Spiller, Alexander wrote: > Hello community, > > we are using RTAI to control a robot in real-time. The communication > between the robot-controller and our workstation uses sockets. On the > RTAI-computer we are using standard linux sockets, where the robot- > controller is using VMWare with real-time capable network drivers.
[Rubbing eyes...] VMware? Real-time?? What??? > The linux sockets are - of course - not real-time capable, which means > everytime data is sent to or received from the robot-controller, we > have to leave hard-real-time. To avoid this we want to use your real-time > ethernet drivers. > > As we do not need your real-time-communication framework (RTmac/RTnet), > I wonder how to use your drivers without it. I managed compiling and > installing the drivers and rtifconfig "sees" the rteth0-device. I've got > two questions now: > > 1) How to use the rteth0-device from within C/C++? Can I use the standard > sockets' API? How about documentation? Packet Socket interface over RTDM's user API side -> [1] and RTnet documentation about RTmac/TDMA-less setup. > 2) Is it possible to use another network card simultaneously to > communicate "the linux-way", i.e. to have a normal eth1-device, which > can be used with firefox, etc.? Yes, see already the figure on RTnet's documentation homepage. > > A "picture" of the complete communication system follows at the > end of this mail. > > Thanks in advance, > Alexander Spiller > > > +--------------------+ > | RTAI-Box | > | | > | Linux | RTAI | > | eth1 | rteth0 | > +---+-----------+----+ +--------------------+ > | | | Robot-Controller | > | | | | > Internet/ +--------| VMware-nic | > LAN +--------------------+ [/me still can't believe what he is reading.] Jan [1]http://www.xenomai.org/documentation/branches/v2.3.x/html/api/group__userapi.html
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