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The maximum RTT should be smaller than roughly 25% of the cycle time (≤ 250 µs for a 1 ms cycle time).","s":"Network round-trip-time","u":"/static/projects/voraus-rt-ipc-eval/1.0.1/get-started","h":"#network-round-trip-time","p":3},{"i":11,"t":"Before running the evaluation, the system should be tuned for real-time performance. The most impactful measure is installing a PREEMPT_RT-patched kernel. Additional steps such as setting appropriate kernel boot parameters and pinning IRQ affinity can reduce worst-case latency further. See Real-Time System Setup for detailed instructions.","s":"Setup","u":"/static/projects/voraus-rt-ipc-eval/1.0.1/get-started","h":"#setup","p":3},{"i":13,"t":"To measure the network round-trip time you need an EtherCAT device connected to the network interface that will later be used for the fieldbus. This example assumes enp1s0 is the network interface to use.","s":"1. Required Hardware","u":"/static/projects/voraus-rt-ipc-eval/1.0.1/get-started","h":"#1-required-hardware","p":3},{"i":15,"t":"voraus-rt-ipc-eval is shipped as a self-contained Docker image. All required utilities (cyclictest, stress-ng, etc.) are bundled inside the image. Pull the image: docker pull voraus.jfrog.io/docker/voraus-rt-ipc-eval The image requires the following Linux capabilities: Flag Reason --cap-add SYS_NICE Allows cyclictest to set a SCHED_FIFO real-time scheduler priority. --cap-add IPC_LOCK Allows cyclictest to lock memory pages (mlock). --cap-add NET_RAW Required for EtherCAT raw sockets (Layer 2, outside the IP stack). --cap-add NET_ADMIN Required to configure network interface properties (e.g. setting promiscuous mode). --device /dev/cpu_dma_latency Allows cyclictest to disable CPU sleep states. To keep things simple, we use the --privileged flag in the examples instead of the flags above. Also --network host is required for layer 2 access to the NIC. This is an example to run only cyclictest and skip the network test: docker run -it --privileged -v \"$(pwd)/results:/results\" voraus.jfrog.io/docker/voraus-rt-ipc-eval See the usage page for further options and examples.","s":"2. Run the Evaluation","u":"/static/projects/voraus-rt-ipc-eval/1.0.1/get-started","h":"#2-run-the-evaluation","p":3},{"i":17,"t":"The following software may be included in this product.","s":"Open Source Software License Compliance Information","u":"/static/projects/voraus-rt-ipc-eval/1.0.1/license-compliance","h":"","p":16},{"i":19,"t":"Version: 3.1.6 Author: UNKNOWN License: BSD License URL: https://github.com/pallets/jinja/ This software contains the following license: Copyright 2007 Pallets Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met: 1. Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer. 2. Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following disclaimer in the documentation and/or other materials provided with the distribution. 3. Neither the name of the copyright holder nor the names of its contributors may be used to endorse or promote products derived from this software without specific prior written permission. THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS \"AS IS\" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. 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Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer. 2. Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following disclaimer in the documentation and/or other materials provided with the distribution. 3. Neither the name of the copyright holder nor the names of its contributors may be used to endorse or promote products derived from this software without specific prior written permission. THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS \"AS IS\" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. 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THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.","s":"annotated-types","u":"/static/projects/voraus-rt-ipc-eval/1.0.1/license-compliance","h":"#annotated-types","p":16},{"i":25,"t":"Version: 4.1.0 Author: raimon raimon49@hotmail.com License: MIT URL: https://github.com/stefan6419846/pip-licenses-cli This software contains the following license: MIT License Copyright (c) 2018 raimon Copyright (c) 2025 stefan6419846 Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files (the \"Software\"), to deal in the Software without restriction, including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is furnished to do so, subject to the following conditions: The above copyright notice and this permission notice shall be included in all copies or substantial portions of the Software. THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.","s":"pip-licenses-cli","u":"/static/projects/voraus-rt-ipc-eval/1.0.1/license-compliance","h":"#pip-licenses-cli","p":16},{"i":27,"t":"Version: 1.2.2 Author: raimon49, stefan6419846 (library version) License: MIT URL: https://github.com/stefan6419846/pip-licenses-lib This software contains the following license: MIT License Copyright (c) 2018 raimon Copyright (c) 2023 stefan6419846 Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files (the \"Software\"), to deal in the Software without restriction, including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is furnished to do so, subject to the following conditions: The above copyright notice and this permission notice shall be included in all copies or substantial portions of the Software. THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.","s":"pip-licenses-lib","u":"/static/projects/voraus-rt-ipc-eval/1.0.1/license-compliance","h":"#pip-licenses-lib","p":16},{"i":29,"t":"Version: 3.18.0 Author: Luke Maurits luke@maurits.id.au License: BSD-3-Clause URL: https://github.com/prettytable/prettytable This software contains the following license: # Copyright (c) 2009-2014 Luke Maurits <luke@maurits.id.au> # All rights reserved. # With contributions from: # * Chris Clark # * Klein Stephane # * John Filleau # * Vladimir Vrzić # # Redistribution and use in source and binary forms, with or without # modification, are permitted provided that the following conditions are met: # # * Redistributions of source code must retain the above copyright notice, # this list of conditions and the following disclaimer. # * Redistributions in binary form must reproduce the above copyright notice, # this list of conditions and the following disclaimer in the documentation # and/or other materials provided with the distribution. # * The name of the author may not be used to endorse or promote products # derived from this software without specific prior written permission. # # THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS \"AS IS\" # AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE # IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE # ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE # LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR # CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF # SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS # INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN # CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) # ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE # POSSIBILITY OF SUCH DAMAGE.","s":"prettytable","u":"/static/projects/voraus-rt-ipc-eval/1.0.1/license-compliance","h":"#prettytable","p":16},{"i":31,"t":"Version: 2.13.5 Author: Samuel Colvin s@muelcolvin.com, Eric Jolibois em.jolibois@gmail.com, Hasan Ramezani hasan.r67@gmail.com, Adrian Garcia Badaracco 1755071+adriangb@users.noreply.github.com, Terrence Dorsey terry@pydantic.dev, David Montague david@pydantic.dev, Serge Matveenko lig@countzero.co, Marcelo Trylesinski marcelotryle@gmail.com, Sydney Runkle sydneymarierunkle@gmail.com, David Hewitt mail@davidhewitt.dev, Alex Hall alex.mojaki@gmail.com, Victorien Plot contact@vctrn.dev License: MIT URL: https://github.com/pydantic/pydantic This software contains the following license: The MIT License (MIT) Copyright (c) 2017 to present Pydantic Services Inc. and individual contributors. Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files (the \"Software\"), to deal in the Software without restriction, including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is furnished to do so, subject to the following conditions: The above copyright notice and this permission notice shall be included in all copies or substantial portions of the Software. THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.","s":"pydantic","u":"/static/projects/voraus-rt-ipc-eval/1.0.1/license-compliance","h":"#pydantic","p":16},{"i":33,"t":"Version: 2.15.0 Author: Samuel Colvin s@muelcolvin.com, Eric Jolibois em.jolibois@gmail.com, Hasan Ramezani hasan.r67@gmail.com License: MIT License URL: https://github.com/pydantic/pydantic-settings This software contains the following license: The MIT License (MIT) Copyright (c) 2022 Samuel Colvin and other contributors Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files (the \"Software\"), to deal in the Software without restriction, including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is furnished to do so, subject to the following conditions: The above copyright notice and this permission notice shall be included in all copies or substantial portions of the Software. THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.","s":"pydantic-settings","u":"/static/projects/voraus-rt-ipc-eval/1.0.1/license-compliance","h":"#pydantic-settings","p":16},{"i":35,"t":"Version: 2.46.5 Author: Samuel Colvin s@muelcolvin.com, Adrian Garcia Badaracco 1755071+adriangb@users.noreply.github.com, David Montague david@pydantic.dev, David Hewitt mail@davidhewitt.dev, Sydney Runkle sydneymarierunkle@gmail.com, Victorien Plot contact@vctrn.dev License: MIT URL: https://github.com/pydantic This software contains the following license: The MIT License (MIT) Copyright (c) 2022 Samuel Colvin Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files (the \"Software\"), to deal in the Software without restriction, including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is furnished to do so, subject to the following conditions: The above copyright notice and this permission notice shall be included in all copies or substantial portions of the Software. THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.","s":"pydantic_core","u":"/static/projects/voraus-rt-ipc-eval/1.0.1/license-compliance","h":"#pydantic_core","p":16},{"i":37,"t":"Version: 1.2.3 Author: Saurabh Kumar me+github@saurabh-kumar.com License: BSD-3-Clause URL: https://github.com/theskumar/python-dotenv This software contains the following license: Copyright (c) 2014, Saurabh Kumar (python-dotenv), 2013, Ted Tieken (django-dotenv-rw), 2013, Jacob Kaplan-Moss (django-dotenv) Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met: - Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer. - Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following disclaimer in the documentation and/or other materials provided with the distribution. - Neither the name of django-dotenv nor the names of its contributors may be used to endorse or promote products derived from this software without specific prior written permission. THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS \"AS IS\" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. 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THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.","s":"typing-inspection","u":"/static/projects/voraus-rt-ipc-eval/1.0.1/license-compliance","h":"#typing-inspection","p":16},{"i":41,"t":"Version: 4.16.0 Author: \"Guido van Rossum, Jukka Lehtosalo, Łukasz Langa, Michael Lee\" levkivskyi@gmail.com License: PSF-2.0 URL: https://github.com/python/typing_extensions This software contains the following license: A. HISTORY OF THE SOFTWARE ========================== Python was created in the early 1990s by Guido van Rossum at Stichting Mathematisch Centrum (CWI, see https://www.cwi.nl) in the Netherlands as a successor of a language called ABC. Guido remains Python's principal author, although it includes many contributions from others. In 1995, Guido continued his work on Python at the Corporation for National Research Initiatives (CNRI, see https://www.cnri.reston.va.us) in Reston, Virginia where he released several versions of the software. In May 2000, Guido and the Python core development team moved to BeOpen.com to form the BeOpen PythonLabs team. In October of the same year, the PythonLabs team moved to Digital Creations, which became Zope Corporation. In 2001, the Python Software Foundation (PSF, see https://www.python.org/psf/) was formed, a non-profit organization created specifically to own Python-related Intellectual Property. Zope Corporation was a sponsoring member of the PSF. 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STICHTING MATHEMATISCH CENTRUM DISCLAIMS ALL WARRANTIES WITH REGARD TO THIS SOFTWARE, INCLUDING ALL IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS, IN NO EVENT SHALL STICHTING MATHEMATISCH CENTRUM BE LIABLE FOR ANY SPECIAL, INDIRECT OR CONSEQUENTIAL DAMAGES OR ANY DAMAGES WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, WHETHER IN AN ACTION OF CONTRACT, NEGLIGENCE OR OTHER TORTIOUS ACTION, ARISING OUT OF OR IN CONNECTION WITH THE USE OR PERFORMANCE OF THIS SOFTWARE. ZERO-CLAUSE BSD LICENSE FOR CODE IN THE PYTHON DOCUMENTATION ---------------------------------------------------------------------- Permission to use, copy, modify, and/or distribute this software for any purpose with or without fee is hereby granted. THE SOFTWARE IS PROVIDED \"AS IS\" AND THE AUTHOR DISCLAIMS ALL WARRANTIES WITH REGARD TO THIS SOFTWARE INCLUDING ALL IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS. IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR ANY SPECIAL, DIRECT, INDIRECT, OR CONSEQUENTIAL DAMAGES OR ANY DAMAGES WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, WHETHER IN AN ACTION OF CONTRACT, NEGLIGENCE OR OTHER TORTIOUS ACTION, ARISING OUT OF OR IN CONNECTION WITH THE USE OR PERFORMANCE OF THIS SOFTWARE.","s":"typing_extensions","u":"/static/projects/voraus-rt-ipc-eval/1.0.1/license-compliance","h":"#typing_extensions","p":16},{"i":43,"t":"Version: 0.9.1 Author: Jeff Quast contact@jeffquast.com License: MIT License URL: https://github.com/jquast/wcwidth This software contains the following license: The MIT License (MIT) Copyright (c) 2014 Jeff Quast <contact@jeffquast.com> Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files (the \"Software\"), to deal in the Software without restriction, including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is furnished to do so, subject to the following conditions: The above copyright notice and this permission notice shall be included in all copies or substantial portions of the Software. THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. Markus Kuhn -- 2007-05-26 (Unicode 5.0) Permission to use, copy, modify, and distribute this software for any purpose and without fee is hereby granted. The author disclaims all warranties with regard to this software.","s":"wcwidth","u":"/static/projects/voraus-rt-ipc-eval/1.0.1/license-compliance","h":"#wcwidth","p":16},{"i":45,"t":"This page describes the steps commonly taken to make a Linux system meet the real-time requirements for voraus components. The use cases voraus software is typically used for usually 'only' require a stable cycle and not necessarily the lowest possible latency, unlike e.g. a trading system. Tuning a system for real-time normally involves trading performance/throughput for latency/determinism. For this reason, the following example does not necessarily contain all steps that can typically be found in \"tuning guides\". The goal is to match the requirements while still getting the most performance and not get the lowest latency possible. We usually use Debian and the steps might need to be adjusted for other distributions. For automation and documentation purposes, we have also published two other repositories: voraus-debian-iso: Creates a preseeded Debian installation medium that can be used to install a barebone Debian without user interaction voraus-ipc-tools-ansible: Contains Ansible roles for the setup You are free to use both Repositories. However, you still need to understand the general steps to get a good result. So it is highly recommended to read real-time setup steps.","s":"Real-Time System Setup","u":"/static/projects/voraus-rt-ipc-eval/1.0.1/realtime-setup","h":"","p":44},{"i":47,"t":"The following example assumes that you are on a machine with 4 cores, Debian trixie and that you want to run the EtherCAT Master on enp1s0. You might need to adjust some commands if you use e.g. Ubuntu.","s":"Real-Time System Setup Steps","u":"/static/projects/voraus-rt-ipc-eval/1.0.1/realtime-setup-steps","h":"","p":46},{"i":49,"t":"The most important step is to install a kernel that has the CONFIG_PREEMPT_RT option set (and optionally has the PREEMPT_RT patchset applied). Most distributions offer a pre-built RT kernel. E.g. on Debian this is linux-image-rt-amd64 for amd64. sudo apt install linux-image-rt-amd64 After installation, set the kernel as default in the grub menu or uninstall the stock kernel. Reboot and verify the running kernel with: uname -a # Look for \"PREEMPT_RT\" in the output","s":"1. Install a Real-Time Kernel","u":"/static/projects/voraus-rt-ipc-eval/1.0.1/realtime-setup-steps","h":"#1-install-a-real-time-kernel","p":46},{"i":51,"t":"The GPU can actually stall the CPU in certain situations. To sidestep this, it is usually best to just disable the GPU if it is not needed. This can be done with the nomodeset kernel parameter. Kernel parameters can be set by modifying GRUB_CMDLINE_LINUX_DEFAULT. Don't forget to run update-grub after that.","s":"2. Disable the GPU if not needed","u":"/static/projects/voraus-rt-ipc-eval/1.0.1/realtime-setup-steps","h":"#2-disable-the-gpu-if-not-needed","p":46},{"i":53,"t":"Unfortunately the network performance is often not great without further steps. The main reason for that is, that receiving or sending a packet requires disabling bottom halves (local_bh_disable()) to prevent data races. Since code within these sections remains preemptible, other threaded interrupt handlers (e.g. for writing to disk) or softirqs can block a high priority networking task for quite a long time (see this LWN article for details). This was addressed in 6.18, but is still the case for e.g. the kernel from Debian trixie. As a workaround, we just isolate a single core per networking application. Everything that is needed for receiving and sending packets will be moved onto that CPU, and everything that is not needed will be moved to the other CPUs. Now nothing running on this core should disable bottom halves for a long time anymore. The following example assumes an EtherCAT Master on enp1s0, and isolates CPU 1 for this. When you want to run multiple fieldbusses at the same time, it is advised to isolate multiple CPUs.","s":"3. Core Isolation and Interrupt organization","u":"/static/projects/voraus-rt-ipc-eval/1.0.1/realtime-setup-steps","h":"#3-core-isolation-and-interrupt-organization","p":46},{"i":55,"t":"We will use the following kernel parameters: isolcpus=managed_irq,domain,1 irqaffinity=0,2,3 rcu_nocbs=1 rcu_nocb_poll Here is a brief explanation for the different parameters: Parameter Explanation isolcpus=managed_irq,domain,1 Isolates CPU 1. domain removes it from the scheduler domain so the kernel will not migrate ordinary tasks onto it. managed_irq additionally moves managed (auto-affinity) IRQs away from the isolated CPU. irqaffinity=0,2,3 Sets the default affinity mask for all hardware interrupts to CPUs 0, 2, and 3, ensuring interrupt handlers do not run on the isolated CPU. rcu_nocbs=1 Offloads RCU (Read-Copy-Update) callbacks from CPU 1 to a dedicated kthread on another CPU, preventing RCU processing from blocking real-time threads. rcu_nocb_poll Makes the RCU offload threads poll for callbacks rather than being woken by the isolated CPU, eliminating the associated inter-processor interrupts and further reducing latency on CPU 1. See the kernel parameter documentation for further details. This is an example for 4 cores. On Systems with more cores, the irqaffinity should be adjusted accordingly. As an alternative to the kernel parameter it is also possible to configure interrupt affinity at runtime using procfs.","s":"Core Isolation (move everything that is not required of a CPU)","u":"/static/projects/voraus-rt-ipc-eval/1.0.1/realtime-setup-steps","h":"#core-isolation-move-everything-that-is-not-required-of-a-cpu","p":46},{"i":57,"t":"The voraus applications that do low-latency networking provide a configuration option to set the CPU affinity of the main thread (which actually sends and receives the packets). For the EtherCAT Master, this is the ECAT_CPU_AFFINITY key. For the Profinet Controller it is PNET_CPU_AFFINITY. For voraus-rt-ipc-eval this is NETWORK_RTT_TEST__CPU_AFFINITY. It is important to configure the fieldbus application to use the isolated CPU. So in this example, you should set NETWORK_RTT_TEST__CPU_AFFINITY=1 to use CPU1. However, this just covers the send part. The receive part involves a NAPI callback which is usually run by a dedicated threaded interrupt handler or ksoftirqd. Threaded interrupt handlers / softirqs will run on the CPU on which the interrupt occurred (if not forced otherwise). So the interrupts of the NIC that is used must be moved to the isolated CPU. This can't be done statically with a Kernel Parameter. We usually use tuna for that. Example: sudo tuna show_irqs The output might contain something like: 134 enp1s0-TxRx-0 0,2,3 igb 135 enp1s0-TxRx-1 0,2,3 igb 136 enp1s0-TxRx-2 0,2,3 igb 137 enp1s0-TxRx-3 0,2,3 igb These interrupts can be moved to CPU 1 with the following command. sudo tuna move -q \"enp1s0*\" -c 1 after that the output looks like this: 134 enp1s0-TxRx-0 1 igb 135 enp1s0-TxRx-1 1 igb 136 enp1s0-TxRx-2 1 igb 137 enp1s0-TxRx-3 1 igb The exact output varies with the NIC model. warning The interrupts only show up if the network interface is not down. Verify this with ip link if there are no interrupts.","s":"Moving the main thread of the application and the NIC interrupt to the isolated CPU","u":"/static/projects/voraus-rt-ipc-eval/1.0.1/realtime-setup-steps","h":"#moving-the-main-thread-of-the-application-and-the-nic-interrupt-to-the-isolated-cpu","p":46},{"i":59,"t":"Most NIC models benefit from further tuning. Most notably from disabling interrupt coalescing. For the Intel I210, this can be done with: sudo ethtool -C enp1s0 rx-usecs 0 tx-usecs 0 The exact command depends on the driver/model in use.","s":"4. Further Network tuning","u":"/static/projects/voraus-rt-ipc-eval/1.0.1/realtime-setup-steps","h":"#4-further-network-tuning","p":46},{"i":61,"t":"Sometimes a system requires additional steps that come with a potentially higher (performance) cost.","s":"5. Additional steps","u":"/static/projects/voraus-rt-ipc-eval/1.0.1/realtime-setup-steps","h":"#5-additional-steps","p":46},{"i":63,"t":"CPU frequency changes can introduce latencies. They also lead to non deterministic behavior. E.g. a cycle that usually runs for 200µs when the system is not loaded can take 300µs when the CPU is under load, because it cannot maintain its turbo frequency. To prevent that, it is possible to pin CPUs at a fixed frequency. How to do that depends on the driver in use (see CPU Performance Scaling). If this is necessary depends on the actual hardware and the cooling situation. E.g. CPUs that are not properly cooled likely need this, but CPUs that stay at e.g. 60°C under full load may not need this. Note: idle states are disabled by the voraus applications if not configured otherwise.","s":"Fixed CPU frequency","u":"/static/projects/voraus-rt-ipc-eval/1.0.1/realtime-setup-steps","h":"#fixed-cpu-frequency","p":46},{"i":65,"t":"Modern systems often use Hyperthreading. Hyperthreading does in general introduce latency and reduces (single core) throughput but increases overall throughput. How much impact these effects have, depends on the exact CPU architecture. In our experience it is often acceptable to leave hyperthreading on. However, if you don't need the additional CPUs and the additional performance, or SMT introduces high latencies on your system, you may want to disable that. This can be done with the nosmt Kernel parameter or often via the bios. As an alternative, it is also often sufficient to disable the hyperthreading partner of your isolated CPU if you have one.","s":"SMT","u":"/static/projects/voraus-rt-ipc-eval/1.0.1/realtime-setup-steps","h":"#smt","p":46},{"i":67,"t":"EFI provides runtime services which can for example be used to determine the boot source. Unfortunately some EFI implementations can have quite long runtimes (in the millisecond range). Since they may be required to run with interrupts/preemption disabled, this runtime directly contributes to the scheduling latency. Normally, EFI runtime services are disabled by default on PREEMPT_RT kernels (CONFIG_EFI_DISABLE_RUNTIME defaults to y on CONFIG_PREEMPT_RT). However, some distributions (e.g. Ubuntu) configure this to n in their realtime kernel. This can also be the case when a \"self-built\" kernel, which was based on a \"normal\" config is used, since the default is not re-evaluated. This can be mitigated with the kernel parameter efi=noruntime. Disabling EFI runtime services does of course break everything that needs them. It is also possible to pin the services to certain CPUs instead. See the kernel documentation for more information.","s":"EFI Runtime Services","u":"/static/projects/voraus-rt-ipc-eval/1.0.1/realtime-setup-steps","h":"#efi-runtime-services","p":46},{"i":69,"t":"As already described in Real-Time System Setup, you are free to use voraus-ipc-tools-ansible for the steps above. The following playbook does steps 1-3: --- - name: Run IPC tools ansible.builtin.import_playbook: voraus.ipc_tools.example vars: core_isolation_isolated_core_ids: 1 core_isolation_isolated_network_interfaces: \"enp1s0\": 1","s":"Doing the Previous Steps with Ansible","u":"/static/projects/voraus-rt-ipc-eval/1.0.1/realtime-setup-steps","h":"#doing-the-previous-steps-with-ansible","p":46},{"i":71,"t":"voraus-rt-ipc-eval has two configuration layers: CLI flags: control how the tool is invoked (results location, verbosity, …). These can be passed on the command line or set via environment variables. Test settings: control the test itself (duration, load, cyclictest parameters). These cannot be set via CLI flags and are read from a JSON config file, environment variables, or built-in defaults (in that order of precedence). In general the defaults are just fine and you only need to change/set: DURATION (e.g. to do a longer test) ENABLE_NETWORK_RTT_TEST (to enable or disable the network round trip time test) NETWORK_RTT_TEST__INTERFACE (to set the network interface for the test) NETWORK_RTT_TEST__CPU_AFFINITY (to set the CPU affinity for the networking thread) CYCLICTEST__CPU_AFFINITY (to set the CPU affinity for cyclictest threads, if necessary) If you enable the network round trip time test, make sure to set the CPU affinity to the same isolated CPU that the respective network interface is pinned to. Also make sure, that cyclictest does not spawn a measurement thread on this CPU to not interfere with the network test. This can be achieved by setting CYCLICTEST__CPU_AFFINITY to all non-isolated CPUs (e.g. 0,2,3 or !1 if CPU 1 is isolated).","s":"Usage","u":"/static/projects/voraus-rt-ipc-eval/1.0.1/usage","h":"","p":70},{"i":73,"t":"Option Env variable Default Description --results-dir PATH RESULTS_DIR ./results Directory where result files are written. --config-file PATH CONFIG_FILE (none) Path to a JSON configuration file (see below). --create-results-subdir CREATE_RESULTS_SUBDIR false Create a timestamped subdirectory in the results dir. --verbose VERBOSE false Enable debug-level logging. --version VERSION - Print the tool version and exit.","s":"CLI Options","u":"/static/projects/voraus-rt-ipc-eval/1.0.1/usage","h":"#cli-options","p":70},{"i":75,"t":"It is possible to use a config file for the test settings. Mount the file into the container with an additional -v flag: docker run --rm ... \\ -v \"$(pwd)/config.json:/config.json\" \\ -v \"$(pwd)/results:/results\" \\ voraus.jfrog.io/docker/voraus-rt-ipc-eval \\ --config-file /config.json --results-dir /results","s":"Configuration File","u":"/static/projects/voraus-rt-ipc-eval/1.0.1/usage","h":"#configuration-file","p":70},{"i":77,"t":"{ \"duration\": \"15m\", \"snapshot_interval\": \"auto\", \"load_args\": [\"stress-ng\", \"--cpu\", \"50%\", \"--io\", \"50%\", \"--pipe\", \"50%\", \"--vm\", \"25%\", \"--timeout\", \"0\"], \"cyclictest\": { \"interval\": 250, \"priority\": 80, \"lock_memory\": true, \"histogram_size\": 500, \"cpu_affinity\": \"0,2,3\", \"distance\": 0, \"break_threshold\": null }, \"enable_network_rtt_test\": true, \"network_rtt_test\": { \"interface\": \"eth0\", \"cycletime\": 1000, \"priority\": 49, \"cpu_affinity\": 1, \"lock_memory\": true, \"prevent_sleep_states\": true, \"stats_frequency\": null } } Setting Default Description duration 15m Total test duration. Accepts a number followed by a unit: s, m, h, or d. snapshot_interval auto How often intermediate results of cyclictest and the network RTT test are written to the log while the test is running. Accepts a duration like 30s or 5m. auto derives the interval from duration so that roughly 200 snapshots are taken over the whole run, but never more often than every 60 s. Set to null to disable snapshots. load_args stress-ng … Command and arguments used to generate system load during the test. cyclictest.interval 250 Measurement interval between cyclictest samples in µs. cyclictest.priority 80 SCHED_FIFO priority for the cyclictest threads (1–99). cyclictest.lock_memory true Lock process memory (mlock) to prevent page-fault latency spikes. cyclictest.histogram_size 500 Maximum latency bucket in the output histogram in µs. cyclictest.cpu_affinity all CPUs The cpu affinity to use for cyclictest. cyclictest.distance 0 Per-thread interval offset in µs. Set to 0 to use the same interval on all threads. cyclictest.break_threshold (none) Stop the test immediately if a latency sample exceeds this value in µs. Omit or set to null to disable. enable_network_rtt_test false Enable the network round trip time test. network_rtt_test.interface (none) Network interface to use for the EtherCAT loopback test (e.g. eth0). network_rtt_test.cycletime 1000 Cycle time to test with in µs. network_rtt_test.priority 49 SCHED_FIFO priority for the network RTT test thread (1–99). -1 uses SCHED_OTHER. network_rtt_test.cpu_affinity -1 CPU index on which the network RTT test thread is pinned. -1 means no affinity. network_rtt_test.lock_memory true Lock process memory (mlock) to prevent page-fault latency spikes during the test. network_rtt_test.prevent_sleep_states true Request that the kernel keeps CPUs out of deep C-states for the duration of the test. network_rtt_test.stats_frequency (none) How often intermediate statistics are logged. Omit or set to null to disable.","s":"Config file reference","u":"/static/projects/voraus-rt-ipc-eval/1.0.1/usage","h":"#config-file-reference","p":70},{"i":79,"t":"Every setting from the config file can also be set via environment variable, which is particularly convenient for Docker deployments. Pass variables with -e in the docker run command. Nested settings use __ (double underscore) as delimiter (e.g. cyclictest.interval → CYCLICTEST__INTERVAL). Environment variable Equivalent config key Example DURATION duration DURATION=1h SNAPSHOT_INTERVAL snapshot_interval SNAPSHOT_INTERVAL=5m CYCLICTEST__INTERVAL cyclictest.interval CYCLICTEST__INTERVAL=500 CYCLICTEST__PRIORITY cyclictest.priority CYCLICTEST__PRIORITY=90 CYCLICTEST__LOCK_MEMORY cyclictest.lock_memory CYCLICTEST__LOCK_MEMORY=true CYCLICTEST__HISTOGRAM_SIZE cyclictest.histogram_size CYCLICTEST__HISTOGRAM_SIZE=1000 CYCLICTEST__CPU_AFFINITY cyclictest.cpu_affinity CYCLICTEST__CPU_AFFINITY=\"0,1,2,3\", CYCLICTEST__CPU_AFFINITY=\"!1\" CYCLICTEST__DISTANCE cyclictest.distance CYCLICTEST__DISTANCE=0 CYCLICTEST__BREAK_THRESHOLD cyclictest.break_threshold CYCLICTEST__BREAK_THRESHOLD=200 ENABLE_NETWORK_RTT_TEST enable_network_rtt_test ENABLE_NETWORK_RTT_TEST=true NETWORK_RTT_TEST__INTERFACE network_rtt_test.interface NETWORK_RTT_TEST__INTERFACE=eth0 NETWORK_RTT_TEST__CYCLETIME network_rtt_test.cycletime NETWORK_RTT_TEST__CYCLETIME=1000 NETWORK_RTT_TEST__PRIORITY network_rtt_test.priority NETWORK_RTT_TEST__PRIORITY=80 NETWORK_RTT_TEST__CPU_AFFINITY network_rtt_test.cpu_affinity NETWORK_RTT_TEST__CPU_AFFINITY=1 NETWORK_RTT_TEST__LOCK_MEMORY network_rtt_test.lock_memory NETWORK_RTT_TEST__LOCK_MEMORY=true NETWORK_RTT_TEST__PREVENT_SLEEP_STATES network_rtt_test.prevent_sleep_states NETWORK_RTT_TEST__PREVENT_SLEEP_STATES=true NETWORK_RTT_TEST__STATS_FREQUENCY network_rtt_test.stats_frequency NETWORK_RTT_TEST__STATS_FREQUENCY=5s note A config file takes precedence over environment variables for any setting defined in both.","s":"Environment 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