Re: RTAI in debian9

Your system seems OK. If you edit a file, named "latencies", with a single =
line containing:
440 880 10000
and copy it into "rtai_installdir/calibration/latencies.
you'll have what the calibration should have done and there will be non nee=
d to set those latencies at rtai_sched.ko insmod.
In any case, once you have done what above, may test both latency and preem=
pt, in user, kern and kthread directories of yout rtai_installdir and then =
report what happened?
Do not test switches, It locks the cpu for a bit of time and may be risky. =
I'll not be surprised of a muted system.
As for why it does not work on your system, without a diagnose hands on, I'=
ve no clue.
Moreover I'll be glad to hear of some further checks with a production code=
 of yours, if any.

Thanks, Paolo

________________________________________the =

From: Rtai [[email protected]] on behalf of Paul Pfeiffer [pfeifferpaul=
[email protected]]
Sent: Tuesday, February 27, 2018 4:41 PM
To: [email protected]
Subject: Re: [Rtai] RTAI in debian9

Hi,

thanks for the nice discussion in this thread. I have a similar issue to
the one described by josu, but on a real machine.

Setup: Linux kernel 4.9.76 and RTAI 5.1

For patching the kernel and compilation of the kernel modules, I
followed the instructions from Jan Benda, here
http://relacs.sourceforge.net/plugins/rtaicomedi/

Insertion of the rtai_hal module works, but insertion of rtai_sched
kills the system.

Like Paolo suggested, I also tried loading the rtai_sched with
kernel_latency and user_latency set to 1000. This works. Does this mean
that the calibration is the problem? How could I solve this for my setup?

Also, I ran the suggested modified latency test. However, like josu, I
had to change the insertion of the rtai_sched module to

```

insmod $MODULES/rtai_sched.ko kernel_latency=3D1 user_latency=3D1

```

otherwise the system would stop responding.

Please find below the output of the test and the corresponding kernel
messages.

Thank you, Paul

________________

$ sudo ./testsuite/user/latency/run

RTAI Testsuite - USER space latency test (output data in nanoseconds)

*** latency verification tool with real time hardened user space
processes/threads ***
***    period =3D 100000 (ns),  avrgtime =3D 1 (s)    ***

RTAI Testsuite - USER latency (all data in nanoseconds)
2018/02/27 16:18:13
RTH|=A0=A0=A0 lat min|=A0=A0=A0 ovl min|=A0=A0=A0 lat avg|=A0=A0=A0 lat max=
|=A0=A0=A0 ovl max| overruns
RTD|=A0=A0=A0=A0=A0=A0=A0 726|=A0=A0=A0=A0=A0=A0=A0 726|=A0=A0=A0=A0=A0=A0=
=A0 887|=A0=A0=A0=A0=A0=A0 5216| 5216|=A0=A0=A0=A0=A0=A0=A0=A0=A0 0
RTD|=A0=A0=A0=A0=A0=A0=A0 705|=A0=A0=A0=A0=A0=A0=A0 705|=A0=A0=A0=A0=A0=A0=
=A0 884|=A0=A0=A0=A0=A0=A0 2667| 5216|=A0=A0=A0=A0=A0=A0=A0=A0=A0 0
RTD|=A0=A0=A0=A0=A0=A0=A0 545|=A0=A0=A0=A0=A0=A0=A0 545|=A0=A0=A0=A0=A0=A0=
=A0 884|=A0=A0=A0=A0=A0=A0 3267| 5216|=A0=A0=A0=A0=A0=A0=A0=A0=A0 0
RTD|=A0=A0=A0=A0=A0=A0=A0 599|=A0=A0=A0=A0=A0=A0=A0 545|=A0=A0=A0=A0=A0=A0=
=A0 890|=A0=A0=A0=A0=A0=A0 8122| 8122|=A0=A0=A0=A0=A0=A0=A0=A0=A0 0
RTD|=A0=A0=A0=A0=A0=A0=A0 711|=A0=A0=A0=A0=A0=A0=A0 545|=A0=A0=A0=A0=A0=A0=
=A0 884|=A0=A0=A0=A0=A0 15637| 15637|=A0=A0=A0=A0=A0=A0=A0=A0=A0 0
RTD|=A0=A0=A0=A0=A0=A0=A0 638|=A0=A0=A0=A0=A0=A0=A0 545|=A0=A0=A0=A0=A0=A0=
=A0 882|=A0=A0=A0=A0=A0=A0 6058| 15637|=A0=A0=A0=A0=A0=A0=A0=A0=A0 0
RTD|=A0=A0=A0=A0=A0=A0=A0 722|=A0=A0=A0=A0=A0=A0=A0 545|=A0=A0=A0=A0=A0=A0=
=A0 877|=A0=A0=A0=A0=A0=A0 3233| 15637|=A0=A0=A0=A0=A0=A0=A0=A0=A0 0
RTD|=A0=A0=A0=A0=A0=A0=A0 741|=A0=A0=A0=A0=A0=A0=A0 545|=A0=A0=A0=A0=A0=A0=
=A0 881|=A0=A0=A0=A0=A0=A0 2186| 15637|=A0=A0=A0=A0=A0=A0=A0=A0=A0 0
RTD|=A0=A0=A0=A0=A0=A0=A0 733|=A0=A0=A0=A0=A0=A0=A0 545|=A0=A0=A0=A0=A0=A0=
=A0 874|=A0=A0=A0=A0=A0=A0 3213| 15637|=A0=A0=A0=A0=A0=A0=A0=A0=A0 0
RTD|=A0=A0=A0=A0=A0=A0=A0 734|=A0=A0=A0=A0=A0=A0=A0 545|=A0=A0=A0=A0=A0=A0=
=A0 874|=A0=A0=A0=A0=A0=A0 2666| 15637|=A0=A0=A0=A0=A0=A0=A0=A0=A0 0
RTD|=A0=A0=A0=A0=A0=A0=A0 718|=A0=A0=A0=A0=A0=A0=A0 545|=A0=A0=A0=A0=A0=A0=
=A0 874|=A0=A0=A0=A0=A0=A0 1823| 15637|=A0=A0=A0=A0=A0=A0=A0=A0=A0 0
RTD|=A0=A0=A0=A0=A0=A0=A0 729|=A0=A0=A0=A0=A0=A0=A0 545|=A0=A0=A0=A0=A0=A0=
=A0 874|=A0=A0=A0=A0=A0=A0 2813| 15637|=A0=A0=A0=A0=A0=A0=A0=A0=A0 0
RTD|=A0=A0=A0=A0=A0=A0=A0 709|=A0=A0=A0=A0=A0=A0=A0 545|=A0=A0=A0=A0=A0=A0=
=A0 883|=A0=A0=A0=A0=A0=A0 5861| 15637|=A0=A0=A0=A0=A0=A0=A0=A0=A0 0
RTD|=A0=A0=A0=A0=A0=A0=A0 722|=A0=A0=A0=A0=A0=A0=A0 545|=A0=A0=A0=A0=A0=A0=
=A0 897|=A0=A0=A0=A0=A0 12125| 15637|=A0=A0=A0=A0=A0=A0=A0=A0=A0 0
RTD|=A0=A0=A0=A0=A0=A0=A0 721|=A0=A0=A0=A0=A0=A0=A0 545|=A0=A0=A0=A0=A0=A0=
=A0 895|=A0=A0=A0=A0=A0=A0 3858| 15637|=A0=A0=A0=A0=A0=A0=A0=A0=A0 0
RTD|=A0=A0=A0=A0=A0=A0=A0 598|=A0=A0=A0=A0=A0=A0=A0 545|=A0=A0=A0=A0=A0=A0=
=A0 891|=A0=A0=A0=A0=A0=A0 2384| 15637|=A0=A0=A0=A0=A0=A0=A0=A0=A0 0
RTD|=A0=A0=A0=A0=A0=A0=A0 701|=A0=A0=A0=A0=A0=A0=A0 545|=A0=A0=A0=A0=A0=A0=
=A0 877|=A0=A0=A0=A0=A0=A0 2205| 15637|=A0=A0=A0=A0=A0=A0=A0=A0=A0 0
RTD|=A0=A0=A0=A0=A0=A0=A0 642|=A0=A0=A0=A0=A0=A0=A0 545|=A0=A0=A0=A0=A0=A0=
=A0 878|=A0=A0=A0=A0=A0=A0 3895| 15637|=A0=A0=A0=A0=A0=A0=A0=A0=A0 0
RTD|=A0=A0=A0=A0=A0=A0=A0 590|=A0=A0=A0=A0=A0=A0=A0 545|=A0=A0=A0=A0=A0=A0=
=A0 880|=A0=A0=A0=A0=A0=A0 1844| 15637|=A0=A0=A0=A0=A0=A0=A0=A0=A0 0
RTD|=A0=A0=A0=A0=A0=A0=A0 725|=A0=A0=A0=A0=A0=A0=A0 545|=A0=A0=A0=A0=A0=A0=
=A0 877|=A0=A0=A0=A0=A0=A0 3841| 15637|=A0=A0=A0=A0=A0=A0=A0=A0=A0 0
RTD|=A0=A0=A0=A0=A0=A0=A0 549|=A0=A0=A0=A0=A0=A0=A0 545|=A0=A0=A0=A0=A0=A0=
=A0 884|=A0=A0=A0=A0=A0=A0 2105| 15637|=A0=A0=A0=A0=A0=A0=A0=A0=A0 0
2018/02/27 16:18:35
RTH|=A0=A0=A0 lat min|=A0=A0=A0 ovl min|=A0=A0=A0 lat avg|=A0=A0=A0 lat max=
|=A0=A0=A0 ovl max| overruns
RTD|=A0=A0=A0=A0=A0=A0=A0 708|=A0=A0=A0=A0=A0=A0=A0 545|=A0=A0=A0=A0=A0=A0=
=A0 880|=A0=A0=A0=A0=A0=A0 3730| 15637|=A0=A0=A0=A0=A0=A0=A0=A0=A0 0
RTD|=A0=A0=A0=A0=A0=A0=A0 717|=A0=A0=A0=A0=A0=A0=A0 545|=A0=A0=A0=A0=A0=A0=
=A0 875|=A0=A0=A0=A0=A0=A0 3596| 15637|=A0=A0=A0=A0=A0=A0=A0=A0=A0 0
RTD|=A0=A0=A0=A0=A0=A0=A0 721|=A0=A0=A0=A0=A0=A0=A0 545|=A0=A0=A0=A0=A0=A0=
=A0 878|=A0=A0=A0=A0=A0=A0 1470| 15637|=A0=A0=A0=A0=A0=A0=A0=A0=A0 0
^CRTD|=A0=A0=A0=A0=A0=A0=A0 721|=A0=A0=A0=A0=A0=A0=A0 545|=A0=A0=A0=A0=A0=
=A0=A0 878|=A0=A0=A0=A0=A0=A0 1470| 15637|=A0=A0=A0=A0=A0=A0=A0=A0=A0 0

 >>> S =3D 98.696, EXECTIME =3D 0.0105475


$sudo dmesg -T -w

[Tue Feb 27 16:18:12 2018] I-pipe: head domain RTAI registered.
[Tue Feb 27 16:18:12 2018] RTAI[hal]: mounted. ISOL_CPUS_MASK: 0.
[Tue Feb 27 16:18:12 2018] SYSINFO - # CPUs: 4, TIMER NAME: 'lapic',
TIMER IRQ: 4354, TIMER FREQ: 437999993, CLOCK NAME: 'tsc', CLOCK FREQ:
3500000000, CPU FREQ: 3500000000, LINUX TIMER IRQ: 4354.
[Tue Feb 27 16:18:12 2018]
                            REMARK: RTAI WILL NOT ACCESS USER SPACE ON
STACKS ARGS ITS WAY.

[Tue Feb 27 16:18:12 2018] RTAI[malloc]: global heap size =3D 2097152
bytes, <BSD>.
[Tue Feb 27 16:18:12 2018] , kstacks pool size =3D 524288 bytes
[Tue Feb 27 16:18:12 2018] .
[Tue Feb 27 16:18:12 2018] RTAI[sched]: hard timer type/freq =3D
lapic/437999993(Hz); timing: ONESHOT;
[Tue Feb 27 16:18:12 2018] linear timed lists.
[Tue Feb 27 16:18:12 2018] RTAI[sched]: Linux timer freq =3D 250 (Hz),
TimeBase freq =3D 3500000000 hz.
[Tue Feb 27 16:18:12 2018] RTAI[sched]: timer setup =3D 66 ns, resched
latency =3D 0 ns.
[Tue Feb 27 16:18:12 2018] FINAL CALIBRATION SUMMARY (ns): KernelLatency
0, UserLatency 0.
[Tue Feb 27 16:18:39 2018] RTAI[malloc]: unloaded.
[Tue Feb 27 16:18:39 2018] RTAI[sched]: unloaded (forced hard/soft/hard
transitions: traps 0, syscalls 0).
[Tue Feb 27 16:18:39 2018] I-pipe: head domain RTAI unregistered.
[Tue Feb 27 16:18:39 2018] RTAI[hal]: unmounted.


On 02/24/2018 12:20 AM, josu wrote:
> Yes, of course, I can=92t get real time (much less, 100 us period), only =
test the procedure. However, setting deadline to 1 (and not 0), the program=
s run, without hanging the VM.
>
> Although the meaning is not at all the same that in a real system, the la=
tency test are able to run with your run script  (setting a number greater =
than 0). This is the result:
>
> root@debianRB:/usr/realtime/testsuite/user/latency# ./run
> RTAI Testsuite - USER space latency test (output data in nanoseconds)
>
> *** latency verification tool with real time hardened user space processe=
s/threads ***
> ***    period =3D 100000 (ns),  avrgtime =3D 1 (s)    ***
>
> RTAI Testsuite - USER latency (all data in nanoseconds)
> 2018/02/23 22:47:06
> RTH|    lat min|    ovl min|    lat avg|    lat max|    ovl max|   overru=
ns
> RTD|          0|          0|      25068|     870103|     870103|         =
67
> RTD|          0|          0|      25608|    1007163|    1007163|         =
95
> RTD|          0|          0|      25288|     886190|    1007163|        1=
24
> RTD|          0|          0|      25275|     985017|    1007163|        1=
55
> RTD|          0|          0|      24564|     832423|    1007163|        1=
79
> RTD|          0|          0|      25620|     199742|    1007163|        1=
94
> RTD|          0|          0|      25393|     881237|    1007163|        2=
26
> RTD|          0|          0|      25067|     874862|    1007163|        2=
53
> RTD|          0|          0|      25247|     827829|    1007163|        2=
74
> RTD|          0|          0|      25566|     855516|    1007163|        3=
10
> RTD|          0|          0|      24899|    1035597|    1035597|        3=
60
> RTD|          0|          0|      25403|     202992|    1035597|        3=
76
> RTD|          0|          0|      25288|     771628|    1035597|        3=
98
> RTD|          0|          0|      25288|     771628|    1035597|        3=
98
> ^C
>>>> S =3D 98.696, EXECTIME =3D 0.0663255
>> On 24 Feb 2018, at 00:11, Paolo Mantegazza <[email protected]> =
wrote:
>>
>> VM changes the matter a lot.  Anticipating the scheduling deadline by 1 =
ns does not change anything with respect to 0.
>> In any case it served to indicate that you cannot run the RTAI tests, si=
mply because VM cannot provide true real time. In particular it cannot supp=
ort a 100 us period.
>> I dare saying that if you configure RTAI to use a lower calibrating freq=
uency, say 2000 Hz , in place of the default 10000 Hz, you might succeed in=
 trying the RTAI latency tests, along with the hidden latency calibration.
>> In any case hard real time will likely be a no hope matter.
>>
>> Paolo
>>
>> ________________________________________
>> From: josu [[email protected]]
>> Sent: Friday, February 23, 2018 10:57 PM
>> To: Paolo Mantegazza
>> Cc: RTAI RTAI
>> Subject: Re: [Rtai] RTAI in debian9
>>
>> Hi again:
>>
>> First, I want to clarify than I am testing with a VM. Sorry for the poss=
ible misunderstanding. I have been very busy and I have forgot to say this =
important point.
>>
>> In any case, I have test your script and the system hangs. However, maki=
ng the next change:
>>
>> insmod $MODULES/rtai_sched.ko kernel_latency=3D1 user_latency=3D1
>>
>> I have obtained the result attached below.
>>
>> josu
>>
>> [cid:[email protected]]
>>
>> On 23 Feb 2018, at 18:56, Paolo Mantegazza <[email protected]<m=
ailto:[email protected]>> wrote:
>>
>> May you try the "testsuite/user/latency" test, in your RTAI install dir,=
 after saving and substituting the existing "run" script with the one below=
 and then let me know what happened?
>> Do it on an unloaded machined and, if possible, after seeing a stabilize=
d average latency, attach to your answer also a short snapshot of what appe=
ars on the screen.
>> Thanks, Paolo
>> ------------------------------------------------------------------------=
-----------------------------------
>> #!/bin/sh
>>
>> prefix=3D`rtai-config --prefix`
>>
>> if test "$prefix" =3D ""; then
>> echo "ERROR: please set your PATH variable to <rtai-install>/bin"
>> exit
>> fi
>>
>> MODULES=3D$prefix/modules
>>
>> libpath=3D`rtai-config --library-dir`
>>
>> if test "$libpath" =3D ""; then
>> echo "ERROR: please set your PATH variable to <rtai-install>/bin"
>> exit
>> fi
>>
>> export LD_LIBRARY_PATH=3D$libpath:$LD_LIBRARY_PATH
>>
>> cleanup () {
>> rmmod rtai_msg
>> rmmod rtai_mbx
>> rmmod rtai_sem
>> rmmod rtai_sched
>> rmmod rtai_hal
>> }
>>
>> trap cleanup INT ALRM TERM HUP KILL
>>
>> insmod $MODULES/rtai_hal.ko
>> insmod $MODULES/rtai_sched.ko kernel_latency=3D0 user_latency=3D0
>> insmod $MODULES/rtai_sem.ko;
>> insmod $MODULES/rtai_mbx.ko;
>> insmod $MODULES/rtai_msg.ko;
>>
>> ./latency &
>> until(`ps -a | grep -q latency`); do sleep 1; done
>> ./display
>>
>> cleanup
>> ------------------------------------------------------------------------=
-----------------------
>>
>> ________________________________________
>> From: josu jugo [[email protected]<mailto:[email protected]>]
>> Sent: Friday, February 23, 2018 5:37 PM
>> To: Paolo Mantegazza
>> Cc: RTAI RTAI
>> Subject: Re: [Rtai] RTAI in debian9
>>
>> Hi again:
>>
>> I have test a simple program obtained with rtai-lab  (scicoslab version)=
, monitoring with qrtailab and the system is working.
>>
>> I have load rtai_sched with kernel_latency=3D1000 and user_latency=3D1000
>>
>> josu
>>
>> On 23 Feb 2018, at 12:51, josu jugo <[email protected]<mailto:josu.jugo@=
ehu.eus><mailto:[email protected]>> wrote:
>>
>>
>>
>>
>> <Screen Shot 2018-02-23 at 22.47.37.png>
> _______________________________________________
> Rtai mailing list
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> https://mail.rtai.org/cgi-bin/mailman/listinfo/rtai

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