Hello,
I am trying to make a hard real-time application on Xenomai
(dual-kernel configuration). Here are some questions.
1. To fully utilize the realtime capability of Xenomai, should I apply
xenomai to all the associated application libraries?
For example, if I run the 'ldd' command with my real-time application,
the output looks like this:
linux-vdso.so.1 => (0x00007ffec45e6000)
liburdfdom_model.so.1.0 =>
/opt/ros/r2b3/lib/x86_64-linux-gnu/liburdfdom_model.so.1.0
(0x00007f1d34afb000)
libstdc++.so.6 => /usr/lib/x86_64-linux-gnu/libstdc++.so.6
(0x00007f1d34727000)
libgcc_s.so.1 => /lib/x86_64-linux-gnu/libgcc_s.so.1
(0x00007f1d3450f000)
libc.so.6 => /lib/x86_64-linux-gnu/libc.so.6
(0x00007f1d34145000)
libtinyxml.so.2.6.2 =>
/usr/lib/x86_64-linux-gnu/libtinyxml.so.2.6.2 (0x00007f1d33f2f000)
libconsole_bridge.so.0.3 =>
/opt/ros/r2b3/lib/x86_64-linux-gnu/libconsole_bridge.so.0.3
(0x00007f1d33d29000)
libm.so.6 => /lib/x86_64-linux-gnu/libm.so.6
(0x00007f1d33a20000)
/lib64/ld-linux-x86-64.so.2 (0x000056478f1a2000)
Do I need to rebuild all libraries in the output list (libstdc ++,
libtinyxml ...) by applying the xenomai compile option?
2. I cannot find 'poll()' syscall from Xenomai sources (also, in
cobalt.wrappers). Is there any reason to omit the poll() syscall from
Xenomai? How do I re-build POSIX-based existing code using
poll()/epoll() with Xenomai?
3. I tried to apply Xenomai to a broadly-used library named
libPocoFoundation. But it throws exception at pthread_mutex_init() as
shown below.
([1]https://github.com/pocoproject/poco/blob/develop/Foundation/src/Mut
ex_POSIX.cpp:64)
if (pthread_mutex_init (& _ mutex, & attr))
{
pthread_mutexattr_destroy (& attr);
throw SystemException ("can not create mutex");
}
If you refer to manpage, pthread_mutex_init() cannot have '1' as return
value. However, pthread_mutex_init() of Xenomai actually returns '1' as
errorno. As the result, the application is aborted.
I want to know the reason of this phenomenon.
Thank you!
Beomjin Kim | Engineer
Applied Platform Team. | Software R&D Center | Samsung Electronics Co.,
Ltd.
Mobile : +82-10-8495-5520 | E-Mail : [2]beomjins....@samsung.com
[cid:cafe_image_0@s-core.co.kr]
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References
1.
https://github.com/pocoproject/poco/blob/develop/Foundation/src/Mutex_POSIX.cpp:64
2. mailto:beomjins....@samsung.com
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