Scicos > Scicos-RTAI : Scicos code generation for hard real time Linux
Scicos-HIL is very user-friendly during the develoment phases, but has some performance limitations. Scicos-RTAI provides Linux RTAI specific blocks, hard real time Comedi support and an automatic code generator that build stand alone executable code from Scicos diagrams.
The RTAI User's Guide is here.
The Scicos-RTAI/RTAI-Lab how-to is here.