[DM-36669] Evaluate the Real-Time Performance of NI RT OS - Jira

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Type: Story
Status: Done
Resolution: Done
Fix Version/s: None
Component/s: ts_main_telescope
Labels:
- Rotator

Story Points:
1
Epic Link:
RubinCam Integration w/ final science verification
Sprint:
TSSW Sprint - Oct 10 - Oct 24
Team:
Telescope and Site
Urgent?:
No

Description

Evaluate the real-time performance of NI RT OS. The rotator controller is running at 4k Hz at this moment with Xenomai dual-kernel. This ticket is to evaluate the performance impact if using the NT RT OS instead.

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relates to

DM-30964 Investigate to Fix the TAI by the LUT or Xenomai

Done

DM-34369 Prepare the Docker Image with Linux RT Module Enabled

To Do

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Te-Wei Tsai added a comment - 21/Oct/22 1:46 PM

NI bench mark: NI CompactRIO Controller: Performance and Throughput Benchmarks.

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Te-Wei Tsai added a comment - 21/Oct/22 1:46 PM NI bench mark: NI CompactRIO Controller: Performance and Throughput Benchmarks .

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Te-Wei Tsai added a comment - 21/Oct/22 1:48 PM - edited

Try 1k Hz:

admin@NI-cRIO-9049-01EAEB49:~/realtime_code# ./realtime_thread_cyclic

sec = 1666331378, nsec = 872579480

sec = 1666331379, nsec = 872579263

sec = 1666331380, nsec = 872578458

sec = 1666331381, nsec = 872578490

sec = 1666331382, nsec = 872578442

sec = 1666331383, nsec = 872578496

sec = 1666331384, nsec = 872579452

sec = 1666331385, nsec = 872578517

sec = 1666331386, nsec = 872578585

sec = 1666331387, nsec = 872579661

sec = 1666331388, nsec = 872578465

sec = 1666331389, nsec = 872579365

sec = 1666331390, nsec = 872578637

sec = 1666331391, nsec = 872578506

sec = 1666331392, nsec = 872578712

sec = 1666331393, nsec = 872578587

sec = 1666331394, nsec = 872579283

sec = 1666331395, nsec = 872578734

sec = 1666331396, nsec = 872578524

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Te-Wei Tsai added a comment - 21/Oct/22 1:48 PM - edited Try 1k Hz: admin@NI-cRIO-9049-01EAEB49:~/realtime_code# ./realtime_thread_cyclic sec = 1666331378, nsec = 872579480 sec = 1666331379, nsec = 872579263 sec = 1666331380, nsec = 872578458 sec = 1666331381, nsec = 872578490 sec = 1666331382, nsec = 872578442 sec = 1666331383, nsec = 872578496 sec = 1666331384, nsec = 872579452 sec = 1666331385, nsec = 872578517 sec = 1666331386, nsec = 872578585 sec = 1666331387, nsec = 872579661 sec = 1666331388, nsec = 872578465 sec = 1666331389, nsec = 872579365 sec = 1666331390, nsec = 872578637 sec = 1666331391, nsec = 872578506 sec = 1666331392, nsec = 872578712 sec = 1666331393, nsec = 872578587 sec = 1666331394, nsec = 872579283 sec = 1666331395, nsec = 872578734 sec = 1666331396, nsec = 872578524

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Te-Wei Tsai added a comment - 21/Oct/22 1:54 PM

Try 2k Hz:

admin@NI-cRIO-9049-01EAEB49:~/realtime_code# ./realtime_thread_cyclic

sec = 1666331745, nsec = 958632849

sec = 1666331746, nsec = 958632282

sec = 1666331747, nsec = 958632270

sec = 1666331748, nsec = 958633407

sec = 1666331749, nsec = 958632438

sec = 1666331750, nsec = 958632308

sec = 1666331751, nsec = 958632196

sec = 1666331752, nsec = 958632222

sec = 1666331753, nsec = 958633174

sec = 1666331754, nsec = 958632381

sec = 1666331755, nsec = 958633543

sec = 1666331756, nsec = 958632266

sec = 1666331757, nsec = 958632269

sec = 1666331758, nsec = 958633170

sec = 1666331759, nsec = 958632200

sec = 1666331760, nsec = 958632234

sec = 1666331761, nsec = 958632502

sec = 1666331762, nsec = 958632240

sec = 1666331763, nsec = 958633180

sec = 1666331764, nsec = 958632252

sec = 1666331765, nsec = 958632450

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Te-Wei Tsai added a comment - 21/Oct/22 1:54 PM Try 2k Hz: admin@NI-cRIO-9049-01EAEB49:~/realtime_code# ./realtime_thread_cyclic sec = 1666331745, nsec = 958632849 sec = 1666331746, nsec = 958632282 sec = 1666331747, nsec = 958632270 sec = 1666331748, nsec = 958633407 sec = 1666331749, nsec = 958632438 sec = 1666331750, nsec = 958632308 sec = 1666331751, nsec = 958632196 sec = 1666331752, nsec = 958632222 sec = 1666331753, nsec = 958633174 sec = 1666331754, nsec = 958632381 sec = 1666331755, nsec = 958633543 sec = 1666331756, nsec = 958632266 sec = 1666331757, nsec = 958632269 sec = 1666331758, nsec = 958633170 sec = 1666331759, nsec = 958632200 sec = 1666331760, nsec = 958632234 sec = 1666331761, nsec = 958632502 sec = 1666331762, nsec = 958632240 sec = 1666331763, nsec = 958633180 sec = 1666331764, nsec = 958632252 sec = 1666331765, nsec = 958632450

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Te-Wei Tsai added a comment - 21/Oct/22 1:56 PM

Try 4k Hz:

admin@NI-cRIO-9049-01EAEB49:~/realtime_code# ./realtime_thread_cyclic

sec = 1666331910, nsec = 552189733

sec = 1666331911, nsec = 552189525

sec = 1666331912, nsec = 552189255

sec = 1666331913, nsec = 552188998

sec = 1666331914, nsec = 552190227

sec = 1666331915, nsec = 552189040

sec = 1666331916, nsec = 552188939

sec = 1666331917, nsec = 552189260

sec = 1666331918, nsec = 552189341

sec = 1666331919, nsec = 552190051

sec = 1666331920, nsec = 552189445

sec = 1666331921, nsec = 552189332

sec = 1666331922, nsec = 552189401

sec = 1666331923, nsec = 552189261

sec = 1666331924, nsec = 552190018

sec = 1666331925, nsec = 552189331

sec = 1666331926, nsec = 552189330

sec = 1666331927, nsec = 552189833

sec = 1666331928, nsec = 552189133

sec = 1666331929, nsec = 552189265

sec = 1666331930, nsec = 552189025

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Te-Wei Tsai added a comment - 21/Oct/22 1:56 PM Try 4k Hz: admin@NI-cRIO-9049-01EAEB49:~/realtime_code# ./realtime_thread_cyclic sec = 1666331910, nsec = 552189733 sec = 1666331911, nsec = 552189525 sec = 1666331912, nsec = 552189255 sec = 1666331913, nsec = 552188998 sec = 1666331914, nsec = 552190227 sec = 1666331915, nsec = 552189040 sec = 1666331916, nsec = 552188939 sec = 1666331917, nsec = 552189260 sec = 1666331918, nsec = 552189341 sec = 1666331919, nsec = 552190051 sec = 1666331920, nsec = 552189445 sec = 1666331921, nsec = 552189332 sec = 1666331922, nsec = 552189401 sec = 1666331923, nsec = 552189261 sec = 1666331924, nsec = 552190018 sec = 1666331925, nsec = 552189331 sec = 1666331926, nsec = 552189330 sec = 1666331927, nsec = 552189833 sec = 1666331928, nsec = 552189133 sec = 1666331929, nsec = 552189265 sec = 1666331930, nsec = 552189025

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Te-Wei Tsai added a comment - 21/Oct/22 2:04 PM - edited

Under 4k Hz, if we check the time at every second, the standard deviation (STD) is ~352.65 nano-seconds. This means at every 0.25 ms (=4000 Hz), the STD is ~5.58 ns. The error is ~0.002 %.

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Te-Wei Tsai added a comment - 21/Oct/22 2:04 PM - edited Under 4k Hz, if we check the time at every second, the standard deviation (STD) is ~352.65 nano-seconds. This means at every 0.25 ms (=4000 Hz), the STD is ~5.58 ns. The error is ~0.002 %.

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Te-Wei Tsai added a comment - 21/Oct/22 3:37 PM - edited

Read the documents:
1. https://elinux.org/images/d/d7/Practical-Real-Time-Linux-ELCE15.pdf
2. https://source.denx.de/Xenomai/xenomai/-/wikis/Porting_To_Xenomai_POSIX

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Te-Wei Tsai added a comment - 21/Oct/22 3:37 PM - edited Read the documents: 1. https://elinux.org/images/d/d7/Practical-Real-Time-Linux-ELCE15.pdf 2. https://source.denx.de/Xenomai/xenomai/-/wikis/Porting_To_Xenomai_POSIX

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Te-Wei Tsai added a comment - 21/Oct/22 7:38 PM

Please help to review this ticket based on the comment. Thanks!

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Te-Wei Tsai added a comment - 21/Oct/22 7:38 PM Please help to review this ticket based on the comment. Thanks!

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Russell Owen added a comment - 21/Oct/22 11:41 PM

It seems like you have performed the task.

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Russell Owen added a comment - 21/Oct/22 11:41 PM It seems like you have performed the task.

People

Assignee:: Te-Wei Tsai

Reporter:: Te-Wei Tsai

Reviewers:: Russell Owen

Watchers:: Russell Owen, Te-Wei Tsai

Votes:: 0 Vote for this issue

Watchers:: 2 Start watching this issue

Dates

Created:: 20/Oct/22 7:11 PM

Updated:: 22/Oct/22 11:36 AM

Resolved:: 22/Oct/22 11:36 AM

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