I've heard that executing system calls in Linux (RT_PREEMPT kernel) is never realtime-safe.
This seems overly-restrictive -- how could your process do anything (unless it has to be done entirely through DMA) without system calls?
Is this true, or are some system calls (like clock_gettime) realtime-safe?
If by "realtime safe" you mean guaranteed to execute within a bounded time, then linux, like most general-purpose operating systems, is not realtime safe.
Various real-time operating systems (RTOS) provided this kind of guarantee.
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