The development system includes {HEAD ~ a real time compiler} for generating {TAIL ~ p code} to be executed on the real time kernel running in the node controller 
for generating
The development system includes { HEAD ~ a real time compiler } for generating { TAIL ~ p code } to be executed on the real time kernel running in the node controller
OTH OTH OTH OTH HEAD HEAD HEAD HEAD HEAD HEAD HEAD HEAD REL REL TAIL TAIL TAIL TAIL TAIL TAIL OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH