path: root/scripts/latency-plot

#!/usr/bin/wish8.5

# Notes:
# notusing y axis title because it coredumps with X BadMatch with wish8.5
# (it works with wish8.4, tcl8.5 introduced a problem for rotated text)
# see also:
# http://lists.fedoraproject.org/pipermail/package-announce/2010-January/034295.html

#-----------------------------------------------------------------------
# Copyright: 2011
# Author:    Dewey Garrett <dgarrett@panix.com>
#
# This program is free software; you can redistribute it and/or modify
# it under the terms of the GNU General Public License as published by
# the Free Software Foundation; either version 2 of the License, or
# (at your option) any later version.
#
# This program is distributed in the hope that it will be useful,
# but WITHOUT ANY WARRANTY; without even the implied warranty of
# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
# GNU General Public License for more details.
#
# You should have received a copy of the GNU General Public License
# along with this program; if not, write to the Free Software
# Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
#-----------------------------------------------------------------------
package require Tk 8.5 ;# needed for clock milliseconds

proc popup {msg} { \
  set answer [tk_messageBox \
     -parent . \
     -icon error \
     -type ok \
     -title "Message" \
     -message  "$msg" \
     ]
   puts $msg
} ;# popup

if [catch {package require BLT} msg] {
  if {[string first "version conflict" $msg] == 0} {
    set msg "BLT version conflict!\n\n$msg"
  } elseif {[string first "can't find package" $msg] == 0} {
    set msg "package BLT not found!\nrun: sudo apt-get install blt"
  } else {
    set msg "unhandled error:\n$msg"
  }
  popup $msg
  exit 1
}

proc setdefaults {} {
  set           ::sc(halrun) [exec which halrun]
  set         ::sc(realtime) [exec linuxcnc_var REALTIME]

  # note: program updates at 1 second intervals
  set          ::sc(xpoints)    60  ;# x axis points
  set      ::sc(xpoints,min)    15  ;#
  set      ::sc(xpoints,max) 15360  ;#
  set          ::sc(shiftby)     1  ;# x axis shiftby points
  set     ::sc(::yv1,smooth) linear ;# linear,step,...
  set     ::sc(::yv2,smooth) linear
  set     ::sc(::yv3,smooth) step
  set     ::sc(::yv4,smooth) step
  set     ::sc(::yv1,symbol) ""     ;# square,circle,...
  set     ::sc(::yv2,symbol) ""
  set     ::sc(::yv3,symbol) circle
  set     ::sc(::yv4,symbol) square
  set     ::sc(::yv1,pixels) 0      ;# symbol size
  set     ::sc(::yv2,pixels) 0
  set     ::sc(::yv3,pixels) 2
  set     ::sc(::yv4,pixels) 2
  set  ::sc(::yv1,linewidth) 2
  set  ::sc(::yv2,linewidth) 2
  set  ::sc(::yv3,linewidth) 1
  set  ::sc(::yv4,linewidth) 1
  set      ::sc(::yv1,color) red
  set      ::sc(::yv2,color) blue
  set      ::sc(::yv3,color) green
  set      ::sc(::yv4,color) yellow
  set       ::sc(grid,color) white
  set        ::sc(grid,hide) no
  set ::sc(color,background) black
  set       ::sc(clock,mode) relative ;# actual | relative
  set  ::sc(mem,max,percent) 1.0
  set              ::sc(pid) [pid]

  set      ::sc(data,source) hal_timedelta

  # hal_timedelta defaults:
  set   ::sc(base,period,ns)   25000
  set  ::sc(servo,period,ns) 1000000
  set        ::sc(report,ms)    1000
  set    ::sc(report,ms,min)     100
  set    ::sc(report,ms,max)   10000

  set        ::sc(sample,ms) 10 ;# min value is 1 mS using tcl after cmd
                                ;# not sure all cpus could do 1mS so use 10mS
  set  ::sc(show,sample,max)  1 ;# 1: show max  .out value in report,ms interval
                                ;# 0: show last .out value of report,ms interval
} ;# setdefaults

proc init {} {
  set ::sc(label) "Latency (uSeconds) vs Time (seconds)   Wall:"
  switch $::sc(clock,mode) {
    actual   {set ::sc(button,timescale) 1}
    relative {set ::sc(button,timescale) 0}
  }
  set sp [format %.0f [expr $::sc(servo,period,ns)/1000]]
  set bp [format %.0f [expr $::sc(base,period,ns)/1000]]
  wm title .  "[file tail $::argv0] (servo: $sp uS, base: $bp uS)"
  update_timescale

  blt::vector create ::xv
  blt::vector create ::yv1; set ::yv1(++end) 0.0
  blt::vector create ::yv2; set ::yv2(++end) 0.0
  blt::vector create ::yv3; set ::yv3(++end) 0.0
  blt::vector create ::yv4; set ::yv4(++end) 0.0

  switch $::sc(data,source) {
    hal_timedelta  {init_hal_timedelta
      set ::xv(++end) [expr [clock milliseconds]/1000.]
    }
    default {return -code error "init: unknown data,source: <$::sc(data,source)>"}
  }
  wm protocol . WM_DELETE_WINDOW finish

} ;# init

proc init_hal_timedelta {} {
  if [catch {set ans [eval exec $::sc(realtime) start]} msg] {
    # see note on abomination it scripts/realtime.in
    if {[string length "$msg"] > 1} {
      puts stderr "$::argv0:msg<$msg>"
    }
  } else {
    if {[string length "$ans"] > 1} {
      puts stderr "$::argv0:ans<$ans>"
    }
  }

  package require Hal

  set ::sc(v,name,pairs) { ::yv1 b:max \
                           ::yv2 s:max \
                           ::yv3 b:latency \
                           ::yv4 s:latency }
  set ::sc(servo,max,last) 0
  set ::sc(base,max,last)  0
  set ::sc(servo,out,sample,max) 0
  set ::sc(base,out,sample,max)  0
} ;# init_hal_timedelta

proc check {} {
  if {[string first rtai [exec lsmod]] < 0} {
    #puts "ok -- no rtai modules currently loaded"
  } else {
    set msg "Cannot start with rtai modules loaded.\
Stop all programs (linuxcnc) using realtime first and then run:\n\n\
halrun -U\n"
    popup $msg
    exit 1
  }
  switch $::sc(data,source) {
    hal_timedelta  {}
    default {return -code error "init: unknown data,source: <$::sc(data,source)>"}
  }
} ;# check

proc mcheck {} {
  # cautionary check on memory usage
  # %mem "ratio of process's resident set size to the physical mem in percent"
  set mempercent [eval exec ps --no-headers --pid $::sc(pid) -o %mem]
  if {$mempercent > $::sc(mem,max,percent)} {
    set msg "Memory used is ${mempercent}%, Exiting"
    popup $msg
    exit 1
  }
  after 10000 mcheck
} ;# mcheck

proc start {} {
  switch $::sc(data,source) {
    hal_timedelta  {start_hal_timedelta}
    default {return -code error "init: unknown data,source: <$::sc(data,source)>"}
  }
} ;# start

proc start_hal_timedelta {} {
  hal loadrt threads name1=base period1=$::sc(base,period,ns) \
                     name2=servo period2=$::sc(servo,period,ns)
  hal loadrt timedelta names=base:time,servo:time
  hal addf  base:time base
  hal addf servo:time servo

  hal net  servo_max    servo:time.max
  hal net  servo_jitter servo:time.jitter
  hal net  servo_out    servo:time.out
  hal net  base_max     base:time.max
  hal net  base_jitter  base:time.jitter
  hal net  base_out     base:time.out

  hal start

  set ::sc(start,time)  [expr [clock milliseconds]/1000.]
  set ::sc(after,hal,sample) [after $::sc(sample,ms) hal_sample]
  set ::sc(after,hal,report) [after $::sc(report,ms) hal_report]
  after 2000 [list $::sc(stripchart) axis configure x -hide no]
} ;# start_hal_timedelta

proc hal_sample {} {
  set  ::sc(base,out,sample) [hal getp  base:time.out]
  set  ::sc(servo,out,sample) [hal getp  servo:time.out]

  # save the largest sampled .out value:
  if {$::sc(base,out,sample) > $::sc(base,out,sample,max)} {
    set ::sc(base,out,sample,max) $::sc(base,out,sample)
  }
  if {$::sc(servo,out,sample) > $::sc(servo,out,sample,max)} {
    set ::sc(servo,out,sample,max) $::sc(servo,out,sample)
  }
  # reschedule:
  set ::sc(after,hal,sample) [after $::sc(sample,ms) hal_sample]
} ;# hal_sample

proc hal_report {} {
  set  ::sc(base,max)  [hal getp  base:time.max]
  set  ::sc(servo,max) [hal getp servo:time.max]
  set  ::sc(base,out)  [hal getp  base:time.out]
  set  ::sc(servo,out) [hal getp servo:time.out]

  if $::sc(show,sample,max) {
    set ::sc(base,lat)  $::sc(base,out,sample,max)
    set ::sc(servo,lat) $::sc(servo,out,sample,max)
  } else {
    set ::sc(base,lat)  $::sc(base,out)
    set ::sc(servo,lat) $::sc(servo,out)
  }

  # This script undersamples the hal threads so it can miss a latency
  # spike that bumps (*,max). Detect explicitly whenever an increase
  # in (*,max) occurs during the (report,ms) interval:
  if { $::sc(base,max) > $::sc(base,max,last) } {
    set ::sc(base,lat) $::sc(base,max)
  }
  if { $::sc(servo,max) > $::sc(servo,max,last) } {
    set ::sc(servo,lat) $::sc(servo,max)
  }
  set ::xv(++end)  [expr [clock milliseconds]/1000.]
  set ::yv1(++end) [expr ($::sc(base,max)  -  $::sc(base,period,ns) )/1000]
  set ::yv2(++end) [expr ($::sc(servo,max) - $::sc(servo,period,ns) )/1000]
  set ::yv3(++end) [expr ($::sc(base,lat)  -  $::sc(base,period,ns) )/1000]
  set ::yv4(++end) [expr ($::sc(servo,lat) - $::sc(servo,period,ns) )/1000]

  if {[info exists ::env(verbose_latency_plot)]} {
    set ::sc(base,jitter)  [hal getp  base:time.jitter]
    set ::sc(servo,jitter) [hal getp servo:time.jitter]
    puts [format "%7.0f %7.0f %7.0f %8.0f      %8.0f %8.0f %8.0f %9.0f"\
         $::sc(base,max) \
         $::sc(base,out) \
         $::sc(base,jitter) \
         $::sc(base,lat) \
         $::sc(servo,max) \
         $::sc(servo,out) \
         $::sc(servo,jitter) \
         $::sc(servo,lat) \
         ]
  } ;# if verbose

  set ::sc(base,max,last)  $::sc(base,max)
  set ::sc(servo,max,last) $::sc(servo,max)

  set  ::sc(base,out,sample,max)  0
  set  ::sc(servo,out,sample,max) 0

  # reschedule:
  set ::sc(after,hal,report) [after $::sc(report,ms) hal_report]
} ;# hal_report

proc restart {} {
  switch $::sc(data,source) {
    hal_timedelta  {restart_hal_timedelta}
    default {return -code error "init: unknown data,source: <$::sc(data,source)>"}
  }
} ;# restart

proc restart_hal_timedelta {} {
  $::sc(stripchart) axis configure x -hide yes
  after cancel $::sc(after,hal,sample)
  after cancel $::sc(after,hal,report)

  hal setp servo:time.reset 1
  hal setp  base:time.reset 1

  ::xv set {}
  ::yv1 set {}; ::yv2 set {}; ::yv3 set {}; ::yv4 set {}
  set ::sc(start,time) [expr [clock milliseconds]/1000.]
  set ::xv(++end)  $::sc(start,time)

  update ;# !!
  hal setp servo:time.reset 0
  hal setp  base:time.reset 0

  set ::sc(after,hal,sample) [after $::sc(sample,ms) hal_sample]
  set ::sc(after,hal,report) [after $::sc(report,ms) hal_report]
  after 2000 [list $::sc(stripchart) axis configure x -hide no]
} ;# restart_hal_timedelta

proc setup_stripchart {} {
  wm minsize . 400 300
  pack [frame .f1] -fill both -expand 1
  set ::sc(stripchart) [blt::stripchart .f1.s \
                        -plotbackground $::sc(color,background) \
                        -height 2i \
                       ]

  pack $::sc(stripchart) -expand yes -fill both

  $::sc(stripchart) grid configure \
      -hide $::sc(grid,hide) \
     -color $::sc(grid,color)

  $::sc(stripchart) legend configure \
       -anchor n \
     -position leftmargin

  # note: hide x axis label until autoranging completed
  $::sc(stripchart) axis configure x \
     -autorange $::sc(xpoints) \
       -shiftby $::sc(shiftby) \
       -command xfmt \
          -hide 1

  $::sc(stripchart) axis configure y \
     -autorange 0

  foreach {v name} $::sc(v,name,pairs) {
    $::sc(stripchart) element create $name \
           -xdata ::xv \
           -ydata $v \
           -color $::sc($v,color) \
       -linewidth $::sc($v,linewidth) \
          -smooth $::sc($v,smooth) \
          -symbol $::sc($v,symbol) \
          -pixels $::sc($v,pixels)
  }

  pack [frame .f2] -side top -anchor w -fill x -expand 0

  pack [frame .f3] -side left -anchor e -fill none -expand 0
  pack [button .f3.b1 -text "R"\
         -padx 2 -pady 0 \
         -command restart \
       ] -side left -expand 0
  pack [label .f3.l2 -text "Pts:"] -side left -expand 0
  pack [entry .f3.e -textvariable ::sc(xpoints) \
       -width 5 -justify right -state readonly] \
       -side left -fill none -expand 0
  pack [button .f3.decrement \
       -padx 3 -pady 0  -text "-" -command "xpoints decrease"] \
       -side left -fill none -expand 1
  pack [button .f3.increment \
       -padx 0 -pady 0 -text "+" -command "xpoints increase"] \
       -side left -fill none -expand 1
  set ::sc(button,decrease) .f3.decrement
  set ::sc(button,increase) .f3.increment

  pack [frame .f4] -side right -anchor w -fill x -expand 0
  pack [checkbutton .f4.b -command update_timescale\
       -variable ::sc(button,timescale)
       ] -side right -anchor w -fill x -expand 0
  pack [label .f4.l1 -text "$::sc(label)"]\
       -side left -anchor w -fill none -expand 1

} ;# setup_stripchart

proc update_timescale {} {
  switch $::sc(button,timescale) {
     0 {set ::sc(clock,mode) relative}
     1 {set ::sc(clock,mode) actual}
  }
} ;# update_timescale

proc finish {} {
  switch $::sc(data,source) {
    hal_timedelta  {finish_hal_timedelta}
    default {return -code error "init: unknown data,source: <$::sc(data,source)>"}
  }
} ;# finish

proc finish_hal_timedelta {} {
  after cancel $::sc(after,hal,sample)
  after cancel $::sc(after,hal,report)
  hal stop

  hal   delsig servo_max
  hal   delsig servo_jitter
  hal   delsig servo_out
  hal   delsig base_max
  hal   delsig base_jitter
  hal   delsig base_out

  hal     delf base:time base
  hal     delf servo:time servo
  hal unloadrt timedelta
  hal unloadrt threads ;# doesnt seem to work

  #puts [hal show funct]  ;# gone
  #puts [hal show thread] ;# not gone
  eval exec $::sc(halrun) -U

} ;# finish_hal_timedelta

proc xfmt {widget x} {
  switch $::sc(clock,mode) {
    relative { return [format %.0f [expr int($x - $::sc(start,time) + 0.5)]] }
    actual   { return [clock format $x -format "%H:%M:%S"] }
    default  { return -code error \
               "xfmt: unknown clock,mode <$::sc(clock,mode)>"}
  }
} ;# xfmt

proc xpoints {input} {
  switch $input {
    increase { set ::sc(xpoints) [expr $::sc(xpoints) * 2] }
    decrease { set ::sc(xpoints) [expr $::sc(xpoints)/2] }
  }
  if {$::sc(xpoints) <= $::sc(xpoints,min)} {
    set ::sc(xpoints) $::sc(xpoints,min)
    $::sc(button,decrease) configure -state disabled
  } else {
    $::sc(button,decrease) configure -state normal
  }
  if {$::sc(xpoints) >= $::sc(xpoints,max)} {
    set ::sc(xpoints) $::sc(xpoints,max)
    $::sc(button,increase) configure -state disabled
  } else {
    $::sc(button,increase) configure -state normal
  }

  $::sc(stripchart) axis configure x  -autorange $::sc(xpoints)
} ;# xpoints

proc usage {} {
  set prog [file tail $::argv0]
  puts ""
  puts "Usage:"
  puts "      $prog --help | -?      (this)"
  puts "      $prog --hal \[Options\]"
  puts ""
  puts "Options:"
  puts "      --base nS  (base  thread interval, default:   $::sc(base,period,ns))"
  puts "      --servo nS (servo thread interval, default: $::sc(servo,period,ns))"
  puts "      --time mS  (report interval, default: $::sc(report,ms))"
  puts "      --relative (relative clock time (default))"
  puts "      --actual   (actual clock time)"
} ;# usage

proc config {} {
  while {[llength $::argv] >0} {
    # beware wish handling of reserved cmdline arguments
    # to use -h: use -- -h,
    # lreplace shifts argv for no. of items for each iteration
    set currentarg [lindex $::argv 0]
    switch -- $currentarg {
      -? - --help {usage;exit 0}
      -H - --hal  {set ::sc(data,source) hal_timedelta}
      --actual    {set ::sc(clock,mode) actual}
      --relative  {set ::sc(clock,mode) relative}
      -b - --base {set t [lindex $::argv 1]
                   set ::sc(base,period,ns) $t
                   set ::argv [lreplace $::argv 0 0]
                  }
      -s - --servo {set t [lindex $::argv 1]
                    set ::sc(servo,period,ns) $t
                    set ::argv [lreplace $::argv 0 0]
                   }
      -t - --time {set t [lindex $::argv 1]
                   if {$t > $::sc(report,ms,max)} {
                     set t $::sc(report,ms,max)
                     puts "--time value too big, setting to $t"
                   }
                   if {$t < $::sc(report,ms,min)} {
                     set t $::sc(report,ms,min)
                     puts "--time value too small, setting to $t"
                   }
                   set ::sc(report,ms) $t
                   set ::argv [lreplace $::argv 0 0]
                  }
      default {lappend unknownargs $currentarg}
    }
    set ::argv [lreplace $::argv 0 0]
  } ;# while
  if [info exists unknownargs] {
    puts "\nIgnoring unknown args: <$unknownargs>"
  }
  if {$::sc(base,period,ns) > $::sc(servo,period,ns)} {
    set msg "Require base thread period <= servo thread period"
    puts $msg
    wm withdraw .
    popup $msg
    exit 1
  }
  if {$::sc(servo,period,ns) >= [expr $::sc(sample,ms) * 1000000]} {
    set msg "Require servo thread period < sample interval $::sc(sample,ms) mS"
    puts $msg
    wm withdraw .
    popup $msg
    exit 1
  }
} ;# config

# allow re-sourcing for testing
if ![info exists ::sc(xpoints)] {
  setdefaults
  config
  check
  init
  mcheck
  setup_stripchart
  start
} else {
  puts "already running"
}