Philippe Gerum wrote:
Philippe Gerum wrote:
Jan Kiszka wrote:
Philippe Gerum wrote:
Jan Kiszka wrote:
Hi,
I was wondering if there is already a method in the fusion native
skin to turn the main thread of a process into real-time. Did not
find anything. I guess it would be easy to add such feature to
librtai based on existing syscalls. Should I write a patch?
Something like "rt_task_attach"?
Actually, you can already do this by calling the internal POSIX API
extension: pthread_init_rt(), which is part of the system skin
implicitely attached to a user-space RT app.
Then what about some redefinition for the native skin? Just to have
the API streamlined.
In fact, it can't be a call to pthread_init_rt() as I first suggested,
because the RTAI skin maintains some information locally for each of
its tasks which would not be properly set up by the latter call. So a
wrapper to this call won't do it either. Anyway, crafting the proper
call for the RTAI API should not be a complex issue.
It's called rt_task_shadow() in the CVS head. Documented, tested and
working here. HTH.
There might be a symmetric way from Fusion to RTAI classic too.
Not documented, but public, tested and working, in showroom there is the
draft of the way in which some RTAI skin Fusion APIs can be used in
RTAI-classic now.
Paolo.
