Linux Migration GBT e2e Software Review May 3, 2005 Ramon Creager Melinda Mello

Facilitates improvements in software methods and reliability –Latest software techniques: C++ templates, STL, exceptions –All but 4 of our managers do not require real-time. –VxWorks is inadequate in certain performance areas, e.g. the known 256 open file descriptor issue. –VxWorks support has been unacceptable –With Linux, we have the complete source code for the OS and have access to a very large Open Source user support group –We can use wider range of Linux Tools: strace, gdb, python, etc –Opportunity to refactor and rearchitect, bring old code up to date. –Porting provides opportunity to provide a simulator –Facilitate code maintenance. No more #ifdef! (almost.) Vision – Why Migrate from VxWorks to Linux?

Facilitates improvements in hardware –10Mbit to 100Mbit Ethernet –Computing division does not administer VxWorks machines but will administer Linux computers –The MV167 computer is old technology but expensive to upgrade because of the VME bus and the VxWorks Board Support Package costs. x86 hardware is cheap and powerful. –Cost for future processor/hardware upgrades is dramatically decreased –By coupling our new simulated GBT hardware capability with use of discarded desktop hardware we can inexpensively create our own test environment Vision – Why Migrate from VxWorks to Linux?

Port SIB/MCB: NRAO proprietary serial interface to Linux GPIB to Linux Migrations Migrate from CD 24000: serial chipset to either a serial or parallel interface (Tipper) Migrate from NRAO Proprietary SpBus and migrate to either new digital IO card or the parallel port (Spectral Processor) Migrate from VME A/D cards to new A/D cards and drivers Additions Bit3 card for both Active Surface/IIOP and the DCR Interfaces to Port, Migrate or Add

CRITICAL PORTS 1.SIB and MCB Supports port of 18 subsystems to Linux 2.GPIB Allows for porting an additional 8 subsystems to Linux All systems can be migrated to Linux when SIB/MCB and GPIB interfaces are ported except: Active Surface, Servo Monitor, Quadrant Detector, Spectral Processor, DCR. 3.Using Bit 3 PCI to VME interface card and port an additional 2 subsystems 4.Adding an Analog to Digital IO and a Digital IO card, can port final 2 subsystems. Key Items: The Roadmap

MV167 VME Chassis IRIG timing signals not shown Ethernet GPIB MV167 Hardware device SIBSIB Hardware device SIBSIB Serial Port Ethernet Hardware device VME Bus Original Control System HW Architecture

VxWorks Common Environment (memory and other resources are all shared) Manager (Task) Manager (Task) Manager (Task) System Services (I/O, networking, scheduling, task synchronization, etc.) Semaphore VxWorks Control System SW Architecture

Pentium 4 Rack-mount PC Running Linux Bit 3 PCI VME Adapter IRIG timing signals not shown Ethernet RS-232 Hardware device SIBSIB Hardware device SIBSIB VME Chasis Hardware device Bit 3 PCI to VME adapter VME Bus RS-232 to 422 Intelligent converter GPIB GPIB Cable PCI Bus Bit 3 Cable RS-232 Cable RS-422 Cable New Control System HW Architecture

Linux Host PC MCB Intelligent Converter Linux process GPIB Server (Linux process) GPIB DeviceSIB Device GPIB Device Manager Child manager MCB Server (Linux process) VME Bus Device RPC Linux process Manager Child manager RTAI Real-time module Linux process Manager requiring Real-Time Control Manager Real-Time Task RPC FIFO New Control System SW Architecture

Linux Host PC Linux process GPIB Server (Linux process) Manager Child manager MCB Server (Linux process) RPC Linux process Manager Child manager Simulated Manager Real-Time Task (Linux process) Linux process Manager requiring Real-Time Control RPC FIFO Simulation Database Simulation Database Items marked in red provide simulation. Simulation Database Simulation Architecture

New MCB and GPIB architecture, servers and libraries created and in use. 17 managers requiring MCB interface ported and in use: –All Gregorian and Prime Focus receivers –Analog Filter Rack, IF Rack, PF Support Rack, Motor Rack, Switching Signals Selector, LO1 (partial: LO1.LO1Router). 1 manager requiring MCB and GPIB ported and in use: –Converter Rack. DCR in progress. DCR requires Bit 3 PCI to VME adapter and real-time support, and conversion to CFITSIO. (Scheduled for completion 5/19/2005) Still to do: Spectral Processor, remaining LO1, Active Surface, Site-Time, Weather. (Scheduled for completion 8/12/2005) Where We Stand

Better, more robust control system. Powerful hardware. Useful simulator. The simulator has been invaluable in developing new code and troubleshooting reported errors. Simplified code base. No reliance on commercial software vendors. Sysadmin support for computing hardware and system software. Opened hardware upgrade paths. Opened software upgrade paths: –Once reliance on VxWorks is gone, we can move on to latest GCC compiler. –Linux is continuously being refined and upgraded by the Open Source community. Benefits