rt-app

Sources for a real-time mobile robotics application exploiting the Linux kernel and SCHED_DEADLINE.

Notice

Run make docs and read the generated documentation throughly prior to building and attempting to run the demo!

Design

The application is currently structured as a single process, which in turn spawns a number of threads. The dispatcher thread, or main thread, is the thread created by the Linux shell when we launch the application. A variable number of worker threads are created and by the dispatcher, and marked for scheduling with SCHED_DEADLINE.

Structure

The project is structured as follows:

docs - The project's documentation
src - The demo application's source code
- main.c - The entry point of the application, and core of the dispatcher
- h_*.h - Helpers and hooks
  - h_sched.h - Useful hooks for scheduling and such
  - h_time.h - Hooks to interact with timers and to do timestamping
- a_*.<c,h> - Adapters for various hardware platforms
  - a_otto.<c,h> - The adapter for IRAlab's OTTO mobile platform
- m_*.<c,h> - The modules of the application, each exposing a worker
  - m_odo.<c,h> - The Odometry module

Building

On apt-based systems do:

$ sudo apt install build-essential git doxygen libnanopb-dev nanopb

to install dependencies, and:

$ make

to build an executable.