Orccad (http://sed.inrialpes.fr/Orccad/ )is a software environment that allows the design and implementation of the discrete and continuous components of complex control systems, e.g. robotics systems which provided it first ground (  ). It also allows the specification and validation of missions to be realized by this system. It is mainly intended for critical real-time applications, in which automatic control aspects ( servo loops ) have to interact narrowly with the handling of discrete events ( exception handling ). Orccad offers a complete and coherent vertical solution, ranging from the high level specification to real-time code generation. Orccad is supported by the Support Expérimentations & Développement (SED) service of Inria -Rhône-Alpes. Orccad is used by the experimental robotics platforms of Inria -Rhône-Alpes and by the Safe_NECS ANR project in a real-time simulator of a X4 drone. New functionalities and updates are developed jointly by the SED service and researchers of the NeCS and Pop Art teams.
Although it has been developed years ago, the basic concepts upon which the Orccad architecture relies still appear to be solid in the field of software development for robot control  , and compares well with other tools dedicated for real-time control implementation  . However the Orccad V3 software was designed with proprietary tools that moreover are now becoming obsolete. Orccad V4 is currently deeply re-engineered to be compliant with open-source and free software tools (Java/Eclipse/XML). Current targets are Linux (Posix threads) and Xenomai, a real-time development framework cooperating with the Linux kernel ( http://www.xenomai.org ).