3 FRSH/FORB is a contract-based resource reservation framework for
4 distributed real-time applications. In general, it provides timing
5 isolation between applications, i.e. multiple applications can use
6 the same resources such as CPU, networks, etc., without influencing
7 timing of the other applications. The main principle is that
8 application developers use FRSH API to specify their resource
9 requirements needed to achieve desired timeliness and the framework
10 uses schedulability analysis to check these requirements. If the
11 check is successful an application is granted a "virtual resource"
12 which allow the application to use the requested resource while
13 enforcing the application not to use more than requested.
15 The development of the framework begun in FRESCOR project
16 (http://frescor.org) and now it is developed as a stand-alone
17 project on SourceForge (http://frsh-forb.sf.net).
19 * BUILDING FRSH/FORB FRAMEWORK
21 1) Initialize and download additional submodules:
26 2) Go to build directory and configure the build:
31 If you are not satisfied with configuration found in
32 config.omk-default or config.target, you can override it in
35 To be able to use CPU reservations AQuoSA
36 (http://aquosa.sourceforge.net) has to be installed. If you cannot
37 use AQuoSA, the framework can also be compiled without CPU support
38 or can use cgroups. Note, that cgroups support is not well tested,
39 but we plan to work on it.
47 * build/* - configuration for different build targets
49 * build/aquosa - default build for linux
51 * build/marte - build for MarteOS. Not completely supported now.
55 * src/forb - CORBA-like middle for interprocess and inter-node
58 * src/frsh - The core of resource reservation framework.
60 * src/frsh-include - FRSH API headers from FRESCOR project. Our FRSH
61 framework implements this API.
63 * src/fosa - Operating system adaptation layer
65 * src/ulut - library providing generic data types and algorithms
68 * src/fna - Network adaptation layer = unified API for plugging in
69 different network protocols.
71 * src/fwp - Communication protocol and resource management for WiFi
72 (also works with Ethernet).
74 * OLD HOWTO - may be out of date
78 * Install AQuoSA (http://aquosa.sourceforge.net)
79 * $HOME/frescor/src/omk-build/aquosa
80 * Adjust symlinks to FRESCOR modules (fosa, frsh, utils, ...) or use ./create-links script
81 * Create config.omk containing (or use a shell variable in your .bashrc)
83 AQUOSA_ROOT=/path/to/aquosa/install/path
85 * Actually, my preferred way of working is adding the following
90 export AQUOSA_ROOT=/usr/local/aquosa
91 export PATH="$PATH:$AQUOSA_ROOT/bin"
92 export LD_LIBRARY_PATH="$LD_LIBRARY_PATH:$AQUOSA_ROOT/lib"
96 export PLATFORM=AQuoSA
97 export FOSA_ROOT=$HOME/path/to/fosa
98 export FRSH_ROOT=$HOME/path/to/frsh
99 export UTILS_ROOT=$HOME/path/to/utils
100 LD_LIBRARY_PATH="$LD_LIBRARY_PATH:$FOSA_ROOT/lib:$FRSH_ROOT/lib:$UTILS_ROOT/lib"
104 # Use `omk' for OMK-enabled sources
105 alias omk="make -f $HOME/path/to/Makefile.rules"
106 # link headers instead of copying them
109 * Create default-configuration by running
119 - If we are not interested in compilation of some component (because
120 it is currently in uncompilable state), we can simply delete the
123 - It might be possible that you will need to change some configuration
124 value from config.target. You can override any variable declared
125 there in config.omk. For example, if you have MARTE installed in a
126 different directory that the one specified in config.target, you can
127 put the following in config.omk:
129 MARTE_PATH=/path/to/marte/
131 - To compile the FRESCOR for Marte, it is not necessary to set PATH
132 variable to GNAT compiler since OMK uses full paths to call the
135 - Since there are many things in uncompilable state, you may want to
136 use `make -k' to ignore compilation errors.
138 - Since we don't want to modify the original Makefiles, in order to
139 compile only a part of the tree, you cannot simply run make in the
140 desired directory, but you have to specify -f flag with the path to
141 Makefile.rules. For this reason, we recommend defining the following
144 alias omk="make -f $HOME/frescor/src/omk-build/marte/Makefile.rules"
146 ** Why is OMK good for FRESCOR
148 * It is not easy to test FRESCOR simultaneously on multiple platforms.
149 With OMK, you can have the same sources compiled for multiple
150 platforms/targets at the same time because it uses out of source
151 directory compilation.
152 * Dependencies are not handled correctly in current Makefiles. For
153 example headers (in most tests) and some libraries (fosa_xxx) are not
154 specified as dependencies. OMK handles dependencies automatically, so
155 developers don't have to care about them.
156 * With OMK it is easy to combine multiple components/libraries (from
157 different developers) together and compile them with the same
158 configuration (e.g. PLATFORM variable). The structure of leaf
159 makefiles (Makefile for every component) is very simple and *well
160 specified*. Because of this it is easy to combine components from
162 * Directory structure for compilation with current makefiles must be
163 fixed. In makefiles there is many "..". This prevents the use of
164 symbolic links to create desired directory structure because make
165 always treats ".." physically (i.e. it don't respect the directory
166 structure created by symbolic links). In OMK, the position of
167 directories in the source tree is not important. This is another
168 reason, why integration is simpler with OMK.
169 * OMK already supports compilation for user-space programs/libraries,
170 Linux and RTLinux modules, RTEMS and several other platforms. Now we
171 have also added support for Marte. It works under MinGW and Cygwin, so
172 it can be used to compile for OSE. In Pisa, they already use OMK for
177 - How do I debug my Makefile.omk set-up ?
179 Just activate verbose compilation (V=1 or V=2):
181 make -f /path/to/Makefile.rules binary-pass V=1
183 - How do I get back syntax highlighting in Emacs while editing .omk files ?
185 Just add these lines to your $(HOME)/.emacs:
187 (setq auto-mode-alist
188 (append '(("\.omk$" . makefile-mode))