Sorry for the bad title, I really don't know how to describe it briefly ...
My scenario is that for a robotic application, we need a real-time loop to control the engine every 1 ms. Although at the same time we may want to do something that does not have real-time requirements, such as route planning, image processing, object recognition, etc. In addition, some of the results of a non-real-time task will be sent to the engine control in real-time loop to control the robot.
For the real-time part, I'm using Ubuntu with RT-Preempt Patch. Therefore, I can run the real-time control loop in the while loop in the same way as the sample code here .
However, I have no idea about the part other than real time. In my humble opinion, I would introduce a new thread into the same process and start a non-real-time task in that thread.
Since I am very new to real-time programming, I do not know what the problem is for my design. Also, I wonder if there is any paradigm for developing such a program?
--- EDIT ---
Read more about my application.
A robot, to be more specific, is a robot.
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