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do_real_time_work(); } MCL_CURRENT keeps all of the currently allocated pages in memory, and MCL_FUTURE locks any newly allocated pages. This function can return a failure code if the system is configured to have a limit on the amount of memory a program can lock, controlled by RLOCK_MEMLIMIT. To change the limit, use the ulimit command, which allows you to adjust the resources available to a program. In this case, use the -l parameter to limit the amount of memory that can be locked: $ sudo ulimit -l <something reasonable> This limit was introduced as a security measure to keep a rogue program from locking memory and consuming all of the system s free memory resources. That rogue program may be your program, so take care and set the value for this to something reasonable for your application; that way, a memory leak will have limited consequences. That fact that pages are locked isn t copied during a fork; if your program uses the fork/exec model for creating workers, each worker must lock its own memory. It s best if this function is executed early in the program s life cycle, but it needs to be executed before the program begins real-time processing. The key is to allocate the memory that the program will likely use and then lock the pages. This leads to the next point: avoiding the heap.

Note The zip file is automatically named with the name of the folder that the files were stored in. For

makefile.targets: In this file, add any additional targets, where targets are the things that the build creates.

Before we use our calculated heading, we should turn it back into a unit vector by normalizing it, which gives us a heading of approximately (0.707, 0.707). See Figure 6-1 for a visual depiction of the diagonal vectors that are calculated from simple vectors.

That s all you need to do to create a working environment in Eclipse. As new files are added to the project, the make file automatically adjusts.

5. Open the downloaded zip file to gain access to the compressed files within it, or just double-click the individual file if that is all you downloaded.

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The next chapter dives into developing applications for the remote target. You now have quite a few different tools up and running, and you use a few of them to create the classic Hello World application and test your work on both live hardware and simulators.

Figure 6-1. Diagonal vectors by combining simple vectors Listing 6-2 implements this directional movement. When you run it, you will see a sprite that can be moved horizontally or vertically by pressing any of the cursor keys, or moved diagonally by pressing two cursor keys in combination. Listing 6-2. Simple Directional Movement (keymovement.py) background_image_filename = 'sushiplate.jpg' sprite_image_filename = 'fugu.png' import pygame from pygame.locals import * from sys import exit from gameobjects.vector2 import Vector2 pygame.init() screen = pygame.display.set_mode((640, 480), 0, 32)

You can also upload a file to any shared folder that you have write permissions to. To upload a file that will be stored in whichever shared folder you are currently viewing, follow these steps: 1. From the shared folder that you wish to upload a file to, click the Upload button to open the Upload dialog box, shown in Figure 11-48.

Embedded development on Linux is similar enough to desktop development that you may be lulled into thinking they re the same. There are some important differences, which this chapter covers as you go through the mechanics of setting up a project from scratch. Although several IDEs perform this for you with varying degrees of success, they all end up creating make files, executing them, and interpreting the results. Learning what s happening behind the scenes isn t a character-building exercise; it is, however, a way to make sure you understand what s happening when you need to get the tool to do something that s not on the IDE s menu or when the tool does something contrary to your expectations or needs. Knowing and being comfortable with the steps for getting a project running and building from the command line also gives you an important leg up when it s time to make a repeatable build for your project. Most project plans include time for making the build and shell scripts to have the software build from the command line. Too often, that time is spent in a scramble trying to figure out how to get the software to build, because prior to that point in the project, nobody bothered to properly document the steps for building the software (let alone create a nice make file). By getting into a good habit at the start, you can avoid the build scramble. This chapter includes a section about getting your code ready for debugging. 10 is dedicated to debugging, but debugging and development overlap and you can do some things to make the process a little easier.

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