mirror of
https://git.rwth-aachen.de/acs/public/villas/node/
synced 2025-03-09 00:00:00 +01:00
updated documentation
This commit is contained in:
parent
358e3b825d
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11 changed files with 334 additions and 241 deletions
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@ -35,23 +35,65 @@ This technique, also called 'pinning', improves the determinism of the server by
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The `priority` setting allows to adjust the scheduling priority of the deamon processes.
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By default, the daemon uses a real-time optimized FIFO scheduling algorithm.
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#### `name` *(integer)*
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#### `name` *(string)*
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By default the `name` of a VILLASnode instance is equalt to the hostname of the machine it is running on.
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Some node types are using this name to identify themselves agains their remotes.
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An example is the `ngsi` node type which adds a metadata attribute `source` to its updates.
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## Log
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```
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log = {
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file = "/var/log/villas-node.log";
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level = 5;
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facilities = "socket,log,mem"; // log socket node-type, log and memory sub-system
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facilities = "nodes,!websocket"; // log all node-type but not the websocket node-type
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//facilities = "all,!nodes"; // log everything but not the node-types
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}
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```
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#### Available logging facilities
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| Facility | Description |
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|:- |:- |
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| `pool` | Memory Pool for fixed size allocations |
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| `queue` | Multiple-producer / Multiple-consumer queue |
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| `config` | Configuration parser |
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| `hook` | Hook sub-system |
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| `path` | Send / Receive path |
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| `node` | Node-types |
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| `mem` | Memory management |
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| `web` | Web sub-system |
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| `api` | Remote API |
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| `log` | Logging sub-system |
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| `vfio` | Virtual Function Input/Output sub-system for access to PCI devices |
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| `pci` | PCI device detection |
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| `xil` | Xilinx drivers for FPGA components |
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| `tc` | Linux traffic control for network emulation |
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| `if` | Linux network interfaces |
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| `socket` | BSD Socket node-type |
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| `file` | File node-type |
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| `fpga` | VILLASfpga node-type |
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| `ngsi` | FIWARE NGSI node-type |
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| `websocket` | WebSocket node-type |
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| `opal` | OPAL-RT node-type |
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## Web
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## Nodes
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The node section is a **directory** of nodes (clients) which are connected to the VILLASnode instance.
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The directory is indexed by the name of the node:
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nodes = {
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"sintef_node" = {
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type = "socket"
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....
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```
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nodes = {
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"sintef_node" = {
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type = "socket";
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...
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}
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}
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}
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```
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There are multiple diffrent type of nodes. But all types have the following settings in common:
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14
doc/DesignGoals.md
Normal file
14
doc/DesignGoals.md
Normal file
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@ -0,0 +1,14 @@
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# Design Goals {#designgoals}
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VILLASnode ...
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- is written in C the programming language
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- is using features of the C11 standard
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- is using an object oriented programming paradigm
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- can be compiled with Clang / LLVM or GCC
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- is released under the LGPLv2 license
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- only relies on open source software libraries and the Linux kernel
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- is extensible with new node types & hooks
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- is heavily multi-threaded
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- follows the Unix philosophy
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- is separated into a library (libvillas) and a few binaries (villas-server, villas-pipe, villas-test-*, villas-signal, villas-hook) which link against the lib.
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@ -1,9 +1,14 @@
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# Getting started
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## Installation
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We put some effort in getting you started as smooth as possible.
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For first tests and development you can use the Docker platform to bootstrap your environment.
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Docker is a software to run containers (a.k.a images in Docker's terminology) on a Linux machine.
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We use for development as well as for testing or demonstrating VILLASnode's functionality.
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**Note:** Please be aware that we do not recommend to use Docker for running VILLASnode in a real-time simulation.
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We prepared a image which you can download and run out of the box:
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@ -15,18 +20,12 @@ We prepared a image which you can download and run out of the box:
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3. Start the latest VILLASnode container by running:
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$ git clone --recursive git@git.rwth-aachen.de:VILLASframework/VILLASnode.git
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$ cd VILLASnode
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$ make docker
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```
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$ docker run rwth-acs/villas-node --help
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```
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### To be added
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VILLASnode ...
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@todo Add a ASCIIcinema screencast here
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## Guide
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- is written in object-oriented C11
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- is compiled with Clang / LLVM or GCC
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- is fully based on open source software
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- is extensible with new node types & hooks
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- is heavily multi-threaded
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- follows the Unix philosophy
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- is separated into a library (libvillas) and a few binaries (villas-server, villas-pipe, villas-test-*, villas-signal, villas-hook) which link against the lib.
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@ -1,8 +1,14 @@
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# Setup
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VILLASnode can be installed in multiple ways:
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- Using a pre-build Docker image
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- Using pre-build RPM packages for Redhat based Linux distributions
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- or from source
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## Prerequisites
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For all features VILLASnode currently requires the following list of dependencies:
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VILLASnode currently has the following list of dependencies:
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- [libconfig](http://www.hyperrealm.com/libconfig/) for parsing the configuration file.
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- [libnl3](http://www.infradead.org/~tgr/libnl/) for the network communication & emulation support of the `socket` node-type.
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@ -10,6 +16,7 @@ For all features VILLASnode currently requires the following list of dependencie
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- [libjansson](http://www.digip.org/jansson/) JSON parser for `websocket` and `ngsi` node-types.
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- [libwebsockets](http://libwebsockets.org) for the `websocket` node-type.
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- [libcurl](https://curl.haxx.se/libcurl/) for HTTP REST requests by the `ngsi` node-type.
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- [openssl]()
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There are two ways to install these dependencies:
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@ -17,18 +24,28 @@ There are two ways to install these dependencies:
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Use the following command to install the dependencies under Debian-based distributions:
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$ sudo apt-get install build-essential pkg-config wget tar cmake doxygen dia graphviz libconfig-dev libnl-3-dev libnl-route-3-dev libjansson-dev libcurl4-openssl-dev
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```
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$ sudo apt-get install build-essential pkg-config wget tar cmake doxygen dia graphviz libconfig-dev libnl-3-dev libnl-route-3-dev libjansson-dev libcurl4-openssl-dev
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```
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or the following line for Fedora / CentOS / Redhat systems:
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$ sudo yum install gcc pkgconfig make wget tar cmake openssl-devel doxygen dia graphviz libconfig-devel libnl3-devel libcurl-devel jansson-devel
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2. Alternatively, you can use the make targets `make thirdparty` and `make install-thirdparty` which will compile and install all required dependencies from source.
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## Fetching VILLASnode
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```
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$ sudo yum install gcc pkgconfig make wget tar cmake openssl-devel doxygen dia graphviz libconfig-devel libnl3-devel libcurl-devel jansson-devel
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```
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$ git clone --recursive git@git.rwth-aachen.de:VILLASframework/VILLASnode.git
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$ cd VILLASnode
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2. Alternatively, you can use the build system to download, compile and install all dependencies:
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```
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$ make install-thirdparty
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```
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## Downloading VILLASnode
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```
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$ git clone --recursive git@git.rwth-aachen.de:VILLASframework/VILLASnode.git
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$ cd VILLASnode
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```
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## Compilation
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@ -36,7 +53,10 @@ Checkout the `Makefile` and `include/config.h` for some options which have to be
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Afterwards, start the compilation with:
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$ make
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```
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$ make
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$ make run-tests
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```
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Append `V=5` to `make` for a more verbose debugging output.
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Append `DEBUG=1` to `make` to add debug symbols.
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@ -45,7 +65,10 @@ Append `DEBUG=1` to `make` to add debug symbols.
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Install the files to your search path:
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$ make install
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```
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$ make install
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$ make install-doc
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```
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Append `PREFIX=/opt/local` to change the installation destination.
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@ -53,6 +76,8 @@ Append `PREFIX=/opt/local` to change the installation destination.
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Verify everything is working and required node-types are compiled-in:
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$ villas node
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```
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$ villas node --help
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```
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Will show you the current version of the server including a list of all supported node-types.
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Will print the current version including a list of all supported node-types, hooks, etc.
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|
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124
doc/RemoteAPI.md
124
doc/RemoteAPI.md
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@ -1,124 +0,0 @@
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#Remote Application Programming Interface (API) {#API}
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VILLASnode can be controlled remotely over a HTTP REST / WebSocket API.
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This page documents this API.
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## Transports
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The API is accessible via multiple transports:
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- via HTTP POST requests
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- via a WebSocket protocol
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- via a Unix socket
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All transports use the same JSON based protocol to handle requests.
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### HTTP REST
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**Endpoint URL:** http[s]://localhost:80/api/v1
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**HTTP Method:** POST
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### WebSockets
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**WebSocket Protocol:** `api`
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### Unix socket
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_This transport is not implemented yet_
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## Commands
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### `restart`
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Restart VILLASnode with a new configuration file.
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**Request:** _application/json_
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{
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"request": "restart",
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"id": "66675eb4-6a0b-49e6-8e82-64d2b2504e7a"
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"args" : {
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"configuration": "smb://MY-WINDOWS-HOST/SHARE1/path/to/config.conf"
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}
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||||
}
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**Response:** _application/json_
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||||
{
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"response": "reload",
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"id": "66675eb4-6a0b-49e6-8e82-64d2b2504e7a"
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}
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### `config`
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Retrieve the contents of the current configuration.
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**Request:** _application/json_
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||||
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{
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||||
"request": "config",
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"id": "66675eb4-6a0b-49e6-8e82-64d2b2504e7a"
|
||||
}
|
||||
|
||||
**Response:** _application/json_
|
||||
|
||||
{
|
||||
"response": "config",
|
||||
"id": "66675eb4-6a0b-49e6-8e82-64d2b2504e7a",
|
||||
"response" : {
|
||||
"nodes" : {
|
||||
"socket_node" : {
|
||||
"type": "socket",
|
||||
"layer": "udp",
|
||||
...
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||||
}
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||||
},
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||||
"paths" : [
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||||
{
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||||
"in": "socket_node",
|
||||
"out": "socket_node"
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||||
}
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||||
]
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||||
}
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||||
}
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||||
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### `nodes`
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||||
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Get a list of currently active nodes.
|
||||
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||||
**Request:** _application/json_
|
||||
|
||||
{
|
||||
"request": "nodes",
|
||||
"id": "5a786626-fbc6-4c04-98c2-48027e68c2fa"
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||||
}
|
||||
|
||||
**Response:** _application/json_
|
||||
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{
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||||
"command": "nodes",
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"response": [
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||||
{
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||||
"name": "ws",
|
||||
"state": 4,
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||||
"vectorize": 1,
|
||||
"affinity": 0,
|
||||
"id": 0,
|
||||
"type": "websocket",
|
||||
"description": "Demo Channel"
|
||||
}
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||||
],
|
||||
"id": "5a786626-fbc6-4c04-98c2-48027e68c2fa"
|
||||
}
|
||||
|
||||
### `paths`
|
||||
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||||
Get a list of currently active paths.
|
||||
|
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_This request is not implemented yet_
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||||
|
||||
### `status`
|
||||
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The the status of this VILLASnode instance.
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||||
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||||
_This request is not implemented yet_
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@ -1,12 +1,19 @@
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# Tuning {#tuning}
|
||||
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This page is not directly related to VILLASnode.
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It describes several ways to optimize the host system for running real-time applications like VILLASnode.
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||||
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## Operating System and Kernel
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For minimum latency several kernel and driver settings can be optimized.
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A [PREEMPT_RT patched Linux](https://rt.wiki.kernel.org/index.php/Main_Page) kernel is recommended.
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||||
Precompiled kernels for Fedora can be found here: http://ccrma.stanford.edu/planetccrma/software/
|
||||
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||||
1. **Important:** Tune overall system performance for real-time:
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1. Tune overall system performance for real-time:
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1.1. Use the `tuned` tool for imprving general real-time performance.
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||||
Please adjust the setting `isolated_cpucores` according to your hardware.
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||||
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||||
```bash
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$ dnf install tuned-profiles-realtime
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|
@ -14,25 +21,28 @@ $ echo "realtime" > /etc/tuned/active_profile
|
|||
$ echo "isolated_cpucores=6-7" >> /etc/tuned/realtime-variables.conf
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||||
$ systemctl enable tuned && systemctl start tuned
|
||||
```
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||||
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||||
This enables the following `tuned` profiles:
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||||
- latency-performance
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- network-latency
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- realtime
|
||||
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||||
2. Map NIC IRQs => see setting `affinity`
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||||
3. Map Tasks => see setting `affinity`
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||||
This enables the following `tuned` profiles:
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||||
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||||
4. Increase priority of server task (nice(2)) => see setting `priority`
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||||
5. Increase BSD socket priority => see setting `priority` and node-type `socket`
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||||
- latency-performance
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||||
- network-latency
|
||||
- realtime
|
||||
|
||||
6. Configure NIC interrupt coalescence with `ethtool`:
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1.2 Install a `PREEMPT_RT` patched Linux kernel.
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||||
|
||||
2. Optimize the VILLASnode configuration
|
||||
2.1. Map NIC IRQs (see global setting `affinity`)
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||||
2.2. Map Tasks (see global setting `affinity`)
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||||
2.3. Increase priority of server task (nice(2)) (see global setting `priority`)
|
||||
2.4. Increase BSD socket priority (see global setting `priority` for node-type `socket`)
|
||||
|
||||
3. Configure NIC interrupt coalescence with `ethtool`:
|
||||
|
||||
```bash
|
||||
$ ethtool -C|--coalesce devname [adaptive-rx on|off] [adaptive-tx on|off] ...
|
||||
$ ethtool --coalesce eth0 adaptive-rx off adaptive-tx off
|
||||
```
|
||||
|
||||
7. Configure NIC kernel driver in `/etc/modprobe.d/e1000e.conf`:
|
||||
4. Configure NIC kernel driver in `/etc/modprobe.d/e1000e.conf`:
|
||||
|
||||
```
|
||||
# More conservative interrupt throttling for better latency
|
||||
|
|
@ -45,7 +55,7 @@ option e1000e InterruptThrottleRate=
|
|||
This are some proposals for the selection of appropriate server hardware:
|
||||
|
||||
- Server-grade CPU: Intel Xeon
|
||||
- A multi-core systems allows parallization of send/receive paths.
|
||||
- A multi-core systems enable true paralell execution of multiple send / receive paths.
|
||||
|
||||
- Server-grade network cards: Intel PRO/1000
|
||||
- These allow offloading of UDP checksumming to the hardware
|
||||
|
|
|
|||
114
doc/Usage.md
114
doc/Usage.md
|
|
@ -1,86 +1,56 @@
|
|||
# Usage {#usage}
|
||||
|
||||
The core of VILLASnode is the `villas-node` server.
|
||||
# `villas signal`
|
||||
|
||||
# `villas pipe`
|
||||
|
||||
# `villas hook`
|
||||
|
||||
## `villas node`
|
||||
|
||||
The core of VILLASnode is the `villas-node` daemon.
|
||||
The folling usage information is provided when called like `villas-node --help`;
|
||||
|
||||
Usage: villas-node [CONFIG]
|
||||
CONFIG is the path to an optional configuration file
|
||||
if omitted, VILLASnode will start without a configuration
|
||||
and wait for provisioning over the web interface.
|
||||
```
|
||||
Usage: villas-node [CONFIG]
|
||||
CONFIG is the path to an optional configuration file
|
||||
if omitted, VILLASnode will start without a configuration
|
||||
and wait for provisioning over the web interface.
|
||||
|
||||
Supported node types:
|
||||
- file : support for file log / replay node type
|
||||
- cbuilder : RTDS CBuilder model
|
||||
- socket : BSD network sockets
|
||||
- fpga : VILLASfpga PCIe card (libxil)
|
||||
- ngsi : OMA Next Generation Services Interface 10 (libcurl, libjansson)
|
||||
- websocket : Send and receive samples of a WebSocket connection (libwebsockets)
|
||||
Supported node types:
|
||||
- file : support for file log / replay node type
|
||||
- cbuilder : RTDS CBuilder model
|
||||
- socket : BSD network sockets
|
||||
- fpga : VILLASfpga PCIe card (libxil)
|
||||
- ngsi : OMA Next Generation Services Interface 10 (libcurl, libjansson)
|
||||
- websocket : Send and receive samples of a WebSocket connection (libwebsockets)
|
||||
|
||||
Supported hooks:
|
||||
- restart : Call restart hooks for current path
|
||||
- print : Print the message to stdout
|
||||
- decimate : Downsamping by integer factor
|
||||
- fix_ts : Update timestamps of sample if not set
|
||||
- skip_first : Skip the first samples
|
||||
- drop : Drop messages with reordered sequence numbers
|
||||
- convert : Convert message from / to floating-point / integer
|
||||
- shift : Shift the origin timestamp of samples
|
||||
- ts : Update timestamp of message with current time
|
||||
- stats : Collect statistics for the current path
|
||||
- stats_send : Send path statistics to another node
|
||||
Supported hooks:
|
||||
- restart : Call restart hooks for current path
|
||||
- print : Print the message to stdout
|
||||
- decimate : Downsamping by integer factor
|
||||
- fix_ts : Update timestamps of sample if not set
|
||||
- skip_first : Skip the first samples
|
||||
- drop : Drop messages with reordered sequence numbers
|
||||
- convert : Convert message from / to floating-point / integer
|
||||
- shift : Shift the origin timestamp of samples
|
||||
- ts : Update timestamp of message with current time
|
||||
- stats : Collect statistics for the current path
|
||||
- stats_send : Send path statistics to another node
|
||||
|
||||
Supported API commands:
|
||||
- nodes : retrieve list of all known nodes
|
||||
- config : retrieve current VILLASnode configuration
|
||||
- reload : restart VILLASnode with new configuration
|
||||
Supported API commands:
|
||||
- nodes : retrieve list of all known nodes
|
||||
- config : retrieve current VILLASnode configuration
|
||||
- reload : restart VILLASnode with new configuration
|
||||
|
||||
VILLASnode v0.7-0.2-646-g59756e7-dirty-debug (built on Mar 12 2017 21:37:40)
|
||||
copyright 2014-2016, Institute for Automation of Complex Power Systems, EONERC
|
||||
Steffen Vogel <StVogel@eonerc.rwth-aachen.de>
|
||||
VILLASnode v0.7-0.2-646-g59756e7-dirty-debug (built on Mar 12 2017 21:37:40)
|
||||
copyright 2014-2016, Institute for Automation of Complex Power Systems, EONERC
|
||||
Steffen Vogel <StVogel@eonerc.rwth-aachen.de>
|
||||
```
|
||||
|
||||
The server requires root privileges for:
|
||||
|
||||
- Enable the realtime FIFO scheduler
|
||||
- Increase the task priority
|
||||
- Configure the network emulator (netem)
|
||||
- Change the SMP affinity of threads and network interrupts
|
||||
|
||||
## Step-by-step
|
||||
|
||||
1. Start putty.exe (SSH client for Windows)
|
||||
|
||||
- Should be already installed on most systems
|
||||
- Or load .exe from this website (no installation required)
|
||||
http://the.earth.li/~sgtatham/putty/latest/x86/putty.exe
|
||||
|
||||
2. Connect to VILLASnode
|
||||
|
||||
| Setting | Value |
|
||||
| :------- | :-------------- |
|
||||
| IP | 130.134.169.31 |
|
||||
| Port | 22 |
|
||||
| Protocol | SSH |
|
||||
| User | root |
|
||||
| Password | *please ask msv |
|
||||
|
||||
3. Go to VILLASnode directory
|
||||
|
||||
$ cd /villas/
|
||||
|
||||
4. Edit configuration file
|
||||
|
||||
$ nano etc/loopback.conf
|
||||
|
||||
- Take a look at the examples and documentation for a detailed description
|
||||
- Move with: cursor keys
|
||||
- Save with: Ctrl+X => y => Enter
|
||||
|
||||
5. Start server
|
||||
|
||||
$ villas node etc/loopback.conf
|
||||
|
||||
6. Terminate server by pressing Ctrl+C
|
||||
|
||||
7. Logout
|
||||
|
||||
$ exit
|
||||
- Change the SMP affinity of threads and network interrupts
|
||||
157
doc/development/RemoteAPI.md
Normal file
157
doc/development/RemoteAPI.md
Normal file
|
|
@ -0,0 +1,157 @@
|
|||
#Remote Application Programming Interface (API) {#API}
|
||||
|
||||
VILLASnode can be controlled remotely with an Application Programming Interface (API).
|
||||
|
||||
## Transports
|
||||
|
||||
The API is accessible via multiple transports:
|
||||
|
||||
- HTTP POST requests
|
||||
- WebSockets
|
||||
- Unix Domain sockets (planned)
|
||||
|
||||
### HTTP REST
|
||||
|
||||
**Endpoint URL:** `http[s]://server:port/api/v1`
|
||||
|
||||
**HTTP Method:** POST only
|
||||
|
||||
### WebSockets
|
||||
|
||||
**Protocol:** `api`
|
||||
|
||||
**Endpoint:** `ws[s]://server:port/v1`
|
||||
|
||||
### Unix socket
|
||||
|
||||
_This transport is not implemented yet_
|
||||
|
||||
## Protocol
|
||||
|
||||
All transports use the same JSON-based protocol to encode API requests and responses.
|
||||
Both requests and responses are JSON objects with the fields described below.
|
||||
Per API session multiple requests can be sent to the node.
|
||||
The order of the respective responses does not necessarily match the order of the requests.
|
||||
Requests and responses can be interleaved.
|
||||
The client must check the `id` field in order to find the matching response to a request.
|
||||
|
||||
#### Request
|
||||
|
||||
| Field | Description |
|
||||
|:------------------------ |:---------------------- |
|
||||
| `action` | The API action which is requested. See next section. |
|
||||
| `id` | A unique string which identifies the request. The same id will be used for the response. |
|
||||
| `request` | Any JSON data-type which will be passed as an argument to the respective API action. |
|
||||
|
||||
#### Response
|
||||
|
||||
The response is similar to the request object.
|
||||
The `id` field of the request will be copied to allow
|
||||
|
||||
| Field | Description |
|
||||
|:------------------------ |:---------------------- |
|
||||
| `action` | The API action which is requested. See next section. |
|
||||
| `id` | A unique string which identifies the request. The same id will be used for the response. |
|
||||
| `response` | Any JSON data-type which can be returned. |
|
||||
|
||||
## Actions
|
||||
|
||||
### `restart`
|
||||
|
||||
Restart VILLASnode with a new configuration file.
|
||||
|
||||
**Request:** _application/json_
|
||||
|
||||
{
|
||||
"action": "restart",
|
||||
"id": "66675eb4-6a0b-49e6-8e82-64d2b2504e7a"
|
||||
"request" : {
|
||||
"configuration": "smb://MY-WINDOWS-HOST/SHARE1/path/to/config.conf"
|
||||
}
|
||||
}
|
||||
|
||||
**Response:** _application/json_
|
||||
|
||||
{
|
||||
"action": "reload",
|
||||
"id": "66675eb4-6a0b-49e6-8e82-64d2b2504e7a"
|
||||
"response" : "success"
|
||||
}
|
||||
|
||||
### `config`
|
||||
|
||||
Retrieve the contents of the current configuration.
|
||||
|
||||
**Request:** _application/json_
|
||||
|
||||
{
|
||||
"action": "config",
|
||||
"id": "66675eb4-6a0b-49e6-8e82-64d2b2504e7a"
|
||||
}
|
||||
|
||||
**Response:** _application/json_
|
||||
|
||||
{
|
||||
"action": "config",
|
||||
"id": "66675eb4-6a0b-49e6-8e82-64d2b2504e7a",
|
||||
"response" : {
|
||||
"nodes" : {
|
||||
"socket_node" : {
|
||||
"type": "socket",
|
||||
"layer": "udp",
|
||||
...
|
||||
}
|
||||
},
|
||||
"paths" : [
|
||||
{
|
||||
"in": "socket_node",
|
||||
"out": "socket_node"
|
||||
}
|
||||
]
|
||||
}
|
||||
}
|
||||
|
||||
### `nodes`
|
||||
|
||||
Get a list of currently active nodes.
|
||||
|
||||
**Request:** _application/json_
|
||||
|
||||
{
|
||||
"action": "nodes",
|
||||
"id": "5a786626-fbc6-4c04-98c2-48027e68c2fa"
|
||||
}
|
||||
|
||||
**Response:** _application/json_
|
||||
|
||||
{
|
||||
"action": "nodes",
|
||||
"response": [
|
||||
{
|
||||
"name": "ws",
|
||||
"state": 4,
|
||||
"vectorize": 1,
|
||||
"affinity": 0,
|
||||
"id": 0,
|
||||
"type": "websocket",
|
||||
"description": "Demo Channel"
|
||||
}
|
||||
],
|
||||
"id": "5a786626-fbc6-4c04-98c2-48027e68c2fa"
|
||||
}
|
||||
|
||||
### `capabilities`
|
||||
|
||||
Get a list of supported node-types, hooks and API actions.
|
||||
|
||||
### `paths`
|
||||
|
||||
Get a list of currently active paths.
|
||||
|
||||
_This request is not implemented yet_
|
||||
|
||||
### `status`
|
||||
|
||||
The the status of this VILLASnode instance.
|
||||
|
||||
_This request is not implemented yet_
|
||||
Binary file not shown.
Loading…
Add table
Reference in a new issue