I'm working on a large system that consists of several shared objects that get linked together into an executable. In one instance, I link these shared objects together with a realtime control loop to create an executable that runs on my target hardware platform. In another instance, I want to link these shared objects into an executable that runs under simulation on a non-realtime platform. I'm using posix APIs throughout the shared objects for threading and mutex operations. I'd like to create a single instance of each of these shared objects and do the Xenomai "skin wrapping" at the final link step, but it seems that instead I need to create a realtime and non-realtime version of each shared object and link against the correct ones during the final link step. Has someone else faced this issue before?
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