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Akiscode Real Time Library

A C and C++ library that implements common functionality with real-time constraints in mind.

Real-time environments often can't dynamically allocate memory and require analysis of worst case execution time (WCET). This results in code that can't use common abstractions like std::vector or std::map. Additionally, some non-real-time embedded devices chose not to dynamically allocate for fear of fragmenting the memory space.

To solve these problems, the Akiscode Real Time Library (RTL) was developed. The RTL is split into two sub-libraries:

  • librtl a pure C library that implements many low-level operations (like memory allocations) that aren't available on embedded systems.
  • librtlcpp a C++11 library that takes the building blocks found in librtl and creates abstractions like a vector or map, but does so in a way that is acceptable for real-time environments.

Both libraries can be used independently of each other. More information can be found in the README files in each directory.

librtl librtlcpp
Readme Readme

Contact and Commercial Support: [email protected]

Prerequisites

  • For Both:

    • CMake >= 3.11

  • For librtl

    • A compiler that supports the C99 standard

  • For librtlcpp

    • A compiler that supports the C++11 Standard

Build

Quickstart

git clone https://github.com/akiscode/real_time_library; cd real_time_library;
mkdir build && cd build;
cmake -DRTL_TARGET_WORD_SIZE_BITS=32 -DRTL_BUILD_ALL=ON .. && make;

CMake Instructions

Required

RTL_TARGET_WORD_SIZE_BITS

  • Informs the library of the word size for the TARGET platform. E.g. if you were developing for a STM32 (32 bit word size) on a 64 bit machine, you would want to set this to 32.
  • Example Usage: cmake -DRTL_TARGET_WORD_SIZE_BITS=16 ..

Optional

The RTL library has a number of optional parameters which are described below:

RTL_BUILD_SHARED

  • When ON, builds librtl and librtlcpp as shared libraries instead of static ones.
  • Default Value: OFF
  • Example Usage: cmake -DRTL_BUILD_SHARED=ON ..

RTL_BUILD_TESTS

  • Builds the unit tests for the library.
  • Default Value: OFF
  • Example Usage: cmake -DRTL_BUILD_TESTS=ON ..

RTL_BUILD_BENCH

  • Builds the benchmark applications for the library.
  • Default Value: OFF
  • Example Usage: cmake -DRTL_BUILD_BENCH=ON ..

RTL_BUILD_ALL

  • Convenience setting that will override RTL_BUILD_TESTS and RTL_BUILD_BENCH to both be on.
  • Default Value: OFF
  • Example Usage: cmake -DRTL_BUILD_ALL=ON ..

RTL_BUILD_C_ONLY

  • Makes it so that only the C library librtl gets built and not librtlcpp
  • Default Value: OFF
  • Example Usage: cmake -DRTL_BUILD_C_ONLY=ON ..

CMake External Project

This project can be quickly utilized with an external project add in CMake:

cmake_minimum_required(VERSION 3.11)

include(FetchContent)

# Set your options here
# e.g. 
#  set(RTL_BUILD_ALL ON)
#  set(RTL_BUILD_TESTS ON)
#  set(RTL_BUILD_BENCH ON)

# MUST set this variable
set(RTL_TARGET_WORD_SIZE_BITS 32)

FetchContent_Declare(
    akiscode-rtl
    GIT_REPOSITORY "https://github.com/akiscode/real_time_library.git"
    GIT_TAG main
    UPDATE_DISCONNECTED ON
)

FetchContent_GetProperties(akiscode-rtl)

if(NOT akiscode-rtl_POPULATED)
    FetchContent_Populate(akiscode-rtl)
    add_subdirectory(${akiscode-rtl_SOURCE_DIR} ${akiscode-rtl_BINARY_DIR})
endif()

add_executable(rtl_c_exe ... )
target_link_libraries(rtl_c_exe PRIVATE rtl)

add_executable(rtl_cpp_exe ... )
target_link_libraries(rtl_cpp_exe PRIVATE rtlcpp)

License

Find all licensing information in the LICENSE file in this repository.