From mboxrd@z Thu Jan 1 00:00:00 1970 Message-ID: <50F41136.3070200@xenomai.org> Date: Mon, 14 Jan 2013 15:07:50 +0100 From: Philippe Gerum MIME-Version: 1.0 References: <50F3F296.5000008@xenomai.org> <3F8DFF0B-6F81-48E1-9D64-83B08DA6A599@mah.priv.at> In-Reply-To: <3F8DFF0B-6F81-48E1-9D64-83B08DA6A599@mah.priv.at> Content-Type: text/plain; charset=ISO-8859-1; format=flowed Content-Transfer-Encoding: 7bit Subject: Re: [Xenomai] universal application binary: how to auto-detect Xenomai/RT-PREEMPT/vanilla kernel List-Id: Discussions about the Xenomai project List-Unsubscribe: , List-Archive: List-Post: List-Help: List-Subscribe: , To: Michael Haberler Cc: xenomai@xenomai.org On 01/14/2013 01:05 PM, Michael Haberler wrote: > Gilles, > > Am 14.01.2013 um 12:57 schrieb Gilles Chanteperdrix: > >> On 01/14/2013 09:29 AM, Michael Haberler wrote: >> >>> Hi, >> >> >> Hi, >> >>> >>> thanks to patience on this list we were able to build linuxcnc such >>> that it runs on Xenomai, besides RT-PREEMPT, vanilla kernels (in a >>> simulator/non-RT mode) and RTAI >>> >>> >>> I'm planning to adapt linuxcnc such that a universal binary can be >>> built which runs under Xenomai, RT-PREEMPT and vanilla kernels as >>> this will simplify logistics quite a bit; what I'd like have is >>> reliable auto-detection of the kernel type and 'do the right thing' >>> (RTAI will remain a separate build). >> >> >> I have no idea about preempt_rt, however, in order to detect xenomai, >> you can check for /dev/rtheap. If it does not exist, xenomai programs >> will not start anyway. Also, I guess for a universal binary, you would >> dlopen xenomai libraries (native or posix, depending on the one you want >> to use), if you want to do that, you have to pass --enable-dlopen-skins >> to xenomai configure script. > > thanks, that is a good idea to verify the libraries are in place; I had to use --enable-dlopen-skins anyway to make Python imports happy. > > I'll muddle my way through some string matching to find rt-preempt running; https://rt.wiki.kernel.org/index.php/RT_PREEMPT_HOWTO#Checking_the_Kernel gives some hints > > Is there any chance somebody runs Xenomai AND RT_PREEMPT patches applied? I heard a rumor but havent actually seen that Yes, this works. The current target is ppc 85xx, but I don't see any showstopper for running such combo on other archs, provided the I-pipe patch is adapted to a -rt kernel. This requires Xenomai 2.6.1+, stock. -- Philippe.