Hard real-time closed-loop electrophysiology with the Real-Time eXperiment Interface (RTXI)
Fig 5
System performance under different computational loads and closed-loop configurations.
(A) System configurations tested. (B) System I/O latency does not exceed twice the system period (50 μs) nor are I/O events missed in all test cases, demonstrating hard RT performance and a delay of no more than one sample. (C) Distribution of measured RT periods in each tests case by the Real-Time Benchmarks module. The RT period should never exceed twice the desired RT period, otherwise hard RT behavior is compromised. The increase in RT period variability with increasing computational loads is predominantly from the initial time frame after which a protocol starts execution. This is represented by the RT period jitter data (D), which demonstrates the RT period stabilizing within the first few minutes of execution. (E) Time spent processing the execute() function of all loaded module on each RT loop cycle.