MARTe2-isttok

Repository containing MARTe2 Components for ISTTOK RT Control

Setting up environment

It is assumed that a clean Debian 12 is being used (https://www.debian.org) Alternatively an CentOS/AlmaLinux 9 installation can being used (https://almalinux.org/get-almalinux).

See instructions in (https://vcis-gitlab.f4e.europa.eu/aneto/MARTe2-demos-padova)

Download all the needed software

Open a terminal,
sudo apt update
sudo apt upgrade

Install all the standard development tools, the cmake compiler:

sudo apt-get install -y build-essential git cmake
sudo apt-get install -y libncurses-dev

Solve dependencies for MARTe2 and EPICS:
sudo apt-get install -y libreadline-dev re2c

Install MDSplus

See (https://www.mdsplus.org/index.php/Latest_Ubuntu/Debian_Packages)

sudo apt-get install -y install mdsplus-kernel* mdsplus-java* mdsplus-python* mdsplus-devel*

Create a folder (e.g. named xxx in home) and clone MARTe2 Core, MARTe2 components and the MARTe2 isttok repo:

mkdir ~/xxx
cd ~/xxx

git clone https://vcis-gitlab.f4e.europa.eu/aneto/MARTe2.git MARTe2-dev
git clone https://vcis-gitlab.f4e.europa.eu/aneto/MARTe2-components.git
git clone https://github.com/bernardocarvalho/MARTe2-isttok

Download EPICS R7:

git clone --recursive https://github.com/epics-base/epics-base.git

Building libraries and frameworks

Compile EPICS:

cd ~/xxx/epics-base
echo "OP_SYS_CXXFLAGS += -std=c++11" >> configure/os/CONFIG_SITE.linux-x86_64.Common
make

Compiling MARTe, EPICS, and the examples

Make sure that all the environment variables are correctly exported.

export MARTe2_DIR=~/xxx/MARTe2-dev

export MARTe2_Components_DIR=~/xxx/MARTe2-components

export EPICS_BASE=~/xxx/epics-base

export EPICSPVA=~/xxx/epics-base

export EPICS_HOST_ARCH=linux-x86_64

export MDSPLUS_DIR=/usr/local/mdsplus

export PATH=$MDSPLUS_DIR/bin:$EPICS_BASE/bin/$EPICS_HOST_ARCH:$PATH

export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:$MARTe2_DIR/Build/x86-linux/Core/:$EPICS_BASE/lib/$EPICS_HOST_ARCH

cd ~/xxx/MARTe2-dev

make -f Makefile.linux

cd ~/xxx/MARTe2-components

make -f Makefile.linux

cd ~/xxx/MARTe2-isttok

make -C DataSources/AtcaIop -f Makefile.gcc

Running the ISTTOK ATCA-IOP RT App

Start the EPICS IOC

Open a new terminal shell and start the EPICS IOC server:

cd ~/xxx/MARTe2-isttok
softIoc -d Configurations/EPICS-isttok.db

Start MARTe2

Open a new terminal shell and launch the MARTe2 application

cd ~/xxx/MARTe2-isttok/Startup

Startup MARTe2 RT App
./AtcaIop.sh -l RealTimeLoader -f ../Configurations/RTApp-AtcaIop.cfg -m StateMachine:START

Would should see a bunch of logger messaged. Last list should be:

´´´ [Warning - Threads.cpp:173]: Requested a thread priority that is higher than the one supported by the selected policy - clipping to the maximum value supported by the policy. [Warning - Threads.cpp:173]: Requested a thread priority that is higher than the one supported by the selected policy - clipping to the maximum value supported by the policy. [Warning - Threads.cpp:185]: Failed to change the thread priority (likely due to insufficient permissions) [Information - StateMachine.cpp:340]: In state (INITIAL) triggered message (StartNextStateExecutionMsg)

´´´

Alternative configuration files can also be used: ../Configurations/RTApp-ADCSimul.cfg

Start open browser and explore MARTe2 App Objects

MARTe2 HTTP local server

Change RT App State to RUN (to store Data), and get back to IDLE

Open a new terminal shell and run:

$ caput ISTTOK:central:MARTe2-Command 1
(wait)
$ caput ISTTOK:central:MARTe2-Command 0

Isolate CPUs

Install tuned, tuned-profiles-cpu-partitioning, tuned-utils packages

numactl --hardware

In file /etc/tuned/cpu-partitioning-variables.conf, set: isolated_cores=6-11 no_balance_cores=6-11

As root:

# tuned-adm profile cpu-partitioning
# reboot
...
# tuned-adm profile_info