• (G)Setting up the simulator
• (G)Simulator connection
• (G)Loading kernel modules
• (G)RTC execution
  • (G)Launch Name Server
  • (G)Manager start
  • (G)Starting RTC
  • (G)On command line operation

This page explains the procedure to check the operation of the RTC kernel module built for VxWorks using the Workbench simulator.

(G)Setting up the simulator

Follow the procedure below to set up the simulator.

• Setting up VxWorks simulator

(G)Simulator connection

After selecting the simulator with Workbench Remote System, press connect 'xxxxx' button to connect with the simulator.

(G)Loading kernel modules

In the Workbench Remote System, right click on the simulator and select Download → VxWorks Kernel Task.

From the Launch Context tab of the Download Configurations window, select the simulator for the system to be downloaded.

Set the module to download from the Downloads tab. Click the [Add] button.

After setting the path of rtcd.out in the Add window, click the [OK] button. rtcd.out is generated under utils/rtcd in the OpenRTM-aist build directory.

• Example：/home/openrtm/OpenRTM-aist/build_vxworks/utils/rtcd/rtcd.out

Click the [Download] button to start the download.

Please also download the RTC kernel module to be started in the same procedure.

• Example(ConsoleIn)：/home/openrtm/OpenRTM-aist/build_vxworks/examples/SimpleIO/ConsoleIn.out
• Example(ConsoleOut)：/home/openrtm/OpenRTM-aist/build_vxworks/examples/SimpleIO/ConsoleOut.out

(G)RTC execution

(G)Launch Name Server

Start the name server on the VxWorks simulator. Since the name server starts up as a real time process (RTP), right click on the simulator from Remote Systems and click Run → VxWorks Real Time Process.

Please make various settings from the Launch Context tab of the Run Configurations window.

• Set up the system to run as a simulator
• Path setting for omniNames.out
• Setting command line arguments

omniNames.out is generated in RTP build directory of omniORB. Because it is not generated in the build directory of the kernel module, omniORB should also build about RTP. If libc.so.1 does not exist in the path of the shared library, you will get an error, please copy it from the Workbench to the omniNames.out directory.

 cp $WIND_BASE/target/lib/usr/root/SIMPENTIUMgnu/bin/libc.so.1 /home/openrtm/omniORB-4.2.2/bin/simpentium_vxWorks_RTP_6.9/

If you can not build RTP, do not start the name server in VxWorks, but register RTC on the name server on Ubuntu.

• Example：/home/openrtm/omniORB-4.2.2/bin/simpentium_vxWorks_RTP_6.9/omniNames.out

Arguments is the port number of the name server.

• Example：-start 2809

After setting is completed, click the [Run] button to start the name server.

(G)Manager start

In the Workbench Remote System, right click on the simulator and select Run → VxWorks Kernel Task.

Perform various settings in the Run Configurations window. Please enter rtcd_main for Entry Point. Please set "-o manager.shutdown_on_nortcs:NO - o manager.shutdown_auto: NO" to Arguments. Press the [Run] button to start the manager.

To start Ubuntu side name server, add - o corba.nameservers:192.168.200.254 to Arguments. Please check the IP address of Ubuntu's tap 0 interface as appropriate.

(G)Starting RTC

It starts up in the same procedure as starting manager. For Entry Point, specify a function to start RTC.

• Example(ConsoleIn)：consolein_main
• Example(ConsoleOut)：consoleout_main

You do not need to enter anything in Arguments.

Please check if RTC started in RT system editor started by Ubuntu. To the VxWorks name server, click the name service connection button, specify the IP address in the displayed window and click OK to connect.

Please check if the RTC started is registered.

Procedures such as RTC connection, activation, etc. are the same as when checking operation with Ubuntu.

• Operation check (Linux version)

(G)On command line operation

After connecting the simulator, you can enter commands from the Target Console window.

The operation of RTC can be confirmed with the following command. Please change the path of Workbench, omniORB, openRTM-aist accordingly.

 cd "/home/openrtm/openrtm-build/omniORB/omniORB_69_rtp_sim/omniORB-4.2.2/bin/simpentium_vxWorks_RTP_6.9"
 cp "/home/openrtm/WindRiver/vxworks-6.9/target/lib/usr/root/SIMPENTIUMgnu/bin/libc.so.1","./"
 rtpSp "./omniNames.out -start 2809"
 
 cd "/home/openrtm/openrtm-build/OpenRTM/OpenRTM_69_kernel_sim/OpenRTM-aist/build_vxworks/utils/rtcd"
 ld<rtcd.out
 cd "/home/openrtm/openrtm-build/OpenRTM/OpenRTM_69_kernel_sim/OpenRTM-aist/build_vxworks/examples/SimpleIO"
 ld<ConsoleIn.out
 
 taskSpawn "rtcd_main",100,67108864,1000000,rtcd_main,"-o","manager.shutdown_on_nortcs:NO","-o","manager.shutdown_auto:NO"
 taskSpawn "consolein_main",100,0,1000000,consolein_main