Hi fellers,
On 12/28/2012 02:48 PM, Michael Haberler wrote:
> the background of the question was: for the userland thread styles
> and minimal privileges for rtapi_app functionality, the 'forking
> helper program' is actually not helpful at all (it is needed and
> makes sense for kernel modules). Currently rtapi_app needs to run as
> root for io access and this isnt a great idea long run.
>
> This is why I consider replacing the rtapi_app helper by a vanilla
> rtapi demon program which will be started/stopped by the realtime
> script, and which is talked to through a Unix domain socket. I would
> drop the 'execute helper program' part in halcmd in that case. Since
> then no forking takes place the shm segment ownership issues shouldnt
> arise.
Take a look at the rt-preempt code. Michael Buesch seems to have
anticipated some of this, and rtapi_init and rtapi_exit are just stub
functions in ULAPI.
John
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