beremiz

Xenomai runtime: report and mitigate when PLC cycle overruns.

2024-05-27, Edouard Tisserant
91c39139420f
Parents 9719e0eeb6ff
Children 5744391252ec
Xenomai runtime: report and mitigate when PLC cycle overruns.

Side effect :
_Log* macro was changed in plc_Xenomai_main.c,
and fixed in plc_Linux_main.c
2 files changed, 27 insertions(+), 15 deletions(-)
  • +1 -1
    targets/Linux/plc_Linux_main.c
  • +26 -14
    targets/Xenomai/plc_Xenomai_main.c
    • --- a/targets/Linux/plc_Linux_main.c Fri Apr 26 12:14:52 2024 +0200
    +++ b/targets/Linux/plc_Linux_main.c Mon May 27 11:16:27 2024 +0200
    @@ -19,7 +19,7 @@
    {\
    char mstr[256];\
    snprintf(mstr, 255, text, ##__VA_ARGS__);\
    - LogMessage(LOG_CRITICAL, mstr, strlen(mstr));\
    + LogMessage(level, mstr, strlen(mstr));\
    }
    #define _LogError(text,...) _Log(LOG_CRITICAL, text, ##__VA_ARGS__)
    --- a/targets/Xenomai/plc_Xenomai_main.c Fri Apr 26 12:14:52 2024 +0200
    +++ b/targets/Xenomai/plc_Xenomai_main.c Mon May 27 11:16:27 2024 +0200
    @@ -17,6 +17,16 @@
    #include <alchemy/sem.h>
    #include <alchemy/pipe.h>
    +#define _Log(level,text,...) \
    + {\
    + char mstr[256];\
    + snprintf(mstr, 255, text, ##__VA_ARGS__);\
    + LogMessage(level, mstr, strlen(mstr));\
    + }
    +
    +#define _LogError(text,...) _Log(LOG_CRITICAL, text, ##__VA_ARGS__)
    +#define _LogWarning(text,...) _Log(LOG_WARNING, text, ##__VA_ARGS__)
    +
    unsigned int PLC_state = 0;
    #define PLC_STATE_TASK_CREATED 1
    #define PLC_STATE_DEBUG_PIPE_CREATED 2
    @@ -94,13 +104,22 @@
    void PLC_task_proc(void *arg)
    {
    + unsigned long overruns = 0;
    PLC_SetTimer(common_ticktime__, common_ticktime__);
    while (!PLC_shutdown) {
    PLC_GetTime(&__CURRENT_TIME);
    - __run();
    + if(overruns == 0){
    + __run();
    + } else {
    + // in case of overrun, don't run PLC on next cycle, to prevent CPU hogging.
    + _LogWarning("PLC execution time is longer than requested PLC cyclic task interval. %d cycles skipped\n", overruns);
    + // rt_printf("PLC execution time is longer than requested PLC cyclic task interval. %d cycles skipped\n", overruns);
    + // increment tick count anyhow, so that task scheduling keeps consistent
    + __tick += overruns;
    + }
    if (PLC_shutdown) break;
    - rt_task_wait_period(NULL);
    + rt_task_wait_period(&overruns);
    }
    /* since xenomai 3 it is not enough to close()
    file descriptor to unblock read()... */
    @@ -118,13 +137,6 @@
    static unsigned long __debug_tick;
    -#define _Log(text, err) \
    - {\
    - char mstr[256];\
    - snprintf(mstr, 255, text " for %s (%d)", name, err);\
    - LogMessage(LOG_CRITICAL, mstr, strlen(mstr));\
    - }
    -
    void *create_RT_to_nRT_signal(char* name){
    int new_index = -1;
    int ret;
    @@ -142,13 +154,13 @@
    /* fail if none found */
    if(new_index == -1) {
    - _Log("Maximum count of RT-PIPE reached while creating pipe", max_RT_to_nRT_signals);
    + _LogError("Maximum count of RT-PIPE reached while creating pipe for %s (%d)", name, max_RT_to_nRT_signals);
    return NULL;
    }
    /* create rt pipe */
    if(ret = rt_pipe_create(&sig->pipe, name, new_index, PIPE_SIZE) < 0){
    - _Log("Failed opening real-time end of RT-PIPE", ret);
    + _LogError("Failed opening real-time end of RT-PIPE for %s (%d)", name, ret);
    return NULL;
    }
    @@ -156,7 +168,7 @@
    snprintf(pipe_dev, 63, "/dev/rtp%d", new_index);
    if((sig->pipe_fd = open(pipe_dev, O_RDWR)) == -1){
    rt_pipe_delete(&sig->pipe);
    - _Log("Failed opening non-real-time end of RT-PIPE", errno);
    + _LogError("Failed opening non-real-time end of RT-PIPE for %s (%d)", name, errno);
    return NULL;
    }
    @@ -174,11 +186,11 @@
    if(!sig->used) return;
    if(ret = rt_pipe_delete(&sig->pipe) != 0){
    - _Log("Failed closing real-time end of RT-PIPE", ret);
    + _LogError("Failed closing real-time end of RT-PIPE for %s (%d)", name, ret);
    }
    if(close(sig->pipe_fd) != 0){
    - _Log("Failed closing non-real-time end of RT-PIPE", errno);
    + _LogError("Failed closing non-real-time end of RT-PIPE for %s (%d)", name, errno);
    }
    sig->used = 0;