Re: RTAI in debian9

Paul Pfeiffer <[email protected]> Thu, 1 Mar 2018 11:23:50 +0100
Newsgroups	gmane.linux.real-time.rtai
Message-ID	<[email protected]>
Thanks for the explanation.

I cannot run the test from the root directory of the RTAI installation, =

because the run script has relative references to executables. But I =

could run the preempt test directly in the preempt directory, because =

there was already a .runinfo file. The results are attached.

However, starting the Kernel latency test, crashed the machine... maybe =

this is a hint towards the problem?

I digged a little bit into the source code and found the =

call_usermodehelper function in base/sched/sched.c in the calibrate =

function. Am I right that this is a call to the executable defined in =

/base/arch/x86/calibration/calibrate.c? Then, it seems that the crash =

happens in the else branch of the main function, where no latencies file =

is present. Important calls seem to be rt_thread_init, =

rt_make_hard_real_time and rt_make_soft_real_time. Any idea what could =

go wrong?

Thank you, Paul

___

# Running tests

dynclamp@abbott:~/Documents$ cd /usr/realtime/testsuite/

## User test

dynclamp@abbott:/usr/realtime/testsuite$ cd user/latency
dynclamp@abbott:/usr/realtime/testsuite/user/latency$ sudo ./run
[sudo] password for dynclamp:

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

*** latency verification tool with real time hardened user space =

processes/threads ***
***=A0=A0=A0 period =3D 100000 (ns),=A0 avrgtime =3D 1 (s)=A0=A0=A0 ***

RTAI Testsuite - USER latency (all data in nanoseconds)
2018/03/1 10:33:45
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 -230|=A0=A0=A0=A0=A0=A0 -230|=A0=A0=A0=A0=A0=A0=A0=
=A0 19|=A0=A0=A0=A0=A0 12676| 12676|=A0=A0=A0=A0=A0=A0=A0=A0=A0 0
RTD|=A0=A0=A0=A0=A0=A0 -168|=A0=A0=A0=A0=A0=A0 -230|=A0=A0=A0=A0=A0=A0=A0=
=A0 35|=A0=A0=A0=A0=A0 14333| 14333|=A0=A0=A0=A0=A0=A0=A0=A0=A0 0
RTD|=A0=A0=A0=A0=A0=A0 -169|=A0=A0=A0=A0=A0=A0 -230|=A0=A0=A0=A0=A0=A0=A0=
=A0 14|=A0=A0=A0=A0=A0=A0 5108| 14333|=A0=A0=A0=A0=A0=A0=A0=A0=A0 0
RTD|=A0=A0=A0=A0=A0=A0 -180|=A0=A0=A0=A0=A0=A0 -230|=A0=A0=A0=A0=A0=A0=A0=
=A0 16|=A0=A0=A0=A0=A0=A0 7970| 14333|=A0=A0=A0=A0=A0=A0=A0=A0=A0 0
RTD|=A0=A0=A0=A0=A0=A0 -263|=A0=A0=A0=A0=A0=A0 -263|=A0=A0=A0=A0=A0=A0=A0=
=A0 14|=A0=A0=A0=A0=A0=A0 4522| 14333|=A0=A0=A0=A0=A0=A0=A0=A0=A0 0
RTD|=A0=A0=A0=A0=A0=A0 -141|=A0=A0=A0=A0=A0=A0 -263|=A0=A0=A0=A0=A0=A0=A0=
=A0 20|=A0=A0=A0=A0=A0=A0 4838| 14333|=A0=A0=A0=A0=A0=A0=A0=A0=A0 0
RTD|=A0=A0=A0=A0=A0=A0 -161|=A0=A0=A0=A0=A0=A0 -263|=A0=A0=A0=A0=A0=A0=A0=
=A0 16|=A0=A0=A0=A0=A0=A0 3436| 14333|=A0=A0=A0=A0=A0=A0=A0=A0=A0 0
RTD|=A0=A0=A0=A0=A0=A0 -144|=A0=A0=A0=A0=A0=A0 -263|=A0=A0=A0=A0=A0=A0=A0=
=A0 19|=A0=A0=A0=A0=A0=A0 2030| 14333|=A0=A0=A0=A0=A0=A0=A0=A0=A0 0
RTD|=A0=A0=A0=A0=A0=A0=A0 -70|=A0=A0=A0=A0=A0=A0 -263|=A0=A0=A0=A0=A0=A0=A0=
=A0 17|=A0=A0=A0=A0=A0=A0 2639| 14333|=A0=A0=A0=A0=A0=A0=A0=A0=A0 0
RTD|=A0=A0=A0=A0=A0=A0=A0 -73|=A0=A0=A0=A0=A0=A0 -263|=A0=A0=A0=A0=A0=A0=A0=
=A0 41|=A0=A0=A0=A0=A0=A0 2836| 14333|=A0=A0=A0=A0=A0=A0=A0=A0=A0 0
RTD|=A0=A0=A0=A0=A0=A0 -136|=A0=A0=A0=A0=A0=A0 -263|=A0=A0=A0=A0=A0=A0=A0=
=A0 34|=A0=A0=A0=A0=A0=A0 3806| 14333|=A0=A0=A0=A0=A0=A0=A0=A0=A0 0
RTD|=A0=A0=A0=A0=A0=A0 -161|=A0=A0=A0=A0=A0=A0 -263|=A0=A0=A0=A0=A0=A0=A0=
=A0 29|=A0=A0=A0=A0=A0=A0 5334| 14333|=A0=A0=A0=A0=A0=A0=A0=A0=A0 0
RTD|=A0=A0=A0=A0=A0=A0 -142|=A0=A0=A0=A0=A0=A0 -263|=A0=A0=A0=A0=A0=A0=A0=
=A0 41|=A0=A0=A0=A0=A0=A0 4396| 14333|=A0=A0=A0=A0=A0=A0=A0=A0=A0 0
RTD|=A0=A0=A0=A0=A0=A0=A0 -38|=A0=A0=A0=A0=A0=A0 -263|=A0=A0=A0=A0=A0=A0=A0=
=A0 59|=A0=A0=A0=A0=A0=A0 4724| 14333|=A0=A0=A0=A0=A0=A0=A0=A0=A0 0
RTD|=A0=A0=A0=A0=A0=A0 -222|=A0=A0=A0=A0=A0=A0 -263|=A0=A0=A0=A0=A0=A0=A0=
=A0 42|=A0=A0=A0=A0=A0=A0 3530| 14333|=A0=A0=A0=A0=A0=A0=A0=A0=A0 0
RTD|=A0=A0=A0=A0=A0=A0 -162|=A0=A0=A0=A0=A0=A0 -263|=A0=A0=A0=A0=A0=A0=A0=
=A0 30|=A0=A0=A0=A0=A0=A0 3017| 14333|=A0=A0=A0=A0=A0=A0=A0=A0=A0 0
RTD|=A0=A0=A0=A0=A0=A0 -170|=A0=A0=A0=A0=A0=A0 -263|=A0=A0=A0=A0=A0=A0=A0=
=A0 18|=A0=A0=A0=A0=A0=A0 2422| 14333|=A0=A0=A0=A0=A0=A0=A0=A0=A0 0
RTD|=A0=A0=A0=A0=A0=A0 -133|=A0=A0=A0=A0=A0=A0 -263|=A0=A0=A0=A0=A0=A0=A0=
=A0 18|=A0=A0=A0=A0=A0=A0 3717| 14333|=A0=A0=A0=A0=A0=A0=A0=A0=A0 0
RTD|=A0=A0=A0=A0=A0=A0 -240|=A0=A0=A0=A0=A0=A0 -263|=A0=A0=A0=A0=A0=A0=A0=
=A0 28|=A0=A0=A0=A0=A0=A0 5888| 14333|=A0=A0=A0=A0=A0=A0=A0=A0=A0 0
RTD|=A0=A0=A0=A0=A0=A0 -102|=A0=A0=A0=A0=A0=A0 -263|=A0=A0=A0=A0=A0=A0=A0=
=A0 41|=A0=A0=A0=A0=A0=A0 4356| 14333|=A0=A0=A0=A0=A0=A0=A0=A0=A0 0
RTD|=A0=A0=A0=A0=A0=A0 -102|=A0=A0=A0=A0=A0=A0 -263|=A0=A0=A0=A0=A0=A0=A0=
=A0 41|=A0=A0=A0=A0=A0=A0 4356| 14333|=A0=A0=A0=A0=A0=A0=A0=A0=A0 0
^C
 >>> S =3D 98.696, EXECTIME =3D 0.0107068
rmmod: ERROR: Module rtai_msg is not currently loaded
rmmod: ERROR: Module rtai_mbx is not currently loaded
rmmod: ERROR: Module rtai_sem is not currently loaded
rmmod: ERROR: Module rtai_sched is not currently loaded
rmmod: ERROR: Module rtai_hal is not currently loaded
dynclamp@abbott:/usr/realtime/testsuite/user/latency$ cd ../preempt/
dynclamp@abbott:/usr/realtime/testsuite/user/preempt$ sudo ./run
*
*
* Type ^C to stop this application.
*
*
RTAI Testsuite - LXRT preempt (all data in nanoseconds)
RTH|=A0=A0=A0=A0 lat min|=A0=A0=A0=A0 lat avg|=A0=A0=A0=A0 lat max|=A0=A0=
=A0 jit fast|=A0=A0=A0 jit slow
RTD|=A0=A0=A0=A0=A0=A0=A0 -401|=A0=A0=A0=A0=A0=A0=A0 -127|=A0=A0=A0=A0=A0=
=A0=A0 2382|=A0=A0=A0=A0=A0=A0=A0 5393|=A0=A0=A0=A0=A0=A0=A0 1792
RTD|=A0=A0=A0=A0=A0=A0=A0 -406|=A0=A0=A0=A0=A0=A0=A0 -133|=A0=A0=A0=A0=A0=
=A0=A0 2382|=A0=A0=A0=A0=A0=A0=A0 5393|=A0=A0=A0=A0=A0=A0=A0 1792
RTD|=A0=A0=A0=A0=A0=A0=A0 -406|=A0=A0=A0=A0=A0=A0=A0 -131|=A0=A0=A0=A0=A0=
=A0=A0 2382|=A0=A0=A0=A0=A0=A0=A0 5393|=A0=A0=A0=A0=A0=A0=A0 2016
RTD|=A0=A0=A0=A0=A0=A0=A0 -406|=A0=A0=A0=A0=A0=A0=A0 -129|=A0=A0=A0=A0=A0=
=A0=A0 3134|=A0=A0=A0=A0=A0=A0=A0 5393|=A0=A0=A0=A0=A0=A0=A0 3302
RTD|=A0=A0=A0=A0=A0=A0=A0 -406|=A0=A0=A0=A0=A0=A0=A0 -127|=A0=A0=A0=A0=A0=
=A0=A0 3623|=A0=A0=A0=A0=A0=A0=A0 5393|=A0=A0=A0=A0=A0=A0=A0 3302
RTD|=A0=A0=A0=A0=A0=A0=A0 -406|=A0=A0=A0=A0=A0=A0=A0 -133|=A0=A0=A0=A0=A0=
=A0=A0 3623|=A0=A0=A0=A0=A0=A0=A0 5393|=A0=A0=A0=A0=A0=A0=A0 3302
RTD|=A0=A0=A0=A0=A0=A0=A0 -406|=A0=A0=A0=A0=A0=A0=A0 -132|=A0=A0=A0=A0=A0=
=A0=A0 3623|=A0=A0=A0=A0=A0=A0=A0 5393|=A0=A0=A0=A0=A0=A0=A0 3302
RTD|=A0=A0=A0=A0=A0=A0=A0 -406|=A0=A0=A0=A0=A0=A0=A0 -134|=A0=A0=A0=A0=A0=
=A0=A0 3623|=A0=A0=A0=A0=A0=A0=A0 5393|=A0=A0=A0=A0=A0=A0=A0 4961
RTD|=A0=A0=A0=A0=A0=A0=A0 -406|=A0=A0=A0=A0=A0=A0=A0 -134|=A0=A0=A0=A0=A0=
=A0=A0 5743|=A0=A0=A0=A0=A0=A0=A0 5393|=A0=A0=A0=A0=A0=A0=A0 4961
RTD|=A0=A0=A0=A0=A0=A0=A0 -406|=A0=A0=A0=A0=A0=A0=A0 -132|=A0=A0=A0=A0=A0=
=A0=A0 5743|=A0=A0=A0=A0=A0=A0=A0 5393|=A0=A0=A0=A0=A0=A0=A0 4961
RTD|=A0=A0=A0=A0=A0=A0=A0 -406|=A0=A0=A0=A0=A0=A0=A0 -136|=A0=A0=A0=A0=A0=
=A0=A0 5743|=A0=A0=A0=A0=A0=A0=A0 5393|=A0=A0=A0=A0=A0=A0=A0 4961
RTD|=A0=A0=A0=A0=A0=A0=A0 -406|=A0=A0=A0=A0=A0=A0=A0 -134|=A0=A0=A0=A0=A0=
=A0=A0 5743|=A0=A0=A0=A0=A0=A0=A0 5393|=A0=A0=A0=A0=A0=A0=A0 4961
RTD|=A0=A0=A0=A0=A0=A0=A0 -408|=A0=A0=A0=A0=A0=A0=A0 -126|=A0=A0=A0=A0=A0=
=A0=A0 5743|=A0=A0=A0=A0=A0=A0=A0 5393|=A0=A0=A0=A0=A0=A0=A0 4961
RTD|=A0=A0=A0=A0=A0=A0=A0 -408|=A0=A0=A0=A0=A0=A0=A0 -133|=A0=A0=A0=A0=A0=
=A0=A0 5743|=A0=A0=A0=A0=A0=A0=A0 5393|=A0=A0=A0=A0=A0=A0=A0 4961
RTD|=A0=A0=A0=A0=A0=A0=A0 -408|=A0=A0=A0=A0=A0=A0=A0 -131|=A0=A0=A0=A0=A0=
=A0=A0 6401|=A0=A0=A0=A0=A0=A0=A0 6292|=A0=A0=A0=A0=A0=A0=A0 4961
RTD|=A0=A0=A0=A0=A0=A0=A0 -408|=A0=A0=A0=A0=A0=A0=A0 -127|=A0=A0=A0=A0=A0=
=A0=A0 6701|=A0=A0=A0=A0=A0=A0=A0 8385|=A0=A0=A0=A0=A0=A0=A0 4961
RTD|=A0=A0=A0=A0=A0=A0=A0 -408|=A0=A0=A0=A0=A0=A0=A0 -121|=A0=A0=A0=A0=A0=
=A0=A0 6701|=A0=A0=A0=A0=A0=A0=A0 8385|=A0=A0=A0=A0=A0=A0=A0 4961
^CRTD|=A0=A0=A0=A0=A0=A0=A0 -408|=A0=A0=A0=A0=A0=A0=A0 -121|=A0=A0=A0=A0=A0=
=A0=A0 6701|=A0=A0=A0=A0=A0=A0=A0 8385| 4961

## Kernel tests

cd ../../kern/latency

sudo ./run

CRASH


On 02/28/2018 09:46 PM, Paolo Mantegazza wrote:
> The third number is the assumed default period used for the calibration, =
if it succeeded and you did not set it to a different one when configuring =
RTAI.
> Clearly, when set by hands, it has little meaning, albeit being needed wh=
en rtai_sched is insmoded.
>
> It is strange that, once you ran latency, the preempt test do not run. Re=
call that you are assumed to run those tests from the RTAI install dir. Be =
sure of doing it in such a way and let me know.
>
> Now that you ran rtai_sched using the latencies file, the call_userhelper=
 support seems to be working also on your system. So I've even less clues t=
han before on the why it did not calibrate. In fact the automatic calibrati=
on is nothing but the latency test in disguise, coupled to a trivial Kalman=
 filter to estimate the expected latency on the fly.
>
> Thanks for your feedback, Paolo.
>
> _______________________________________
> From: Paul Pfeiffer [[email protected]]
> Sent: Wednesday, February 28, 2018 7:14 PM
> To: Paolo Mantegazza; [email protected]
> Subject: Re: [Rtai] RTAI in debian9
>
> Thanks for the feedback.
>
> I added the latencies file and now the rtai_sched module can be loaded
> without specifiying user or kernel latency. In the kernel output, I see
> that the kernel latency is now 440ns and the user latency 880ns. What is
> the meaning of the third number?
>
> I tried running the other tests, but they do not work, because of a
> missing .runinfo file. Do I have to create this? What should be in this
> file?
>
> We will use the RTAI patched kernel to perform recordings from neurons
> with real time feedback loops. I will update you, when we have tried the
> new RTAI patch within this application.
>
> Best, Paul
>
>
> On 02/27/2018 10:59 PM, Paolo Mantegazza wrote:
>> Your system seems OK. If you edit a file, named "latencies", with a sing=
le 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 =
need to set those latencies at rtai_sched.ko insmod.
>> In any case, once you have done what above, may test both latency and pr=
eempt, in user, kern and kthread directories of yout rtai_installdir and th=
en report what happened?
>> Do not test switches, It locks the cpu for a bit of time and may be risk=
y. 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 c=
ode of yours, if any.
>>
>> Thanks, Paolo
>>
>> ________________________________________the
>> From: Rtai [[email protected]] on behalf of Paul Pfeiffer [pfeifferp=
[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    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), onl=
y test the procedure. However, setting deadline to 1 (and not 0), the progr=
ams run, without hanging the VM.
>>>
>>> Although the meaning is not at all the same that in a real system, the =
latency test are able to run with your run script  (setting a number greate=
r 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 proces=
ses/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|   over=
runs
>>> RTD|          0|          0|      25068|     870103|     870103|       =
  67
>>> RTD|          0|          0|      25608|    1007163|    1007163|       =
  95
>>> RTD|          0|          0|      25288|     886190|    1007163|       =
 124
>>> RTD|          0|          0|      25275|     985017|    1007163|       =
 155
>>> RTD|          0|          0|      24564|     832423|    1007163|       =
 179
>>> RTD|          0|          0|      25620|     199742|    1007163|       =
 194
>>> RTD|          0|          0|      25393|     881237|    1007163|       =
 226
>>> RTD|          0|          0|      25067|     874862|    1007163|       =
 253
>>> RTD|          0|          0|      25247|     827829|    1007163|       =
 274
>>> RTD|          0|          0|      25566|     855516|    1007163|       =
 310
>>> RTD|          0|          0|      24899|    1035597|    1035597|       =
 360
>>> RTD|          0|          0|      25403|     202992|    1035597|       =
 376
>>> RTD|          0|          0|      25288|     771628|    1035597|       =
 398
>>> RTD|          0|          0|      25288|     771628|    1035597|       =
 398
>>> ^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, =
simply because VM cannot provide true real time. In particular it cannot su=
pport a 100 us period.
>>>> I dare saying that if you configure RTAI to use a lower calibrating fr=
equency, 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 po=
ssible misunderstanding. I have been very busy and I have forgot to say thi=
s important point.
>>>>
>>>> In any case, I have test your script and the system hangs. However, ma=
king the next change:
>>>>
>>>> insmod $MODULES/rtai_sched.ko kernel_latency=3D1 user_latency=3D1
>>>>
>>>> I have obtained the result attached below.
>>>>
>>>> josu
>>>>
>>>> [cid:[email protected]]
>>>>
>>>> On 23 Feb 2018, at 18:56, Paolo Mantegazza <[email protected]=
<mailto:[email protected]>> wrote:
>>>>
>>>> May you try the "testsuite/user/latency" test, in your RTAI install di=
r, after saving and substituting the existing "run" script with the one bel=
ow and then let me know what happened?
>>>> Do it on an unloaded machined and, if possible, after seeing a stabili=
zed average latency, attach to your answer also a short snapshot of what ap=
pears on the screen.
>>>> Thanks, Paolo
>>>> ----------------------------------------------------------------------=
-------------------------------------
>>>> #!/bin/sh
>>>>
>>>> prefix=3D`rtai-config --prefix`
>>>>
>>>> if test "$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 versio=
n), monitoring with qrtailab and the system is working.
>>>>
>>>> I have load rtai_sched with kernel_latency=3D1000 and user_latency=3D1=
000
>>>>
>>>> josu
>>>>
>>>> On 23 Feb 2018, at 12:51, josu jugo <[email protected]<mailto:josu.jug=
[email protected]><mailto:[email protected]>> wrote:
>>>>
>>>>
>>>>
>>>>
>>>> <Screen Shot 2018-02-23 at 22.47.37.png>
>>> _______________________________________________
>>> Rtai mailing list
>>> [email protected]
>>> https://mail.rtai.org/cgi-bin/mailman/listinfo/rtai
>> _______________________________________________
>> Rtai mailing list
>> [email protected]
>> https://mail.rtai.org/cgi-bin/mailman/listinfo/rtai

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