Re: RTAI in debian9

Yes, all tests are run as root.


On 03/01/2018 12:55 PM, Paolo Mantegazza wrote:
> The failing kern latency test does not tell me anything. Are you =

> making it all as root?
>
> Paolo.
>
> On 03/01/2018 11:23 AM, Paul Pfeiffer wrote:
>> 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| 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| 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| 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| 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| 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| 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| 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| 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| 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| 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| 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| 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| 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| 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| 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| 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| 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 when rtai_sched is insmoded.
>>>
>>> It is strange that, once you ran latency, the preempt test do not =

>>> run. Recall 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 than before on the why it did not calibrate. In =

>>> fact the automatic calibration 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 =

>>>> 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 need to set those latencies at rtai_sched.ko insmod.
>>>> In any case, once you have done what above, may test both latency =

>>>> and preempt, 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 =

>>>> [[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 ***
>>>> ***=A0=A0=A0 period =3D 100000 (ns),=A0 avrgtime =3D 1 (s)=A0=A0=A0 ***
>>>>
>>>> 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 la=
t 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 la=
t 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
>>>>
>>>> =A0=A0 >>> 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]
>>>> =A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=
=A0=A0=A0=A0=A0=A0 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 programs 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=A0 (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 =

>>>>> 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)
>>>>> 2018/02/23 22:47:06
>>>>> RTH|=A0=A0=A0 lat min|=A0=A0=A0 ovl min|=A0=A0=A0 lat avg|=A0=A0=A0 l=
at max| ovl max|=A0=A0 =

>>>>> overruns
>>>>> RTD|=A0=A0=A0=A0=A0=A0=A0=A0=A0 0|=A0=A0=A0=A0=A0=A0=A0=A0=A0 0|=A0=
=A0=A0=A0=A0 25068|=A0=A0=A0=A0 870103| =

>>>>> 870103|=A0=A0=A0=A0=A0=A0=A0=A0 67
>>>>> RTD|=A0=A0=A0=A0=A0=A0=A0=A0=A0 0|=A0=A0=A0=A0=A0=A0=A0=A0=A0 0|=A0=
=A0=A0=A0=A0 25608|=A0=A0=A0 1007163| =

>>>>> 1007163|=A0=A0=A0=A0=A0=A0=A0=A0 95
>>>>> RTD|=A0=A0=A0=A0=A0=A0=A0=A0=A0 0|=A0=A0=A0=A0=A0=A0=A0=A0=A0 0|=A0=
=A0=A0=A0=A0 25288|=A0=A0=A0=A0 886190| =

>>>>> 1007163|=A0=A0=A0=A0=A0=A0=A0 124
>>>>> RTD|=A0=A0=A0=A0=A0=A0=A0=A0=A0 0|=A0=A0=A0=A0=A0=A0=A0=A0=A0 0|=A0=
=A0=A0=A0=A0 25275|=A0=A0=A0=A0 985017| =

>>>>> 1007163|=A0=A0=A0=A0=A0=A0=A0 155
>>>>> RTD|=A0=A0=A0=A0=A0=A0=A0=A0=A0 0|=A0=A0=A0=A0=A0=A0=A0=A0=A0 0|=A0=
=A0=A0=A0=A0 24564|=A0=A0=A0=A0 832423| =

>>>>> 1007163|=A0=A0=A0=A0=A0=A0=A0 179
>>>>> RTD|=A0=A0=A0=A0=A0=A0=A0=A0=A0 0|=A0=A0=A0=A0=A0=A0=A0=A0=A0 0|=A0=
=A0=A0=A0=A0 25620|=A0=A0=A0=A0 199742| =

>>>>> 1007163|=A0=A0=A0=A0=A0=A0=A0 194
>>>>> RTD|=A0=A0=A0=A0=A0=A0=A0=A0=A0 0|=A0=A0=A0=A0=A0=A0=A0=A0=A0 0|=A0=
=A0=A0=A0=A0 25393|=A0=A0=A0=A0 881237| =

>>>>> 1007163|=A0=A0=A0=A0=A0=A0=A0 226
>>>>> RTD|=A0=A0=A0=A0=A0=A0=A0=A0=A0 0|=A0=A0=A0=A0=A0=A0=A0=A0=A0 0|=A0=
=A0=A0=A0=A0 25067|=A0=A0=A0=A0 874862| =

>>>>> 1007163|=A0=A0=A0=A0=A0=A0=A0 253
>>>>> RTD|=A0=A0=A0=A0=A0=A0=A0=A0=A0 0|=A0=A0=A0=A0=A0=A0=A0=A0=A0 0|=A0=
=A0=A0=A0=A0 25247|=A0=A0=A0=A0 827829| =

>>>>> 1007163|=A0=A0=A0=A0=A0=A0=A0 274
>>>>> RTD|=A0=A0=A0=A0=A0=A0=A0=A0=A0 0|=A0=A0=A0=A0=A0=A0=A0=A0=A0 0|=A0=
=A0=A0=A0=A0 25566|=A0=A0=A0=A0 855516| =

>>>>> 1007163|=A0=A0=A0=A0=A0=A0=A0 310
>>>>> RTD|=A0=A0=A0=A0=A0=A0=A0=A0=A0 0|=A0=A0=A0=A0=A0=A0=A0=A0=A0 0|=A0=
=A0=A0=A0=A0 24899|=A0=A0=A0 1035597| =

>>>>> 1035597|=A0=A0=A0=A0=A0=A0=A0 360
>>>>> RTD|=A0=A0=A0=A0=A0=A0=A0=A0=A0 0|=A0=A0=A0=A0=A0=A0=A0=A0=A0 0|=A0=
=A0=A0=A0=A0 25403|=A0=A0=A0=A0 202992| =

>>>>> 1035597|=A0=A0=A0=A0=A0=A0=A0 376
>>>>> RTD|=A0=A0=A0=A0=A0=A0=A0=A0=A0 0|=A0=A0=A0=A0=A0=A0=A0=A0=A0 0|=A0=
=A0=A0=A0=A0 25288|=A0=A0=A0=A0 771628| =

>>>>> 1035597|=A0=A0=A0=A0=A0=A0=A0 398
>>>>> RTD|=A0=A0=A0=A0=A0=A0=A0=A0=A0 0|=A0=A0=A0=A0=A0=A0=A0=A0=A0 0|=A0=
=A0=A0=A0=A0 25288|=A0=A0=A0=A0 771628| =

>>>>> 1035597|=A0=A0=A0=A0=A0=A0=A0 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.=A0 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 support a 100 us period.
>>>>>> I dare saying that if you configure RTAI to use a lower =

>>>>>> calibrating frequency, 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 possible 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, making 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 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 =

>>>>>> stabilized average latency, attach to your answer also a short =

>>>>>> snapshot of what appears 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:[email protected]><mailto:[email protected]=
s>> =

>>>>>> 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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