+* FRSH/FORB FRAMEWORK
+
+ FRSH/FORB is a contract-based resource reservation framework for
+ distributed real-time applications. In general, it provides timing
+ isolation between applications, i.e. multiple applications can use
+ the same resources such as CPU, networks, etc., without influencing
+ timing of the other applications. The main principle is that
+ application developers use FRSH API to specify their resource
+ requirements needed to achieve desired timeliness and the framework
+ uses schedulability analysis to check these requirements. If the
+ check is successful an application is granted a "virtual resource"
+ which allow the application to use the requested resource while
+ enforcing the application not to use more than requested.
+
+ The development of the framework begun in FRESCOR project
+ (http://frescor.org) and now it is developed as a stand-alone
+ project on SourceForge (http://frsh-forb.sf.net).
+
* BUILDING FRSH/FORB FRAMEWORK
-1) Initialize and download additional submodules:
-
- git submodule init
- git submodule update
+1) Install prerequisites. On Debian/Ubuntu:
+
+ apt-get install libidl-dev libcpufreq-dev libacpi-dev \
+ libcgroup-dev libncurses5-dev
-2) Until everything is converted to GIT, some pieces must be fetched
- from FRESCOR SVN:
+ To build camera demo, you need to:
- cd src
- ./update-svn
+ apt-get install freeglut3-dev
-3) Go to build directory and configure the build:
+2) Go to build directory and configure the build:
- cd ../build/aquosa
+ cd build/aquosa
make default-config
If you are not satisfied with configuration found in
config.omk-default or config.target, you can override it in
config.omk.
-4) Compile it:
-
- make
-
+ To be able to use CPU reservations AQuoSA
+ (http://aquosa.sourceforge.net) has to be installed. If you cannot
+ use AQuoSA, the framework can also be compiled without CPU support
+ (echo CONFIG_AQUOSA=n >> config.omk) or can use cgroups (echo
+ CONFIG_CPUCG=y >> config.omk). Note, that cgroups support is not
+ well tested, but we plan to work on it.
-* OLD HOWTO
+3) Compile it:
- Linux + AQuoSA
-
- * Install AQuoSA (http://aquosa.sourceforge.net)
- * $HOME/frescor/src/omk-build/aquosa
- * Adjust symlinks to FRESCOR modules (fosa, frsh, utils, ...) or use ./create-links script
- * Create config.omk containing (or use a shell variable in your .bashrc)
+ make
- AQUOSA_ROOT=/path/to/aquosa/install/path
+4) Test it:
- * Actually, my preferred way of working is adding the following
- variables in .bashrc:
+ make test
- # AQuoSA environment
-
- export AQUOSA_ROOT=/usr/local/aquosa
- export PATH="$PATH:$AQUOSA_ROOT/bin"
- export LD_LIBRARY_PATH="$LD_LIBRARY_PATH:$AQUOSA_ROOT/lib"
-
- # FRESCOR environment
-
- export PLATFORM=AQuoSA
- export FOSA_ROOT=$HOME/path/to/fosa
- export FRSH_ROOT=$HOME/path/to/frsh
- export UTILS_ROOT=$HOME/path/to/utils
- LD_LIBRARY_PATH="$LD_LIBRARY_PATH:$FOSA_ROOT/lib:$FRSH_ROOT/lib:$UTILS_ROOT/lib"
-
- # OMK environment
-
- # Use `omk' for OMK-enabled sources
- alias omk="make -f $HOME/path/to/Makefile.rules"
- # link headers instead of copying them
- export LN_HEADERS=y
+* DIRECTORY STRUCTURE
- * Create default-configuration by running
+ * build/* - configuration for different build targets
- make default-config
+ * build/aquosa - default build for linux
- * Run
+ * build/marte - build for MarteOS. Not completely supported now.
- make
+ * src - all sources
-Further remarks
+ * src/forb - CORBA-like middle for interprocess and inter-node
+ communication.
-- If we are not interested in compilation of some component (because
- it is currently in uncompilable state), we can simply delete the
- link to it.
+ * src/frsh - The core of resource reservation framework.
-- It might be possible that you will need to change some configuration
- value from config.target. You can override any variable declared
- there in config.omk. For example, if you have MARTE installed in a
- different directory that the one specified in config.target, you can
- put the following in config.omk:
+ * src/frsh-include - FRSH API headers from FRESCOR project. Our FRSH
+ framework implements this API.
- MARTE_PATH=/path/to/marte/
+ * src/fosa - Operating system adaptation layer
-- To compile the FRESCOR for Marte, it is not necessary to set PATH
- variable to GNAT compiler since OMK uses full paths to call the
- compiler.
+ * src/ulut - library providing generic data types and algorithms
+ (AVL trees etc.).
-- Since there are many things in uncompilable state, you may want to
- use `make -k' to ignore compilation errors.
+ * src/fna - Network adaptation layer = unified API for plugging in
+ different network protocols.
-- Since we don't want to modify the original Makefiles, in order to
- compile only a part of the tree, you cannot simply run make in the
- desired directory, but you have to specify -f flag with the path to
- Makefile.rules. For this reason, we recommend defining the following
- alias:
+ * src/fwp - Communication protocol and resource management for WiFi
+ (also works with Ethernet).
- alias omk="make -f $HOME/frescor/src/omk-build/marte/Makefile.rules"
+* MISCELLANEOUS
-Why is OMK good for FRESCOR
+** Advantages of OMK make system
- * It is not easy to test FRESCOR simultaneously on multiple platforms.
- With OMK, you can have the same sources compiled for multiple
- platforms/targets at the same time because it uses out of source
- directory compilation.
- * Dependencies are not handled correctly in current Makefiles. For
- example headers (in most tests) and some libraries (fosa_xxx) are not
- specified as dependencies. OMK handles dependencies automatically, so
- developers don't have to care about them.
+ * It is not easy to test FRSH/FORB simultaneously on multiple
+ platforms. With OMK, you can have the same sources compiled for
+ multiple platforms/targets at the same time because it uses out
+ of source directory compilation.
+ * Automatic handling of dependencies. When a file is changed,
+ only the files dependent on it are rebuilt. Developers don't
+ have to care about this.
* With OMK it is easy to combine multiple components/libraries (from
different developers) together and compile them with the same
configuration (e.g. PLATFORM variable). The structure of leaf
makefiles (Makefile for every component) is very simple and *well
specified*. Because of this it is easy to combine components from
multiple developers.
- * Directory structure for compilation with current makefiles must be
- fixed. In makefiles there is many "..". This prevents the use of
- symbolic links to create desired directory structure because make
- always treats ".." physically (i.e. it don't respect the directory
- structure created by symbolic links). In OMK, the position of
- directories in the source tree is not important. This is another
- reason, why integration is simpler with OMK.
- * OMK already supports compilation for user-space programs/libraries,
- Linux and RTLinux modules, RTEMS and several other platforms. Now we
- have also added support for Marte. It works under MinGW and Cygwin, so
- it can be used to compile for OSE. In Pisa, they already use OMK for
- Aquosa.
-
-FAQ
-
- How do I debug my Makefile.omk set-up ?
+ * OMK already supports compilation for user-space
+ programs/libraries, Linux and RTLinux modules, RTEMS and
+ several other platforms. Now we have also added support for
+ Marte. OMK works under MinGW and Cygwin, so it can be used to
+ compile for OSE. In Pisa, they already use OMK for Aquosa.
+
+** Further remarks
+
+- If you are not interested in compilation of some component (e.g .
+ because it is currently in uncompilable state), you can simply
+ delete the link to it.
+
+- It might be possible that you will need to change some configuration
+ value from config.target. You can override any variable declared
+ there in config.omk - just create it and put variable definitions to
+ it. For example, if you have MARTE installed in a different
+ directory that the one specified in config.target, you can put the
+ following in config.omk:
+
+ MARTE_PATH=/path/to/marte/
+
+- FRSH/FORB support for Marte OS is not maintained. However, if you
+ want to try it, it is not necessary to set PATH variable to GNAT
+ compiler since OMK uses full paths to call the compiler.
+
+- Since we don't want to modify the Makefiles developed for Marte OS,
+ in order to compile only a part of the tree, you cannot simply run
+ make in the desired directory, but you have to specify -f flag with
+ the path to Makefile.rules. For this reason, we recommend using omk
+ script instead of make. The script can be obtained from
+ http://rtime.felk.cvut.cz/gitweb/omk.git/blob_plain/HEAD:/omk.
+
+** FAQ
+
+- How do I debug my Makefile.omk set-up ?
Just activate verbose compilation (V=1 or V=2):
+ make V=1
+
+ or
+
make -f /path/to/Makefile.rules binary-pass V=1
- How do I get back syntax highlighting in Emacs while editing .omk files ?
+- How do I get back syntax highlighting in Emacs while editing .omk files ?
Just add these lines to your $(HOME)/.emacs:
projects / frescor / frsh-forb.git / blobdiff