The Twente Embedded Real-time Robotic Application (TERRA) is our model-driven design tool suite for designing (control) software for cyber-physical systems. It is a modular collection of tools, currently providing:
* Model editors - Communicating Sequential Processes (CSP) and Architecture models
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* Model validation
* Code generation - LUNA/C++ and machine readable CSP
* External tool support - 20-sim and SCXMLgui
TERRA is being developed at the Robotics and mechatronics chair of the University of Twente [Less]