Module: xenomai-forge
Branch: master
Commit: 1d290f9b623aa450a59ced64b6455e94bf95d41e
URL:
http://git.xenomai.org/?p=xenomai-forge.git;a=commit;h=1d290f9b623aa450a59ced64b6455e94bf95d41e
Author: Philippe Gerum <r...@xenomai.org>
Date: Tue Sep 23 17:16:29 2014 +0200
demo/alchemy/latency: revamp for removing legacy
NOTE: we stop using TSC as the time reference unit, as this is
unreliable for long durations, due to accumulated rounding errors.
---
demo/alchemy/Makefile.am | 9 ++
demo/alchemy/Makefile.in | 9 ++
demo/alchemy/latency.c | 229 +++++++++++++++++-----------------------------
3 files changed, 101 insertions(+), 146 deletions(-)
diff --git a/demo/alchemy/Makefile.am b/demo/alchemy/Makefile.am
index c2bd0e5..406bccb 100644
--- a/demo/alchemy/Makefile.am
+++ b/demo/alchemy/Makefile.am
@@ -22,3 +22,12 @@ latency_SOURCES = latency.c
latency_CPPFLAGS = $(cppflags)
latency_LDADD = $(ldadd) -lpthread -lrt -lm
latency_LDFLAGS = @XENO_AUTOINIT_LDFLAGS@ $(XENO_POSIX_WRAPPERS)
+
+# This demo mixes the Alchemy and Xenomai-enabled POSIX APIs over
+# Cobalt, so we ask for both set of flags. --posix along with
+# --ldflags will get us the linker switches causing the symbol
+# wrapping for open/read/write/ioctl and friends. Over Mercury,
+# --posix is ignored since it's implicitly enabled.
+#
+# CFLAGS = $(shell xeno-config --alchemy --posix --cflags)
+# LDFLAGS = $(shell xeno-config --alchemy --posix --ldflags)
diff --git a/demo/alchemy/Makefile.in b/demo/alchemy/Makefile.in
index b7abefa..f606a03 100644
--- a/demo/alchemy/Makefile.in
+++ b/demo/alchemy/Makefile.in
@@ -816,6 +816,15 @@ uninstall-am: uninstall-demoPROGRAMS
uninstall-am uninstall-demoPROGRAMS
+# This demo mixes the Alchemy and Xenomai-enabled POSIX APIs over
+# Cobalt, so we ask for both set of flags. --posix along with
+# --ldflags will get us the linker switches causing the symbol
+# wrapping for open/read/write/ioctl and friends. Over Mercury,
+# --posix is ignored since it's implicitly enabled.
+#
+# CFLAGS = $(shell xeno-config --alchemy --posix --cflags)
+# LDFLAGS = $(shell xeno-config --alchemy --posix --ldflags)
+
# Tell versions [3.59,3.63) of GNU make to not export all variables.
# Otherwise a system limit (for SysV at least) may be exceeded.
.NOEXPORT:
diff --git a/demo/alchemy/latency.c b/demo/alchemy/latency.c
index 70c717e..7d1bf0a 100644
--- a/demo/alchemy/latency.c
+++ b/demo/alchemy/latency.c
@@ -3,12 +3,10 @@
#include <stdio.h>
#include <string.h>
#include <errno.h>
-#include <signal.h>
#include <sched.h>
#include <time.h>
-#include <sys/mman.h>
-#include <sys/time.h>
#include <unistd.h>
+#include <signal.h>
#include <alchemy/task.h>
#include <alchemy/timer.h>
#include <alchemy/sem.h>
@@ -30,8 +28,7 @@ long long period_ns = 0;
int test_duration = 0; /* sec of testing, via -T <sec>, 0 is inf */
int data_lines = 21; /* data lines per header line, -l <lines> to
change */
int quiet = 0; /* suppress printing of RTH, RTD lines when -T
given */
-int benchdev_no = 0;
-int benchdev = -1;
+int devfd = -1;
int freeze_max = 0;
int priority = T_HIPRIO;
int stop_upon_switch = 0;
@@ -51,9 +48,6 @@ const char *test_mode_names[] = {
time_t test_start, test_end; /* report test duration */
int test_loops = 0; /* outer loop count */
-#define MEASURE_PERIOD ONE_BILLION
-#define SAMPLE_COUNT (MEASURE_PERIOD / period_ns)
-
/* Warmup time : in order to avoid spurious cache effects on low-end machines.
*/
#define WARMUP_TIME 1
#define HISTOGRAM_CELLS 300
@@ -69,52 +63,39 @@ int bucketsize = 1000; /* default = 1000ns, -B
<size> to override */
static inline void add_histogram(long *histogram, long addval)
{
/* bucketsize steps */
- long inabs =
- rt_timer_tsc2ns(addval >= 0 ? addval : -addval) / bucketsize;
+ long inabs = (addval >= 0 ? addval : -addval) / bucketsize;
histogram[inabs < histogram_size ? inabs : histogram_size - 1]++;
}
static void latency(void *cookie)
{
- int err, count, nsamples, warmup = 1;
- RTIME expected_tsc, period_tsc, start_ticks, fault_threshold;
- RT_TIMER_INFO timer_info;
- unsigned old_relaxed = 0;
-
- err = rt_timer_inquire(&timer_info);
-
- if (err) {
- fprintf(stderr, "latency: rt_timer_inquire, code %d\n", err);
- return;
- }
-
- fault_threshold = rt_timer_ns2tsc(CONFIG_XENO_DEFAULT_PERIOD);
- nsamples = ONE_BILLION / period_ns;
- period_tsc = rt_timer_ns2tsc(period_ns);
- /* start time: one millisecond from now. */
- start_ticks = timer_info.date + rt_timer_ns2ticks(1000000);
- expected_tsc = timer_info.tsc + rt_timer_ns2tsc(1000000);
-
- err = rt_task_set_periodic(NULL, start_ticks,
- rt_timer_ns2ticks(period_ns));
- if (err) {
+ RTIME expected_ns, start_ns, fault_threshold;
+ unsigned int old_relaxed = 0, new_relaxed;
+ int ret, count, nsamples, warmup = 1;
+ long minj, maxj, dt, overrun, sumj;
+ unsigned long ov;
+
+ fault_threshold = CONFIG_XENO_DEFAULT_PERIOD;
+ nsamples = (long long)ONE_BILLION / period_ns;
+ start_ns = rt_timer_read() + 1000000; /* 1ms from now */
+ expected_ns = start_ns;
+
+ ret = rt_task_set_periodic(NULL, start_ns, period_ns);
+ if (ret) {
fprintf(stderr, "latency: failed to set periodic, code %d\n",
- err);
+ ret);
return;
}
for (;;) {
- long minj = TEN_MILLIONS, maxj = -TEN_MILLIONS, dt;
- long overrun = 0;
- long long sumj;
+ minj = TEN_MILLIONS;
+ maxj = -TEN_MILLIONS;
+ overrun = 0;
test_loops++;
for (count = sumj = 0; count < nsamples; count++) {
- unsigned new_relaxed;
- unsigned long ov;
-
- err = rt_task_wait_period(&ov);
- dt = (long)(rt_timer_tsc() - expected_tsc);
+ ret = rt_task_wait_period(&ov);
+ dt = (long)(rt_timer_read() - expected_ns);
new_relaxed = sampling_relaxed;
if (dt > maxj) {
if (new_relaxed != old_relaxed
@@ -128,21 +109,21 @@ static void latency(void *cookie)
minj = dt;
sumj += dt;
- if (err) {
- if (err != -ETIMEDOUT) {
+ if (ret) {
+ if (ret != -ETIMEDOUT) {
fprintf(stderr,
"latency: wait period failed,
code %d\n",
- err);
+ ret);
exit(EXIT_FAILURE); /* Timer stopped. */
}
overrun += ov;
- expected_tsc += period_tsc * ov;
+ expected_ns += period_ns * ov;
}
- expected_tsc += period_tsc;
+ expected_ns += period_ns;
if (freeze_max && (dt > gmaxjitter)
&& !(finished || warmup)) {
- xntrace_user_freeze(rt_timer_tsc2ns(dt), 0);
+ xntrace_user_freeze(dt, 0);
gmaxjitter = dt;
}
@@ -179,18 +160,17 @@ static void latency(void *cookie)
static void display(void *cookie)
{
- int err, n = 0;
- time_t start;
char sem_name[16];
+ int ret, n = 0;
+ time_t start;
if (test_mode == USER_TASK) {
snprintf(sem_name, sizeof(sem_name), "dispsem-%d", getpid());
- err = rt_sem_create(&display_sem, sem_name, 0, S_FIFO);
-
- if (err) {
+ ret = rt_sem_create(&display_sem, sem_name, 0, S_FIFO);
+ if (ret) {
fprintf(stderr,
"latency: cannot create semaphore: %s\n",
- strerror(-err));
+ strerror(-ret));
return;
}
@@ -209,13 +189,11 @@ static void display(void *cookie)
config.histogram_bucketsize = bucketsize;
config.freeze_max = freeze_max;
- err =
- rt_dev_ioctl(benchdev, RTTST_RTIOC_TMBENCH_START, &config);
-
- if (err) {
+ ret = ioctl(devfd, RTTST_RTIOC_TMBENCH_START, &config);
+ if (ret) {
fprintf(stderr,
"latency: failed to start in-kernel timer
benchmark, code %d\n",
- err);
+ ret);
return;
}
}
@@ -233,36 +211,30 @@ static void display(void *cookie)
long minj, gminj, maxj, gmaxj, avgj;
if (test_mode == USER_TASK) {
- err = rt_sem_p(&display_sem, TM_INFINITE);
-
- if (err) {
- if (err != -EIDRM)
+ ret = rt_sem_p(&display_sem, TM_INFINITE);
+ if (ret) {
+ if (ret != -EIDRM)
fprintf(stderr,
"latency: failed to pend on
semaphore, code %d\n",
- err);
+ ret);
return;
}
- /* convert jitters to nanoseconds. */
- minj = rt_timer_tsc2ns(minjitter);
- gminj = rt_timer_tsc2ns(gminjitter);
- avgj = rt_timer_tsc2ns(avgjitter);
- maxj = rt_timer_tsc2ns(maxjitter);
- gmaxj = rt_timer_tsc2ns(gmaxjitter);
+ minj = minjitter;
+ gminj = gminjitter;
+ avgj = avgjitter;
+ maxj = maxjitter;
+ gmaxj = gmaxjitter;
} else {
struct rttst_interm_bench_res result;
- err =
- rt_dev_ioctl(benchdev, RTTST_RTIOC_INTERM_BENCH_RES,
- &result);
-
- if (err) {
- if (err != -EIDRM)
+ ret = ioctl(devfd, RTTST_RTIOC_INTERM_BENCH_RES,
&result);
+ if (ret) {
+ if (ret != -EIDRM)
fprintf(stderr,
- "latency: failed to call
RTTST_RTIOC_INTERM_BENCH_RES, code %d\n",
- err);
+ "latency: failed to call
RTTST_RTIOC_INTERM_BENCH_RES, %m\n");
return;
}
@@ -408,26 +380,24 @@ static void cleanup(void)
gavgjitter /= (test_loops > 1 ? test_loops : 2) - 1;
- gminj = rt_timer_tsc2ns(gminjitter);
- gmaxj = rt_timer_tsc2ns(gmaxjitter);
- gavgj = rt_timer_tsc2ns(gavgjitter);
+ gminj = gminjitter;
+ gmaxj = gmaxjitter;
+ gavgj = gavgjitter;
} else {
struct rttst_overall_bench_res overall;
overall.histogram_min = histogram_min;
overall.histogram_max = histogram_max;
overall.histogram_avg = histogram_avg;
-
- rt_dev_ioctl(benchdev, RTTST_RTIOC_TMBENCH_STOP, &overall);
-
+ ioctl(devfd, RTTST_RTIOC_TMBENCH_STOP, &overall);
gminj = overall.result.min;
gmaxj = overall.result.max;
gavgj = overall.result.avg;
goverrun = overall.result.overruns;
}
- if (benchdev >= 0)
- rt_dev_close(benchdev);
+ if (devfd >= 0)
+ close(devfd);
if (need_histo())
dump_hist_stats();
@@ -463,7 +433,7 @@ static void faulthand(int sig)
{
xntrace_user_freeze(0, 1);
signal(sig, SIG_DFL);
- kill(getpid(), sig);
+ __STD(kill(getpid(), sig));
}
#ifdef CONFIG_XENO_COBALT
@@ -510,7 +480,7 @@ static void sigdebug(int sig, siginfo_t *si, void *context)
n = snprintf(buffer, sizeof(buffer), fmt, reason_str[reason]);
n = write(STDERR_FILENO, buffer, n);
signal(sig, SIG_DFL);
- kill(getpid(), sig);
+ __STD(kill(getpid(), sig));
}
#endif /* CONFIG_XENO_COBALT */
@@ -518,7 +488,7 @@ static void sigdebug(int sig, siginfo_t *si, void *context)
int main(int argc, char *const *argv)
{
struct sigaction sa __attribute__((unused));
- int c, err, sig, cpu = -1;
+ int c, ret, sig, cpu = -1;
char task_name[16];
cpu_set_t cpus;
sigset_t mask;
@@ -528,63 +498,41 @@ int main(int argc, char *const *argv)
case 'g':
do_gnuplot = strdup(optarg);
break;
-
case 'h':
-
do_histogram = 1;
break;
-
case 's':
-
do_stats = 1;
break;
-
case 'H':
-
histogram_size = atoi(optarg);
break;
-
case 'B':
-
bucketsize = atoi(optarg);
break;
-
case 'p':
-
period_ns = atoi(optarg) * 1000LL;
+ if (period_ns > ONE_BILLION) {
+ fprintf(stderr, "latency: invalid period (>
1s).\n");
+ exit(2);
+ }
break;
-
case 'l':
-
data_lines = atoi(optarg);
break;
-
case 'T':
-
test_duration = atoi(optarg);
alarm(test_duration + WARMUP_TIME);
break;
-
case 'q':
-
quiet = 1;
break;
-
- case 'D':
-
- benchdev_no = atoi(optarg);
- break;
-
case 't':
-
test_mode = atoi(optarg);
break;
-
case 'f':
-
freeze_max = 1;
break;
-
case 'c':
cpu = atoi(optarg);
if (cpu < 0 || cpu >= CPU_SETSIZE) {
@@ -592,15 +540,12 @@ int main(int argc, char *const *argv)
return 1;
}
break;
-
case 'P':
priority = atoi(optarg);
break;
-
case 'b':
stop_upon_switch = 1;
break;
-
default:
fprintf(stderr,
@@ -614,7 +559,6 @@ int main(int argc, char *const *argv)
" [-l <data-lines per header>] # default=21, 0 to supress headers\n"
" [-T <test_duration_seconds>] # default=0, so ^C to end\n"
" [-q] # supresses RTD, RTH lines if -T is used\n"
-" [-D <testing_device_no>] # number of testing device, default=0\n"
" [-t <test_mode>] # 0=user task (default), 1=kernel task,
2=timer IRQ\n"
" [-f] # freeze trace for each new max latency\n"
" [-c <cpu>] # pin measuring task down to given CPU\n"
@@ -680,73 +624,66 @@ int main(int argc, char *const *argv)
"== All results in microseconds\n",
period_ns / 1000, test_mode_names[test_mode]);
- mlockall(MCL_CURRENT | MCL_FUTURE);
-
if (test_mode != USER_TASK) {
- benchdev = open("/dev/rtdm/timerbench", O_RDWR);
- if (benchdev < 0) {
+ devfd = open("/dev/rtdm/timerbench", O_RDWR);
+ if (devfd < 0) {
fprintf(stderr,
- "latency: failed to open benchmark device, code
%d\n"
- "(modprobe xeno_timerbench?)\n", benchdev);
+ "latency: failed to open timerbench device,
%m\n"
+ "(modprobe xeno_timerbench?)\n");
return 0;
}
}
snprintf(task_name, sizeof(task_name), "display-%d", getpid());
- err = rt_task_create(&display_task, task_name, 0, 0, 0);
-
- if (err) {
+ ret = rt_task_create(&display_task, task_name, 0, 0, 0);
+ if (ret) {
fprintf(stderr,
"latency: failed to create display task, code %d\n",
- err);
+ ret);
return 0;
}
- err = rt_task_start(&display_task, &display, NULL);
-
- if (err) {
+ ret = rt_task_start(&display_task, &display, NULL);
+ if (ret) {
fprintf(stderr,
"latency: failed to start display task, code %d\n",
- err);
+ ret);
return 0;
}
if (test_mode == USER_TASK) {
snprintf(task_name, sizeof(task_name), "sampling-%d", getpid());
- err =
- rt_task_create(&latency_task, task_name, 0, priority,
- T_WARNSW);
-
- if (err) {
+ ret = rt_task_create(&latency_task, task_name, 0, priority,
+ T_WARNSW);
+ if (ret) {
fprintf(stderr,
"latency: failed to create latency task, code
%d\n",
- err);
+ ret);
return 0;
}
if (cpu >= 0) {
CPU_ZERO(&cpus);
CPU_SET(cpu, &cpus);
- err = rt_task_set_affinity(&latency_task, &cpus);
- if (err) {
+ ret = rt_task_set_affinity(&latency_task, &cpus);
+ if (ret) {
fprintf(stderr,
"latency: failed to set CPU affinity,
code %d\n",
- err);
+ ret);
return 0;
}
}
- err = rt_task_start(&latency_task, &latency, NULL);
-
- if (err) {
+ ret = rt_task_start(&latency_task, &latency, NULL);
+ if (ret) {
fprintf(stderr,
"latency: failed to start latency task, code
%d\n",
- err);
+ ret);
return 0;
}
}
- sigwait(&mask, &sig);
+ __STD(sigwait(&mask, &sig));
finished = 1;
cleanup();
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