On 03/31/2011 11:05 AM, Viesturs Lācis wrote: > 2011/3/31 Rafael Skodlar<ra...@linwin.com>: >> >> However, we still haven't addressed the original question about running >> multiple instances of EMC2 on the same hardware. Two options are >> possible here IMO: >> - expand EMC2 in such a way to present itself as running another >> instance of itself on different CPU core(s) virtually like a thread, >> - or run independent instances of EMC in VMs in different CPU core(s) >> and selected set of peripherals. >> > > Something similar has been discussed previously. I found one good > quote from Andy: > > 2010/12/13 andy pugh<bodge...@gmail.com>:. >> >> The other alternative would be to write a new interpreter. >> > > I think that this suggestion would work here too, because it was > mentioned that running EMC on a virtual machine will have enormous > jitter. With all due respect to members of EMC community, I doubt that > we can fix that, so I think that Your second suggestion on > virtualization is denied.
Denial can only relate to current state of the (EMC) art. I simply listed an option that has been implemented in commercial embedded systems software. VM running on a dedicated CPU core independently under RT micro kernel: http://www.enea.com/Templates/Product____27035.aspx http://industrial-embedded.com/virtualization-platforms-real-time-embedded-systems Under Application examples: "the manufacturer can run the legacy real-time software on one core in a multicore processor and implement the new user interface functionality on the remaining cores. The VMM in this case partitions the processor‚ I/O, memory, and other resources to ensure that only the machine control software has direct access to the motion control hardware and that it operates on a dedicated CPU core. This creates a separation between the real-time OS and the user interface software, avoiding interference between the two OSs and thereby protecting the timing loops the legacy real-time software manages from being violated by operations the new human interface software performs." Today's motherboards come with multi core CPUs and it's a shame we cannot use one or more cores for EMC under tight RT constraints and GUI part of application in another one. > I think that instead of trying to reinvent the wheel and run several > instances of EMC on a single PC and getting into trouble of > synchronizing them, I think that investigating the option of expanding > current capabilities of interpreter and adding few more axes might be > easier. Agree. This is the interim solution. > As Andy mentioned, joints_axes_3 branch already should allow for a > total number of joints to exceed 9. > > Viesturs -- Rafael ------------------------------------------------------------------------------ Create and publish websites with WebMatrix Use the most popular FREE web apps or write code yourself; WebMatrix provides all the features you need to develop and publish your website. http://p.sf.net/sfu/ms-webmatrix-sf _______________________________________________ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
