MARTe: A Multiplatform Real-Time Framework

André C. Neto, Filippo Sartori, Fabio Piccolo, Riccardo Vitelli, Gianmaria De Tommasi, Luca Zabeo, Antonio Barbalace, Horacio Fernandes, Daniel F. Valcárcel, Antonio J. N. Batista

Research output: Contribution to journalArticle

115 Citations (Scopus)


Development of real-time applications is usually associated with nonportable code targeted at specific real-time operating systems. The boundary between hardware drivers, system services, and user code is commonly not well defined, making the development in the target host significantly difficult. The Multithreaded Application Real-Time executor (MARTe) is a framework built over a multiplatform library that allows the execution of the same code in different operating systems. The framework provides the high-level interfaces with hardware, external configuration programs, and user interfaces, assuring at the same time hard real-time performances. End-users of the framework are required to define and implement algorithms inside a well-defined block of software, named Generic Application Module (GAM), that is executed by the real-time scheduler. Each GAM is reconfigurable with a set of predefined configuration meta-parameters and interchanges information using a set of data pipes that are provided as inputs and required as output. Using these connections, different GAMs can be chained either in series or parallel. GAMs can be developed and debugged in a non-real-time system and, only once the robustness of the code and correctness of the algorithm are verified, deployed to the real-time system. The software also supplies a large set of utilities that greatly ease the interaction and debugging of a running system. Among the most useful are a highly efficient real-time logger, HTTP introspection of real-time objects, and HTTP remote configuration. MARTe is currently being used to successfully drive the plasma vertical stabilization controller on the largest magnetic confinement fusion device in the world, with a control loop cycle of 50 s and a jitter under 1 s. In this particular project, MARTe is used with the Real-Time Application Interface (RTAI)/Linux operating system exploiting the new × 86 multicore processors technology. © 2010 IEEE.
Original languageEnglish
Article number5446608
Pages (from-to)479 - 486
Number of pages8
JournalIEEE Transactions on Nuclear Science
Issue number2 PART 1
Publication statusPublished - Apr 2010
Externally publishedYes


All Science Journal Classification (ASJC) codes

  • Electrical and Electronic Engineering
  • Nuclear Energy and Engineering
  • Nuclear and High Energy Physics

Cite this

Neto, A. C., Sartori, F., Piccolo, F., Vitelli, R., De Tommasi, G., Zabeo, L., Barbalace, A., Fernandes, H., Valcárcel, D. F., & Batista, A. J. N. (2010). MARTe: A Multiplatform Real-Time Framework. IEEE Transactions on Nuclear Science, 57(2 PART 1), 479 - 486. [5446608].