Re: RTAI in debian9

Paolo Mantegazza <[email protected]> Thu, 1 Mar 2018 16:11:46 +0100
Newsgroups	gmane.linux.real-time.rtai
Message-ID	<[email protected]>
My last answer is the one I often use ... let me access your system as =

root but, if troubles happens to me too, to push the reset button, we =

must be within the same time standard area. To me, your surname suggests =

it to be so.

Paolo

On 03/01/2018 02:09 PM, Paul Pfeiffer wrote:
> 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| 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 l=
at max| 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 l=
at max| 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 =
lat 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]=
us>> =

>>>>>>> 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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