Real time application interface (documentation)
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Rtai is a realtime extension with a broad variety of services which make realtime programmers' lifes easier. some of them are

choose between fifo and rr scheduling policies on a per task basis.
extended posix apis and message queues, in kernel and user space
semaphores can be typed as: counting, binary and resource
a mailbox implementation
lxrt for hard real time in user space
this package contains the documentation.
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blueXrider 12 years ago

quite nice