Hello. In the RTNet wiki I read:
*RTnet implements UDP/IP, TCP/IP (basic features), ICMP and ARP in a
deterministic way. It provides a POSIX socket API to real-time user space
processes and kernel modules.*
*To avoid unpredictable collisions and congestions on Ethernet, an
additional protocol layer called RTmac controls the media access. A
dedicated Ethernet segment is required to guarantee bounded transmission
delays, but RTnet also includes a mechanism to tunnel non real-time traffic
like TCP/IP over RTmac, thus allowing a "single-cable" solution for
connecting control systems.*
I am not understanding well both paragraphs. Here I show a naive user case:
Let a closed loop control task performed by two hard realtime processes
located in different machines (for instance using Xenomai and RTNet):
- Can I communicate two real-time processes in different machines writing
a code based on the POSIX socket API?
- Can I consider hard real time the task performed by both processes
together?
- Or instead the only I can say is that each process is real time, but the
whole task is not hard real-time because TCP is not a hard real-time
protocol. Is this right?
Thanks in advance.
Regards.
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