taktora — Architecture & Specification

Engineering-as-Code specification for taktora — a Rust workspace that layers two building blocks on top of iceoryx2:

• taktora-executor — a high-level execution framework that turns IPC events, intervals, and request/response activity into deterministic, observable schedules of executable items.

• taktora-connector-* — a connector framework with typed channels, codec-pluggable payloads, uniform connector health, and reference EtherCAT and Zenoh connectors exercising the same plugin surface.

The product-facing homepage lives at taktora.eu; this site is the engineering counterpart and tracks the implementation in detail.

Warning

This specification is part of a personal experiment. APIs, requirements, and architecture decisions may shift without notice. See the project README for the full caveat.

Contents

• Overview
  • System context
  • Reading order
  • Status legend
• Requirements
  • Soft-RT PLC runtime heart
  • Connector framework
  • Bounded global allocator
  • Device-driver codegen
  • CANopen device-driver codegen
  • Logging — DLT base library with swappable backends
  • EtherCAT network-config codegen
  • Motion — real-time trajectory generation for CSP drives
  • Runtime diagnostics (SOVD-aligned)
  • Message-plane interface-description codegen
  • Workspace tooling
  • Requirements at a glance
• Architecture
  • Connector framework — architecture (arc42)
  • PLC runtime — architecture
  • Bounded global allocator — architecture
  • Device-driver codegen — architecture (arc42)
  • CANopen device-driver codegen — architecture (arc42)
  • Logging — architecture (arc42)
  • EtherCAT network-config codegen — architecture (arc42)
  • Motion — trajectory core architecture
  • Runtime diagnostics (medkit)
  • Message-plane interface-description codegen — architecture (arc42)
  • Workspace tooling — architecture
  • Safety architecture decisions
  • Building blocks
  • Architecture views (context, runtime, deployment, crosscutting)
  • Architecture decisions
  • Quality goals and constraints
  • Risks
  • Glossary
  • Legacy detailed-design specifications
• Verification
  • Connector framework — verification
  • PLC runtime — verification
  • Bounded global allocator — verification
  • Device-driver codegen — verification
  • CANopen device-driver codegen — verification
  • Logging — verification
  • EtherCAT network-config codegen — verification
  • Runtime diagnostics (medkit) tests
  • Message-plane interface-description codegen — verification
• Safety
  • Assumed Item
  • Assumed HARA — Hazards and Safety Goals
  • ASIL Decomposition
  • Functional Safety Concept — Assumed FSRs
  • Technical Safety Concept — TSRs
  • Freedom From Interference Argument
  • Assumptions of Use
  • Safety artefacts at a glance

Indices

• Index

• Search Page

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• taktora — Architecture & Specification
  • Indices