MARTe Framework: A Middleware for Real-Time Applications Development

JET EFDA, A. Neto, B. B. Carvalho, P. J. Carvalho, H. Fernandes, D. F. Valcárcel, F. Sartori, Antonio Barbalace, G. Manduchi, L. Boncagni, G. De Tommasi, P. McCullen, A. Stephen, R. Vitelli, L. Zabeo

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract / Description of output

The Multi-threaded Application Real-Time executor (MARTe) is a C++framework that provides a development environment for the design and deployment of real-time applications, e.g. control systems. The kernel of MARTe comprises a set of data-driven independent blocks, connected using a shared bus. This modular design enforces a clear boundary between algorithms, hardware interaction and system configuration.The architecture, being multi-platform, facilitates the test and commissioning of new systems, enabling the execution of plant models in offline environments and with the hardware-in-the-loop, whilst also providing a set of non-intrusive introspection and logging facilities. Furthermore, applications can be developed in non real-time environments and deployed in a real-time operating system, using exactly the same code and configuration data.
The framework is already being used in several fusion experiments, with control cycles ranging from 50 microseconds to 10 milliseconds exhibiting jitters of less than 2%, using VxWorks®, RTAI or Linux. Codes can also be developed and executed in Microsoft Windows® and Solaris®.
This paper discusses the main design concepts of MARTe, in particular the architectural choices which enabled the combination of real-time accuracy, performance and robustness with complex and modular data driven applications.
Original languageEnglish
Title of host publicationICALEPCS2011 Contributions to the Proceedings
PublisherJoint Accelerator Conferences Website
Number of pages4
Publication statusPublished - 14 Oct 2011
Event13th International Conference on Accelerator and Large Experimental Physics Control Systems - Grenoble, France
Duration: 10 Oct 201114 Oct 2011
Conference number: 13

Publication series

PublisherJoint Accelerator Conferences Website
ISSN (Electronic)2226-0358


Conference13th International Conference on Accelerator and Large Experimental Physics Control Systems
Abbreviated titleICALEPCS 2011
Internet address


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