How is real time accomplished in OROCOS ?

Submitted by Chandler on Fri, 2007-12-14 05:16.

Hello All,

Can someone explain, how is real-time accomplished in OROCOS. I am trying to find an answer to this question ?
Is that through the Xenomai or RTAI ?

Please can someone help me understand this.

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How is real time accomplished in OROCOS ?

Submitted by sspr on Fri, 2007-12-14 17:20.

>
> Hello All,
>
> Can someone explain, how is real-time accomplished in OROCOS. I am trying
> to find an answer to this question ?
> Is that through the Xenomai or RTAI ?

You can select Xenomai OR RTAI/LXRT for having real-time threads. But you
don't create these threads directly, you create Orocos objects which
create these threads in the background. As such, your application is OS
independent and can, with a simple recompilation step, be exectued upon
another RTOS.

For example, If you use the RTT::PeriodicActivity class, a periodic RTOS
thread is created by Orocos which executes the code of that activity.

Choosing the RTOS is done by compiling the Orocos RTT for a given RTOS, by
setting OROCOS_TARGET=lxrt for example. When you compile an application,
you specify as well -DOROCOS_TARGET=lxrt and link with the orocos-rtt-lxrt
library.

See the installation guide for full details.
<http://www.orocos.org/stable/documentation/rtt/v1.4.x/doc/orocos-installation>

Peter

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