Jan Kiszka wrote:right now we have a simple dedicated network of two nodes running the hard real-time core of the simulation (ie multibody analisys + control system): one P4 1.7GHz and one Celeron 1.7GHz, each mounting an 8139 nic and directly connected by twisted ethernet cable. The P4 is a dedicated machine that runs the multy-body code only, while the Celeron runs the control and can be remotely monitored in soft real-time by other machines connecting over the local network (sis900 card), by a laptop connected to a third network card, or from the same machine via loopback device or the infamous "node 0" (see Paolo's post).
Interesting page! I will put a link on the RTnet homepage if it's ok. Paolo, do you already have some more background information about the hard real-time part of the network (configuration, benchmark figures, traps, pitfalls, or other experiences)?
We are planning to extend the hard real-time network soon(ish) in order to run the simulation (or control, even) in a distributed way.
Today we've reached the 1KHz high water mark on our test case (a 6 degrees of freedom robot) and we are confident there's still much room for improvement (in model complexity). So far we aren't experiencing network overheads, thanks to the synchronous nature of our problem. It won't necessarily be so in the future, with more nodes running different parts of the simulation at different frequencies.
Cheers, Matteo
PS: thanks for linking our page!
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Matteo Martegani tel: +39 02 2399 8309
mail: [EMAIL PROTECTED] RT-MBdyn - MultiBody Dynamics on Real Time Distributed Systems
http://www.aero.polimi.it/~mbdyn/mbdyn-rt/
Dipartimento di Ingegneria Aerospaziale, Politecnico di Milano
via La Masa 34, 20156 Milano, Italy
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