> Why do you create the non-rt threads also via rt_task_create? This just > introduces unneeded load on the RT subsystem.
I was under the impression that to interact with xenomai objects (RT_QUEUE, RT_MUTEX, etc), I needed to be in a xenomai thread. I assumed that because every mutex implementation I've seen has relied heavily on the underlying thread library (i.e. to sleep or yield) and mixing thread libraries seemed like a bad idea. So, is this what you're suggesting: - Link against pthreads AND native - Start non-realtime threads using pthread_create and real-time threads using rt_task_create/rt_task_start - use RT_MUTEX's/RT_QUEUE's for situations in which there is contention/communication among realtime and nonrealtime threads - use pthreads mutexes/queues for situations of contention/communication among non-realtime threads It sounds workable to me, assuming the queues/mutexes/etc. don't stop working when both threading libraries are involved. _______________________________________________ Xenomai-help mailing list [email protected] https://mail.gna.org/listinfo/xenomai-help
