Re: RTAI in debian9

Paul Pfeiffer <[email protected]> Thu, 1 Mar 2018 16:57:46 +0100
Newsgroups	gmane.linux.real-time.rtai
Message-ID	<[email protected]>
Thanks Paolo. You are right about the time area, I am sitting in Berlin =

at the Humboldt University.

Thanks for the offer of hands-on help, but I would not like to bother =

you at this state. By your help, we have a possibility to run the rtai =

modules, so we will concentrate on our application first. I am sure that =

on the way, we find some further hints and obstacles. Then, I will be =

happy about further input from=A0 you and the mailing list.

On 03/01/2018 04:11 PM, Paolo Mantegazza wrote:
> 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 la=
t 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 =
lat 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 =
lat 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, resch=
ed
>>>>>> 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:josu.jugo@ehu.=
eus>> =

>>>>>>>> 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