Re: Orocos and RTAI/LXRT

Herman Bruyninckx wrote:
> On Mon, 23 Jun 2003, Peter Soetens wrote:
> 
> [... RTAI/LXRT...]
> 
>>Does this mean we drop portability ? Certainly not ! Orocos still has an 
>>os-abstraction layer, and kernel-RTAI and kernel-RTLinux just fell out 
>>because of the 'incompleteness' they offer in their API.
>>
> 
> Some current problems:
> 1. the RTLinux support for user space hard real-time is poor, in the
>    GPL version at least. So, no portability there.
> 2. RTAI/LXRT currently only runs on ia32 systems (Intel, AMD, ...)
>    So, not PowerPC or ARM or Xscale, or...

A little clarification:
- RTAI has been ported to:
   INTEL/AMD 32 bit
   PowerPC
   ARM
   Coldfire (M68000)
   MIPS
   CRIS
   other achitectures I may be unaware of;
   other architectures are being worked at.
- LXRT is currently available only on INTEL/AMD 32 bit
   It is known to have been ported to other architectures,
   but unfortunately nothing was given back to the project.

> 3. the LXRT calls are fully RTAI-only. This could be tackled by
>    neutral wrappers. (As is already done in the existing
>    OS-abstraction for all "normal" OS interactions.)

Pierangelo.


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Dr. Pierangelo Masarati               | voice: +39 02 2399 8309
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