Re: RTAI in debian9

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 m=
ax|=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 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
>>>
>>> =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 la=
t max|=A0=A0=A0 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=3D=
1000
>>>>>
>>>>> josu
>>>>>
>>>>> On 23 Feb 2018, at 12:51, josu jugo =

>>>>> <[email protected]<mailto:[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
>

_______________________________________________
Rtai mailing list
[email protected]
https://mail.rtai.org/cgi-bin/mailman/listinfo/rtai