I'm developing an interface for several sets of coupled sensors and motors which are all 'handled' via several RS232 ports.
I'd like to improve the performance of the system by using a realtime kernel. The interface has been built in C++, but the 'real-time' related operation such as I/O and threading is all done using C libraries.
I had a few generic questions, including
* Will using an RT kernel help at all?
* Is there a good way to measure the difference in performance (valgrind?)
* Has anyone used Xenomai with Ubuntu? If so would anyone be willing to share any insight on it? I'm a little fuzzy as to how it works beyond patching the kernel. Do I need to rewrite my code to take advantage of Xenomai, etc.