Re: [Xenomai-help] netrpc

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

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Michel He wrote:
> Hello Jan,
> 
>       Thank you for your answer so quickly. The last time, I find out  
> that the IPC (Xenomai) has strong correlation to the rpc  
> implementation but it lacks the network addressing. If we look into  
> the codes, we can not specifiy the remote destination in a variable  
> like the sipc_address(not existing). So I imagine that AF_IPC is  
> something purely local like the shared memory or the queues. Is it  
> possible to make a remote connection in xenomai with the ipc protocols?

PF_RTIPC is primarily targeting local communication channels. If you
think that this programming model is already sufficient to distribute
xrtai-lab, it should also be possible to map it on other socket types
like UDP (provided by RTnet) - and then you have node addressability.

Jan

> 
> thanks
> 
> Jan Kiszka <jan.kiszka@domain.hid> a écrit :
> 
>> 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
>>



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