On Mon, Oct 15, 2012 at 10:06 AM, Leopold Palomo-Avellaneda <
leopold [dot] palomo [..] ...> wrote:

> A Dilluns 15 Octubre 2012, Adolfo Rodríguez Tsouroukdissian va escriure:
> > On Thu, Oct 11, 2012 at 6:42 PM, Leopold Palomo-Avellaneda <
> > leopold [dot] palomo [..] ...> wrote:
> >
> > > Hi,
> > >
> > > just a basic question:
> > >
> > > we have an ops file where we load several components. If we run the
> > > gnulinux
> > > deployer that loat that file and we have this lines,
> > >
> > Just double-checking: Are you running the xenomai or the gnulinux
> > deployer?.
>
> I can use any of them.
>
> > ....
> > > setActivity("match",0.2,1,ORO_SCHED_OTHER);
> > > setActivity("Master",0,10,ORO_SCHED_RT);
> > >
> > > ....
> > > it means that the Master component is executed in the realtime
> scheduler
> > > (xenomai) and the match component in the gnulinux scheduler?
> > >
> >
> > If you use the xenomai deployer, master will be realtime scheduled, and
> > match will use the FIFO scheduler.
>
> Ok, so I open the scenario:
>
> - If I run gnulinux deployer, can I call the xenomai realtime scheduler if
> it's avalaible?
>

No, the gnulinux deployer does not load the xenomai-linked libraries, but
the gnulinux equivalents.

>
> - Must I understand that with the xenomai deployer can I access to both
> schedulers?
>

Under xenomai ORO_SCHED_RT and ORO_SCHED_OTHER map to hard-realtime and a
soft-realtime schedulers, respectively [1], under gnulinux they map to the
Linux SCHED_FIFO and SCHED_OTHER schedulers, respectively. The normal Linux
scheduler SCHED_OTHER is not an option in a xenomai deployment.

[1] http://fossies.org/dox/orocos-toolchain-2.5.0-src/xenomai_2fosi_8h.html
[2] http://fossies.org/dox/orocos-toolchain-2.5.0-src/gnulinux_2fosi_8h.html

>
> - If I don't use deployer, can I run components in different schedulers?
>

Yes, but IIUC you are subject to the above mentioned constraints, that is,
if you're program links against the xenomai libraries, only the hard- and
soft-realtime schedulers will be available.

Adolfo.

> Regards,
>
> Leo
>
>
>
> > Adolfo.
> >
> >
> > > Regards,
> > >
> > > Leo
> > >
> > >
> > >
> > > A Wednesday 26 September 2012, Leopold Palomo-Avellaneda va escriure:
> > > > Hi,
> > > >
> > > > we have a "orocos ecosystem" that lives is a xenomai box with 4
> cpus. We
> > > would
> > > > like to deploy the components in the way that they work on different
> > > cpu, to
> > > > share the load.
> > > >
> > > > Although we set the cpu affinity in the components to zero or to
> another
> > > > number, always the components are executed in cpu 0. So, there's some
> > > method
> > > > in xenomai run deployer-xenomai in the way that the components are
> > > distributed
> > > > by the cpus?
> > > >
> > > > Regards,
> > > >
> > > > Leo
> > > >
> > > >
> > > >
> > > > --
> > > > --
> > > > 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
> > > >
> > >
> > >
> > > --
> > > --
> > > 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
> > >
> >
> >
> >
> > --
> > Adolfo Rodríguez Tsouroukdissian
> > Robotics engineer
> > adolfo [dot] rodriguez [..] ...
> > http://www.pal-robotics.com
> >
> > PAL ROBOTICS S.L
> > c/ Pujades 77-79, 4º4ª
> > 08005 Barcelona, Spain.
> > Tel. +34.93.414.53.47
> > Fax.+34.93.209.11.09
> >
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>
> --
> --
> 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
>