Real-time robotics control framework

A computer-implemented method comprising:

• receiving, by a real-time robotics control framework, custom real-time control code to be executed by one or more real-time threads of a control layer in order to drive positions at each predetermined tick of a real-time control cycle,
• wherein the custom real-time control code defines functions comprising:
• a custom get state function to read sensor inputs and to determine current values of one or more state variables from the sensor inputs, and
• a custom control function that uses the obtained values of the one or more state variables to compute movement parameters in real-time;
• performing compile-time check to determine that the custom get state function and the custom control function defined in the custom real-time control code involve no operation with nondeterministic timing;
• and
• after performing compile-time check, repeatedly executing, by the real-time robotics control framework, the custom real-time control code at each predetermined tick of a real-time robotics control cycle, including:
• executing the custom get state function defined by the custom real-time control code in a first real-time thread to read sensor inputs and to determine the current values of the one or more state variables from the sensor inputs,
• executing the custom control function defined by the custom real-time control code in a second real-time thread to compute one or more updated movement parameters, and
• driving the real-time robotics system according to the updated movement parameters computed by executing the custom control function defined by the custom real-time control code.