| Activity (thread) classes. | |
| Device Interfaces | Abstraction APIs for hardware devices ('cards') such as IO, counters, but also logical devices like Encoders and generic Sensors |
| ▼Component Model | The RTT Component model is built around the TaskContext class |
| ▼Task Context Interface | |
| ▼Property Interface | |
| Recursive Property Bag Operations. | |
| Operation Interface | |
| ▼Data Flow Ports | |
| Data Storage and Buffering classes. | |
| Execution Engine | |
| Service Interface | |
| Time measurement classes. | |
| Component IDL and Corba Setup |