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NML Tutorial

A 90-page tutorial presentation on NML (PDF format)

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The NML Programmer's Guide (C++ Version)

Describes the use of the Neutral Message Language(NML) components of the library and related parts of the Communication Management System(CMS). It includes distributed application development in C++ and creating custom NML vocabularies. (Examples and function prototypes are given in C++.)

The NML Programmer's Guide (Java Version)

Describes the use of the Neutral Message Language(NML) components of the library and related parts of the Communication Management System(CMS). It includes distributed application development in Java and creating custom NML vocabularies. (Examples and function prototypes are given in Java.)

The NML Programmer's Guide (Ada Version)

Describes the use of the Neutral Message Language(NML) components of the library and related parts of the Communication Management System(CMS). It includes distributed application development in Ada and creating custom NML vocabularies. (Examples and function prototypes are given in Ada.) Added October 24,2004

The NML Configuration Files

Describes writing an NML Configuration file and the options available. Updated March,2006

The Version 2.0 NML Configuration File Format and Tool

Describes a newer experimental version of the NML Configuration file, the options available and a tool needed to convert the new format to the old format.

The NML Configuration Server

Describes a program that can be used instead of or in addition to NML Configuration files. It determines the information normally stored in a configuration file as NML applications run. Added April,2004

The NML_SET class

The NML Set class is a class intended to make it easier to write applications to monitor or interact with multiple NML buffers especially when the number of such buffers is not fixed or known when the application starts. It is designed to work with the NML Configuration Server. Added July,2004

NML support for XML

Describes a number of ways NML can be used to read or send XML.

NML Subdivisions

Describes some extensions to NML that allow advanced users to access subdivisions within an NML buffer.

The NML Query/Reply Service

Describes some extensions to NML that allow advanced users to create Query/Reply Services more easily.

NML Performance Results

A summary of the results of some performance tests run on NML, including some hints at optimizing NML and running your own tests.

Supplementary NML Timing Diagnostics Tools

Describes some tools and configuration options that allow users to obtained detailed information on the timing of reads and writes to thier NML buffers.

NML Code Generator Instructions

Instructions for using the NML Code Generator to create C++ update and format functions or Java NML definitions. Updated March,2006

NML_MODULE

Describes the NML_MODULE base class which can be used to provide a template or framework for RCS applications.

RCS Java-based Diagnostics Tool

A tool written as a java applet that allows programmers to see the status and send commands to any RCS module.

RCS Java-based Diagnostics Tool Instructions

Instructions on how to build applications for use with the diagnostics tool.

RCS-Design Tool

A tool written as a java applet that allows programmers to create RCS applications graphically and generates source code.

RCS-Design Tool Instructions

Instructions on how to build applications with the RCS-Design tool.

RCS Data Plotter

A Java applet which plots data on a cartesian or polar graph, read either in real-time or from a text file.

Socket Interface to NML

Describes how to connect to an NML server using sockets directly. This information should also be useful for other languages where the C++ NML client interface is not available.

RCS Posemath Library

A library of classes for representing positions, rotations, and translations in a variety of coordinate systems and the functions to add/subtract/multiply/divide/convert them. For more info on posemath you may also want to check out: Karl Murphy's Posemath Examples

RCS Library Lower Level Utilities

Describes many of the lower level utilities used to create the NODE, CMS, and NML components of the RCS Library but which may be useful on their own. Includes timers, semaphores, linked-lists, printing, and windows functions.

Using generic.def for RCS Applications

Describes the RCS Directory structure and the use of generic.def to ease development of applications on multiple platforms and allow multiple programmers to work together more easily.

RCS Library Installation Instructions

Provides instructions for getting and making the RCS Library.

A Quick C++ Introduction for RCS Library Users

An introduction to C++ intended primarily for C programmers who need to learn just enough C++ to use the RCS Library. It covers the definition of classes, constructors, destructors, inheritance, and virtual functions.

RCS Library Version Functions

Documentation for some functions for determining at run-time which version of the RCS library your using.

EMC (Enhanced Machine Controller) links

Commercial Product Disclaimer

DISCLAIMER: Certain commercial equipment, instruments, or materials are identified in this paper to specify the experimental procedure adequately. Such identification is not intended to imply recommendation or endorsement by the National Institute of Standards and Technology, nor is it intended to imply that the materials or equipment identified are necessarily the best available for the purpose.

Software Disclaimer

DISCLAIMER: This software was produced by the National Institute of Standards and Technology (NIST), an agency of the U.S. government, and by statute is not subject to copyright in the United States. Recipients of this software assume all responsibility associated with its operation, modification, maintenance, and subsequent redistribution.