[Draft] PubSub: Interrupt based pubsub on Linux RT with ETF #3046
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- Add Interrupt based application and networking files to stack - i210 hardware & ETF support is required to compile and run this application - UDP socket based applications - Enable UA_ENABLE_PUBSUB_CUSTOM_PUBLISH_HANDLING and UA_ENABLE_PUBSUB_CUSTOM_PUBLISH_HANDLING_TSN to use txtime - Script available in udp_socket folder is used to setup VLAN interface and time synchronization of user and system clock Change-Id: Ia91b9a161ffe3aa46acf355cfc2465fb2245941e Signed-off-by: Aswin Palaniappa Andappan <[email protected]>
Bugs Fixed:
- TX time calculation in thread based publisher.
- System load increases and freeze the DUT due to
multiple subscriber thread.
- Compilation error(Type casting access control messages
to socket extended error).
- Segfault due to overflow of timestamps in publisher
array.
- Unit test error due to hardcoded IP address for
selecting the interface, Kernel should decide the interface.
802.1Qbv - ETF validated with timely delivery:
- Modified TX time calculation using clock nano sleep.
- SO_TXTIME validated by capturing packets using tcpdump
in Rx side; observed jitter in nanoseconds.
Configuration:
- QDISC with mqprio enabled in the i210 NIC hardware.
Code quality improvements: - Improve readability. - Removed unwanted code sections. Bugs Fixed: - Fix: Segfault due to overflow of timestamps in subscriber array.
Feature: - Interrupt based publisher. - Self priority added for interrupt based application. - Real-time signals introduced to improve performance.
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Bugs Fixed: - Redirections removed and added tee command. - Redirections use current shell's user and permissions to open and write to the file. - tee command opens and writes to files without help from the shell.
JayachandranRameshBabu
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Merged loopback functionality into the standalone pub/sub source, to avoid code duplication. For correct RTT calculation, - T1 published counter value was written at T4 subscriber (into the information model) instead of a locally generated counter value. - At the T8 subscriber end, this same counter data value, looped back by T4->T5 (sub->pub), was received instead of the T5 generated local counter value. Minor cleanups: - Function description modified for better readability.
- Removed loopback source file to avoid code duplication; instead merged loopback functionality into the realtime standalone pub/sub source file. - Renamed the pubsub_interrupt_publisher source file name. - CMake file modified for building and compiling the renamed source file.
andreasebner
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Based on top of #2756.
Note1: Pubsub loop back is not included in this pull request.
Note2: There are still reusable code sections between pubsub raw and pubsub udp; we are planning to work on a pull request to split and abstract the code sections for max reusability, after this pull request is integrated.
With these commits, support for opc ua application data round trip time measurement is enabled by adding the loopback option.
A round trip time of 170 to 210 us is measured at 100us publishing interval.