Mixing cobalt and alchemy?

Mixing cobalt and alchemy?

[Richard Weinberger]

Hi!

I have a Xenomai 2.6 application which makes heavy usage of
rt_dev_ioctl() and shadow threads
with rt_task_shadow().

If I understand the new Xenomai 3 API correctly, rt_dev_ioctl() for
userspace is gone and the cobalt wrappers should be used such that
plain ioctl() calls will be routed through libcobalt.
What I don't fully understand is how to mix these with the alchemy
skin such that the application can use rt_task_shadow() and friends
because the cobalt wrapper also wraps pthread_create().
The application simply does not fully fit in either cobalt nor alchemy skins.

Is it legal to modify lib/cobalt/cobalt.wrappers to wrap only read/close/ioctl?
Or can I directly issue cobalt syscalls from the application?

-- 
Thanks,
//richard

Re: Mixing cobalt and alchemy?

[Jan Kiszka]

On 06.03.19 10:59, Richard Weinberger via Xenomai wrote:
> Hi!
> 
> I have a Xenomai 2.6 application which makes heavy usage of
> rt_dev_ioctl() and shadow threads
> with rt_task_shadow().
> 
> If I understand the new Xenomai 3 API correctly, rt_dev_ioctl() for
> userspace is gone and the cobalt wrappers should be used such that
> plain ioctl() calls will be routed through libcobalt.
> What I don't fully understand is how to mix these with the alchemy
> skin such that the application can use rt_task_shadow() and friends
> because the cobalt wrapper also wraps pthread_create().
> The application simply does not fully fit in either cobalt nor alchemy skins.
> 
> Is it legal to modify lib/cobalt/cobalt.wrappers to wrap only read/close/ioctl?
> Or can I directly issue cobalt syscalls from the application?
> 

You can do __RT(ioctl(...)), that's also what the transition kit (trank) does to 
provide rt_dev_ioctl.

Jan

-- 
Siemens AG, Corporate Technology, CT RDA IOT SES-DE
Corporate Competence Center Embedded Linux

Re: Mixing cobalt and alchemy?

[Richard Weinberger]

Am Mittwoch, 6. März 2019, 18:25:56 CET schrieb Jan Kiszka:
> On 06.03.19 10:59, Richard Weinberger via Xenomai wrote:
> > Hi!
> > 
> > I have a Xenomai 2.6 application which makes heavy usage of
> > rt_dev_ioctl() and shadow threads
> > with rt_task_shadow().
> > 
> > If I understand the new Xenomai 3 API correctly, rt_dev_ioctl() for
> > userspace is gone and the cobalt wrappers should be used such that
> > plain ioctl() calls will be routed through libcobalt.
> > What I don't fully understand is how to mix these with the alchemy
> > skin such that the application can use rt_task_shadow() and friends
> > because the cobalt wrapper also wraps pthread_create().
> > The application simply does not fully fit in either cobalt nor alchemy skins.
> > 
> > Is it legal to modify lib/cobalt/cobalt.wrappers to wrap only read/close/ioctl?
> > Or can I directly issue cobalt syscalls from the application?
> > 
> 
> You can do __RT(ioctl(...)), that's also what the transition kit (trank) does to 
> provide rt_dev_ioctl.

Good to know!
Then I'll use alchemy and the __RT() wrappers.

Thanks,
//richard