real-time C++ actor micro-framework for embedded systems, supervisable

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rotor-light is real-time platform-neutral, C++ actor micro-framework for embedded systems with supervising capabilities.

rotor-light is built with the concurrency in the mind, i.e. independent entities (actors) interact each other via messages.

rotor-light is adoption of rotor framework for embedded systems. The framework has no platform-dependent code, so, it can, however, be used as is on host system, if you cautiously care about thread-safety.

docs

Tutorial, concepts and API reference can be found here

features

erlang-like hierarchical supervisors
asynchronous messaging with priorities
plaform-agnostic code (including timers)
C++17
no thread-safety
no allocations, no exceptions, no RTTI
non-intrusiveness
compile-time actor hierarchies

ping-pong messaging performance & .text section size

	messages/second	binary size
host (1)	~64.4M	10379 bytes
STM32-H743ZI	~2.8M	14330 bytes
stm32f407g-discovery	~0.52M	4336 bytes
Arduino Uno R3 (2)	~29.5K	5714 bytes
xilinx microblaze (3)	~58.8K	42868 byes

All examples can be measured with examples/ping-pong-throughput.cpp, compiled with CMAKE_BUILD_TYPE=MinSizeRel and the stripped

(1) Setup: Intel Core i7-8550U, Void Linux 5.15.

(2) Build with -DROTOR_LIGHT_ACTOR=uint8_t

(3) Zynq xc7z020clg400-1, QMTECH development board. Microblaze standard config, hw mul/div instr. enabled, clocking is 50Mhz.

The performance numbers are approximate and they are not constant. Actually message delivery depends on many factrors like number of queues, number of actors, number of supervisors, number of subscriptions.

examples

There are ping-pong and blink-led examples for different platforms. If the examples are too trivial you can look at my example of using one-wire DHT11 sensor and UART for logging, everything is async & interrupt-based stm32f407g-discovery board.

For arduino there is an example too.

license

MIT

ru/en community for discussing rotor and rotor-light is available at cpp_rotor group.

Changelog

0.01 (07-Sep-2022)

initial version

README.md