Develop a general motion controller software architecture

[project requirements] 1. We need to develop a general motion controller software architecture to reconstruct the current software system of the products. In the field of real-time control to achieve hierarchical abstraction, shielding and isolation; 2. Cooperate with our developers to complete the current system re-architecture; 3. Proficient in Linux CNC/CodeSys; 4. Refer to the attachment. [basic requirements for the personnel] 1. Have a deep understanding of the mainstream domain controller and corresponding hardware platform; 2. Deeply understand the kernel, middleware and driver layer of Linux / QNX / UCOS; 3. Familiar with at least one: CodeSys, linuxcnc, openil, orocos 4. well versed in multiple operating systems, databases, and programming languages 5. A lot of core code writing practice; proficient in operating system driver, kernel, application layer and other development features;