Hi folks, I have some basic questions regarding having multiple task threads running in a Xenomai process.
We would like to have a Xenomai process with multiple threads (tasks). The primary task needs to hard-real-time, the others secondary ones will be using non-real-time drivers so they will be degraded to soft-real-time. In order to share information between all the tasks, we are thinking of doing something simple, such as having a global structure that all threads can access. I understand that we'll need mutexes to preserve data integrity, and that the primary task might be caught waiting for a lock to release which might cause timing jitter. But assuming we have that issue under control, are here any other Xenomai related issues that we should be aware of that might cause the hard-real-time task to degrade to soft-real-time by doing this? Some things I'd like to verify: - It's generally ok to run multiple Xenomai tasks within a single process. - If one of the secondary tasks is degraded to soft-real-time, the degradation will be limited only to that particular secondary task, not to the entire process (so the primary thread will remain hard-real-time) - Having a global structure that all tasks can access is an acceptable way to share data across Xenomai tasks (no pipes/queues/sharedmem necessary in this scenario) - There is no risk of the primary task degrading to soft-real-time by sharing a global structure with the secondary tasks that are degraded to soft-real-time I'm guessing there is no issue but just wanted to make sure. Thanks. -Sherk
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