Comment by throwup238
Comment by throwup238 10 months ago
> What goes into ensuring that a program is actually realtime?
Realtime mostly means predictable runtime for code. As long as its predictable, you can scale the CPU/microcontroller to fit your demands or optimize your code to fit the constraints. It’s about making sure your code can always respond in time to hardware inputs, timers, and other interrupts.
Generally the Linux kernel’s scheduling makes the system very unpredictable. RT linux tries to address that along with several other subsystems. On embedded CPUs this usually means disabling advanced features like cache, branch prediction, and speculative execution (although I don’t remember if RT handles that part since its very vendor specific).
"Responding in time" here means meeting a hard deadline under any circumstances, no matter what else may be going on simultaneously. The counterintuitive part is that this about worst case, not best case or average case. So you might not want a fancy algorithm in that code path that has insanely good average runtime, but a tiny chance to blow up, but rather one that is slower on average, but has tight bounded worst case performance.
Example: you'd probably want the airbags in your car to fire precisely at the right time to catch you and keep you safe rather than blow up in your face too late and give you a nasty neck injury in addition to the other injuries you'll likely get in a hard enough crash.