Re: [Xenomai-help] using the RTAI skin

[gohlx002@domain.hid]

On Jan 21 2010, Gilles Chanteperdrix wrote:

>gohlx002@domain.hid wrote:
>> Hello all,
>> 
>> I'm doing some investigation on migrating my application from RTAI to 
>> Xenomai. From the description of a Xenomai skin, it seems like I might 
>> be
>> able to use the RTAI skin to run my application "as is". Along this 
>> line, I
>> put together a small test application in RTAI that would be very 
>> illustrative if I can get it to run in Xenomai. The first step is of 
>> course
>> compiling it which I haven't been able to do because of missing 
>> references
>> to all the RTAI functions (e.g. rt_task_init_schmod). If someone feels 
>> like
>> helping out, we could work through this whole process (from an RTAI app 
>> to
>> running on Xenomai) and turn this into another example to add to the 
>> examples folder for future reference. Here's the application I'm trying 
>> to
>> compile (the Makefile I just adapted from the native examples folder and 
>> changed the application name):
>
>The RTAI skin is mostly kernel-space. User-space only supports a few 
>things (like shared memory). In an case, to find what is supported, 
>check src/skins/rtai in xenomai sources tree.
>
>In the makefile, what is important is:
>
>XENO_DESTDIR=/path/to/xenomai/installation/root
>XENO_CONFIG=$(XENO_DESTDIR)/usr/local/bin/xeno-config)
>XENO_RTAI_CPPFLAGS=$(shell DESTDIR=$(XENO_DESTDIR) $(XENO_CONFIG) --cflags)
> XENO_RTAI_LDFLAGS=$(shell DESTDIR=$(XENO_DESTDIR) $(XENO_CONFIG) 
> --ldflags) -lrtai
>
>then add XENO_RTAI_CPPFLAGS to your program CPPFLAGS or CFLAGS, and
>add XENO_RTAI_LDFLAGS to your program LDFLAGS.
>
>

Oh I see. This is helpful thanks Gilles. I'll give this a try and report 
back on my progress.

Jesse