poster PFE - 13 Performance Comparison of EPICS IOC and MARTe in a Hard Real-Time Control Application A.Barbalace1, G. Manduchi1, A. Neto2, G. De Tommasi3, D.F. Valcárcel2, F. Sartori4 1Consorzio RFX, Associazione EURATOM-ENEA sulla Fusione, Corso Stati Uniti 4, I-35127 Padova, Italy EURATOM/IST, Instituto de Plasmas e Fusão Nuclear, Av. Rovisco Pais, 1049-001 Lisboa, Portugal 3Associazione EURATOM-ENEA-CREATE, Università di Napoli Federico II, I-80125 Napoli, Italy 4Fusion for Energy, 08019 Barcelona, Spain 2Associação e-mail: antonio.barbalace@igi.cnr.it , ph. +39 049 8205074, Fax +39 049 8700718 What we have done EPICS IOC MARTe Similarities and Differences Records modular components based architectures GAMs ReCompile current configuration is defined in a text file ReLoading No Control computational resource model Full Control Case Study input/output board NI6255 (PXI external rack) workstation HP Compaq dc 7900 CMT, x86 Intel Core 2 Duo E7300@2.66 GHz, 3 MB L2, 3 GB RAM Linux version 2.6.29.6 RT patched (rt-24), 1kHz system clock First Results Comparing with a Reference Program Reference Prog. min EPICS IOC MARTe 19.0 us 30.0 us 20.9 us MAX 28.3 us 60.5 us 31.3 us Avg 39.3 us 25.0 us 22.3 us min, MAX and average overall IO latency • the added latency due to MARTe in respect of the reference program is on average 2.7 µs. • the added latency due to EPICS is 17 µs. 1kHz 2kHz 5kHz 10kHz 2% 4% 8% 14% EPICS IOC 4% 4% 14% 28% MARTe 7% 14% 29% Reference Prog. 4% CPU load at different clock frequencies Conclusions EPICS IOC MARTe Adding network queries Lesson Learned • MARTe provides a shorter and, above all, more bounded latency; • EPICS can be used as well for non highly demanding real-time applications. • Linux with the Real-Time patches appears to be well suited to develop hard Real-Time applications making it a strong candidate for real-time control in large systems.