in the second control program in accordance with measurement using the virtual time and executing the second instruction;
• executing, by the first controller emulator repeatedly, the plurality of instructions during the second execution time;
• and
• transmitting, by the second controller emulator, a completion of the second instruction to the first control emulator in response to the second instruction having been completed.

A non-transitory computer-readable recording medium comprising an information processing program executed by a computer, the information processing program causing the computer to execute functions comprising:

• simulating, by a first actuator emulator, a behavior of a first drive apparatus that drives a first control target;
• simulating, by a second actuator emulator, a behavior of a second drive apparatus that drives a second control target;
• storing, by a storage device, a first control program written in a cyclic execution type programming language that comprises a first instruction group having a plurality of instructions to be executed in a cyclical manner within a predetermined first control period with respect to the first actuator emulator,
• storing, by the storage device, a second control program written in a sequential execution type programming language that comprises a second instruction group to be executed in a predetermined execution order and comprises a first instruction and a second instruction with respect to the second actuator emulator;
• generating, by a timer, a virtual time to be used by a first control emulator for executing repeatedly the first instruction group comprised in the first control program in each of the predetermined first control period in accordance with measurement using the virtual time and to be used by a second control emulator for executing sequentially the second instruction group comprised in the second control program in the predetermined execution order in accordance with the virtual time,
• calculating, by the second controller emulator, a first execution time necessary for executing the first instruction comprised in the second control program in accordance with measurement using the virtual time and executing the first instruction;
• executing, by the first controller emulator, the plurality of instructions repeatedly during the first execution time;
• transmitting, by the second controller emulator, a completion of the first instruction to the first control emulator in response to the first instruction having been completed;
• calculating, by the second control emulator after the second controller emulator transmits the completion of the first instruction to the first controller emulator, a second execution time necessary which is different from the first execution time for executing the second instruction comprised in the second control program in accordance with measurement using the virtual time and executing the second instruction;
• executing, by the first controller emulator repeatedly, the plurality of instructions during the second execution time;
• and
• transmitting, by the second controller emulator, a completion of the second instruction to the first control emulator in response to the second instruction having been completed.