I use a Api called „KogniMobil RTDB“. In the documentation the
programmer wrote that the Api runs with Xenomai. I read the make files
of the Api but there is nothing from Xenomai. Furthermore the
programmer wrote that I have to start the Tasks under the GPOS and
after the initialization I have to migrate the tasks to the RTOS and
let them run as a RT-Task. The migration should do by the methods of
Xenomai. Does somebody knows what methods the programmer means?
I'm sorry I don't have time to look up the details, but here is a code
snippet from our RT app which transitions a Linux thread to a Xenomai RT
thread.
hth
- Tom
RT_TASK *mtsk;
mtsk = (RT_TASK*)malloc(sizeof(RT_TASK));
...
int err = rt_task_shadow(mtsk, 0, pTask->mPriority, T_FPU);
--
Thomas Lockhart
Supervisor, Distributed and Real-time Group
Instrument Software and Science Data Systems
Caltech/JPL
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