Running applications with Xenomai 3.x
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=====================================
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Running a Xenomai 3 application
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-------------------------------
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For _Cobalt_, you will need the real-time core built into the target
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Linux kernel as described in link:installing-xenomai-3-x[this
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document].
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For _Mercury_, you need no Xenomai-specific kernel support so far,
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beyond what your host Linux kernel already provides. Your kernel
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should at least provide high resolution timer support
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(+CONFIG_HIGH_RES_TIMERS+), and likely complete preemption
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(_PREEMPT_RT_) if your application requires short and bounded
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latencies.
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Any Xenomai-based application recognizes a set of standard options
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that may be passed on the command line, described in
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link:application-setup-and-init#Standard_Xenomai_command_line_options[this document].
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In addition, the *Alchemy*, *pSOS (TM)* and *VxWorks (TM)* APIs running
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over the Xenomai core can define the clock resolution to be used,
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given as a count of nano-seconds, i.e. HZ=(1000000000 / ns), by the
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+--{alchemy/psos/vxworks}-clock-resolution=<ns>+ option.
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If your application combines multiple APIs, you may pass several
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clock-resolution switches to set them all.
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The default value depends on the API being considered. For instance,
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the VxWorks (TM) and pSOS (TM) emulators default to millisecond clock
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rates. The Alchemy API is tickless by default,
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i.e. +--alchemy-clock-resolution=1+.
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[CAUTION]
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Specifying a resolution greater than 1 nanosecond requires the low
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resolution clock support to be available from the Xenomai libraries
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(see the +--enable-lores-clock+
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link:installing-xenomai-3-x#Generic_configuration_options_both_cores[configuration
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switch]).
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Valgrind support
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----------------
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Running Xenomai applications over _Valgrind_ is currently available to
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the _Mercury_ core only.
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When the Valgrind API is available to the application process, the
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configuration symbol CONFIG_XENO_VALGRIND_API is defined at build
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time, and may be tested for existence by the application code. See the
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tool documentation at
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http://valgrind.org/docs/manual/manual-core-adv.html#manual-core-adv.clientreq/[this address].
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The Xenomai autoconf script will detect the Valgrind core header on
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the build system automatically, and define this symbol accordingly
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(i.e. /usr/include/valgrind/valgrind.h).
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[NOTE]
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You may need to install the Valgrind development package on your build
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system to provide for the core header files. For instance, such
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package is called _valgrind-devel_ on Fedora.
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Available real-time APIs
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------------------------
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[horizontal]
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*Alchemy*::
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This is a re-implementation from scratch of Xenomai's
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2.x _native_ API, fully rebased on the new RTOS
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abstraction interface.
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*pSOS*::
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http://www.windriver.com[pSOS (TM)] is a registered
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trademark of Wind River Systems, Inc.
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*VxWorks*::
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http://www.windriver.com[VxWorks (TM)] is a registered
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trademark of Wind River Systems, Inc.
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