Emanuele Clerici wrote: > Jan Kiszka wrote: >> Emanuele Clerici wrote: >> >>> It's possible to send a data packet with an RTnet socket to a linux >>> socket. >>> I have tried it but it seem doesn't work. >>> >> >> Over a real network or locally (as interprocess communication means)? >> The former is possible of course (via UDP/IP or your own Ethernet >> protocol). The latter is not because the Linux networking stack and >> RTnet are strictly separated (for good reasons). The question is what >> kind of communication you want to realise this way. >> >> Jan >> >> > over a real network. > I try to explain: > I have 2 nodes 192.168.3.1 (A) and 192.168.3.2 (B) > I load rtnet and start it on A and B and rt_ping works fine > On A I send using rt_socket to B > On B i couldn't use it because i don't have hard_real_time context so > rt_dev_recvfrom doesn't work, so i try with linux socket but it seem > doesnt'work >
If RTnet is active on node B, Linux will not see the UDP packets arriving for that node. To forward data arriving via RTnet on B to the Linux domain, just create a borderline thread that is switching back and forth between RT and Linux mode (in user-space, of course). If you don't have any strict timing requirements for B at all, you may also drop RTnet here and communicate via standard Linux with node A. But be careful to block unwanted traffic from B to A to avoid indeterministic impact on A. Some firewall on B may serve as a filter here. Jan PS: Don't forget to reply-to-all...
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