Merge pull request #134 from cactusdynamics/examples-update

Batch 1 of example updates

CMakeLists.txt

@@ -183,11 +183,10 @@ if(${CMAKE_PROJECT_NAME} STREQUAL ${PROJECT_NAME})
 
   if (ENABLE_EXAMPLES)
     message(STATUS "Building example programs. Turn it off via ENABLE_EXAMPLES=OFF")
-    add_subdirectory(examples/lockless_example)
+    add_subdirectory(examples/lockless_examples)
     add_subdirectory(examples/logging_example)
     add_subdirectory(examples/message_passing_example)
     add_subdirectory(examples/mutex_example)
-    add_subdirectory(examples/signal_handling_example)
     add_subdirectory(examples/simple_deadline_example)
     add_subdirectory(examples/simple_example)
     add_subdirectory(examples/random_example)

README.md

@@ -29,22 +29,22 @@ writing a real-time Linux application. Some key features are:
 Examples
 --------
 
-See each example's README for more details on what they do.
-
 * [`simple_example`](examples/simple_example/): The most basic example showing
-  a single real-time looping thread.
-* [`signal_handling_example`](examples/signal_handling_example/): Same as
-  `simple_example`, except the program respond to SIGTERM and SIGINT and quit
-  upon receiving the signal.
-* [`logging_example`](examples/logging_example/): Demonstrates setting up custom
-  logging configuration via `cactus_rt::App`.
+  a single real-time looping thread running at 1000 Hz.
+* [`tracing_example`](examples/tracing_example/): This demonstrates how to use
+  the real-time-safe tracing system built into cactus-rt. This is probably a
+  good thing to undrestand immediately after the above example.
 * [`mutex_example`](examples/mutex_example/): Demonstrates the usage of
   priority-inheritence mutex (`cactus_rt::mutex`) to pass data between real-time
-  and non-real-time threads.
+  and non-real-time threads via the implementation of a mutex-based double
+  buffer.
+* [`logging_example`](examples/logging_example/): Demonstrates setting up custom
+  logging configuration via `cactus_rt::App`.
+
 * [`simple_deadline_example`](examples/simple_deadline_example/): Same as
   `simple_example`, except it uses `SCHED_DEADLINE` as opposed to `SCHED_FIFO`.
   This is for a more advanced use case.
-* [`tracing_example`](examples/tracing_example/): Shows how to dynamically start and stop tracing, as well as trace custom application functions.
+
 * [`tracing_example_no_rt`](examples/tracing_example_no_rt/): Shows how to using the tracing library in `cactus_rt` without using `cactus_rt::App`.
 
 

examples/lockless_examples/CMakeLists.txt

@@ -0,0 +1,10 @@
+add_executable(rt_lockless_realtime_read_example
+  realtime_read.cc
+)
+
+target_link_libraries(rt_lockless_realtime_read_example
+  PRIVATE
+  cactus_rt
+)
+
+setup_cactus_rt_target_options(rt_lockless_realtime_read_example)

examples/lockless_examples/README.md

@@ -0,0 +1,3 @@
+Lockless examples
+=================
+

examples/mutex_example/README.md

@@ -4,14 +4,17 @@
 This program shows the usage of sharing data between an RT and a non-RT thread
 via the `cactus_rt::mutex`, which is a priority-inheritence mutex compatible
 with the [`Lockable`](https://en.cppreference.com/w/cpp/named_req/Lockable)
-interface.
+interface. This means you can use this `mutex` just like you would a normal
+mutex from STL and expect that priority inheritance is enabled on it.
 
-Specifically, this example implements a very naive double buffer. This data
-structure has 2 data slots guarded by the priority-inheriting mutex. The RT
+In this example, we use the `cactus_rt::mutex` to implement a very naive double
+buffer. It has 2 data slots guarded by the priority-inheriting mutex. The RT
 thread writes to the double buffer at 1 kHz and the non-RT thread reads it every
 half second. Once it is read, it is logged via the `cactus_rt` logging
 capability.
 
+_Note: a lockless version of this double buffer is implemented by the cactus-rt framework under `cactus_rt::experimental::lockless::spsc::AtomicWritableValue` which doesn't require a lock. That serves as an alternative to this code without the usage of a mutex._
+
 To run:
 
 ```bash

examples/mutex_example/double_buffer.h

@@ -3,7 +3,6 @@
 
 #include <cactus_rt/mutex.h>
 
-#include <cstdint>
 #include <mutex>
 
 /**
@@ -12,7 +11,11 @@
  * Also only uses a single mutex so reads, writes, and swaps contend on a
  * single lock, which is no good for performance.
  *
- * Realistically, you would implement this in a lock-free manner, like this:
+ * cactus-rt already has something for this use case (real-time thread writes
+ * and non-real-time thread reads) implemented via the
+ * cactus_rt::experimental::lockless::spsc::RealtimeWritableValue.
+ *
+ * There could also be alternative implementations like:
  * https://stackoverflow.com/questions/23666069/single-producer-single-consumer-data-structure-with-double-buffer-in-c
  */
 template <typename T>

examples/mutex_example/main.cc

@@ -10,6 +10,9 @@ using cactus_rt::App;
 using cactus_rt::CyclicThread;
 using cactus_rt::Thread;
 
+// This is the data structure we are passing between the RT and non-RT thread.
+// It is big enough such that it cannot be atomically changed with a single
+// instruction to necessitate a mutex.
 struct Data {
   double v1 = 0.0;
   double v2 = 0.0;
@@ -21,8 +24,8 @@ class RTThread : public CyclicThread {
   NaiveDoubleBuffer<Data>& buf_;
 
  public:
-  explicit RTThread(const char* name, cactus_rt::CyclicThreadConfig config, NaiveDoubleBuffer<Data>& buf)
-      : CyclicThread(name, config),
+  explicit RTThread(NaiveDoubleBuffer<Data>& buf)
+      : CyclicThread("RTThread", CreateConfig()),
         buf_(buf) {}
 
  protected:
@@ -40,14 +43,24 @@ class RTThread : public CyclicThread {
 
     return LoopControl::Continue;
   }
+
+ private:
+  static cactus_rt::CyclicThreadConfig CreateConfig() {
+    cactus_rt::CyclicThreadConfig thread_config;
+    thread_config.period_ns = 1'000'000;
+    thread_config.SetFifoScheduler(80);
+
+    return thread_config;
+  }
 };
 
 class NonRTThread : public Thread {
   NaiveDoubleBuffer<Data>& buf_;
 
  public:
-  explicit NonRTThread(const char* name, cactus_rt::CyclicThreadConfig config, NaiveDoubleBuffer<Data>& buf)
-      : Thread(name, config), buf_(buf) {}
+  explicit NonRTThread(NaiveDoubleBuffer<Data>& buf)
+      : Thread("NonRTThread", CreateConfig()),
+        buf_(buf) {}
 
  protected:
   void Run() final {
@@ -58,32 +71,33 @@ class NonRTThread : public Thread {
       std::this_thread::sleep_for(std::chrono::milliseconds(500));
     }
   }
+
+ private:
+  static cactus_rt::ThreadConfig CreateConfig() {
+    cactus_rt::CyclicThreadConfig rt_thread_config;
+    rt_thread_config.SetOtherScheduler(0 /* niceness */);
+    return rt_thread_config;
+  }
 };
 
+// Trivial demonstration of the double buffer.
 void TrivialDemo() {
-  // Trivial demonstration that the double buffer does work..
   NaiveDoubleBuffer<int> buf;
   buf.Write(2);
   auto a = buf.SwapAndRead();
   std::cout << "a is " << a << std::endl;
 }
 
+// The actual application running.
 void ThreadedDemo() {
-  cactus_rt::CyclicThreadConfig rt_thread_config;
-  rt_thread_config.period_ns = 1'000'000;
-  rt_thread_config.SetFifoScheduler(80 /* priority */);
-
-  cactus_rt::CyclicThreadConfig non_rt_thread_config;
-  non_rt_thread_config.SetOtherScheduler(0 /* niceness */);
-
   // The double buffer is shared between the two threads, so we pass a reference
   // into the thread and maintain the object lifetime to this function.
   NaiveDoubleBuffer<Data> buf;
 
   App app;
 
-  auto rt_thread = app.CreateThread<RTThread>("RTThread", rt_thread_config, buf);
-  auto non_rt_thread = app.CreateThread<NonRTThread>("NonRTThread", non_rt_thread_config, buf);
+  auto rt_thread = app.CreateThread<RTThread>(buf);
+  auto non_rt_thread = app.CreateThread<NonRTThread>(buf);
 
   constexpr unsigned int time = 10;
   app.Start();

examples/simple_example/README.md

@@ -1,4 +1,12 @@
 `simple_example`
 ================
 
-The simplest real-time example to get started with.
+This gives you the most basic scaffolding to get started with in a 1000-Hz
+real-time application without any bells and whistles.
+
+To run this:
+
+```bash
+$ make debug
+$ sudo build/debug/examples/simple_example/rt_simple_example
+```

examples/simple_example/main.cc

@@ -29,14 +29,16 @@ class ExampleRTThread : public CyclicThread {
    * @brief This methods runs every loop, which for this particular example is every 1ms.
    *
    * @param elapsed_ns The number of nanoseconds elapsed since the App::Start was called.
-   * @return true if you want the thread to stop
-   * @return false if you want to thread to continue
+   * @return LoopControl::Continue if you want the thread to continue
+   * @return LoopControl::Stop if you want to thread to stop
    */
   LoopControl Loop(int64_t elapsed_ns) noexcept final {
     // Code written in this function executes every 1 ms.
 
     // This demonstrates the usage of the quill logger. This emits a log message every 1s.
     LOG_INFO_LIMIT(std::chrono::seconds(1), Logger(), "Looping for {}", std::chrono::nanoseconds(elapsed_ns));
+
+    // Return LoopControl::Stop if you want the thread to stop.
     return LoopControl::Continue;
   }
 
@@ -62,24 +64,30 @@ class ExampleRTThread : public CyclicThread {
 };
 
 int main() {
+  // Sets up the signal handlers for SIGINT and SIGTERM (by default).
+  cactus_rt::SetUpTerminationSignalHandler();
+
   // We first create cactus_rt App object.
   App app;
 
-  // We then create a thread object.
+  // We then create a thread object. Threads should always be created via the
+  // App::CreateThread factory method.
   auto thread = app.CreateThread<ExampleRTThread>();
 
-  constexpr unsigned int time = 5;
-  std::cout << "Testing RT loop for " << time << " seconds.\n";
-
   // Start the application, which starts all the registered threads (any thread
   // passed to App::RegisterThread) in the order they are registered.
   app.Start();
 
-  // We let the application run for 5 seconds.
-  std::this_thread::sleep_for(std::chrono::seconds(time));
+  std::cout << "App started\n";
+
+  // This function blocks until SIGINT or SIGTERM are received.
+  cactus_rt::WaitForAndHandleTerminationSignal();
+
+  std::cout << "Caught signal, requesting stop...\n";
 
-  // We ask the application to stop, which stops all registered threads in the
-  // order they are registered.
+  // We ask the application to stop, which stops all threads in the order they
+  // are created. If you want the application to run indefinitely, remove this
+  // line.
   app.RequestStop();
 
   // We wait until all threads registered are done here.

examples/tracing_example/README.md

@@ -1,10 +1,37 @@
-Tracing example
-===============
+`tracing_example`
+=================
 
-Designed to show off how to trace a real-time application.
+Designed to show off how to trace a real-time application with the
+real-time-safe tracing system.
 
 Features demonstrated:
 
-1. Enable tracing.
-2. Trace custom spans in the application.
+1. Enable and disable tracing dynamically.
+2. Trace custom code in your application with spans.
 3. Setting the output file location.
+
+To run this:
+
+```bash
+$ make debug
+$ sudo build/debug/examples/tracing_example/rt_tracing_example
+```
+
+To visualize the trace, go to https://cactusdynamics.github.io/perfetto (or
+https://ui.perfetto.dev which doesn't have as much bells and whistles) and load
+the trace in `build/data1.perfetto` and `build/data2.perfetto`.
+
+You should be able to see something like this:
+
+![image](./perfetto-timeline1.png)
+
+By clicking on the `Loop` slice, filtering and sorting with the table that pops
+up, then clicking on the ID of the longest `Loop` in the table will bring you to
+the following view:
+
+![image](./perfetto-timeline2.png)
+
+Clicking on the _Latency_ tab on the side bar and selecting the right span will
+get you something like the following:
+
+![image](./perfetto-hist.png)