[Xenomai-help] Problem with Posix Skin and RTnet

[Xenomai-help] Problem with Posix Skin and RTnet

[Franz Engel]

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Hello,
I've a little problem. I began a new project where I've to use Kdevelop. So I thought it is a good idea to work with cmake-project and the posix skin to get a more commone code. I want to use RTnet for my communication. But I think that Xenomai don't use the RTnet-Driver. I got the message:
"Cannot assign requested address" from the function "ret=recvfrom(socket, &buffer, sizeof(buffer), (struct sockaddr *)&dest_addr, &sizeof(dest_addr))"
I think the problem is that Xenomai use the standart recvfrom and the standart recvfrom can not recognize the realtime driver. I use the following cmake file:
 
PROJECT(robotclient)
cmake_minimum_required(VERSION 2.8)
 
set(Robot_Client_VERSION_MAJOR 1)
set(Robot_Client_VERSION_MINOR 0)
 
set(XENOMAI_SEARCH_PATH "/usr/xenomai" "/usr/local/xenomai")
find_path(${XENOMAI_DIR} "include/xeno_config.h" ${XENOMAI_SEARCH_PATH})
 
IF(${XENOMAI_DIR})
   set(XENOMAI_INCLUDE_DIR ${XENOMAI_DIR}/include)
   set(XENOMAI_INCLUDE_POSIX_DIR ${XENOMAI_DIR}/include/posix)
 
   find_library(XENOMAI_LIBRARY_XENOMAI xenomai ${XENOMAI_DIR}/lib)
   find_library(XENOMAI_LIBRARY_PTHREAD_RT pthread_rt ${XENOMAI_DIR}/lib)
   find_library(XENOMAI_LIBRARY_RTDM rtdm ${XENOMAI_DIR}/lib)
   find_library(XENOMAI_LIBRARY_RT rt ${XENOMAI_DIR}/lib)
 
  set(EXTRA_LIBS ${EXTRA_LIBS} ${XENOMAI_LIBRARY_XENOMAI})
   set(EXTRA_LIBS ${EXTRA_LIBS} ${XENOMAI_LIBRARY_PTHREAD_RT})
   set(EXTRA_LIBS ${EXTRA_LIBS} ${XENOMAI_LIBRARY_RTDM})
   set(EXTRA_LIBS ${EXTRA_LIBS} ${XENOMAI_LIBRARY_RT})
 
   find_file(XENOMAI_POSIX_WRAPPERS lib/posix.wrappers  {XENOMAI_SEARCH_PATH})
 
   set(XENOMAI_EXE_LINKER_FLAGS "-W1,@${XENOMAI_POSIX_WRAPPERS}")
   set(CMAKE_EXE_LINKER_FLAGS ${CMAKE_EXE_LINKER_FLAGS} ${XENOMAI_EXE_LINKER_FLAGS})
 
   set(XENOMAI_DEFINITIONS "-D_GNU_SOURCE -D_REENTRANT -Wall -pipe -D__XENO__")
   set(EXTRA_DEFINITIONS ${EXTRA_DEFINITIONS} ${XENOMAI_DEFINITIONS})
 
   include_directories(${XENOMAI_DIR}/include)
   include_directories(${XENOMAI_DIR}/include/posix)
ENDIF(${XENOMAI_DIR})
 
ADD_DEFINITIONS(${EXTRA_DEFINITIONS})
ADD_EXECUTABLE(robotclient main.cpp)
TARGET_LINK_LIBRARIES(robotclient ${EXTRA_LIBS})

Is there something wrong?
 
regards,
    franz


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Re: [Xenomai-help] Problem with Posix Skin and RTnet

[Gilles Chanteperdrix]

Franz Engel wrote:
> Is there something wrong?

The way to compile applications for Xenomai posix skin is described here:
http://www.xenomai.org/index.php/Porting_POSIX_applications_to_Xenomai#Compilation_flags

I do not know about cmake, but you should teach cmake to use xeno-config
to obtain the flags.

-- 
                                                                Gilles.