Re: orocos core documentation

Peter Soetens wrote:

>On Thursday 02 October 2003 03:07, Michael Matkovic wrote:
>  
>
>>    In the core documentation, under the heading "/Threads and Realtime
>>execution of your program//"/ you have a missing picture (fig 3.4).
>>Would you be able to update the site to include this, as I am trying to
>>gain an understanding of C++ RTAI programming.
>>    
>>
>
>Ack ! That document is somewhat outdated, .. I *am* rewriting it. Going with 
>the RTAI-wind, _*we are writing our applications in LXRT*_. The text you're 
>talking about is about RTAI-kernel mode. Because only little libraries are 
>available in the kernel , we (and a bunch of others) switched to LXRT, 
>userspace-realtime.
>
>LXRT is explained on my homepage 
> http://people.mech.kuleuven.ac.be/~psoetens/portingtolxrt.html
>

Having looked at "/Introducing the Real Time Application Interface 
(RTAI) for Linux/" paper (Mantegazza, Bianchi, Dozio), I'm a bit 
confused with their suggestions of use with LXRT and what I interpreted 
yours to be. Correct me if I'm wrong, but are you working on creating an 
'end product' which will attempt to be 'hard real-time' operating in 
'user space'?
The above-mentioned paper describes this as 'firm real-time', and a 
/method/ in which to develop code...

/"when the developer is satisfied with a task's performance within LXRT, 
the task is simply recompiled as a module and inserted into the kernel 
(along with the associated modules which provide RTAI's real-time 
features) to transition _from firm to hard real-time_."/

 From this, my understanding is that during development LXRT can be used 
to develop and debug, but ultimately the final product should be 
compiled into a kernel module.

Has the /RTAI-wind/ made this document redundant, or is your suggested 
use of LXRT just another approach?