> On Tue, 4 Sep 2018 at 09:26, Gene Heskett <ghesk...@shentel.net> wrote:
> 
> > Laying awake thinking about this lathe, and its hal configuration, it
> > seems like it would be at least as handy as sliced bread, to have a
> > utility that could collect all the processing delays and sort them
> > according to the addf order, giving a database of total delays so that
> > one could more easily see where a signal processing step was out of
> > order, causing a 1 or more total thread processing delay in a given
> > signals path thru all the modules.
> 
> I don't think that HAL does any parallel processing, so my first guess
> is that this is non-issue.

Then calculations are done within same quanta/period it does not matter if they 
are executed in a sequence after each other or in parallel by several CPUs.

> (My second guess is that I have misunderstood the question)
> 
> Basically, by the time any HAL component reads its inputs all the
> upstream components have updated their outputs.

It depends on hardware but to simultaneously sample inputs and actuate outputs 
is a good method. Then computations could happen anywhere within period and it 
also agree with theories for real time scheduling.


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