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.
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.
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
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.
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.
Click the [Download] button to start the download.
Please also download the RTC kernel module to be started in the same procedure.
(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.
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.
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.