Transcript Auxiliary Telescopes Control Software

ACS
on VxWorks
B.Gustafsson
European Southern Observatory
ESO Feb 4 2004
ESO
VxWorks support
ALMA Project
• Cross Compiler on Sun
• Support by acsMakefile
– Flag MAKE_VXWORKS=‘on’
• INTROOT (ACSROOT) – vw directory
– bin/PPC604
B.Gustafsson ESO, 4 Feb 2004
ACS with VxWorks
2
Module
ALMA Project
•
Mod – ws – src Makefile + *.cpp files
» - include
– lcu –src – Makefile + links to ../../ws/src
» - include links to ../../ws/include
– tat
•
•
Source file: due to use of ACE code for Linux and VxWorks identical
for specific VxWorks code use
#if MAKE_VXWORKS
.
.
#else
.
.
#endif
B.Gustafsson ESO, 4 Feb 2004
ACS with VxWorks
3
Code
ALMA Project
• Building binaries and not libraries
– Sort of shared libraries
• Linking is done on the target when binary
downloaded
B.Gustafsson ESO, 4 Feb 2004
ACS with VxWorks
4
CORBA
ALMA Project
• On VxWorks only servers running
• Only C/C++ code (no java nor python)
• Only one instance of the ORB can run on
the LCU
• To restart the ORB it is necessary to unload
all modules and load them again (or reboot)
B.Gustafsson ESO, 4 Feb 2004
ACS with VxWorks
5
Environment
ALMA Project
•
•
•
•
Booting from Sun
No local file system, NFS mount from Sun
bootScript
userScript
B.Gustafsson ESO, 4 Feb 2004
ACS with VxWorks
6
Demo
ALMA Project
Linux client
VxWorks server
B.Gustafsson ESO, 4 Feb 2004
CAN bus
Simulator
ACS with VxWorks
7