Emanuele Clerici wrote: > Jan Kiszka wrote: >> 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... >> >> > with "borderline thread" I had to use a real time task and > rt_dev_recvfrom, it's ok?
Yep. > Ther's a way to avoid using them without > dropping down rtnet on node B? What disadvantage do you fear when mapping one of your application's thread to RT? Jan
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