Execution Control#
With iceoryx2, developers have complete control over the execution of their
applications.
There are no background threads; all house-keeping operations are carried out in the application threads. They occur either through usual interaction with the API (opening services, sending or receiving data, etc.) which provides a frictionless default user experience, or through deliberate calls made to house-keeping functions when more control is required.
This control over execution is essential for safety-critical contexts where determinism is paramount. It enables predictable resource usage, precise timing control, and lends itself to real-time analysis and certification processes.
Waitset#
The Waitset is an optional component that facilitates the setup of reactive
processing loops in user threads.
Event Multiplexing via Waitset#
Various event sources (depending on the platform) can be attached to the
Waitset, which takes care of putting the thread to sleep and waking it up
when events occur on any of them. This functionality is achieved using the
available event multiplexing facilities of the platform.
This approach conserves CPU while maintaining responsive event processing, however, the sleep-wake-up behaviour may introduce additional latency depending on the implementation of the platform’s event multiplexing facilities.
Possible event sources that can be attached to a Waitset could include:
Interval timers
Deadline timers
File-descriptor-based event sources (on compatible platforms)
Further Reading#
Get familiar with the components involved with establishing communication.
See how to coordinate participants with events.
See how to use the WaitSet in your application.