change time pins to float

docs/src/config/core-components.adoc

@@ -158,10 +158,10 @@ These pins, parameters, and functions are created by the realtime 'motmod' modul
 Many of these parameters serve as debugging aids, and are subject to
 change or removal at any time.
 
-* 'motion-command-handler.time' - (s32, RO)
-* 'motion-command-handler.tmax' - (s32, RW)
-* 'motion-controller.time' - (s32, RO)
-* 'motion-controller.tmax' - (s32, RW)
+* 'motion-command-handler.time' - (float, RO) runtime in seconds
+* 'motion-command-handler.tmax' - (float, RW) max runtime in seconds
+* 'motion-controller.time' - (float, RO) runtime in seconds
+* 'motion-controller.tmax' - (float, RW) max runtime in seconds
 * 'motion.debug-bit-0' - (bit, RO) This is used for debugging purposes.
 * 'motion.debug-bit-1' - (bit, RO) This is used for debugging purposes.
 * 'motion.debug-float-0' - (float, RO) This is used for debugging purposes.

docs/src/hal/basic-hal.adoc

@@ -377,8 +377,8 @@ One pin and two parameters are automatically added to each HAL component when it
 These allow you to scope the execution time of a component.
 
 [horizontal]
-`.time`(((HAL time))):: Pin time shows in ns how long it took to execute the function.
-`.tmax`(((HAL tmax))):: Parameter tmax is the maximum time in ns it took to execute the function.
+`.time`(((HAL time))):: Pin time is a float showing in seconds how long it took to execute the function.
+`.tmax`(((HAL tmax))):: Parameter tmax is a float holding the maximum time in seconds it took to execute the function.
 `.tmax-increased`(((HAL tmax-increased))):: This parameter is set to true for one cycle if tmax increased.
 
 `tmax` is a read/write parameter so the user can set it to 0 to get rid of the first time initialization on the function's execution time.

docs/src/hal/rtcomps.adoc

@@ -357,10 +357,10 @@ halcmd: unloadrt encoder
 
 === Parameters
 
-* `encoder._<chan>_.capture-position.time` (s32, RO)
-* `encoder._<chan>_.capture-position.tmax` (s32, RW)
-* `encoder._<chan>_.update-counters.time` (s32, RO)
-* `encoder._<chan>_.update-counter.tmax` (s32, RW)
+* `encoder._<chan>_.capture-position.time` (float, RO) runtime in seconds
+* `encoder._<chan>_.capture-position.tmax` (float, RW) max runtime in seconds
+* `encoder._<chan>_.update-counters.time` (float, RO) runtime in seconds
+* `encoder._<chan>_.update-counter.tmax` (float, RW) max runtime in seconds
 
 === Functions
 

docs/src/hal/tools.adoc

@@ -229,7 +229,7 @@ or
 |===
 |Option     |Value    |Description
 |--minvalue |minvalue |minimum bin, default: 0
-|--binsize  |binsize  |binsize, default: 100
+|--binsize  |binsize  |binsize, default: 1e-07 (suits the default pin, a runtime in seconds)
 |--nbins    |nbins    |number of bins, default: 50
 | | |
 |--logscale |0/1      |y axis log scale, default: 1

docs/src/hal/tutorial.adoc

@@ -183,8 +183,8 @@ halcmd: show param
 
 Parameters:
 Owner   Type  Dir        Value   Name
-     3  s32   RO             0   siggen.0.update.time
-     3  s32   RW             0   siggen.0.update.tmax
+     3  float RO             0   siggen.0.update.time
+     3  float RW             0   siggen.0.update.tmax
 ----
 
 The 'show param' command shows all the parameters in the HAL.
@@ -328,8 +328,8 @@ halcmd: show param
 
 Parameters:
 Owner   Type  Dir         Value  Name
-     3  s32   RO           1754  siggen.0.update.time
-     3  s32   RW          16997  siggen.0.update.tmax
+     3  float RO     1.754e-06   siggen.0.update.time
+     3  float RW    1.6997e-05   siggen.0.update.tmax
 
 halcmd: show pin
 
@@ -369,7 +369,7 @@ loadrt siggen
 # signals
 # nets
 # parameter values
-setp siggen.0.update.tmax 14687
+setp siggen.0.update.tmax 1.4687e-05
 # realtime thread/function links
 addf siggen.0.update test-thread
 ----
@@ -495,8 +495,8 @@ halcmd: show param
 
 Parameters:
 Owner   Type  Dir         Value  Name
-     4  s32   RO              0  siggen.0.update.time
-     4  s32   RW              0  siggen.0.update.tmax
+     4  float RO              0  siggen.0.update.time
+     4  float RW              0  siggen.0.update.tmax
      3  u32   RW     0x00000001  stepgen.0.dirhold
      3  u32   RW     0x00000001  stepgen.0.dirsetup
      3  float RO              0  stepgen.0.frequency
@@ -515,12 +515,12 @@ Owner   Type  Dir         Value  Name
      3  s32   RO              0  stepgen.1.rawcounts
      3  u32   RW     0x00000001  stepgen.1.steplen
      3  u32   RW     0x00000001  stepgen.1.stepspace
-     3  s32   RO              0  stepgen.capture-position.time
-     3  s32   RW              0  stepgen.capture-position.tmax
-     3  s32   RO              0  stepgen.make-pulses.time
-     3  s32   RW              0  stepgen.make-pulses.tmax
-     3  s32   RO              0  stepgen.update-freq.time
-     3  s32   RW              0  stepgen.update-freq.tmax
+     3  float RO              0  stepgen.capture-position.time
+     3  float RW              0  stepgen.capture-position.tmax
+     3  float RO              0  stepgen.make-pulses.time
+     3  float RW              0  stepgen.make-pulses.tmax
+     3  float RO              0  stepgen.update-freq.time
+     3  float RW              0  stepgen.update-freq.tmax
 ----
 
 === Connecting pins with signals

docs/src/man/man9/classicladder.9.adoc

@@ -51,10 +51,10 @@ the outputs.
 
 == PARAMETERS
 
-*classicladder.0.refresh.time* RO s32::
-  Tells you how long the last refresh took.
-*classicladder.0.refresh.tmax* RW s32::
-  Tells you how long the longest refresh took.
+*classicladder.0.refresh.time* RO float::
+  Tells you how long the last refresh took, in seconds.
+*classicladder.0.refresh.tmax* RW float::
+  Tells you how long the longest refresh took, in seconds.
 *classicladder.0.ladder-state* RO s32::
   Tells you if the program is running or not
 

docs/src/man/man9/encoder.9.adoc

@@ -138,8 +138,8 @@ The *encoder*.__N__. format is shown in the following descriptions.
   of the phase-A input, ignoring the value on phase-B. This is useful
   for counting the output of a single channel (non-quadrature) sensor.
   When false (the default), it counts in quadrature mode.
-**encoder**.__N__.**capture-position.tmax** s32 rw::
-  Maximum time in ns it took to execute this function.
+**encoder**.__N__.**capture-position.tmax** float rw::
+  Maximum time in seconds it took to execute this function.
 
 == PARAMETERS
 

docs/src/man/man9/motion.9.adoc

@@ -105,10 +105,10 @@ digital pins and two analog pins.
 
 == MOTION PINS
 
-*motion-command-handler.time* OUT S32::
-  Time (in ns) for the motion module motion-command-handler
-*motion-controller.time* OUT S32::
-  Time (in ns) for the motion module motion-controller
+*motion-command-handler.time* OUT FLOAT::
+  Time (in seconds) for the motion module motion-command-handler
+*motion-controller.time* OUT FLOAT::
+  Time (in seconds) for the motion module motion-controller
 *motion.adaptive-feed* IN FLOAT::
   When adaptive feed is enabled with M52 P1, the commanded velocity is
   multiplied by this value. This effect is multiplicative with the
@@ -543,13 +543,13 @@ the M19 command fails with an error message.
 
 Many of the parameters serve as debugging aids, and are subject to change or removal at any time.
 
-*motion-command-handler.tmax* RW S32::
-  Show information about the execution time of these HAL functions in ns.
+*motion-command-handler.tmax* RW FLOAT::
+  Show information about the execution time of these HAL functions in seconds.
 
 *motion-command-handler.tmax-increased* RO S32::
 
-*motion-controller.tmax* RW S32::
-  Show information about the execution time of these HAL functions in ns.
+*motion-controller.tmax* RW FLOAT::
+  Show information about the execution time of these HAL functions in seconds.
 
 *motion-controller.tmax-increased* RO BIT::
   +

lib/python/gladevcp/builtin-panels/gtk_mesa_tests/gtk_mesa_tests.glade

@@ -3,9 +3,9 @@
 <interface>
   <requires lib="gtk+" version="3.24"/>
   <object class="GtkAdjustment" id="adj_read_tmax">
-    <property name="upper">1000000000000</property>
-    <property name="step-increment">1</property>
-    <property name="page-increment">10</property>
+    <property name="upper">1000</property>
+    <property name="step-increment">0.000001</property>
+    <property name="page-increment">0.00001</property>
   </object>
   <object class="GtkAdjustment" id="adj_servo_thread_period">
     <property name="upper">1000000000000</property>
@@ -18,14 +18,14 @@
     <property name="page-increment">10</property>
   </object>
   <object class="GtkAdjustment" id="adj_servo_thread_tmax">
-    <property name="upper">1000000000000</property>
-    <property name="step-increment">1</property>
-    <property name="page-increment">10</property>
+    <property name="upper">1000</property>
+    <property name="step-increment">0.000001</property>
+    <property name="page-increment">0.00001</property>
   </object>
   <object class="GtkAdjustment" id="adj_write_tmax">
-    <property name="upper">1000000000000</property>
-    <property name="step-increment">1</property>
-    <property name="page-increment">10</property>
+    <property name="upper">1000</property>
+    <property name="step-increment">0.000001</property>
+    <property name="page-increment">0.00001</property>
   </object>
   <object class="GtkWindow" id="window1">
     <property name="can-focus">False</property>
@@ -85,6 +85,7 @@
                                 <property name="width-chars">10</property>
                                 <property name="xalign">1</property>
                                 <property name="adjustment">adj_servo_thread_tmax</property>
+                                <property name="digits">9</property>
                               </object>
                               <packing>
                                 <property name="left-attach">1</property>
@@ -452,6 +453,7 @@ try increasing the thread period.</property>
                             <property name="width-chars">10</property>
                             <property name="xalign">1</property>
                             <property name="adjustment">adj_read_tmax</property>
+                                <property name="digits">9</property>
                           </object>
                           <packing>
                             <property name="left-attach">1</property>
@@ -468,6 +470,7 @@ try increasing the thread period.</property>
                             <property name="width-chars">10</property>
                             <property name="xalign">1</property>
                             <property name="adjustment">adj_write_tmax</property>
+                                <property name="digits">9</property>
                           </object>
                           <packing>
                             <property name="left-attach">1</property>

lib/python/gladevcp/builtin-panels/gtk_mesa_tests/gtk_mesa_tests.py

@@ -194,7 +194,7 @@ def on_btn_servo_thread_tmax_released(self, gtkbutton):
             line = line.strip()
             if line.endswith("servo-thread.tmax"):
                 parts = line.split()
-                value = int(parts[3])  # 4. column is Value
+                value = float(parts[3])  # 4. column is Value, in seconds
                 break
 
         spin_thread_tmax = self.builder.get_object("sbtn_servo_thread_tmax")
@@ -253,8 +253,8 @@ def on_btn_calc_servo_released(self, gtkbutton):
             buffer.insert(buffer.get_end_iter(), "Servo Thread period must be greater than 0")
             return
 
-        # Calculation
-        result = t_max / period * 100
+        # Calculation; t_max is in seconds, period in ns
+        result = t_max / (period * 1e-9) * 100
         label_result.set_text(f'{result:.0f}%')
 
 
@@ -279,7 +279,7 @@ def on_btn_read_tmax_released(self, gtkbutton):
             line = line.strip()
             if "read.tmax" in line:
                 parts = line.split()
-                value = int(parts[3])  # 4. column is Value
+                value = float(parts[3])  # 4. column is Value, in seconds
                 break
 
         spin_thread_period = self.builder.get_object("sbtn_read_tmax")
@@ -306,7 +306,7 @@ def on_btn_write_tmax_released(self, gtkbutton):
             line = line.strip()
             if "write.tmax" in line:
                 parts = line.split()
-                value = int(parts[3])  # 4. column is Value
+                value = float(parts[3])  # 4. column is Value, in seconds
                 break
 
         spin_thread_period = self.builder.get_object("sbtn_write_tmax")
@@ -376,7 +376,8 @@ def on_btn_nic_calculate_released(self, gtkbutton):
 
         # Calculation
         rw_tmax = read_tmax + write_tmax
-        result = rw_tmax / period * 100
+        # rw_tmax is in seconds, period in ns
+        result = rw_tmax / (period * 1e-9) * 100
         label_result.set_text(f'{result:.0f}%')
 
     def on_btn_packet_error_released(self, gtkbutton):

scripts/hal-histogram

@@ -100,7 +100,9 @@ proc set_defaults {} {
   set ::HH(y,logscale)         1
   set ::HH(nbins)              50
   set ::HH(minvalue)           0
-  set ::HH(binsize)            100
+  # the default pin is a function runtime pin, which is a float in seconds,
+  # so the default binsize is 100ns expressed in seconds
+  set ::HH(binsize)            1e-07
   set ::HH(maxvalue)           0
   set ::HH(pinname) motion-command-handler.time
 

src/hal/hal_lib.c

@@ -2499,17 +2499,17 @@ int hal_export_funct(const char *name, void (*funct) (void *, long),
     /* at this point we have a new function and can yield the mutex */
     halpr_mutex_release();
 
-    /* create a pin with the function's runtime in it */
-    if (hal_pin_new_si32(comp_id, HAL_OUT, &(new->runtime), 0, "%s.time", name) < 0) {
+    /* create a pin with the function's runtime (in seconds) in it */
+    if (hal_pin_new_real(comp_id, HAL_OUT, &(new->runtime), 0.0, "%s.time", name) < 0) {
         rtapi_print_msg(RTAPI_MSG_ERR, "HAL: ERROR: fail to create pin '%s.time'\n", name);
         return -EINVAL;
     }
 
     /* note that failure to successfully create the following params
        does not cause the "export_funct()" call to fail - they are
        for debugging and testing use only */
-    /* create a parameter with the function's maximum runtime in it */
-    if(hal_param_new_si32(comp_id, HAL_RW, &(new->maxtime), 0, "%s.tmax", name) < 0) {
+    /* create a parameter with the function's maximum runtime (in seconds) in it */
+    if(hal_param_new_real(comp_id, HAL_RW, &(new->maxtime), 0.0, "%s.tmax", name) < 0) {
         rtapi_print_msg(RTAPI_MSG_ERR, "HAL: ERROR: fail to create param '%s.tmax'\n", name);
         return -EINVAL;
     }
@@ -2684,13 +2684,13 @@ int hal_create_thread(const char *name, unsigned long period_nsec, int uses_fp)
         return new->comp_id;
     }
 
-    if ((retval = hal_param_new_si32(new->comp_id, HAL_RW, &(new->maxtime), 0, "%s.tmax", new->name)) < 0) {
+    if ((retval = hal_param_new_real(new->comp_id, HAL_RW, &(new->maxtime), 0.0, "%s.tmax", new->name)) < 0) {
         rtapi_print_msg(RTAPI_MSG_ERR,
            "HAL: ERROR: fail to create param '%s.tmax'\n", new->name);
         return retval;
     }
 
-    if ((retval = hal_pin_new_si32(new->comp_id, HAL_OUT, &(new->runtime), 0, "%s.time", new->name)) < 0) {
+    if ((retval = hal_pin_new_real(new->comp_id, HAL_OUT, &(new->runtime), 0.0, "%s.time", new->name)) < 0) {
         rtapi_print_msg(RTAPI_MSG_ERR,
            "HAL: ERROR: fail to create pin '%s.time'\n", new->name);
         return retval;
@@ -3673,10 +3673,12 @@ static void thread_task(void *arg)
 		end_time = rtapi_get_time();
 		/* point to function structure */
 		funct = SHMPTR(funct_entry->funct_ptr);
-		/* update execution time data */
-		rtapi_s32 runtime = hal_set_si32(funct->runtime, end_time - start_time);
-		if ( runtime > hal_get_si32(funct->maxtime)) {
-		    hal_set_si32(funct->maxtime, runtime);
+		/* update execution time data; rtapi_get_time() counts ns,
+		   the .time pin and .tmax param report seconds */
+		rtapi_real runtime = hal_set_real(funct->runtime,
+		    (rtapi_real)(end_time - start_time) * 1e-9);
+		if ( runtime > hal_get_real(funct->maxtime)) {
+		    hal_set_real(funct->maxtime, runtime);
 		    hal_set_bool(funct->maxtime_increased, 1);
 		} else {
 		    hal_set_bool(funct->maxtime_increased, 0);
@@ -3686,10 +3688,11 @@ static void thread_task(void *arg)
 		/* prepare to measure time for next funct */
 		start_time = end_time;
 	    }
-	    /* update thread execution time */
-	    rtapi_s32 runtime = hal_set_si32(thread->runtime, end_time - thread_start_time);
-	    if ( runtime > hal_get_si32(thread->maxtime)) {
-	        hal_set_si32(thread->maxtime, runtime);
+	    /* update thread execution time, in seconds */
+	    rtapi_real runtime = hal_set_real(thread->runtime,
+	        (rtapi_real)(end_time - thread_start_time) * 1e-9);
+	    if ( runtime > hal_get_real(thread->maxtime)) {
+	        hal_set_real(thread->maxtime, runtime);
 	    }
             hal_set_sint(thread->threadbeat, ++thread->beatcnt);
 	}

src/hal/hal_priv.h

@@ -405,8 +405,8 @@ struct hal_funct_t {
     // IMPORTANT: The pins and params are valid as seen from the context that
     // created them. For uspace that is rtapi_app and in the kernel it is the
     // kernel's module context.
-    hal_sint_t runtime;	/* (pin) duration of last run, in CPU cycles */
-    hal_sint_t maxtime;	/* (param) duration of longest run, in CPU cycles */
+    hal_real_t runtime;	/* (pin) duration of last run, in seconds */
+    hal_real_t maxtime;	/* (param) duration of longest run, in seconds */
     hal_bool_t maxtime_increased;	/* (param) on last call, maxtime increased */
     char name[HAL_NAME_LEN + 1];	/* function name */
 };
@@ -429,8 +429,8 @@ struct hal_thread_t {
     // IMPORTANT: The pins and params are valid as seen from the context that
     // created them. For uspace that is rtapi_app and in the kernel it is the
     // kernel's module context.
-    hal_sint_t runtime;	/* (pin) duration of last run, in ns */
-    hal_sint_t maxtime;	/* (param) duration of longest run, in ns */
+    hal_real_t runtime;	/* (pin) duration of last run, in seconds */
+    hal_real_t maxtime;	/* (param) duration of longest run, in seconds */
     hal_sint_t threadbeat; /* (pin) visible monotonic loop beat counter */
     rtapi_sint beatcnt;    /* Thread monotonic increasing loop beat counter (so we don't need to read/write volatile) */
     hal_list_t funct_list;	/* list of functions to run */