A Month Off - Migrating a Robot Controller from the Proprietary INtime RTOS to Linux

Explore the journey of migrating a robot controller from the proprietary INtime RTOS to Linux in this 39-minute conference talk by Dirk Eibach from Carl Cloos Schweisstechnik GmbH. Discover the challenges and successes encountered during a month-long project to port controller software to a Linux-based platform. Gain insights into the technical and human aspects of the migration process, including realtime requirements, codebase considerations, and the implementation of object directories and APIs. Learn about the history of TenAsys INtime RTOS, the components of a robot controller, and the benefits of the Linux migration. Delve into concepts such as thread priorities, shared memory, and physical memory management. Understand the consequences of this transition and the impact on a team primarily composed of Windows developers.

Intro
About me
What is this talk about?
TenAsys INtime RTOS history
What is inside a robot controller?
Realtime requirements
The codebase
Keba flexcore
Benefits
Don't use force, Luke
Concept
INtime object directories
Object directory API
Linux system object implementation
Object structure
Linux object directory
Process API
main()
Thread priorities
Shared memory
Physical memory
Consequences
Question?