Performance Comparison of VxWorks, Linux, RTAI, and Xenomai in a Hard Real-Time Application

A. Barbalace, A. Luchetta, G. Manduchi, M. Moro, A. Soppelsa, C. Taliercio

Research output: Contribution to journalArticlepeer-review


We report on a set of performance measurements executed on VMEbus MVME5500 boards equipped with MPC7455PowerPC processor, running four different operating systems: Wind River VxWorks, Linux, RTAI, and Xenomai. Some components of RTAI and Xenomai have been ported to the target architecture. Interrupt latency, rescheduling and inter-process communication times are compared in the framework of a sample real-time application.Performance measurements on Gigabit Ethernet network communication have also been carried out on the target boards. To this purpose, we have considered the Linux IP stack and RTnet, an open-source hard real-time network protocol stack for Xenomai and RTAI, which was ported to the considered architecture.Performance measurements show that the tested open-source software is suitable for hard real-time applications.
Original languageEnglish
Pages (from-to)435-439
Number of pages5
JournalIEEE Transactions on Nuclear Science
Issue number1
Publication statusPublished - 8 Feb 2008


  • Linux
  • local area networks
  • physics computing
  • protocols
  • Wind River VxWorks
  • RTAI
  • Xenomai
  • VMEbus MVME5500 boards
  • MPC7455 PowerPC processor
  • Gigabit Ethernet network communication
  • open-source hard real-time network protocol
  • Measurement
  • Open source software
  • Operating systems
  • Rivers
  • Delay
  • Ethernet networks
  • Protocols
  • Computer architecture
  • Software testing
  • Real-time systems
  • RTnet
  • VxWorks
  • PowerPC


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