A Dimecres 19 Setembre 2007 11:35, Ruben Smits va escriure:
...
> > 2) I would like to use the driver for the jr3 card to use the force
> > sensor. The driver provided for orocos _only_ works with rtai or it works
> > also with xenomai?
>
> Our driver for the jr3-card works only with rtai.

oopss, :-(

Hi,

this mails has three questions, I think that with some relation between them.

1) I hav compiled and installed in a amd64 box a xenomai kernel with success.
Also, using this this configuration, I have compiled and installed orocos-rtt
with success, but the make check fails in:

Changing directory into /usr/src/orocos/orocos-rtt-1.2.1/build/tests

  1/  7 Testing core-test

Test command: /usr/src/orocos/orocos-rtt-1.2.1/build/tests/core-test
....................

0.000 WarningLogger 'MainThread' name was already in use.

OK (20)

-- Process completed
   Passed
  2/  7 Testing task-test

Test command: /usr/src/orocos/orocos-rtt-1.2.1/build/tests/task-test
0.000 WarningLogger 'MainThread' name was already in use.

-- Process completed

• Exception executing: Child killed
• Exception: Other

  3/  7 Testing event-test

Test command: /usr/src/orocos/orocos-rtt-1.2.1/build/tests/event-test
0.000 WarningLogger 'MainThread' name was already in use.

-- Process completed

• Exception executing: Child killed
• Exception: Other

  4/  7 Testing taskcontext-test

Test command: /usr/src/orocos/orocos-rtt-1.2.1/build/tests/taskcontext-test
.......................
0.001 WarningLogger 'MainThread' name was already in use.

OK (23)

-- Process completed

• Exception executing: Child killed
• Exception: Other

  5/  7 Testing parser-test

Test command: /usr/src/orocos/orocos-rtt-1.2.1/build/tests/parser-test
................

0.000 WarningLogger 'MainThread' name was already in use.

OK (16)

-- Process completed
   Passed
  6/  7 Testing program-test

Test command: /usr/src/orocos/orocos-rtt-1.2.1/build/tests/program-test
...................

0.000 WarningLogger 'MainThread' name was already in use.

OK (19)

-- Process completed
   Passed
  7/  7 Testing state-test

Test command: /usr/src/orocos/orocos-rtt-1.2.1/build/tests/state-test
......

0.000 WarningLogger 'MainThread' name was already in use.

OK (6)

-- Process completed
   Passed

57% tests passed, 3 tests failed out of 7

The following tests FAILED:

          2 - task-test (OTHER_FAULT)
          3 - event-test (OTHER_FAULT)
          4 - taskcontext-test (OTHER_FAULT)

is this important?

2) I would like to use the driver for the jr3 card to use the force sensor.
The driver provided for orocos _only_ works with rtai or it works also with
xenomai?

3) Which packages I need to compile the the binding for Python in the kdl lib?

Regards,

Leo

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A Dimecres 19 Setembre 2007 12:12, Peter Soetens va escriure:
> Quoting Leopold Palomo-Avellaneda <lepalom [..] >:
> > Hi,
> >
> > this mails has three questions, I think that with some relation between
> > them.
> >
> > 1) I hav compiled and installed in a amd64 box a xenomai kernel with
> > success. Also, using this this configuration, I have compiled and
> > installed orocos-rtt with success, but the make check fails in:
> >
> >
> > Changing directory into /usr/src/orocos/orocos-rtt-1.2.1/build/tests
> > 1/ 7 Testing core-test
> > Test command: /usr/src/orocos/orocos-rtt-1.2.1/build/tests/core-test
> > ....................
> >
> > 0.000 WarningLogger 'MainThread' name was already in use.
> >
> > OK (20)
> > -- Process completed
> > Passed
> > 2/ 7 Testing task-test
> > Test command: /usr/src/orocos/orocos-rtt-1.2.1/build/tests/task-test
> > 0.000 WarningLogger 'MainThread' name was already in use.
> >
> > -- Process completed
> >
> > *** Exception executing: Child killed
>
> This is probably because you are using a fairly new Xenomai version. A
> fix is ready (See:
> <https://svn.fmtc.be/bugzilla/orocos/show_bug.cgi?id=448>) for the
> 1.2.2 release (to be released). This only occurs when your application
> cleans up a thread.
>
> Make sure you upgrade to Xenomai 2.3.4 or later as there is a critical
> bug in Xenomai itself in 2.3.2 and 2.3.3.

I'm using xenomai trunk updated yesterday. It's 2.4-rc3.

> > 2) I would like to use the driver for the jr3 card to use the force
> > sensor. The driver provided for orocos _only_ works with rtai or it works
> > also with xenomai?
>
> There are other drivers available as well for the jr3. But I don't
> know if they work with Xenomai either.

I only know the driver made by Mario Prats and yours.

> You could temporarily use a
> gnu-linux driver for the JR3 and use it under Xenomai. But you'll have
> to test the performance if it is acceptable for you.

I would like to use it with the WrechSensor class inside a orocos app. What do
you recommend?

Leo

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...
> > 2) I would like to use the driver for the jr3 card to use the force sensor.
> > The driver provided for orocos _only_ works with rtai or it works also with
> > xenomai?
>
> There are other drivers available as well for the jr3. But I don't
> know if they work with Xenomai either. You could temporarily use a
> gnu-linux driver for the JR3 and use it under Xenomai. But you'll have
> to test the performance if it is acceptable for you.

AFAIR they recently got integrated into comedi-cvs too, but ATM that's
still RTAI only (I suppose you need to read them in real-time).

Klaas

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