Periodic Real-Time Task interface to pthreads
- Version 0.1, April 2013
- Version 0.2, August 2013
- Version 0.3, September 2015
- Version 0.4, July 2017
- Version 0.5, February 2019
- Giorgio Buttazzo ([email protected])
- Giuseppe Lipari ([email protected])
- Alessio Balsini ([email protected])
- Alexandre Becart and Benoit Delecroix (integrating SCHED_DEADLINE)
- Pierre Caruyer (dline exception)
- Amine El Messaoudi and Flora Dziedzic (ptaskTracer)
License: GPL 3.0
PTASK is a simple wrapper to the pthread library. It is intended for real-time programmers that wish to control the timing behaviour and the synchronisation of threads. It is intended to be minimalistic, yet extensible to more complex usage scenarios.
Currently it provides:
- An API for implementing periodic and aperiodic tasks;
- A simple API for group scheduling and synchronization;
- An API for mode changes.
A manual is available in docs/ptask_manual_x.x.pdf.
- Allegro 4 libraries
- CMake 3.1+
To compile the library the first time, enter the main ptask folder
(from now identified with ptask/) and type:
$ mkdir build
$ cd build
$ cmake ..
$ make
this produces the library file ptask/build/src/libptask.a, that must be
included into your projects.
This also compiles all the:
- examples (
ptask/build/src/examples); - tests (
ptask/build/src/tests).
To compile the examples, use the same procedure in directory examples/. Before doing that, make sure you have already installed the Allegro library, version 4 (http://liballeg.org/download.html). On Ubuntu systems, you can install it with
sudo apt-get install liballegro4-dev
Once you compiled the sources, remember to become super-user, otherwise Linux will not allow you to create real-time tasks!
To run the tests, execute the script
$ ptask/build/src/tests/runtest.sh
or, from the ptask/build/ directory, run
$ sudo make test
You can now visualize the execution trace of the tasks in a PTASK application using ptaskTracer, a library build on top of ltt-ng. ptaskTracer uses ltt-ng to produce an event file, that is then parsed by a Java tool and transformed into a SVG file that can be visualized in any browser.
To use ptaskTracer, you must first install the lttng
development library (in Debian, package liblttng-ust-dev), then invoke
cmake with option -DTRACE=ON.
Happy programming!
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