Re: Orocos and rtnet

A Dijous 08 Mar=E7 2007 00:30, Herman Bruyninckx va escriure:
> 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.

Ok, you are right. I need to make some test. I'm beginning !!!!

> 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 val=
ue
> sent to the robot is actually executed in its controller?=20

Not yet ..... all about the controller is a bit precarious .

Regards,

Leo
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