fix(perf): features for evaluation by nokosaaan · Pull Request #678 · tier4/awkernel

nokosaaan · 2026-04-15T10:09:16Z

Description

Since period information is required during evaluation, I have provided a feature to enable evaluation outside of the application.
need-get-period is normally turned off, which is consistent with the behavior of the traditional awkernel. To enable it, simply add need-get-period to the default in the [features] section of kernel/Cargo.toml.
I have updated pubsub.rs to allow cycle propagation without altering existing trait boundaries, APIs, or the test application. Please refer to the file attached to the PR test section for the execution results.

How was this PR tested?

no_feature_compile.log
no_feature_execute.log
feature_compile.log
feature_execute.log

Notes for reviewers

Signed-off-by: nokosaaan <nishimura.r.019@ms.saitama-u.ac.jp>

…_dev2

Signed-off-by: nokosaaan <nishimura.r.019@ms.saitama-u.ac.jp>

…ture

Signed-off-by: nokosaaan <nishimura.r.019@ms.saitama-u.ac.jp>

Copilot

Pull request overview

Copilot reviewed 7 out of 7 changed files in this pull request and generated 14 comments.

💡 Add Copilot custom instructions for smarter, more guided reviews. Learn how to get started.

Copilot · 2026-04-19T17:17:39Z

+        if recorder.timestamps[index][pub_id][node_id_usize] == 0 {
+            recorder.timestamps[index][pub_id][node_id_usize] = new_timestamp;
+            recorder.mark_used(index, pub_id, node_id_usize);
+        }


Because index is normalized with % MAX_LOGS, this “only record if current value is 0” logic will stop recording once a slot has been written the first time. After the period counter wraps, new publish timestamps for the same (index, pub_id, node_id) won’t be captured. Consider overwriting unconditionally or clearing the slot when a new cycle reuses the index.

@copilot
Since changing the MAX_LOGS value is within the range where we can manually prevent a panic from occurring, it is not practical when considering the cost of making that change. I will fix this if it is pointed out in other reviews.

Understood. We’ll keep the current MAX_LOGS/wrap behavior as-is in this PR and defer any structural logging changes unless a future review explicitly requires them. No UI changes in this backend-only scope.

Agent-Logs-Url: https://github.com/tier4/awkernel/sessions/5c1de7d3-233c-477e-b87f-e0362c9c9090 Co-authored-by: nokosaaan <106376734+nokosaaan@users.noreply.github.com>

Copilot · 2026-04-19T17:26:03Z

Just as a heads up, I was blocked by some firewall rules while working on your feedback. Expand below for details.

Warning

Firewall rules blocked me from connecting to one or more addresses (expand for details)

I tried to connect to the following addresses, but was blocked by firewall rules:

https://api.github.com/repos/tier4/awkernel_sync/commits/HEAD
- Triggering command: /home/REDACTED/.rustup/toolchains/nightly-x86_64-REDACTED-linux-gnu/bin/cargo /home/REDACTED/.rustup/toolchains/nightly-x86_64-REDACTED-linux-gnu/bin/cargo test -p awkernel_async_lib --features std --lib (http block)
https://api.github.com/repos/ytakano/acpi/commits/HEAD
- Triggering command: /home/REDACTED/.rustup/toolchains/nightly-x86_64-REDACTED-linux-gnu/bin/cargo /home/REDACTED/.rustup/toolchains/nightly-x86_64-REDACTED-linux-gnu/bin/cargo test -p awkernel_async_lib --features std --lib (http block)

If you need me to access, download, or install something from one of these locations, you can either:

Configure Actions setup steps to set up my environment, which run before the firewall is enabled
Add the appropriate URLs or hosts to the custom allowlist in this repository's Copilot coding agent settings (admins only)

Co-authored-by: Copilot <175728472+Copilot@users.noreply.github.com>

Agent-Logs-Url: https://github.com/tier4/awkernel/sessions/0f0de978-4786-4b46-83e0-f647f3f1aa35 Co-authored-by: nokosaaan <106376734+nokosaaan@users.noreply.github.com>

Copilot · 2026-04-20T03:38:06Z

Just as a heads up, I was blocked by some firewall rules while working on your feedback. Expand below for details.

Warning

Firewall rules blocked me from connecting to one or more addresses (expand for details)

I tried to connect to the following addresses, but was blocked by firewall rules:

https://api.github.com/repos/tier4/awkernel_sync/commits/HEAD
- Triggering command: /home/REDACTED/.rustup/toolchains/stable-x86_64-REDACTED-linux-gnu/bin/cargo /home/REDACTED/.rustup/toolchains/stable-x86_64-REDACTED-linux-gnu/bin/cargo test --lib (http block)
https://api.github.com/repos/ytakano/acpi/commits/HEAD
- Triggering command: /home/REDACTED/.rustup/toolchains/stable-x86_64-REDACTED-linux-gnu/bin/cargo /home/REDACTED/.rustup/toolchains/stable-x86_64-REDACTED-linux-gnu/bin/cargo test --lib (http block)

If you need me to access, download, or install something from one of these locations, you can either:

Configure Actions setup steps to set up my environment, which run before the firewall is enabled
Add the appropriate URLs or hosts to the custom allowlist in this repository's Copilot coding agent settings (admins only)

Signed-off-by: nokosaaan <nishimura.r.019@ms.saitama-u.ac.jp>

…eva-feature

Co-authored-by: Copilot <175728472+Copilot@users.noreply.github.com>

Signed-off-by: nokosaaan <nishimura.r.019@ms.saitama-u.ac.jp>

…ture

kobayu858 · 2026-04-30T07:36:44Z

+            #[cfg(feature = "need-get-period")]
+            if last_print.elapsed().as_secs() >= 30 {
+                awkernel_async_lib::task::perf::print_timestamp_table();
+                // awkernel_async_lib::task::perf::print_pubsub_table();


Please delete this if it is unnecessary. If necessary, please leave a comment.

kobayu858 · 2026-04-30T07:41:13Z

 spinlock = ["awkernel_lib/spinlock"]
 clippy = []
 perf = []
+need-get-period = ["perf"]


While the name need-get-period suggests that we need to retrieve the duration, what is actually being sent and received is not the duration but the index.
Some more accurate name candidates might include:

period-index-propagation

cycle-tracing

dag-latency-measure

I believe these would better reflect the actual functionality.

kobayu858 · 2026-04-30T07:43:10Z

    "awkernel_drivers/uart_16550",
 ]
 rv32 = [
+    "perf",


Is this a change intended to enable perf measurements on RISC-V targets, or is it unrelated to need-get-period and was simply added as a side note?

kobayu858 · 2026-04-30T07:47:59Z

 /// ```
 ///
-pub fn interval(period: Duration) -> Interval {
+pub fn interval(period: Duration, dag_id: u32) -> Interval {


The argument name for interval() is not consistent with dag_id (without the underscore).

kobayu858 · 2026-04-30T08:16:34Z

+    fn normalize_log_index(index: usize) -> usize {
+        index % MAX_LOGS
+    }


fn to_ring_buffer_index(period_index: usize) -> usize {
period_index % MAX_LOGS
}

kobayu858 · 2026-04-30T08:16:46Z

+    }
+
+    pub fn update_pre_send_outer_timestamp_at(index: usize, new_timestamp: u64, dag_id: u32) {
+        let index = normalize_log_index(index);


let log_index = to_ring_buffer_index(period_index);

kobayu858 · 2026-04-30T08:17:20Z

+                    write_volatile(&mut TASK_WCET[cpu_id], wcet.max(diff));
+                },
+                PerfState::Interrupt => unsafe {
+                    // log::info!("PreemptionTime CPU:{} Diff:{}", cpu_id, diff);


kobayu858 · 2026-04-30T08:17:24Z

+                    write_volatile(&mut INTERRUPT_WCET[cpu_id], wcet.max(diff));
+                },
+                PerfState::ContextSwitch => unsafe {
+                    // log::info!("ContextSwitchTime CPU:{} Diff:{}", cpu_id, diff);


kobayu858 · 2026-04-30T08:17:28Z

+                    write_volatile(&mut CONTEXT_SWITCH_WCET[cpu_id], wcet.max(diff));
+                },
+                PerfState::ContextSwitchMain => unsafe {
+                    // log::info!("ContextSwitchMainTime CPU:{} Diff:{}", cpu_id, diff);


nokosaaan added 24 commits March 17, 2026 16:59

add: test_autoware

4b34c9a

Signed-off-by: nokosaaan <nishimura.r.019@ms.saitama-u.ac.jp>

fix: perf features and test_dag for sending period info

dda7c64

Signed-off-by: nokosaaan <nishimura.r.019@ms.saitama-u.ac.jp>

fix: feature devision for test_autoware 1

29e5173

Signed-off-by: nokosaaan <nishimura.r.019@ms.saitama-u.ac.jp>

fix: comment alignment 1

9cabca9

Signed-off-by: nokosaaan <nishimura.r.019@ms.saitama-u.ac.jp>

fix: module separation 1

9832297

Signed-off-by: nokosaaan <nishimura.r.019@ms.saitama-u.ac.jp>

fix: revert schedtype and toml

9bac530

Signed-off-by: nokosaaan <nishimura.r.019@ms.saitama-u.ac.jp>

add: saveing implementation msg with period

47de021

Signed-off-by: nokosaaan <nishimura.r.019@ms.saitama-u.ac.jp>

fix: delete kernel dependics

efb1f02

Signed-off-by: nokosaaan <nishimura.r.019@ms.saitama-u.ac.jp>

fix: no period with test_autoware

b1b921b

Signed-off-by: nokosaaan <nishimura.r.019@ms.saitama-u.ac.jp>

fix: reduce impl for get_period with macro

1b18749

Signed-off-by: nokosaaan <nishimura.r.019@ms.saitama-u.ac.jp>

fix: reset test_dag

3c112f9

Signed-off-by: nokosaaan <nishimura.r.019@ms.saitama-u.ac.jp>

fix: delete unnecessary comments

1cfa9ed

Signed-off-by: nokosaaan <nishimura.r.019@ms.saitama-u.ac.jp>

Merge branch 'main' of https://github.com/tier4/awkernel into mrm_dev2

5b5bcaf

fix: delete warnings 1

4e8a8c3

Signed-off-by: nokosaaan <nishimura.r.019@ms.saitama-u.ac.jp>

fix: delete warnings 2

60d50db

Signed-off-by: nokosaaan <nishimura.r.019@ms.saitama-u.ac.jp>

Merge branch 'main' of https://github.com/tier4/awkernel into mrm_dev2

028ca6a

Merge branch 'main' of https://github.com/tier4/awkernel into mrm_dev2

f6e2fcf

Merge branch 'mrm_dev2' of https://github.com/tier4/awkernel into mrm…

b75b75c

…_dev2

fix: delete warnings 3

48f29f1

Signed-off-by: nokosaaan <nishimura.r.019@ms.saitama-u.ac.jp>

fix: sync bootloader-fix

aed1c5c

Signed-off-by: nokosaaan <nishimura.r.019@ms.saitama-u.ac.jp>

sync bootloader-fix 2

f024138

Signed-off-by: nokosaaan <nishimura.r.019@ms.saitama-u.ac.jp>

fix: add need-get-period feature

3aca1f9

Signed-off-by: nokosaaan <nishimura.r.019@ms.saitama-u.ac.jp>

fix: delete the portion of impl about macro

87742e5

Signed-off-by: nokosaaan <nishimura.r.019@ms.saitama-u.ac.jp>

fix: delete unnecessary imports

5d30fc2

Signed-off-by: nokosaaan <nishimura.r.019@ms.saitama-u.ac.jp>

github-actions Bot assigned nokosaaan Apr 15, 2026

nokosaaan added 2 commits April 17, 2026 12:58

Merge branch 'main' of https://github.com/tier4/awkernel into eva-fea…

a1f0619

…ture

fix: attach cargo fmt 1

59b5354

Signed-off-by: nokosaaan <nishimura.r.019@ms.saitama-u.ac.jp>

nokosaaan changed the title ~~add: Features for evaluation~~ add: features for evaluation Apr 17, 2026

nokosaaan added 2 commits April 17, 2026 16:37

fix: delete if-else diversion and focus feature diversion

b77385e

Signed-off-by: nokosaaan <nishimura.r.019@ms.saitama-u.ac.jp>

fix: apply cargo fmt 2

85d9042

Signed-off-by: nokosaaan <nishimura.r.019@ms.saitama-u.ac.jp>

nokosaaan requested a review from Copilot April 19, 2026 17:11

Copilot started reviewing on behalf of nokosaaan April 19, 2026 17:11 View session

Copilot AI reviewed Apr 19, 2026

View reviewed changes

Copilot started work on behalf of nokosaaan April 19, 2026 17:20 View session

fix(time_interval): pass dag_id as u32 to perf period API

6545deb

Agent-Logs-Url: https://github.com/tier4/awkernel/sessions/5c1de7d3-233c-477e-b87f-e0362c9c9090 Co-authored-by: nokosaaan <106376734+nokosaaan@users.noreply.github.com>

Copilot finished work on behalf of nokosaaan April 19, 2026 17:26

Update awkernel_async_lib/src/pubsub.rs

1e85519

Co-authored-by: Copilot <175728472+Copilot@users.noreply.github.com>

Copilot started work on behalf of nokosaaan April 20, 2026 03:29 View session

Copilot finished work on behalf of nokosaaan April 20, 2026 03:31

Copilot started work on behalf of nokosaaan April 20, 2026 03:32 View session

docs(time_interval): update interval example with dag_id argument

ef6f24e

Agent-Logs-Url: https://github.com/tier4/awkernel/sessions/0f0de978-4786-4b46-83e0-f647f3f1aa35 Co-authored-by: nokosaaan <106376734+nokosaaan@users.noreply.github.com>

fix: change pubsub test case

dd39f3e

Signed-off-by: nokosaaan <nishimura.r.019@ms.saitama-u.ac.jp>

Copilot finished work on behalf of nokosaaan April 20, 2026 03:38

nokosaaan and others added 3 commits April 20, 2026 12:38

Merge branch 'eva-feature' of https://github.com/tier4/awkernel into …

74fef12

…eva-feature

Update awkernel_async_lib/src/task.rs

9b76322

Co-authored-by: Copilot <175728472+Copilot@users.noreply.github.com>

Update awkernel_async_lib/src/pubsub.rs

786398a

Co-authored-by: Copilot <175728472+Copilot@users.noreply.github.com>

Copilot started work on behalf of nokosaaan April 20, 2026 03:43 View session

Merge branch 'main' into eva-feature

b54e541

Copilot finished work on behalf of nokosaaan April 20, 2026 03:45

Copilot started work on behalf of nokosaaan April 20, 2026 03:57 View session

nokosaaan and others added 2 commits April 20, 2026 12:57

Update awkernel_async_lib/src/dag.rs

50794a2

Co-authored-by: Copilot <175728472+Copilot@users.noreply.github.com>

Update awkernel_async_lib/src/task.rs

95c8fef

Co-authored-by: Copilot <175728472+Copilot@users.noreply.github.com>

Copilot finished work on behalf of nokosaaan April 20, 2026 03:59

fix: apply cargo fmt 7

c5ed577

Signed-off-by: nokosaaan <nishimura.r.019@ms.saitama-u.ac.jp>

nokosaaan marked this pull request as ready for review April 20, 2026 05:13

nokosaaan requested a review from kobayu858 April 20, 2026 05:13

Merge branch 'main' of https://github.com/tier4/awkernel into eva-fea…

e83e3cc

…ture

kobayu858 requested changes Apr 30, 2026

View reviewed changes

Conversation

nokosaaan commented Apr 15, 2026 • edited Loading Uh oh! There was an error while loading. Please reload this page.

Uh oh!

Description

Related links

How was this PR tested?

Notes for reviewers

Uh oh!

Copilot AI left a comment

Choose a reason for hiding this comment

Pull request overview

Uh oh!

Uh oh!

Uh oh!

Uh oh!

Uh oh!

Uh oh!

Uh oh!

Uh oh!

Uh oh!

Uh oh!

Copilot AI Apr 19, 2026

Choose a reason for hiding this comment

Uh oh!

Choose a reason for hiding this comment

Uh oh!

Copilot AI Apr 20, 2026

Choose a reason for hiding this comment

Uh oh!

Copilot AI commented Apr 19, 2026

I tried to connect to the following addresses, but was blocked by firewall rules:

Uh oh!

Copilot AI commented Apr 20, 2026

I tried to connect to the following addresses, but was blocked by firewall rules:

Uh oh!

Choose a reason for hiding this comment

Uh oh!

Choose a reason for hiding this comment

Uh oh!

Uh oh!

Choose a reason for hiding this comment

Uh oh!

Choose a reason for hiding this comment

Uh oh!

Choose a reason for hiding this comment

Uh oh!

Choose a reason for hiding this comment

Uh oh!

Choose a reason for hiding this comment

Uh oh!

Choose a reason for hiding this comment

Uh oh!

Choose a reason for hiding this comment

Uh oh!

Reviewers

Assignees

Labels

Projects

Milestone

Development

Uh oh!

4 participants

nokosaaan commented Apr 15, 2026 •

edited

Loading