Leopold Palomo Avellaneda wrote: >>> Special notes >>> 3. Configure real-time NICs: rtifconfig rtethX up <IP>, >>> rtifconfig rtlo up 127.0.0.1 >>> 4. Add host routes to target nodes, either explicitly: >>> rtroute add <target IP> <target hw-address> dev <local NIC> >>> Or trigger an ARP handshake: >>> rtroute solicit <target IP> dev <local NIC> >>> >>> in a normal net I don't need to add a node if it has a local address, >>> maybe a point that it's necessary in the rtmodule (or I have understand >>> it) >> RTnet implements "static ARP", which means that ARP requests need to be >> triggered manually and that ARP table entries do not automatically expire. > > never? > if I do a rtnet stop, the ARP entries will expire, no?
Never say never: shutting down some interface will still wipe out the related ARP entries. And incoming ARP packets can update existing entries for the same IP. > > [....] >> Through rtnet.conf away as well, switch to "Starting the RTnet core >> manually (without RTmac)" from the README. > > Ok. > > [......] > >>> Well, I have a rtai box with orocos [1]. The idea is that here we will >>> implement a software controller of a robot. In the other part (the >>> vxworks) we have the controller of the robot. However we have a library >>> that let us send the torque to each joint and read the position of the >>> jooint. The controller says that has a close loop of 4 ms. So the idea is >>> that in this time, we could read the positions of the robot, send then to >>> the rtai-controller and read the torques to apply to the robot. All of >>> this is thinking that we can do the control in one milisecon in the >>> rtai-controller. >> So you need RTnet to talk to the VxWorks box on the robot or/and to >> build a distributed robot controller over multiple RTnet nodes? >> > > Only need the rtnet to talk with the VxWorks box on the robot, not to build a > distributed controller over multiple RTnet nodes. At least by now, in the > future .... Then you definitely don't want RTmac/TDMA as the VxWorks box won't understand it anyway. Jan
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