• (G)Connection between Workbench and VxWorks
• (G)Loading kernel modules
• (G)RTC execution
  • (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 on the PowerPC board.

(G)Connection between Workbench and VxWorks

Please generate a connection between Workbench and VxWorks as follows.

• VxWorks Target Server - Connection Generation Procedure

After selecting the target server with Workbench Remote System, press connect 'xxxxx' button to connect to VxWorks.

(G)Loading kernel modules

In the Workbench Remote System, right-click the target server and select Download → VxWorks Kernel Task.

From the Launch Context tab of the Download Configurations window, select the target server 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)Manager start

In the Workbench Remote System, right-click the target server and select Run → VxWorks Kernel Task.

Perform various settings in the Run Configurations window. Please enter rtcd_main for Entry Point. - o manager.shutdown_on_nortcs:NO - o manager.shutdown_auto: NO - o corba.nameservers: 172.30.1.1 for Arguments. Since name servers do not start on VxWorks, register RTC on the name server on Ubuntu. When using ORBexpress please also add endpoint setting corba.endpoints: 172.30.1.20: 1234. Press the [Run] button to start the manager. Change the IP address 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.

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)

However, when using ORBexpress, you need to set the endian to big when connecting data port connectors.

(G)On command line operation

You can enter commands from the WTX Console window after connecting to the target server.

The operation of RTC can be confirmed with the following command. Change the path of Workbench, omniORB, openRTM-aist, IP address of Ubuntu accordingly.

 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","-o","corba.nameservers:172.30.1.1"
 taskSpawn "consolein_main",100,0,1000000,consolein_main