Initial scripts for TSN setup of k3 (master, edge server) and...

Initial scripts for TSN setup of k3 (master, edge server) and a20-prod/a20-prod-1 (coupler devices).

coupler/opc-ua-server/build.sh

 #!/bin/bash
+OPEN62541_SR=/usr/local/lib
 rm -f server
 
 # build OPC UA server which publishes msgs
-gcc  -o server -I /usr/local/include/ -std=c99 server.c -l:libopen62541.so -L/usr/local/lib -lmbedcrypto  -lmbedx509 -I ~/open62541/src/pubsub/  -I ~/open62541/deps/
+gcc  -o server -I /usr/local/include/ -std=c99 server.c -l:libopen62541.so -L$OPEN62541_SR/lib -lmbedcrypto  -lmbedx509 -I ~/open62541/src/pubsub/  -I ~/open62541/deps/
 

coupler/opc-ua-server/coupler1.sh

 #!/bin/bash
-./server -m 1 -b 1 -i 1 -l 2,3 -t 100 -o 10000
+COUPLER_SR=.
+$COUPLER_SR/server -m 1 -b 1 -i 1 -l 2 -t 1000 -o 5000 -n opc.udp://224.0.0.22:4840/

coupler/opc-ua-server/coupler2.sh

 #!/bin/bash
-./server -p 4841 -m 1 -b 1 -i 2 -l 1,3 -t 100 -o 10000
+COUPLER_SR=.
+$COUPLER_SR/server -p 4841 -m 1 -b 1 -i 2 -l 1 -t 1000 -o 5000 -n opc.udp://224.0.0.22:4840/

coupler/opc-ua-server/coupler3.sh

 #!/bin/bash
-./server -p 4842 -m 1 -b 1 -i 3 -l 1,2 -t 100 -o 10000
+COUPLER_SR=.
+$COUPLER_SR/server -p 4842 -m 1 -b 1 -i 3 -l 1,2 -t 1000 -o 5000

coupler/opc-ua-server/keep_alive.h

@@ -5,7 +5,7 @@ char *NETWORK_ADDRESS_URL_DATA_TYPE = "opc.udp://224.0.0.22:4840/";
 // global HEART BEATs of coupler
 static unsigned int HEART_BEATS = 0;
 
-// the heart beat interval$$
+// the heart beat interval (in ms)
 const int DEFAULT_HEART_BEAT_INTERVAL = 250;
 static int HEART_BEAT_INTERVAL = DEFAULT_HEART_BEAT_INTERVAL;
 

coupler/opc-ua-server/keep_alive_publisher.h

@@ -141,7 +141,25 @@ void callbackTicHeartBeat()
 
     // set OPC UA's heat_beat node value
     UA_NodeId myFloatNodeId = UA_NODEID_STRING(1, "heart_beat");
-    UA_Float myFloat = HEART_BEATS;
+    
+    // XXX: implement heart_beat like <ID>.<heart_beats>
+    int len = snprintf(NULL, 0, "%d", HEART_BEATS);
+    char *result1 = malloc(len + 1);
+    snprintf(result1, len + 1, "%d", HEART_BEATS);
+
+    int len1 = snprintf(NULL, 0, "%d", COUPLER_ID);
+    char *result2 = malloc(len1 + 1);
+    snprintf(result2, len1 + 1, "%d", COUPLER_ID);
+    
+    // concat
+    strcat(result2, ".");
+    strcat(result2, result1);
+   
+    char * end_ptr;
+    float final_result = strtof(result2, &end_ptr );
+    //printf( "final_result: %f\n", final_result );
+
+    UA_Float myFloat = final_result;
     UA_Variant myVar;
     UA_Variant_init(&myVar);
     UA_Variant_setScalar(&myVar, &myFloat, &UA_TYPES[UA_TYPES_FLOAT]);

coupler/opc-ua-server/keep_alive_subscriber.h

@@ -25,16 +25,18 @@ static void dataChangeNotificationCallback(UA_Server *server, UA_UInt32 monitore
                                void *monitoredItemContext, const UA_NodeId *nodeId,
                                void *nodeContext, UA_UInt32 attributeId,
                                const UA_DataValue *var) {
-    unsigned long int milli_seconds_now = getMilliSecondsSinceEpoch();
+    unsigned long int milli_seconds_now;
+    unsigned int coupler_id;
 
     // filter out ID from Data Set
+    /*
     if(UA_Variant_hasScalarType(&var->value, &UA_TYPES[UA_TYPES_UINT32])) {
-        unsigned int coupler_id = *(UA_UInt32*) var->value.data;
+        coupler_id = *(UA_UInt32*) var->value.data;
         // care for other coupler_id NOT ourselves
         if (coupler_id!=COUPLER_ID) {
-          //UA_LOG_INFO(UA_Log_Stdout, \
-          //           UA_LOGCATEGORY_USERLAND, \
-          //           "HEART BEAT: %d", coupler_id);
+          UA_LOG_INFO(UA_Log_Stdout, \
+                     UA_LOGCATEGORY_USERLAND, \
+                     "HEART BEAT: %d", coupler_id);
 
           // convert coupler_id to str
           char* coupler_id_str = convertInt2Str(coupler_id);
@@ -44,14 +46,31 @@ static void dataChangeNotificationCallback(UA_Server *server, UA_UInt32 monitore
 
           // Add to our local linked list
           addItem(&SUBSCRIBER_DICT, coupler_id_str, milli_seconds_now_str);
-
+         
         }
     }
+    */
 
     // filter out heart_beat from Data Set
     if(UA_Variant_hasScalarType(&var->value, &UA_TYPES[UA_TYPES_FLOAT])) {
         float heart_beat = *(UA_Float*) var->value.data;
-        //UA_LOG_INFO(UA_Log_Stdout, UA_LOGCATEGORY_USERLAND, "heart_beat = %f", heart_beat);
+        milli_seconds_now = getMilliSecondsSinceEpoch();
+        // split <ID>.<heart_beats>, just converting to int is enough
+        coupler_id = (int) heart_beat;
+        if (coupler_id!=COUPLER_ID) {
+          UA_LOG_INFO(UA_Log_Stdout, \
+                     UA_LOGCATEGORY_USERLAND, \
+                     "HEART BEAT: %d", coupler_id);
+
+	  // convert coupler_id to str
+          char* coupler_id_str = convertInt2Str(coupler_id);
+
+          // convert micro seconds to str
+          char* milli_seconds_now_str = convertLongInt2Str(milli_seconds_now);
+
+          // Add to our local linked list
+          addItem(&SUBSCRIBER_DICT, coupler_id_str, milli_seconds_now_str);
+	}
     }
 }
 
@@ -198,7 +217,8 @@ static UA_StatusCode addSubscribedVariables(UA_Server *server, UA_NodeId dataSet
         /*monitor variable*/
         if (ENABLE_HEART_BEAT_CHECK) {
           UA_MonitoredItemCreateRequest monRequest = UA_MonitoredItemCreateRequest_default(newNode);
-          UA_Server_createDataChangeMonitoredItem(server, UA_TIMESTAMPSTORETURN_SOURCE,
+          //monRequest.requestedParameters.samplingInterval = 100.0; /* 100 ms interval */
+          UA_Server_createDataChangeMonitoredItem(server, UA_TIMESTAMPSTORETURN_NEITHER,
                                                   monRequest, NULL, dataChangeNotificationCallback);
         }
         /* For creating Targetvariables */

tsn/a20-prod-1/start_ptp4l.sh

+#!/bin/bash
+chrt -f 97 ptp4l -s -S -i eth0 --step_threshold=1 -m &> ptp4l_eth0.log &

tsn/a20-prod/pin-processes.sh

+#!/bin/sh
+
+# Pin ethernet IRQ bottom half to CPU1
+echo 2 > /proc/irq/56/smp_affinity
+
+# Get PID for ethernet IRQ
+irq56_pid=$(pgrep "irq/56-eth0")
+
+# Pin ethernet IRQ upper half to CPU1
+taskset -p 2 $irq56_pid
+
+# Get PID for ksoftirqd1
+ksoftirq1_pid=$(pgrep "ksoftirqd/1")
+
+# Set high priority for ksoftirqd/1
+chrt -f -p 97 $ksoftirq1_pid

tsn/a20-prod/start_ptp4l.sh

+#!/bin/bash
+chrt -f 97 ptp4l -s -S -i eth0 --step_threshold=1 -m &> ptp4l_eth0.log &

tsn/k3/kill_all.sh

+#!/bin/bash
+
+# kill all
+pkill -f "ptp4l"
+pkill -f "phc2sys"

tsn/k3/start_ptp4l_enp6s0.sh

+#!/bin/bash
+
+chrt -f 97 ptp4l -H -i enp6s0  --step_threshold=1 -m &> ptp4l_enp6s0.log &
+
+pmc -u -b 0 -i enp6s0 "SET GRANDMASTER_SETTINGS_NP clockClass 248 clockAccuracy 0xfe offsetScaledLogVariance 0xffff currentUtcOffset 37 leap61 0 leap59 0 currentUtcOffsetValid 1 ptpTimescale 1 timeTraceable 1 frequencyTraceable 0 timeSource 0xa0"
+
+chrt -f 95 phc2sys -m -c enp6s0 -s CLOCK_REALTIME --step_threshold=1 -w &> phc2sys_enp6s0.log &

tsn/k3/start_ptp4l_enp7s0.sh

+#!/bin/bash
+chrt -f 97 ptp4l -H -i enp7s0  --step_threshold=1 -m &> ptp4l_enp7s0.log &
+
+pmc -u -b 0 -i enp7s0 "SET GRANDMASTER_SETTINGS_NP clockClass 248 clockAccuracy 0xfe offsetScaledLogVariance 0xffff currentUtcOffset 37 leap61 0 leap59 0 currentUtcOffsetValid 1 ptpTimescale 1 timeTraceable 1 frequencyTraceable 0 timeSource 0xa0"
+
+chrt -f 95 phc2sys -m -c enp7s0 -s CLOCK_REALTIME --step_threshold=1 -w &> phc2sys_enp7s0.log &