A Framework for Real-Time Embedded PC Programming

A framework for developing real-time programs on embedded PC hardware is presented. Programs consist of a number of real-time tasks and a single non real-time task. Program development and testing is assisted by the automatic collection of task execution times and frequencies during system operation. Tasks have access to device drivers for input/output and can communicate with each other. Additionally, the non real-time task has access to local disk storage and remote hosts via a network. Flexible non real-time facilities, including an embedded scripting language, provide access to the timing data as they are generated. The same facilities are also used to implement both local and remote user interfaces to the system. Application areas include control systems for autonomous robots and vision based controllers. Although still under active development, the framework has been used in a number of projects, proving its potential.