Re: Orocos and rtnet

On Thu, 8 Mar 2007, Leopold Palomo Avellaneda wrote:

[...]
>> RTNet to communicate with the vxworks box (send/receive). You'll have
>> to write your message protocol yourselves then. But creating messages
>> with RTNet is not that hard. You can run the component using a
>> NonPeriodicActivity as discussed in this thread on Orocos-dev:
>> <http://www.orocos.org/node/154>. I'd like to remind you that rtnet
>> works with both RTAI and Xenomai (so does Orocos).
>
> why NonPeriodicActivity? the controller box has a cycle loop of 4ms and we
> would like to use it. Can we create a PeriodicActivity and try to synchronize
> both?

How...? The clocks will skew anyhow... It's better to take this into
account and foresee an activity that can wait on the RTNet package.

Btw, do you have any numbers about delays at the VxWorks side? I mean: how
realtime is the ethernet on that side? How long does it take before a value
sent to the robot is actually executed in its controller? Etc.

Herman

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