create release-v.0.5. Everything worked as expected

mikekaram · May 14, 2019 · 22326db · 22326db
1 parent 25dd6ce
commit 22326db
Show file tree

Hide file tree

Showing 9 changed files with 89,024 additions and 168,561 deletions.
diff --git a/config/ethercat_slaves.yaml b/config/ethercat_slaves.yaml
@@ -33,6 +33,6 @@ ethercat_slaves :
         assign_activate: 0x0700
         input_port: 0x6010
         output_port: 0x7000
-    period_ns: 400000
+    period_ns: 1000000
     run_time: 360000
     sync0_shift: 55000
diff --git a/include/ether_ros/ether_ros.h b/include/ether_ros/ether_ros.h
@@ -54,7 +54,7 @@
     Assumes that the EtherCAT application is the same for every slave.
 */
 /** \var int log_fd
-    \brief File descriptor used for logging, provided that TIMING_SAMPLING is enabled.
+    \brief File descriptor used for logging, provided that LOGGING and one of LOGGING_SAMPLING or LOGGING_NO_SAMPLING is enabled.
 
     Could be deprecated in a next version (see kernelshark).
 */
@@ -131,7 +131,7 @@
 /** \def SAMPLING_FREQ 10
     \brief The sampling frequency.
 
-    Used when the \a TIMING_SAMPLING is defined.
+    Used when the \a LOGGING_SAMPLING is defined.
     It's used as a frequency for sampling measurements.
     The number is in Hz.
 */
@@ -198,9 +198,9 @@
 
 // Application parameters
 #define CLOCK_TO_USE CLOCK_MONOTONIC
-// #define TIMING_SAMPLING 0
+// #define LOGGING_SAMPLING
 // #define RUN_TIME 60 // run time in seconds
-#if TIMING_SAMPLING
+#if defined(LOGGING) && defined(LOGGING_SAMPLING)
 #define SAMPLING_FREQ 10
 #endif
 /****************************************************************************/
@@ -260,5 +260,7 @@ extern PDOOutPublisherTimer pdo_out_publisher_timer;
 extern int PERIOD_NS;
 extern int FREQUENCY;
 extern int RUN_TIME;
+#ifdef LOGGING
 extern statistics_struct stat_struct;
+#endif
 #endif /* ether_ros_LIB_H */
diff --git a/include/ether_ros/ethercat_communicator.h b/include/ether_ros/ethercat_communicator.h
@@ -59,7 +59,8 @@
 #define FIFO_SCHEDULING //the default scheduling policy will be FIFO
 
 #endif
-#if TIMING_SAMPLING
+#ifdef LOGGING
+#ifdef LOGGING_SAMPLING
 
 typedef struct statistics_struct
 {
@@ -77,8 +78,8 @@ typedef struct statistics_struct
   struct timespec end_time;
   struct timespec last_start_time;
 } statistics_struct;
-
-#elif TIMING_SAMPLING == 0
+#endif
+#ifdef LOGGING_NO_SAMPLING
 
 typedef struct statistics_struct
 {
@@ -91,6 +92,7 @@ typedef struct statistics_struct
   struct timespec last_start_time;
 } statistics_struct;
 #endif
+#endif
 class EthercatCommunicator
 {
 private:
@@ -122,10 +124,11 @@ class EthercatCommunicator
   static void sync_distributed_clocks(void);
   static void update_master_clock(void);
   static uint64_t system_time_ns(void);
+#ifdef LOGGING
   static void create_new_statistics_sample(statistics_struct *ss, unsigned int * sampling_counter);
   static void create_statistics(statistics_struct * ss, struct timespec * wakeup_time_p);
   static void log_statistics_to_file(statistics_struct *ss);
-
+#endif
 public:
 /** \fn static bool has_running_thread()
     \brief A getter for knowing if there is a running thread.

diff --git a/scripts/optimizations/optimizations.sh b/scripts/optimizations/optimizations.sh
@@ -71,12 +71,12 @@ do
 echo $i; echo $i > /sys/fs/cgroup/cpuset/nrt/tasks;
 done
 
-# enp5s0_irq_pid=$(ps -e | grep "enp5s0$" | grep -o -E '[0-9]+' | head -n 1)
-# echo $enp5s0_irq_pid; echo $enp5s0_irq_pid > /sys/fs/cgroup/cpuset/rt/tasks;
-# enp5s0_r_irq_pid=$(ps -e | grep "enp5s0-r" | grep -o -E '[0-9]+' | head -n 1)
-# echo $enp5s0_r_irq_pid; echo $enp5s0_r_irq_pid > /sys/fs/cgroup/cpuset/rt/tasks;
-# enp5s0_t_irq_pid=$(ps -e | grep "enp5s0-t" | grep -o -E '[0-9]+' | head -n 1)
-# echo $enp5s0_t_irq_pid; echo $enp5s0_t_irq_pid > /sys/fs/cgroup/cpuset/rt/tasks;
+enp5s0_irq_pid=$(ps -e | grep "enp5s0$" | grep -o -E '[0-9]+' | head -n 1)
+echo $enp5s0_irq_pid; echo $enp5s0_irq_pid > /sys/fs/cgroup/cpuset/rt/tasks;
+enp5s0_r_irq_pid=$(ps -e | grep "enp5s0-r" | grep -o -E '[0-9]+' | head -n 1)
+echo $enp5s0_r_irq_pid; echo $enp5s0_r_irq_pid > /sys/fs/cgroup/cpuset/rt/tasks;
+enp5s0_t_irq_pid=$(ps -e | grep "enp5s0-t" | grep -o -E '[0-9]+' | head -n 1)
+echo $enp5s0_t_irq_pid; echo $enp5s0_t_irq_pid > /sys/fs/cgroup/cpuset/rt/tasks;
 # etherlab_pid=$(ps -e | grep "EtherCAT-IDLE" | grep -o -E '[0-9]+' | head -n 1)
 # echo $etherlab_pid; echo $etherlab_pid > /sys/fs/cgroup/cpuset/rt/tasks;
 

diff --git a/scripts/trace-cmd/output.txt b/scripts/trace-cmd/output.txt
diff --git a/scripts/trace-cmd/trace_01.sh b/scripts/trace-cmd/trace_01.sh
@@ -1,8 +1,9 @@
 #!/bin/bash
 enp5s0_irq_pid=$(ps -e | grep "enp0s25$" | grep -o -E '[0-9]+' | head -n 1);
-# enp5s0_r_irq_pid=$(ps -e | grep "enp5s0-r" | grep -o -E '[0-9]+' | head -n 1);
-# enp5s0_t_irq_pid=$(ps -e | grep "enp5s0-t" | grep -o -E '[0-9]+' | head -n 1);
-etherlab_pid=$(ps -e | grep "EtherCAT-IDLE" | grep -o -E '[0-9]+' | head -n 1);
-ksoftirqd3_pid=$(ps -e | grep "ksoftirqd/1" | grep -o -E '[0-9]+' | head -n 1);
+enp5s0_r_irq_pid=$(ps -e | grep "enp5s0-r" | grep -o -E '[0-9]+' | head -n 1);
+enp5s0_t_irq_pid=$(ps -e | grep "enp5s0-t" | grep -o -E '[0-9]+' | head -n 1);
+etherlab_idle_pid=$(ps -e | grep "EtherCAT-IDLE" | grep -o -E '[0-9]+' | head -n 1);
+etherlab_op_pid=$(ps -e | grep "EtherCAT-OP" | grep -o -E '[0-9]+' | head -n 1);
+ksoftirqd3_pid=$(ps -e | grep "ksoftirqd/3" | grep -o -E '[0-9]+' | head -n 1);
 ether_ros_pid=$(ps -e | grep "ether_ros" | grep -o -E '[0-9]+' | head -n 1);
-sudo trace-cmd record -p function_graph -e sched:sched_switch -e sched:sched_wakeup -l ecrt_master_send -l ec_master_send_datagrams -l ec_device_send -l ec_gen_netdev_start_xmit -l ec_gen_device_start_xmit  -l kernel_sendmsg -l sock_sendmsg -l packet_sendmsg -l dev_queue_xmit -l netdev_pick_tx -l sch_direct_xmit -l dev_hard_start_xmit -l e1000_xmit_frame -l ecrt_master_receive -l ec_device_poll -l ec_gen_poll -l ec_gen_device_poll -l kernel_recvmsg -l sock_recvmsg -l __skb_recv_datagram -l e1000_intr_msi -l __napi_schedule -l __raise_softirq_irqoff -l net_rx_action -l e1000e_poll -l e1000_clean_rx_irq -l napi_gro_receive -l dev_gro_receive -l __netif_receive_skb_core -l sock_queue_rcv_skb -l __sock_queue_rcv_skb -l skb_queue_tail -l schedule -P $enp5s0_irq_pid -P $etherlab_pid -P $ksoftirqd3_pid
+sudo trace-cmd record -p function_graph -l ecrt_master_send -l ec_gen_device_start_xmit  -l kernel_sendmsg  -l dev_hard_start_xmit -l e1000_xmit_frame -l ecrt_master_receive -l ec_gen_device_poll -l kernel_recvmsg -l __skb_recv_datagram -l e1000_intr_msi -l __napi_schedule -l __raise_softirq_irqoff -l net_rx_action -l e1000e_poll -l e1000_clean_rx_irq -l napi_gro_receive -l dev_gro_receive -l __netif_receive_skb_core -l sock_queue_rcv_skb -l __sock_queue_rcv_skb -l skb_queue_tail
diff --git a/scripts/trace-cmd/trace_02.sh b/scripts/trace-cmd/trace_02.sh
@@ -0,0 +1,9 @@
+#!/bin/bash
+enp5s0_irq_pid=$(ps -e | grep "enp0s25$" | grep -o -E '[0-9]+' | head -n 1);
+enp5s0_r_irq_pid=$(ps -e | grep "enp5s0-r" | grep -o -E '[0-9]+' | head -n 1);
+enp5s0_t_irq_pid=$(ps -e | grep "enp5s0-t" | grep -o -E '[0-9]+' | head -n 1);
+etherlab_idle_pid=$(ps -e | grep "EtherCAT-IDLE" | grep -o -E '[0-9]+' | head -n 1);
+etherlab_op_pid=$(ps -e | grep "EtherCAT-OP" | grep -o -E '[0-9]+' | head -n 1);
+ksoftirqd3_pid=$(ps -e | grep "ksoftirqd/3" | grep -o -E '[0-9]+' | head -n 1);
+ether_ros_pid=$(ps -e | grep "ether_ros" | grep -o -E '[0-9]+' | head -n 1);
+sudo trace-cmd record -p function_graph -e sched:sched_switch -e sched:sched_wakeup -l ecrt_master_send -l ec_master_send_datagrams -l ec_device_send -l ec_gen_netdev_start_xmit -l ec_gen_device_start_xmit  -l kernel_sendmsg -l sock_sendmsg -l packet_sendmsg -l dev_queue_xmit -l netdev_pick_tx -l sch_direct_xmit -l dev_hard_start_xmit -l e1000_xmit_frame -l ecrt_master_receive -l ec_device_poll -l ec_gen_poll -l ec_gen_device_poll -l kernel_recvmsg -l sock_recvmsg -l __skb_recv_datagram -l e1000_intr_msi -l __napi_schedule -l __raise_softirq_irqoff -l net_rx_action -l e1000e_poll -l e1000_clean_rx_irq -l napi_gro_receive -l dev_gro_receive -l __netif_receive_skb_core -l sock_queue_rcv_skb -l __sock_queue_rcv_skb -l skb_queue_tail -P $enp5s0_irq_pid -P $etherlab_op_pid -P $ksoftirqd3_pid -P $ether_ros_pid
diff --git a/src/ether_ros.cpp b/src/ether_ros.cpp
@@ -195,24 +195,6 @@ int main(int argc, char **argv)
     process_data_buf = (uint8_t *)malloc(total_process_data * sizeof(uint8_t));
     memset(process_data_buf, 0, total_process_data); // fill the buffer with zeros
 
-    /******************************************
-     * Initialize the timing sampling buffers.
-    *******************************************/
-#if TIMING_SAMPLING
-    statistics_struct stat_struct = {0, 0, 0, 0};
-    stat_struct.latency_min_ns = (uint32_t *)malloc(RUN_TIME * SAMPLING_FREQ * (sizeof(uint32_t)));
-    stat_struct.latency_max_ns = (uint32_t *)malloc(RUN_TIME * SAMPLING_FREQ * (sizeof(uint32_t)));
-    stat_struct.period_min_ns = (uint32_t *)malloc(RUN_TIME * SAMPLING_FREQ * (sizeof(uint32_t)));
-    stat_struct.period_max_ns = (uint32_t *)malloc(RUN_TIME * SAMPLING_FREQ * (sizeof(uint32_t)));
-    stat_struct.exec_min_ns = (uint32_t *)malloc(RUN_TIME * SAMPLING_FREQ * (sizeof(uint32_t)));
-    stat_struct.exec_max_ns = (uint32_t *)malloc(RUN_TIME * SAMPLING_FREQ * (sizeof(uint32_t)));
-#elif TIMING_SAMPLING == 0
-    statistics_struct stat_struct = {0};
-    stat_struct.latency_ns = (uint32_t *)malloc(RUN_TIME * FREQUENCY * (sizeof(uint32_t)));
-    stat_struct.period_ns = (uint32_t *)malloc(RUN_TIME * FREQUENCY * (sizeof(uint32_t)));
-    stat_struct.exec_ns = (uint32_t *)malloc(RUN_TIME * FREQUENCY * (sizeof(uint32_t)));
-#endif
-
     n.setParam("/ethercat_slaves/slaves_count", (int)master_info.slave_count); // set the slaves_count to the actual slaves found and configured
 
     //Initialize the Ethercat Communicator and the Ethercat Data Handlers
@@ -229,7 +211,7 @@ int main(int argc, char **argv)
     ros::ServiceServer ethercat_communicatord_service = n.advertiseService("ethercat_communicatord", ethercat_communicatord);
     ROS_INFO("Ready to communicate via EtherCAT.");
 
-#ifdef TIMING_SAMPLING
+#ifdef LOGGING
     /******************************************
     *           Open Log file                 *
     *******************************************/

diff --git a/src/ethercat_communicator.cpp b/src/ethercat_communicator.cpp
@@ -61,7 +61,9 @@ int64_t EthercatCommunicator::system_time_base_ = 0LL;
     int EthercatCommunicator::dc_filter_idx_ = 0;
     int64_t EthercatCommunicator::dc_adjust_ns_;
 #endif
-statistics_struct stat_struct;
+#ifdef LOGGING
+    statistics_struct stat_struct;
+#endif
 //--------------------------------------------------------------------------//
 
 /** Get the time in ns for the current cpu, adjusted by system_time_base_.
@@ -208,6 +210,27 @@ void EthercatCommunicator::init(ros::NodeHandle &n)
     int act_policy;
     int ret;
 
+    /******************************************
+     * Initialize the timing sampling buffers.
+    *******************************************/
+#ifdef LOGGING
+#ifdef LOGGING_SAMPLING
+    statistics_struct stat_struct = {0, 0, 0, 0};
+    stat_struct.latency_min_ns = (uint32_t *)malloc(RUN_TIME * SAMPLING_FREQ * (sizeof(uint32_t)));
+    stat_struct.latency_max_ns = (uint32_t *)malloc(RUN_TIME * SAMPLING_FREQ * (sizeof(uint32_t)));
+    stat_struct.period_min_ns = (uint32_t *)malloc(RUN_TIME * SAMPLING_FREQ * (sizeof(uint32_t)));
+    stat_struct.period_max_ns = (uint32_t *)malloc(RUN_TIME * SAMPLING_FREQ * (sizeof(uint32_t)));
+    stat_struct.exec_min_ns = (uint32_t *)malloc(RUN_TIME * SAMPLING_FREQ * (sizeof(uint32_t)));
+    stat_struct.exec_max_ns = (uint32_t *)malloc(RUN_TIME * SAMPLING_FREQ * (sizeof(uint32_t)));
+#endif
+#ifdef LOGGING_NO_SAMPLING
+    statistics_struct stat_struct = {0};
+    stat_struct.latency_ns = (uint32_t *)malloc(RUN_TIME * FREQUENCY * (sizeof(uint32_t)));
+    stat_struct.period_ns = (uint32_t *)malloc(RUN_TIME * FREQUENCY * (sizeof(uint32_t)));
+    stat_struct.exec_ns = (uint32_t *)malloc(RUN_TIME * FREQUENCY * (sizeof(uint32_t)));
+#endif
+#endif
+
     if (pthread_attr_init(&current_thattr_))
     {
         ROS_FATAL("Attribute init\n");
@@ -307,19 +330,21 @@ void EthercatCommunicator::cleanup_handler(void *arg)
     ROS_INFO("Called clean-up handler\n");
 }
 //--------------------------------------------------------------------------//
+#ifdef LOGGING
 void EthercatCommunicator::log_statistics_to_file(statistics_struct *ss)
 {
     int i;
     char log_string[100];
-#if TIMING_SAMPLING
+#ifdef LOGGING_SAMPLING
     for (i = 0; i < RUN_TIME * SAMPLING_FREQ; i++)
     {
         snprintf(log_string, 100, "%10u , %10u , 10u , %10u , 10u , %10u\n",
                  ss->period_min_ns[i], ss->period_max_ns[i], ss->exec_min_ns[i], ss->exec_max_ns[i],
                  ss->latency_min_ns[i], ss->latency_max_ns[i]);
         dprintf(log_fd, "%s", log_string);
     }
-#else
+#endif
+#ifdef LOGGING_NO_SAMPLING
     for (i = 0; i < RUN_TIME * FREQUENCY; i++)
     {
         if (i % 10000 == 0)
@@ -340,10 +365,12 @@ void EthercatCommunicator::log_statistics_to_file(statistics_struct *ss)
         exit(1);
     }
 }
+#endif
 //--------------------------------------------------------------------------//
+#ifdef LOGGING
 void EthercatCommunicator::create_statistics(statistics_struct * ss, struct timespec * wakeup_time_p)
 {
-#if TIMING_SAMPLING
+#ifdef LOGGING_SAMPLING
     ss->latency_ns = DIFF_NS(*wakeup_time_p, ss->start_time);
     ss->period_ns = DIFF_NS(ss->last_start_time, ss->start_time);
     ss->exec_ns = DIFF_NS(ss->last_start_time, ss->end_time);
@@ -372,24 +399,29 @@ void EthercatCommunicator::create_statistics(statistics_struct * ss, struct time
     {
         ss->exec_min_ns[ss->statistics_id] = ss->exec_ns;
     }
-#else
+#ifdef LOGGING_NO_SAMPLING
     ss->latency_ns[ss->statistics_id] = DIFF_NS(*wakeup_time_p, ss->start_time);
     ss->period_ns[ss->statistics_id] = DIFF_NS(ss->last_start_time, ss->start_time);
     ss->exec_ns[ss->statistics_id] = DIFF_NS(ss->last_start_time, ss->end_time);
 #endif
+#endif
 }
+#endif
 //--------------------------------------------------------------------------//
+#ifdef LOGGING
 void EthercatCommunicator::create_new_statistics_sample(statistics_struct *ss, unsigned int * sampling_counter)
 {
-#if TIMING_SAMPLING
+
+#ifdef LOGGING_SAMPLING
     *sampling_counter = FREQUENCY / SAMPLING_FREQ;
-#elif TIMING_SAMPLING == 0
+#endif
+#ifdef LOGGING_NO_SAMPLING
     *sampling_counter = 0;
 #endif
     ss->statistics_id++;
 
 
-#if TIMING_SAMPLING
+#if defined(LOGGING) && defined(LOGGING_SAMPLING)
     // output timing stats
     // printf("period     %10u ... %10u\n",
     //         period_min_ns, period_max_ns);
@@ -406,20 +438,18 @@ void EthercatCommunicator::create_new_statistics_sample(statistics_struct *ss, u
     latency_min_ns[ss->statistics_id] = 0xffffffff;
 #endif
 }
+#endif
 
 //--------------------------------------------------------------------------//
 void *EthercatCommunicator::run(void *arg)
 {
     pthread_cleanup_push(EthercatCommunicator::cleanup_handler, NULL);
-// #ifdef TIMING_SAMPLING
-//     struct timespec start_time, end_time, last_start_time = {};
-// #endif
+
     unsigned int sampling_counter = 0;
     unsigned int sync_ref_counter = 0;
     const struct timespec cycletime = {0, PERIOD_NS};
     struct timespec break_time, current_time, offset_time = {RUN_TIME, 0}, wakeup_time;
     int ret;
-    // int i = 0;
     cpu_set_t cpuset_;
 #ifdef DEADLINE_SCHEDULING
     struct sched_attr sched_attr_;
@@ -468,7 +498,7 @@ void *EthercatCommunicator::run(void *arg)
         }
         wakeup_time = utilities::timespec_add(wakeup_time, cycletime);
         clock_nanosleep(CLOCK_TO_USE, TIMER_ABSTIME, &wakeup_time, NULL);
-#ifdef TIMING_SAMPLING
+#ifdef LOGGING
         clock_gettime(CLOCK_TO_USE, & stat_struct.start_time);
         create_statistics(&stat_struct, &wakeup_time);
         stat_struct.last_start_time = stat_struct.start_time;
@@ -485,7 +515,9 @@ void *EthercatCommunicator::run(void *arg)
         if (!sampling_counter) //if sampling_counter is 0
         {
             // do this at 10 Hz
+        #ifdef LOGGING
             create_new_statistics_sample(&stat_struct, &sampling_counter);
+        #endif
             // check for master state (optional)
             utilities::check_master_state();
         }
@@ -524,13 +556,13 @@ void *EthercatCommunicator::run(void *arg)
         {
             handle_error_en(ret, "pthread_setcancelstate");
         }
-#ifdef TIMING_SAMPLING
+#ifdef LOGGING
         clock_gettime(CLOCK_TO_USE, & stat_struct.end_time);
 #endif
         clock_gettime(CLOCK_TO_USE, &current_time);
     } while (DIFF_NS(current_time, break_time) > 0);
 
-#ifdef TIMING_SAMPLING
+#ifdef LOGGING
     // write the statistics to file
     log_statistics_to_file();
 #endif