Understanding of soft real-time and hard real-time

            对软实时和硬实时的理解

1. Soft real-time uses the real-time performance of the operating system. At this time, to achieve good real-time performance, a real-time operating system needs to be used. Hard real-time is an independent real-time system that does not depend on the operating system.
Example:
TwinCAT is hard real-time because windows is not real-time.
Beckhoff's R3IO is soft real-time, so the real-time effect is very poor under XPE, but it is much better under CE, because CE is a real-time system.