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87 lines
5.2 KiB
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| [Home](/trick) → [Documentation Home](../Documentation-Home) → [Simulation Capabilities](Simulation-Capabilities) → Realtime |
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Trick provides a real-time processing capability which is different from many real-time
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simulation capabilities. The Trick executive is a "time based" executive and can run in
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a non-real-time mode just as easily as a real-time mode. This is because Trick guarantees
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job execution orders and allows the developer to design guaranteed interfaces which are
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not affected by the execution time required for any one or more jobs. Frame based
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scheduling executives typically have problems handling real-time overruns because the
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frame pulse is the scheduling cue. The frame-pulse in Trick is a mechanism to monitor
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and maintain the real-time status of the simulation, not a scheduling mechanism.
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An executive for a real-time simulation must guarantee that the simulated time matches
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the real-world time at specified intervals (real-time frame length). If the simulated
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execution time is greater than the real-world time, an overrun has occurred and must be
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dealt with. The parent executive process does all job scheduling and real-time frame
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processing. Real-time frame processing is guaranteed by synchronizing with a clock.
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Trick provides a clock based on the operating system gettimeofday system call. Users
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may provide a different clock my extending the Trick::Clock class.
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The software time checks are performed at the end of each real-time
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frame by getting the time from the Trick::Clock class, and then
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comparing the real-world time to the simulated time.
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The gettimeofday clock alone cannot guarantee that an overrun will be detected when
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the real-time frame has elapsed; e.g. the software check will never stop an infinite loop.
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When the executive has reached the end of frame it burns a CPU (while loop waiting
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for the clock to reach the end of the real-time frame) during an under-run.
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Trick provides a sleep timer to pause simulation execution and wait for real-time to
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catch up. Trick provides an abstract Trick::Timer class and a Trick::ITimer (SIGALARM)
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class. The itimer uses signals to "wake up" the simulation when real-time has caught
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up to simulation time. Users may provide their own wait mechanisms by extending the
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Trick::Timer class.
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If overruns occur which exceed the maximum overrun amount or the
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maximum number of overruns, the parent initiates a quick and graceful shutdown. Note
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that the executive does not know of the overrun condition until it has finished its
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regularly scheduled real-time frame processing. This means that the overrun detection
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is not instantaneous
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Through the input file, the user can set overrun limits, use software time checks and
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itimers, and use real-time process control features (locking the process in memory,
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assigning and locking a process to a processor, setting the process priority, etc.).
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By default, a Trick simulation is run non-real-time, that is all jobs will be run as
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fast as possible. The frequency of a job specified in the S_define tells Trick when
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to run the job within simulation time. Trick keeps track of simulation time by
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running each job in order according to its frequency, and accumulating time by adding
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each unique frequency to simulation time after all jobs of that frequency have run.
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But in non-real-time, Trick simulation time does not correspond to real "wall clock"
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time (simulation time is normally much faster than real-time).
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Real-time can only occur if you tell Trick to synchronize the simulation time with some
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real-time clock. To do this, you first choose a frequency at which Trick should synchronize
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to a real-time clock. This frequency is referred to as the real-time frame. Trick
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will run all jobs whose frequency \<= real-time frame as fast as possible (this set of
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jobs is referred to as an execution frame), then sync to the real-time clock. If,
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at this sync point, Trick has to wait because it has finished its execution frame before
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the real-time frame, an underrun has occurred, which is the desired behavior. If, at
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this sync point, the time to run the execution frame \> real-time frame, an overrun has
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occurred, meaning the simulation is running slower than real-time. Trick will immediately
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start the next execution frame in an attempt to catch up after an overrun.
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Trick provides real-time synchronization using the system clock.
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It is also possible to use an external time source instead of the system clock. To do so
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you must provide your specific external clock functionality by deriving from Trick's
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Clock class. (Trick provides the GetTimeOfDayClock class as a derivative of Clock).
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See [Realtime Clock](Realtime-Clock).
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A timer may also be used when syncing to real-time during an underrun. Trick provides
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this functionality by using a system interval timer or itimer. It is possible to use
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an external timer instead of an itimer. To do so you must provide your specific external
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timer functionality by deriving from Trick's Timer class. (Trick provides the ITimer class
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as a derivative of Timer). See [Realtime_Timer](Realtime-Timer).
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### User accessible routines
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```
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int real_time_enable() ;
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int real_time_disable() ;
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int real_time_restart(long long ref_time) ;
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int is_real_time() ;
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```
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[Continue to Realtime Clock](Realtime-Clock)
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