Stolz, Stefan, PGR2 wrote: > Hello, > > i have a little question about rt_task_shadow(). I'm not sure if it is > ok to use ist like i do in my application. > The basic conditions of my app are: > - it is a embedded linux (Sysgo ELinOS) with Xenomai 2.0.4 > (old but unfortunatly no newer version is available for ELinOS)
Role your own? For simple Xenomai applications it's ok to stick with what Sysgo provides. But for more complex scenarios I would seriously recommend to update Xenomai+kernel. Using a recent version will enable you to gain better community support and to exploit those nice enhancements and fixes we added in the meantime. > - the app listens on a tcp-port for commands from a client app. > - one command ist for starting a simulation of some signals on the > parallel-port; > this simulation have to be hard-real-time > > at first the tcp-server-part was in a non-rt-app which startet the > simulation-task with the normal xenomai-functions. > While the simulation is running i have to exchange data between the > tcp-server and the rt-task. > The Problem is, that things like semaphores and mutexes doesn't work > with nrt-tasks. > now i found the rt_task_shadow-function. So after starting my app i call > this funktion and switch the process into a xenomai task (with the lowes > priority). At the moment everything seems ok; but are there any known > problems with this approach? You already picked the recommended scheme: shadowed Linux task on the borderline, mostly running under Linux control (SCHED_OTHER), but being able to become RT for synchronisation with high-prio RT tasks. Jan
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