针对libevl的posix和EtherCAT生态构建

针对evl的posix和ethercat生态构建Building the Ecosystem of POSIX and EtherCAT for libevl1邱奇琛 RROS group 北京邮电大学2024.11.26Agenda2024/11/262POSIX wrapperIntroductionXenomai ImplementationOur worksKey ChallengesEtherCATOverviewIgH Ethercat and XenomaiPorting to EVL Why we need a POSIX wrapper in evl4?2024/11/263•The current EVL API (libevl) is simple, elegant, and well-documented, but…•Not fully compatible with POSIX API.•Some usages may differ for users accustomed to vanilla Linux.•e.g: attach_thread, timer, signal, etc.•Facilitating the smooth migration of Xenomai3 applications to EVL.•Xenomai2&3 already includes a POSIX wrapper.•Some users may want to transport it to EVL•newer version of Linux kernel•Better SMP support•Support native OOB network stack, ebpf, valgrind etcPrevious works – Xenomai 2&32024/11/264•Both Xenomai 2&3 have a POSIX wrapper.•The wrapper uses the compiler's --wrap mechanism to reassign symbols during linking.•In Xenomai 2, the POSIX wrapper is based on the native API.•