[Xenomai-help] migrating task code from rtai

[Xenomai-help] migrating task code from rtai

[Stéphane ANCELOT]

Hi,
I have got a rtai task created as follow, it creates and deletes itself :


void *callbacktask(void *)
{

rt_task_init(...)


while (!stopped)
	{
	....
	}

rt_task_delete(...)

}

what are the replacement functions I could use in xenomai to do the same
thing avoiding breaking lot of code?

Note: I can not use RTAI skins in this xeno system .
Best Regards
Steph

Re: [Xenomai-help] migrating task code from rtai

[Gilles Chanteperdrix]

Stéphane ANCELOT wrote:
 > Hi,
 > I have got a rtai task created as follow, it creates and deletes itself :
 > 
 > 
 > void *callbacktask(void *)
 > {
 > 
 > rt_task_init(...)
 > 
 > 
 > while (!stopped)
 > 	{
 > 	....
 > 	}
 > 
 > rt_task_delete(...)
 > 
 > }
 > 
 > what are the replacement functions I could use in xenomai to do the same
 > thing avoiding breaking lot of code?
 > 
 > Note: I can not use RTAI skins in this xeno system .

If you want to use the Xenomai native API, then you should use
rt_task_shadow and rt_task_delete.

If you want to use the posix API, then you should use
pthread_setschedparam (though pthread_create, called to create the task
would probably have already made it real-time) and pthread_exit.

Note that Xenomai comes with a documentation which you can even read
on-line.

Here for trunk:
http://www.xenomai.org/documentation/trunk/html/api/index.html
And here for version 2.4:
http://www.xenomai.org/documentation/branches/v2.4.x/html/api/index.html


-- 


					    Gilles Chanteperdrix.