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README.md: document how to run rt-tests on non PREEMPT_RT kernels

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Sergio Prado 2020-12-19 09:38:52 +00:00
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@ -91,3 +91,24 @@ $ cat /tmp/latency-summary.log
```
A latency plot from cyclictest histogram data will be available in `/tmp/latency-plot.png`.
# Running rt-tests on a non-PREEMPT_RT version of TorizonCore
Running the `rt-tests` container on a non-PREEMPT_RT version of TorizonCore may be useful to compare the results with the PREEMPT_RT version. But if you try to run, the execution might fail:
```
$ docker run --rm -it --name rt-tests --cap-add=sys_nice --cap-add=ipc_lock --cap-add=sys_rawio --ulimit rtprio=99 --device-cgroup-rule='c 10:* rmw' -v /dev:/dev -v /tmp:/tmp torizon/rt-tests:$CT_TAG_RT_TESTS
Unable to change scheduling policy!
Probably missing capabilities, either run as root or increase RLIMIT_RTPRIO limits.
ERROR: cyclictest failed
```
That is because `CONFIG_RT_GROUP_SCHED` may be enabled on non-PREEMPT_RT versions of TorizonCore, and a cgroups configuration is required to run real-time tasks.
So if you want to run the `rt-tests` container on a non-PREEMPT_RT version of TorizonCore, run the following commands:
```
sudo sh -c "echo 950000 > /sys/fs/cgroup/cpu,cpuacct/docker/cpu.rt_runtime_us"
docker run --rm -it --name rt-tests --cpu-rt-runtime=950000 --cap-add=sys_nice --cap-add=ipc_lock --cap-add=sys_rawio --ulimit rtprio=99 --device-cgroup-rule='c 10:* rmw' -v /dev:/dev -v /tmp:/tmp torizon/rt-tests:$CT_TAG_RT_TESTS
```