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

This page explains the procedure for checking the operation of RTC real-time process (RTP) 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)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 the omniORB build directory. If libc.so. 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)Starting RTC

Run rtcd.vxe in the same procedure as starting name server. rtcd.vxe is generated under utils / rtcd in the OpenRTM-aist build directory.

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

You do not need to enter anything in Arguments, but add - o corba.nameservers:192.168.200.254 to Arguments to start Ubuntu side name server. Please check the IP address of Ubuntu's tap 0 interface as appropriate.

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_rtp_sim/OpenRTM-aist/build_vxworks/examples/SimpleIO"
 cp "/home/openrtm/WindRiver/vxworks-6.9/target/lib/usr/root/SIMPENTIUMgnu/bin/libc.so.1","./"
 rtpSp "./ConsoleOutComp.vxe"