Scheduling

Rtlinux has an efficient, flexible, modular and compact priority-based preemptive scheduler. All the code is located mainly in two files (includertlsched.h and schedulersrtlsched.c. The scheduling policy is as follows.the user define, through a function, a unique priority. When several tasks are ready, the task with the highest priority is executed,but the first time that is execute in arrival order .A task with high priority always preempt a minor priority task whenever it becomes ready . Each task is supposed to relinquish the CPU voluntarily.