Eric Keller wrote: > before rt-linux went commercial and then who knows what happened, the idea > behind hal was to make it so you could run EMC either on rt-linux or rtai. > I really haven't been motivated to keep up with the developments of the RT > kernel to know what needs to be done to make HAL work with it, but from my > ill-informed perspective it seems reasonable that you should be able to > switch from RTAI to the RT kernel. > EMC DID run under RT-Linux for years, and I believe when John Kasunich split things up for EMC2, and created rtapi, he not only made provisions for rt-linux, but that it was known to work with rt-linux as well as RTAI. All that code is still in rtapi, as far as I know. As I believe John said, it likely has gone a bit stale over the past 6 years or so, but it probably would not be real hard for an experienced developer to get running again.
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