Real-time considerations
Some applications require a real-time part. For the best performance, please take into account these considerations:
- Avoid dynamic memory allocation (create proxy only at initialization for example)
- Never make system-call in NAOqi process (os.system in python, _spawnvp)
- ALMemory is not a real-time synchronization tool. Limit subscribe on DCM/time nor motion/syncro or real time variable. Aldebaran provide in $AL_DIR\extern\c\aldebaran\rttools real time functions for synchronization.
- Limit parallel call in real-time section.
- Don't make remote calls in real-time section.
- Use ALMemory list of variables instead of managing variables one by one.
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