Target connection

In the RTAI-XML architecture, the server program should have a controlled access to the memory space of a running control process, the Target, in order to read and modify some of its variables. This requirement would affect the design phase, where the programmer should define some variables as parameters (on which to give read and write access to the server) and signals (read-only variables). The build process should then take into account this information and produce an open Target.

Target generation in RTAI-Lab

The generation of the open Target has been completely inherited from the RTAI-Lab project. In this context the Target is designed to be generated using CACSD systems, such as Matlab/Simulink or Scilab/Scicos. Simply importing a custom block in the process diagram, it is possible to instruct the code builder for generating an open Target, accessible from the RTAI domain using standard RT calls. Please refer to the RTAI-Lab and XRTAI-Lab projects of RTAI for more details about the Target generation procedure with CACSD systems.

Generic open Target generation

Actually this is the only way to build a Target to be included in the RTAI-XML framework and it needs a CACSD environment, both proprietary (Matlab/Simulink) or open source (Scilab/Scicos). In the future is likely to be expected that this approach will be generalized to the level of system APIs, in order to help a C or C++ programmer in generating a RT process ready for RTAI-XML remoting.