From mboxrd@z Thu Jan 1 00:00:00 1970 Message-ID: <4BB34F3A.3060105@domain.hid> Date: Wed, 31 Mar 2010 15:33:46 +0200 From: Jan Kiszka MIME-Version: 1.0 References: <20100331143432.44386sa8ez2p2q2o@domain.hid> In-Reply-To: <20100331143432.44386sa8ez2p2q2o@domain.hid> Content-Type: text/plain; charset=ISO-8859-1 Content-Transfer-Encoding: 7bit Subject: Re: [Xenomai-help] netrpc List-Id: Help regarding installation and common use of Xenomai List-Unsubscribe: , List-Archive: List-Post: List-Help: List-Subscribe: , To: Michel He Cc: xenomai@xenomai.org 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