[openrtm-commit:02119] r2803 - in trunk/OpenRTM-aist: etc src/lib/rtm

[openrtm ＠ openrtm.org]

Author: n-ando
Date: 2016-11-18 01:43:58 +0900 (Fri, 18 Nov 2016)
New Revision: 2803

Modified:
   trunk/OpenRTM-aist/etc/rtc.conf.sample
   trunk/OpenRTM-aist/src/lib/rtm/Manager.cpp
   trunk/OpenRTM-aist/src/lib/rtm/Manager.h
Log:
[incompat,->RELENG_1_2] CPU affinity setting has been added. refs #3711

Modified: trunk/OpenRTM-aist/etc/rtc.conf.sample
===================================================================
--- trunk/OpenRTM-aist/etc/rtc.conf.sample	2016-11-16 09:45:47 UTC (rev 2802)
+++ trunk/OpenRTM-aist/etc/rtc.conf.sample	2016-11-17 16:43:58 UTC (rev 2803)
@@ -47,6 +47,21 @@
 manager.shutdown_auto: YES
 manager.auto_shutdown_duration: 10.0
 
+#------------------------------------------------------------
+# Manager process's CPU affinity setting
+#
+# This option make the process bound to specific CPU(s).  Options must
+# be one or more comma separated numbers to identify CPU ID.  CPU ID
+# is started from 0, and maximum number is number of CPU core -1.  If
+# invalid CPU ID is specified, all the CPU will be used for the
+# process.
+#
+# Example:
+#   manager.cpu_affinity: 0, 1, 2, ...
+#
+manager.cpu_affinity: 0
+
+
 #============================================================
 # CORBA configuration
 #============================================================

Modified: trunk/OpenRTM-aist/src/lib/rtm/Manager.cpp
===================================================================
--- trunk/OpenRTM-aist/src/lib/rtm/Manager.cpp	2016-11-16 09:45:47 UTC (rev 2802)
+++ trunk/OpenRTM-aist/src/lib/rtm/Manager.cpp	2016-11-17 16:43:58 UTC (rev 2803)
@@ -16,6 +16,7 @@
  *
  */
 
+
 #include <rtm/Manager.h>
 #include <rtm/ManagerConfig.h>
 #include <rtm/ModuleManager.h>
@@ -42,6 +43,13 @@
 #include <rtm/LocalServiceAdmin.h>
 #include <rtm/SystemLogger.h>
 
+#ifdef RTM_OS_LINUX
+#ifndef _GNU_SOURCE
+#define _GNU_SOURCE
+#endif // _GNU_SOURCE
+#include <pthread.h>
+#endif // RTM_OS_LINUX
+
 #if defined(minor)
 #undef minor
 #endif
@@ -819,6 +827,7 @@
       "exec_cxt.activation_timeout",
       "exec_cxt.deactivation_timeout",
       "exec_cxt.reset_timeout",
+      "exec_cxt.cpu_affinity",
       "logger.enable",
       "logger.log_level",
       "naming.enable",
@@ -1217,13 +1226,13 @@
     if (coil::toBool(m_config["timer.enable"], "YES", "NO", true))
       {
         coil::TimeValue tm(0, 100000);
-				std::string tick(m_config["timer.tick"]);
-				if (!tick.empty())
-					{
-						tm = atof(tick.c_str());
-						m_timer = new coil::Timer(tm);
-						m_timer->start();
-					}
+        std::string tick(m_config["timer.tick"]);
+        if (!tick.empty())
+          {
+            tm = atof(tick.c_str());
+            m_timer = new coil::Timer(tm);
+            m_timer->start();
+          }
       }
 
     if (coil::toBool(m_config["manager.shutdown_auto"], "YES", "NO", true) &&
@@ -1732,6 +1741,12 @@
     PeriodicExecutionContextInit(this);
     ExtTrigExecutionContextInit(this);
     OpenHRPExecutionContextInit(this);
+
+    // initialize CPU affinity
+#ifdef RTM_OS_LINUX
+    initCpuAffinity();
+#endif // RTM_OS_LINUX
+
     return true;
   }
 
@@ -1750,6 +1765,52 @@
     return true;
   }
 
+  void Manager::initCpuAffinity()
+  {
+    RTC_TRACE(("initCpuAffinity()"));
+#ifdef RTM_OS_LINUX
+    if (m_config.findNode("manager.cpu_affinity") == 0) { return; }
+
+    std::string& affinity(m_config["manager.cpu_affinity"]);
+    RTC_DEBUG(("CPU affinity property: %s", affinity.c_str()));
+
+    coil::vstring tmp = coil::split(affinity, ",", true);
+
+    pid_t pid = getpid();
+    cpu_set_t cpu_set; CPU_ZERO(&cpu_set);
+
+    for (size_t i(0); i < tmp.size(); ++i)
+      {
+        int num;
+        if (coil::stringTo(num, tmp[i].c_str()))
+          {
+            CPU_SET(num, &cpu_set);
+            RTC_DEBUG(("CPU affinity mask set to %d", num));
+          }
+      }
+
+    int result = sched_setaffinity(pid, sizeof(cpu_set_t), &cpu_set);
+    if (result != 0)
+      {
+        RTC_ERROR(("pthread_getaffinity_np():"
+                   "CPU affinity mask setting failed"));
+      }
+    CPU_ZERO(&cpu_set);
+    result = sched_getaffinity(pid, sizeof(cpu_set_t), &cpu_set);
+    if (result != 0)
+      {
+        RTC_ERROR(("pthread_getaffinity_np(): returned error."));
+      }
+    for (size_t j(0); j < CPU_SETSIZE; ++j)
+      {
+        if (CPU_ISSET(j, &cpu_set))
+          {
+            RTC_DEBUG(("Current CPU affinity mask is %d.", j));
+          }
+      }
+#endif // RTM_OS_LINUX
+  }
+  
   /*!
    * @if jp
    * @brief Timer の初期化

Modified: trunk/OpenRTM-aist/src/lib/rtm/Manager.h
===================================================================
--- trunk/OpenRTM-aist/src/lib/rtm/Manager.h	2016-11-16 09:45:47 UTC (rev 2802)
+++ trunk/OpenRTM-aist/src/lib/rtm/Manager.h	2016-11-17 16:43:58 UTC (rev 2803)
@@ -1581,6 +1581,8 @@
      */
     bool initFactories();
 
+    void initCpuAffinity();
+    
     /*!
      * @if jp
      * @brief Timer の初期化