Open GoogleCodeExporter opened 8 years ago
Some notes:
The only line not realtime-safe when running with the noop connector is the
write() to send the robot state to the GUI. This cannot be made realtime-safe
by just adding a buffer to that correction.
However, you can make this line realtime-safe by setting the type to use
Orocos's realtime allocator, but this causes an error with RTT-ROS integration
that prevents data transfer from RT Ops to the GUI.
To make the EtherCAT connector realtime-safe, we'll probably have to change the
priority of the IRQ thread for the ethernet device -- hopefully this is all we
have to do to get realtime.
Original comment by jrvanwhy
on 25 Mar 2013 at 6:39
More notes:
It appears as if SOEM itself is realtime under RT_PREEMPT, even if the IRQ
thread for the ethernet interface is at priority 50 (changing this priority
does not appear to have a significant effect on realtime performance).
Original comment by jrvanwhy
on 25 Mar 2013 at 10:13
I intend to develop the new event system rework/rewrite under RT_PREEMPT, with
instrumentation to find points where realtime is lost.
Original comment by jrvanwhy
on 9 Apr 2013 at 8:50
Original issue reported on code.google.com by
jrvanwhy
on 29 Nov 2012 at 5:02