Real Time ? ?????? CRW-DAQ

1
Real Time? ?????? CRW-DAQ
2
? ??? ??? ???????????

• ????? CRW-DAQ ??????? ???????????? ???
  ????????????? ????????????????? ??????????
  ????????? ?
• ????? (???? 19 ???. 33 ??? ?????)
• ????? (???,????,ACCULINA ???,????,??????)
• ??.?????????(???????????, ???????? ????-????????)
• Geneve, Switzerland (CERN,ALICE,PHOS)
• ??????(???????????)
• ????????????
• ?????????
• ???? ???????????? ? ???????? ???? ????????????
  ?????????? ????????????? ??????
• ?????? ???? ??????? ?????????? ???????????? ??
  ?????????? ? CRW-DAQ ??????? ????? ? ?????????
  ??????
• ?????? ??????????? ??????? ???????? ??????????
  ???? ??????

3
?????????? ?????? CRW-DAQ

• ???? ?????? ? ?????????? ? ???????? ???????
• ???? ????????????????? ?????? ? ???????? ???????
• ?????????? ??????????? ??????????? ? ????????
  ???????
• ???????????? - ??????????? ?????????? ?????? ?
  ?????? online
• ????????? - ?????????? ?????????? ?????? ???
  ???????????? ???????
• ??????????????? ?????? ????????????????? ??????
• ?????????? \ ???????? ???????????
  ????????????????? ??????
• ???????????? ??????????? ?????????? ?????? ?
  ?????? offline
• ??????????? ? ??????? ???????? ??????????, ????,
  ?????????????? ???????? ??? ???????, ???????????,
  ??????????, ???????????? ? ?.?.
• ???????? ?????? ? ?????????????????? ??????
  ????????? ??????
• CRW-DAQ ???????? ??????????? ???????? ??? ???????
  Real Time ?????
• ????????? ????????????? ?????????????? ??????
  ??????
• ????????? ???????? ?????? ??????? (?? 1000 Hz)
• ???????? ???????? ? ??????? ????????? ???????
• ??????????? ???????? ???????? ?????-??????
• ?????? ??????????? ??????? ?????? ???????
• ?????????? ?????? ??????? - Watchdog
• ?????? ?????????? ???????
• ????? ? ????????? ?????? ???????????.

4
????????? Real Time

• ??? ????? ????? ????????? ???????? ??????, ??
  ????? ? ????? ?????? ?????????? ??????.
• ?????????? ????? ?????????? ??????? ? ??????
  ???????, ???????? ???????? - ??????????? ??????
  (?????????????) ??????? ??????.
• ????????????? ??????? - ????? ??????????
  ??????????? ???????????? ????? ??????, ?? ?????
  ??????? ?? ???????? ???????????? ?????? ????
  ??????????, lt 100 ??.
• ???????? ????? ???????????? ????? ?????? ??
  ?????? ??????? ????. ??? ????? ?????????? ???? ?
  ???????????? ??????? ???????? (???. ??????????).
  ???????? ???????? ??????????????? ?????? ?
  ??????????????? ????? ???????. ???????? ????????
  ??????????? ????????? ??????? ??????? ? ??????
  ??????.
• ?.?. ??????????????? ????? ??????? ???????????
  ??????????? Real Time ??????. ?????????? ???????
  ?????????? ?? ????, ?????? ??? ???????????????
  ?????
• lt 10µs ?????? Hardware (FPGA, Signal
  Processors ? ?.?.)
• 10µs10ms Real Time OS (QNX, OS9000, Solaris,
  eCos, DOS etc)
• gt 10ms - Windows, Unix, Linux ?????????
  ????????????
• ??????? ???????? ????? ?????? ?? ??????????
  ??????????? ?????????, ??????????? ????? ???????
  10 ???????????.
• ?????? ???????? ????? ?????? ? ??????
  ???????????? ?????? (?????????? ???????),
  ??????????? ????? ??????? 10 ???????????.
• Crw32 (?????? CRW-DAQ ??? Windows) ???????
  ??????? ????????? ??????? ? ???????? ???????
  ??????? 10 ms.
• Crw16 (?????? CRW-DAQ ??? DOS DPMI) ?????????
  ??????? ??????? ???????? ????????? ??????? ?
  ???????? ??????? 10 µs.

5
??????? ????????? ???????

• ??????, ??? ??????? Real Time ?????????
  ???????? ?????. ?????????????? ??????? ?????????
  ??????? ??? Real Time ?????? ??????
• ????? ???????
• ????????? ??????
• ???????? ????????????
• ???????? ?????????????
• ??????? ????????? ? ?????? ??????? ???????
• ??????????????? (???????????) \ ????????? (??
  ?????? ???????) ?????
• GMT (Greenwich Mean Time) \ LMT (Local Mean Time)
• Thread safe ????????? ????????????
• Win32
• 1)GetSystemTimeAsFileTime()-?????
  ???????????????, GMT, ????? 40 ns, ????? 10 ms,
  ???????????? ? ????????????? ?? ?????????????
  (????? ?????????? ???????, ??????? ????,
  ??????/?????? ?????). ? ?????? ???? ??? Real Time
  ?? ????????.
• 2)GetTickCount ????? ?????????, ????? 20 ns,
  ????? 10 ms, ???????????? ? ?????????????
  ????????????? (??????? ?????????? ???????), ??
  ?????? ? ?????? overflow ????? 49.71 ?????. ?
  ?????? ???? ??? Real Time ?? ????????.
• 3)QueryPerformanceCounter ????? ?????????,
  ????? 1 µs, ????? 1 µs, ???????????? ?
  ????????????? ?????????????. ? ?????? ???? ???
  Real Time ?? ???????? (??????? ?????????????
  ?????? QueryPerformanceFrequency).
• CRW-DAQ ?????????? ?????? ??????? Win32,
  ???????? ?? ?????????? (_rtc.pas)
• 1)msecnow - ????? ???????????????, LMT,
  ????????? ?????? 90 ns, ????? 10 ms, ????????????
  ? ????????????? ?????????????, thread safe.
• 2)mksecnow ????? ?????????, ????????? ?????? 1
  µs, ????? 1 µs, ???????????? ? ?????????????
  ?????????????, thread safe.

6
???????? ????????? Real Time (?????? ???????
CRW-DAQ)

• ???? CRW-DAQ ????????? ? ??????????, ?????
  ?????????? ?????????? ?????? ?????? Real Time
  ??????? (?.?. ?????????? ????????, ?????????
  ????????? ? ?.?.).
• ????????? ????????? ????? Windows ?? ?????????, ?
  ????????? ????? CRW-DAQ ?????????????? ?????????,
  ???????? ??????? ? ?????????? ????? Windows ?
  CRW-DAQ (???????????????? ?????). ?????? ???????
  ??????????? ??????? ???????????????? ? ??????
  ??????????????.
• ?????? ??? ??????? ????????????? ????? ??
  ??????? net time ??????????? ????????????????
  ?????.

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??????? ??????????? Windows

• Windows ????? ??????????? (Round Robin)
  ?????????? ??????????????? ??????? ? ??????
  ?????????? ? ?????? ??????? (10 ms ??? single, 15
  ms ??? multi processor). ????? ??????? ????????
  ????? ? ????????? ??????????? (???????????
  ???????????? ???????????????). ???????????????
  ???????? ?????? ??????, ? ?? ????????, ?.?.
  ??????? ??? ?????? ????????? ??? ???????.
• ????? ?????????? ???????? ?????????? ????????
  ??????????? ???????.
• Windows ????? 32 ?????? ?????????? 0..15 -
  ??????? ??????????, 16..31-?????????? ?????????
  ????????? ???????. ??? ??????, ????? ?????
  RealTime ???????? ????????? ????? ????? ?????????
  Idle,Lower,Normal,Higher,High.

????????????? ????????? RelPriority ?????? -8
tpIdle - ??? ??????? ???????. -6 tpLowest
-4 tpLow -2 tpLower 0 tpNormal -
???????, ?? ?????????. 2 tpHigher 4
tpHigh 6 tpHighest 8 tpTimeCritical -
??? Real Time ???????.

• ????? ?????????? ???????? PriorityClass
• 4 Idle - ??? ??????? ?????.
• 6 Lower
• 8 Normal - ???????, ?? ?????????.
• 10 Higher
• 13 High
• 24 RealTime - ??? Real Time ?????.

???????? ? ???????? ?????????? Idle..High ?????
????? ?????? ?????? ? ????????? ???????
??????????? 0..15. ???????? ??????? ????
AbsPriorityMax(1,Min(15,PriorityClassRelPriorit
y))
???????? ? ??????? ?????????? RealTime ?????
????? ?????? ?????? ? ????????? ???????????
????????? ??????? 16..31. ???????? ???????
AbsPriorityMax(16,Min(31,PriorityClassRelPriori
ty))
8
???????? ???????? ???????????

• ??????? ????? ? ??????????? tpTimeCritical(15).
  ??????????? ???????? TThread.Synchronize.
  Synchronize ???????? SendMessage, ????????? ?????
  ? ???????? ?????????? ?????? VCL ? ???????????
  tpNormal(8). ? ??? ????? ?????????????? ??????
  ????? ? ??????????? tpHigher(10), ???????
  ???????? 100 CPU. ????? ?????????????????? ?????
  (15) ??????? (!) ?? ?????? ???????? ??????????
  ??-?? ?????????? ????? ?????????????????? ??????
  (10). ??? ???????? ??????????.
• ??????
• ?? ??????????? Synchronize
• ????????????? ????? ?????????? ????? ????????
• ? ?????????, ? ?????? Windows ???????????
  ???????? ??????????? ????????????? ????????
  ??????. ??? ??????? ???????? ???? ??? ?????
  ?????? Real Time OS.

9
????????? ?????? CRW-DAQ

• ??? CRW-DAQ ?????????? ????? ??????? ???????
  ????????????. ? ???????? DAQ ??????? ????????
  30-50 ??????? ? ?????. ?????? ??????????
  ????????? Daq Pascal ??????????? ? ????? ??????.
  ?? ???? ???????????? ????? ????????????????
  ??????????? ??????? ???????????? (???????????
  ?????????????) ??? ????.
• ????? ?????????? ?????????? ???????? ?
  ???????????????? ?????.
• ?????? ????? ????????????? ?????????? ? ???????
  ??????, ?????????? ? ???????????????? ?????.
  ?????? ????? ???????? ??? ??????? ???????. ???
  ???????????? ?????? ???????????? ????????????????
  ????????? (???????????? ????? ???
  UserPollingCallback). ????????, ??? ?????????
  program ??? ????? ????????? ???????????? ?? ?????
  Daq Pascal.
• ?????????? ??????? Watchdog ?????? ?? ???????
  ???????. ???? ????? ?? ??????? Watchdog ??
  ???????? ?????, ??????? ????????? ????
  ?????????? ??????.
• ????? ????? ???? ???????? ???????? ???????
  ????????
• ?????????? ?? ?????? ????????? (devsend,devmsg)
• ?? ???????????? ?????????? ????????????
• Daq
• ProcessPriorityClass RealTime
• DeviceList
• Demo device software program
• Demo
• InquiryPeriod 10
• DevicePolling 10, tpTimeCritical

// ????????? ?????? ??????? Procedure
Thread.Execute Var t,p,qDouble
eventBoolean begin While not Terminated do
begin tmsecnow ResetWatchDog(t)
eventWaitForSingleObject(hEvent,DevicePolling)W
AIT_OBJECT0 if (t-qgtInquiryPeriod) or event
then begin UserPollingCallback
FillHistogramm(t-p) qt end pt
End End
10
??????????? ????? ????????????????

• ??? CRW-DAQ ?????????? ??????????? ?????
  ???????????????? ??? ????? ?? ?????? ?????????
  ? ?? ????? ??? ??????.

Program AsynchronousStyle Var stateinteger
t0Double Begin case state of 0 begin
SendRequest t0msecnow State1
end 1 begin if WaitForAnswer(0) then
begin HandleAnswer State0
end else if msecnow-t0gtTimeOut then begin
TimeOutDetected State0
end end end DoSomethingMore End
Program SynchronousStyle Begin SendRequest if
WaitForAnswer(TimeOut) then HandleAnswer else
TimeOutDetected End
?????????? ????????? ???????? ??????, ?? ????????
?? ?????????. ????? ?????????? ??????? ?????????
????? ?? ????? TimeOut ? ????? ?????? ?????? ??
????? ??????, ???? ????? ??? ?????????
??????. ???? ? ??????????? ?????? ?????
DoSomethingMore ? ???????? 100 Hz. ? ?????
??????? ?? ????????, ???? ???? ?????? ??
?????????? ??? ? ?? ?????. ????????? CRW-DAQ
?????? ???-?? ??????-?????? ?????? ?? ?????? ?
????? ?????? ?????????? ???????, ????? ??
?????????????? ?????????? ?????? ???????. ?? ????
???????????? ????? ??????????? (???????????
?????????????) ?????????? ??? ???? (????? ?
??????).
11
???????? ????????? Real Time(?????????? ?
???????????)

• ??????? ????????? ??????????? ?????? (???????)
  ?????? ???????, ?????? ???????????
• 1)?????????? ??????? ?????? ???????
• 2)?????????? ?????? WatchDog ??? ??????????????
  ???????? ???????
• 3)??????????? ??????? ?????? ???????
• ?????????? ??????? (???? ??????? ???????)
• _at_polling list - ?????? ???????
• _at_polling plot logy - ?????? ??????????
• _at_polling PriorityClass RealTime - ?????????
  ??????????

12
?????-?????????? ?????????? ??????????? CRW-DAQ

• ?????????? ???? Daq Pascal ???????? ??????????
  ??? ??????????? ?????-?????????? ??????, ??? ????
  ???????????? (???????????? ?????????) ?????????
  CRW-DAQ. ? ?????? CRW-DAQ ???????? ?????????
  (?????) ?? ?????????? ????? Daq Pascal,
  ??????????? (master) ???????? ?????????. ????????
  ?????? ????????? ???????? (?????? ????????
  ??????????? ??????????) ? ??????? ?? ??????
  (stdin, stdout ??????????????? ? ?????????
  ?????).
• ?????-?????????? ??????? ????????? ????????
  ?????????? ???????
• ???????? (slave) ???????? ????? ?????? ???
  ????? ??? ???????????, ??????? ???????? ???????
  ???????????????, ???? ????.
• ???????? ???????? ??????? ? ???????? ??????????
  ??????, ????????????? ?????? ? ????? CRW-DAQ, ??
  ?????????? ??????????? Delphi.
• ???????????? ?? ?????????? ? ?????????????
  (?????????? COM, ActiveX, OPC) ??????????
  ?????????? ? ???????? ????????. ???? CRW-DAQ
  ???????? ?????? ? ????????.
• ????? ????, ???????? ???????? ????? ????? ?????
  ??????????, ???????? ?? ?????? ??????????
  CRW-DAQ, ??? ?????? ?????? ?????????? (??. ?????
  ?????????????).

CRW-DAQ kernel
pipe
User Process slave
Daq Pascal master thread
13
??????? ?????? ???????(??????????? ??????)

• ??????????? ????????? ?????? ??? ??????????
  ?????? ??????????? ??????? ????????? ??????????
  ?????? ?? ??????? ???????? 10ms (15ms ???
  ?????????????????? ??????), ?????? ??? ????
  ????????????? ????? ??????? 20 ms.

14
??????? ?????? ???????(mmtimer)

• ????????? mmtimer, ??? ?????????? ??????
  ??????????? ???????, ????? ?????????? ?????? ?
  ??????? ???????? 1 ms, ?????? ??? ????
  ????????????? ????? ????? ??????? 5 ms.
• mmtimer ??????????????
• ?????????? ????????
• _at_mmtimer 1

15
?????????????(??????? ???? ??????)

• ? ???? ??????? (??????? ??????????? ??????,
  ????????? ?????? (?????????????)) ?????????
  ??????? ??????? ?????? ? ???????, ? ??
  ??????????????? ????? ???????.
• ? ???? ?????? ??????????? ????? ?????? CRW-DAQ
  ???????? ? ??????? ?????????? RealTime, ?????? ??
  Daq Pascal ? ?????? tpTimeCritical, Windows
  Shell ? ??????????? Normal. ?????????????
  ?????? ??????????? ??? ????????? ??????? ?
  ??????? ?????????? Idle, ? ?????? ????????????
  ??????, ??? ???????? 99 CPU, ?? ????? ??? ????
  ???? ?????????. ??????? ????? ??????????
  ??????????? ?????????? (??????? ? ????????).

CRW-DAQ RealTime
pipe
in/out PKK4 ISA
DAQ client tpTimeCritical
Readout server Idle
Hardware device
16
??????? ???????? ?????-??????

• ?????? ????-????? ????? ????? ?????????? (IN,OUT)
  ??????????? ??? ???????????????? ISA, PCI
  ?????????, ???? ??? ????????? ????????? ??? ???
  ?? ?????????? ?? ????? ???????????????? ???
  ????????.
• ??????? IN,OUT ? CPU x86 ?????????????????. ??
  ?????? ????????????? ?? User Mode ??? Windows NT
  ?????????.
• ?????? ??????? ????? IOPM (I/O permission map).
• User Mode ? IOPM ? Kernel Mode ? Port
• IOPM ??????? ????? 8 kB, ???????
  ?????????/????????? 64 kB ?????? ?????-?????? ???
  User Mode. ? ?????? ???? ???? ?????? ????????.
• ? ?????/?????? ?? User Mode 2 ???????
• 1)???????????? ??????? ?????? ????, ????? IO gt
  30µs
• User Mode ???????? ?????????, ??????? ?????????
  ??????? ?????? ????, ?????????? ???????? ?????
  ?? ???????????? User?Kernel?User.
• 2)??????????? IOPM, ?.?. ?????? ??????? I/O,
  ????? I/O 1µs
• ??????? ?????? ???? ???????????? IOPM (???????
  ?????? ?? I/O ?? User Mode), ????? User ??????
  I/O ???????????????.
• CRW-DAQ ????????? ?????? ??????, ?????????
  ???????? ?????????????? ??????? GiveIO.Sys, ??.
  ???? _pio.pas ? ???????????? CRW-DAQ.
• ? CRW-DAQ ??????? ???????? PKK3, PKK4,
  LA-1.5-ISA, LA-1.5-PCI, LA-2-USB, DIO-144,
  PCL-812PG, PCL-818L ? ?.?.

17
???????????? ??? Real Time ?????? ??? Win32

• Real Time ??? ? ?????? ??????? ????????, ??????
  ? ??????????.
• ?? ??????? ?????????????????, 50 ??????? ???
  ?????????, ???????? ??????.
• ?? ??????????? ??????????? ?????? PostMessage
  ????? SendMessage ????????????? ????????
  WaitForSingleObject(h,0) ?????, ???
  WaitForSingleObject(h,INFINITE). ????????? ????
  ?????????????? ???????????? ????? CPU ????? ?????
  ?? ?????. ?????????? ? ??????? ??????.
• ?? ??????????? VCL. ??? ?? ????????????
  ????????????? ????? ??????.
• ?? ??????????? TThread.Sinchronize. ?? ??????? ??
  ??????????? SendMessage ? ???????? ???????
  ?????????? ??????????? (?????????
  ?????????????????? ????? ? ?????? ??????????
  ?????????????????? ???????? ???????????).
• ??????????? ?????????? ???????, ??? ?????? ??????
  ????? ?????? ??????. ????????? ? ????????? ??????
  ???????.
• ????????????? ????? ?????????? (Lock/Unlock)
  ????? ????????. ?????? ??????? ????????? ?????
  ?????? ? ????????? ? ???? ????? ?????????????.
• ??????????? ReadFile, WriteFile ?????? ? ??????
  Overlapped I/O.
• ??????????? ??????????? ????? ????????????????
  ?? ??????, ? ?? ??? ??????.
• ?? ??????????? ????????? ????????????? COM,
  ActiveX. ??? ?????????? ?)?????? ????????? ?
  ??????????? ?? ?????????, b)???????? ?????????
  ????????? (???????????? ??????????), ?)??????
  ??????? ????? ????????????? d)?????????
  ?????????? ????? ???? ?????????? ????????????
  ???????? ? ?????? ?????? ?????????????? (????????
  ???????? ?????), ? ?? ?????????????.
• ??????????? ?? ??????????? ?????? Open Source
  ??????????. ??????????????? ?? ??????
  ??????????? ???? ? ?????????????? ??????? ?????
  (Microsoft etc). ??? ?????????? ??????? ?????,
  ???? ?????????? ???? ? ?????. CRW-DAQ
  ??????????? ?????????? ?????? Open Source
  ?????????? ???, ??? ??? ????????.

18
? ??? ??, DAQ ??????

• awcdsf

?.?.????????? ???.,???????? ?????????? ?? 31959
?.?.?????? ???.,???????? ?????????? ?? 31959
?.?.?????????? ?.?.?.?.,???.???. ???????
???????? 45877
?.?.????????? ?.?.,???????? ?????????? ?? 31959
?.?.??????? ?.?.?.,????? CRW-DAQ ???????
??????????? 31959
?? ???????? ??? ??? ????????? ????????????