Thank you so much. 在 2018年1月9日星期二 UTC+8下午6:10:16，Schooner写道： > > I am far from an expert on the emc stuff, but basically the shared memory > is a method of passing data from userspace to realtime. > > The memory is allocated to the size of a specific structure, (say > emcmot_struct_t) then pointers are allocated to elements within the > structure. > > These pointers are then used to pass and access the values. > > As for the specific connection, motion.c creates the structure for > realtime functions. > usmotintf.cc, does not create a different structure, it you look it gets > the emcmot SHMEM_KEY (line 64) of the realtime structure and uses that to > create its local version (line 690) > > This is cutting edge MIT 1980s coding, only the sheer complexity of > replacing it has prevented simpler and more efficient code. > > That and the fact that it works, so don't fix it :) > >
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