UDP based Inter/Intra task communication for processes independence in safety critical embedded applications

Distributed control is taking off, even in agricultural machines, at fast pace: x-by-wire and remote management technologies are almost everywhere, in any industry field. Consequently, data and commands transportation has become increasingly important in design and costs; the main reason is that these become often critical for the safety of system and the operator working on it. This paper deals with the design of a solid implementation to address such matter, the means to make two parts of a bus communicate and, in the meantime, provide means of separation between safety critical functions and non-safety critical ones. The paper takes advantage of design patterns both to provide a well-established way to solidly implement software systems and to focalize eloquently over solutions rather than entangle ourselves in implementation details.