GitHub - kmarkus/rtp: Lua bindings to POSIX.1b, Real-time extensions

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RTP: Lua bindings to Real-Time POSIX services
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Building
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for Xenomai

$ make XENO=1 or 
$ make XENO=/path/to/xenomai-installation/

for GNU/Linux:

$ make

Setup your LUA_[C]PATH. Typically something like 

$ export LUA_PATH=";;;/path/to/rtp/?.lua;"
$ export LUA_CPATH=";;;/path/to/rtp/?.so;"

will do the trick. See the Reference manual [1] for more inforamtion.

Documentation
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Make sure you have luadoc installed and run:
$ make docs

This will generate API documentation in htmldoc/

License
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All code is licensed (at your choice) as BSD or LGPL.

[1] http://www.lua.org/manual/5.1/