Before dive in the exciting world of real-time operating systems, we need to understand the basic terminology. What is latency? The time elasped between a demand issued on a computer system and the begining of a response to the same demand is called latency or response time. Kinds of latencies: Interrupt Latency: The time elapsed
Author: angelos
async vs multithreaded
Many times, many people get confused about the difference. I was looking to set up a TCP server using Boost (of course). There is a tutorial by Mahreen Tahir saying that: But what if there are more than one clients trying to connect to the server? In case we don’t want our main program to
Get to know boost::threads
What more exciting than using individual threads in your programs. In multi-core systems and even in micro-controllers where you want multi tasks with different priorities, threads come to the rescue. Boost for C++ is a valuable asset. I searched for related info and tutorials and I found a very nice series published in http://antonym.org/ More
Riot-OS: tutorial to use command handlers and multi threading
This another tutorial of how using command handlers and multithreading. In short, we have a thread that listens for messages and prints the pid and the content value. To send the message we use a shell script by using the command handle mechanism. The code looks like: In order to compile the code, you should
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Riot-OS running in arduino MO pro
Learning is about experimenting. I have decided to start my experiments using Arduino M0 pro. As I explained in my previous post, it is relatively straightforward to build and flash the new firmware. However, in MO I noticed that two things: you need to have connected only one in the laptop and not both you
First steps in RIOT-OS
Exploring is the correct attitude in our field. So, I decided to play with riot os. It’s popular real time operating system for IoT which lots of nice feature. I can see a great potential in robotics too. You can also check the ROS2 RIOT package! First you need to download it using the
PEAK CAN USB with socketCAN
In recent Linux Kernels PEAK CAN USB adapter works natively without the need of installing PEAK drivers. As the manufacturer says: Since kernel version 3.6, the netdev interface with all of the PEAK-System PC CAN interfaces is natively included in the mainline kernel. So, there is no need to install the PCAN driver for Linux
Setting and testing a CAN bus connection in Linux
Assuming that you have successfully customised the kernel and your raspberry pi configures the CANbus USB adapter correctly, it’s time to test the connection! Configure the CANbus interface (the number at the end is the baud rate) sudo ip link set can0 type can bitrate 125000 bring the connection up: sudo ip link set up
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How to update or customise the raspberry pi Linux kernel
It is some times necessary to customise the Linux Kernel to add or remove specific support in terms of hardware compatibility. For instance, I wanted to experiment with the popular PEAK USB adapter. In that case, there is the SocketCAN Linux driver which is embedded in Kernel since version 3.6. To enable this option in
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A Survey on Intermediation Architectures
It is true that there are many different solutions regarding interconnectivity and interoperability for networked robots so that they will fulfil their purposes in a coordinated manner. Middleware architectures are becoming increasingly popular due to the advantages that they are capable of guaranteeing (hardware abstraction, information homogenization, easy access for the applications above, etc.). There