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  1. Data Management
  2. DM-36669

Evaluate the Real-Time Performance of NI RT OS

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      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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            ttsai Te-Wei Tsai added a comment - NI bench mark: NI CompactRIO Controller: Performance and Throughput Benchmarks .
            ttsai Te-Wei Tsai added a comment - - 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
            

            ttsai Te-Wei Tsai added a comment - - 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
            ttsai Te-Wei Tsai added a comment -

            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
            

            ttsai Te-Wei Tsai added a comment - 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
            ttsai Te-Wei Tsai added a comment -

            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
            

            ttsai Te-Wei Tsai added a comment - 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
            ttsai Te-Wei Tsai added a comment - - 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 %.

            ttsai Te-Wei Tsai added a comment - - 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 %.
            ttsai Te-Wei Tsai added a comment - - 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
            ttsai Te-Wei Tsai added a comment -

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

            ttsai Te-Wei Tsai added a comment - Please help to review this ticket based on the comment. Thanks!

            It seems like you have performed the task.

            rowen Russell Owen added a comment - It seems like you have performed the task.

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              ttsai Te-Wei Tsai
              ttsai Te-Wei Tsai
              Russell Owen
              Russell Owen, Te-Wei Tsai
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                Updated:
                Resolved:

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