Hello I have a question related to the pSOS+ skin. It might be relevant for other skins as well.
What I observe is that the taskname while creating a task should be unique. If I use the same taskname twice, I get a failure. I think this is not a restriction in the real pSOS+ implementation, so this means that some applications will not be portable. I second issue I see is that since the main task is also registered under the name "MAIN". This means I can have only 1 process that makes use of the pSOS skin. If I start a second process, an error code is returned since the "MAIN" task already exists (it is automatically created during the initialization phase). I made a workaround for this by appending the PID to the task names created in the application. I also to the same for the "MAIN" task. After applying the change and starting the same application 2 times, I get following result when I dump the scheduler information: # cat /proc/xenomai/sched CPU PID CLASS PRI TIMEOUT TIMEBASE STAT NAME 0 0 idle -1 - master R ROOT 0 1046 rt 0 5370t psos D MAIN_1046 0 1048 rt 10 100t psos D TST5_1046 0 1049 rt 64 0t psos Wl TTT0_1048 0 1050 rt 64 0t psos Wl TTT1_1048 0 1051 rt 64 0t psos Wl TTT2_1048 0 1052 rt 64 0t psos Wl TTT3_1048 0 1053 rt 64 0t psos Wl TTT4_1048 0 1054 rt 64 0t psos Wl TTT5_1048 0 1055 rt 64 0t psos Wl TTT6_1048 0 1056 rt 64 0t psos Wl TTT7_1048 0 1057 rt 64 0t psos Wl TTT8_1048 0 1058 rt 64 0t psos Wl TTT9_1048 0 1059 rt 0 6802t psos D MAIN_1059 0 1061 rt 10 100t psos D TST5_1059 0 1062 rt 64 0t psos Wl TTT0_1061 0 1063 rt 64 0t psos Wl TTT1_1061 0 1064 rt 64 0t psos Wl TTT2_1061 0 1065 rt 64 0t psos Wl TTT3_1061 0 1066 rt 64 0t psos Wl TTT4_1061 0 1067 rt 64 0t psos Wl TTT5_1061 0 1068 rt 64 0t psos Wl TTT6_1061 0 1069 rt 64 0t psos Wl TTT7_1061 0 1070 rt 64 0t psos Wl TTT8_1061 0 1071 rt 64 0t psos Wl TTT9_1061 Now the question is: is this the right technique or do other means exist to start multiple clients (processes) of the pSOS skin. It might be better to use a unique ID per "application" instead of the PID since now the full name depends on the actual thread that has created the new process. To be more clear: all tasks belonging to a certain process could be appended with the same unique number. Please comment. Best regards, Ronny
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