Re: [Xenomai-help] netrpc

[Jan Kiszka <jan.kiszka@domain.hid>]

Michel He wrote:
> Hello all,
> 
>     I'm currently trying to port xrtai-lab to xenomai, inside of it  
> there's the netrpc interface used to make communication between tasks.  
> However, there is no equivalent for Xenomai, which makes the port  
> quite impossible !

Nothing is impossible. :)

> So is there any chance to fulfill that, and with/or  
> without RTNet ? To do that, it should have something to do with socket  
> programming. Any experience encountered it is welcomed.

Well, you could start with mapping the existing RTAI API calls in
xrtai-lab on local Native calls. That will already give you a
non-distributed port.

But there is also no magic behind netrpc. It just uses RTnet for remote
calls, and that works for Xenomai at least equally well. You could
simply write a RPC API extension for libnative (a pure user space job).
That lib would do the routing, encapsulate and forward non-local calls
to some sockets provided via the RTDM API.

BTW, the same should be feasible for a POSIX-based API extension, which
would have the advantage of making the result easier portable to plain
Linux.

Jan

-- 
Siemens AG, Corporate Technology, CT T DE IT 1
Corporate Competence Center Embedded Linux