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

Ivan Baidakou fd265a5f71 Format 3 months ago
docs 19bc7143e4 Introduce transmit() method; #6 2 years ago
examples 81ef9bdaba Update 2 years ago
include fd265a5f71 Format 3 months ago
src fd265a5f71 Format 3 months ago
tests d4acf53ae4 Merge branch 'v0.02-dev' 3 months ago
CMakeLists.txt d4acf53ae4 Merge branch 'v0.02-dev' 3 months ago
LICENSE 7d3d5124b4 add license 2 years ago
README.md 03e4ea18ce Allow to measure max. queue filling (#7) 2 years ago

README.md

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

telegram

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

Changelog

0.02 (xx-xxx-2022)

  • [feature] Add ROTOR_LIGHT_QUEUE_SZ build option, which allows to measure maximum amount of messages in queue; mostly useful during development

0.01 (07-Sep-2022)

  • initial version