Hi,

Actually I do not expect to sync the different branches. What I am after is the architecture shown in the enclosed scheme:

[cid:0efd4bb5-452d-4e89-b082-8e04781f50ee]?

It would be great to have task7 be triggered in 3 different ways:

* after task2 and task3 are executed
* after task4 is executed
* after task5 and task6 are executed

In order to do so I would like to have 3 different FBSched:

* FBSched1: task2, task3 & task7
* FBSched2: task4 & task7
* FBSched3: task5, task6 & task7

This means task7 would be part of 3 different FBScheds. Is this possible? Is this good practise or should I split task7 in 3 different sub-tasks?

Thanks,

Antoine.

________________________________
De : S Roderick <kiwi [dot] net [..] ...>
Envoyé : jeudi 10 septembre 2015 23:36
À : Antoine Rennuit
Cc : Willy Lambert; orocos-users [..] ...
Objet : Re: [Orocos-users] Can a slave have multiple masters?

On Sep 10, 2015, at 16:12, Antoine Rennuit <antoine [dot] rennuit [..] ...antoine [dot] rennuit [..] ...>> wrote:

Hello Willy,

And thanks for your answer.

I would like to create a component which will be a hardware interface. Now the different axes of my system are controlled via several parallel orocos branches (1 branch handles the wheels, one branch the elevation system and one branch handles the arm axes). Each parallel control branch end-up with hardware interface.

I could create one hardware interface component per branch (in which case I would not ask this question), but what I am looking for is a way to get a single component handling the HW interface for all branches. The branches not being synchronized they can be triggered via different mecanism (i.e. via different FBSched or even ports).? Hence my question.

Does it shed light on what I am after?

If you want several components synchronized then you'll have to do the synchronization yourself, either through a Master/Slave relationship or something similar. The question is, do you want all the branches synchronized together (in some sense, it will depend on threads vs CPU cores, for timing) or do you want something else? Determining the semantics of the application is often the hard part - after that, Orocos is flexible enough to achieve most things that a robotics application could want.

HTH
S

Hello Willy,

And thanks for your answer.

I would like to create a component which will be a hardware interface. Now the different axes of my system are controlled via several parallel orocos branches (1 branch handles the wheels, one branch the elevation system and one branch handles the arm axes). Each parallel control branch end-up with hardware interface.

I could create one hardware interface component per branch (in which case I would not ask this question), but what I am looking for is a way to get a single component handling the HW interface for all branches. The branches not being synchronized they can be triggered via different mecanism (i.e. via different FBSched or even ports).? Hence my question.

Does it shed light on what I am after?

Thanks,

Antoine.

________________________________
De : Willy Lambert <lambert [dot] willy [..] ...>
Envoyé : jeudi 10 septembre 2015 14:40
À : Antoine Rennuit
Cc : orocos-users [..] ...
Objet : Re: [Orocos-users] Can a slave have multiple masters?

technically nothing prevent that, but you have to challenge your design a lot, as letting several sources scheduling one component this way is not common. Maybe you should explain a bit more what's happening behing.

2015-09-10 11:40 GMT+02:00 <antoine [dot] rennuit [..] ...antoine [dot] rennuit [..] ...>>:
Hi all,

I guess the title says it all: can a slave component be enslaved to several
FBSched for example?

Thanks,

Antoine.
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