Erwin Rol wrote:
>
> Hello All,
>
> I have been looking at LXRT in RTAI 1.5 and saw there are basicly
> two directories with LXRT, one lxrt and one lxrt-informed. I can't
> really figure out which one to use, cause it seems the lxrt examples
> don't compile with the header files in rtai-1.5/include/ directory.
> And also i am not sure what the difference is between the two.
>
> And and other little thing, with lxrt(-informed) one uses the rtai*.h
> headers in non modules, so wouldn't it be nice to install those headers
> under /usr/include/rtai and use #include <rtai/rtai*.h> in programms ?
> (of course it can be done , but it would be nice if it was done
> automaticly
> just like copying the modules to /lib/modules/linux*/misc/ )
Hi Erwin,
The lxrt directory has the newest stuff (such as hard real-time in
user-space and tasklets), lxrt-informed is the 'stable' version that has
error recovery (but lacks some of these news features). You are
correct, that the header files are not compatible, currently. The plan
is to merge all the lxrt stuff into lxrt-informed, and standardize on
one directory. You should use the lxrt-informed stuff (you'll see that
the sim-links from include and modules go there) unless you are checking
out the new features.
As far as the link goes, the rtai-1.5 'make install' makes a link from
/usr/include/rt to <rtai>/include, the <rtai>/include directory has
links to the correct files. The practice I use is to use #include
<rt/rtai_xxxx> in my c files (with a -I/usr/include if necessary). The
idea behind this is that you can easily move the link to a new
installation (for example a test version etc), and also you cannot
accidentally pull in the wrong header if there is a clash with the
standard header files. This also helps me with stuff I want to run also
on RTL, as I can #include <rt/rt_compat.h>, and pull in the correct
rtlinux header files. I'm not saying that this is the best way to go,
but it was something that helped me get my applications to work on both
systems with the minimum misery.
Regards, Stuart.
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