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Harmony - Multitasking, multiprocessing OS for realtime control, developed at National Research Council, Canada, to serve a need for a flexible system for realtime control of robotics experiments and for other uses of embedded systems where predictable time performance is a requirement. Extensible, configurable, portable, across different target systems (typically assembled from single-board computers) and development hosts.
ResearchIndex: National Research Council Canada: Harmony as an Object-Oriented Operating System - Ion is a key concept in the design of Harmony programs. The only interface to a task instance, once created, is message passing. Access from the outside is permitted only when a task explicitly performs a Receive operation.
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