General
------------------------------------

- sound does not work wil rtai and xenomai

- locations:
  /usr/src - almost all kernels and packages (Comedi, Comedilib, mesa, efltk)
  /usr/realtime - RTAI installation
  /usr/xenomai-2.0.1 - Xenomai 2.0.1 installation
  /usr/local/scilab-3.0 - Scilab

-take a look at .bash_profile for the various options


Demos with Resource reservations
------------------------------------
- /usr/src/rres/rres26 - resource reservation modules and tests

- /usr/src/rres/rres-demo - demo with mplayer
  - utils --> utilities, modules
  - scripts --> scripts executed by ocera.tcl

To run the demo with mplayer:

cd /usr/src/rres/rres-demo
cd utils-bin
insmod cbs_sched_hard.ko  <----------- SCHED_HARD!!!!
cd ..
wish ocera.tcl


1) mplayer without reservation
   - works without problems

2) loop NORES (2 instances)
   - each loop is made by 8 loop processes 
   - code in /usr/src/rres/rres-demo/utils-bin/loop.c
   - mplayer stops --> because of overload

3) kill everything

4) mplayer low (1k/40k)
   - mplayer is limited to low bandwidth

5) kill mplayer

6) mplayer med (1.2/20k)
   - mplayer still limited but with a lot more bandwidth

7) kill mplayer

8) mplayer high (5k/10k)
   - mplayer works fine

9) loop RES (2 instances)
   - each loop is limited to (2500/100k) --> 2.5% each --> 20% per click
   - 20+20+50 = 90% --> linux takes the remaining 10%, used for the XServer

10) loop NORES (1 or 2 instances)
   - the mplayer suffers because the XServer does not have enough time 
     to be scheduled






Demos with Xenomai
------------------------------------------------------------------
Simple examples that can be showed using xenomai:

- Note: if the demos cannot find /dev/rpt*, then: open mc (midnight Commander), then copy /etc/udev/devices in /dev


Xenomai Testsuite demos
-----------------------------------

- /usr/src/xenomai-2.0.1/testsuite contains the xenomai testsuite

- latency - The latency in Nanoseconds. 
  klatency - using a kernel module (negative latencies can happen because of compensation in the one shot timer)

- to run the demos ---> ./run

Xenomai Skins (posix)
------------------------------------
- examples in the /usr/src/xenomai-2.0.1/skins/posix/demos

- First thing: insert the following kernel modules (in this order!)
  insmod /usr/src/xenomai-2.0.1/modules/xeno_hal.ko
  insmod /usr/src/xenomai-2.0.1/modules/xeno_nucleus.ko
  insmod /usr/src/xenomai-2.0.1/modules/xeno_native.ko
  insmod /usr/src/xenomai-2.0.1/modules/xeno_posix.ko

- accuracy - is a posix demo that shows the precision of a clock_nanosleep and the time taken to post a semaphore and wakeup a thread. To run the demo:
 ./accuracy ---> Linux
 ./accuracy_rt ---> Xenomai

- satch - is a simple producer-consumer example that uses mailboxes to send little strings

