QNX Deterministic Edge Watchdog & 1kHz Sensor Fusion

QNX Deterministic 1kHz Edge Watchdog, O(1) Kalman Sensor Fusion Engine & Interactive QNX SDP 8.0 Codelab

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QNX Deterministic Edge Watchdog & 1kHz Sensor Fusion Engine + Interactive Developer Codelab

Built for the QNX Global Hackathon ($50,000 Prize Pool across 15 Winners)
Target Tracks:

  • Main Track: Mission-Critical Real-Time Edge / Robotics / Automotive Systems on QNX SDP 8.0
  • Special Category Prize ($3,500): Best Codelab / Tutorial (CODELAB_TUTORIAL.md + Interactive HTML Codelab codelab/index.html)

Architecture Overview

QNX Architecture

Safety-critical autonomous robotics and automotive edge controllers require predictable, sub-millisecond Worst-Case Execution Time (WCET), immunity to priority inversion, and resilience against sensor glitches. This project delivers:

  1. QNX Neutrino Synchronous IPC Engine (src/qnx_rt_watchdog.c, include/qnx_rt.h):
    • Uses native QNX SDP 8.0 message-passing primitives (ChannelCreate(_NTO_CHF_FIXED_PRIORITY), ConnectAttach(), MsgSend(), MsgReceive(), MsgReply()) when compiled with qcc (__QNXNTO__).
    • Includes a portable POSIX synchronous rendezvous shim with priority-inheritance mutexes (PTHREAD_PRIO_INHERIT) so developers and CI pipelines can compile and benchmark the exact state machine on standard Linux hosts (gcc -std=c11 -O2 -Wall -Wextra -Werror).
  2. Constant-Time $O(1)$ Kalman Filter with 4.5-Sigma Innovation Gate (src/sensor_fusion.c):
    • Zero dynamic heap allocation (malloc/free strictly forbidden inside the 1kHz loop).
    • Fuses 1kHz IMU acceleration, LiDAR forward obstacle range, and wheel odometry while deterministically rejecting +85.0 m LiDAR multipath reflection spikes in < 10 microseconds.
  3. Flagship 5-Module QNX SDP 8.0 Developer Codelab (CODELAB_TUTORIAL.md & codelab/index.html):
    • Step-by-step tutorial + browser-based interactive 1kHz fault simulator designed to onboard embedded engineers onto QNX SDP 8.0 synchronous IPC and real-time watchdog patterns.

Quick Start

1. Compile and Run the 1,000-Cycle 1kHz Real-Time Benchmark

make
./bin/qnx_rt_watchdog --cycles 1000

2. Export Structured JSON Telemetry

./bin/qnx_rt_watchdog --json --cycles 1000

3. Cross-Compile for QNX SDP 8.0 Target (qcc AArch64)

source ~/qnx800/qnxsdp-env.sh
make qnx

4. Run Automated Verification Tests

make test

5. Open the Interactive Developer Codelab

Open CODELAB_TUTORIAL.md or launch codelab/index.html in any browser.

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