Orocos and Preempt-rt

Hi,

I have noticed that some users instead of Xenomai/Rtai uses a standard
gnulinux with the Preempt_rt patch.

I have no idea how it works with orocos. I have seen some information on the
web and I have understand that there's some additional work that must be done
to use it (cset, cset-shield ...)

So, my question is, some user of the Preempt_rt could explain how configure
orocos to use it?

Thanks in advance,

Best regards,

Leopold

Orocos and Preempt-rt

There in no need to configure OROCOS differently for Preempt_rt.
Because Preempt_rt uses the same API/ABI as normal linux, the OROCOS
gnulinux target will work.

Pozdrawiam
Konrad Banachowicz

2013/6/26 Leopold Palomo-Avellaneda <leopold [dot] palomo [..] ...>

> Hi,
>
> I have noticed that some users instead of Xenomai/Rtai uses a standard
> gnulinux with the Preempt_rt patch.
>
> I have no idea how it works with orocos. I have seen some information on
> the
> web and I have understand that there's some additional work that must be
> done
> to use it (cset, cset-shield ...)
>
> So, my question is, some user of the Preempt_rt could explain how configure
> orocos to use it?
>
> Thanks in advance,
>
> Best regards,
>
> Leopold
>
> --
> --
> Leopold Palomo-Avellaneda <leopold [dot] palomo [..] ...>
> Institut d'Organització i Control de Sistemes Industrials -IOC-
> Universitat Politècnica de Catalunya -UPC-
>
> Institute of Industrial and Control Engineering
> Technical University of Catalonia
> Avda. Diagonal 647, pl. 11
> 08028 BARCELONA (Spain)
>
> Tel. +34-934017163
> Fax. +34-934016605
> --
> Orocos-Users mailing list
> Orocos-Users [..] ...
> http://lists.mech.kuleuven.be/mailman/listinfo/orocos-users
>

Orocos and Preempt-rt

A Dimecres, 26 de juny de 2013, Konrad Banachowicz va escriure:
> There in no need to configure OROCOS differently for Preempt_rt.
> Because Preempt_rt uses the same API/ABI as normal linux, the OROCOS
> gnulinux target will work.

but how I manage to use priorities with normal users? With xenomai for
example, all the users of group xenomai can setting task with high priority,
but with Preempt-rt?

Regards,

Leopold

>
>
> Pozdrawiam
> Konrad Banachowicz
>
>
> 2013/6/26 Leopold Palomo-Avellaneda <leopold [dot] palomo [..] ...>
>
> > Hi,
> >
> > I have noticed that some users instead of Xenomai/Rtai uses a standard
> > gnulinux with the Preempt_rt patch.
> >
> > I have no idea how it works with orocos. I have seen some information on
> > the
> > web and I have understand that there's some additional work that must be
> > done
> > to use it (cset, cset-shield ...)
> >
> > So, my question is, some user of the Preempt_rt could explain how
configure
> > orocos to use it?
> >
> > Thanks in advance,
> >
> > Best regards,
> >
> > Leopold
> >
> > --
> > --
> > Leopold Palomo-Avellaneda <leopold [dot] palomo [..] ...>
> > Institut d'Organització i Control de Sistemes Industrials -IOC-
> > Universitat Politècnica de Catalunya -UPC-
> >
> > Institute of Industrial and Control Engineering
> > Technical University of Catalonia
> > Avda. Diagonal 647, pl. 11
> > 08028 BARCELONA (Spain)
> >
> > Tel. +34-934017163
> > Fax. +34-934016605
> > --
> > Orocos-Users mailing list
> > Orocos-Users [..] ...
> > http://lists.mech.kuleuven.be/mailman/listinfo/orocos-users
> >
>

Orocos and Preempt-rt

On Jun 26, 2013, at 09:27 , Leopold Palomo-Avellaneda <leopold [dot] palomo [..] ...> wrote:

> A Dimecres, 26 de juny de 2013, Konrad Banachowicz va escriure:
>> There in no need to configure OROCOS differently for Preempt_rt.
>> Because Preempt_rt uses the same API/ABI as normal linux, the OROCOS
>> gnulinux target will work.
>
>
> but how I manage to use priorities with normal users? With xenomai for
> example, all the users of group xenomai can setting task with high priority,
> but with Preempt-rt?

Go review the Linux-RT wiki. It has instructions for this. I think they're also mentioned somewhere in the Orocos site ...
S

Orocos and Preempt-rt

On Jun 26, 2013, at 8:27 AM, Leopold Palomo-Avellaneda <leopold [dot] palomo [..] ...> wrote:

> but how I manage to use priorities with normal users? With xenomai for
> example, all the users of group xenomai can setting task with high priority,
> but with Preempt-rt?

Assuming you have all your users in a group named "orocos", edit the file /etc/security/limits.conf and put the following at the bottom:
@orocos - rtprio 99

--
dustin

Orocos and Preempt-rt

On Jun 26, 2013, at 09:43 , "Gooding, Dustin R. (JSC-ER411)" <dustin [dot] r [dot] gooding [..] ...> wrote:

> On Jun 26, 2013, at 8:27 AM, Leopold Palomo-Avellaneda <leopold [dot] palomo [..] ...> wrote:
>
>> but how I manage to use priorities with normal users? With xenomai for
>> example, all the users of group xenomai can setting task with high priority,
>> but with Preempt-rt?
>
> Assuming you have all your users in a group named "orocos", edit the file /etc/security/limits.conf and put the following at the bottom:
> @orocos - rtprio 99

You also need memlock.
S

Orocos and Preempt-rt

A Wednesday, 26 of June de 2013, S Roderick va escriure:
> On Jun 26, 2013, at 09:43 , "Gooding, Dustin R. (JSC-ER411)"
<dustin [dot] r [dot] gooding [..] ...> wrote:
>
> > On Jun 26, 2013, at 8:27 AM, Leopold Palomo-Avellaneda
<leopold [dot] palomo [..] ...> wrote:
> >
> >> but how I manage to use priorities with normal users? With xenomai for
> >> example, all the users of group xenomai can setting task with high
priority,
> >> but with Preempt-rt?
> >
> > Assuming you have all your users in a group named "orocos", edit the file
/etc/security/limits.conf and put the following at the bottom:
> > @orocos - rtprio 99
>
> You also need memlock.
> S
I have this ones:
@orocos - rtprio 99
@orocos - memlock 40000
@orocos - stack 16000

but still complains about "Could not lock memory" ... needs root ...

frodo's picture

Orocos and Preempt-rt

On 26/06/13 17:49, Leopold Palomo-Avellaneda wrote:
> A Wednesday, 26 of June de 2013, S Roderick va escriure:
>> On Jun 26, 2013, at 09:43 , "Gooding, Dustin R. (JSC-ER411)"
> <dustin [dot] r [dot] gooding [..] ...> wrote:
>>> On Jun 26, 2013, at 8:27 AM, Leopold Palomo-Avellaneda
> <leopold [dot] palomo [..] ...> wrote:
>>>> but how I manage to use priorities with normal users? With xenomai for
>>>> example, all the users of group xenomai can setting task with high
> priority,
>>>> but with Preempt-rt?
>>> Assuming you have all your users in a group named "orocos", edit the file
> /etc/security/limits.conf and put the following at the bottom:
>>> @orocos - rtprio 99
>> You also need memlock.
>> S
> I have this ones:
> @orocos - rtprio 99
> @orocos - memlock 40000
> @orocos - stack 16000

This lines in the limits.conf file allows you to be granted the
resources if you request them
To request this resources you need to use ulimit as in:
$ ulimit -r 99

> but still complains about "Could not lock memory" ... needs root ...
>
>
Sergio