Michel He wrote: > Hello all, > > I'm currently trying to port xrtai-lab to xenomai, inside of it > there's the netrpc interface used to make communication between tasks. > However, there is no equivalent for Xenomai, which makes the port > quite impossible !
Nothing is impossible. :) > So is there any chance to fulfill that, and with/or > without RTNet ? To do that, it should have something to do with socket > programming. Any experience encountered it is welcomed. Well, you could start with mapping the existing RTAI API calls in xrtai-lab on local Native calls. That will already give you a non-distributed port. But there is also no magic behind netrpc. It just uses RTnet for remote calls, and that works for Xenomai at least equally well. You could simply write a RPC API extension for libnative (a pure user space job). That lib would do the routing, encapsulate and forward non-local calls to some sockets provided via the RTDM API. BTW, the same should be feasible for a POSIX-based API extension, which would have the advantage of making the result easier portable to plain Linux. Jan -- Siemens AG, Corporate Technology, CT T DE IT 1 Corporate Competence Center Embedded Linux _______________________________________________ Xenomai-help mailing list [email protected] https://mail.gna.org/listinfo/xenomai-help
