4.11. Process model with RTAI-Linux (RTHAL)

• Programming with RTAI-Linux (RTHAL) entails three levels of code execution
  • RTAI real-time (RTAI tasks)
    Communication with user space through RTAI calls. Limited POSIX implementation (threads, queues)

  • Linux kernel (executed on behalf of user space programs) Communication with user space through syscalls (libc)

  • User space (processes, threads if used) Can use Unix IPC (POSIX threading and IPC, shared memory, message queues)