Composability framework for robotic control system

A method comprising:

• receiving a multi-device application definition for a real-time robotic control system configured to perform operations comprising controlling a robotic execution environment having multiple robotic components, wherein the application definition comprises:
• one or more custom high-level software modules for each robotic component of the multiple robotic components, wherein each custom high-level software module is configured to execute one or more functions of the robotic component, and wherein each custom high-level software module depends on one or more low-level software modules of the respective robotic component;
• respective module interface definitions for each of the custom high-level software modules, wherein a module interface definition of a custom high-level software module specifies one or more asynchronous or real-time communication channels through which the custom high-level software module can receive input data from a different custom high-level software module or transmit output data to the different custom high-level software module;
• and
• respective device interface definitions for each of the multiple robotic components, wherein a device interface definition of a robotic component declares the software modules that the robotic component can execute;
• and
• processing the application definition to generate output programs to be executed respectively by the multiple robotic components, wherein the output programs comprise a plurality of commands to execute the one or more custom high-level software modules, and wherein a first output program for a first robotic component of the multiple robotic components causes the first robotic component to communicate information on a first communication channel to a second output program for a second robotic component of the multiple robotic components.

One or more non-transitory computer storage media encoded with computer program instructions that when executed by a plurality of computers cause the plurality of computers to perform operations comprising:

• receiving a multi-device application definition for a real-time robotic control system configured to perform operations comprising controlling a robotic execution environment having multiple robotic components, wherein the application definition comprises:
• one or more custom high-level software modules for each robotic component of the multiple robotic components, wherein each custom high-level software module is configured to execute one or more functions of the robotic component, and wherein each custom high-level software module depends on one or more low-level software modules of the respective robotic component;
• respective module interface definitions for each of the custom high-level software modules, wherein a module interface definition of a custom high-level software module specifies one or more asynchronous or real-time communication channels through which the custom high-level software module can receive input data from a different custom high-level software module or transmit output data to the different custom high-level software module;
• and
• respective device interface definitions for each of the multiple robotic components, wherein a device interface definition of a robotic component declares the software modules that the robotic component can execute;
• and
• processing the application definition to generate output programs to be executed respectively by the multiple robotic components, wherein the output programs comprise a plurality of commands to execute the one or more custom high-level software modules, and wherein a first output program for a first robotic component of the multiple robotic components causes the first robotic component to communicate information on a first communication channel to a second output program for a second robotic component of the multiple robotic components.