• (G)QNX
• (G)pkgsrc
  • (G)pkgsrc for QNX
• (G)Installing OpenRTM-aist by pkgsrc
  • (G)OpenRTM.org's pkgsrc repository
  • (G)Installation
• (G)Test
  • (G)Starting name server
  • (G)ConsoleOut
  • (G)ConsoleIn

(G)QNX

QNX (Queen Nex, or Queenix) is a commercial real-time OS mainly sold for embedded systems. It is a POSIX-compliant UNIX type OS, which is a built-in OS but is a process type operating system similar to general UNIX. The kernel is a microkernel, various functions are modularized as a server, and only the necessary server is operated according to the purpose, so it is possible to configure a compact system. Since it can operate on various CPUs such as x86 family, MIPS, PowerPC, SH-4, ARM, StrongARM, XScale, and furthermore it has obtained certification in accordance with functional safety standard IEC 61508, safety related It can also be used for systems.

QNX also has a free licensing program for educational institutions, which can be used relatively easily at universities and others.

• QNX
• QNX-in-Education program
• QNX download

(G)pkgsrc

pkgsrc is one of package management systems for UNIX, derived from FreeBSD's port collection and is now used as a package management system of NetBSD. pkgsrc itself does not depend on a specific OS, it can be used as a file system for NetBSD, Solaris, Linux, Mac OS X, FreeBSD, OpenBSD, IRIX, BSD / OS, AIX, Interix, DragonFlyBSD, OSF / 1, HP-UX, QNX, It can be used on various Unix OS such as Haiku, MINIX 3, Illumos.

• pkgsrc

(G)pkgsrc for QNX

There is no package management system in QNX, and pkgsrc for QNX is maintained in the QNX user forum.

• QNX Community pkgsrc Project
• Binary packages

After installing the OS, check out pkgsrc from the repository, and put it on the system. (To access the repository, QNX forum account is required.) Since checking out from the svn repository is very time-consuming, you can also download and use pkgsrc_HEAD 650_r396.tgz, but beforehand the latest in pkgsrc We recommend checking the version.

• QNX Account
• QNX Forum
• bootstrap
• Archive of pkgsrc HEAD 650 (r396) (.svn deleted)
• Archive of pkgsrc HEAD 650 (r396) (including .svn)

 # cd /usr/
 # svn checkout --username <username> http://community.qnx.com/svn/repos/pkgsrc/HEAD_650/pkgsrc
 # (cd pkgsrc/bootstrap && ./bootstrap)
 # (cd pkgsrc/misc/figlet && bmake install)
 # pkg_info
 # cd /usr
 # tar xvzf <somewhere>/pkgsrc_HEAD650_r396.tgz
 # (cd pkgsrc/bootstrap && ./bootstrap)
 # (cd pkgsrc/misc/figlet && bmake install)
 # pkg_info

(G)Installing OpenRTM-aist by pkgsrc

pkgsrc has a binary package installation and a method of building from the source and installing it. Not all packages are provided in binary, so you will need to build from sources as needed.

(G)OpenRTM.org's pkgsrc repository

OpenRTM-aist provides a binary package at the following URL of openrtm.org.

• http://www.openrtm.org/pub/pkgsrc/packages/QNX/i386/6.5.0/All/

OmniORB necessary for OpenRTM-aist is also provided by openrtm.org because there is no binary package in the above distribution site.

(G)Installation

The installation method is as follows.

• Set environment variable PKG_PATH to http://www.openrtm.org/pub/pkgsrc/packages/QNX/i386/6.5.0/All
  • Since 6.5.0 is the version of QNX, please read as appropriate
• pkg_add - v Install OpenRTM - aist with OpenRTM - aist - 1.1.0 - RELESE
  • omniORB will also be installed at the same time

 # export PKG_PATH=http://www.openrtm.org/pub/pkgsrc/packages/QNX/i386/6.5.0/All
 # pkg_add -v OpenRTM-aist-1.1.0-RELESE
 Replace 1.1.0-RELESE with the version to be installed as appropriate.
 Running install with PRE-INSTALL for omniORB-4.1.6.
 bin/omkdepend
 bin/omnicpp
   : Installation of omniORB begins
 man/man1/omniidl.1
 Running install with PRE-INSTALL for omniORB-4.1.6.
 Package omniORB-4.1.6 registered in /var/db/pkg/omniORB-4.1.6
   : Installation of OpenRTM-aist begins
 lib/libcoil.so
 lib/libcoil.la
 lib/libcoil-1.1.0.so
 　:
 share/openrtm-1.1/doc/IDLReference-en/html/unionSDOPackage_1_1Numeric.html
 etc/rtc.conf.sample
 Package OpenRTM-aist-1.1.0-RELEASE registered in /var/db/pkg/OpenRTM-aist-1.1.0-RELEASE
 #
 # pkg_info|grep OpenRTM
 OpenRTM-aist-1.1.0-RELEASE RT-Middleware and OMG RTC framework

Installation is now complete.

(G)Test

A sample program is installed under /usr/pkg/share/openrtm-1.1/examples. We will use OpenRTM - aist to verify the operation of OpenRTM-aist.

(G)Starting name server

First, start the name server.

 # rtm-naming
 or
 # cp /usr/pkg/share/examples/rc.d/omninames /etc/rc.d/
 # chmod 755 /etc/rc.d/omninames
 # /etc/rc.d/omninames

In the latter, we copy the omninames startup script to the rc directory (/etc/rc.d) and then start it. This script can also stop the name server.

 # /etc/rc.d/omninames stop

(G)ConsoleOut

First, let's start the ConsoleOut component. In the example below, we create a tmp directory in the home directory, copy it to it, and then execute it.

 # cd ; mkdir tmp ; cd tmp
 # cp -r /usr/pkg/share/openrtm-1.1/example .
 # cd example
 # ./ConsoleOutComp
 succeed.
 =================================================
  Component Profile
 -------------------------------------------------
 InstanceID:     ConsoleOut0
 Implementation: ConsoleOut
 Description:    Console output component
  :
 =================================================
 Port0 (name): ConsoleOut0.in
 -------------------------------------------------
 - properties -
 port.port_type: DataInPort
 dataport.data_type: IDL:RTC/TimedLong:1.0
 dataport.subscription_type: Any
 dataport.dataflow_type: push,pull
 dataport.interface_type: corba_cdr
 -------------------------------------------------

(G)ConsoleIn

 # cd ; cd tmp/example
 # ./ConsoleInComp
 Creating a component: "ConsoleIn"....succeed.
 =================================================
  Component Profile
 -------------------------------------------------
 InstanceID:     ConsoleIn0
 Implementation: ConsoleIn
 Description:    Console input component
  :
 =================================================
 Port0 (name): ConsoleIn0.out
 -------------------------------------------------
 - properties -
 port.port_type: DataOutPort
 dataport.data_type: IDL:RTC/TimedLong:1.0
 dataport.subscription_type: flush,new,periodic
 dataport.dataflow_type: push,pull
 dataport.interface_type: corba_cdr
 -------------------------------------------------
  :
 Please input number:

Now, start RTSystemEditor on another PC, connect and activate the port. If you type a number at the ConsoleIn prompt, it will be output from ConsoleOut.