Re: RT Scheduler

On Thursday 27 February 2003 10:46, [email protected] 
wrote:
> What kind of scheduler does orocos core use?
> Timeline ?  Rate Monotonic ? Earliest deadline first?

It uses the default OS scheduler. for RTAI, this is the FIFO scheduler. RTAI 
supports FIFO and Round Robin. These can be set in os/rtai/MainThread.hpp

Additionaly, with your help, Earliest Deadline First and Rate Monotonic 
Scheduling is supported but requires modification of the ComponentThreaded 
class. Since Orocos only uses 2 H-RT and one S-RT thread by default, we 
sticked with Fifo+priorities.

In RTAI, the timer interrupt can be used in oneshot or periodic mode. Oneshot 
mode seems to produce lower jitter times, but higher latencies. I'm still 
investigating what the best solution is.

For more internals about RTAI scheduling, read 
rtai/Documenation/README.SCHED_POLICY in your rtai installation.

Peter

>
> Regards
> Piercarlo
>
>
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-- 
Peter Soetens
The Orocos Project  : http://www.orocos.org
KU Leuven - Belgium
--