SKINWARE is a middleware for tactile information acquiring and processing.
SKINWARE in its core provides a flexible data chunk transfer mechanism between two tasks, as is suitable for a skin-related application. Generic services can be provided and used by starting writers and readers. Skin-tailored drivers and users internally use writers and readers, but provide facilities over them useful for a skin application.
All threads in the skin kernel are URT real-time threads. Skinware goes a long way with synchronization mechanisms to ensure coherency of user data as well as consistency among users. It also allows users with different needs to access data on their own accord.
All the code is free and open source and can be found at: https://github.com/maclab/skinware