A Dimecres 21 Març 2007 10:17, Jan Kiszka va escriure: [...] well,
after have reading with attention all the readme files I being to have a more clear image of the rtnet package. > > 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. Well I have an idea about what could be a good configuration for my system. I think that it would be good idea to have rtmac on the rtai box. The idea is have a rtstack to have a deterministic net and a ethernet stack with a Vnic interface to have a normal net (with low priority) in the same interface. But I have some doubts. In the rtnet.conf then, I understand that I have to put: RT_DRIVER="rt_eepro100" RT_DRIVER_OPTIONS="cards=1,0,0,0" IPADDR="192.168.1.3" NETMASK="255.255.255.0" RT_LOOPBACK="yes" RTCAP="no" STAGE_2_SRC="" STAGE_2_DST="" STAGE_2_CMDS="" TDMA_MODE="master" <-- I have only node in my rtnet TDMA_SLAVES="" TDMA_CYCLE="500" <-- play with this TDMA_OFFSET="0" then, with my own protocol try to synchronize the rtnet and the VxWorks, no? Also, I have this message: sbin/rtnet: line 120: $TDMA_CONFIG: ambiguous redirect vnic0: ERROR while getting interface flags: No such device SIOCSIFADDR: No such device vnic0: ERROR while getting interface flags: No such device SIOCSIFNETMASK: No such device Waiting for all slaves... The idea is have a master, but the VxWorks couldn't be a slave because it doesn't have rtnet. So ..... I'm lost again .... Regards, Leo ------------------------------------------------------------------------- Take Surveys. Earn Cash. Influence the Future of IT Join SourceForge.net's Techsay panel and you'll get the chance to share your opinions on IT & business topics through brief surveys-and earn cash http://www.techsay.com/default.php?page=join.php&p=sourceforge&CID=DEVDEV _______________________________________________ RTnet-users mailing list RTnet-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/rtnet-users
