On 18/02/2014 13:08, Leopold Palomo-Avellaneda wrote: > Our original idea was to encapsulate all the Ethercat functions in a class > decoupling all the RT from the NRT part. We don't need (want) that all this > code works on RT, just an small part.
I think you are confused regarding how Xenomai (but I guess other real-time systems have the same semantics) operates the distinction between code executed in real-time (primary domain in Xenomai jargon) and not real-time (secondary domain). The "unit" that can be made real-time or non real-time is a process thread, regardless of where the code that runs in that thread resides. Encapsulating something in a class cannot decouple RT and NRT parts of a process as long as the methods of that class are not called in a different execution thread with different properties. In Xenomai you need to create a "shadow" to a thread to have it registered with the Xenomai real-time scheduler and have the possibility to run it real-time mode (primary mode). See Gilles answer. Cheers, Daniele _______________________________________________ Xenomai mailing list [email protected] http://www.xenomai.org/mailman/listinfo/xenomai
