Hello, I'm currently working on a program that, basically, reads some data from a DAQ device periodically, performs some calculations over it and writes the result back to the DAQ. All these operations are performed by a real-time thread (using POSIX skin), while a second non real-time thread stores some information in a file. Both threads communicate through a message queue and are created using POSIX-skin pthread_create.
In summary, the real-time thread uses the following functions: - POSIX-skin clock_nanosleep to make the thread periodic - Analogy a4l_sync_read and a4l_sync_write to interact with the DAQ device - POSIX-skin mq_timedsend to write in the message queue And the writer non real-time thread uses: - POSIX-skin mq_receive to read from the message queue Problem is that both threads are constantly switching between primary and secondary contexts, as the value MSW at /proc/xenomai/sched/stat shows, so my questions are the following: - Does any of the functions used in the real-time thread perform a switch to secondary mode? - Since POSIX-skin mq_receive switches to primary context in the writer thread, can regular POSIX message queues be used in both threads without affecting real-time? - Is there any other possible source of context switching that I'm not considering (allocating memory in one thread that is freed in the other, maybe)? Thanks in advance, Rodrigo _______________________________________________ Xenomai mailing list Xenomai@xenomai.org https://xenomai.org/mailman/listinfo/xenomai
