Bernardo Carvalho
618e247c80
Signed-off-by: Bernardo Carvalho <bernardo.carvalho@tecnico.ulisboa.pt>
149 lines
4.2 KiB
Markdown
149 lines
4.2 KiB
Markdown
# 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](https://epics-controls.org) 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 ](http://localhost:8084)
|
||
|
||
|
||
### Change RT App State to RUN (to store Data), and get back to IDLE
|
||
|
||
Open a new terminal shell and run:
|
||
```console
|
||
$ caput ISTTOK:central:MARTe2-Command 1
|
||
(wait)
|
||
$ caput ISTTOK:central:MARTe2-Command 0
|
||
```
|
||
|
||
|
||
### [Isolate](https://docs.redhat.com/en/documentation/red_hat_enterprise_linux_for_real_time/7/html/tuning_guide/isolating_cpus_using_tuned-profiles-realtime) 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:
|
||
```bash
|
||
# tuned-adm profile cpu-partitioning
|
||
# reboot
|
||
...
|
||
# tuned-adm profile_info
|
||
|
||
```
|
||
|
||
|