作者：风暴工会 | 来源：互联网 | 2022-12-20 13:09
带组装时，之所以出现DFM和SFI的报错，是因为SFI在向ROS请求数据时出现TIMEOUT，导致了SFI的强制组装（不完整事例，由于只有一个ROS，于是SFI报warning:NoDataFra
带组装时，之所以出现DFM和SFI的报错，是因为SFI在向ROS请求数据时出现TIMEOUT，导致了SFI的强制组装（不完整事例，由于只有一个ROS，于是SFI报warning:No Data Fragments at all.）,SFI的超时也会带来DFM接收EoE的超时，于是DFM也报warning: No EoE Message for event... 。
将SFI的TimeoutCycle_ms 增加到5000000以后，不再出现报错的现象。
将TimeoutCycle_ms设置为50000, 1个ROS，将通道数分别设置为1和128. 发送端控制发送频率为1KHz.
1. 1个ROS, 1个通道时，事例率为1.03KHz. 运行正常无报错。
此时的ROS所在的服务器cpu占用率为：
top - 11:04:20 up 294 days, 11 min, 5 users, load average: 1.80, 1.82, 2.13
Tasks: 1345 total, 8 running, 1337 sleeping, 0 stopped, 0 zombie
Cpu(s): 5.4%us, 10.6%sy, 0.0%ni, 83.8%id, 0.0%wa, 0.0%hi, 0.1%si, 0.0%st
Mem: 32980256k total, 28470224k used, 4510032k free, 187260k buffers
Swap: 33554428k total, 364k used, 33554064k free, 26009012k cached
PID USER PR NI VIRT RES SHR S %CPU %MEM TIME+ COMMAND
1427 lhaaso 20 0 1140m 33m 20m R 99.7 0.1 3:32.68 ReadoutApplicat
1498 lhaaso 20 0 1140m 33m 20m R 99.7 0.1 3:01.30 ReadoutApplicat
1499 lhaaso 20 0 1140m 33m 20m R 99.7 0.1 3:01.48 ReadoutApplicat
7687 lhaaso 20 0 1684m 12m 8576 R 16.5 0.0 13:47.27 mrs_worker
1508 lhaaso 20 0 1684m 12m 8576 R 8.6 0.0 0:15.08 mrs_worker
1507 lhaaso 20 0 1684m 12m 8576 R 8.3 0.0 0:15.11 mrs_worker
7659 lhaaso 20 0 1684m 12m 8576 R 5.9 0.0 41:50.96 mrs_worker
29922 lhaaso 20 0 27000 2492 1048 R 1.0 0.0 0:42.66 top
2. 1个ROS, 128个通道，此时的事例率降低到7.37Hz, ROS所在的服务器的cpu占用率如下所示：
top - 11:32:35 up 294 days, 39 min, 5 users, load average: 21.36, 20.48, 14.95
Tasks: 1361 total, 28 running, 1333 sleeping, 0 stopped, 0 zombie
Cpu(s): 0.5%us, 8.7%sy, 0.0%ni, 43.8%id, 2.7%wa, 0.0%hi, 44.3%si, 0.0%st
Mem: 32980256k total, 31139728k used, 1840528k free, 187264k buffers
Swap: 33554428k total, 364k used, 33554064k free, 26099624k cached
PID USER PR NI VIRT RES SHR S %CPU %MEM TIME+ COMMAND
2314 lhaaso 20 0 1268m 175m 20m R 100.0 0.5 23:07.32 ReadoutApplicat
2440 lhaaso 20 0 1268m 175m 20m R 99.8 0.5 20:56.81 ReadoutApplicat
103 root 20 0 0 0 0 R 48.1 0.0 145:48.86 events/4
57 root 20 0 0 0 0 R 45.9 0.0 165:49.77 ksoftirqd/13
115 root 20 0 0 0 0 R 38.5 0.0 164:16.78 events/16
21 root 20 0 0 0 0 R 36.9 0.0 140:23.49 ksoftirqd/4
69 root 20 0 0 0 0 R 34.8 0.0 229:40.08 ksoftirqd/16
65 root 20 0 0 0 0 R 33.0 0.0 211:48.61 ksoftirqd/15
73 root 20 0 0 0 0 R 31.8 0.0 229:45.25 ksoftirqd/17
116 root 20 0 0 0 0 R 30.6 0.0 162:05.68 events/17
2246 root 20 0 0 0 0 R 29.4 0.0 199:02.24 kondemand/17
101 root 20 0 0 0 0 R 28.9 0.0 170:30.50 events/2
112 root 20 0 0 0 0 R 25.9 0.0 277:15.80 events/13
25 root 20 0 0 0 0 R 22.8 0.0 144:08.45 ksoftirqd/5
2231 root 20 0 0 0 0 R 21.1 0.0 197:46.79 kondemand/2
2245 root 20 0 0 0 0 R 20.3 0.0 204:38.17 kondemand/16
2234 root 20 0 0 0 0 R 19.4 0.0 161:12.00 kondemand/5
104 root 20 0 0 0 0 R 17.3 0.0 137:34.97 events/5
2244 root 20 0 0 0 0 R 17.0 0.0 193:24.82 kondemand/15
17 root 20 0 0 0 0 R 15.2 0.0 140:37.33 ksoftirqd/3
2232 root 20 0 0 0 0 R 14.3 0.0 164:02.53 kondemand/3
7815 lhaaso 20 0 2197m 10m 7396 R 13.5 0.0 15:56.02 is_server
2242 root 20 0 0 0 0 R 3.1 0.0 278:35.61 kondemand/13
2233 root 20 0 0 0 0 R 3.0 0.0 159:31.92 kondemand/4
3745 zengtx 20 0 26864 2384 1052 R 0.3 0.0 0:00.17 top
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