Hi Johnathan,

On Wed, Aug 29, 2012 at 6:02 PM, Johnathan Van Why <jrvanwhy [..] ...> wrote:
> On Tue, Aug 28, 2012 at 9:57 PM, Ruben Smits
> <ruben [dot] smits [..] ...> wrote:
>> Hello Jonathan,
>>
>>
>> On Tue, Aug 28, 2012 at 7:36 PM, Johnathan Van Why <jrvanwhy [..] ...> wrote:
>>> We are trying to set up RTNet on Xenomai so we can run SOEM in hard
>>> realtime. However, we are having trouble getting RTNet working.
>>>
>>> It seems as if RTNet wants to do TDMA -- but we don't need that, all
>>> we need is raw sockets so we can do EtherCAT.
>>>
>>> How do I set up RTNet so we can do EtherCAT? I don't even know if we
>>> should still be using /usr/local/rtnet/sbin/rtnet to start everything,
>>> or if we should be using something else.
>>>
>>> What is the right way to try to get this working?
>>
>> We have been successfully using xenomai and rtnet with SOEM, I suppose
>> you already use the patched version of SOEM available at
>> http://git.mech.kuleuven.be/robotics/soem.git.
>
> We are using soem_core within that repository, but not the soem_master
> component (we have our own master code). We've enabled RTNet in the
> CMakeLists.txt for soem_core.
>
> We have gotten RTNet itself working... but we're still trying to get
> SOEM to work under RTNet.
>
>> We have a small script that sets up rtnet for us. I'll look it up and
>> send it to you when I'm back at the office tomorrow
>
> Thank you very much -- that script will be very helpful.

Attached you can find the script. It does not use any of the recent
fancy RTNet configuration tools/files.

Ruben

>> Ruben
>>
>>> Thank you for any help,
>>> Johnathan Van Why
>>> Dynamic Robotics Laboratory
>>> Oregon State University
>>> --
>>> Orocos-Users mailing list
>>> Orocos-Users [..] ...
>>> http://lists.mech.kuleuven.be/mailman/listinfo/orocos-users
>>
>>
>>
>> --
>> Ruben Smits, Phd
>> Chief Technology Officer
>> Intermodalics BVBA
>> +32479511786
>> www.intermodalics.eu

On Wed, Aug 29, 2012 at 9:02 AM, Johnathan Van Why <jrvanwhy [..] ...> wrote:
>
> On Tue, Aug 28, 2012 at 9:57 PM, Ruben Smits
> <ruben [dot] smits [..] ...> wrote:
> > Hello Jonathan,
> >
> >
> > On Tue, Aug 28, 2012 at 7:36 PM, Johnathan Van Why <jrvanwhy [..] ...>
> > wrote:
> >> We are trying to set up RTNet on Xenomai so we can run SOEM in hard
> >> realtime. However, we are having trouble getting RTNet working.
> >>
> >> It seems as if RTNet wants to do TDMA -- but we don't need that, all
> >> we need is raw sockets so we can do EtherCAT.
> >>
> >> How do I set up RTNet so we can do EtherCAT? I don't even know if we
> >> should still be using /usr/local/rtnet/sbin/rtnet to start everything,
> >> or if we should be using something else.
> >>
> >> What is the right way to try to get this working?
> >
> > We have been successfully using xenomai and rtnet with SOEM, I suppose
> > you already use the patched version of SOEM available at
> > http://git.mech.kuleuven.be/robotics/soem.git.
>
> We are using soem_core within that repository, but not the soem_master
> component (we have our own master code). We've enabled RTNet in the
> CMakeLists.txt for soem_core.
>
> We have gotten RTNet itself working... but we're still trying to get
> SOEM to work under RTNet.
>
> > We have a small script that sets up rtnet for us. I'll look it up and
> > send it to you when I'm back at the office tomorrow
>
> Thank you very much -- that script will be very helpful.

Just an update, we are now getting a SIGXCPU crash when we are
initializing. Here is the backtrace from GDB (just lower layers):

Program received signal SIGXCPU, CPU time limit exceeded.
0x00007fffd1d6c2bd in __wrap_send () from /usr/xenomai/lib/libpthread_rt.so.1
(gdb) bt
#0 0x00007fffd1d6c2bd in __wrap_send () from
/usr/xenomai/lib/libpthread_rt.so.1
#1 0x00007fffd1f7c865 in ec_outframe (idx=1 '\001',
stacknumber=<optimized out>) at
/home/drl/rosstacks/soem/soem_core/build/soem_core/src/nicdrv.c:395
#2 0x00007fffd1f7c8c1 in ec_outframe_red (idx=1 '\001') at
/home/drl/rosstacks/soem/soem_core/build/soem_core/src/nicdrv.c:415
#3 0x00007fffd1f7cecf in ec_srconfirm (idx=1 '\001', timeout=20000)
at /home/drl/rosstacks/soem/soem_core/build/soem_core/src/nicdrv.c:684
#4 0x00007fffd1f745f7 in ec_BRD (ADP=<optimized out>, ADO=0,
length=2, data=0x7fffffffc77a, timeout=20000) at
/home/drl/rosstacks/soem/soem_core/build/soem_core/src/ethercatbase.c:199
#5 0x00007fffd1f76cb7 in ec_config_init (usetable=0 '\000') at
/home/drl/rosstacks/soem/soem_core/build/soem_core/src/ethercatconfig.c:161
#6 0x00007fffd21f3d81 in atrias::ecatConn::ConnManager::configure
(this=0x6ea220) at
/home/drl/atrias/software/atrias_ecat_conn/src/ConnManager.cpp:29

Does anyone know what can cause this?

Thank you,
Johnathan Van Why

> > Ruben
> >
> >> Thank you for any help,
> >> Johnathan Van Why
> >> Dynamic Robotics Laboratory
> >> Oregon State University
> >> --
> >> Orocos-Users mailing list
> >> Orocos-Users [..] ...
> >> http://lists.mech.kuleuven.be/mailman/listinfo/orocos-users
> >
> >
> >
> > --
> > Ruben Smits, Phd
> > Chief Technology Officer
> > Intermodalics BVBA
> > +32479511786
> > www.intermodalics.eu