Ach is an Inter-Process Communication (IPC) mechanism and library. It is especially suited for communication in real-time systems that sample data from physical processes. Ach eliminates the Head-of-Line Blocking problem for applications that always require access to the newest message. Ach is efficient, robust, and formally verified. It has been tested and demonstrated on a variety of physical robotic systems. Source code for Ach is available under an Open Source BSD-style license.
./configure && make && make install
See the INSTALL file for details.
Alternatively, if you are using Debian or Ubuntu, you can use the golems.org APT repo.
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Add the following to /etc/apt/sources:
deb http://code.golems.org/debian squeeze golems.org
(substitute the codename for your distribution in place of squeeze, e.g. wheezy, precise)
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sudo apt-get update && sudo apt-get install libach-dev ach-utils
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sudo dpkg-reconfigure ach-utils
- Manual:
./doc/manual/ach-manual.html
and http://golems.github.com/ach/manual - API docs: http://golems.github.com/ach/api
- Man Pages:
./doc/man
and http://code.golems.org/pkg/ach/man - Example Code:
./src/ach-example.c
- Tech Report: http://www.golems.org/node/1526
Language bindings are included for Common Lisp and Python.
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Common Lisp bindings use CFFI and can be loaded with ASDF.
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Python bindings are a C extension modules and a Python module 'ach'. This can be installed either via
make install
or via Python's distutils/pip.
See the INSTALL file for details.
Ach has been formally verified using the SPIN model checker. This
formal model is included in the source distribution under the ./spin/
directory.