Installation of the RTAI-Lab

Install Mesa
The first part is the installation of the mesa 3D libraries which have dependencies
for ELFK which in turn xrtailab uses to display executed code, the example
described later uses this to display a sine wave.
So as root:
cd /usr/local/src
Download MesaLib-6.x.x.tar.bz2 from
http://sourceforge.net/projects/mesa3d
tar jxvf MesaLib-6.x.x.tar.bz2
cd Mesa-6.x.x
make realclean
make linux-x86 && make install

EFLTK Library
The ELFTK library is needed by the xrtailab for various windows as well as for
the oscilloscope display, downloaded using the following subversion commands
to get the latest versions
cd /usr/local/src
svn co https://ede.svn.sourceforge.net/svnroot/ede/trunk/efltk
svn co https://ede.svn.sourceforge.net/svnroot/ede/trunk/ede
cd efltk
autoconf
./configure disable-mysql disable-unixODBC
./emake
./emake install
We need to edit /etc/ld.so.conf and add the path /usr/local/lib

Then run /sbin/ldconfig to update the library database

Comedilib
Used to increase the functionality of the RTAI at a later stage
cd /usr/local/src
wget http://www.comedi.org/download/comedilib-0.8.1.tar.gz
wget http://www.comedi.org/download/comedi-0.7.76.tar.gz
tar xvxf comedib-0.8.1.tar.gz
tar xvzf comedi-0.7.76.gz
cd comedilib
prepare the build system for compilation, check versions, etc.
sh autogen.sh
./configure sysconfdir=/etc
make && make install
make dev

Comedi
Very similar to the Comedilib installation
cd /usr/local/src/comedi
sh autogen.sh
./configure
make
make install
make dev
cp include/linux/comedi.h include/linux/comedilib.h /usr/include
cp include/linux/comedi.h include/linux/comedilib.h /usr/local/include
ln s /usr/include/comedi.h /usr/include/linux/comedi.h
ln s /usr/include/comedilib.h /usr/include/linux/comedilib.h

Recompile the RTAI

We need to recompile the RTAI to install the RTAI-Lab and include Comedi that
has just been installed.
cd /usr/src/rtai
make menuconfig
Addons >
Comedi support over LXRT [*]
Include the comedi installation directory (where libcomedi.a, comedi.h
and comedi.h can be found)
RTAI-Lab >
RTAI-lab [*]
Include the ELFTK Installation Directory
Exit and save configuration
Make && make install

Scilab and Scicos Installation

The version used here is 4.1.2 and is downloaded from scilab.org to the /usr/local
directory.
cd /usr/local
tar zxvf scilab-4.1.2-src.tar.gz
cd scilab-4.1.2
Since fedora core 5 is used here the following command is used:
./configure without-java
make all
Note: at this point do NOT make install
ln s /usr/localscilab-4.1.2/binscilab/usr/local/bin/scilab
To check that scilab runs correctly, type

scilab
In the command line if it opens with errors then restart the installation and use
dmesg to check for errors with the installation.

Rtai add-ons for scilab

These include the blocks that will be for Real time code generation developed by
Roberto bucher. Again the commands used for the correct installation are shown
below.
cd /usr/local
Download the add-on tar ball from http://web.dti.supsi.ch/~bucher/scilab.html
tar zxvf scilab-4.1.2-rtailab.tgz
cd scilab-4.1.2-rtailab/macros
make install
make user
This creates a file in the USERNAME/.Scilab/scilab-4.1.2/ called .scilab which
must be edited and added with the lines

load('SCI/macros/RTAI/lib')
%scicos_menu($+1)=['RTAI','RTAI CodeGen','Set Target']
scicos_pal($+1,:)=['RTAI-Lib','SCI/macros/RTAI/RTAI-Lib.cosf']
This adds menus to the Scicos application, the menu button for the RTAI code
generation and another for the actual link to the RTAI blocks under the edit
heading.
To finish, Scilab is added to the executable path using
cd /usr/local/bin
ln -s /usr/local/scilab-4.x.x/bin/scilab scilab
This concludes the installation of the RTAI-lab