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Contents

1. An Overview of Ptolemy
1.1 Introduction 1-1
1.2 History 1-2
1.3 Ptolemy Kernel 1-3
1.4 Models of Computation 1-4
1.5 Dataflow Models of Computation 1-6
1.6 Discrete-Event Models of Computation 1-6
1.7 Synchronous Reactive Modeling 1-7
1.8 Finite State Machines 1-7
1.9 Mixing Models of Computation 1-7
1.10 Code Generation 1-8
1.11 Conclusion 1-8
1.12 Current Directions 1-8
1.13 Organization of the documentation 1-9
1.14 Acknowledgments 1-9
Personnel 1-9
Support 1-11
Prior software 1-11
2. The Interactive Graphical Interface
2.1 Introduction 2-1
Setup 2-1
2.2 Running the Ptolemy demos 2-2
Starting Ptolemy 2-2
Exploring the menus 2-4
Traversing the hierarchy 2-5
Running a Ptolemy application 2-6
Examining schematics more closely 2-9
Invoking on-line documentation for stars 2-10
More extensive exploration of the demos 2-11
What's new 2-12
2.3 Dialog boxes 2-12
Tk control panels 2-12
Athena widget dialog boxes 2-13
2.4 Parameters and states 2-14
A note on terminology 2-14
Changing or setting parameters 2-15
Reading Parameter Values From Files 2-16
Inserting Comments in Parameters 2-16
Using Tcl Expressions in Parameters 2-17
Using Matlab and Mathematica to Compute Parameters 2-18
Array parameters 2-19
String Parameters 2-19
2.5 Particle types 2-20
2.6 The oct design database and its editor, vem 2-21
2.7 Creating universes 2-22
Opening working windows 2-23
Some basic vem commands 2-24
Building an example 2-26
2.8 Using galaxies 2-30
Creating a galaxy 2-30
Using a galaxy 2-31
Galaxy and universe parameters 2-32
2.9 Editing Icons 2-34
2.10 Sounds 2-38
Workstation Audio Internet Resources 2-38
Solaris 2-38
HPUX 2-39
Playing Audio over the Network 2-39
Ptolemy Sounds 2-40
2.11 Hardcopy 2-40
Printing oct facets 2-41
Capturing a screen image 2-41
2.12 Other useful information 2-44
Plotting signals and Fourier transforms 2-44
Moving objects 2-44
Copying objects 2-44
Labeling a design 2-45
Icon orientation 2-45
Finding the names of terminals 2-45
Multiple inputs and outputs 2-46
Using delays 2-47
Auto-forking 2-48
Dealing with errors 2-49
Copying and moving designs 2-50
Environment variables 2-51
Command-line options 2-53
2.13 X Resources 2-54
2.14 Tk options 2-55
2.15 Multi-domain universes 2-55
3. ptcl: The Ptolemy Interpreter
3.1 Introduction 3-1
3.2 Getting started 3-2
3.3 Global information 3-2
3.4 Commands for defining the simulation 3-2
Creating and deleting universes 3-2
Setting the domain 3-3
Creating instances of stars and galaxies 3-4
Connecting stars and galaxies 3-5
Netlist-style connections 3-6
Bus connections between MultiPortHoles 3-6
Connecting internal galaxy stars and galaxies to the outside 3-6
Defining parameters and states for a galaxy 3-6
Setting the value of states 3-7
Setting the number of ports to a star 3-7
Defining new galaxies 3-8
3.5 Showing the current status 3-9
Displaying the known classes 3-9
Displaying information on a the current galaxy or other class 3-9
3.6 Running the simulation 3-9
Creating a schedule 3-10
Running the simulation 3-10
Continuing a simulation 3-10
Wrapping up a simulation 3-10
Interrupting a simulation 3-10
Obtaining the stop time of the current run 3-10
Obtaining time information from the scheduler 3-11
Animating a simulation 3-11
3.7 Undoing what you have done 3-11
Resetting the interpreter 3-11
Removing a star 3-11
Removing a connection 3-11
Removing a node 3-12
3.8 Targets 3-12
What targets are available? 3-12
Changing the target 3-12
Changing target parameters 3-12
Pragmas 3-12
3.9 Miscellaneous commands 3-13
Loading commands from a file 3-13
Changing the seed of random number generation 3-13
Changing the current directory 3-14
Dynamically linking new stars 3-14
Top-level blocks 3-15
Examining states 3-15
Giving up 3-15
Getting help 3-15
Registering actions 3-15
The Interface to Matlab and Mathematica 3-16
3.10 Limitations of the interpreter 3-18
3.11 A wormhole example 3-18
3.12 Some hints on advanced uses of ptcl with pigi 3-19
Ptcl as a simulation control language for pigi 3-19
The pigi log file pigiLog.pt 3-20
Using pigiLog.pt to build scripts 3-22
oct2ptcl 3-22
4. Introduction to Domains, Targets, and Foreign Tool Interfaces
4.1 Introduction 4-1
4.2 Synchronous dataflow (SDF) 4-3
4.3 Higher-Order Functions (HOF) 4-3
4.4 Dynamic dataflow (DDF) 4-3
4.5 Boolean dataflow (BDF) 4-4
4.6 Process Network (PN) 4-4
4.7 Synchronous Reactive (SR) 4-5
4.8 Finite State Machine (FSM) 4-5
4.9 Discrete Event (DE) 4-5
4.10 Multidimensional Synchronous Dataflow (MDSDF) 4-6
4.11 Code generation (CG) 4-6
4.12 Code generation in C (CGC) 4-6
4.13 Code generation for the Motorola DSP56000 (CG56) 4-7
4.14 Code generation in VHDL (VHDL, VHDLB) 4-7
4.15 Domains that have been removed 4-12
Circuit simulation (Thor) 4-12
Communicating processes (CP) 4-13
Message queueing (MQ) 4-13
Code generation for the Sproc multiprocessor DSP (Sproc) 4-13
Code generation for the Motorola DSP96000 (CG96) 4-14
Code generation in Silage (Silage) 4-14
Functional Code Generation in VHDL (VHDLF) 4-14
4.16 Interfaces to Foreign Tools 4-15
Specification and Layout 4-15
Parameter Calculation 4-16
Algorithm Prototyping and Visualization 4-16
Simulation 4-16
Synthesis 4-16
5. SDF Domain
5.1 Introduction 5-1
Basic dataflow terminology 5-1
Balancing production and consumption of tokens 5-2
Iterations in SDF 5-3
Inconsistency 5-3
Delays 5-4
5.2 An overview of SDF stars 5-4
Source stars 5-5
Sink stars 5-9
Arithmetic stars 5-12
Nonlinear stars 5-13
Logic stars 5-16
Control stars 5-17
Conversion stars 5-20
Matrix stars 5-23
Matlab stars 5-26
UltraSparc Native DSP 5-28
Signal processing stars 5-30
Spectral analysis 5-34
Communication stars 5-36
Telecommunications 5-39
Spatial Array Processing 5-42
Image processing stars 5-44
Neural Networks 5-48
Higher Order Function stars 5-50
User Contributions 5-50
Tcl stars 5-50
5.3 An overview of SDF demonstrations 5-51
Basic demos 5-51
Multirate demos 5-53
Communications demos 5-54
Digital signal processing demos 5-55
Sound-making demos 5-57
Image and video processing demos 5-59
Fixed-point demos 5-61
Tcl/Tk demos 5-61
Matrix demos 5-62
MATLAB Demos 5-64
HOF Demos 5-64
Scripted Runs 5-64
5.4 Targets 5-65
Default SDF target 5-65
The loop-SDF target 5-67
Compile-SDF target 5-67
SDF to PTCL target 5-69
5.5 Exercises 5-70
Modulation 5-70
Sampling and multirate 5-72
Exponential sequences, transfer functions, and convolution 5-73
Linear phase filtering 5-75
Coefficient quantization 5-76
FIR filter design 5-78
The DFT (discrete Fourier transform) 5-79
Whitening filters 5-81
Wiener filtering 5-81
Adaptive equalization 5-82
ADPCM speech coding 5-83
Spectral estimation 5-84
Lattice filters 5-85
6. HOF Domain
6.1 Introduction 6-1
6.2 Using the HOF domain 6-2
The Map star and its variants 6-2
Managing multidimensional data 6-9
Other higher-order control structures 6-11
Statically evaluated recursion 6-12
Bus manipulation stars 6-13
6.3 An overview of the HOF stars 6-15
Bus manipulation stars 6-15
Map-like stars 6-16
6.4 An overview of HOF demos 6-18
HOF demos in the SDF domain 6-18
HOF demos in the DE domain 6-20
HOF demos in the CGC domain 6-20
7. DDF Domain
7.1 Introduction 7-1
7.2 The DDF Schedulers 7-2
The default scheduler 7-4
The clustering scheduler 7-5
The fast scheduler 7-6
7.3 Inconsistency in DDF 7-7
7.4 The default-DDF target 7-8
7.5 An overview of DDF stars 7-9
7.6 An overview of DDF demos 7-10
7.7 Mixing DDF with other domains 7-12
8. BDF Domain
8.1 Introduction 8-1
8.2 The default-BDF target 8-2
8.3 An overview of BDF stars 8-2
8.4 An overview of BDF demos 8-3
9. PN domain
9.1 Introduction 9-1
9.2 Process networks 9-1
Dataflow process networks 9-2
Scheduling dataflow process networks 9-3
Iterations in the PN domain 9-3
9.3 Threads 9-3
9.4 An overview of PN stars 9-4
9.5 An overview of PN demos 9-5
Examples from papers by Gilles Kahn and David B. MacQueen 9-5
Examples from the Ph.D. thesis of Thomas M. Parks 9-7
10. SR domain
10.1 Introduction 10-1
10.2 SR concepts 10-1
10.3 SR compared to other domains 10-1
10.4 The semantics of SR 10-1
10.5 Overview of SR stars 10-3
General stars 10-3
Itcl stars 10-4
MIDI stars 10-4
10.6 An overview of SR demos 10-5
Use of the Yamaha CBX-K1XG as a midi keyboard controller 10-5
11. Finite State Machine Domain
11.1 Introduction 11-1
11.2 Graphical User Interface 11-1
Edit a new STD file 11-1
Edit the Input/Output and Internal Events Names 11-1
Draw/Edit a State 11-1
Draw/Edit a Transition 11-2
Delete a State/Transition 11-2
Move/Reshape a State/Transition 11-2
Slave Processes of States 11-2
11.3 Working within Ptolemy 11-2
Make an Icon in Vem 11-2
Look Inside an FSM Galaxy 11-3
Compile an FSM Galaxy 11-3
11.4 An overview of FSM demonstrations 11-3
11.5 Current Limitations 11-4
12. DE Domain
12.1 Introduction 10-1
12.2 The DE target and its schedulers 10-1
Events and chronology 10-2
Event generators 10-2
Simultaneous events 10-3
Delay-free loops 10-4
Wormholes 10-4
DE Performance Issues 10-7
12.3 An overview of stars in DE 10-7
Source stars 10-8
Sink stars 10-10
Control stars 10-12
Conversion stars 10-14
Queues, servers, and delays 10-15
Timing stars 10-17
Logic stars 10-18
Networking stars 10-19
Miscellaneous stars 10-22
HOF Stars 10-24
12.4 An overview of DE demos 10-24
Basic demos 10-24
Queues, servers, and delays 10-26
Networking demos 10-27
Miscellaneous demos 10-28
Wormhole demos 10-29
Tcl/Tk Demos 10-30
HOF Demos 10-31
13. CG Domain
13.1 Introduction 11-1
13.2 Targets 11-1
default-CG 11-2
bdf-CG 11-3
FullyConnected 11-3
SharedBus 11-6
13.3 Schedulers 11-6
Single-Processor Schedulers 11-6
Multiple-Processor Schedulers 11-7
13.4 Interfacing Issues 11-10
Interface Synthesis between Code Generation Targets 11-10
Interface Synthesis between Code Generation and Simulation Domains 11-10
13.5 Dynamic constructs in CG domain 11-11
Dynamic constructs as a cluster 11-11
Quasi-static scheduling of dynamic constructs 11-12
DDF-type Stars for dynamic constructs 11-13
13.6 Stars 11-14
13.7 Demos 11-15
14. CGC Domain
14.1 Introduction 12-1
14.2 CGC Targets 12-1
Single-Processor Targets 12-2
Multi-Processor Targets 12-3
Setting Parameters Using Command-line Arguments 12-4
14.3 An Overview of CGC Stars 12-5
Source Stars 12-5
Sink Stars 12-7
Arithmetic Stars 12-8
Nonlinear Stars 12-8
Control Stars 12-9
Logic Stars 12-11
Conversion Stars 12-11
Signal Processing Stars 12-12
Communications Stars 12-12
BDF Stars 12-13
Tcl/Tk Stars 12-13
Higher Order Function Stars 12-14
UltraSparc VIS (Visual Instruction Set) Stars 12-14
An Overview of CGC Demos 12-18
Basic Demos 12-19
Multirate Demos 12-20
Signal Processing Demos 12-20
Multi-Processor Demos 12-21
Fixed-Point Demos 12-22
Sound-Making Demos 12-22
Tcl/Tk Demos 12-24
BDF Demos 12-25
Higher Order Function Demos 12-25
SDF-CGC Wormhole demos 12-25
UltraSparc VIS Demos 12-26
EECS20 demos 12-26
Tycho Demos 12-27
15. CG56 Domain
15.1 Introduction 13-1
15.2 An overview of CG56 stars 13-1
Source stars 13-3
I/O Stars 13-3
Arithmetic stars 13-6
Nonlinear stars 13-7
Logic stars 13-10
Control stars 13-11
Conversion stars 13-12
Signal processing stars 13-13
15.3 An overview of CG56 Demos 13-15
Basic/Test demos 13-15
Motorola Simulator Demos 13-16
S-56X Demos 13-16
CGC-S56X Demos 13-17
15.4 Targets 13-19
Default CG56 (default-CG56) target 13-19
CG56 Simulator (sim-CG56) target 13-20
Ariel S-56X (S-56X) target 13-21
CG56 Subroutine (sub-CG56) target 13-21
Multiprocessor 56k Simulator (MultiSim-56000) target 13-21
16. VHDL Domain
16.1 Introduction 14-1
Setting Environment Variables 14-2
16.2 VHDL Targets 14-3
The default-VHDL Target 14-3
The struct-VHDL Target 14-4
The SimVSS-VHDL Target 14-4
The SimMT-VHDL Target 14-5
The Synth-VHDL Target 14-6
Cadence Leapfrog Ptolemy Interface 14-7
16.3 An Overview of VHDL Stars 14-7
Source Stars 14-8
Sink Stars 14-9
Arithmetic Stars 14-9
Nonlinear Stars 14-10
Control Stars 14-10
Conversion Stars 14-11
Signal Processing Stars 14-11
16.4 An Overview of VHDL Demos 14-12
Code Generation Demos 14-13
Simulation Demos 14-13
Synthesis Demos 14-14
Cosimulation Demos 14-14
17. C50 Domain
17.1 Introduction 15-1
17.2 An overview of C50 stars 15-1
Source stars 15-2
I/O Stars 15-3
Arithmetic stars 15-4
Nonlinear stars 15-5
Logic stars 15-7
Control stars 15-8
Conversion stars 15-9
Signal processing stars 15-10
17.3 An overview of C50 Demos 15-12
Basic/Test demos 15-12
DSK 320C5x demos 15-12
17.4 Targets 15-13
Default C50 (default-C50) target 15-13
C50 Subroutine (sub-C50) target 15-14
C50 DSP Starter Kit (DSKC50) target 15-14
18. Creating Documentation
18.1 Introduction 15-1
18.2 Printing the manual 15-1
18.3 Using FrameMaker 15-2
Index Entries 15-2
Special fonts and displays 15-4
18.4 Using HTML to document stars 15-5
19. Vem - The Graphical Editor for Oct
19.1 Terminology 16-1
19.2 Using Dialog Boxes 16-4
19.3 General Commands 16-7
19.4 Options 16-11
19.5 Selection 16-15
19.6 Property and Bag editing 16-17
19.7 Physical editing commands 16-17
19.8 Symbolic editing commands 16-20
19.9 Schematic editing commands 16-20
19.10 Remote application commands 16-22
19.11 Customizing Vem 16-23
19.12 Bugs 16-23
20. pxgraph - The Plotting Program
20.1 Introduction 17-1
20.2 Invoking xgraph 17-1
20.3 Detailed description 17-1
20.4 Options 17-3
20.5 Bugs 17-6
Appendix A. Installation and Troubleshooting
A.1 Introduction A-1
A.2 Obtaining Ptolemy A-1
Access via the Internet A-2
Access via the World Wide Web A-2
Obtaining documentation only A-2
A.3 Ptolemy mailing lists and the Ptolemy newsgroup A-2
Ptolemy mailing lists A-2
Ptolemy Newsgroup A-3
A.4 Installation A-3
Location of the Ptolemy installation A-4
Basic Ptolemy installation A-5
The ptolemy user A-5
Installation without creating a ptolemy user A-5
Obtaining Ptolemy A-6
Special considerations for use under OpenWindows A-7
Gnu Installation A-7
Testing the Installation A-9
Rebuilding Ptolemy From Source A-10
Freeing up Disk Space A-14
Other useful software packages A-14
A.5 Troubleshooting A-15
Problems with tar files A-15
Problems starting pigi A-16
Common problems while running pigi A-19
Window system problems A-20
Problems with the compiler A-23
Problems compiling files A-25
Generated code in CGC fails to compile A-27
Ptolemy will not recompile A-27
Dynamic linking fails A-30
Dynamic linking and makefiles A-31
Path and/or environment variables not set in "debug" pigi A-32
DE Performance Issues A-32
A.6 Known bugs A-33
Bugs in vem A-33
Bugs in pigi A-34
Bugs in tycho A-35
Code generation bugs A-35
Bugs in pxgraph A-35
HPPA specific bugs A-36
IBM AIX specific bugs A-37
Silicon Graphics IRIX5 specific bugs A-37
Linux specific bugs A-38
Sun Solaris 2.4 specific bugs A-38
Sun OS4 specific bugs A-39
DEC Alpha specific bugs A-39
GNU compiler bugs A-39
A.7 Additional resources A-40
A.8 Submitting a bug report A-40
Appendix B. Introduction to the X Window System
B.1 A model user's home directory B-1
B.2 Running Pigi using Sun's OpenWindows system B-1
B.3 Starting X B-2
B.4 Manipulating Windows B-3
Appendix C. Filter design programs
C.1 Introduction C-1
C.2 optfir - equiripple FIR filter design C-1
C.3 wfir - window method FIR filter design C-4
Appendix D. Shared Libraries
D.1 Introduction D-1
Static Libraries D-1
Shared Libraries D-1
Differences between static and shared libraries: Unresolved symbols D-2
Differences between static and shared libraries: Pulling in stars D-2
D.2 Shared library problems D-3
Startup Time D-3
D.3 Reasons to use shared libraries D-4
D.4 Architectural Dependencies D-4
Solaris D-5
SunOS D-5
HPUX D-5
D.5 GateKeeper Error D-6
Appendix E. Glossary
References
Index

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