Hello community,
we are using RTAI to control a robot in real-time. The communication
between the robot-controller and our workstation uses sockets. On the
RTAI-computer we are using standard linux sockets, where the robot-
controller is using VMWare with real-time capable network drivers.
The linux sockets are - of course - not real-time capable, which means
everytime data is sent to or received from the robot-controller, we
have to leave hard-real-time. To avoid this we want to use your real-time
ethernet drivers.
As we do not need your real-time-communication framework (RTmac/RTnet),
I wonder how to use your drivers without it. I managed compiling and
installing the drivers and rtifconfig "sees" the rteth0-device. I've got
two questions now:
1) How to use the rteth0-device from within C/C++? Can I use the standard
sockets' API? How about documentation?
2) Is it possible to use another network card simultaneously to
communicate "the linux-way", i.e. to have a normal eth1-device, which
can be used with firefox, etc.?
A "picture" of the complete communication system follows at the
end of this mail.
Thanks in advance,
Alexander Spiller
+--------------------+
| RTAI-Box |
| |
| Linux | RTAI |
| eth1 | rteth0 |
+---+-----------+----+ +--------------------+
| | | Robot-Controller |
| | | |
Internet/ +--------| VMware-nic |
LAN +--------------------+
--
Fraunhofer-Institut für
Produktionstechnik und Automatisierung (IPA)
Dipl. Ing. Alexander Spiller
Robotersysteme
Nobelstraße 12
70569 Stuttgart
Telefon: +49 (0) 711 / 970 - 1060
Telefax: +49 (0) 711 / 970 - 1008
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