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URT: Unified Interface to Real-Time Operating Systems

This project strives to create a sane interface to common if not all facilities to the various real-time systems available. There are multiple benefits to such an interface.

  • Portability. This is perhaps the most important reason. Currently, most of the software written for one real-time system is quite hard to be ported to any other.
  • Simplicity. This interface will be designed with the goal of providing high level features and therefore doesn't involve the user with many of the low level details.
  • Debuggability. Besides the real-time systems, this interface will include a normal Linux back-end too, allowing one to test her software on a non-real-time system. One benefit of this for example is the ability to use valgrind and other such software.

The great POSIX interface addresses the portability issue to a great extent, but is far from simple or regular. It gives many options which are certainly useful, but for the simpler real-time applications may be overwhelming.

As an example, properly requesting shared memory by itself takes tens of lines and you would eventually wrap it in a function. What URT does is essentially just that, in this case in urt_shmem_new which is the shared counter-part to urt_mem_new (which is just malloc) with equal simplicity. Another example is irregularities between acquiring shared semaphores vs other locks.

That aside, some real-time systems such as RTAI have a wildly different API too.


Currently, the core features of URT have been outlined and implemented for POSIX, and tested under Linux (with no real-time constraints), RT-Linux as well as under RTAI both in user and kernel spaces. Other operating systems such as Xenomai, and tests under QNX are also envisioned.


Copyright (C) 2013-2015 Shahbaz Youssefi

URT is published under the GNU General Public License version 2.0 or later (GPL v2.0+).

URT is free software: you can redistribute it and/or modify it under the terms of the GNU General Public License as published by the Free Software Foundation, either version 2 of the License, or (at your option) any later version.

URT is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details.

You should have received a copy of the GNU General Public License along with URT. If not, see