Re: RT Scheduler

On Thu, 27 Feb 2003 [email protected] wrote:

> What kind of scheduler does orocos core use?
> Timeline ?  Rate Monotonic ? Earliest deadline first?
>
This is the difference between an RTOS kernel and the Orocos kernel
running on top of an RTOS: Orocos will have four categories of RT
behaviour: non-interruptable (interrupts off), non-pre-emptible
(interrupts on), pre-emptible, and non real-time. Each component can
have parts running in all categories, and it's the framework that maps
everything on the RTOS primitives. Working with the bare scheduler
primitives such as RMA or EDF is giving too much problems for more or
less complex systems, with several people contributing to an
application. I _really_ want to hide this RTOS mess from the robot
control applications :-)

Herman

PS We've almost finised the refactoring of the Orocos real-time kernel
   design; it will be announced in the very near future :-)

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