Spanda

Real-Time Execution in Spanda

Spanda schedules periodic robot tasks on a deterministic simulation clock. Tasks declare timing contracts; the compiler validates them; the runtime records deadline misses and jitter.

Deadline-aware tasks

task safety_monitor critical every 5ms deadline 2ms {
    check_emergency_stop();
}

task control_loop every 10ms deadline 8ms jitter <= 1ms {
    perceive();
    reason();
    act();
}

Rules enforced at compile time:

• Period must be positive
• deadline <= period
• jitter <= deadline slack
• critical tasks receive highest scheduler priority
• critical isolated tasks cannot be starved by lower-priority work

Priority isolation

task SafetyMonitor critical isolated {
    check_safety();
}

task AIPlanner low {
    plan_route();
}

Isolated tasks are sorted ahead of non-isolated tasks at the same priority tier.

CLI tracing

spanda run rover.sd --trace-realtime
spanda sim rover.sd --trace-realtime --record
spanda run rover.sd --metrics-json

--trace-realtime enables scheduler, task, trigger, and event traces. --metrics-json emits JSON metrics (same payload as --json).

Wall-clock RTOS scheduling

By default the scheduler advances a simulation clock (deterministic, fast). For hardware-in-the-loop or latency characterization, use wall-clock mode:

spanda sim rover.sd --wall-clock

Wall-clock mode sleeps between scheduler ticks using real time. Mission trace recording and --deterministic replay remain on the sim clock for reproducibility.

See also: reliability, watchdogs, replay.

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