On Monday 19 May 2003 17:21, [email protected] wrote:
> Peter, thanks for raising these important questions. You really deserve
> some answers, although they don't come lightly, especially since they
> probably imply significant work;-)
> (I am writing thesis now, so I cannot presently allocate much time for
> this.)
>
> I think that work on connecting realtime with non-realtime should be given
> the highest priority. LXRT sounds promising. That I favor CORBA and ACE/TAO
> is probably no surprise (I agree there are drawbacks). But I think we
> should keep interoperability with other orbs and programming languages. To
> give an example, that excludes the use of the TAO real-time event-channel.
>
> There is also the option that all of orocos converge into using real-time.
> That would of course mean a lot of work(?) for people like us. Question is
> what we would loose in terms of functionality, library support, ease of use
> etc? (My knowledge about real-time programming is almost zero.)
LXRT is an 'automated' realtime violation detector, in the sense that if you
do something obviously not realtime (calling fork() for example), it will
switch your process to the not-realtime scheduler. A better discription is
given in my LXRT HOWTO. You can use any library that you can think of in LXRT
as long as you use it in 'soft realtime'. The hard realtime threads can _try_
to use it but might be switched to soft mode if it does something illegal.
>
> I actually think we should investigate these matters quite thoroughly,
> preferably coding some quick implementations to get a clearer view. Unless
> there is someone skilled in both real-time and corba who is willing to do
> this, people from both camps should probably sit down together for a week
> of intense hacking. Again, for my part this will have to wait a while.
>
> I don't regard the issue of 'Use common libraries' as being very urgent to
> fix. The 'global repository of idl interfaces' will only have real meaning
> after we have achieved interoperability within orocos.
Which will hopefully be before the projects ending.
Peter
>
>
> ./Anders Oreback
--
Peter Soetens
The Orocos Project : http://www.orocos.org
KU Leuven - Belgium
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