Jan Kiszka wrote:
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
only i don't like to map all my application on node B as realtime
because i don't need it except for receiving data from node A, and I
don't like so much creating a little "child" application for receiving
because so my application complexity increases.
Thank's for all
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