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) Install prerequisites. On Debian/Ubuntu:
23 apt-get install libidl-dev libcpufreq-dev libacpi-dev \
24 libcgroup-dev libncurses5-dev
26 To build camera demo, you need to:
28 apt-get install freeglut3-dev
30 2) Go to build directory and configure the build:
35 If you are not satisfied with configuration found in
36 config.omk-default or config.target, you can override it in
39 To be able to use CPU reservations AQuoSA
40 (http://aquosa.sourceforge.net) has to be installed. If you cannot
41 use AQuoSA, the framework can also be compiled without CPU support
42 (echo CONFIG_AQUOSA=n >> config.omk) or can use cgroups (echo
43 CONFIG_CPUCG=y >> config.omk). Note, that cgroups support is not
44 well tested, but we plan to work on it.
56 * build/* - configuration for different build targets
58 * build/aquosa - default build for linux
60 * build/marte - build for MarteOS. Not completely supported now.
64 * src/forb - CORBA-like middle for interprocess and inter-node
67 * src/frsh - The core of resource reservation framework.
69 * src/frsh-include - FRSH API headers from FRESCOR project. Our FRSH
70 framework implements this API.
72 * src/fosa - Operating system adaptation layer
74 * src/ulut - library providing generic data types and algorithms
77 * src/fna - Network adaptation layer = unified API for plugging in
78 different network protocols.
80 * src/fwp - Communication protocol and resource management for WiFi
81 (also works with Ethernet).
85 ** Advantages of OMK make system
87 * It is not easy to test FRSH/FORB simultaneously on multiple
88 platforms. With OMK, you can have the same sources compiled for
89 multiple platforms/targets at the same time because it uses out
90 of source directory compilation.
91 * Automatic handling of dependencies. When a file is changed,
92 only the files dependent on it are rebuilt. Developers don't
93 have to care about this.
94 * With OMK it is easy to combine multiple components/libraries (from
95 different developers) together and compile them with the same
96 configuration (e.g. PLATFORM variable). The structure of leaf
97 makefiles (Makefile for every component) is very simple and *well
98 specified*. Because of this it is easy to combine components from
100 * OMK already supports compilation for user-space
101 programs/libraries, Linux and RTLinux modules, RTEMS and
102 several other platforms. Now we have also added support for
103 Marte. OMK works under MinGW and Cygwin, so it can be used to
104 compile for OSE. In Pisa, they already use OMK for Aquosa.
108 - If you are not interested in compilation of some component (e.g .
109 because it is currently in uncompilable state), you can simply
110 delete the link to it.
112 - It might be possible that you will need to change some configuration
113 value from config.target. You can override any variable declared
114 there in config.omk - just create it and put variable definitions to
115 it. For example, if you have MARTE installed in a different
116 directory that the one specified in config.target, you can put the
117 following in config.omk:
119 MARTE_PATH=/path/to/marte/
121 - FRSH/FORB support for Marte OS is not maintained. However, if you
122 want to try it, it is not necessary to set PATH variable to GNAT
123 compiler since OMK uses full paths to call the compiler.
125 - Since we don't want to modify the Makefiles developed for Marte OS,
126 in order to compile only a part of the tree, you cannot simply run
127 make in the desired directory, but you have to specify -f flag with
128 the path to Makefile.rules. For this reason, we recommend using omk
129 script instead of make. The script can be obtained from
130 http://rtime.felk.cvut.cz/gitweb/omk.git/blob_plain/HEAD:/omk.
134 - How do I debug my Makefile.omk set-up ?
136 Just activate verbose compilation (V=1 or V=2):
142 make -f /path/to/Makefile.rules binary-pass V=1
144 - How do I get back syntax highlighting in Emacs while editing .omk files ?
146 Just add these lines to your $(HOME)/.emacs:
148 (setq auto-mode-alist
149 (append '(("\.omk$" . makefile-mode))