The Executor runs the time domains of the control system and the safety system. The time domains are handled by harmonic tasks. The following examples demonstrate the use of such harmonic tasks.

In the EEROS library you will find a directory with examples. Open a shell in the build directory of your EEROS library and run

$ sudo ./examples/task/periodicExample1

This examples does:

• Creates a main task ss with an execution period of 10ms. The task itself is defined of type Lambda with a run method given by an empty lambda function.
• Creates a time domain t1 with a period of 2s.

Both harmonic tasks have a periodic counter which measure its periods and run times. Once every 200th run the results of the main task are logged. The harmonic task logs every time it runs. The results are printed in units of seconds. Additionally both harmonics have a default monitor function added. This monitor function logs a warning if the measured period differs more than 5%. Depending on your hardware platform and realtime support of your operating system you might get no warnings, several or many warnings.