Re: Mediators implementation

On Thu, 12 Dec 2002 [email protected] wrote:

> I suppose that mediators called "outputs" and "state" are working as
> interface between HRT system end SRT system. What kind of implementation
> is used? FiFo's ?
> Does the same communication problems between HRT-SRT and RTos-NoRTos exist?
>
Please make the distinction between the _design_ (in which the
abovementioned terms mediator, outputs, etc. are used) and the
_implementation_.

The fact whether things run in hard or soft realtime doesn't have an
influence on the design. Whether to use FIFOs or other interprocess
communication means is also not relevant for the design. Orocos is a
_framework_, in wich these "details" can be changed in any separate
implementation.

But in our particular implementation, yes we do use FIFOs. And for the
particular RTOS we use (RTAI) FIFOs can be put between real-time and/or
non real-time parts of the system.

Probably I will not have answered your questions completely, so just ask
more if this is the case :-)

Herman

-- 
  K.U.Leuven, Mechanical Engineering, Robotics Research Group
<http://people.mech.kuleuven.ac.be/~bruyninc> Tel: +32 16 322480