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.
Tutorial, concepts and API reference can be found here
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erlang-like hierarchical supervisors
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asynchronous messaging with priorities
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plaform-agnostic code (including timers)
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C++17
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no thread-safety
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no allocations, no exceptions, no RTTI
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non-intrusiveness
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compile-time actor hierarchies
| 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.
There are ping-pong and blink-led examples for different platforms.
If the examples are too trivial you can look at my [example]
(https://notabug.org/basiliscos/rotor-light-playground-stm32) of using
one-wire DHT11 sensor and UART for logging, everything is async &
interrupt-based stm32f407g-discovery board.
For arduino there is an [example]
(https://notabug.org/basiliscos/rotor-light-playground-arduino) too.
MIT
ru/en community for discussing rotor and rotor-light is available at cpp_rotor group.
- [feature] Add
ROTOR_LIGHT_QUEUE_SZbuild option, which allows to measure maximum amount of messages in queue; mostly useful during development
- initial version