Industrial Control Via Application Containers: Migrating from Bare-Metal to IAAS
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RTAI-Lab Tutorial: Scicoslab, Comedi, and Real-Time Control
RTAI-Lab tutorial: Scicoslab, Comedi, and real-time control Roberto Bucher 1 Simone Mannori Thomas Netter 2 May 24, 2010 Summary RTAI-Lab is a tool chain for real-time software and control system development. This tutorial shows how to install the various components: the RTAI real-time Linux kernel, the Comedi interface for control and measurement hardware, the Scicoslab GUI-based CACSD modeling software and associated RTAI-Lab blocks, and the xrtailab interactive oscilloscope. RTAI-Lab’s Scicos blocks are detailed and examples show how to develop elementary block diagrams, automatically generate real-time executables, and add custom elements. 1Main RTAI-Lab developer, person to contact for technical questions: roberto.bucher at supsi.ch, see page 46 Contents 1 Introduction 4 1.1 RTAI-Lab tool chain . .4 1.2 Commercial software . .4 2 Installation 5 2.1 Requirements . .5 2.1.1 Hardware requirements . .5 2.1.2 Software requirements . .6 2.2 Mesa library . .7 2.3 EFLTK library . .7 2.4 Linux kernel and RTAI patch . .7 2.5 Comedilib . .8 2.6 RTAI (1st pass) . .8 2.7 RTAI tests . .9 2.8 Comedi . .9 2.9 RTAI (2nd pass) . 10 2.10 ScicosLab . 11 2.11 RTAI-Lab add-ons to Scicoslab-4.4 . 11 2.12 User configuration for scicoslab-4.4 . 11 2.13 Load the modules . 11 3 Development with RTAI-Lab 13 3.1 Boot Linux-RTAI . 13 3.2 Start Scicos . 13 3.3 RTAI-Lib palette . 14 3.4 Real-time sinewave: step by step . 16 3.4.1 Create block diagram . -
Portability: Containers, Cloud
JEDI Portability Across Platforms Containers, Cloud Computing, and HPC Mark Miesch, Rahul Mahajan, Xin Zhang, David Hahn, Francois Vandenberg, Jim Rosinski, Dan Holdaway, Yannick Tremolet, Maryam Abdioskouei, Steve Herbener, Mark Olah, Benjamin Menetrier, Anna Shlyaeva, Clementine Gas Academy website http://academy.jcsda.org/june2019 ‣ Instructions for accessing AWS ‣ Activity instructions ‣ Presentation slides ‣ Doxygen documentation for fv3-bundle We will add further content throughout the week Outline I) JEDI Portability Overview ✦ Unified vision for software development and distribution II) Container Fundamentals ✦ What are they? How do they work? ✦ Docker, Charliecloud, and Singularity III) Using the JEDI Containers ✦ How they are built and deployed ✦ Mac and Windows (Vagrant) IV) HPC and Cloud Computing ✦ Environment modules ✦ Containers in HPC? V) Summary and Outlook JEDI Software Dependencies ‣ Essential ✦ Compilers, MPI ✦ CMake Common versions among users ✦ SZIP, ZLIB and developers minimize ✦ LAPACK / MKL, Eigen 3 stack-related debugging ✦ NetCDF4, HDF5 ✦ udunits ✦ Boost (headers only) ✦ ecbuild, eckit, fckit ‣ Useful ✦ ODB-API, eccodes ✦ PNETCDF ✦ Parallel IO ✦ nccmp, NCO ✦ Python tools (py-ncepbufr, netcdf4, matplotlib…) ✦ NCEP libs ✦ Debuggers & Profilers (ddt/TotalView, kdbg, valgrind, TAU…) The JEDI Portability Vision I want to run JEDI on… Development ‣ My Laptop/Workstation/PC ✦ We provide software containers ✦ Mac & Windows system need to first establish a linux environment (e.g. a Vagrant/VirtualBox virtual machine) Development -
The Many Approaches to Real-Time and Safety Critical Linux Systems
Corporate Technology The Many Approaches to Real-Time and Safety-Critical Linux Open Source Summit Japan 2017 Prof. Dr. Wolfgang Mauerer Siemens AG, Corporate Research and Technologies Smart Embedded Systems Corporate Competence Centre Embedded Linux Copyright c 2017, Siemens AG. All rights reserved. Page 1 31. Mai 2017 W. Mauerer Siemens Corporate Technology Corporate Technology The Many Approaches to Real-Time and Safety-Critical Linux Open Source Summit Japan 2017 Prof. Dr. Wolfgang Mauerer, Ralf Ramsauer, Andreas Kolbl¨ Siemens AG, Corporate Research and Technologies Smart Embedded Systems Corporate Competence Centre Embedded Linux Copyright c 2017, Siemens AG. All rights reserved. Page 1 31. Mai 2017 W. Mauerer Siemens Corporate Technology Overview 1 Real-Time and Safety 2 Approaches to Real-Time Architectural Possibilities Practical Approaches 3 Approaches to Linux-Safety 4 Guidelines and Outlook Page 2 31. Mai 2017 W. Mauerer Siemens Corporate Technology Introduction & Overview About Siemens Corporate Technology: Corporate Competence Centre Embedded Linux Technical University of Applied Science Regensburg Theoretical Computer Science Head of Digitalisation Laboratory Target Audience Assumptions System Builders & Architects, Software Architects Linux Experience available Not necessarily RT-Linux and Safety-Critical Linux experts Page 3 31. Mai 2017 W. Mauerer Siemens Corporate Technology A journey through the worlds of real-time and safety Page 4 31. Mai 2017 W. Mauerer Siemens Corporate Technology Outline 1 Real-Time and Safety 2 Approaches to Real-Time Architectural Possibilities Practical Approaches 3 Approaches to Linux-Safety 4 Guidelines and Outlook Page 5 31. Mai 2017 W. Mauerer Siemens Corporate Technology Real-Time: What and Why? I Real Time Real Fast Deterministic responses to stimuli Caches, TLB, Lookahead Bounded latencies (not too late, not too Pipelines early) Optimise average case Repeatable results Optimise/quantify worst case Page 6 31. -
Xen on X86, 15 Years Later
Xen on x86, 15 years later Recent development, future direction QEMU Deprivileging PVShim Panopticon Large guests (288 vcpus) NVDIMM PVH Guests PVCalls VM Introspection / Memaccess PV IOMMU ACPI Memory Hotplug PVH dom0 Posted Interrupts KConfig Sub-page protection Hypervisor Multiplexing Talk approach • Highlight some key features • Recently finished • In progress • Cool Idea: Should be possible, nobody committed to working on it yet • Highlight how these work together to create interesting theme • PVH (with PVH dom0) • KConfig • … to disable PV • PVshim • Windows in PVH PVH: Finally here • Full PVH DomU support in Xen 4.10, Linux 4.15 • First backwards-compatibility hack • Experimental PVH Dom0 support in Xen 4.11 PVH: What is it? • Next-generation paravirtualization mode • Takes advantage of hardware virtualization support • No need for emulated BIOS or emulated devices • Lower performance overhead than PV • Lower memory overhead than HVM • More secure than either PV or HVM mode • PVH (with PVH dom0) • KConfig • … to disable PV • PVshim • Windows in PVH KConfig • KConfig for Xen allows… • Users to produce smaller / more secure binaries • Makes it easier to merge experimental functionality • KConfig option to disable PV entirely • PVH • KConfig • … to disable PV • PVshim • Windows in PVH PVShim • Some older kernels can only run in PV mode • Expect to run in ring 1, ask a hypervisor PV-only kernel (ring 1) to perform privileged actions “Shim” Hypervisor (ring 0) • “Shim”: A build of Xen designed to allow an unmodified PV guest to run in PVH mode -
Enabling Mobile Service Continuity Across Orchestrated Edge Networks
This is a postprint version of the following published document: Abdullaziz, O. I., Wang, L. C., Chundrigar, S. B. y Huang, K. L. (2019). Enabling Mobile Service Continuity across Orchestrated Edge Networks. IEEE Transactions on Network Science and Engineering, 7(3), pp. 1774-1787. DOI: https://doi.org/10.1109/TNSE.2019.2953129 © 2019 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works. Enabling Mobile Service Continuity across Orchestrated Edge Networks Osamah Ibrahiem Abdullaziz, Student Member, IEEE, Li-Chun Wang, Fellow, IEEE, Shahzoob Bilal Chundrigar and Kuei-Li Huang Abstract—Edge networking has become an important technology for providing low-latency services to end users. However, deploying an edge network does not guarantee continuous service for mobile users. Mobility can cause frequent interruptions and network delays as users leave the initial serving edge. In this paper, we propose a solution to provide transparent service continuity for mobile users in large-scale WiFi networks. The contribution of this work has three parts. First, we propose ARNAB architecture to achieve mobile service continuity. The term ARNAB means rabbit in Arabic, which represents an Architecture for Transparent Service Continuity via Double-tier Migration. The first tier migrates user connectivity, while the second tier migrates user containerized applications. ARNAB provides mobile services just like rabbits hop through the WiFi infrastructure. -
Building Embedded Linux Systems ,Roadmap.18084 Page Ii Wednesday, August 6, 2008 9:05 AM
Building Embedded Linux Systems ,roadmap.18084 Page ii Wednesday, August 6, 2008 9:05 AM Other Linux resources from O’Reilly Related titles Designing Embedded Programming Embedded Hardware Systems Linux Device Drivers Running Linux Linux in a Nutshell Understanding the Linux Linux Network Adminis- Kernel trator’s Guide Linux Books linux.oreilly.com is a complete catalog of O’Reilly’s books on Resource Center Linux and Unix and related technologies, including sample chapters and code examples. ONLamp.com is the premier site for the open source web plat- form: Linux, Apache, MySQL, and either Perl, Python, or PHP. Conferences O’Reilly brings diverse innovators together to nurture the ideas that spark revolutionary industries. We specialize in document- ing the latest tools and systems, translating the innovator’s knowledge into useful skills for those in the trenches. Visit con- ferences.oreilly.com for our upcoming events. Safari Bookshelf (safari.oreilly.com) is the premier online refer- ence library for programmers and IT professionals. Conduct searches across more than 1,000 books. Subscribers can zero in on answers to time-critical questions in a matter of seconds. Read the books on your Bookshelf from cover to cover or sim- ply flip to the page you need. Try it today for free. main.title Page iii Monday, May 19, 2008 11:21 AM SECOND EDITION Building Embedded Linux SystemsTomcat ™ The Definitive Guide Karim Yaghmour, JonJason Masters, Brittain Gilad and Ben-Yossef, Ian F. Darwin and Philippe Gerum Beijing • Cambridge • Farnham • Köln • Sebastopol • Taipei • Tokyo Building Embedded Linux Systems, Second Edition by Karim Yaghmour, Jon Masters, Gilad Ben-Yossef, and Philippe Gerum Copyright © 2008 Karim Yaghmour and Jon Masters. -
Hugo Gonzálezgonzález
This work is licensed under the Creative Commons Attribution-NonCommercial-ShareAlike 3.0 Unported License. To view a copy of this license, visit http://creativecommons.org/licenses/by-nc-sa/3.0/ HugoHugo GonzálezGonzález @hugo_glez http://atit.upslp.edu.mx/~hugo/ Linux en sistemas de tiempo realLinux en sistemas de tiempo real Hugo Francisco González Robledo [email protected] presenta: Sistema Operativo de Tiempo Real ● Un sistema operativo de tiempo real (SOTR o RTOS Real Time Operating System en inglés), ha sido desarrollado para aplicaciones de tiempo real. Se le exige corrección en sus respuestas bajo ciertas restricciones de tiempo. Para garantizar el comportamiento correcto en el tiempo requerido se necesita que el sistema sea predecible (determinista). 1 [1] Fuente: Wikipedia. http://es.wikipedia.org/wiki/Sistemas_operativos_de_tiempo_real ¿Qué es tiempo real ? ● Tiempo real en los sistemas operativos: ● La habilidad del sistema operativo para proveer un determinado nivel de servicio bajo un tiempo de respuesta definido.2 [2] POSIX Standard 1003.1 Catacterísticas ● Usado típicamente para aplicaciones integradas, normalmente tiene las siguientes características: – No utiliza mucha memoria – Cualquier evento en el soporte físico puede hacer que se ejecute una tarea – Multiarquitectura (puertos de código para otro tipo de CPU) – Muchos tienen tiempos de respuesta predecibles para eventos electrónicos Características deseables 3 ● Multithreaded y preemptible ● Thread priority has to exist because no deadline driven -
Xen to KVM Migration Guide
SUSE Linux Enterprise Server 12 SP4 Xen to KVM Migration Guide SUSE Linux Enterprise Server 12 SP4 As the KVM virtualization solution is becoming more and more popular among server administrators, many of them need a path to migrate their existing Xen based environments to KVM. As of now, there are no mature tools to automatically convert Xen VMs to KVM. There is, however, a technical solution that helps convert Xen virtual machines to KVM. The following information and procedures help you to perform such a migration. Publication Date: September 24, 2021 Contents 1 Migration to KVM Using virt-v2v 2 2 Xen to KVM Manual Migration 9 3 For More Information 18 4 Documentation Updates 18 5 Legal Notice 18 6 GNU Free Documentation License 18 1 SLES 12 SP4 Important: Migration Procedure Not Supported The migration procedure described in this document is not fully supported by SUSE. We provide it as a guidance only. 1 Migration to KVM Using virt-v2v This section contains information to help you import virtual machines from foreign hypervisors (such as Xen) to KVM managed by libvirt . Tip: Microsoft Windows Guests This section is focused on converting Linux guests. Converting Microsoft Windows guests using virt-v2v is the same as converting Linux guests, except in regards to handling the Virtual Machine Driver Pack (VMDP). Additional details on converting Windows guests with the VMDP can be found in the separate Virtual Machine Driver Pack documentation at https://www.suse.com/documentation/sle-vmdp-22/ . 1.1 Introduction to virt-v2v virt-v2v is a command line tool to convert VM Guests from a foreign hypervisor to run on KVM managed by libvirt . -
DIAPM-RTAI a Hard Real Time Support for LINUX
DIAPM-RTAI Dipartimento di Ingegneria Aerospaziale, Politecnico di Milano Real Time Application Interface (for Linux) A Hard Real Time support for LINUX This document explains how to call the functions available in DIAPM-RTAI The RTAI distribution (www.aero.polimi.it/projects/rtai/) contains a wealth of examples showing how to use services and APIs described herein. Document written by: E. Bianchi, L. Dozio, P. Mantegazza. Dipartimento di Ingegneria Aerospaziale Politecnico di Milano e-mail: [email protected] e-mail: [email protected] e-mail: [email protected] Appendices contributed also by Pierre Cloutier and Steve Papacharalabous: e-mail: [email protected] e-mail: [email protected] Send comments and fixes to the manual coordinator Giuseppe Renoldi: e-mail: [email protected] Help by Gábor Kiss, Computer and Automation Institute of Hungarian Academy of Sciences, in updating and revising this doc is acknowledged. SUMMARY RTAI_SCHED MODULE .......................................................................................... 7 Task functions ................................................................................................................................ 8 rt_task_init ....................................................... 9 rt_task_init_cpuid ................................................. 9 rt_task_delete .................................................... 11 rt_task_make_periodic ............................................. 12 rt_task_make_periodic_relative_ns ................................ -
Assessment of the Technical Feasibility of ICT and Charging Solutions
Assessment of the technical feasibility of ICT and charging solutions Deliverable No. D4.2.1 Workpackage No. WP4.2 Workpackage Title Technical feasibility of ICT and charging solutions Authors ENIDE, ICCS, CEA, CIRCE, CRF, TECNO, UNIGE, VEDE Status (Final; Draft) Final Dissemination level (Public; Public Restricted; Confidential) Project start date and duration 01 January 2014, 48 Months Revision date 2014 – 10 – 31 Submission date 2014 – 10 – 31 This project has received funding from the European Union’s Seventh Framework Programme for research, technological development and demonstration under grant agreement no 605405 Copyright FABRIC <D4.2.1> Public Contract N. 605405 TABLE OF CONTENTS EXECUTIVE SUMMARY ............................................................................................................................ 12 1. INTRODUCTION ............................................................................................................................... 17 1.1 GENERAL .................................................................................................................................... 17 1.2 CONTRIBUTION TO FABRIC OBJECTIVES ...................................................................................... 17 1.3 DELIVERABLE STRUCTURE ........................................................................................................... 17 2. METHODOLOGY .............................................................................................................................. 19 2.1 GENERAL -
Real-Time in Embedded Linux Systems
Linux and real-time Thomas Petazzoni Free Electrons 1 Free Electrons. Kernel, drivers and embedded Linux development, consulting, training and support. http://free-electrons.com Who am I ? Thomas Petazzoni Work for Free Electrons, an embedded Linux consulting and training company Development services (bootloader, kernel, drivers, system integration, boot time optimizations, power management, etc.) Training (documents freely available under CC-BY-SA) http://www.free-electrons.com And also Buildroot developer (embedded Linux build system) MapOSMatic developer (OpenStreetMap city map generator) Co-founder of Toulibre http://thomas.enix.org 2 Free Electrons. Kernel, drivers and embedded Linux development, consulting, training and support. http://free-electrons.com Real Time in Embedded Linux Systems Introduction 3 Free Electrons. Kernel, drivers and embedded Linux development, consulting, training and support. http://free-electrons.com Embedded Linux and real time Due to its advantages, Linux and the open-source softwares are more and more commonly used in embedded applications However, some applications also have real-time constraints They, at the same time, want to Get all the nice advantages of Linux: hardware support, components re-use, low cost, etc. Get their real-time constraints met ? 4 Free Electrons. Kernel, drivers and embedded Linux development, consulting, training and support. http://free-electrons.com Embedded Linux and real time Linux is an operating system part of the large Unix family It was originally designed as a time-sharing system The main goal is to get the best throughput from the available hardware, by making the best possible usage of resources (CPU, memory, I/O) Time determinism is not taken into account On the opposite, real-time constraints imply time determinism, even at the expense of lower global throughput Best throughput and time determinism are contradictory requirements 5 Free Electrons. -
L4 – Virtualization and Beyond
L4 – Virtualization and Beyond Hermann Härtig!," Michael Roitzsch! Adam Lackorzynski" Björn Döbel" Alexander Böttcher! #!Department of Computer Science# "GWT-TUD GmbH # Technische Universität Dresden# 01187 Dresden, Germany # 01062 Dresden, Germany {haertig,mroi,adam,doebel,boettcher}@os.inf.tu-dresden.de Abstract Mac OS X environment, using full hardware After being introduced by IBM in the 1960s, acceleration by the GPU. Virtual machines are virtualization has experienced a renaissance in used to test potentially malicious software recent years. It has become a major industry trend without risking the host environment and they in the server context and is also popular on help developers in debugging crashes with back- consumer desktops. In addition to the well-known in-time execution. benefits of server consolidation and legacy In the server world, virtual machines are used to preservation, virtualization is now considered in consolidate multiple services previously located embedded systems. In this paper, we want to look on dedicated machines. Running them within beyond the term to evaluate advantages and virtual machines on one physical server eases downsides of various virtualization approaches. management and helps saving power by We show how virtualization can be increasing utilization. In server farms, migration complemented or even superseded by modern of virtual machines between servers is used to operating system paradigms. Using L4 as the balance load with the potential of shutting down basis for virtualization and as an advanced completely unloaded servers or adding more to microkernel provides a best-of-both-worlds increase capacity. Lastly, virtual machines also combination. Microkernels can contribute proven isolate different customers who can purchase real-time capabilities and small trusted computing virtual shares of a physical server in a data center.