Re : Two questions : Answer to the first question

On Mon, 2005-11-14 at 16:52 +0100, Patrycjusz Szczepaniak wrote:
> Hello,
> 
> .::1: 
> template<class CPort, class SPort, class IPort, class MPort, class
OPort, class _Extension = KernelBaseFunction>
> class ORO_ControlKernel::detail::BaseKernel< CPort, SPort, IPort,
MPort, OPort, _Extension >

> BaseKernel takes as template arguments detail::DataObjectLockFreeC or
detail::DataObjectC. They are used to define CommandPortType,
OutputPortType, etc. but these types are not used anywhere. Could you
please explain me what difference does using detail::DataObjectLockFreeC
or detail::DataObjectC make? Where are these used?
> 

Components communicate with each other via DataObjects (e.g.
Inputs,Outputs,Models,...).  DataObjectC or DataObjectLockFreeC
determine the internal mechanisme the DataObjects use (strategy)
.  DataObjectLockFreeC is used when the dataobjects can be accessed from
more than 1 kernel an concurrency problems can occur. (e.g. a
CascadedControlKernel with an outer and an inner loop)

With DataObjectC there is no protection for concurrency problems. (e.g.
StandardControlKernel)

If you want to use other kernels then StandardControlKernel, be sure to
update to the most recent svn version.
> .::2:
> I have an Orocos application and a device driver that is a module(is a
part of a Linux kernel). I want this Orocos application to work in a
hard real-time. AFAIK to do that I need to write an Orocos device driver
that will be a part of Orocos. Could you tell me how to write a device
driver in Orocos? And how to do it so the driver could handle interrupts
in RTAI? Mabe you could point me manuals/howtos/documents?
> 
> 
I've no experience with this :(

> Patrycjusz Szczepaniak
> 
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