[Xenomai-help] using the RTAI skin

[Xenomai-help] using the RTAI skin

[gohlx002]

Hello all,

I'm doing some investigation on migrating my application from RTAI to 
Xenomai. From the description of a Xenomai skin, it seems like I might be 
able to use the RTAI skin to run my application "as is". Along this line, I 
put together a small test application in RTAI that would be very 
illustrative if I can get it to run in Xenomai. The first step is of course 
compiling it which I haven't been able to do because of missing references 
to all the RTAI functions (e.g. rt_task_init_schmod). If someone feels like 
helping out, we could work through this whole process (from an RTAI app to 
running on Xenomai) and turn this into another example to add to the 
examples folder for future reference. Here's the application I'm trying to 
compile (the Makefile I just adapted from the native examples folder and 
changed the application name):

<CODE SNIP>
#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include <sys/mman.h>

#include <rtai_lxrt.h>

int main(int argc, char *argv[])
{

	RT_TASK *rttsk;
	RTIME period;
	int  hrt = 1;
	int idx, end = 0;
	
	rt_allow_nonroot_hrt();

         if (!(rttsk = rt_task_init_schmod(nam2num("RTTSK"), 2, 0, 0, 
SCHED_FIFO, 0xF))) {
		printf("CANNOT INIT THE TASK\n");
		exit(1);
	}

	/*****************************************************************/
	/* start the scheduler */
	
	rt_set_oneshot_mode();
	start_rt_timer(0);
	
	/*****************************************************************/
	/***********************************************************/
	/* run the task */
	
	mlockall(MCL_CURRENT | MCL_FUTURE);
	
	printf("\nSTARTING TASK\n\n");
	if (hrt) rt_make_hard_real_time();  
	
	if (hrt) {
		rt_printk("\nTASK RUNNING\n\n");
	}else{
		printf("\nTASK RUNNING\n\n");
	}

	period = nano2count(1e8);
	
	rt_task_make_periodic(rttsk, rt_get_time(), period);

	for (idx = 0; idx < 10 && !end; idx++) {	
		if (hrt) {
			rt_printk("Finished step %d\n", idx);
			printf("Finished step %d\n", idx);
		} else {
			printf("Finished step %d\n", idx);
		}
	
		/* pause */
		rt_task_wait_period();
	}
	

	rt_sleep(nano2count(1E8));	
	rt_make_soft_real_time();
	
	/***********************************************************/

	stop_rt_timer();	
	rt_task_delete(rttsk);
	printf("\nTASK STOPPED\n");
	return 0;
}
</CODE SNIP>

Re: [Xenomai-help] using the RTAI skin

[Gilles Chanteperdrix]

gohlx002@domain.hid wrote:
> Hello all,
> 
> I'm doing some investigation on migrating my application from RTAI to 
> Xenomai. From the description of a Xenomai skin, it seems like I might be 
> able to use the RTAI skin to run my application "as is". Along this line, I 
> put together a small test application in RTAI that would be very 
> illustrative if I can get it to run in Xenomai. The first step is of course 
> compiling it which I haven't been able to do because of missing references 
> to all the RTAI functions (e.g. rt_task_init_schmod). If someone feels like 
> helping out, we could work through this whole process (from an RTAI app to 
> running on Xenomai) and turn this into another example to add to the 
> examples folder for future reference. Here's the application I'm trying to 
> compile (the Makefile I just adapted from the native examples folder and 
> changed the application name):

The RTAI skin is mostly kernel-space. User-space only supports a few 
things (like shared memory). In an case, to find what is supported, 
check src/skins/rtai in xenomai sources tree.

In the makefile, what is important is:

XENO_DESTDIR=/path/to/xenomai/installation/root
XENO_CONFIG=$(XENO_DESTDIR)/usr/local/bin/xeno-config)
XENO_RTAI_CPPFLAGS=$(shell DESTDIR=$(XENO_DESTDIR) $(XENO_CONFIG) --cflags)
XENO_RTAI_LDFLAGS=$(shell DESTDIR=$(XENO_DESTDIR) $(XENO_CONFIG) --ldflags) -lrtai

then add XENO_RTAI_CPPFLAGS to your program CPPFLAGS or CFLAGS, and
add XENO_RTAI_LDFLAGS to your program LDFLAGS.

-- 
Gilles Chanteperdrix, Free Electrons
Kernel, drivers, real-time and embedded Linux
development, consulting, training and support.
http://free-electrons.com

Re: [Xenomai-help] using the RTAI skin

[gohlx002]

On Jan 21 2010, Gilles Chanteperdrix wrote:

>gohlx002@domain.hid wrote:
>> Hello all,
>> 
>> I'm doing some investigation on migrating my application from RTAI to 
>> Xenomai. From the description of a Xenomai skin, it seems like I might 
>> be
>> able to use the RTAI skin to run my application "as is". Along this 
>> line, I
>> put together a small test application in RTAI that would be very 
>> illustrative if I can get it to run in Xenomai. The first step is of 
>> course
>> compiling it which I haven't been able to do because of missing 
>> references
>> to all the RTAI functions (e.g. rt_task_init_schmod). If someone feels 
>> like
>> helping out, we could work through this whole process (from an RTAI app 
>> to
>> running on Xenomai) and turn this into another example to add to the 
>> examples folder for future reference. Here's the application I'm trying 
>> to
>> compile (the Makefile I just adapted from the native examples folder and 
>> changed the application name):
>
>The RTAI skin is mostly kernel-space. User-space only supports a few 
>things (like shared memory). In an case, to find what is supported, 
>check src/skins/rtai in xenomai sources tree.
>
>In the makefile, what is important is:
>
>XENO_DESTDIR=/path/to/xenomai/installation/root
>XENO_CONFIG=$(XENO_DESTDIR)/usr/local/bin/xeno-config)
>XENO_RTAI_CPPFLAGS=$(shell DESTDIR=$(XENO_DESTDIR) $(XENO_CONFIG) --cflags)
> XENO_RTAI_LDFLAGS=$(shell DESTDIR=$(XENO_DESTDIR) $(XENO_CONFIG) 
> --ldflags) -lrtai
>
>then add XENO_RTAI_CPPFLAGS to your program CPPFLAGS or CFLAGS, and
>add XENO_RTAI_LDFLAGS to your program LDFLAGS.
>
>

Oh I see. This is helpful thanks Gilles. I'll give this a try and report 
back on my progress.

Jesse

Re: [Xenomai-help] using the RTAI skin

[Gilles Chanteperdrix]

gohlx002@domain.hid wrote:
> On Jan 21 2010, Gilles Chanteperdrix wrote:
> 
>> gohlx002@domain.hid wrote:
>>> Hello all,
>>>
>>> I'm doing some investigation on migrating my application from RTAI to 
>>> Xenomai. From the description of a Xenomai skin, it seems like I might 
>>> be
>>> able to use the RTAI skin to run my application "as is". Along this 
>>> line, I
>>> put together a small test application in RTAI that would be very 
>>> illustrative if I can get it to run in Xenomai. The first step is of 
>>> course
>>> compiling it which I haven't been able to do because of missing 
>>> references
>>> to all the RTAI functions (e.g. rt_task_init_schmod). If someone feels 
>>> like
>>> helping out, we could work through this whole process (from an RTAI app 
>>> to
>>> running on Xenomai) and turn this into another example to add to the 
>>> examples folder for future reference. Here's the application I'm trying 
>>> to
>>> compile (the Makefile I just adapted from the native examples folder and 
>>> changed the application name):
>> The RTAI skin is mostly kernel-space. User-space only supports a few 
>> things (like shared memory). In an case, to find what is supported, 
>> check src/skins/rtai in xenomai sources tree.
>>
>> In the makefile, what is important is:
>>
>> XENO_DESTDIR=/path/to/xenomai/installation/root
>> XENO_CONFIG=$(XENO_DESTDIR)/usr/local/bin/xeno-config)
>> XENO_RTAI_CPPFLAGS=$(shell DESTDIR=$(XENO_DESTDIR) $(XENO_CONFIG) --cflags)
>> XENO_RTAI_LDFLAGS=$(shell DESTDIR=$(XENO_DESTDIR) $(XENO_CONFIG) 
>> --ldflags) -lrtai
>>
>> then add XENO_RTAI_CPPFLAGS to your program CPPFLAGS or CFLAGS, and
>> add XENO_RTAI_LDFLAGS to your program LDFLAGS.
>>
>>
> 
> Oh I see. This is helpful thanks Gilles. I'll give this a try and report 
> back on my progress.

Maybe what you are looking for is the native skin. It is has some
similarities with the RTAI API.

And it is documented at:
http://www.xenomai.org/documentation/xenomai-2.5/html/api/group__native.html

-- 
Gilles Chanteperdrix, Free Electrons
Kernel, drivers, real-time and embedded Linux
development, consulting, training and support.
http://free-electrons.com

Re: [Xenomai-help] using the RTAI skin

[Philippe Gerum]

On Thu, 2010-01-21 at 18:40 +0100, Gilles Chanteperdrix wrote:
> gohlx002@domain.hid wrote:
> > On Jan 21 2010, Gilles Chanteperdrix wrote:
> > 
> >> gohlx002@domain.hid wrote:
> >>> Hello all,
> >>>
> >>> I'm doing some investigation on migrating my application from RTAI to 
> >>> Xenomai. From the description of a Xenomai skin, it seems like I might 
> >>> be
> >>> able to use the RTAI skin to run my application "as is". Along this 
> >>> line, I
> >>> put together a small test application in RTAI that would be very 
> >>> illustrative if I can get it to run in Xenomai. The first step is of 
> >>> course
> >>> compiling it which I haven't been able to do because of missing 
> >>> references
> >>> to all the RTAI functions (e.g. rt_task_init_schmod). If someone feels 
> >>> like
> >>> helping out, we could work through this whole process (from an RTAI app 
> >>> to
> >>> running on Xenomai) and turn this into another example to add to the 
> >>> examples folder for future reference. Here's the application I'm trying 
> >>> to
> >>> compile (the Makefile I just adapted from the native examples folder and 
> >>> changed the application name):
> >> The RTAI skin is mostly kernel-space. User-space only supports a few 
> >> things (like shared memory). In an case, to find what is supported, 
> >> check src/skins/rtai in xenomai sources tree.
> >>
> >> In the makefile, what is important is:
> >>
> >> XENO_DESTDIR=/path/to/xenomai/installation/root
> >> XENO_CONFIG=$(XENO_DESTDIR)/usr/local/bin/xeno-config)
> >> XENO_RTAI_CPPFLAGS=$(shell DESTDIR=$(XENO_DESTDIR) $(XENO_CONFIG) --cflags)
> >> XENO_RTAI_LDFLAGS=$(shell DESTDIR=$(XENO_DESTDIR) $(XENO_CONFIG) 
> >> --ldflags) -lrtai
> >>
> >> then add XENO_RTAI_CPPFLAGS to your program CPPFLAGS or CFLAGS, and
> >> add XENO_RTAI_LDFLAGS to your program LDFLAGS.
> >>
> >>
> > 
> > Oh I see. This is helpful thanks Gilles. I'll give this a try and report 
> > back on my progress.
> 
> Maybe what you are looking for is the native skin. It is has some
> similarities with the RTAI API.
> 
> And it is documented at:
> http://www.xenomai.org/documentation/xenomai-2.5/html/api/group__native.html
> 

See also:
http://www.xenomai.org/documentation/branches/v2.3.x/pdf/Native-API-Tour-rev-C.pdf

p.22

-- 
Philippe.