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.
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.
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.
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.
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.
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.
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.
ConsoleIn and ConsoleOut components running on QNX
(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.
(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.
(G)pkgsrc for QNX
There is no package management system in QNX, and pkgsrc for QNX is maintained in the QNX user forum.
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.
(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.
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.
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.
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.
(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.
(G)ConsoleIn
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.