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Wind River StethoScope for VxWorks User`s Guide, 7.8

1. Operation Meaning abs abs A add Add two signals together A B arccos if abs A lt 1 then arccos A else arccos sign A result in degrees arcsin if abs A 1 then arcsin A else arcsin sign A result in degrees arctan atan A result in degrees arctan2 if B 0 then 10000000 sign A else atan2 A B avg Average signal value cos cos A where A is in degrees divide if B 0 then 10000000 sign A else A B exp exp A exp10 exp10 filter1 A previous filter1 1 A B where initial filter1 B hypot Sqrt A A B B In In A In10 In10 A mult Mulitply two signals together A B saturate if A gt B then B if A lt B then B else A sin sin A where A is in degrees sqrt sqrt abs A sub Subtract two signals A B tan tan A where A is in degrees add abs A 82 6 Derived Signals 6 4 Troubleshooting Derived Signals 6 4 Troubleshooting Derived Signals When a Derived Signal is defined it should appear in the Signals Tree of every Plot Dump Plot and Monitor window There are two reasons derived signals may not appear The derived signal has been toggled off in the Signal Manager The signal will only appear when all of its operands are defined If any of the operand signals do not appear in the buffer being viewed perhaps caused by a typing mistake then the derived signal will not be available in that buffer 83 Wind River Stet
2. 149 10 7 Setting Preferences for a New Monitor Window eee 149 Working with Snapshots essere 151 TLX FInifoduclloBi ues er RRIMHSHE MAU RRAMERERU MEI RN RIED ERTROHT URINE EAE DUE 151 1L2 Taking Sap sits 25e rie peres Een ETUR SN ER EITLIRIS HO EH NEN A IRID IUe ID 152 11 2431 What Happens When You Take a Snapshot sss 152 1L3 Saving Snapshots useeceeessen ivre peni ve ERREUR TUR BRUT WP OUA E NGHE Qe d v SUE 153 BoT See enol err 155 TL2 Data neinni auc Ea Eai AER RAAN 155 MAS Oupa a N bas 156 How Output Filenames Are Built sie etate uie tione tia dnas 157 114 LoadingSnapsholfe oesocesimssitim Ne SEHE ENIRO ennnen IR Mp RENE EI iiia 157 11 5 Exporting Snapshot Data to MATLAB and MATRIXX eere 158 Nor Tene DOOR ccs eee 158 De A ROR dS onu ipti dp E bieten Pru s A RRL 159 N32 MATLABOGHpt Example uideo vec eaa aak 160 1L6 Deleting Snapshots eeenoe eene teret reprehen htb tenebit ttpta tb eph e th eR t peer Het egd 161 Using VxWorks Targ t Losnaaeesxixanianis iiA RE REB AERE IE Ma ER RAE pna EE IR Lana bak 10A 163 121 ScopePriobe Requirements usssoieuitie esee MEI artin E ENa 163 l2 Yoors Tatt esencan pnn an 164 12 3 13 Signal Installation 12 2 1 12 2 2 12 2 3 12 2 4 1225 Contents Building escianu ia TN Loading the Wind River Utilities Lib Loading the ProfileSc eei d the pu B Example Target SCY M
3. index names i 1 sz 1 found 1 exit 1 endIf endIf endFor If found 0 display s Variable not found else plotindex plotindex i endIf endWhile 254 Example C 3 C MATLAB and MATRIXX Examples C 3 MATRIXX Example Build the arrays to be plotted For i plotindex plotdata plotdata data i plotnames plotnames names i unitnames unitnames units i endFor display plotnames Display plot names If plotindex return endIf If exist runtitle titlestring runtitle timestamp else display warning no runtitle titlestring timestamp endIf plot time plotdata title titlestring xlab Time seconds legend plotnames unitnames MATRIX Session This MATRIX session loads the data saved as dynamicPayload xmd by running the dynamicPayload ms script both created by StethoScope when saving data in MATRIX format The session then uses varplot to plot two variables The resulting plot is saved in encapsulated PostScript format NOTE In an actual MATRIX session the input and output appear in different text areas The listing below merges the two to give a sense of cause and effect where the output of a command is shown following the command itself execute file dynamicPayload notes a column vector of strings Session notes This is a slew with the uncontrolled dynamic payload Both force sensor filters a
4. LED Starting the ProfileScope GUI Manually sse 172 StethoScope TroublestiautIng ixi iet puct Di ties b kt D EM ERR 2 1231 12 32 1533 Load Bear acuto aat dtes meta eoa no liceo Vid rts o t deer TRE Connecnon ESTO dro Er rh RE Wee a No Response front Target iaunesip iesivnbd peu itta edidi ca dad Vee Mismatc None of the Above DIU ccumsan E Mr DM aene ici E t pe ed Triggering Starvation None of the Above Installing Signals for Stethoscope osse 177 Automatic Signal Installation ssssssssssssssssssssssssesssssssessssssssssesssesssesssssessee 179 13 2 1 B22 Regue mE cosas e toqploo ed acne oai bead usce di Signal Installation Dialog BON irasas om Xi 14 Wind River StethoScope for VxWorks User s Guide 7 8 13 23 Batch Signal Installation aues odisea dora a dna d kid 183 CORTOS es ed p EO Ae US Fd 184 153 Manual Installation 52e Erit r ho e EXEEEE NE EeE FER EX EK Cu EA rS Y EXE Yo EAE aer iN GE EX pies e 184 134 Using Stethoseupe APL aariat niasa aN anani aana sE Snia Sanasana 185 13 5 Code Instrumentation Alternative sisiisisssessrsicsisririsossssissvevosisereserssdissssvosiosess s 185 13 0 Process NOLES siscss sscsscasscssccssssocesesacessiansensisnsssesscusnsesananseavascvacesaseanssncseeniascananassnosseainn 185 136 1 Variable Expressions Vs Signal Names ies oviprretoi reete 186 13 62 Hierarchical Signal BOnipE uice
5. 14 1 Introduction 189 14 2 Using StethoScope API with Your Program 190 14 3 Initializing the Server 190 14 4 Registering and Activating Signals 191 14 5 Sampling Signals 197 14 6 Triggering and Sampling Functions 200 14 7 StethoScope Events API 200 14 8 scope ini File 204 14 1 Introduction The real time data collection and signal management module of Wind River StethoScope that runs on the target platform is also known as StethoScope API StethoScope API collects the time history of variables in your real time program Its architecture is summarized in 1 Introduction If your target is running VxWorks ScopeProbe libraries need to be loaded onto the target If your target is running Windows or Solaris the StethoScope API library needs to be linked with your application code 189 Wind River StethoScope for VxWorks User s Guide 7 8 This chapter introduces the StethoScope API See A StethoScope API Reference for details of the API To compile and run a target application that is instrumented with StethoScope API already see B StethoScope Demonstration 14 2 Using StethoScope API with Your Program StethoScope API is a library of routines linked to your target application It implements a flexible data collection utility StethoScope API saves data from your real time system in a buffer on the target and transmits them to the StethoScope GUI on the host for display To use StethoScope API with your target program do th
6. StethoScope r Signal Colors Comm Plug ins View 3 2 File Menu The Comm Plug ins view shown in the figure below is used to specify the plug ins you want to use for communications between the host GUI and the target E General Colors Comm Plugins Plot Plugins Dump Plot Plot Monitor Plot XY x Comm PlugIns StethoScope Configured Plugins LommDLLwbd spi Add paleale spi Remove Properties You will have to exit and restart StethoS cope for these changes to take effect All specified Plug Ins must either be located in the same directory as StethoScope or be on your path The Configured Plug ins panel displays all the plug ins currently configured To delete a plug in first select it in this list then click Remove to delete it The buttons are Add Click this button to bring up the Open dialog box in which you can navigate to and select plug in files 39 Wind River StethoScope for VxWorks User s Guide 7 8 Remove Click this button to remove a plug in selected in the Configured Plug ins panel Properties Opens the Properties window where you can configure the selected plug in Click OK to apply the changes The settings take effect immediately for the current session and all subsequent sessions Click Cancel to exit the dialog box without saving your changes NOTE You must exit and restart StethoScope to
7. useAuxClk Set to 0 to use taskDelay for timing or 1 to use the VxWorks auxiliary clock scopelndex Specifies the scope index value verbosity Specifies the amount of debug messages printed by the ScopeProbe daemons These messages will appear in the shell from which you run VxDemo A value of 0 causes only error messages to be printed Increasing this value increases the amount of warning and debug messages 170 12 Using a VxWorks Target 12 2 VxWorks Targets Starting the Sampler Task If you wish to start the sampler task rather than run the demo for asynchronous sampling of signals type the following function call at the VxWorks shell or place it into a target shell script ScopeSamplerTaskCreate dontUseAuxClk scopelndex sampleBufferSize signalBufSize samplingRate verbosity where the parameters have the following meanings dontUseAuxClk Set to 1 to use taskDelay for timing or 0 to use the VxWorks auxiliary clock scopelndex Specifies the scope index value sampleBufSize Specifies the size in bytes of the buffer that will be allocated on the target for collecting data samples For a description of this buffer see 14 3 2 Target Buffers p 191 signalBufSize Specifies the size in bytes of the buffer that will be allocated on the target to store signal information For a description of this buffer see 14 3 2 Target Buffers p 191 sampling Rate Specifies the rate number of times per second
8. 236 StethoScope Demonstration B 1 Introduction 237 B 2 Source code Example vxdemo c 237 B 1 Introduction This appendix contains a listing of the vxdemo c demonstration source code file s provided with the Wind River StethoScope distribution This includes example source code for an application program that installs signals to StethoScope The file and its makefile are located at WIND_SCOPETOOLS target src scopedemo where WIND_SCOPETOOLS is the directory where you installed the Wind River ScopeTools B 2 Source code Example vxdemo c The file vxdemo c is an example of a simple application that uses StethoScope The example application plots a number of sinusoids and contains a simple control 237 User s Guide 7 8 Wind River StethoScope for VxWorks system with a simulated physical system that is noisy It is meant only to illustrate some of StethoScope s features The NtargetNsreNscopedemo directory contains the vxdemo c demo code file see B 2 1 Source Code for oxdemo c p 238 and a makefile see B 2 2 Makefile for oxdemo c p 246 to help you recompile the demonstration program NOTE You will need to edit the makefile to have it reflect your system s file structure B 2 1 Source Code for vxdemo c N A demo for StethoScope modification history 5 4a 25sep00 ss Modified ln 165 to properly support random numbers in VxWorks versions 5 1 5 4a 18sep00 gah added suppor
9. scopeIndex Set the verbosity mask We want events with verbosity 1 2 3 30 31 and 32 eventsMask EventLevell EventLevel2 EventLevel3 EventLevel30 EventLevel31 EventLevel32 ScopeEventsMaskSet eventsMask scopeIndex Throw events using ScopeEventsCollect and ScopeEventsMessage calls level 2 This call will succeed since event level 2 is on ScopeEventsCollect eventsHandle level Value of pi amp pi double level 5 This call will not succeed since level 5 is off ScopeEventsCollect eventsHandle level Value of pi amp pi double level 32 This call will succeed since level 32 is on ScopeEventsMessage eventsHandle level The quick brown fox jumps over the lazy dog 202 14 API Introduction 14 7 StethoScope Events API level 25 This call will not succeed since level 25 is off ScopeEventsMessage eventsHandle level The lazy dog sleeps on top of the quick brown fox Detach the event buffer ScopeEventsDetach eventsHandle scopeIndex j This example includes all the StethoScope Events API routines listed at the beginning of this section It demonstrates how to set up the StethoScope Events API how to control the collection of both variable values and messages and how to properly terminate StethoScope Events API prior to exiting the task Signals vs Events The following will help cla
10. Bl PosDesired Bl vel Acc PosGain VelGain amp D14 SinGroup amp D14 Event a E snapshot 1 Jui Properties oopgaan This pop up menu has only one option Properties When you click this item it opens the Signal Properties dialog box where you can configure parameters that affect the appearance and behavior of the specific signal your cursor is on The Signal Properties dialog box is described in detail in 7 6 Signal Properties Dialog Box p 98 for the Plot window or 8 7 Signal Properties Dialog Box p 123 for the Plot XY window 3 6 4 Legend Pop up Menu A pop up menu shown below opens when you right click with the cursor on a signal name in the Legend tab view of a Plot or Plot XY window 58 3 StethoScope Features 3 6 Pop up Menus Signals Bar x 40 4043 Toggle Signal Signal Scale Snapshi Remove Signal H Po 1 000000 Live Bl PosDesired 1 000000 ive Remove All Unselected Remove All Signals Properties rjsignals E Legend This pop up menu has the following options Toggle Signal Turns the signal trace on or off This is the equivalent of going to the Signals Tree and alternately checking and deselecting the signal s check box except that it leaves the signal s name in the Legend list when you toggle it off Remove Signal Removes the signal from the graph This is equivalent to toggling the signal off except it removes the signa
11. Ele Plot View window Heb Tree r iR d 3 x no E x Uni EE 10 30 68 144 0 amp 14 Different amp m 14 offset 1 Pointer O sine volts 2 O Cosine volts The Legend can E sect ovd pun Pos mete Add Marker also be used to IZ Bl Posbesired mete Add Annotation select and clear O ve mis Remove Markers S O acc misis signals D Poscain nim a Set Selection Start O Velcain nimii f Set Selection End 3 H SinGroup Clear Selection H A Event re 1225 1275 130 1825 135 1375 m5 mie zl Timestamp B ros BE Pospesred 2 Sonatname value Allis 1 043 d ET 0 9945 ca Ert n H FosDesired 1 136 8 1 138 1 S 137 8 1 027 1 138 8 0 9945 1 x Status Bar Ready x 125 856905 y 0 438202 7 Mouse pointer s x y Mini Dump Plot window Mini Monitor window position in Plot window 86 7 The Plot Window 7 3 Menu Bar 7 2 1 Displaying Signal Values in a Plot Window 1 If you do not already have a Signals Bar open in your Plot window open one with the View gt Signals Bar menu command or the amp 4 button Make sure the Signals tab is selected in the Signals Bar so that a Signals Tree is displayed 2 Usethe Signals Tree to select which signals you want to display in the graph The signals in this tree were installed using the Signal Manager see 4 Using the Signal Manager Selecting a signal from the Signals Tree causes the following The signal data will be plotted in the window using
12. Shutdown ScopeIndex See ScopeShutdown On success this function returns RTI_TRUE indicating that the signal was installed 224 SEE ALSO NAME SYNOPSIS DESCRIPTION SEE ALSO NAME SYNOPSIS DESCRIPTION A StethoScope API Reference ScopePrintVersion On failure it returns RTI_FALSE indicating one of the following the index scopeIndex is invalid or has not been initialized the type specified type is not recognized the parameters passed are invalid thereis no more space in the signal buffer ScopeProbe ScopeRegisterSignal ScopeActivateSignal ScopeDeactivateSignal ScopeRemoveSignal ScopeRemoveMultipleSignals ScopePrintVersion ScopePrintVersion print the version number of the StethoScope target library void ScopePrintVersion void Print the version number of the StethoScope target library ScopeProbe ScopeProbe ScopeRegisterArray ScopeRegisterArray register an array of signals int ScopeRegisterArray const char name int elementsInArray const char units void ptrToStaticArray const char type int scopeIndex This function registers an array one dimensional of signals by calling ScopeRegisterSignal for each element in the array An array modifier is appended to the signal name followed by the index of the element A valid signal name should not contain asterisks or blank spaces Invalid characters i
13. device A value of 0 causes only errors to be reported Increasing the value in the range of 0 3 increases the volume of messages The default is 0 Use Aux Clock for sampling Check this box to use the Auxiliary Clock instead of the System Clock The default is System Clock 4 Select WTX for the Connection Type parameter The default values for the other initialization parameters should be sufficient for most systems 5 Click OK to load the required libraries and start the StethoScope GUI 6 A StethoScope Plot window should appear on your screen see the example below The status bar at the bottom of the window displays the connection status Under normal conditions it should display Ready Eie Plot View Window Help jr ug l w o I S R 1505 Signals Tree sluve amp MY 10 30 68 144 0 1 DifferentTypes m 14 offset H Pointer Sine eE Lt HE iat gt gt ER 1398 1400 1403 1405 1408 1410 14 Cosine Sine2T H Pos Bl PosDesired Vel Acc PosGain VelGain amp D14 Sincroup 1 Event ooooss8o000 1395 1398 1400 1403 1405 1408 1410 14 a B Signal Name Value H PosDesired 1 Ready x 1420 601266 y 1 07 21 Wind River StethoScope for VxWorks User s Guide 7 8 Viewing the Signals The VxWorks demonstration program generates several sample signals that can be viewed as follows 1 2 If the Plot window does n
14. signal management facilitating collection of time histories of variables in your real time program ScopeActivateMultipleSignals ScopeActivateMultipleSignals activate multiple signals int ScopeActivateMultipleSignals const char namePrefix int scopeIndex This function activates signals that have namePrefix as prefix Activated signals can be selected for viewing from one of the many data display windows such as Plot Monitor and so forth ScopeCollectSignals only collects samples of activated signals A prefix of activates all signals On success the number of signals that have been activated On failure it returns 0 indicating one of the following theindex scopelndex is invalid or has not been initialized there is no signal with the namePrefix registered with index scopeIndex namePrefix is NULL or invalid ScopeProbe ScopelInstallSignal ScopeInstallSignalWithOffset ScopeRegisterSignal ScopeRegisterSignalWithOffset ScopeActivateSignal ScopeDeactivateSignal ScopeRemoveSignal ScopeRemoveMultipleSignals ScopeActivateSignal ScopeActivateSignal activate a signal RTIBool ScopeActivateSignal const char name int scopeIndex 210 DESCRIPTION RETURNS SEE ALSO NAME SYNOPSIS DESCRIPTION RETURNS SEE ALSO A StethoScope API Reference ScopeChangeSampleRate This function activates a signal Activated signals can
15. sizeof static ptr ScopelInstallSignal my global var2 none global ptr double ScopeIndex ScopelInstallSignal my static var2 none static ptr double ScopeIndex while ScopeCollectSignals Shutdown ScopeIndex See ScopeShutdown On success this function returns RTI_TRUE indicating that the signal was installed On failure it returns RTI_FALSE indicating one of the following the index scopeIndex is invalid or has not been initialized the type specified type is not recognized E the parameters passed are invalid n there is no more space in the signal buffer ScopeProbe ScopeRegisterSignal ScopeActivateSignal ScopeDeactivateSignal ScopeRemoveSignal ScopeRemoveMultipleSignals ScopeInstallSignalWithOffset ScopeInstallSignalWithOffset register and activate a signal with an offset RTIBool ScopeInstallSignalWithOffset const char name const char units void ptrToStaticVar const char type int offset int scopeIndex Register and activate a signal with an offset name A unique name to identify the signal units User specified unit of measurement for identification ptrToStaticVar Must point to a static or global storage location 223 DESCRIPTION EXAMPLES RETURNS Wind River StethoScope for VxWorks User s Guide 7 8 type Refers to the type of the variable at the given offset offset Number of byte
16. 0 generates only error messages Specifying a larger value in the range of 1 4 generates an increasingly greater variety and volume of messages 260 A accuracy Dump Plot Windows 139 Monitor Window 150 Plot Windows 97 108 122 129 138 148 active signals creating 62 defined 13 178 examples of activating 193 installing 192 setting up 32 62 adding markers 54 Annotation Edit dialog box 55 annotations adding in Plot Windows 55 API how to use 207 architecture 3 ASCII snapshots 156 aspect lock in Plot XY window 117 asynchronous sampling described 197 example 198 task 166 auxiliary clock 167 Axis Properties dialog box 51 Index browse button 259 snapshot dialog box 156 buffers snapshots 74 building header files 163 include files 163 C calculating offsets 194 capabilities 1 7 changing base filename 157 Check Out License icon 2 collecting signals 197 colors alternative method to change trace lines 100 124 changing color of plot lines 95 dialog box 99 in Legend tab view 94 120 in plot windows 95 121 in Signal Properties dialog box 99 124 in Signals tab view 92 119 on left axis Has Ruler option 102 127 preferences 38 261 User s Guide 7 8 selecting trace line colors 87 114 signal trace lines 31 85 table coordinated with Signals Tree 136 146 used in snapshots 108 129 communications plugins preferences 39 configuration files loading from disk 27 saving to disk 28 configuring Stetho
17. 199 Wind River StethoScope for VxWorks User s Guide 7 8 NOTE Down sampling specified by the StethoScope GUI causes every few calls to ScopeCollectSignals to actually store data Further details are available under the entries for ScopelnitServer and ScopeCollectSignals in 14 7 StethoScope Events API p 200 14 6 Triggering and Sampling Functions The triggering and sampling control functions allow run time access to the data collection mode and settings from the real time program For instance one of the best uses of the trigger routines is to collect data when some condition is detected by the code With pre triggering in effect this makes it simple to analyze very difficult to find error conditions The triggering and sampling control functions are ScopelriggerSet ScopelriggerGet ScopeChangeSampleRate ScopeCollectionModeEnable ScopeCollectionModeDisable ScopeCollectionModeGet See 14 6 Triggering and Sampling Functions p 200 for details on these functions 14 7 StethoScope Events API The StethoScope Events API is a set of low overhead logging routines that were made part of StethoScope Events API version 7 0 These routines can be useful to monitor real time systems with minimal effect on the timing behavior An event is defined simply as a line of code represented by a user specified string eventID An event is said to be thrown when a line of user code
18. 7 8 Signals Bar E El Monitor Properties Display accuracy 4 Monitor resolution 1 000000 True The Properties tab view lets you change parameters affecting the data properties of a currently open Monitor window including allowing writeback see 10 6 Writing Data to the Target p 149 Allow writeback Enable writeback field in monitor window Ei Signals ESr Prop The tabular display window environment properties shown in this tab view are Display accuracy Controls the number of significant digits displayed in the table Set this property to the number of places you want displayed to the right of the decimal point Enter a value between 0 for integer numbers and 6 default 4 Monitor resolution Controls how often in seconds to refresh the values in the Monitor window default 1 000000 Allow writeback Select True to create a Writeback column for writing modified signal values back out to the target default False To modify any value just type directly into the text field Any changes you make in this window have no effect on any other open Monitor windows To change the defaults used when new Monitor windows are created see 10 7 Setting Preferences for a New Monitor Window p 149 148 10 The Monitor Window 10 6 Writing Data to the Target 10 6 Writing Data to the Target StethoScope provides you with Writeback a very powerful feature with which you ca
19. Cancel p Writeback IT Don t ask before writeback Preferences are different than properties preferences are the values used when new data display windows are created whereas properties apply only to a specific data display window that is currently open In other words preferences are the default properties used for new data display windows Then once a data display window is open you can change its properties using the Properties menu command described in the chapters for each data display window The left most panel displays the various types of preference selections available The sub sections that follow describe the options available for each of these preference views The General view shown above allows you to control some aspects of data collection and display as well as whether window and toolbar positions are maintained when you exit and restart StethoScope The parameters are Data Collection Buffer Time secs The buffer time indicates how many seconds of data to show in the plot before refreshing This is only used when not in Strip Chart mode and only in the Plot and Plot XY windows This value is seen on the plot as the width of the grid X axis The default is 10 seconds Window Settings 37 Colors View Wind River StethoScope for VxWorks User s Guide 7 8 Save restore window position When selected the position of your StethoScope windows will be saved for use the next time you s
20. MATRIXx data Usage load your scope data define a global variable varplot Names execute file varplot Parameters varplot Names a matrix of signal names to plot All rows must have the same number of characters Example ForceUp ForceDown varplot Names should be in order curves are plotted Description If varplot Names is defined varplot will print the named signals Otherwise varplot will prompt you for signals to be plotted then plot them with labels etc See Also plot Language MathScript Version 6 0 253 Wind River StethoScope for VxWorks User s Guide 7 8 plotindex plotdata plotnames unitnames s Ti If exist varplot Names find the number of curves Num Curves size varplot Names Num_Curves Num_Curves 1 1 this Curve 0 endIf 1 I D 1 1 1 numsignals length data 1 If varplot Names doesn t exist prompt the user for signal names more 1 While more 1 If exist varplot_Names s getLine Plot which signal end If length s 3 If s end more 0 exit 0 endIf endIf else this Curve this Curve 1 If Num Curves this Curve more 0 endIf s varplot Names this Curve endIf find index of s within names rows sz size names Sz length s found 0 For i 1 rows If sz 0 exit 1 endIf If stringex names i 1 1 sz s If index names i 1 index s
21. Signal Installation dialog box or the list of signals you loaded from a file These are the only signals you can manipulate using this dialog box Buttons Close This button closes the dialog box Load List This button loads the contents of a file into which you previously saved a list of signals you had installed Save List This button saves all the current signals you have installed by hand automatically only prior to the last time you rebooted your target Install All This button re installs all the files shown in the list in the Signals field without having to select any of them Install Sel This button re installs only the files you have selected in the list 13 3 Manual Installation Like automatic installation manual signal installation is done while the StethoScope GUI is running The difference is however that you must know the virtual address of the signal in the program s memory To install a signal manually by address in the Signal Installation dialog box see 13 2 2 Signal Installation Dialog Box p 179 you need to Specify the address and offset if applicable in the Manual Install panel electa data type from the drop down menu in the Manual Install panel 184 13 Signal Installation 13 4 Using StethoScope API Use the Install button to install the signal If there are any errors in the process of installing the specified signal they are reported in the Status Messages field 13 4 Usin
22. The maximum number of event buffers are already attached 215 SEE ALSO NAME SYNOPSIS PARAMETERS DESCRIPTION Wind River StethoScope for VxWorks User s Guide 7 8 ScopeProbe ScopelnitServer ScopeEventsDetach ScopeEventsCollect ScopeEventsCollect collect the value of a variable on the spot void ScopeEventsCollect int eventsHandle int level const char eventId void ptrToVar RTIAtomicTypeId typeId eventsHandle The handle returned by ScopeEventsAttach level The verbosity level of this event Range 1 32 eventld A string that describes this event ptrToVar Pointer to the variable to collect typeld Type identifier for the variable Use RII INTSID for char unsigned char RII INTI6ID for short unsigned short RII INT22ID for int unsigned int long unsigned long RTI FLOAT32ID for float and RTI_DOUBLE64ID for double This function collects the value of one variable on the spot The variable does not have to be static global as required by ScopeCollectSignals and there is no need to perform registration activation This function is a low overhead equivalent of printf for use in debugging realtime systems ScopeEventsCollect is actually a macro that calls the collection function ScopeEventsCollectInternal only if the verbosity level of this event is turned on Thus there is no overhead of a function call if the verbosi
23. VxWorks User s Guide 7 8 8 4 2 View Menu Commands The View menu item see below contains commands for displaying toolbars and auxiliary views in the Plot XY window as well as some Plot XY window sizing commands File Plot view Window Help v Main Toolbar Plots Toolbar XY Window Toolbar v v Status Bar v Toolbar Captions Signals Bar AY Auto Fit T Zoomto Fit Aspect Lock The View menu commands are Main Toolbar Controls whether the toolbar representing a selection of items from the File menu is displayed on StethoScope s toolbar For more information see 8 5 Toolbar p 117 Plots Toolbar Controls whether the toolbar representing a selection of items from the File Plot menu command is displayed on StethoScope s toolbar For more information see 3 4 Toolbars p 48 XY Window Toolbar Controls whether the toolbar used within a specific data display the Plot XY window is visible The buttons represent items from the Plot and View menus for the specified data display window For more information see 3 4 Toolbars p 48 Status Bar Controls whether the status line along the bottom of the window is visible For more information see 3 5 Status Bar p 52 116 8 The Plot XY Window 8 5 Toolbar Toolbar Captions Controls whether the names of the panels Signals Bar Mini Dump and Mini Monitor are displayed in the Plot window above their respective invocations Signals Bar Contr
24. Wizard Select script Pick a script from the list X Add two signals together A B ig lt Back Cancel 79 Wind River StethoScope for VxWorks User s Guide 7 8 Use the drop down menu in the Pick a script from the list field to select a mathematical operation to use in creating your derived signal you can see a list of the script items in Table 6 1 Click Next to open the next Select Signals Derived Signal Wizard dialog box shown below Use this dialog box to select a signals to apply to the script you previously selected If the script you selected requires two or more signals as in this example this dialog box will ask you to enter the first signal and the following dialog boxes will ask for the second and subsequent signals until they have all been selected Derived Signal Wizard xj Derived Signal Wizard 5 Select Signals FOA Signal 1 of 2 A DitferentT ypes 8ByteDouble Select Signal Select a signal name or type a constant Add two signals together A B Derived Signal Wizard Derived Signal Wizard Select Signals 8 Signal 2 of 2 B Back Next gt Select Signal Select a signal name or type a consta Add two signals together Click Next to open the final Derived Signal Wizard dialog box shown below There you can inspect the completed derived signal then click Finish to exit the Wizard or click Back to make changes 80 6 Deriv
25. You can have multiple Dump Plot windows open at the same time and each can display different signals or snapshots Before using a Dump Plot window it may help to understand how and when data is collected from the target see 5 Triggering 131 Wind River StethoScope for VxWorks User s Guide 7 8 9 2 Dump Plot Window Tour To open a Dump Plot window use the File Plots Dump Plot menu command or the button A typical Dump Plot window is shown in the figure below I StethoScope Dump 1 EN iul xl File Plot View Window Help d 3 xv o E Uni 3028 3929 0 4488 3930 0 5061 0 8625 Dump Plot H Different 3931 0 999 0 044 C1 offset 3932 0 58 0 8146 0 9449 Toolbar Button E14 Pointer 3933 0 3685 0 9296 0 6851 7 3934 0 9806 0 196 0 3845 A a 3935 0 6976 0 7165 0 9996 Cosine volis 3936 0 2222 0 975 0 4333 Sine2T volts 3937 0 9392 0 3435 0 6452 Pos mete 3938 0 7988 0 6016 0 9611 PosDesired mete 3939 0 0707 0 9975 0 141 1 14 Select the signals 5 d mis 3940 0 8757 0 4829 0 8457 0 9492 1 i 3941 0 8813 0 4725 0 8329 0 9589 1 E s you want to view E dam a 3942 0 08246 0 9966 0 1644 1 011 1 3943 0 7917 0 6109 0 9673 1 062 1 using the Signals L velan Nimi 3544 0 9431 0 3324 0 627 1 08 1 Ti D14 sneroup 3945 0 2337 0 9723 0 4544 0 9459 1 ree 3946 0 6891 0 7247 0 9987 0 9994 1 3947 0 9828 0 1845 0 3626 0 9977 1 39
26. a message If the message Not starved does not print then starvation is the problem Starvation can be cured by incrementing the priorities of tLinkDaemon and tProbeDaemon tasks via taskPrioritySet or ensuring that higher priority processes do not use all the available CPU This is rarely a problem for Windows targets Network Configuration A ping or rlogin test suffices to test proper network connection Version Mismatch The ScopeProbe version can be printed via ScopePrintVersion The version of the StethoScope graphical interface is displayed on the Help gt About StethoScope dialog box 173 Wind River StethoScope for VxWorks User s Guide 7 8 None of the Above Finally try turning on the verbosity Call ScopeInitServer or start the demo or sampler task with verbosity set to 1 start the StethoScope GUI with the v 1 flag The output messages may help you pinpoint the problem 12 3 4 No Data Sampling Triggering Starvation If the connection appears to be normal and the Signals Tree in the Signals Bar on the Plot and Dump windows show installed signals but no data appears check the following ScopeCollectSignals is being called to sample data Triggering is set up correctly and that trigger conditions are occurring The tLinkDaemon task is not being starved for processing time Youare viewing an active buffer Under VxWorks the first This condition can be tested by placing a bre
27. aatite es budpii asap ti deas uei ud 187 13 6 3 Classes and Si wetness ise HER APA HA OD SERA FIRMUS Ies NEAN EIS 187 AOL ula S idea iere none ene na uenit b cauce b a 188 BPLIBIIGOUOGUO xcd ER OR IE eared CER AREE CAR LOC dene 189 1 tence Nem 189 14 2 Using StethoScope API with Your Program eene 190 143 Initializing the Server iiic iine ERN SH IUE EROR BR IH EE TEE GU IHE EN e REI Ine pUR 190 DE MEE o DII d T 190 A CMM dri T 191 144 Registering and Activating Signals 1 ca essent 191 ETAT 192 144 Hierarchical Naming of Signals isses aident n 193 1143 Pointers to Signals sre reb bb nort narii NH detis RES ons 193 ppm ES ei e 194 Example Registration With Offset i e tinae tociens 194 CAE CONUS E S s oss ccs S MEUM SEU PAM GR ME E 194 1145 Installing Sigrialg sssrinin aerian 195 144 6 Deactivating and Removing Signals rere rentrer ert 196 Jd Online Documento dose ache Deni asia RM a LATER CK d I MER QUEUE 197 Xii Contents XE n n Siete e EM rei HSI Aevwchnbus SUD BBEE sanonnan a dE 1482 Gynon PUN oec aded idu iM EUR DEP quar M 25 Pepe Ee eM ees IF 146 Triggering and Sampling Functions sese 200 14 7 StethoScope Events API i 14 71 Setting Up the es Byents API saciu EE E i 147 2 Using the StethoScope Events API sss 201 Signals vs Evettis is eeosapeenieosida apes edu mise A 148 scope ini File e 20
28. allowing you to see numeric signal values along side the plotted signals graph You can drag the window to any other location you wish and it will remain there until you change its location again 2 6 7 Mini Monitor Window Like the Mini Dump window described above the Mini Monitor window shown in the figure below and opened in the Plot window only using the View gt MiniMonitor menu command creates a scaled down version of the Monitor window described in 10 The Monitor Window This window lets you see and modify target data ina static but dynamically updated list format The modify feature called writeback is described in detail in 10 6 Writing Data to the Target p 149 Like the Mini Dump window it also appears as a sub window within the Plot window 2 Getting Started 2 6 Data Display Windows 2 6 8 Common Window Elements Each data display window has certain items that are common across all the data display window types Some of these items are always displayed while others can have their display toggled on or off Some items can even be further customized The common window elements are Title Bar This bar on all data display windows indicates the name of the tool StethoScope its version and the data display window name Menu Bar This bar is available for display in each of the data display windows The Menu Bars are described in detail in 3 StethoScope Features Toolbar There are three toolbars in each
29. as messages 105 displayed in the Signals Bar 103 displaying 103 ScopeEventsCollect 103 201 ScopeEventsMessage 103 201 vs signals 203 Events API described 200 in the demonstration program 18 setting up 201 using 201 examples activation 193 asynchronous signal sampling 198 events displaying 104 installing signals 196 MATLAB 249 253 MATRIXx 253 registration 193 registration with offset 195 ScopeCollectSignals 198 199 ScopelnstallSignal 196 signal installation 23 synchronous signal sampling 199 vxdemo c 237 Workbench target script 171 exiting StethoScope 43 F feature overview 36 features 1 2 7 preferences 36 triggering overview 33 file name extensions 157 File menu item 26 functions See also routines G general preferences 37 graph coordinates 54 graphical user interface GUI defined 259 host side 61 65 Index gridline spacing 97 108 122 129 138 H header files 163 hierarchical naming of signals 193 history limit 139 host defined 259 host side GUI 61 65 include files 163 initialization stethoscoperc file 60 sequence 60 StethoScope UNIX 60 StethoScope Windows 12 installed signals defined 13 178 using all by default 33 installing signals examples 196 first 63 from command shell 23 in one step 192 organizing signal names 187 Signal Manager window 64 StethoScope API 191 instrumenting alternative to 185 code 185 introduction 1 7 K keeping window on top 4
30. at which the sampler task will call ScopeCollectSignals to collect data for the signals installed to the specified scopeIndex verbosity Specifies the amount of debug messages printed by the ScopeProbe daemons These messages will appear in the shell from which you run VxDemo A value of 0 specifies that only error messages are printed Increasing the value increases the amount of messages 12 2 4 Example Target Script The following is a complete example of a target shell script to load and initialize StethoScope and the demo on a VxWorks target The target in this example supports TCP IP The example script for Workbench 2 3 1 VxWorks 6 1 171 Wind River StethoScope for VxWorks User s Guide 7 8 ld 1 lt WIND SCOPETOOLS target arch ppcVx6 19gcc3 3 2 scopeutils so ld 1 lt WIND SCOPETOOLS target arch ppcVx6 1gcc3 3 2 libscope77tcp so ld 1 lt WIND SCOPETOOLS target arch ppcVx6 1gcc3 3 2 vxdemo so sp ScopeDemo 12 2 5 Starting the ProfileScope GUI Manually To start the StethoScope GUI manually see the instructions in Starting Manually from the Command Line p 10 or consult the reference documentation paper manual or online manual for the topic scope 12 3 stethoscopeTroubleshooting 12 3 1 Load Errors If you have trouble loading the object files onto your VxWorks target check the following You are able to ping the target over the network If you are using NFS the file system is mounted check with
31. automatically if you use the Zoom to Fit command Y Scale Controls the height of the plot grid in units For example when first started Y Range defaults to 3 and the plot displays the Y axis from 1 5 to 1 5 X Offset Controls the unit value for the left most coordinate on X axis of the plot When first started it defaults to 0 This value will change automatically if you use the Zoom to Fit command 128 8 The Plot XY Window 8 9 Setting Preferences for a New Plot XY Window X Scale Controls the width of the plot grid in units For example when first started X Range defaults to 20 and the plot displays the X axis from 0 to 20 Resolution samples Permits plotting of only a subset of the collected data points This is useful for increasing rendering speed A divisor value of n causes only every nth point to be plotted Thus if 1000 points are being collected and the Resolution is 5 then 200 points will be displayed Of course you may not want to reduce resolution if your data can contain glitches or high frequency phenomena default 1 Display Accuracy digits Controls the accuracy of the grid line markers Set this property to the number of places to the right of the decimal point to use in the grid markers Enter a value between 0 for whole numbers and 6 default 4 Minimum Grid Line Spacing Specifies the minimum distance in pixels allowed between the grid lines Increasing this number decreases the number o
32. automatically to the extremes of the data in the Y direction being displayed in the window It thus allows all data points to appear on the plot It toggles on or off but when on 90 7 The Plot Window 7 4 Toolbar it essentially has the effect of using the Zoom to Fit button continuously This command is only available in the Plot and Plot XY windows Zoom to Fit Changes the scales and offsets so that all the signals fit and take up the entire Plot window This option is only available in the Plot and Plot XY windows See also Previous Zoom Previous Zoom Reverses the action of the last zoom action Note that when you use the Zoom to Fit command the history of all previous zoom actions is lost therefore this command will have no effect immediately after a Zoom to Fit command This command is only available in the Plot and Plot XY windows NOTE For more information on the Plot and Plot XY windows mentioned above in Auto Fit through Previous Zoom see 7 The Plot Window and 8 The Plot XY Window 7 4 Toolbar In a default Plot window the first two dockable toolbars are identical to the toolbars shown in 3 4 1 Main Toolbar p 48 and 3 4 2 Plot Toolbar p 48 with the menu items described here also But the right most dockable toolbar is specific to the Plot window All the toolbars are dockable which means you can move them to other locations on or off the window simply by dragging them The menu bar is also dockable Each
33. collection routines include ScopeEventsCollect collects an event identifier and the value of a variable and ScopeEventsMessage collects a string Events appear under the Event tree branch in the Signals Bar for a target This tree contains a list of all the events that were thrown By default events that collect a value from ScopeEventsMessage are displayed much like normal signals The values collected when a certain event is thrown are treated like a sample and the samples are joined by lines to make signals Alternatively the Zero Order Hold 103 Wind River StethoScope for VxWorks User s Guide 7 8 option can be used to join samples in a step wise manner the last value is held until a new sample appears 7 9 1 Events Collected as Signals An example of the display of events collected as signals is shown in the figure below Stethoscope Plot 1 Ble Pkt Vew Window Hep v SOs om oe SOF S oIR ee prre 800 uo 3200 200 s So 6400 7200 8000 haisTree YE Live BY 10 20691440 O OifferentTypes 1 Offset 9 Ponter 2 e iind D sm w D core D sem w D Pos m O PosDesred m D ve m O m D Possan N D VeGan N D Snerp al B Event EB ineo re BE Cores iilii D PosChange i lar Bn f z aygas Propane LI gt 7 Timestamp permo Vue B Ready Connected to Ibcahost 0 x229 473600 y 0 282323 Events that collect a value from ScopeEventsC
34. containing a single menu item as shown in the figure above The Properties menu item opens the Signal Properties dialog box where you can configure parameters that affect the appearance and behavior of the specific signal your cursor is on The Signal Properties dialog box is described in detail in 8 7 Signal Properties Dialog Box p 123 119 Wind River StethoScope for VxWorks User s Guide 7 8 8 6 2 Legend Tab View The Legend tab view shows you what color is assigned to each signal on the plot Itcan also be used to select which signals to plot The figure below shows a Legend in the left side of the Plot XY window Right click anywhere in the Legend tab view to open a pop up menu Signals Bar El Scale snap Tarat Bl Sine Sine2T 1 000000 Live 1n n eo saan Toggle Signal Remove Signal Remove All Unselected Remove All Signals Properties i4Signals Legend The columns in the Legend tab view display the current parameter settings for each signal including Scale The scale factor applied to each component signal s values to allow them to be easily viewed on the same graph with other XY Signal pairs Snapshot Whether the data is live or from a snapshot Target The name and scope index of the target to which you are connected When you right click a signal in the Legend tab view a pop up menu opens with the following options to manipulate the signal
35. contains five panels Filename This read only text box shows you the filename that will be used when you click Write As you make selections in the Output panel you will see the resulting filename change Snapshot The fields in this panel are used to select which snapshot or live buffer to save when to save it and what name Run Title to associate with it See 11 3 1 Snapshot p 155 for more information Data This panel offers three choices radio buttons for saving signals and or events as well as a check box to cause the live buffer to be reset after writing Output The fields in this panel specify the format path and name of the saved snapshot file See 11 3 3 Output p 156 for more information Session Notes The notes you enter in this text box can help you keep track of a series of snapshots Session notes are intended to describe the conditions over a series of collected runs or buffers Useful session notes for example might be 154 11 Working with Snapshots 11 3 Saving Snapshots Session notes These runs employ the non linear friction model Both force sensor filters are active at 20 Hz Other useful notes include code fragments and information that clearly identifies the data Any text on the screen may be pasted into the notes panel via standard cut and paste operations 11 3 1 Snapshot The Snapshot panel controls when snapshots are taken with respect to the data collection cycle The Snapshot pane
36. create an entirely new color using the Custom tab view x x Standard Custom Standard Custom Colors Colors OK Cancel Cancel Hue 173 E R o Sat oss a Green fo 4 Lum 128 a Blue 255 Current Current NOTE An alternative method for changing colors of plotted lines on the graph is given in the discussion of colors preferences in Colors View p 38 124 8 The Plot XY Window 8 7 Signal Properties Dialog Box Zero Level Hold Select True from the drop down menu to hold the value of the signal until the next sample arrives default False To demonstrate this feature consider the sampling of a sine wave at a rate of 100Hz as shown in the figure below In the upper view in this figure with Zero Level Hold turned off False the data points are connected as usual with straight lines even though there is no information about the actual values between data points In the view below the same data but with the Zero Level Hold feature turned on True shows how the line plotted between the same data points is now a straight horizontal line of the same value as the previous data point until the next data point comes in at which time the plot line goes vertical up to that value 0 625 sgt NP RES e Data plotted with Zero Level Hold turned off 0 575 06 0 66 25 x 11 85 11 88 119 11 93 1 0 625 06
37. data 1 If varplot_Names doesn t exist prompt the user for signal names more 1 while more 1 if exist varplot Names s input Plot which signal end s 250 C MATLAB and MATRIXX Examples C 2 MATLAB Example if length s 3 if s end more 0 break end end else this Curve this Curve 1 if Num Curves this Curve more 0 end S varplot Names this Curve end index nameindex names s if index 0 disp s disp Variable not found else plotindex plotindex index end end Build the arrays to be plotted for i plotindex plotdata plotdata data i plotnames plotnames names i unitnames unitnames units i end plotnames Display the plot names plot time plotdata xlabel Time seconds ylabel units index f exist runtitle pi titlestring runtitle timestamp else disp warning no runtitle titlestring timestamp end title titlestring subnum 0 if exist subplotactive subnum subplotactive end legend plotnames unitnames 1 subnum 1 Example MATLAB Session This MATLAB session loads the data saved as dynamicPayload mat by running the dynamicPayload m script both created by StethoScope when saving data in MATLAB format The session then uses varplot to plot two variables The resulting 251 Wind River StethoScope for VxWorks User s Gu
38. following sections 7 3 1 Plot Menu The Plot menu item shown below contains commands for working with the plots in the Plot window File Plot View Window Help Print Print Setup Print Preview Take Snapshot rb Strip Chart Delete Markers GOD Paste Select All The Plot menu commands are Print Prints the signal traces in the data display window It opens a Print dialog box where you can configure your printer options Print Setup Allows you to select printer parameters and characteristics before printing Print Preview Lets you see on a print mock up screen what the printed page will look like before actually printing it Take Snapshot Saves a copy of all the active signals not just the selected signals for all connected targets For more information see 11 2 Taking Snapshots p 152 Strip Chart Changes the display so that it presents a continuous scrolling plot instead of repainting the plot when it fills every 10 seconds Any snapshots you may be displaying on the grid when you select Strip Chart become unselected that is snapshots do not appear on the grid while Strip Chart is selected This 88 7 The Plot Window 7 3 Menu Bar command is only available in the Plot window For more information see 7 8 Strip Chart Feature p 103 Delete Markers Deletes all markers measures and annotations from the grid area For more information see Sections Adding and Removing Markers p 5
39. for VxWorks ScopelnstallSignal 192 197 ScopelnstallSignalWithOffset 192 195 197 ScopePrintVersion 173 ScopeProbe capabilities 4 description 4 ScopeRegisterArray 197 ScopeRegisterSignal 192 194 197 ScopeRegisterSignalWithOffset 192 194 197 ScopeRemoveMultipleSignal 196 ScopeRemoveMultipleSignals 197 ScopeRemoveSignal 196 197 ScopeSamplerTaskCreate 171 ScopeShowActiveSignals 197 ScopeShowSignals 197 selected signals defined 13 178 in Dump Plot window 15 133 in Legend Bar 16 87 114 in Monitor window 15 142 in Plot window 14 in Plot XY window 14 inSignal Manager 63 inSnapshot window 45 88 108 115 129 133 144 152 in state info of data display windows 30 verifying target connection 168 writeback feature in Monitor window 149 setting up active signals 32 62 setting up APIs 201 setup options 166 show snapshot 135 signal installation organizing signal names 187 Signal Manager window 64 Signal Manager 32 62 signal pairs 112 Signal Properties dialog box 57 58 87 95 98 114 119 121 123 signals activating 62 activation 32 62 192 194 197 activation examples 193 collection 69 73 196 197 deactivate 197 deactivation 196 downsampling 69 73 install array 197 installation 63 191 197 installation with offset 195 197 installing 23 191 multipl deactivation 197 multiple activation 197 naming 193 online documentation reference 197 register array 197 registration 192 194 197 reg
40. here See ScopeInitServer Notice we are using the new hierarchical naming feature ScopeRegisterSignalWithOffset test field1 volts amp TestDataPtr float offsetof TestData t fieldl ScopeIndex ScopeRegisterSignalWithOffset test field2 volts amp TestDataPtr double offsetof TestData t field2 ScopeIndex Activate the registered signals here See ScopeActivateSignal for i 0 i MAXLENGTH i Read in TestDataArray i Set TestDataPtr to the new data TestDataPtr amp TestDataArray i ScopeCollectSignals Shutdown ScopeIndex See ScopeShutdown RETURNS On success this function returns RTI_TRUE indicating that the signal was registered On failure it returns RTI FALSE indicating one of the following the index scopelndex is invalid or has not been initialized thetype specified type is not recognized 229 SEE ALSO NAME SYNOPSIS DESCRIPTION RETURNS SEE ALSO NAME SYNOPSIS Wind River StethoScope for VxWorks User s Guide 7 8 the parameters passed are invalid there is no more space in the signal buffer ScopeProbe ScopeRegisterSignal ScopeActivateSignal ScopeInstallSignal ScopeInstallSignalWithOffset ScopeRemoveSignal ScopeRemoveMultipleSignals ScopeDeactivateSignal ScopeRemoveMultipleSignals ScopeRemoveMultipleSignals remove several similarly named signals int ScopeRemo
41. ie ee Same data plotted with Zero Level Hold turned on 0 55 0 575 25 11 85 11 88 11 9 11 93 T Show As Bits Select True from the drop down menu to cause a signal program variable being plotted to be represented as a sequence of bits each bit with its off and on 0 and 1 values indicated The bits are rendered individually by 125 Wind River StethoScope for VxWorks User s Guide 7 8 25 discrete horizontal lines distributed up the Y axis from bit position 0 starting at the bottom Default False To show this feature a Derived Signal created using a single 8 bit integer is incremented through values from 0 to 15 and back to 0 again at the rate of two increments per second and then repeated continuously until stopped In the resulting plot shown in the figure below the top graph shows the variable s value with Show as bits turned off False and the bottom graph shows the same data with Show as bits turned on True You can easily observe the pattern of the individual bits horizontal lines making up the 16 bit integer showing their 0 and 1 positions with respect to time This feature works equally well with all signal types but the resulting bit patterns may be more difficult to decipher depending on the complexity of the signal I oe Data plotted with Show as bits turned off Same data plotted with Show as bits 126 d turned on 8 The Plot XY Win
42. ii on Porter PosG fi Select the signals i 3 1 you want to monitor g Fats 1 Pos by using the passes Signals Tree 0000A g Use the Properties tab to turn on the Writeback feature p E 5s rores Ready You can select the signals you want to monitor by using the Signals tab of the Signals Bar Fach selected signal appears as a row in the Monitor window s table with the following column descriptions The first column displays the signal names The second column displays the most recent value for each signal A third column is used to write new values back to the target This Writeback column only appears when the Writeback property is set to True see 10 6 Writing Data to the Target p 149 142 10 The Monitor Window 10 3 Menu Bar 10 2 1 Displaying Signal Values in a Monitor Window 1 If you do not already have a Signals Bar in your Monitor window use the View gt Signals Bar menu command or the Kj button Make sure the Signals tab is selected in the Signals Bar so that a Signals Tree is displayed 2 Usethe Signals Tree to select which signals you want to display in the table For details on using Signals Trees see 4 Using the Signal Manager Most of the remaining functionality in the Monitor window is provided through the toolbars and menus For common data display window feature descriptions refer to the following sections for more information 3 2 File Menu p 26 3 4 Toolbars
43. in the graph For details on using Signals Trees see 4 Using the Signal Manager If you do not see any signals in the Signals Tree use the File XY Signals menu command or the xy button to open the XY Signals dialog box and create signal pairs as described in 8 2 Creating XY Signal Pairs p 112 Selecting a signal from the Plot XY window s Signals Tree causes the following Thesignal data will be plotted in the window using the next available plot color You can select a different color using the Signal Properties dialog box see 8 7 Signal Properties Dialog Box p 123 or the Preferences dialog box see 3 2 12 Preferences p 36 The Legend tab view will be updated to include the selected signal The Legend shows you what color is being used for each selected signal You can also use the Legend to select and clear signals See 7 5 Signals Bar p 92 for information on using the Legend window When you right click anywhere in the plot area the On grid pop up menu shown in the figure above opens with several options pertaining specifically to the plot area These additional options are described in detail in 8 8 Pop up Menus p 127 Most of the functionality in the Plot XY window is identical to that in the Plot window except there is no Strip Chart feature Mini Dump window or Mini Monitor window For common Plot XY window feature descriptions refer to the following sections for more information 3 2 File Menu p 26 3 4 T
44. menu command or the 4 button Signals Bar x Signals Tree MB Live E B 10 30 68 144 0 H O DifferentTypes m D14 offset Pointer Sine Cosine Sine2T Pos PosDesired Vel Acc PosGain VelGain H SinGroup sf 2 signals Erro oo00gag0o0n0 The Signals Bar contains these two views Signals Properties 9 5 1 Signals Tab View The Signals Tree in the Signals tab view see the figure above displays all the signals available to be plotted They are shown in an expandable tree structure containing signals that have been installed by the Signal Manager see 4 Using the Signal Manager Signals in the table are color coded to the signals selected in the Signals Tree The Signals Tree is displayed by default when you open a Dump Plot window but it may be re displayed at any time by clicking the Signals tab at the bottom of the sub window The Signals Tree allows you to easily locate any signal that has been installed and add it to the graph of signal traces Each node of the tree as well as each signal 136 9 The Dump Plot Window 9 5 Signals Bar has a check box Clicking an individual signal s check box adds that signal to the graph or conversely clearing a check box removes that signal from the graph If you click a node s check box all the signals belonging to that node including their nodes below it are checked at once and those signals are added to the graph Conversely clearing a
45. name const char units void ptrToStaticVar const char type int offset int scopeIndex This function has the same functionality as ScopeRegisterSignal except callers can specify an offset from ptrToStaticVar This offset refers to a variable in a structure that a caller wants to sample However the variable s address may not be known at register time hence the offset A valid signal name should not contain asterisks or blank spaces Invalid characters in signal name name would be automatically replaced with underscores 228 A StethoScope API Reference ScopeRegisterSignalWithOffset It is the caller s responsibility to ensure that the address and offset parameters point to a valid memory location In particular a bad address may cause a Bus Error or Segmentation Fault during ScopeCollectSignals Ideally this function would be used to sample variables in an array of structures The caller would register a structure pointer with an offset to a variable they want sampled Therefore by changing the pointer callers can sample the same variable at different locations in the array see below for examples EXAMPLES An example structure typedef struct TestData_s float field1 double field2 TestData t Here is an array that is read in define MAXLENGTH 100 TestData_t TestDataArray MAXLENGTH TestData_t TestDataPtr amp TestDataArray 0 int main int 1 20 Initialize Scopelndex
46. nfsDevShow Your target has permission to read the object files from the file server 12 3 2 Connection Failure If StethoScope s Plot window status message displays Target target not responding Make sure your network is configured properly You must be able to establish anetwork connection to your target via ping or rlogin before StethoScope will work On VxWorks targets if these tests are successful type i on the target processor and make sure the tProbeDaemon and tLinkDaemon tasks are active Make sure you are using the same scope index on the target and host 172 12 Using a VxWorks Target 12 3 StethoScope Troubleshooting 12 3 3 No Response from Target If the StethoScope Plot window status message displays Target target not responding or StethoScope exits with the message scope target is connecting but not responding then one of the following has occurred Another copy of StethoScope GUI is connected already to your target The tLinkDaemon task is being starved for processing time The network is not configured correctly The target is loading an incompatible version of ScopeProbe Multiple Connections The first condition can be verified using the Windows Task Manager Starvation Under VxWorks the second condition can be tested by executing this command on the target taskSpawn test 255 0x1c 12000 printf Not starved n This tries to spawn a low priority task that only prints
47. of the toolbars can be independently displayed or hidden using the View menu item The Plot window s toolbar shown below is a subset of the one described in detail in 3 4 3 Plot Window Toolbar p 50 91 Wind River StethoScope for VxWorks User s Guide 7 8 Signals Mini Zoomto Goto Live Strip Chart la Bar Monitor Fit Data Bg G E a gt gt EH Take Mini Axis Always Autofit y Snapshot Dump Properties es on Top 7 5 Signals Bar The Signals Bar shown in the figure below is a sub window in the StethoScope GUI that allows you to view and configure information that affects what is plotted in the graph area To open a Signals Bar if one is not already displayed use the View Signals Bar menu command or the button The Signals Bar contains the following tab views Signals Legend Properties 7 5 1 Signals Tab View The Signals Tree in the Signals tab view see the figure below displays all the signals available to be plotted They are shown in an expandable tree structure containing signals that have been installed by the Signal Manager see 4 Using the Signal Manager Traces on the graph are color coded to the signals selected in the Signals Tree 92 7 The Plot Window 7 5 Signals Bar Signals Bar x Signals Tree Units Live amp B 10 30 68 144 0 amp D14 DifferentTypes 1 offset H 0 Pointer Sine volts Cosine volts Sine2T D Bil Pos meters Bl PosD sired meters
48. on or off This is the equivalent of going to the Signals Tree and alternately checking and unchecking the signal s check box except that it leaves the signal s name in the Legend list when you toggle it off Remove Signal Removes the signal from the graph This is equivalent to toggling the signal off except it removes the signal s name from the Legend Remove All Unselected Removes all signals that have been toggled off Remove All Signals Removes all signals regardless of their toggled status Properties Opens the Signal Properties dialog box see 7 6 Signal Properties Dialog Box p 98 You can change the colors used for plot lines by using the File Preferences menu command see Colors View p 38 or by using the Signal Properties dialog box see 7 6 Signal Properties Dialog Box p 98 7 5 3 Properties Tab View You can view and change the properties for only the Plot window you are in by clicking the Properties tab in the Signals Bar This tab view shown in the figure below accesses properties for the graphic display window environment for the signals themselves use the Signal Properties dialog box described in 7 6 Signal Properties Dialog Box p 98 95 Wind River StethoScope for VxWorks User s Guide 7 8 Signals Bar B Co ordinates X scale 20 000000 X offset 1060 000000 Y scale 3 000000 Y offset 1 500000 El Display Display accuracy 4 Resolution 1 Grid spacing 100 Snap measures to sig
49. on the screen This button and command is only available in the Plot window View Mini Monitor Creates a Mini Monitor window within the window This is simply a smaller version of the Monitor window It is created as a panel in the Plot window but you can dock it elsewhere on the screen This button and command is only available in the Plot window Lt View gt Axis Properties Opens the Axis Properties dialog box where you can add new axes and edit the properties for any existing axis im View Zoom to Fit Changes the scales and offsets so that all the signals fit and take up the entire plot window This button and command is only available in the Plot and Plot XY windows a View gt Auto Fit The plot automatically zooms to fit when a signal goes off the screen This button and command is only available in the Plot and Plot XY windows ER Window Always on Top Keeps the window as the topmost display on your desktop 51 Wind River StethoScope for VxWorks User s Guide 7 8 3 5 Status Bar The Status Bar at the bottom of the Plot window hidden or displayed with the View Status Bar menu command is divided into three panels Theleft panel provides a description of the command when the mouse pointer is passed over any Plot window toolbar button Themiddle panel displays status messages Double click this panel at any time to display the Log window and see a history of status messages
50. s Guide 7 8 1 2 Overview Anyone who has developed real time systems knows that getting the code written and compiled is only the first step You still have to make it work Where is the noise coming from How full is the buffer When did that valve open What are the best parameters Why did it do that Understanding the system is the real challenge StethoScope gives you a window into the very heart of your application It presents a live analysis of your program while preserving real time performance You can immediately see the effects of code changes parameter changes or external events StethoScope will quickly become your most valuable diagnostic tool With StethoScope you can make your system work StethoScope is a licensed product whose licensing is enforced by a license manager The license manager software must be running using a valid license file that contains the proper keys for StethoScope See the Wind River Installation and Licensing User s Guide for details on setting up the license manager and obtaining the necessary keys Note that if the Check Out License icon is enabled and you try clicking the icon with no results or if you have any other licensing problems or issues please contact your Wind River Technical Support Team 1 3 Features Real time Graphical Display StethoScope s full color real time graphical displays let you watch your program execute Multiple windows can be open at the same time displaying
51. selected in the Signals Tree The Signals Tree is displayed by default when you open a Plot XY window but it may be re displayed at any time by clicking the Signals tab at the bottom of the sub window The Signals Tree allows you to easily locate any signal that has been installed and add it to the graph of signal traces Each node of the tree and hence each signal has a check box Clicking an individual signal s check box adds that signal to the graph or conversely clearing a check box removes that signal from the graph If you click a node check box all the signals belonging to that node including their nodes below it are checked at once and their signals are added to the graph Conversely clearing a node check box removes all signals below that node from the graph with the single click If a node check box is checked but has a grey fill it indicates that some but not all of the signals belonging to that node are checked and displayed on the graph You may have to scroll down to see which ones are checked The Signals Tree is expanded or collapsed using the icon to the left of each node check box as follows collapsed click to expand down to the next node s expanded click to collapse up to the next node The Units column in the Signals tab view shows the physical measurement units of each component of the XY Signal pair When you right click a signal in the Signals tab view a pop up menu opens currently
52. selected in the snapshot Use same colors If selected the same colors will be assigned to the signals in the snapshot If you want the snapshot to use different colors for each signal than are used for live data clear this check box 108 7 The Plot Window 7 10 Setting Preferences for a New Plot Window Unselect live signals If selected the live signals will become unselected when the snapshot is taken Default Mini Dump Properties These properties apply to the Mini Dump window inside a new Plot window They have no effect on any full size Dump Plot windows Resolutions secs Controls how often in seconds to refresh the values in the Mini Dump window default 1 History Limit lines Controls how many lines of historical data to maintain in the Mini Dump window default 1000 Default Mini Monitor Properties These properties apply to the Mini Monitor window inside a new Plot window They have no effect on any full size Monitor windows Resolution secs Controls how often in seconds to refresh the values in the Mini Monitor window default 1 000000 Allow Writeback Check box controls whether or not you can use the Mini Monitor window to write modified signal values back out to the target default False 109 Wind River StethoScope for VxWorks User s Guide 7 8 110 The Plot XY Window 8 1 Introduction 111 8 2 Creating XY Signal Pairs 112 8 3 Plot XY Window Tour 113 8 4 Menu Bar 115 8 5 Too
53. target for this see 5 Triggering The Dump Plot window opened with the File gt Plots gt Dump Plot command or the button displays real time data numerically in a tabular format A Dump Plot window can display both live and snapshot data To learn more about the Dump Plot window and how to use it refer to 9 The Dump Plot Window The Plot window opened with the File gt Plots gt Plot command or the fej button graphically displays real time signal values plotted over time Each signal appears on the plot grid in a different color A legend shows you each signal s color To learn more about using the Plot window see 7 The Plot Window The Monitor window opened using the File Plots Monitor command or the 7 button lets you watch and modify variables in your program while it is running It is like the Dump Plot window but differs in that the Monitor window only shows you the most recent value of each signal whereas the Dump Plot window displays a running history of signals scrolling down the window The Monitor window can also be used to modify a signal s value on the target To understand how to select data to display in this window and why you would use this display instead of or in addition to the Dump Plot window see 10 The Monitor Window The Plot XY window opened from the File Plots Plot XY menu command F graphs pairs of signals against each other one signal on the X axis and the oth
54. that are not periodic In many cases all you really need is a general idea of what all your variables are doing asynchronous sampling does that job well In fact you can load and run the demonstration program along with your application and immediately begin viewing your variables They will be sampled asynchronously by the demonstration sample loop 14 5 2 Synchronous Sampling Because of the issues with asynchronous sampling many applications require synchronous sampling where the sample times must be coordinated with the application s execution If your application requires synchronous sampling call ScopeCollectSignals directly from your application at the instant you wish data to be sampled void UserTask while 1 semTake sem Wait for something X y Xi ScopeCollectSignals 0 This will always produce consistent accurate sampling Sample x y 1 1 1 2 2 2 3 3 3 A more detailed example of how to set up synchronous sampling in VxWorks is presented in A StethoScope API Reference 14 5 3 Sample Rate The sample rate is defined as the frequency of calls to ScopeCollectSignals for example the number of times per second your application calls ScopeCollectSignals Your application determines the sample rate ScopeChangeSampleRate simply reports that rate to StethoScope The sample rate may be changed at any time during execution via another call to ScopeChangeSampleRate
55. the Signal Manager see 4 Using the Signal Manager 3 2 8 Triggering The StethoScope API module on the target is responsible for handling periodically collected data or samples and sporadically collected data or events The Triggering facility in StethoScope provides control over when and how often the samples are collected The StethoScope triggering facility supports a single trigger at any given time Triggering is disabled when the Triggering dialog box is not open or the dialog box is open but the trigger has not yet been armed In this state calls to ScopeCollectSignals result in data being collected normally The Triggering dialog box shown in the figure below is opened with the File gt Triggering menu command or the 4 button 33 Wind River StethoScope for VxWorks User s Guide 7 8 Triggering Ei a x r Target r Trigger Status Hide Dialog Name f10 30 68 144 0 X No trigger set Reset Dialog m Start Condition r Stop Condition Sgurce Trigger on a signal x Source Trigger on a signal s Signal Sine a Signal Cosine a Level fo Level n5 Disable Trigger eu Slope Positive Slope Positive C Negative C Negative C Any C Any Delay Start collection E econd Options Take Snapshot before Start C Iv Ream Trigger after Start Condition When the Triggering dialog has been opened and the trigger is armed with valid start and stop cond
56. the drop down menu on the toolbar For more details on launching StethoScope see 12 Using a VxWorks Target Starting Manually from the Command Line All the same processes that are run automatically for you when you start StethoScope from the Workbench IDE can be done manually in a Host Shell window The executable file for StethoScope is called scope exe Important Before entering any other commands in the Host Shell type run wrenv p vxworks 6 1 This will properly set up the environment variables to allow you to start StethoScope using the scope command described below The full command line options for scope exe are scope target target index n verbosity level errorlog filename clicense licenseHost save save ssc load save ssc Version help tgtsvr targetServer wtxMode where the parameters have the following meanings target target Connects to the StethoScope API running on the machine named target where target can be an IP address or a target name that can be resolved to an IP 2 Getting Started 2 5 Starting StethoScope address The target string is optional If no target is specified at all the user can choose to connect to a target at a later time 2 If the target is a VxWorks target make sure it is listed in the HOSTS file of your E host machine For example in Windows NT 2000 XP the file is c Winnt system32 drivers etc HOSTS index n Connects to the target using a s
57. the window simply by dragging them The menu bar is also dockable Each of the toolbars can be independently displayed or hidden using the View menu item 117 Wind River StethoScope for VxWorks User s Guide 7 8 The Plot XY window s toolbar shown below is a subset of the one shown and described in detail in 3 4 3 Plot Window Toolbar p 50 Signal Zoom Always Manager to Fit on Top Ba 84 L5 Of A EH Take Axis Autofit Snapshot Properties 8 6 Signals Bar The Signals Bar shown in the figure below is a sub window in the StethoScope GUI that allows you to view and configure information that affects what is plotted in the graph area To open a Signals Bar if one is not already displayed use the View gt Signals Bar menu command or the amp j button Right click on a signal in the Signals Tree window to open a pop up menu Signals Bar d x Signals Tree E asi Live E v 10 30 68 14 Bl Sine sine Properties Tai Ej The Signals Bar contains the following tab views Signals Legend Properties 118 8 The Plot XY Window 8 6 Signals Bar 8 6 1 Signals Tab View The Signals Tree in the Signals tab view see the figure above displays all the signals available to be plotted They are shown in an expandable tree structure containing signals that have been installed by the Signal Manager see 4 Using the Signal Manager Traces on the graph are color coded to the signals
58. to monitor in the current window It presents a signals tree which gives you a tree like view of the active signals for each connected target and any snapshots you have loaded Use the check box preceding each signal to select which signals you want to display in the current window Signals trees are described in 4 Using the Signal Manager Wind River StethoScope for VxWorks User s Guide 7 8 The Legend tab view shows the colors assigned to each selected signal It also displays the source of each signal Live or Snapshot and the target IP address See 7 5 2 Legend Tab View p 94in the StethoScope User s Manual for information on using the Legend The Properties tab allows you to control how the signals are monitored and displayed in the window Each type of data display window has different properties which are described in each window s respective chapter Chapters 7 8 9 and 10 See 7 5 Signals Bar p 92 for information on using the Signals Bar 2 6 6 Mini Dump Window Within the Plot window only see 7 The Plot Window the Mini Dump window shown in the figure below and opened using the View MiniDump menu command or the E button creates a scaled down version of the Dump Plot window described in 9 The Dump Plot Window Like the Dump Plot window it lets you see a running history of selected signal values scrolling through the window with time This mini window initially appears at the bottom of the Plot window
59. to the next node The Units column in the Signals tab view shows the physical measurement units of each signal 93 Wind River StethoScope for VxWorks User s Guide 7 8 When you right click a signal in the Signals tab view a pop up menu opens containing a single menu item as shown in the figure above 7 5 2 Legend Tab View The Legend tab view shows you what color is assigned to each signal on the plot Itcan also be used to select which signals to plot The figure below shows a Legend in the Signals Bar sub window Signals Bar Right click on a Bl Pos 1 000000 Live 0 30 68 144 0 signal in the BB PosDesired 1 000000 tive 10 2n AR 144 Legend to C velgain 1 0000 Toggle Signal display the O PosGain 1 0000 Remove Signal pop up menu LI sinezr 1 0000 Remove All Unselected LI sine 1 0000 Remove All Signals Properties HSignals Legend The columns in the Legend tab view display current parameter settings for each signal including Scale The scale factor applied to second Y component signal s values in relation to the first X component signal s values Snapshot Whether the data is live or from a snapshot Target The name and scope index of the target you are connected to 94 7 The Plot Window 7 5 Signals Bar When you right click on a signal in the Legend tab view a pop up menu opens with the following options to manipulate the signal Toggle Signal Turns the signal trace
60. until the Stop Condition occurs At that point the trigger is then either disabled or rearmed depending on the Rearm option specified in the Triggering dialog box 5 3 Triggering Dialog Box Use the File gt Triggering menu command or the button to open the Triggering dialog box shown in the figure below ENS x Source Trigger on a signal Signal PosDesied m Level o5 Slope Positive C Negative C Any bef C atte Start Condition art Condition Delay Start collection E econd 1 Source Trigger on a signal x Signal PosDesired ee Level fo Slope C Positive Negative C Any Options Take Snapshot IV Re arm Trigger m Target r Trigger Status Hide Dialog Name 10 30 68 144 0 Trigger fired Collecting data Beset Dialog m Start Condition r Stop Condition Arm Trigger Disable Trigger 66 5 Triggering 5 3 Triggering Dialog Box The control settings in the Triggering dialog box are divided into the following sections Target This dropdown menu lets you select a target to trigger on Changing the current target will cause the active trigger to be disabled Start Condition The parameters in this section determine when data collection begins on the target Trigger Status Status messages received by the GUI are displayed here Stop Condition The parameters in this section determine when data collection ends on the
61. window These toolbars are described in detail in 3 StethoScope Features Main toolbar has buttons for many of the File menu commands It has the same buttons on all four data display windows Plots toolbar has a button to open each of the data display windows It has the same buttons on all four data display windows Plot Windows toolbar has different buttons for each unique data display window Since the Plot Windows toolbar buttons are different for each data display window type they are described in greater detail separately in each data display window section Chapters 7 10 The three toolbars described above initially appear lined up left to right just below the Menu Bar and separated by the docking handles at the left end of each toolbar You can move each toolbar around to any location in the data display window including vertical placement by left clicking the docking handle and dragging to a new location It will remain in that location until you change it again Status Bar This bar is common to all four data display windows but has minor variations for the different data display windows It is therefore described in detail separately in each data display window section Wind River StethoScope for VxWorks User s Guide 7 8 2 7 Running the Demonstration Program A simple demonstration target program that exercises many of StethoScope s features is included in the StethoScope distribution To quickly and easily
62. with the global symbols we recommend you always use this flag when debugging or using Wind River ScopeTools with your code Table 12 1 lists the libraries needed by the ScopeProbe daemons Table 12 1 Target Libraries Target Configuration Target Libraries VxWorks 6 1 scopeutils so contains libutilsip so libxmlparse so libscope77tcp so or libscope77wtx so vxdemo so for demo only The following sections describe in detail how to determine which libraries to load Loading the Wind River Utilities Library StethoScope requires the ScopeUtils library Load scopeutils so using 169 Wind River StethoScope for VxWorks User s Guide 7 8 gt ld 1 lt WIND SCOPETOOLS target arch largetArch scopeutils so Loading the ProfileScope Library If your target supports TCP IP load libscope77tcp so using WorkbenchVxWorks 1a 1 lt WIND SCOPETOOLS target arch iargetArch libscope77tcp so If your target does not have TCP IP enabled load libscope77wtx so using WorkbenchVxWorks 1a 1 lt WIND_SCOPETOOLS target arch targetArch libscope77wtx so Loading the Demo Library If you wish to load and run the demo load it using WorkbenchVxWorks ia 1 lt WIND SCOPETOOLS target arch targetArch vxdemo so To initialize the demo type the following function call at the VxWorks shell or place it into a target shell script sp VxDemo useAuxClk scopelndex verbosity where the parameters have the following meanings
63. x y pair Deleting a Measurement Click an end point of a measurement and drag the end point off the plot window Select Plot gt Delete Markers to remove all markers and measurements 56 3 StethoScope Features 3 6 Pop up Menus 3 6 2 Trace Pop up Menu In the Plot window only the pop up menu that opens when you right click with the cursor exactly on a trace line is the same as the pop up menu in 3 6 1 On Grid Pop up Menu p 52 above except there is one additional menu item Previous Zoom Add Marker Add Annotation Remove Markers Set Selection Start Set Selection End Clear Selection Properties Pos 1 091e 004 1 081e 004 1 092e 004 1 092 The additional menu item is Properties When you click this item it opens the Signal Properties dialog box where you can configure parameters that affect the appearance and behavior of the specific signal your cursor is on The Signal Properties dialog box is described in detail in Section 7 6 Signal Properties Dialog Box p 98 for the Plot window or 8 7 Signal Properties Dialog Box p 123 for the Plot XY window 3 6 3 Signals Tree Pop up Menu The pop up menu that opens when you right click on a signal name in the Signals Tree is shown below 57 Wind River StethoScope for VxWorks User s Guide 7 8 Signals Bar x Signals Tree MB Live 2M 10 30 68 144 0 amp D14 DifferentTypes m D14 Offset H O Pointer Sine Cosine Sine2T Bl Pos
64. 0 Color6 0x10bbda4 Color7 0x5a5a5a Color8 0xc0c0c0 Color9 0x92faf5 Color10 0xffff00 Color11 0x0099ff Color12 0x33 99 Color13 0x330066 Color14 0x990000 Color15 0x08aaa2 The settings saved for the Preferences Window defaults plot YOffset 1 500000 YRange 3 000000 Resolution 1 DispAcc 2 MinGrid 50 MaxSnap 20 SnapToSigs 1 MonRes 1 000000 AllowWrite 1 SelectOnCopy 0 205 Wind River StethoScope for VxWorks User s Guide 7 8 206 UseSameColors 1 UnselectLive 1 DumpRes 1 000000 DumpHist 1000 defaults plotxy YOffset 1 500000 YRange 3 000000 XOffset 1 500000 XRange 3 000000 Resolution 1 DispAcc 2 MinGrid 50 MaxSnap 20 SnapToSigs 1 SelectOnCopy 1 UseSameColors 1 UnselectLive 1 defaults dump DispAcc 2 DumpRes 1 000000 DumpHist 500 defaults monitor DispAcc 4 MonRes 1 000000 AllowWrite 1 StethoScope API Reference ScopeProbe neal library for Sto Stop wtanmaseimemenrionclencannncimaness ScopeActivateMultipleSignals activate multiple signals ScopeActivateSignal activate a signal ScopeChangeSampleRate change the sampling rate ScopeCollectSignals collect a sample from each active signal ScopeCollectionModeDisable disable periodic collection sss ScopeCollectionModeEnable GRAS periode erligio srka S ScopeCollectionModeGet return the collection mode ScopeDeact
65. 10 Setting Preferences for a New Plot Window eese 106 Dd Pi 111 BI BilfoducHol acies ie uM MO A 111 ma venting XY Signal Pales iecit tbe i HR EU UR INTEL SANE IU GUA KURIER HER 112 8 21 Creaking d Signal PR asesino dicet 112 S22 Deleting Sirna Pale assseescommpardedaoxdn terea i eis eitu FRE 113 E23 Modifying a Sigal Palt osos ados adici dude abide niE 113 83 Plot XY Window TOUE Luar ttr their titre E ek ee dt d tao ER SE EH d ie reb ih 113 8 8 1 Displaying Signal Values in a Plot XY Window 114 Sa Men Dat sesso mite mI UNION TI m NI SES CRI IP RE MERE 115 Bue Plorlenit Commands ausit sieur ith a ied id tns 115 BJ View Mono Commmand iussi oducidisrbdiotia Abl ud Addi nia qn 116 B5 Tolba Gouociupe VERENA SU RUE DN UNE DE DN M NEMUS 117 S6 lario doro deem 118 pol SiRals Tab View uec itp ra erri o dr viet ie p E p ORIS 119 HB Legend DU View nanna adeb oc KERN Hc dE CUN I MUR 120 Bis JDucperses Tab PONE ansstdieutadnadibipbutwruibdeapar a 121 viii 10 Contents 7 Signal Properties Dialog BOX Laune attt orici asd aane 129 B amp B Pop up Mets osi oe e ino die xa sien cdd canadian nenteca A 8 9 Setting Preferences for a New Plot XY Window eee 128 Tha Dump Plot WOW 1 nihi bia RE AE ETUR RR MA EE iaaii pM tenaci MI 93 Introduccion aora aret ba aue tes nor Rp aded usc oa LA 92 Dump Plot Window TOUT sescccisssiccccscsccacesersiseceorsrsazonossbsnuccsisacsonossinctescsearteaanss
66. 182 13 Signal Installation 13 2 Automatic Signal Installation 13 2 3 Batch Signal Installation The Batch Install button in the Signal Installation dialog box see below opens the Batch Signal Install dialog box With this dialog box you can save the list of signals you previously installed automatically only using the Signal Installation dialog box You would want to consider doing this against the possibility of having to reboot your target in which case these current signals would otherwise be lost and you would have to enter them again by hand If you have saved a signal list with this option you can then load it and re install the signals at any time using this dialog box You can also re install the entire list of signals with one click or install individual signal s you select from the list NOTE The services of this dialog box only work for signals installed automatically by variable name using the Signal Installation dialog box Signals installed manually by address cannot be saved x Batch Signal Install a Load List Signals Arm int Body vel Velocity cm sec Save List Install All Install Sel BIEBER 183 Controls Wind River StethoScope for VxWorks User s Guide 7 8 The various text entry fields and buttons in the Batch Signal Install dialog box are described below Signals This list shows the current list of signals you installed automatically only using the
67. 200 14 API Introduction 14 7 StethoScope Events API instrumented with StethoScope Events API is executed Optionally the value of a variable may also be collected when an event is thrown The StethoScope Events API includes the following routines ScopeEventsAttach ScopeEventsMaskSet ScopeEventsCollect ScopeEventsMessage ScopeEventsDetach 14 7 1 Setting Up the StethoScope Events API To implement the StethoScope Events API for data collection at strategic locations in your source code you must first attach an event buffer to an already initialized scopeIndex with a call to ScopeEventsAttach This routine attaches a buffer of the specified size to that scopeIndex A maximum of 4 buffers can be attached to a single scopeIndex NOTE Although it is possible to have multiple tasks share a single buffer we strongly suggest that you only use 1 task per event buffer This is recommended because the event collection routines ScopeEventsCollect and ScopeEventsMessage are not reentrant 14 7 2 Using the StethoScope Events API With a collection buffer established the key to using the StethoScope Events API is to insert a ScopeEventsCollect statement after each code line you want a message printed for or that uses a variable you want to collect the value of ScopeEventsCollect collects and stores in the buffer one message or the value of one global or local variable per call without
68. 32 using the API call ScopeActivateSignal Activesignals then appear in the Signals Bar of each data display window see 2 6 5 Signals Bar p 15 Once activated they are considered to be Installed signals and are automatically collected from the target but they are not yet displayed in the host GUI until Selected in one or more of the four data display windows Plot Plot XY Dump Plot and Monitor Installed signals These are signals that are registered and activated They can be set up using the StethoScope API shortcut ScopeInstallSignal See 13 1 Installing Signals for StethoScope p 177 A signal must be installed for the StethoScope GUI to see it Selected signals Installed signals are not displayed automatically in the GUI You must select from the GUI the installed signals you want to display in the data display windows Plot Plot XY Dump Plot and Monitor You can select a different set of signals in each window see 2 6 5 Signals Bar p 15 Wind River StethoScope for VxWorks User s Guide 7 8 2 6 Data Display Windows StethoScope has four unique types of data display windows you can use to display signal values in graphical and tabular form By default StethoScope starts with a Plot window displayed but you can open any of the other window types from the File menu or from the Plots toolbar see 3 2 File Menu p 26 You can have multiple data display windows of each type open at the same time Each data disp
69. 4 A StethoScope API Reference eese 207 StethoScope Demonstration eeeeeeseeeeeeeeeeenenenennn QOL BA OCHOA osea oam HEB DRIED a B2 So rce code Example vxdeno e scsisssssinnssiomsesocssiamesisnouncacttiennsscrnnentinmad 297 B21 Source Code for vident uunc imer aee teu ex m d d AEN MO B22 Makefile for vxdemoe oar rerit inaa 246 C MATLAB and MATRIXX Examples eneeeeene rennen 249 er MEME RETE C2 MATLAB Example C3 EE OU db edis d HEC vamos Xiii Wind River StethoScope for VxWorks User s Guide 7 8 xiv Introduction 1 1 Introduction 1 1 2 Overview 2 1 3 Features 2 1 4 Architecture 3 15 Reader s Guide 5 1 1 Introduction This chapter introduces you to the Wind River StethoScope real time graphical monitoring tool for VxWorks targets that allows you to analyze your real time application while it is running StethoScope is the user friendly real time graphical monitoring and data collection tool from Wind River It lets you monitor and analyze the values of variables in your real time application while the application is running StethoScope is more than an easy to use data collection tool it is a powerful debugging aid for both hardware and software You can use its multi window environment to track down performance problems glitches and program errors Wind River StethoScope for VxWorks User
70. 4 Taking and Removing On grid Measurements p 56 and Adding Annotations p 55 respectively Copy Copies the selected content to the clipboard and deselects the selected data Note that this option is greyed out and unavailable unless you have some data in the plot area selected Paste Copy the contents of the clipboard to the window you are in at the insertion point Note that this options is greyed out and unavailable until you have copied some data to the clipboard Select All Selects and highlights the entire plotted area up to the instant you selected the option enabling you to copy it to the clipboard 7 3 2 View Menu The View menu item shown below contains commands for displaying toolbars and auxiliary views in the Plot window and some other Plot window specific commands File Plot view Window Help ly Main Toolbar v Plots Toolbar Plot window Toolbar v v Status Bar v Toolbar Captions HJ Signals Bar E Mini Dump EE Mini Monitor Lt Axis Properties f Auto Fit IH Zoom to Fit bb Goto Live Data 89 Wind River StethoScope for VxWorks User s Guide 7 8 The View menu commands for the Plot window are Main Toolbar Controls whether the toolbar representing a selection of items from the File menu is displayed on StethoScope s toolbar For more information see 7 4 Toolbar p 91 Plots Toolbar Controls whether the toolbar representing a selection of items from the Fil
71. 48 0 3794 0 9252 0 7021 0 66 1 3949 0 5703 0 8214 0 937 1 075 1 3950 0 9995 0 03221 0 06438 1 046 1 3951 0 5163 0 8564 0 8843 0 9202 1 3952 0 4382 0 8989 0 7878 1 031 1 2953 0 9927 0 1208 0 2398 1 002 1 3954 0 641 0 7675 0 984 1 058 1 3955 0 2958 0 9552 0 5651 1 062 1 3956 0 9626 0 271 0 5217 0 9716 1 3957 0 7507 0 6606 0 9919 0 9999 1 3958 0 1465 0 9892 0 2897 0 809 1 3959 0 9099 0 4148 0 7549 1 139 1 4 j 3960 0 8428 0 5383 0 9073 0 9497 1 3961 0 00633 4 0 01266 0 9942 1 dsignals ESr Prop 3962 0 8359 0 5489 0 9176 0 9482 1 E Ready p The left most column is always the TimeStamp calculated by multiplying the sample period by each sample s position in the data buffer TimeStamp is reset to zero for each collected data set The other columns in this table are the values at the time increments for each signal selected in the Signals Tree to the left This table is dynamically updated as data collection progresses 9 2 1 Displaying Signal Values in a Dump Plot Window 1 If you do not already have a Signals Bar in your Dump Plot window use the View Signals Bar menu command or the button Make sure the Signals tab is selected in the Signals Bar so that a Signals Tree is displayed 2 Usethe Signals Tree to select which signals you want to display in the table For details on using Signals Trees see 4 Using the Signal Manager 132 9 The Dump Plot Window 9 3 Menu B
72. 5 t 25 4 Timestamp E ros BE Posdesired B E Signal Name Value E 46 2 0 9989 E 1 Hros 0 8823 47 2 1 044 1 H FosDesired 1 48 2 0 9949 1 1 49 2 0 9651 Ready x 44 448161 y 0 604972 Run the demonstration program connect the StethoScope GUI to the scope index of the demo program and select a few signals from the Signals Bar for viewing Open the triggering dialog box choose the target from the target drop down menu Specify the Start Condition by choosing Trigger on a signal for Source PosDesired for the Signal Positive for Slope Specify the Stop Condition by choosing Trigger on a signal for Source and Negative for Slope Finally there are optional actions to take after the trigger is stopped including Take Snapshot Re arm Trigger Click the Arm Trigger button for the trigger to take effect The trigger you set will cause periodic collection to be temporarily disabled until the Start Condition is met No signals will be plotted during the above wait period Signal plotting will resume when the value of Sine signal crosses 0 5 with a positive slope Data collection and plotting will continue for 8 seconds before the Stop Condition is satisfied At the end of this period a snapshot of the data 72 5 Triggering 5 5 Understanding and Preventing Overflows collected during those eight seconds will be taken and added to the Signals Tree in the Signals Bar under the name of the targe
73. 7 263 User s Guide 7 8 L Legend tab view 94 120 libraries libscope so 170 libscopewtxonly so 170 libutilsip so 169 libutilsnoip so 169 vxdemo so 170 license Check Out License icon 2 defined 259 policy 2 licensefile 11 Link Daemon buffer overflows 73 task description 5 Live buffer 75 loading automatic 165 configuration files 27 manual 169 snapshots 157 log file 36 Log window verbosity 36 M markers 54 MATLAB example 249 253 snapshots 156 MATRIXx example 253 snapshots 156 maximum snap distance 97 108 122 measurements 97 108 122 menu File 26 Plot 44 View 45 Window 47 mini Dump Plot Window 264 Wind River StethoScope for VxWorks default properties 109 description 47 mini Monitor Window default properties 109 description 47 minimum gridline spacing 97 108 122 129 138 modifying signals 149 Monitor Window description 15 142 display accuracy 150 preferences 42 149 resolution 150 writing data to target 149 N naming ofsignals 193 New Target Connection dialog box 27 O offsets calculating 194 on grid menu 52 103 online documentation reference signals 197 Open dialog box 28 39 40 opening snapshots 157 overflow prevention 69 73 P panning in Plot Windows 56 PATH 12 Pause 135 145 Plot menu 44 plot plugins preferences 40 Plot Window adding annotations 55 adding markers 54 colors 95 description 14 86 display accuracy 97 108 122 129 138 148 di
74. AMPLES A StethoScope API Reference ScopelnstallArray ScopeInstallArray ScopeInstallArray register and activate an array of signals int ScopeInstallArray const char name int elementsInArray const char units void ptrToStaticArray const char type int scopeIndex name A unique name to identify the array elementsInArray The number of elements to install units User specified unit of measurement for identification ptrToStaticArray Must be a pointer to a static or global storage location type Must be one of the accepted types such as double float int etc See ScopeProbe for details on types This function calls ScopeRegisterArray followed by ScopeActivateMultipleSignals It exists purely for convenience Users should refer to ScopeRegisterArray and ScopeActivateMultipleSignals for details float global array 100 int main static double static_array 50 Initialize ScopeIndex here See ScopeInitServer ScopelInstallArray my global array1 100 none amp global array float ScopeIndex ScopelInstallArray my static array1 50 none amp static array double ScopeIndex 221 RETURNS SEE ALSO NAME SYNOPSIS DESCRIPTION EXAMPLES Wind River StethoScope for VxWorks User s Guide 7 8 while ScopeCollectSignals H Shutdown ScopeIndex See ScopeShutdown On success this functi
75. AT ENE eo edid n dip d add dtu ME n OR ere ery vA Derved SHANG T S24 Trace Log Window eism ida digs da acit hodie iim ipt ideale ON TEREN M 9 General VEW as dana Debit nete et dn bts Colors View Comm Plug ins View Plot Plug ins View pe Dump Plot View Tm Plot View iusso Monitor View TT m tt P edis Tm B2159 dise TOIEIOW S ue aot puedes ere ties tl bri eie eb ea ds 321 P eOe tice tacit obedit ici dai didi ddr Reda Other MORIS coo o ev NINH NEU eee DNE E I MS aak PI UST RR o E Iaa UI Wo c m dos Window Ment osoonsesondpiccotoii d subire re panixo d rp tds 334 Help Moni OY TROO e e A BAT Man Toolbar ecoa RATA 3 4 2 Piol TODO erin ane ae ee ee 343 Plot Window Toolbar ansiano aA Baebes BP etd d DEDE mcntio tia dee mM AE C dep 44 4 45 47 48 48 48 Wind River StethoScope for VxWorks User s Guide 7 8 3 6 Pop up Memis m M M 52 S61 Omand Pop up Men ouiusenoibpiremio oui he quai e ON RRHS 52 FA a Era Er E E dece pU IDE IL AURI E d EQ Rd Ra 54 Adding and Removing Markets 122a cct ocgebe inaa 54 Adding tiii ruri RPM Um 55 PUDE ee eae ee ie eer er ere ee ER AUG c MM as een 56 Taking and Removing On grid Measurements 1 56 Ana kago rore doi o e 57 303 Sigrak Tee Popup Ment sencan B 3 64 Legend Pop up Menu usce erroe RE OH ER A 58 3 7
76. ATRIXX Examples lists example MATLAB and MATRIX programs that plot signals saved by StethoScope D Glossary gives a list of common terms used in this manual 2 1 22 2 3 2 4 29 2 6 2 7 Getting Started Introduction 7 Installation 8 License Manager 8 Getting Help 8 Starting StethoScope 9 Data Display Windows 14 Running the Demonstration Program 18 2 1 Introduction This chapter describes the main features of Wind River StethoScope s multi window graphical user interface GUI It presents a brief overview of the four distinctive data display windows Plot Plot XY Dump Plot and Monitor describing their many unique features and commands as well as those they have in common Each of these data display windows is described in detail in later chapters StethoScope is designed to be easy to use We suggest you quickly skim the first section and then run the demonstration using the instructions in 2 2 Installation p 8 Once the installation is complete this manual serves as a reference manual Wind River StethoScope for VxWorks User s Guide 7 8 2 2 Installation Detailed instructions for installing StethoScope can be found in the Wind River Installation and Licensing User s Guide If you have any difficulties with either installing or using the StethoScope application please contact your Wind River Technical Support Team 2 3 License Manager StethoScope is a licensed product whose licensing is enforced by
77. Calling it multiple times for the same index is harmess though 219 RETURNS SEE ALSO Wind River StethoScope for VxWorks User s Guide 7 8 The sampleBufferSize parameter specifies the size of the target data buffer in bytes This buffer is used to store the data samples for the active signals Data samples for all types other than double are saved as 4 byte values Data samples for doubles are saved as 8 byte values Thus the maximum number of samples that can fit in the buffer will range between sampleBufferSize 8 1 numberOfSignals and sampleBufferSize 4 1 numberOfSienals rounded down to the nearest integer If sampleBufferSize 0 it defaults to 32 1024 Otherwise if it is less than 1024 a value of 1024 is used instead The signalBufSize parameter specifies the size of the target signal buffer in bytes This buffer is used to store the information specific to each signal such as the name units and type The space taken by a signal gets reclaimed for registering other signals when the signal is removed The information stored for a signal takes up 28 bytes plus the number of bytes including the terminating null character it takes to store the signal name and units Note that a signal registered twice under different scope indices counts as two registered signals If signalBufferSize lt 0 it defaults to 32 1024 If signalBufferSize gt 0 and lt 1024 it defaults to 1024 The scopeprobe
78. DaemonPriority and scopelinkDaemonPriority parameters specify the scheduling priority levels for the scopeprobe and scopelink daemon threads that are spawned by this function Refer to the documentation on threads and scheduling for the operating system that you are using for valid priority levels If you do not want to specify a priority level you can pass a nonpositive value for this parameter In that case suitable priority levels will automatically be chosen Normally for each scope index a target spawns real time daemons scopeprobe and scopelink which communicate to the host over the network using TCP IP If you are using Tornado and wish to use the Tornado WTX protocol instead you must load the StethoScope WTX target library libscopewtx so In that case the daemons will use the WTX protocol to communicate even if IP is available Note that the protocol is called WTX even though the target is talking to the WDB daemon On success this function returns the initialized scope index On failure this function returns a negative number if scopelndex is out of range all indices are occupied memory allocation failed it failed to create daemon threads which will happen if the threads failed to bind to TCP ports or if the priorities specified are not valid on the target operating system ScopeProbe ScopeShutdown ScopeEventsAttach ScopeEventsDetach 220 NAME SYNOPSIS PARAMETERS DESCRIPTION EX
79. Dump history limit Controls how many lines of historical data to maintain in the Dump Plot table 0 display all default 1000 To modify any value just type directly into the text field Any changes you make in this window have no effect on any other open Dump Plot windows 9 6 Setting Preferences for a New Dump Plot Window The Preferences dialog box allows you to set default parameters for new Dump Plot windows when they are created whereas the properties described in 9 5 2 Properties Tab View p 137 apply only to currently open windows The Dump Plot Preferences panel shown in the figure below allows you to change these default values These preferences have no effect on Mini Dump Plot windows in Plot windows or already open Dump Plot windows 138 9 The Dump Plot Window 9 6 Setting Preferences for a New Dump Plot Window Dump Plot StethoScope General Colors Comm Plugins Default Properties Plot Plugins Dump Plot Resolution secs f Plot Monitor History Limit 1000 Plot XY Lines Display Accuracy dois 4 Cancel To modify these preferences open the Preferences dialog box with the File Preferences menu command or the button then click Dump Plot in the left panel to set Default Properties Resolution secs Controls how often in seconds to refresh the values in the Dump Plot window default 1 History Limit Lines Controls how many lines
80. EXAMPLES A StethoScope API Reference ScopeRegisterSignal ScopeRegisterSignal ScopeRegisterSignal register a signal RTIBool ScopeRegisterSignal const char name const char units void ptrToStaticVar const char type int scopeIndex This function registers a signal A registered signal is one that is made known to scope s signal manager but not to any other window for example the Plot window It has the possibility of becoming activated through the signal manager or through the target function ScopeActivateSignal Activated signals can be selected for display from one of the many data display windows for example Plot Monitor and so forth A signalis any variable in the program with the caveat that it must have a valid value at the instant that ScopeCollectSignals is called Thus most anything can be installed as a signal with the exception of automatic stack variables whose scope does not include the ScopeCollectSignals call A valid signal name should not contain asterisks or blank spaces Invalid characters in signal name name would be automatically replaced with underscores It is the caller s responsibility to ensure that the address passed ptrToStaticVar points to a valid memory location In particular a bad address may cause a Bus Error or Segmentation Fault to occur within ScopeCollectSignals float global var float global ptr int main static double static_var
81. For all the trigger modes listed above pass in a non NULL value to parameters that are not used in that mode To disable the trigger pass NULL for pTriggerStart and pTriggerStop On success this function returns RTI TRUE indicating that the trigger was set On failure this function returns RTI FALSE if scopelndex is invalid or is not initialized ScopeProbe ScopeTriggerGet ScopeCollectSignals Scope TriggerGet ScopeTriggerGet return the current trigger parameters RTIBool ScopeTriggerGet int pTriggerMode int pTriggerRearm ScopeTriggerInfoPtr pTriggerStart ScopeTriggerInfoPtr pTriggerStop int scopeIndex This function returns the current trigger parameters If pTriggerMode returns SCOPE TRIG MODE DISABLED then there is no trigger set for that index SCOPE TRIG MODE ARMED there is a trigger set for that index and is waiting for the start condition to occur This also means that no data is being collected by ScopeCollectSignals SCOPE TRIG MODE TRIGGERING there is a trigger set for that index and is waiting for the stop condition to occur On success this function returns RTI TRUE 234 A StethoScope API Reference Scope TriggerGet On failure this function returns RTI FALSE if scopelndex is invalid or has not been initialized SEE ALSO ScopeProbe ScopeTriggerSet ScopeCollectSignals 235 Wind River StethoScope for VxWorks User s Guide 7 8
82. H aH HH aH aH aE This makefile should work even if you have not properly installed your cross compiler environment However the following variables must be set to reflect your configuration WIND BASE local VxWorks VDT 3 0 WIND HOST TYPE sun4 solaris2 ARCH pentium CPU PENTIUM3 The following script should automatically be able to compile StethoScope demonstration files d Note 1 This makefile generates so object files Note 2 This makefile creates the USEROBJDIR directory if it doesn t exist GCCHOME WIND BASE gnu 3 3 2 vxworks60 WIND HOST TYPE CC GCCHOME bin cc ARCH USEROBJDIR lib CPU Vx6 0gcc3 3 2 SCOPE INCLUDES include share makefile rules all S USEROBJDIR USEROBJDIR scopedemo so USEROBJDIR mkdir p G USEROBJDIR 0 c CC Wall O c DCPU CPU IS WIND BASE vxworks 6 0 target h I GCCHOME include IS SCOPE INCLUDES DRTI VXWORKS lt o G USEROBJDIR so USEROBJDIR 0 GCCHOME bin 1d ARCH r lt o 247 Wind River StethoScope for VxWorks User s Guide 7 8 248 MATLAB and MATRIX Examples C 1 Introduction 249 C 2 MATLAB Example 249 C 3 MATRIXX Example 253 C 1 Introduction This appendix presents example script files that can be used in MATLAB and MATRIX to plot signals saved by StethoScope C 2 MATLAB Example This section shows a MATLAB script file varpl
83. KI EHESHSIESTISTESE IST IST IST SI The Signal Manager can see all the signals that were installed that is registered and activated see 14 4 Registering and Activating Signals p 191 on the target If 32 3 StethoScope Features 3 2 File Menu your target has many installed signals the Signals Trees in the data display windows can become very cluttered You can use the Signal Manager to dynamically filter out installed signals that you do not want to collect or have appear in Signals Trees If you do not use the Signal Manager then by default all installed signals on the loaded targets are collected and available for monitoring Unlike the other types of StethoScope windows you only need and can have only one Signal Manager window so what you do in this window impacts what you see in all the other types of StethoScope data display windows Changes made in the Signal Manager are immediately propagated to all data display windows For example if you are monitoring a signal in a Plot window and a Plot XY window and you make the signal inactive in the Signal Manager window it will be removed from both your Plot and Plot XY windows immediately Similarly if you activate new signals in the Signal Manager window they will be added to both the Plot and Plot XY windows Signals Tree and for any other open data display windows where you can choose to select the new signals or not For more information about using
84. ModeDisable ScopeCollectionModeGet ScopeCollectionModeGet ScopeCollectionModeGet return the collection mode int ScopeCollectionModeGet int scopeIndex Use this function to determine the current collection mode On success this function returns 213 SEE ALSO NAME SYNOPSIS DESCRIPTION RETURNS SEE ALSO Wind River StethoScope for VxWorks User s Guide 7 8 n SCOPE_MODE_ENABLED if collection mode is enabled n SCOPE_MODE_DISABLED if collection mode is disabled On failure this function returns 1 if scopelndex is invalid or is not initialized ScopeProbe ScopeCollectSignals ScopeCollectionModeEnable ScopeCollectionModeDisable ScopeDeactivateMultipleSignals ScopeDeactivateMultipleSignals deactivate a group of signals int ScopeDeactivateMultipleSignals const char namePrefix int scopeIndex This function will remove all signals from the list of active signals for the selected scopeIndex which start with the specified namePrefix Therefore data will not be collected for these signals during ScopeCollectSignals A prefix of deactivates all signals On success the number of signals that have been deactivated On failure this function returns 0 indicating one of the following the index scopelndex is invalid or has not been initialized there are no active signals with the namePrefix registered with index scopeIndex namePrefix i
85. Name field is left blank using the hierarchical signal naming capability see 13 6 2 Hierarchical Signal Names p 187 StethoScope skips a member variable if itis a pointer to another class struct or union to prevent a potentially dangerous circular path of variable installations Consider the following type definitions and the variable declaration typedef struct float PosX float PosY Position Position type definition 187 Wind River StethoScope for VxWorks User s Guide 7 8 typedef struct Position RightArm Position LeftArm RobotType RobotType type definition RobotType Robot When you specify a variable expression as Robot and signal name as SCARA in the Signal Installation dialog box Robot signal is installed with the following hierarchy SCARA LeftArm PosX SCARA LeftArm PosY SCARA RightArm PosX SCARA RightArm PosY If you specify a variable expression as Robot RightArm with the Signal Name field left blank RightArm member variable is installed as Robot RightArm PosX Robot RightArm PosY Note that the member variables in a class struct union are installed in an alphabetical order on the target 13 6 4 Libraries The scopeutils so library contains the following libraries depending on the communication protocol TCP IP Contains libutilsip so libxmlparse so and libscope77tcp so WTX Contains libutilsip so libxmlparse so andlibscope77wtx so 188 14 API Introduction
86. River StethoScope for VxWorks User s Guide 7 8 ScopeRegisterSignal For example a pointer to a float would have a type of float There is no limit to the number of de references StethoScope can handle so you can specify a type such as float StethoScope supports pointers to all the basic data types listed in Table 14 1 Example 14 2 Pointer to Variable Registration int JointPosition int calloc 1 sizeof int Notice that you must pass the address of JointPosition ScopeRegisterSignal JointPosition millimeters amp JointPosition int 0 14 4 4 Offsets to Signals You can register a signal using an offset from an address ScopeCollectSignals de references the pointers and applies the offsets at the time of collection This allows you to collect data that is a member variable of a class or structure Signal registration using offsets only makes sense when you do have pointers to classes or structures where the pointers can point to different instances as the application executes Otherwise you simply could install the member variables directly Consequently StethoScope assumes you are providing a reference to a pointer when you register a signal with offsets Example Registration With Offset To register and activate a signal using an offset 1 CallScopeRegisterSignalWithOffset passing it a reference to a pointer 2 Call ScopeActivateSignal to activate the signal You can combine of
87. SIS PARAMETERS DESCRIPTION SEE ALSO Wind River StethoScope for VxWorks User s Guide 7 8 during the executing of the program and take effect immediately By default all levels are turned on for a scope index On success this function returns RTI TRUE On failure this function returns RTI FALSE if scopelndex is invalid or is not initialized ScopeProbe ScopeEventsCollect ScopeEventsMessage ScopeEventsAttach ScopeEventsMessage ScopeEventsMessage throw an event with the specified message void ScopeEventsMessage int eventsHandle int level const char message eventsHandle The handle returned by ScopeEventsAttach level The verbosity level of this event Range 1 32 message Message string This function throws an event with the specified message string This function is a low overhead equivalent of printf for use in debugging real time systems ScopeEventsMessage is actually a macro that calls the collection function ScopeEventsMessagelInternal only if the verbosity level of this event is turned on Thus there is no overhead of a function call if the verbosity level of this event is turned off The verbosity mask can be set using ScopeEventsMaskSet NOTE Calling this function from multiple threads with the same eventsHandle is not recommended Therefore use a separate eventsHandle returned by ScopeEventsAttach for each thread which calls this func
88. Scope 166 connecting to targets 10 26 connection problems 173 connection status 21 context sensitive menu 52 103 creating derived signals 78 XY signal pairs 112 cycle numbering 157 D daemons manually starting 169 rollin buffer overflow 73 task descriptions 5 data collection status 67 data display windows introduction 14 toolbar 48 deactivating signals 196 deleting markers 54 demonstrations running demonstration target program 18 VxWorks 19 derived signals creating 78 mathematical operators 81 troubleshooting 83 Wizard 78 81 Derived Signals dialog box 35 49 78 Derived Signals wizard 35 dialog boxes Annotation Edit 55 262 Wind River StethoScope for VxWorks Axis Properties 51 Colors 99 Derived Signals 35 derived Signals 49 New Target Connection 27 Open 28 39 40 Preferences 36 49 87 107 114 Print 88 115 Save Config 29 Signal Properties 57 58 87 95 98 114 119 121 123 StethoScope Setup Options 26 Triggering 33 XYSignals 32 34 49 112 114 disconnecting targets 63 display accuracy Dump Plot Windows 139 Monitor Window 150 Plot Windows 97 108 122 129 138 148 displaying events 103 docking toolbars 48 downsampling 69 73 Dump Plot Window description 15 132 display accuracy 139 history limit 139 preferences 41 resolution 139 table size 139 E ellipsis button 259 environment variables PATH 12 RTIHOME 11 errorlog 11 events displayed as markers 104 displayed
89. ScopeCollectSignals 74 5 Triggering 5 6 Notes and Hints No data will appear nor would you see an overflow count indicator in the Data Collection window if the LinkDaemon task is starved for CPU time for example if some higher priority process is using all of the processor Live Buffer Be sure the Plot window is displaying the Live buffer rather than a saved buffer from a previous collection cycle 75 Wind River StethoScope for VxWorks User s Guide 7 8 76 Derived Signals 6 1 Introduction 77 6 2 Creating Derived Signals 78 6 3 Mathematical Operations 81 6 4 Troubleshooting Derived Signals 83 6 1 Introduction Example 6 1 A derived signal is a signal whose value is computed by mathematical operations on other signals Derived signals are calculated by Wind River StethoScope on the host not sampled from your real time system The derived signals facility provides a simple means of scaling and offsetting signals plotting differences and ratios of signals and so forth Valid Derived Signals Include Pos Error Pos10 Pos10Plus3 Tan Log Error Won gw god PosDesired Pos Pos 10 Pos10 3 Sin Cos logi0 Pos Error This chapter is organized in the following sections 62 Creating Derived Signals p 78 tells you how to create a derived signal 77 Wind River StethoScope for VxWorks User s Guide 7 8 6 3 Mathematical Operations p 81 lists all the math
90. StethoScope s Initialization Sequence eese 60 Using the Signal Manager eese nennen 61 ZI Inhboducllol oben cEiM pH RUP QUERER IIMUY CS ERANT nieve RUTRUM EMEN MEAE 61 42 The Signal Manager Window sscucscoucudocsniuocnensiscaconaniiss 62 45 Working With Signal Trees pues ntis rr HR ARHORM FERE HARD ERE HURH A ARRAS M SEED ERE 62 44 Signal Installation iiec rnt titer pee Pi ERU He p IR REHEEHH EE EN EO 64 45 Disconnecting from the Target ss sssssstessssesssscsssssissssssossasorsesesssssss adossvsisesssess s 64 Jji Ul 9 A A A 65 MEME GI up ee 65 52 CONTIZUPING A MIRREN seien ion ii usi ar iaeaea HARD HU MEA RUE 66 53 Tugsering Dialog BOX dccaniccnamanicnnmenncnncomnnncmemmuncnnes 66 Biel TAG e 67 Deke PAn COANN ouo pibe S EAUX WERE RNTO PEHE DUC EUN TRU ROUNDATHU eR 68 BOR Tigger TAS qucascibiuievisdudbisie iced i kept nnl ciel kept bn Ra T ced nin 69 OCT POPCORN 69 S90 PHONE e 70 vi 5 4 5 5 5 6 Derived Signals 6 1 6 2 6 3 6 4 74 Tu 7 5 Contents SAG PURON e Dj cri ue g Understanding and Preventing Overflows eese SSL Avoiding 49 o1 m hos deno Behavimt osceouxcdupceea nidos Rud evads ud P aS TRUE Nosan Pls suona tiis rn sass mcs EE EMIL M E EE uice si TRU EN TURON NDS Creating Derived S
91. Target g 10 30 68 144 0 Cancel 3 Sine Sine2T 1030681440 vi __ Cancel EN Pos PosDesired 10 30 68 144 0 han mr Y Axis 3 2 10 Derived Signals A derived signal is a signal whose value is computed by mathematical operations on other signals Derived signals are calculated by StethoScope on the host in real time but not displayed directly from your real time system The derived signals facility provides a simple means of scaling and offsetting signals plotting differences and ratios of signals and so forth You must create a derived signal using the Derived Signals dialog box before you will see it appear in a separate branch in the Signals Tree of the Plot Dump Plot and Monitor windows Open the Derived Signals dialog box shown in the figure below with the File gt Derived Signals menu command or the tx button This dialog box utilizes a series of Derived Signal Wizard dialog boxes that will guide you through the process To learn details of how to create derived signals see 6 Derived Signals Derived Signals xj Derived Signal Wizard E XJ Welcome to the Derived Signal Name rag E Wizard Cancel Choose a name and a type for the derved sgnal and choose whsch target to attach i10 Apply Name CETT Tyre pena 3 debyte niege lt Delete feit 103068 144 QUve Limes 35 Wind River StethoScope for VxWorks User s Guide 7 8 3 2 11 Trace Log W
92. The right panel displays the XY coordinates of your mouse pointer when it is passed over the plot grid 3 6 Pop up Menus Pop up menus available in Plot and Plot XY windows only are used to offer options that are unique to specific signals and in some cases to where the cursor is within the StethoScope GUI The following pop up menus are described 3 6 1 On Grid Pop up Menu The following commands are available in the pop up menu shown below that appears when you right click while hovering the cursor anywhere over the grid area of a Plot window see 7 2 Plot Window Tour p 86 52 3 StethoScope Features 3 6 Pop up Menus hun Previous Zoom Add Marker Add Annotation Remove Markers Set Selection Start Set Selection End Clear Selection Properties Vel 4163 4165 4168 4170 4173 The following menu items are available Previous Zoom Reverses the effect of the previous Zoom action see Zooming p 54 Note that the Zoom to Fit command erases the history of all previous zooms Add Marker Adds text to a specific point on the grid area showing the coordinates of a desired point see Adding and Removing Markers p 54 Add Annotation Adds text to a specific point on the grid area you can type any comment you want see Adding Annotations p 55 Remove Markers Deletes all markers and measures from the grid area see Adding and Removing Markers p 54 Set Selection Start Marks the beginni
93. Toggle Signal Turns the signal trace on or off This is the equivalent of going to the Signals Tree and alternately checking and unchecking the signal s check box It leaves the signal s name in the Legend list when you toggle it off Remove Signal Removes the signal from the graph This is equivalent to toggling the signal off except it removes the signal s name from the Legend Remove All Unselected Removes all signals that have been toggled off 120 8 The Plot XY Window 8 6 Signals Bar Remove All Signals Removes all signals regardless of their toggled status Properties Opens the Signal Properties dialog box see 8 7 Signal Properties Dialog Box p 123 You can change the colors used for plot lines by using the File Preferences menu command see Colors View p 38 or by using the Signal Properties dialog box see 8 7 Signal Properties Dialog Box p 123 8 6 3 Properties Tab View You can view and change the properties for only the Plot XY window you are in by clicking the Properties tab in the Signals Bar This tab view shown below accesses properties for the graphic display window environment for the signals themselves use the Signal Properties dialog box described in 8 7 Signal Properties Dialog Box p 123 Signals Bar x El Co ordinates X scale 3 000000 X offset 1 500000 Y scale 3 000000 Y offset 1 500000 B Display Display accuracy 4 Resolution 1 Grid spacing 100 Snap measures to sig
94. Vel Properties Acc misis PosGain Nim VelGain N mjs amp 14 sincroup amp D14 Event Right click on a signal in the Signals Tree window to open a pop up menu LIDLDLDEELCDLDLD eL 3 Signals n The Signals Tree is displayed by default when you open a Plot window but it may be re displayed at any time by clicking the Signals tab at the bottom of the sub window The Signals Tree allows you to easily locate any signal that has been installed and add it to the graph of signal traces Each node of the tree and each signal is a check box Clicking an individual signal s check box adds that signal to the graph or conversely clearing the check box removes that signal from the graph If you click a node check box all the signal check boxes belonging to that node but not including nodes below it are checked at once and their signals are added to the graph Conversely clearing a node check box removes all signals below that node from the graph with the single click If anode check box is checked but has a grey fill it indicates that some but not all of the signals belonging to that node are checked and displayed on the graph You may have to scroll down to see which ones are checked The Signals Tree is expanded or collapsed using the icon to the left of each node check box as follows collapsed click to expand down to the next node s E expanded click to collapse up
95. WIND RIVER Wind River StethoScope for VxWorks USER S GUIDE 7 9 Windows Version Copyright 2005 Wind River Systems Inc All rights reserved No part of this publication may be reproduced or transmitted in any form or by any means without the prior written permission of Wind River Systems Inc Wind River the Wind River logo Tornado and VxWorks are registered trademarks of Wind River Systems Inc Any third party trademarks referenced are the property of their respective owners For further information regarding Wind River trademarks please see http www windriver com company terms trademark html This product may include software licensed to Wind River by third parties Relevant notices if any are provided in your product installation at the following location installDirlproduct namel3rd party licensor notice pdf Wind River may refer to third party documentation by listing publications or providing links to third party Web sites for informational purposes Wind River accepts no responsibility for the information provided in such third party documentation Corporate Headquarters Wind River Systems Inc 500 Wind River Way Alameda CA 94501 1153 U S A toll free U S 800 545 WIND telephone 510 748 4100 facsimile 510 749 2010 For additional contact information please visit the Wind River URL http www windriver com For information on how to contact Customer Support please visit the foll
96. a license manager The license manager software must be running using a valid license file that contains the proper keys for StethoScope Please consult the Wind River Installation and Licensing User s Guide for details on setting up the license manager and license keys 2 4 Getting Help StethoScope comes with the following types of documentation TheStethoScope manual in PDF format The StethoScope manual is available as a PDF file to view and print from the Adobe Acrobat Reader http www adobe com The PDF files are located in the directory under which StethoScope is installed 2 Getting Started 2 5 Starting StethoScope 2 5 Starting StethoScope 2 This section describes how to begin using StethoScope in a real environment E 2 7 Running the Demonstration Program p 18 shows you how to run the demonstration program 2 5 1 Initializing the Target Server To runStethoScope you must first initialize the target server You then need to load the daemon libraries and initialize the target by a call to ScopeInitServer This is followed by installing the signals you want to watch A complete description of this process is given in 12 Using a VxWorks Target 2 5 2 Starting StethoScope On Your Host StethoScope can be started in either of two ways 1 Automatically by clicking P3 on the Workbench IDE 2 Manually on the host from a command line window Starting Automatically from the Workbench IDE Toolbar If you install
97. a points are connected as usual with straight lines even though there is no information about the actual values between data points In the view below the same data but with the Zero Level Hold feature turned on True shows how the line plotted between the same data points is now a straight horizontal line of the same value as the previous data point until the next data point comes in at which time the plot line goes vertical up to that value 0 625 0 6 Data plotted with Zero Level Hold turned off 0 575 0 55 25 11 85 11 88 119 11 93 1 0 625 06 Sf ie Same data plotted with Zero Level Hold turned on 0 55 0 575 25 11 85 11 88 11 9 11 93 ae 100 7 The Plot Window 7 6 Signal Properties Dialog Box Show as Bits 25 Select True from the drop down menu to cause a signal program variable being plotted to be represented as a sequence of bits each bit with its off and on 0 and 1 values indicated The bits are rendered individually by discrete horizontal lines distributed up the Y axis from bit position 0 starting at the bottom Bc Data plotted with Show as bits turned off Same data plotted with Show as bits turned on To show this feature a Derived Signal created using a single 8 bit integer is incremented through values from 0 to 15 and back to 0 again at the rate of two increments per second and then repeated continuously until st
98. a rich mixture of signals and functionality Minimal Intrusion StethoScope does not impact your real time system s performance Collection is very fast data transfer takes place in the background at low priority Modify Data StethoScope can also modify program variables Experiment quickly isolate problems and run test cases by changing the value of variables and parameters while your program executes 1 Introduction 1 4 Architecture Dynamic Signal Installation Install variables by name as your program runs including structs classes and unions by simply typing in the name of the variable you want to view Data Storage StethoScope exports data in many formats It is organized each run is timestamped and labeled with signal names and units and accompanied by your notes You can choose which data to save or have StethoScope save them automatically Support for Large Systems With this program you can register literally hundreds of variables for monitoring You can collect any subset of the registered variables and organize your variables with a powerful hierarchical tree browser Type Support StethoScope supports many data types without loss of precision This includes support for all common data types from one byte char to eight byte double support for pointers and structures to make it easier to monitor complex data structures user defined buffers and support for hexadecimal data display 1 4 Architecture The fi
99. akpoint at ScopeCollectSignals from the VxWorks shell Disable triggering from the Triggering dialog Starvation can be tested as described in 12 3 3 No Response from Target p 173 Raising the priorities of tLinkDaemon and tProbeDaemon tasks or insuring that higher priority processes do not use all the available CPU will alleviate the problem Again this is rarely a problem for Windows targets 174 12 Using a VxWorks Target 12 3 StethoScope Troubleshooting None of the Above Finally make sure the window you are using is displaying the Live buffer and not a stored static buffer snapshot Also make sure the range is wide enough to plot data on the screen try the Zoom to Fit button or from the View menu 175 Wind River StethoScope for VxWorks User s Guide 7 8 176 13 Signal Installation 13 1 Installing Signals for StethoScope 177 13 2 Automatic Signal Installation 179 13 3 Manual Installation 184 13 4 Using StethoScope API 185 13 5 Code Instrumentation Alternative 185 13 6 Process Notes 185 13 1 Installing Signals for StethoScope Recall from the discussion in 2 5 3 Concepts of Use p 12 that installed signals are the means used by the Wind River StethoScope GUI to specify which data you want to be able to monitor collect and display in the GUI You must first install each signal before it can be collected for analysis and displayed by the GUI This chapter guides you through that process The hi
100. all Signa H O offset Disconnect H O Pointer O Sire cosine O Sine2t H Pos lll PosDesired Bl vel o Acc E F tisse 161 Wind River StethoScope for VxWorks User s Guide 7 8 162 12 Using a VxWorks Target 12 1 ScopeProbe Requirements 163 12 2 VxWorks Targets 164 12 3 StethoScopeTroubleshooting 172 12 1 ScopeProbe Requirements In general to build an application that is instrumented with the ScopeProbe API you need to Add the following include file to your code include scope scope h Add the following DEFINE to your makefile or project D RTI_VXWORKS Add include paths so the compiler can locate the scope h include file I WIND SCOPETOOLS target include share scope Link the libraries libutilsipz a libxmlparsez a libscope77tcpz a 163 Wind River StethoScope for VxWorks User s Guide 7 8 libutilsipz lib libxmlparsez lib libscope77tcpz lib For TCP IP scopeutils so contains libutilsip so and libxmlparse so libscope77tcp so For WTX scopeutils so contains libutilsip so and libxmlparse so libscope77wtx so NOTE A detailed implementation of some of these steps as applied to the VxWorks demonstration code vxdemo c and its makefile is shown in B StethoScope Demonstration 12 2 VxWorks Targets The following sections discuss specific requirements that depend on the VxWorks target platform 12 2 1 Building The Wind River ScopeTools installation installs t
101. amp Posdes float ScopeIndex ScopeInstallSignal Vel m s amp Vel float ScopeIndex ScopeInstallSignal Acc m s s amp Acc float ScopeIndex for i 0 i lt num i sprintf str sin sin t 1f PHASESHIFT i ScopeInstallSignal str volts amp phases i float ScopeIndex static This routine simply lets the sampler run An alternative asychronous sampling strategy is to simply call ScopeCollectSignals from this routine at interrupt level However this scheme is probably more indicative of the way most users will implement Scope int ScopeDemoTimerInterrupt void semGive SampleSemaphore return 0 sysAuxClkConnect should take VOIDFUNCPTR static Called by main loop to clean up mem usage void ScopeDemoShutdownInternal void if tid 0 if SampleSemaphore NULL Must be aux clk so clean up sysAuxClkDisable sysAuxClkConnect NULL 0 semDelete SampleSemaphore SampleSemaphore NULL if ScopeNoServer 0 ScopeShutdown ScopeIndex else dif VXWORKS AE VERSION 1 0 OR BETTER ScopeRemoveMultipleSignals ScopeIndex else ScopeRemoveMultipleSignals ScopeIndex endif ScopeNoServer 0 ScopeIndex 1 free singroup tid 0 243 Wind River StethoScope for VxWorks User s Guide 7 8 Reset flag ScopeDemoShutdownRequest 0 static This rou
102. ampling is independent of the application task the snapshots may be taken at unpredictable points in the application code For example consider an application with the following loop 197 Wind River StethoScope for VxWorks User s Guide 7 8 void UserTask while 1 semTake sem Wait for something xtt yY x One method of asynchronous sampling is to spawn a task whose only job is to sample void SampleTask while 1 ScopeCollectSignals 0 taskDelay delayTime This may produce the following data Sample x y 1 1 1 2 2 2 3 3 3 4 4 4 5 5 5 This result has the following problems Sample 3 appears inconsistent because the sample was taken between the assignment statements for x and y Sample 4 is inaccurate because the sampling task missed the fourth loop of the user task altogether Sample 5 is a repeat of Sample 4 because the sampling task ran again before the user task started its next loop Thus asynchronous sampling cannot guarantee Data set consistency All samples in a set form a consistent view of the application data set Sampling accuracy Every loop of the application is sampled exactly once In spite of the consistency and accuracy issues asynchronous sampling is often desirable because it is easy to set up and requires no changes to your application 198 14 API Introduction 14 5 Sampling Signals code Asynchronous sampling also works with programs
103. an aux clock set the useAuxClock parameter to 1 SEE ALSO ScopeProbe 2 scope 1 vxdemo2 3 Id vxdemo c v 1 1 2003 03 27 17 52 12 Exp c Copyright Real Time Innovations Inc 1999 All rights reserved 239 Wind River StethoScope for VxWorks User s Guide 7 8 include stdio h Change to stdioLib h for 5 0 include lt math h gt include vxWorks h include taskLib h include sysLib h include semLib h include rtilib vxVersions h include rtilib rti types h include rtilib rti endian h include scope scope h define MAXPHASES 128 define PHASESHIFT 0 1 define SQUARECOUNT 20 float square 1 0 struct ExampleStruct float sint float sin2t float sin3t float cost singroup float phases MAXPHASES float Omega 1 0 int NumberOfPhases 0 float Pos 0 0 float Vel 0 0 float Acc 0 0 float Posdes 1 0 float Veldes 0 0 float Kp 10 float Kv 4 float NoiseMag 0 1 floa floa ct ct SEM ID SampleSemaphore NULL int ScopeIndex 1 int ScopeHandle 1 int tid 0 static int ScopeDemoShutdownRequest 0 static int ScopeNoServer 0 void SampleHookFunc void NULL void SampleHookParam NULL 240 B StethoScope Demonstration B 2 Source code Example vxdemo c void SampleHookSet void func void void param SampleHookFunc func SampleHookParam param sta
104. apshot Data to MATLAB and MATRIXX This makes it very easy to view your notes from within these analysis programs 11 5 2 Creating Variables Running the script file generated when you save a snapshot in MATLAB or MATRIX format creates the following variables data The raw data as a two dimensional matrix signals The script decomposes data into individual arrays that correspond to the signalin the data buffer The variable names will be the same as the original signal name except illegal characters are replaced with underscore characters For example a signal named xdes 3 will be converted to the variable name xdes 3 in MATLAB or MATRIX numberOfSamples The length of each signal This is the number of samples collected in a buffer cycle numberOfSignals The number of signals saved in the data buffer time A vector of time values for each sample names A string array of the signal names timestamp A vector of time values for each sample units A string array of the units for each signal timestamp A string denoting the data collection date and time filename A string representing the name of the data file without the filename extension runtitle A he run title as displayed in the Run Title field notes A character array containing each line of the session notes 159 Wind River StethoScope for VxWorks User s Guide 7 8 NOTE Limitations on the size of variable names in MATLAB or MATRIXy m
105. ar Each selected signal appears as a column in the table Most of the remaining functionality in the Dump Plot window is provided through the toolbars and menus For common data display window feature descriptions refer to the following sections for more information Menu Bar 3 2 File Menu p 26 Toolbars 3 4 Toolbars p 48 9 3 Menu Bar Em Some of the Menu Bar items are discussed in detail in 3 2 File Menu p 26 where it is mentioned that the File Window and Help menu items are consistently the same across all data display windows The Plot and View menu items however contain some commands that are unique to the Dump Plot window Even though partially redundant these menu items are described in detail in the following sections 9 3 1 Plot Menu Commands The Plot menu item contains commands for working with the plots in the Dump Plot window File Plot View Window Help Take Snapshot The Plot menu commands are Print Setup Allows you to select printer parameters and characteristics before printing not enabled at this time Take Snapshot Saves a copy of all the active signals not just the selected signals for all connected targets For more information about snapshots see 11 2 Taking Snapshots p 152 133 Wind River StethoScope for VxWorks User s Guide 7 8 9 3 2 View Menu Commands The View menu item shown below contains commands for working with the plots in the Plot window Fi
106. are performed Therequired VxWorks libraries are loaded onto the target TheStethoScope libraries are loaded onto the target ScopeProbe is initialized on the target TheStethoScope GUI is started on the host Optionally the demo program can be loaded and started on the target Loading and Starting Automatically To load and start StethoScope automatically 1 From the Workbench IDE select the target server for the target to which you wish to connect StethoScope If you do not have a target server running you will need to create it first Refer to your platform s User s Guide for details on how to configure and start a target server NOTE The StethoScope setup script uses the currently selected target server name target tgtsvrHost to determine the host name of the target 2 From the Workbench IDE click the StethoScope button p3 This opens the Setup Options dialog box allowing you to configure the StethoScope and ScopeProbe initialization parameters 165 Wind River StethoScope for VxWorks User s Guide 7 8 4 StethoScope Setup Options i x r Execution Mode Connection Spawn sampler task Scope index 2 The sampler task repeatedly calls E s ScopeCollectSignals You can then install signals Target server from StethoScope GUI Crosswind or WindSh correction me Rom a Verbosity es Sampler Task C Load libraries only Use AuxClock Will simply
107. at Pos and PosDesired in the Plot window to see the effect of changing the value of Kp 23 Wind River StethoScope for VxWorks User s Guide 7 8 24 3 1 3 2 3 3 3 4 3 5 3 6 3 7 StethoScope Features Introduction 25 File Menu 26 Other Menus 44 Toolbars 48 Status Bar 52 Pop up Menus 52 StethoScope s Initialization Sequence 60 3 1 Introduction This chapter describes the major Wind River StethoScope features These features are available through the File menu item and are common to all four plot windows of StethoScope s multi window graphical user interface GUI Each of these commands is described in detail in the sections that follow 25 Wind River StethoScope for VxWorks User s Guide 7 8 3 2 File Menu Most of StethoScope s common functionality is accessible specifically through the File menu item on the Menu Bar These commands are listed and described in detail in the sub sections that follow Note that commands in the View menu are not all available in all data display window types These menu commands as well as some that are available in the various pop up menus are described in the chapters on each of the specific data display windows see Chapters 7 8 9 and 10 The menu bar is dockable which means you can move it to another location on or off the window simply by clicking on the docking handle and dragging the menu to the new location Most of StethoScope s major functions are availa
108. at the bottom of the sub window The Signals Tree allows you to easily locate any signal that has been installed and add it to the graph of signal traces Each node of the tree as well as each signal 146 10 The Monitor Window 10 5 Signals Bar has a check box Clicking an individual signal s check box adds that signal to the graph or conversely clearing a check box removes that signal from the graph If you click a node s check box all the signals belonging to that node including their nodes below it are checked at once and those signals are added to the graph Conversely clearing a node check box removes all signals below that node from the graph with the single click If a node check box is checked but has a grey fill it indicates that some but not all of the signals belonging to that node are checked and displayed on the graph You may have to scroll down to see which ones are checked The Signals Tree is expanded or collapsed using the icon to the left of each node check box as follows collapsed click to expand down to the next node s E expanded click to collapse up to the next node The Units column in the Signals tab view shows the physical measurement units of each signal 10 5 2 Properties Tab View You can view and change the properties for the currently open Monitor window by clicking the Prop tab as shown below in the Signals Bar 147 Wind River StethoScope for VxWorks User s Guide
109. ated a script file with a ms extension and a data file with a xmd extension Directory Click the browse icon to select the path for the output file Base Name You can enter a filename in this text box This is called the base filename because you can add automatic extensions as described below 156 11 Working with Snapshots 11 4 Loading Snapshots Extension StethoScope can alter automatically the base filename to help you identify your data later The Extension drop down menu determines how the new base names are produced The possible settings are None The Base Name string is not changed Time stamp The date and time are appended to the Base Name Cycle 0 9 If the Base Name does not end in a digit already StethoScope appends a 0 to the name After each store operation the digit is incremented Once the digit reaches 9 it is reset to 0 Using this option the most recent ten buffers will be saved with unique names Increment If the Base Name does not end in a number StethoScope appends a 0 to the name After each store operation the number is incremented creating a unique name for each save How Output Filenames Are Built Output filenames for snapshots consist of the word Snapshot concatenated with an integer number starting at 1 and increasing by 1 with each new snapshot 11 4 Loading Snapshots Snapshots that have been saved to disk in StethoScope s native format ss7 extension can be reloaded fo
110. ation task running on the target module is typically a user program but it also can be a system process especially with a real time operating system This task collects the data StethoScope supports the TCP IP and WTX modes of data transfer In both modes two additional low priority tasks threads are in charge of transferring data to the host ProbeDaemon The ProbeDaemon receives and processes commands from the host user interface Through the ProbeDaemon interface the target application can nstall variables to monitor Change sample rates Set triggers Collect data LinkDaemon This task transfers data to the host During program execution data is collected and placed in a local buffer This data collection is very fast and is the only action that takes place at high priority that is at the priority of your application or an asynchronous sampling task The LinkDaemon task running at very low priority then takes the data from the buffer and sends them to the host The LinkDaemon stores the list of signals and the collected data samples on the target see 14 API Introduction for details These are sent to the host to be displayed at a later time This mechanism is designed for minimal impact on real time system performance 1 5 Reader s Guide This manual is organized into chapters as follows 1 Introduction discusses StethoScope s general structure and capabilities 2 Getting Started provides a
111. aves the state of the named data display windows When each of these files is loaded a new window will be opened if none with the saved name is currently open If a data display window with that name already exists then its state will be adjusted to match the saved information The state of a window includes The list of selected signals being displayed in the window The size and shape of the window 5 Click Save to save the configuration By default the filename will have the extension ssc This feature allows you to develop a library of saved StethoScope configurations For example you might create the following configurations A file named position ssc that contains only the state of one Plot window that has been set up exactly the way you like it for displaying your position sensors Another file named derived ssc that contains a useful set of derived signals such as a scaled variable or the difference of two signals The drop down menu opened with this command lists the four basic StethoScope data display Plot windows Selecting one opens that window or another occurrence of that window if one is already open You can have multiple data display windows open at the same time and each can display different signals or snapshots 30 Dump Plot Plot Monitor Plot XY 3 StethoScope Features 3 2 File Menu Before using data display windows it may help to understand how and when data is collected from the
112. ay cause signal names to be truncated If the truncation results in name clashes then some signals may not be accessible by name as an individual array In such cases you still can extract the signal from the data matrix with a statement such as ShoulderVel data 2 11 5 3 MATLAB Script Example The MATLAB script varplot m provides an example of a simple m file program that utilizes stored StethoScope data see C MATLAB and MATRIXX Examples This script creates a plot as shown in the figure below Uncontrolled Dynamic Payload Sun May 13 17 18 47 1990 ForceX Newtons 0 8 f ForceY Newtons 0 6 0 4 Newtons 0 4 0 6 0 8 0 0 5 l 1 5 2 2 5 3 3 5 4 4 5 5 Time seconds 160 11 Working with Snapshots 11 6 Deleting Snapshots 11 6 Deleting Snapshots If you want to delete a snapshot from the Plot window you can right click the snapshot name node in the Signals Tree to open a pop up menu as shown in the figure below Click Disconnect Items in the pop up menu to delete the snapshot from the Signals Tree You will not be able to retrieve this snapshot unless you previously saved it as described in section 11 3 Saving Snapshots p 153 Signals Bar x Right click the Signal name in the Signals Tree ea to open a pop up menu then select Disconnect Items to delete the snapshot Signals Tree H O SinGroup 1 Event Ei m Snapshot 1 TEREST H 0 DifferentT Inst
113. ay not want to reduce resolution if your data can contain glitches or high frequency phenomena default 1 Grid spacing Specifies the minimum distance in pixels allowed between the grid lines Increasing this number decreases the number of grid lines decreasing this number increases the number of grid lines Enter a value between 5 and 500 default 100 Snap measures to signals Controls whether or not measures are snapped to the signal lines on the grid Measures are described in Taking and Removing On grid Measurements p 56 default True Maximum snap distance Controls how far away in pixels you can start a measure and still have it snap to the plot line Measures are described in Taking and Removing On grid Measurements p 56 default 20 122 8 The Plot XY Window 8 7 Signal Properties Dialog Box Background image Allows you to specify special images to be displayed in the graphing area with the graph itself superimposed on top default none To modify any value just type directly into the text field Any changes you make in this window have no effect on any other open Plot XY windows Any changes you make in this window have no effect on any other open Plot windows To change the defaults used when new Plot XY windows are created use the File gt Preferences menu command f described in 3 2 12 Preferences p 36 8 7 Signal Properties Dialog Box Characteristics of the line used to plot each signal in t
114. bar Controls whether the toolbar representing a selection of items from the File Plot menu command is displayed on StethoScope s toolbar For more information see 3 4 Toolbars p 48 Monitor Window Toolbar Controls whether the toolbar used within a specific data display window is visible The buttons represent items from the Plot and View menus for the specified data display window For more information see 10 4 Toolbar p 145 Status Bar Controls whether the status line along the bottom of the window is visible For more information see 3 5 Status Bar p 52 144 10 The Monitor Window 10 4 Toolbar Signals Bar Controls whether a Signals Bar panel appears in the window The Signals Bar see 10 5 1 Signals Tab View p 146 includes tabs for Signals and Properties For more information about the Signals Bar see 10 5 Signals Bar p 146 Pause Stops updates to the table in the Monitor window It does not stop data collection but merely stops new data from appearing in the table To resume normal display unselect the button 10 4 Toolbar In a default Monitor window the first two dockable toolbars are identical to the toolbars shown and with the menu items as described in Sections 3 4 1 Main Toolbar p 48 and 3 4 2 Plot Toolbar p 48 But the right most dockable toolbar is specific to the Monitor window All the toolbars are dockable The menu bar is also dockable Each of the toolbars can be independently displayed or hidden usin
115. be selected for viewing from one of the many data display windows such as Plot Monitor etc ScopeCollectSignals only collects samples of activated signals On success this function returns RTI TRUE indicating that the signal was activated On failure it returns RTI FALSE indicating one of the following the index scopelndex is invalid or has not been initialized there is no signal named name registered with index scopeIndex ScopeProbe ScopelInstallSignal ScopeInstallSignalWithOffset ScopeRegisterSignal ScopeRegisterSignalWithOffset ScopeActivateSignal ScopeDeactivateSignal ScopeRemoveSignal ScopeRemoveMultipleSignals ScopeChangeSampleRate ScopeChangeSampleRate change the sampling rate float ScopeChangeSampleRate float newSampleRate int scopeIndex This routine changes the amount of time that StethoScope assumes passed between calls to ScopeCollectSignals It does not change the actual sampling rate that is a responsibility of user code The rate is used to calculate times between samples If the rate is incorrect these calculations will be in error The parameter should be the frequency in samples per second of the calls to ScopeCollectSignals On success this function returns the old sampling rate On failure this function returns 0 0 indicating one of the following scopelndex is invalid or is not initialized rate is invalid lt 0 0 ScopeP
116. become familiar with StethoScope we strongly encourage you to run the demo program Additional basic concepts on which StethoScope is based will be emphasized in the process of guiding you through the demo program s steps The demo program will also utilize the StethoScope API to log program behavior To start the demo program do the following 1 Copy the target binaries from your host at installDirltarget arch target arch where installDir is the directory in which you installed the Wind River ScopeTools and target arch is the directory specific to your target architecture to the corresponding location on your target 2 Start the demo program by typing Sp ScopeDemo 2 Getting Started 2 7 Running the Demonstration Program cx Telnet 10 30 68 144 lolx inux 2 6 18 lt wrsbc8260 1 gt 415 rsbc8268 1 login root assword ind River GPP LE 1 1 Linux 2 6 18 wrs_shc8266 RIM ast login Tue Jan 6 86 25 04 19780 from 10 30 68 13 on pts oot wrsbc826G 1 gt cd home grand scopetools oot wrsbc826G 1 scopetools gt ls libscope78tcp so processsampler libscope78tcpz a profileModule ko libutilsip so profileModule ko no kgdb libutilsipz a profiledemo scopedemo memrun memscopedemo oot wrshc826G 1 scopetools gt scopedemo cope index gt successfully initialized ample rate is 38 08 Hz tethoScope demonstration target simulator RRR OHHH st Real Time Innovations Inc Scope index lt 0 Print menu fidd sig
117. biciun didnt esther 12 uupic4BE crgo e Pe A 13 2b Data Display Windows wuteosiei eie enbpisise p RE RIRRHIMEIEAN NEHME nai 14 2h Plot Window Luucsssoeuuteoireem pei ebd pU Pisis iW HERE RE 14 20a PLopXY Window asssqeceitia quand aad adobe di din doen a ng tud iaa 14 Lbs Dunt Pot PONO qodasamdies en oO IEIMDIEU pM pO HL UD 15 Jb4 Montar WISOOME corneri i tst pldid deuotionis 15 p ER cic eT 15 2 0560 Mini Damp Window uiaticcexsusdatit dipiacitakudogolisida me 16 267 Mini Monitor Window sacsesissssiccataesngissninsncisdananjensnie sestabuedonabsnsoeestanueainnnes 16 25 Common Window Elements Lir att tht ord dendi s T7 2 7 Running the Demonstration Program eese tenete tetntntntntntnnn 18 244 VxWorks Parget Based Desonebrablon oannes edi qedepolta 19 Wiewite quara DI 22 27 2 What Does the Demo Do asciende ser ebrei ivre ER akt 22 Automatic Signal Management from the VxWorks Shell 23 clie Mc p O 25 3 1 Introduction 25 32 Ple MOD sesednnciinnivsieniaiinsane ikiii 26 Sask Cone o Ri ea 26 222 Loud Snap hol renanira 27 B25 Dave ShApshyt coni D 27 DI CHEN CES ur sa a aE 27 m NUI ais Susie ha se dM EPI Ud 28 3 4 Contents ET MEN DU UU NINE OTRO ES TRRE Dui Pb crunch oneee QUADAH RUNI dUE SALE Siera Minagi eson i serede deir ae nti bud pua a ia bdquin Mec iq 248 THENE socne deli cd caedit ta gib oes deti d d ied Aud
118. ble through the File menu shown in the figure below Each of the commands in this menu item are found in and are active in all four of the StethoScope data display windows A detailed description of each menu command follows Eie Plot View Window Help WW Connect to Target zm Load Snapshot E Save Snapshot Load Config Save Config Plots gt ma Signal Manager YG Triggering XY XYSignals Ax Derived Signals E Log Window Preferences Close Window Exit StethoScope 3 2 1 Connect to Target After you have successfully started StethoScope s GUI you need to connect to your target Select StethoScope Setup Options dialog box from the File menu or use the button to open a connection to a target The StethoScope Setup 26 3 StethoScope Features 3 2 File Menu Optionsdialog box shown below opens with initial values as passed in from the command line or the GUI 2 StethoScope Setup Options xl Target name or TCP IP address StethoScope index 0 127 o Verbosity level For event logging D 3 EN If you have difficulty connecting to the target check the Log window see 3 2 11 Trace Log Window p 36 for progress messages StethoScope can be connected to multiple targets at the same time 3 2 2 Load Snapshot Snapshots in general are described in detail in 11 Working with Snapshots Snapshots that have been saved to disk in StethoScope s
119. c int stepCount 300 if stepCount lt 0 stepCount 300 Posdes Posdes Throw an event whenever position desired changes ScopeEventsCollect ScopeHandle 2 PosChangeEvent void amp Posdes RTI FLOAT32ID Acc Kp Posdes Pos Kv Veldes Vel static void Sample float t int noCollection SineWaves t Plant t Control t if noCollection 0 ScopeCollectSignals ScopeIndex if SampleHookFunc NULL SampleHookFunc SampleHookParam static void InstallFakeSignals int num register int i char str 132 if mum gt MAXPHASES num MAXPHASES NumberOfPhases num Install signals for debugging ScopelInstallSignal Square volts amp square float ScopeIndex singroup struct ExampleStruct calloc 1 sizeof struct ExampleStruct singroup sint 0 0 singroup sin2t 0 0 singroup sin3t 0 0 singroup cost 1 0 ScopeInstallSignal Sine volts amp singroup sint float 242 B StethoScope Demonstration B 2 Source code Example vxdemo c ScopeIndex ScopeInstallSignal Cosine volts amp singroup cost float ScopeIndex ScopelInstallSignal Sine2T volts amp singroup sin2t float ScopeIndex ScopelInstallSignal Sine3T volts amp singroup sin3t float ScopeIndex ScopeInstallSignal Pos meters amp Pos float ScopeIndex ScopeInstallSignal PosDesired meters
120. copeShowSignals ett all registered Sigrak ScopeShutdown shutsdowria scope Tndgx oues etas d pa e erbe i pb e n nba dd 207 User s Guide 7 8 ScopeTriggerSet ScopeTriggerGet 208 Wind River StethoScope for VxWorks set the triggering parameters return the current trigger parameters NAME ROUTINES A StethoScope API Reference ScopeProbe NOTE The scopeIndex parameter represents the communications channel between an instance of StethoScope API running on the target and a StethoScope GUI running on the host You can create up to 128 instances of StethoScope API on a single target machine each using a different scope index The index can range from 0 to 127 and it must be specified when you call ScopelnitServer ScopeProbe ScopeProbe real time library for StethoScope ScopeShutdown shut down a scope index ScopelnitServerEx initialize a scope index ScopelnitServer initialize a scope index ScopePrintVersion print the version number of the StethoScope target ScopeEventsCollect collect the value of a variable on the spot ScopeEventsMessage throw events with the specified message ScopeEventsMaskSet set the event verbosity mask ScopeEventsAttach attach an event buffer to a scope index ScopeEventsDetach detach an event buffer from a scope index ScopeCollectSignals collect a sample from each active signal ScopeCol
121. ctive at 20Hz No friction compensation active controller ComputedTorque PDGainsO 4 0000 1 5000 0 255 Wind River StethoScope for VxWorks User s Guide 7 8 PDGains1 1 0000 0 5000 0 who main data 1000x38 numberOfSamples 1x1 numberOfSignals 1x1 filename 1x1 runtitle 1x1 notes 2x1 buffernotes 1x1 SampleRate 1x1 SampleDivisor 1x1 DifferentTypes 8ByteDouble 1000x1 DifferentTypes AByteFloat 1000x1 DifferentTypes A4ByteLong 1000x1 DifferentTypes 4ByteULong 1000x1 DifferentTypes_4ByteInt 1000x1 DifferentTypes A4ByteUInt 1000x1 DifferentTypes 2ByteInt 1000x1 DifferentTypes 2ByteUInt 1000x1 DifferentTypes 1ByteChar 1000x1 Pointer Float 1000x1 Pointer Float 1000x1 Pointer Float 1000x1 Pointer Int 1000x1 Pointer Int 1000x1 Pointer Int 1000x1 Pointer Double 1000x1 Pointer Double 1000x1 Pointer Double 1000x1 Offset First 1000x1 Offset Second 1000x1 Pos 1000x1 PosDesired 1000x1 Vel 1000x1 Acc 1000x1 PosGain 1000x1 VelGain 1000x1 Sine 1000x1 Cosine 1000x1 Sine2T 1000x1 Square 1000x1 SinGroup sin t 00 1000x1 SinGroup sin t 01 1000x1 SinGroup sin t 02 1000x1 SinGroup sin t 03 1000x1 SinGroup sint 04 1000x1 SinGroup sin t 05 1000x1 SinGroup sint 06 1000x1 SinGroup sin t 07 1000x1 time 1x1000 256 C MATLAB and MATRIXX Examples names units t
122. d Removing On grid Measurements p 56 You can magnify a region to see details by zooming The offset and scale of the plot will be adjusted so that the zoomed region fills the Plot window Zooming in to a Desired Region 1 Press and hold the Shift key 2 Click and drag the left mouse button to select a region of the plot The on grid pop up menu includes a Previous Zoom command which can be used to return to the previous zoom Note however that using the Zoom to Fit menu command or the Ef button erases the history of all zoom actions Adding and Removing Markers A marker shows the coordinates of a point on the grid 54 3 StethoScope Features 3 6 Pop up Menus Adding a Marker Right click at the desired point in the grid area Select Add Marker from the pop up menu Press and hold Ctrl and while left clicking the mouse Deleting a Specific Marker Drag the marker off the grid area Delete All Markers and Measures Right click anywhere in the grid area then click Remove Markers from the pop up menu a Click Plot gt Delete Markers menu command Adding Annotations An annotation is text that you type in to mark a point on the grid Adding an Annotation Right click at the desired place in the grid area then click Add Annotation in the pop up menu Moving an Annotation Drag the annotation to the desired spot on the grid area Editing an Existing Annotation Right click the annotation
123. d to make sense the same variable should be collected across multiple collection points 14 8 scope ini File StethoScope maintains some global settings in the scope ini file Most of these settings are maintained by the Preferences dialog box see 3 2 12 Preferences p 36 All default preferences and settings can be restored by deleting scope ini from the same directory where you installed StethoScope Example 14 7 Sample scope ini File This section contains some global settings for scope defaults TotalBufferTime 10 SaveWndPos 0 SaveToolbarPos 0 DontAskWriteback 0 DontAskSave 0 The following sections save the default window positions for the various windows SigMan Left 1047 Right 1461 Top 546 Bot tom 938 Flags 0 ShowCmd 1 S588 55 ogWnd Left 962 Right 1518 Top 97 ottom 595 Flags 0 ShowCmd 1 HUTE E otWindow Left 110 Right 1310 Top 110 ttom 952 Flags 0 wpShowCmd 1 tU o 5485 204 14 API Introduction 14 8 scope ini File DumpWindow Left 303 Right 1503 Top 233 ottom 1094 Flags 0 ShowCmd 1 555555 ex otXYWindow Left 387 Right 1087 Top 227 ottom 927 Flags 0 ShowCmd 1 t 55858u E onitorWindow Left 263 Right 1463 Top 204 Bottom 1065 Flags 0 wpShowCmd 1 3484 The current colors The values are in BGR order Colors Color0 0x0000ff Color1 0xf 0000 Color2 0xc800c8 Color3 0xc8c800 Color4 0x00c800 Color5 0x4040a
124. dary The default is no rulers on Scale Each plotted value is scaled multiplied by the value you enter Default is 1 000000 When you have finished changing parameters click OK to save your changes and exit the dialog box Click Cancel to exit the dialog box without saving any changes you have made 102 7 The Plot Window 7 7 Pop up Menus 7 7 Pop up Menus Pop up menus that open in response to a right click in the Plot window offer options that are unique to specific signals and in some cases to where the cursor is within the window These menus are described in detail in 3 6 Pop up Menus p 52 They are accessed from different places in the Plot window including On grid anywhere in the plotting area but NOT on a trace line On trace exactly on a trace line in the plotting area Signals tab view Legend tab view 7 8 Strip Chart Feature This feature turned on or off using the Plot Strip Chart menu command or the button changes the behavior of the graph area so that it presents a continuous scrolling plot instead of repainting the plot every 10 seconds The overall appearance of the Plot window does not change in any way Any snapshots you may be displaying on the grid when you select Strip Chart become unselected snapshots do not appear on the grid while Strip Chart is selected 7 9 Displaying Events This section describes how events collected using the StethoScope API are displayed Event
125. diately without waiting on a condition If this option is chosen there is no need to fill out the other parameters for Start Condition Signal If you selected Trigger on a signal any non derived signal may be used as the trigger source This excludes deactivated signals those not being collected and displayed by StethoScope Choose a signal from the drop down list If you selected Trigger on an event type in the event ID Level Enter the signal value which should set off the trigger This is relevant only if you selected Trigger on a signal Slope Specify the slope for the trigger applies only if you selected Trigger on a signal Positive The trigger fires only if the source signal value is increasing when it crosses the trigger level Negative The trigger fires only if the source signal value is decreasing when it crosses the trigger level 68 5 Triggering 5 3 Triggering Dialog Box Any The trigger fires when the source signal value crosses the trigger level without respect to direction Delay If checked it allows you to delay the trigger firing for a specified time Start collection Specifies the time in seconds to delay trigger firing Before Start Condition If checked the delay begins immediately before the Start Condition begins to be evaluated After Start Condition If checked the delay begins immediately after the Start Condition has been met 5 3 3 Trigger Status This field displays the sta
126. dockable Each of the toolbars can be independently displayed or hidden using the View menu item Toolbars that you drag off the screen can be restored again at any time from the View menu 3 4 1 Main Toolbar The buttons on this toolbar control the various StethoScope functions This toolbar is the same in all data display windows 3 4 2 Plot Toolbar The buttons on this toolbar shown below are used to create new data display windows This toolbar is also the same in all data display windows 48 3 StethoScope Features 3 4 Toolbars Connect Save Derived Plot Plot XY Signals to Target Snapshot Triggering Preferences teas 0 ca Gd 3 6 xv foo El Load Signal XY Log Snapshot Manager Signals Window Dump Plot Monitor The following descriptions are for buttons in the Main toolbar The corresponding menu commands are in bold EE File gt Connect to Target Selects a target and connects it to your host GUI described in 3 StethoScope Features lt 1 File gt Load Snapshot Loads a previously saved snapshot file described in 11 Working with Snapshots File gt Save Snapshot Saves a snapshot to a file described in 11 Working with Snapshots ma File Signal Manager Opens the Signal Manager window described in 4 Using the Signal Manager 14 File gt Triggering a Opens the Triggering window described in 5 Triggering yy File gt XY Signals Opens the XY Signals dialog box described in 8 Th
127. dow 8 8 Pop up Menus Show as Event Select True from the drop down menu to cause samples to be marked with vertical lines instead of connecting the individual samples with lines default False Either or both of the selections made in the Event Properties section below are displayed along side the vertical marker For more information on displaying events see 8 9 Setting Preferences for a New Plot XY Window p 128 Marker Type This drop down list allows you to select a different symbol or marker to be plotted for each sample of this signal The choices are No Markers No markers are selected Square A square plots each sample Plus A plus sign plots each sample Diamond A diamond plots each sample Default No Markers Has Ruler This true false option displays a separate ruler with colored numbers matching the signal s color on the left Y axis If you have say 3 signals with rulers on there will be three separate color coded rulers on the left plot boundary default False Scale Each plotted value is scaled multiplied by the value you enter default 1 000000 8 8 Pop up Menus Pop up menus that open in response to right clicking in the Plot XY window offer options that are unique to specific signals These menus are described in detail in 3 6 Pop up Menus p 52 They are accessed from different places in the Plot XY window including On grid anywhere in the plotting a
128. drop down menu of allowable data types Select one of the types from the menu Status Messages Displays the status of your connection to the target agent When connected it displays the host name and port number of the target agent you are connected to Buttons on the right side and bottom of the dialog box initiate actions required to find and install signals and to remove existing signals The buttons are Close Window Closes the Signal Installation dialog box Install Searches for the variable expression and if found installs it to StethoScope The variable expression will be used as the signal name if the Signal Name field is left blank Remove Removes the signal matching the Signal Name field from the StethoScope GUI This can be a signal installed through the StethoScope GUI on the host or through target code Remove All Removes all signals This will remove signals installed through the StethoScope GUI and any signals installed through target code Batch Install Opens the Batch Signal Install dialog box 13 2 3 Batch Signal Installation p 183 where you can save and later install the list of signals previously installed by variable name NOTE This option can only access the names of signals installed up until you reboot your target If you must reboot without first saving the signal list the list is lost The Status Messages panel displays the results of requested actions including any error messages
129. e Plot menu command is displayed on StethoScope s toolbar For more information see 3 4 Toolbars p 48 Plot Window Toolbar Controls whether the toolbar used within a specific data display window is visible The buttons represent items from the Plot and View menus for the specified data display window For more information see 3 4 Toolbars p 48 Status Bar Controls whether the status line along the bottom of the window is visible For more information see 3 5 Status Bar p 52 Toolbar Captions Controls whether the names of the panels Signals Bar Mini Dump and Mini Monitor are displayed in the Plot window above their respective invocations Signals Bar Controls whether a Signals Bar panel appears in the window The Signals Bar includes tabs for Signals Legends and Properties Mini Dump Creates a Mini Dump Plot window within the Plot window This is simply a smaller version of the Dump Plot window It lets you see a running history of signal values This command is only available in the Plot window Mini Monitor Creates a Mini Monitor window within the window This is simply a smaller version of the Monitor window It lets you peek at and poke data on the target This command is only available in the Plot window Axis Properties Allows you to set certain parameters that affect the appearance and labelling of the X or Y axis of a Plot or Plot XY plotting area Auto Fit Causes the plotting area to be scaled dynamically and
130. e Plot XY Window Hx File Derived Signals Opens the Derived Signals dialog box described in 3 StethoScope Features E File gt Log Window Opens the Trace Log window described in 3 StethoScope Features E File gt Preferences Opens the Preferences dialog box described in 3 StethoScope Features The following buttons in the Plots toolbar appear on each data display window and they control the indicated StethoScope functions the corresponding menu command is in bold 49 Wind River StethoScope for VxWorks User s Guide 7 8 File gt Plots gt Dump Plot Creates anew Dump Plot window described in 9 The Dump Plot Window File gt Plots gt Plot Creates a new Plot window described in 7 The Plot Window File gt Plots gt Monitor Creates a new Monitor window described in 10 The Monitor Window File gt Plots gt Plot XY Creates a new Plot XY window described in 8 The Plot XY Window 3 4 3 Plot Window Toolbar The buttons on this toolbar shown below vary depending on which of the data display windows you currently have on screen In general these buttons are used to change something in the current data display window whereas the buttons on the Plots Toolbar are used to create new windows Strip Signals Mini Zoom Goto Live Chart Bar Monitor to Fit Data Bs IS EE Lt EE Al gt gt EH Take Mini Axis Autofit Always Snapshot Dump Properties on Top This section briefly describ
131. e displayed Of course you may not want to reduce resolution if your data can contain glitches or high frequency phenomena default 1 Display Accuracy digits Controls the accuracy of the grid line markers Set this property to the number of places to the right of the decimal point to use in the grid markers Enter a value between 0 for whole numbers and 6 default 4 Minimum Grid Line Spacing Specifies the minimum distance in pixels allowed between the grid lines Increasing this number decreases the number of grid lines decreasing this number increases the number of grid lines Enter a value between 5 and 500 default 0 25 Maximum Snap Distance Controls how far away in pixels you can start a measure and still have it snap to the plot line Measures are described in Taking and Removing On grid Measurements p 56 Snap Measure to Signals Check box controls whether or not measures are snapped to the signal lines on the grid Measures are described in Taking and Removing On grid Measurements p 56 Enable Warnings Controls whether or not warning messages are sent to the Console window Take Snapshot Unlike all other preferences which only impact data display windows you may create later these preferences take effect immediately See 11 Working with Snapshots for more information on snapshots Select currently selected signals If selected the same signals currently selected in the live buffer will also be
132. e following 1 Initialize the server 14 3 Initializing the Server p 190 2 Set the sample rate 14 5 Sampling Signals p 197 3 Register and activate install the variables to monitor signals 14 4 Registering and Activating Signals p 191 4 Sample the data 14 5 Sampling Signals p 197 5 Shut down the server when done 14 3 Initializing the Server Initializing the target server requires only a single call ScopeInitServer You will need to specify the scope index number and buffer sizes For more details see A StethoScope API Reference 14 3 1 Scope Index The scope index represents the communications channel between an instance of StethoScope API running on the target and a StethoScope GUI running on the host 190 14 API Introduction 14 4 Registering and Activating Signals You can create up to 128 instances of StethoScope API on a single target machine each using a different scope index The index can range from 0 to 127 and it must be specified when you call ScopelInitServer 14 3 2 Target Buffers StethoScope API allocates three buffers on the target for each scope index Sample buffer Stores the data samples for the active signals Data samples for all data types other than double are saved as 4 byte values Data samples for doubles are saved as 8 byte values Signal buffer Stores the information that describes each registered signal such as name units and data type The memor
133. e the following L No signal in this branch is selected or if a signal this signal is not selected E All signals in this branch are selected or if a signal this signal is selected E Ata branch node some but not all signals in this branch are selected Selecting the check box at a directory node in a signals tree selects everything underneath it Similarly clearing deselecting a directory check box clears everything underneath it Click on a signal or branch check box to toggle its selection click an unselected signal to select it click it again to deselect it Right clicking a target in a signals tree displays a pop up menu with the following commands Install Signal Opens the Signal Installation dialog box from which you can install a signal on your target see 4 4 Signal Installation p 64 Disconnect Disconnects the StethoScope GUI from the selected live target see 4 5 Disconnecting from the Target p 64 The best way to become familiar with the signals tree is to experiment while running the demo program You will quickly see how easy it is to make signals active in the Signal Manager window and to select or clear signals in the data display windows 63 Wind River StethoScope for VxWorks User s Guide 7 8 NOTE If you see an empty Signals Tree either you are not running an application instrumented with the StethoScope API on the target your target program did not install any signals o
134. ed Signals 6 3 Mathematical Operations Derived Signal Wizard Derived Signal Wizard is now ready to create the signal my signal 4 byte integer T Eum 9 Click Finish to create the derived signal or click Back to make any desired changes You can also click Cancel to exit without saving the new signal When you click Finish you will arrive back at the Derived Signals dialog box which will display the newly created Derived Signal in its list Click Apply to save your new signal if you want the dialog box to remain open to create more Derived Signals or Click OK to save the new signal and exit the dialog box Or you can click Cancel to close the dialog box without saving the newly created Derived Signal To modify a derived signal you can click the Edit button and change it by hand however it is recommended that you delete the existing signal and re enter your changed values To delete a derived signal select the signal from the list in the Derived Signals dialog box then click Delete or use the Delete key When computing derived signal values StethoScope truncates any infinite values to a value of 10 000 000 0 This prevents numeric problems with recursively defined signals 6 3 Mathematical Operations The mathematical operations you can use in derived signals are shown in Table 6 1 81 Table 6 1 Wind River StethoScope for VxWorks User s Guide 7 8 Derived Signal Operations
135. ed StethoScope under Workbench you can simultaneously and automatically load and start StethoScope from the Workbench IDE window by clicking either the StethoScope or the Demo button The StethoScope installation places both buttons on the Workbench IDE toolbar as shown circled below To launch StethoScope from the Workbench IDE window and connect to your target server 1 Click the p button to launch StethoScope The StethoScope Setup Options dialog box opens 1 IfStethoScope is already running and you do not want to restart it but only load libraries deselect Start StethoScope GUI on the host button Wind River StethoScope for VxWorks User s Guide 7 8 2 Choose Spawn Sampler Task to perform asynchronous signal sampling or Load Libraries Only to only load the target libraries 3 Enter a value from 0 to 127 for the Scope Index and optionally enter an IP address for the target 4 Checkthe Use WTX not TCP IP check box if you want to set up a WTX connection only NOTE TCP IP communication will only work if you use ScopeAPI in an RTP 5 Ifyou selected Load Libraries Only make any desired modifications to the default sampling parameters For a detailed description of the remaining parameter settings see Loading and Starting Automatically p 165 6 Click OK to execute the selected activity The StethoScope button on the Workbench IDE toolbar automatically connects to the currently selected target tgtsvrHost in
136. ed content to the clipboard and deselects the selected data This command is only available in the Plot window Paste Copy the contents of the clipboard to the window you are in at the insertion point This command is only available in the Plot window Select All Selects and highlights the entire plotted area up to the instant you selected the option enabling you to copy it to the clipboard This command is only available in the Plot window 3 3 2 View Menu The View menu shown below contains commands that affect what is presented in the current window such as toolbars captions and so forth Toolbars mentioned here are dockable so you can move and resize them They are described in detail in 3 4 Toolbars p 48 45 Wind River StethoScope for VxWorks User s Guide 7 8 File Plot View Window Help v Main Toolbar v Plots Toolbar v Plot Window Toolbar v Status Bar v Toolbar Captions HX Signals Bar E Mini Dump EE Mini Monitor L3 Axis Properties A Auto Fit T zoom to Fit bb Goto Live Data The View menu commands are Main Toolbar Controls whether the toolbar representing a selection of items from the File menu is displayed on StethoScope s toolbar For more information see 3 4 Toolbars p 48 Plots Toolbar Controls whether the toolbar representing a selection of items from the File gt Plot menu command is displayed on StethoScope s toolbar For more information see 3 4 T
137. ed during ScopeCollectSignals calls ScopeRemoveSignal Deactivates and unregisters the signal removing it from the Signal Manager of the StethoScope GUI ScopeRemoveMultipleSignals Deactivates and unregisters the signals that match the specified pattern removing them from the Signal Manager of the StethoScope GUI 196 14 API Introduction 14 5 Sampling Signals 14 4 7 Online Documentation Consult the reference pages in 14 API Introduction for signal installation and removal functions ScopeRegisterSignal ScopeRegisterSignalWithOffset ScopelnstallSignal ScopelnstallSignalWithOffset ScopeActivateSignal ScopeActivateMultipleSignals ScopeDeactivateSignal ScopeDeactivateMultipleSignals ScopeRemoveSignal ScopeRemoveMultipleSignals ScopeRegisterArray ScopelnstallArray ScopeShowSignals ScopeShowActiveSignals 14 5 Sampling Signals Signals are sampled by calls to the function ScopeCollectSignals One sample of each installed variable is taken each time ScopeCollectSignals is called Your application can call ScopeCollectSignals asynchronously or synchronously with the generation of data 14 5 1 Asynchronous Sampling Asynchronous sampling simply takes a snapshot of the variable values at regular intervals during your program s execution The intervals are not coordinated with your application s execution Because the s
138. ematical operations you can use in derived signals 6 4 Troubleshooting Derived Signals p 83 helps you to troubleshoot derived signals 6 2 Creating Derived Signals You must create a derived signal using the Derived Signals dialog box before you can select a derived signal in any of StethoScope s available plot windows To create a derived signal first open the Derived Signals dialog box shown below with the File gt Derived Signals menu command ot the f button Derived Signals x Name Target Cancel Apply Delete d In the Derived Signals dialog box 1 Click the Create button in the Derived Signals dialog box The first in a series of Derived Signal Wizard dialog boxes shown below should open 78 6 Derived Signals 6 2 Creating Derived Signals x Welcome to the Derived Signal Wizard Choose a name and a type for the derived signal and choose which target to attach it to Name my signal Type 4 byte integer bl Target 10 30 68 144 0 Live 7 lt Back Cancel 2 Enter the new signal s name in the Name text box Make sure the name is unique 3 Usethe Type drop down menu to select a type for the derived signal such as a 4 byte integer char and so forth 4 Usethe Target drop down menu to select one of your connected targets 5 Click Next to open the next Derived Signal Wizard dialog box shown below Derived Signal Wizard E Derived Signal
139. er on the Y axis In visual comparisons it is very similar to the Plot window the main difference being that only XY signal pairs show up in the Signals Tree If you open a Plot XY window and nothing appears in the Signals Tree it is because you have not yet created any XY signal pairs Signal pairs must first be 31 Wind River StethoScope for VxWorks User s Guide 7 8 created from separate signals before they appear in the Dump Plot window s Signals Tree You do this in the XYSignals dialog box opened with the File XYSignals menu command or the xy button More information on the Plot XY window and on the process for creating XY signal pairs for display can be found in 8 The Plot XY Window 3 2 7 Signal Manager The Signal Manager window shown below and opened with the File Signal Manager command or the 83 button allows you to control which signals are collected from each target Only these active signals can be monitored in any of the four types of data display windows The Signal Manager presents a tree like view of each target StethoScope Signal Manager J E ol x File View Signal Installation Window Help 30 68 144 0 erentTypes 8ByteDouble 4ByteFloat 4ByteInt 4ByteLlInt 2ByteInt 2ByteUInt 1ByteChar B Offset First Second B Pointer Float FloatPtr FloatPtrPtr Sine Cosine Sine2T Pos PosDesired Vel Acc PosGain VelGain SinGroup Id sinft 0 0 ESHSHSIESTISTEST ISI KI
140. erarchal steps that must be executed to create installed signals is as follows 1 Register a Signal Initially you must let StethoScope know a signal exists by registering it using the API call ScopeRegisterSignal StethoScope cannot collect data from this signal until you Activate it Registered signals appear in 177 Wind River StethoScope for VxWorks User s Guide 7 8 the Signal Manager window in the GUI where they can be selected for activation 2 Activate the signal This is done to a registered signal that has been set up on the host by the Signal Manager see 3 2 7 Signal Manager p 32 using the API call ScopeActivateSignal Active signals then appear in the Signals Bar of each data display window see 2 6 5 Signals Bar p 15 Once activated the signal is considered to be Installed and is automatically collected from the target but is not yet displayed in the host GUI until Selected in one or more of the four data display windows Plot Plot XY Dump Plot and Monitor 3 Install the signal optional This is an operation that registers and activates in a single step using the StethoScope API shortcut ScopelInstallSignal see 14 4 1 Installing Signals p 192 A signal installed in this manner is also seen by the StethoScope GUI 4 Selected signals Installed signals are not displayed automatically in the GUI You must use the GUI to select the installed signals you want to display in the data display wi
141. es each toolbar button The equivalent menu commands are shown in bold For more details on these commands refer to 3 2 File Menu p 26 Different buttons are available in the Plot window toolbar depending on the type of data display window The following list shows all possible buttons for this toolbar the corresponding menu command is in bold Note that on each particular data display window type for example Plot Plot XY Dump Plot and Monitor only the relevant buttons appear from this group 2 View gt Show Snapshots Controls what is displayed in the Signals Tree When selected only snapshots appear in the Dump Plot window s Signals Tree When unselected only the 50 3 StethoScope Features 3 4 Toolbars live data buffer appears This button and command is only available in the Dump Plot window Plot gt Strip Chart Changes the display so that it presents a continuous scrolling plot instead of repainting the plot every 10 seconds This button and command is only available in the Plot window Plot gt Take Snapshot Saves a copy of all the active signals You can display the snapshot in the Plot and Plot XY windows along with real time data VieW gt Signals Bar Creates a Signals Bar panel in the window s View Mini Dump Creates a Mini Dump Plot window within the window This is simply a smaller version of the Dump Plot window It is created as a panel in the Plot window but you can dock it elsewhere
142. et program can be displayed in the StethoScope GUI only if it has been installed meaning that it has been registered and activated either before or during the StethoScope session The Signal Manager utility available from the StethoScope GUI directly will do this for you This chapter gives you the information you need to get all the variables you need to look at installed and displayed in the various StethoScope windows 61 Wind River StethoScope for VxWorks User s Guide 7 8 4 2 The Signal Manager Window The Signal Manager window shown in the figure below is opened from the File gt Signal Manager menu command or the 4 button or by right clicking on a target in the Signals Tree and selecting Signal Install in the pop up menu It allows you to control which signals are collected from each target Only these signals when installed can be monitored in any of the four types of data display windows ziBjxj Right click on File View Signal Installation Window Help a target to gt display pop u angaa play pop up menu E Live E v 10 30 68 144 n B Different Install Signal 8Byte Disconnect 4ByteFloat 4ByteInt 4ByteUInt 2ByteInt 2ByteUInt 1ByteChar A Offset First Second EB Pointer ra LE KIKI 4 3 Working With Signal Trees Installed signals are presented in a tree like structure in the Signal Manager window and in the Signals Bar panel of the data display windows Use the si
143. ete a section you must click the button at the end of the section to go to the next section This allow the system to keep track of the steps performed Some section may contain sub items that can be checked individually once you complete that particular task e E Create a target connection For this tutorial you need to have a VxWorks simulator running and a target server connected to it desired setup parameters for starting the StethoScope GUI River Workbench 2 3 NEN peTools Cheat Sheet P quick tutorial that will describe all order to run the StethoScope livided in sections Once you ou must click the button at the go to the next section This ack of the steps performed pntain sub items that can be pnce you complete that particular simulator running and a target server connected to it The parameters have the following meanings Scope index Use this field to specify the communication channel to use between the target and the StethoScope GUI Up to 128 different instances may be started on a target There are 128 valid index numbers available in the range from 0 to 127 20 as shown in the e menu to open the 2 Getting Started 2 7 Running the Demonstration Program Target server The name of server that manages your target Connection type Select the Workbench WTX protocol for getting data from the target Verbosity Controls the number and type of messages printed to the standard output
144. f grid lines decreasing this number increases the number of grid lines Enter a value between 5 and 500 default 100 Minimum Snap Distance Specifies the minimum distance in pixels from a grid line that will cause a plot point to be snapped to the grid line default 20 Take Snapshot Unlike all other preferences which only impact data display windows you may create later these preferences take effect immediately See 11 Working with Snapshots for more information on snapshots The following options can be set by setting their checkboxes Select currently selected signals If selected the same signals currently selected in the live buffer will also be selected in the snapshot Use same colors If selected the same colors will be assigned to the signals in the snapshot If you want the snapshot to use different colors for each signal than are used for live data clear this check box 129 Wind River StethoScope for VxWorks User s Guide 7 8 Unselect live signals If selected the live signals will become unselected when the snapshot is taken 130 The Dump Plot Window 9 1 Introduction 131 9 2 Dump Plot Window Tour 132 9 3 Menu Bar 133 9 4 Toolbars 135 9 5 Signals Bar 136 9 6 Setting Preferences for a New Dump Plot Window 138 9 1 Introduction The Dump Plot window displays real time data numerically in a tabular format Like the Plot window a Dump Plot window can display both live and snapshot data
145. ffer to that index ScopeHandle ScopeEventsAttach eventBufSize ScopeIndex if ScopeHandle 0 printf ScopeEventsAttach failed exiting n return H else Scopelndex scopeIndex ScopeNoServer 1 j Scopelndex scopeIndex InstallFakeSignals 8 tid taskSpawn ScopeDemo 100 VX_FP_TASK VX_STDIO 0x4000 int ScopeDemoSampler samplingRate useAuxClock noCollection 0 0 0 0 0 0 0 H void ScopeDemoShutdown void if tid 0 ScopeDemoShutdownRequest 1 B 2 2 Makefile for vxdemo c Use this makefile as a template for compiling your code or the vxdemo c program instrumented with ScopeProbe API FEE HE HEH HE HE HE HE a HE HE HE HE HE HE FE HE a HH HE HE HH FE HE HE FE HE HE FE HE HE Ha HH a Ha HH HE FE FHE HE HE HE HE FE HE HE a HEH E REB E E StethoScope demostration makefile This makefile is provided as an example only It compiles the VxWorks version 6 0 objects using the ccpentium gnu cross compiler for solaris2 Users will of course have to modify this for their installations We recommend you copy the current demo source directory before compiling For instance mkdir mydir Cp r src scopedemo mydir src cd mydir src make 246 B StethoScope Demonstration B 2 Source code Example vxdemo c The makefile will create a mydir lib directory to hold your objects HE HE HH HE HE HE HE HE HE HE HH HE HE FE HE HH HE HH FE Ha HE HE FE HE HH a HH a
146. fsets and pointers This allows you to collect data from member variables of structures that themselves are pointers See Calculating Offsets p 194 for an example Calculating Offsets When calling ScopeRegisterSignalWithOffset or ScopelInstallSignalWithOffset you can use the offsetof macro to calculate automatically the offset of a member variable The following is an example on how to use offsetof 194 14 API Introduction 14 4 Registering and Activating Signals Example 14 3 offsetof use typedef struct ArmData_s float PosX float PosY unsigned char Type double Vel Just to demonstrate pointers and offsets ArmData t int main ArmData_t LeftArmData ArmData t calloc 1 sizeof ArmData_t LeftArmData gt Vel double calloc 1 sizeof double Notice that you can pass just the address of LeftArmData not the individual fields Notice that we are using hierarchical names for the signals This will be discussed below The type float refers to the type of LeftArmData PosX ScopeRegisterSignalWithOffset LeftArm PosX meters amp LeftArmData float offsetof ArmData t PosX 0 ScopeRegisterSignalWithOffset LeftArm PosY meters amp LeftArmData float offsetof ArmData t PosY 0 ScopeRegisterSignalWithOffset LeftArm Type none amp LeftArmData uchar offsetof ArmData t Type 0 The type double refers
147. g the View menu item The Monitor window s toolbar shown in the figure below is a subset of the one shown in 3 4 3 Plot Window Toolbar p 50 where the icons are described in detail Take Always Snapshot on Top Signals Pause Bar 145 Wind River StethoScope for VxWorks User s Guide 7 8 10 5 Signals Bar The Signals Bar shown in the figure below is a sub window in the StethoScope GUI that allows you to view and configure information that affects what signals appear in the data display table If a Signals Bar panel is not displayed you can open one using the View Signals Bar menu command 4 The Signals Bar offers the following tab views Signals Properties 10 5 1 Signals Tab View The Signals Tree in the Signals tab view shown in the figure below displays all the signals available to be plotted They are shown in an expandable tree structure containing signals that have been installed by the Signal Manager see 4 Using the Signal Manager Signals in the table are color coded to the signals selected in the Signals Tree Signals Bar E Signals Tree E I Live MF 10 30 68 144 0 amp D1 Differentrypes m D14 offset D14 Pointer Sine Cosine Sine2T Pos PosDesired Vel Acc PosGain VelGain Q9 SinGroup Lim 2 E Signals rro OBO The Signals Tree is displayed by default when you open a Monitor window but it may be re displayed at any time by clicking the Signals tab
148. g StethoScope API This method requires you to instrument your target source code with appropriate calls to routines from the StethoScope API library The process and the routines it uses to install and activate signals are described in detail in 14 API Introduction 13 5 Code Instrumentation Alternative You may want to take advantage of automatic signal installation but not always want to instrument your target code with the StethoScope API library Or perhaps you may not have the source code available for instrumentation In such cases there is an executable file process sampler you can run on your target that is itself fully instrumented with the StethoScope API see A StethoScope API Reference This file can be found in the directory where you unpacked the target side components Start it as you would any other standalone application Connecting to your target will find this instrumented program and you can then use it to automatically install all the signals in your own target code 13 6 Process Notes The following sections serve to clarify and elaborate on the concepts used in the process of StethoScope signal installation 185 Wind River StethoScope for VxWorks User s Guide 7 8 13 6 1 Variable Expressions vs Signal Names It is important to understand the distinction between variable expressions and signal names Variable Expression Is the name of a variable that exists in your code and appears in your pr
149. gger on a signal Positive The trigger stops data collection only when the source signal value is increasing when it crosses the trigger level Negative The trigger stops data collection only when the source signal value is decreasing when it crosses the trigger level Any The trigger stops when the source signal value crosses the trigger level without respect to direction Options Optional actions to take after the trigger is stopped 5 3 5 Options Optional actions to take after the trigger is stopped Take Snapshot Ifthis box is checked a snapshot is taken of the signal and events that were collected between the start and stop conditions Re arm Trigger If this option is chosen the trigger is automatically rearmed after the Stop Condition is met This is useful in cases where you might want to observe an occurrence that happens over and over again Choosing the Take 70 5 3 6 Buttons 5 Triggering 5 4 Setting a trigger Snapshot option along with this option can help you monitor occurrences during an unattended overnight run The following buttons cause the trigger with its options set to take the indicated actions Hide Dialog The trigger will only be active while the dialog box is open If you want to cancel the action of the trigger click this button Reset Dialog Resets all options to their default values Arm Trigger Causes the calls to ScopeCollectSignals from that point on to respond to the co
150. ggering Introduction 65 Configuring a Trigger 66 Triggering Dialog Box 66 Setting a trigger 71 Understanding and Preventing Overflows 73 Notes and Hints 74 5 1 Introduction As described earlier see 3 2 8 Triggering p 33 the StethoScope API module on the target is responsible for handling periodically collected data or samples and sporadically collected data or events The Triggering facility in StethoScope provides control over when and how often these samples are collected 65 Wind River StethoScope for VxWorks User s Guide 7 8 5 2 Configuring a Trigger The StethoScope triggering facility supports a single trigger at any given time Triggering is disabled when the Triggering dialog box is not open or the dialog box is open but the trigger has not yet been armed or has been disabled In this state calls to ScopeCollectSignals result in data being collected normally When the Triggering dialog box has been opened and the trigger is armed with valid start and stop conditions all calls to ScopeCollectSignals from that point on return without collecting any data In this armed state that is the trigger is valid but has not yet fired sampled signals will not be plotted in any of the GUI windows although event data will continue to be plotted as before Collection and plotting of samples begins when the Start Condition is met that is when the trigger fires Data continues to be plotted on the GUI
151. ggers Triggering from the File menu 5 Triggering 2 Getting Started 2 7 Running the Demonstration Program There are additional features you can try You will observe that the signals produced are simple sine waves and in addition the demo program also produces a simple simulation of a controls system You can install additional signals automatically from the VxWorks command shell WindSh or target shell You can use the following procedure to watch your own signals Automatic Signal Management from the VxWorks Shell A simple command to load a signal is ScopeInstallSignal The calling syntax is ScopeInstallSignal char name the string to be displayed by StethoScope char units the units of the signal void ptrToVar a pointer to your variable void char type the type e g float int int index The scope index defaults to 0 As an example the demo program contains a static variable declared as float Kp 10 To install this signal from the VxWorks shell type at the shell gt ScopeInstallsignal Kp n a amp Kp float 6 More sophisticated installations of variables referenced by pointers offsets etc also can be done easily Some other fun things to play with from the VxWorks shell when running the demo are ScopeRemoveMultipleSignals sin 6 Kp float 100 0 Executing the first command should remove all signals that start with sin Look
152. gnal values back out to the target Opens a Writeback column in the table if checked default unchecked 11 Working with Snapshots 11 1 Introduction 151 11 2 Taking Snapshots 152 11 3 Saving Snapshots 153 11 4 Loading Snapshots 157 11 5 Exporting Snapshot Data to MATLAB and MATRIXX 158 11 6 Deleting Snapshots 161 11 1 Introduction A snapshot saves the data for all active signals for all connected targets You can display snapshots in the Plot and Plot XY windows along with live data and other snapshots This makes it easy to compare test runs You can save snapshots in four different formats for use in other applications You can take snapshots save snapshots to disk and load snapshots from disk 151 Wind River StethoScope for VxWorks User s Guide 7 8 11 2 Taking Snapshots There are multiple ways to take a snapshot Use the Take Snapshot button on the toolbar Use the Plot gt Take Snapshot menu command Use the File gt Save Snapshot menu command with Snapshot type set to Live and the Write field set to Immediately in the middle of this cycle Use the Triggering dialog box to configure and arm a trigger and set automatic Snapshot 11 2 1 What Happens When You Take a Snapshot When you connect to a target StethoScope collects all the active signals and stores them in a buffer known as the Live buffer A snapshot creates a copy of that live buffer And just as the Live buffer includes all ac
153. gnals tree in the Signal Manager window to choose which signals are active collected from the target In the data display windows Plot Plot XY Dump Plot and Monitor you use the Signals Tree in the Signals Bar to select the signals to display in the window s graph or table To activate a signal so that it is collected from the target simply click a signal entry in the Signal Manager s Signals Tree A check mark appears in the check box to show that it is active To stop collecting a signal click it again to clear the check mark 62 4 Using the Signal Manager 4 3 Working With Signal Trees Signals must be installed before they appear in the Signals tree You can install signals using the Signal Installation dialog box see 4 4 Signal Installation p 64 Signals Trees in other windows are identical except that they only show active signals Behavior characteristics of the Signals tree are Signals may be organized hierarchically when they are installed A directory entry indicated by a Hor node icon contains sub entries that are either signals or other directories A directory entry always begins a new branch on the signals tree You can expand or collapse these branches by clicking the or icon respectively Each entry signal or directory has a check box A directory s check box indicates what is selected underneath it A signal s check box indicates whether or not that signal is selected Check boxes indicat
154. gure below shows an overview of StethoScope s run time architecture for VxWorks Host Workstation Wind River StethoScope for VxWorks User s Guide 7 8 a Real Time VxWorks Target StethoScope GUI D a Scope Index TCP IP Interface EN O pec Buffers ATLIB MATRIXx WTX Interface 1000 0100 0010 0001 e 08 M P CNN 1 4 1 Host 1 4 2 Target User Program Cx A StethoScope consists of two distinct modules A multi window graphical user interface GUI that runs on the host PC or workstation providing dynamic views of your run time data A real time data collection module named ProbeDaemon that is loaded onto the target processor with your application code ProbeDaemon collects and buffers time histories of variables in your program before sending them to the host for display The target processor could be running a real time operating system such as VxWorks or user operating system such as Windows or Solaris It can run on the same processor as the one running the StethoScope GUI or a remote processor with a network connection On the host the StethoScope GUI allows you to view the data interactively as it is received You can save the data on disk for later off line analysis Data can also be exported in a variety of formats 1 Introduction 1 5 Reader s Guide The applic
155. he following ways Automatically by variable name Batch install all signals previously installed automatically see 13 2 3 Batch Signal Installation p 183 Manually by address Remove existing signals The various text entry fields and buttons in the Signal Installation dialog box are described below The Signal Info panel for automatically installing a signal by variable name contains the following text entry fields and controls used in finding and installing a variable Variable Expression Specifies a variable name or variable expression that can be used to locate a variable on the target and install it subsequently Some examples include array 3 arm pos and body gt vel Variable expression is not required to remove signals Signal Units Optional Specifies the units of the signal to be installed 180 13 Signal Installation 13 2 Automatic Signal Installation Signal Name Specifies the name of the signal to be installed or removed It does not have to match the Variable Expression entry Signal Name is optional for signal installation but it is required to remove a signal or a group of signals During signal installation if a signal is of a class struct union type the top level directory entry in hierarchical signal names see 13 6 2 Hierarchical Signal Names p 187 corresponds to the Signal Name field if specified or Variable Expression field if the Signal Name field is blank During signal removal a
156. he required header files into the ScopeTools installation tree You do not need to link the ScopeProbe libraries directly to your application Instead the ScopeProbe libraries are loaded automatically when you click StethoScope P3 on the Workbench IDE The folder WIND SCOPETOOLS arget srcNscopedemo contains the source code for the demo program vxdemo c that you can start from Workbench where WIND SCOPETOOLS is the directory where you installed the ScopeTools The directory also contains a makefile that you can use to compile the code We suggest you use this makefile as a template for compiling your code instrumented with ScopeProbe API NOTE See B StethoScope Demonstration for instructions on how to build vxdemo c 164 12 Using a VxWorks Target 12 2 VxWorks Targets 12 2 2 Automatic Loading and Running The installation of ScopeTools for Workbench also installs a P3 button for StethoScope The StethoScope button appears in the Workbench IDE toolbar 4 Application Development Wind River Workbench File Edit Navigate Search Project Run ScopeTools Target Window Help Iri m ATS A H O Q Seses j T Project Navigator X Symbol Browser a ie amp sees e Clicking the StethoScope button opens the Setup Options dialog box that lets you specify initialization parameters for ScopeProbe on the target and StethoScope on the host After setting any desired parameters and clicking OK in this dialog box the following actions
157. hen it is restored that is they have not been activated or installed via ScopeInstallSignal then they will not be displayed in the window However the window will display them as soon as they become available 3 2 5 Save Config There are several variables you can modify to customize the appearance and behavior of your StethoScope GUI Whenever you exit StethoScope the current settings of these configuration variables are saved in a default configuration file which is then reloaded the next time you start StethoScope You may find a relatively constant set of configuration parameters that meet your needs and automatic saving and reloading is satisfactory In some cases however you may find yourself changing the StethoScope GUI s configuration substantially for different projects or environments In these cases 28 3 StethoScope Features 3 2 File Menu you can save the current configuration parameters to a file which can then be reloaded when you work on that project To save current configuration parameters at any time 1 Select the File gt Save Config menu command to open the Save Config dialog shown in the figure below A x Save in scopetools 5 4 ef My Documents et My Computer LO TET File name X Save Places Save as type Scope Config Files ssc z Cancel Items to Save M Active Signals xY Signals Trigger Settings Derived Signals Plot 1 2 Nav
158. his window can be configured using the Signal Properties dialog box shown in the figure below Signal Properties x General Signal Name Sine Sine2T Signal Type Sampled Signal Cancel Data Type multisig E Display Color B QO00ff Zero Level Hold False Show As Bits False Show as Event False Marker Type No Markers Has Ruler False Scale 1 000000 Event Display Name Display Time Stamp Display This dialog box can be opened from either of two places Right click a signal in the Signals tab view see 8 6 Signals Bar p 118 123 Wind River StethoScope for VxWorks User s Guide 7 8 Right click a signal trace in the data display area In the pop up menu that opens select Signal Properties The Signal Properties dialog box opens with the following parameters General Signal Name and Type These first two lines are the signal s name as shown in the signals tree and its type Data Type This is the C data type of this signal program variable See Table 14 1 for a list of allowable types Display Color Clicking on the current value opens a small color palette below with a basic color selection from which to choose If you would like a color that is noton this color palette you can click Other to open the Colors dialog box where you can select a new color from the larger selection in the Standard tab view or you can
159. hoScope for VxWorks User s Guide 7 8 84 The Plot Window 7 1 Introduction 85 7 2 Plot Window Tour 86 7 3 Menu Bar 87 7 4 Toolbar 91 7 5 Signals Bar 92 7 6 Signal Properties Dialog Box 98 7 7 Pop up Menus 103 7 8 Strip Chart Feature 103 7 9 Displaying Events 103 7 10 Setting Preferences for a New Plot Window 106 7 1 Introduction The Plot window graphically displays real time signals plotted over time Each signal appears on the plot grid in a different color with a legend showing each signal s color The figure below depicts Wind River StethoScope s Plot window 85 Wind River StethoScope for VxWorks User s Guide 7 8 connected to the StethoScope demo You can have multiple Plot windows open at the same time and each with different data Before using a Plot window it may help to understand how and when data is collected from the target please refer to 5 6 Notes and Hints p 74 7 2 Plot Window Tour A Plot window an example of which is shown below opens when you first start StethoScope To open additional Plot windows use the File Plots menu command or the button Plot Toolbar Markers and annotations are available Button from the On grid pop up menu right click anywhere in the plot area Select the signals you want to plot Eis StethoScope Plot 1 Bi xl using the Signals
160. iables such as global variables Any variable in allocated memory that is created using malloc Automatic stack variables only if ScopeCollectSignals is called only within the scope of the variable Signal Installation The following code registers and activates signals for scope index of 0 include scope scope h static float PosX static float PosY static unsigned char Type void initScope void ScopeRegisterSignal PosX meters amp PosX loat 0 ScopeRegisterSignal PosY meters amp PosY float 0 ScopeRegisterSignal Type meters amp Type uchar 0 ScopeActivateSignal PosX 0 ScopeActivateSignal PosY 0 ScopeActivateSignal Type 0 H 14 4 2 Hierarchical Naming of Signals StethoScope supports hierarchical naming of signals just like a file browser You can register signals using a name that delimits each level with such as Robot LeftArm PosX The Signal Manager and Signal Selection lists within the StethoScope GUI represent each level as a folder In order to make it easier to manage a large number of signals you can expand collapse and activate entire directories 14 4 3 Pointers to Signals You can register signals by pointers to variables For these signals ScopeCollectSignals de references the pointers at the time of collection You can register a pointer to a signal by specifying a pointer type when calling 193 Wind
161. ide 7 8 plot is saved in encapsulated PostScript format The figure produced by this example appears in the manual as dynamicPayload notes Notes This is a slew with the uncontrolled dynamic payload Both force sensor filters active at 20Hz No friction compensation active controller ComputedTorque PDGainsO 4 0000 1 5000 0 PDGains1 1 0000 0 5000 0 gt gt who Your variables are DesForceX ForceYUnfiltered DesForceY PDGainsO DesiredAccX PDGains1 DesiredAccY PosX DesiredPosX PosY DesiredPosY RawForceProbeX DesiredVelX RawForceProbeY DesiredVelY SampleDivisor ElbowPos SampleRate ElbowTorque ShoulderPos ElbowVel ShoulderTorque FILE EXISTS ShoulderVel ForceX TERM ForceXUnfiltered Velx ForceY VelY varplot Plot which signal end ForceX Plot which signal end ForceY Plot which signal end end plotnames 252 ans controller data filename names notes numberOfSamples numberOfSignals runtitle time timestamp units C MATLAB and MATRIXX Examples C 3 MATRIXX Example ForceX ForceY meta gt gt gpp metatmp deps fSaveMatlabFigure ps C 3 MATRIX Example Example C 2 This section shows a MATRIX script file varplot ms that plots signals It also shows a sample MATRIX session that loads a script file saved by StethoScope then uses the varplot script to produce a PostScript file Varplot ms File Name varplot ms variable plot program for scoped
162. ies diga crea fea Resolution secs 1 Cancel i Loewe IV Snap measures to signals T Allow Wilteback To modify these preferences use the Preferences dialog box opened with the File gt Preferences menu command or the button then click Plot in the left panel to display and set the following parameters Default Plot Properties X Offset Controls the unit value for the left most coordinate on X axis of the plot When first started it is 0 This value will change automatically if you use the Zoom to Fit command X Range Controls the width of the plot grid in units For example when first started X Range defaults to 20 and the plot displays the X axis from 0 to 20 Y Offset Controls the unit value for the top coordinate on the plot When first started it is 1 5 and you will see that the Y value of 1 5 is the top value This value will change automatically if you use the Zoom to Fit command Y Range Controls the height of the plot grid in units For example when first started Y Range defaults to 3 and the plot displays the Y axis from 1 5 to 1 5 107 Wind River StethoScope for VxWorks User s Guide 7 8 Resolution samples Permits plotting of only a subset of the collected data points This is useful for increasing rendering speed A divisor value of n causes only every nth point to be plotted Thus if 1000 points are being collected and the Resolution is 5 then 200 points will b
163. igate to the pathname where you want to store the file to be saved The default directory is the same directory where you installed StethoScope Select or enter a filename in the Filename field of the dialog box 4 The check boxes at the bottom of the Save Configuration window allow you to save selected portions of the state of the current StethoScope session Select from the Items to save in the configuration file by checking the corresponding check boxes for the items Active Signals Saves the list of currently activated signals On reload if any of the signals in this list have not been registered they will appear grayed out in the Signal Manager window See 4 Using the Signal Manager for details on the Signal Manager and 14 4 Registering and Activating Signals p 191 for registering signals 29 3 2 6 Plots Wind River StethoScope for VxWorks User s Guide 7 8 XY Signals Saves the list of currently defined XY Signals The XY Signals may not appear immediately on reload if any of the component signals are not yet active They will appear when all their components become available Trigger Settings Saves all the triggering and sampling parameters Derived Signals Saves the list of currently defined derived signals The derived signals may not appear immediately on reload if any of the component signals are not yet active They will appear when all their components become available Plot n Plot XY n Monitor n Dump n S
164. ignals 1 i tate te reetttt bains nk ne ipod aeu Ra REL docs gnus Mathematical Opera ons iousiesivencibpe Ee H A FEREUF S PEOHN NUR OR PARU mines Troubleshooting Derived Signals Rib pubem bap TOMO sine or o EPI pd p bs PME Plor Window Ta roeien enini ei ns Use EE cU HR WIRFT DPMEMT 724 Displaying Signal Values in a Plot Window s Menu BA oerien A Tod Pa Me enana AA NNA Z 8 Nien WAIN a spect davies des ivan eee ANRA Too Ibar 060000000000000000000000000900000000000000000000000000000000000000000000000000000000000000000000000000000000000000005 Signale 751 nae Tab Vil cissie ro iEn a ARMS SH HA AUDI pM MEME IO EET NUDO TU a TIS Properuos Dr VEN aonedbaxutiuctdadattututubbaduad ec adtds annia vii 71 71 73 73 74 74 77 77 78 81 83 85 86 87 87 88 89 Wind River StethoScope for VxWorks User s Guide 7 8 7 0 Signal Properties Dialog BOX assetto ritbtb dri iS KEREPR MESSEN EFIE UMEN HE UAE 98 Z4 Popup Men s 2eucsecdcqserieene e dk pea Rr HORA EH RR RUN EEUHURE SACER EIU REACH RII LEN PEE 103 E OBI CARD Teali cenci d M CU qud d DUI NM A EUER ME 103 LU Displaying Events iciunimacciminudcdineunnaniauuniandauniunnaamied 103 V3 1 vente Collected as Siphale aporis nn nankeno tate 104 792 Events Collected as Markers ceno sorridere rens erus 104 793 Events Collected as Messages Laus aesennep cda blsa dbi tuvba inicia 105 7
165. ignals 35 Workbench IDE icons 9 Workbench targets automatic loading and running 165 example script 171 manual loading and running 169 setup options 166 writeback feature described 149 to write data to target 149 writing to target 149 WTX protocol 5 12 167 targetserver 12 X X offset 107 128 Xrange 107 129 XY Signals window 112 creating XY signal pairs 112 XYSignals dialog box 32 34 49 112 114 Y Y offset 96 107 122 128 Yrange 107 128 Y scale 96 122 Z zoom to fit in Plot Windows 47 91 117 in Plot XY Windows 47 91 117 zooming in Plot Windows 54 Index 269
166. imestamp gains execute file varplot Plot which signal end ForceX Plot which signal end ForceY Plot which signal end end ForceX ForceY C 3 MATRIXX Example 38x1 38x1 1x1 1x2 gt gt hardcopy file SaveMatlabFigure ps ps 257 Wind River StethoScope for VxWorks User s Guide 7 8 258 Glossary ellipsis On all menu items an ellipsis indicates that the option will open a new window that requires further response or interaction Graphical User Interface GUI The collection of computer programs and the media oriented screens windows dialog boxes menus and buttons they produce that provide for enhanced human computer interactions with no or minimal keyboard input Host The computer on which StethoScope is running which receives and processes the allocation record data collected from the target agent machine License A private encoded character string from Wind River that confers authority as well as physical capability to execute and use the StethoScope system software routine A self contained code module that can accept input execute and produce output used interchangeably with function RTP A VxWorks Real Time Process running in a protected environment 259 Wind River StethoScope for VxWorks User s Guide 7 8 Verbosity Controls the type and number of messages generated by the target server connection process Using the default value of
167. indow StethoScope records events in a log file which you can display in the Trace Log window as well as save to disk The types of events recorded in the log file depend on the Verbosity setting selected when StethoScope was started With each increase in verbosity more events are included in the log file Verbosity is a command line option see 2 5 2 Starting StethoScope On Your Host p 9 Verbosity can also be set on a per target basis with the Connect to Target window see 3 2 1 Connect to Target p 26 Open the Trace Log window shown in the figure below with the File Log Window command or the E button or by double clicking anywhere in the error message area of the Status Bar described in chapters 7 10 for each data display window iBixi File Edit Connected to 10 30 68 144 0 Sample Overflow Event Overflow 3 2 12 Preferences The Preferences dialog box shown in the figure below allows you to set defaults for the StethoScope GUI when it starts and when new data display windows are created Open this dialog with the File gt Preferences command or the f button 36 General View 3 StethoScope Features 3 2 File Menu xi cc DERTNMENEEEEESSUS StethoScope Colors Comm Plugins Data Collection 4 Plot Plugins Buffer Time secs 3 Dump Plat Plot 1 Monitor Plot XY Window Settings Save restore window position Save restore toolbar positions
168. information 13 2 1 Requirements To install signals automatically you need to Compile your code with DWARF2 debugging information enabled g option will usually suffice Specify the variable name or variable expression in the Signal Installation dialog box Clickthe Install button in the Signal Installation dialog box to find the address and data type of the variable and subsequently install it on the target VxWorksStethoScope Internally StethoScope uses an ELF DWARE 2 0 parser to extract the type information of all variables in the object modules loaded on the target During the signal installation StethoScope uses this type information to find the address of the signal on the target 13 2 2 Signal Installation Dialog Box The Signal Installation dialog box shown in the figure below is opened by selecting Signal Installation on the Signal Manager window s menu bar or by selecting Install Signal from the pop up menu when you right click a target in a Signal Manager window or a Signals Tree sub window 179 Wind River StethoScope for VxWorks User s Guide 7 8 x r Signal Info Variable Expression Signal Units Optional Close Window Signal Name Remove e debugger d signal r Use debuag T d sig to fir Not recommended Remove All r Manual Install optional Batch Install Address Offset Type Status Messages The Signal Installation dialog box allows you to install signals in t
169. ion can be based on a signal or an event Stop condition for a trigger based on a set time period is available only from the StethoScope GUI The trigger will expire as soon as the stop condition is met Data collection will continue as before after the trigger expires If the triggerRearm flag is set the trigger will again be set with the values passed To set a trigger fill out the following fields in the ScopeTriggerInfo structure source The source of the condition Can be one of SCOPE_TRIG_SRC_SIGNAL triggers on a signal SCOPE_TRIG_SRC_EVENT triggers on an event SCOPE TRIG SRC NOW triggers immediately slope The slope of the signal as it passes the level in order to trigger SCOPE TRIG SLOPE POS positive slope SCOPE TRIG SLOPE NEG negative slope SCOPE TRIG SLOPE ANY any slope This parameter is relevant only if the source is a signal level A value that the signal must reach in order to trigger This parameter is relevant only if the source is a signal signal The name of the signal to trigger on 233 RETURNS SEE ALSO NAME SYNOPSIS DESCRIPTION RETURNS Wind River StethoScope for VxWorks User s Guide 7 8 eventld The event to trigger on To set a trigger based on a signal fill out source slope level and signal To set a trigger based on an event fill out the eventId To set the trigger to start immediately fill out source set it to SCOPE_TRIG_SRC_NOW
170. istration with offset 192 194 197 removal 197 remove multiple signals 197 removing 196 removing multiple 196 sampling 197 show active 197 show signals 197 vs events 203 writing to target 149 Signals Bar description 15 menuitem 46 90 117 134 145 using 62 Signals tab 15 signals trees described 15 using 62 slope trigger parameter 68 70 snap distance 97 108 122 snapping measures to signals 97 108 122 snapshots ASCII formatting 156 automating 155 behavior 108 129 buffering 74 building file names 157 changing base file name 157 colors used 108 129 cycle numbering 157 description of process 152 filename extensions 27 157 format 156 Index loading 27 157 MATLAB formatting 156 MATRIXx formatting 156 preferences 108 129 saving to disk 27 153 156 taking 108 129 153 time stamping 157 triggering 71 starvation 173 174 status bar control of viewing 46 90 116 134 144 Plot Windows 52 used to open Log window 36 StethoScope architecture 3 exiting 43 features 1 7 host side GUI 61 65 icons on Workbench 9 initialization sequence 60 main windows 14 reference information 207 running 9 target application 4 StethoScope API reference section 207 StethoScope Setup Options dialog box 26 strip chart 45 88 103 synchronous sampling 199 T tabs Properties 16 Signals 15 taking on grid measurements demonstration program 22 in Plot Windows 56 on grid plot commands 54 target code instrumenting 185 connecti
171. itions all calls to ScopeCollectSignals from that point on return without collecting any data In this armed state that is the trigger is valid but has not fired sampled signals will not be plotted in any of the GUI windows although event data will continue to be plotted as before Collection and plotting of samples begins when the Start Condition is met for example the trigger fires Data continues to be plotted on the GUI until the Stop Condition occurs At that point the trigger is then either disabled or rearmed depending on the Rearm option specified in the Triggering dialog box To learn more about how triggers are set and used see 5 Triggering 3 2 9 XY Signals The Plot XY window is used to graph pairs of signals against each other Signal selection for Plot XY windows differs from signal selection for the other types of data display windows in that each plotted data line is composed of two signals You must create these XY signal pairs using the XY Signals dialog box before you will see them in the Plot XY window s Signals Tree They appear in a separate branch of that Signals list Open the XY Signal Creation dialog box shown in the figure below using this command or the xy button For details on how to create signal pairs with the XY Signals dialog box and display those signal pairs using the Plot XY window see 8 The Plot XY Window 34 3 StethoScope Features 3 2 File Menu x Existing XY Signals Delete
172. ivateMultipleSignals deactivate a group of signals sss ScopeDeactivateSignal mis 0100 5 0 7 rM D ScopeEventsAttach attach an event buffer to a scope index ScopeEventsCollect collect the value of a variable ar the spot eese tneeess ScopeEventsDetach detach an event butter irom a Scope ee iecoris ernbens ScopeEventsMaskSet set the events verbosity mask ScopeEventsMessage throw an event with the specified message c csssesseseeseseeeees ScopelnitServer initialize a scope index ScopelnitServerEx initialize a scope index ScopeInstallArray register and activate an array of signals ScopeInstallSignal degister and activate a Signal irsinin ScopeInstallSignalWithOffset register and activate a signal with an offset ScopePrintVersion print the version number of the StethoScope target library ScopeRegisterArray jepite an HE OF Stal atric ON NUT S D dic ScopeRegisterSignal SOUS S SEN aadscides itp REI NR CM EUE ScopeRegisterSignalWithOffset register a signal with an offset sss ScopeRemoveMultipleSignals remove several similarly named signals ScopeRemoveSignal Xu T Ira m ScopeSampleDivisorSet set the sample divisor for sub sampling cscs csarsanirsersesass ScopeShowActiveSignals print all signals that are being collected S
173. ke up the entire plot window This command is only available in the Plot and Plot XY windows See also Previous Zoom Previous Zoom Reverses the action of the last zoom action This command is only available in the Plot and Plot XY windows NOTE For more information on Zoom to Fit through Previous Zoom above see 7 The Plot Window and 8 The Plot XY Window respectively 3 3 3 Window Menu The Window menu contains items that affect the characteristics of currently open StethoScope windows It contains the following commands File Plot View window Help EH Always on Top Minimize All Always on Top Keeps the currently selected window as the topmost display on the desktop 47 Wind River StethoScope for VxWorks User s Guide 7 8 Minimize All Minimizes all StethoScope windows 3 3 4 Help Menu The Help menu provides online help for StethoScope The Help menu currently has only one topic About StethoScope Opens the About box displaying version and copyright information 3 4 Toolbars The toolbars appearing at the top of each data display window actually consists of three separate toolbars each offering quick access to commonly used menu commands Place your mouse pointer over each toolbar button to see a ToolTip that shows you the action of each button Each of the toolbars are dockable which means you can move it to another location on or off the window simply by dragging it The menu bar is also
174. l s name from the Legend Remove All Unselected Removes all signals that have been toggled off Remove All Signals Removes all signals regardless of their toggled status Properties Opens the Signal Properties dialog box see 7 6 Signal Properties Dialog Box p 98 for a Plot window or 8 7 Signal Properties Dialog Box p 123 for a Plot XY window 59 Wind River StethoScope for VxWorks User s Guide 7 8 3 7 StethoScope s Initialization Sequence The StethoScope initialization process runs the wrapper shell script for StethoScope The script looks in its own directory for a sub directory with its name and with a app extension This directory contains plug ins resources and executables used by StethoScope as well as the actual StethoScope binary With the binary now located the script sets the LD LIBRARY PATH path to point to the libraries needed by StethoScope to run and transfers control to the Scope binary StethoScope then looks for its resource file in SHOME StethoScope version StethoScoperc It reads this file to determine any previously set preferences If this file is not found it is created NOTE You are strongly discouraged from trying to edit this file 60 Using the Signal Manager 4 1 4 2 4 3 4 4 4 5 Introduction 61 The Signal Manager Window 62 Working With Signal Trees 62 Signal Installation 64 Disconnecting from the Target 64 4 1 Introduction S signal from your running targ
175. l contains the following fields Snapshot Use this drop down menu to select which snapshot to save You can save a snapshot you have already taken or choose to save the Live buffer The list box includes the Live buffer any snapshots already taken and any snapshots you have loaded from disk Write Use this drop down menu to choose when data will be written after the Write button is clicked There are two choices Immediately in the middle of this cycle This is the default setting This setting causes the data to be written to the output file immediately after the Write button is clicked regardless of the amount of data available An error occurs if there is no data at all Every X seconds X specified to the right This setting provides a way to store data periodically Data is written every X seconds where X is specified in the field to the right The write field becomes available for entering the number of seconds between snapshots The Write button is labeled Stop Writing after StethoScope starts writing data to the files Click the Stop Writing button to terminate storing data Run Title Use this text box to label the snapshot The run title is stored with the data It may be used by data analysis programs to identify the data set 11 3 2 Data By clicking one of the three radio buttons you can select whether to save signals and events signals only or events only when you take the snapshot For live 155 Wind Rive
176. lay window is independent of the others so you can display different sets of signals in each window The mini windows panels toolbars and menu bar in these windows are all dockable meaning you can drag them to different locations on or off the window You can also cause StethoScope to save and restore their positions on future sessions see 3 3 Other Menus p 44 and 3 4 Toolbars p 48 2 6 1 Plot Window The Plot window is the heart of the StethoScope application You can use this window to select which signals to plot then see a color coded plot of your selected signals over time You can also take snapshots of plots and display them along with real time plots for easy visual comparisons The Plot window also includes mini versions of the Dump Plot and Monitor windows described below A Plot window as shown in the figure below is displayed when you first launch StethoScope See 7 The Plot Window for a detailed description of the Plot window 2 6 2 Plot XY Window While the Plot window graphs each selected signal on the Y axis over time the X axis the Plot XY window shown below plots pairs of selected signals against each other one signal on the X axis and the other on the Y axis More than one pair of signals may be displayed at the same time You can also take snapshots of XY plots and display them along with real time plots for easy visual comparisons See 8 The Plot XY Window for details of the Plot XY window 2 Getti
177. lbar 117 8 6 Signals Bar 118 8 7 Signal Properties Dialog Box 123 8 8 Pop up Menus 127 8 9 Setting Preferences for a New Plot XY Window 128 8 1 Introduction The Plot XY window is used to graph pairs of signals against each other In most aspects it is very similar to the Plot window The main difference is that only XY signal pairs show up in the Signals Tree Wind River StethoScope for VxWorks User s Guide 7 8 8 2 Creating XY Signal Pairs You must create XY signal pairs before you can use the Plot XY window Signal selection for Plot XY windows differs from signal selection for the other types of data display windows because each plotted line requires two signals These XY signal pairs are created using the XY Signals dialog boxshown in the figure below opened with the File XY Signals menu command or the xy button x Existing XY Signals Delete Target g 10 30 68 144 0 E Cancel Sine Sine2T 10 30 68 144 0 X Axis Lotes Pos PosDesired 10 30 68 144 0 Pant Be mj Le Y Axis 8 2 1 Creating a Signal Pair In the XY Signals dialog box 1 Choosea target from the Target drop down list box 2 Choosethesignalto plot on the X Axis by using the X Axis drop down list box The list box contains only active signals for the selected target Double click the desired signal 3 Choosethesignalto plot on the Y Axis by using the Y Axis drop down list box The list box contains only active signal
178. le save ssc Version Prints out the current StethoScope version help Prints out the information described above tgtsvr targetServer When connected to a VxWorks target specifies the WTX target server name that manages the target This enables the Signal Installation window of StethoScope to access the target via WTX as well as the Workbench debugger to install signals automatically wtxMode Specifies that the data should be collected by the StethoScope GUI using WTX protocol rather than TCP IP This option may not be abbreviated NOTE TCP IP communication will only work if you use ScopeAPI in an RTP Most parameters may be abbreviated to a single letter or to as many letters as it takes to make it unique The exceptions are noted in the descriptions above For example the following commands are equivalent C scope gt target joshua errorlog err txt verbosity 2 C scope gt ta joshua e err txt v 2 Important your PATH environment variable must be set up correctly to run tools before attempting to run StethoScope After starting StethoScope the GUI should appear on your screen 2 5 3 Concepts of Use There are four basic steps to using StethoScope s GUI on the host to monitor and collect data from your target application 1 Use the StethoScope API interface on the target to specify which data you want to be able to monitor and collect these are known as installed signals Only installed signals for exa
179. le Plot View Window Help lv Main Toolbar lv Plots Toolbar lv Bump Window Toolbar lv Status Bar fae Signals Bar MH Pause c3 Show Snapshots The View menu commands are Main Toolbar Controls whether the toolbar representing a selection of items from the File menu is displayed on the Dump Plot s toolbar For details about the StethoScope Main toolbar see 9 4 Toolbars p 135 Plots Toolbar Controls whether the toolbar representing a selection of items from the File Plot menu command is displayed on StethoScope s toolbar For details about the Plots toolbar see 3 4 Toolbars p 48 Dump Window Toolbar Controls whether the toolbar used within the Dump Plot data display window is visible The buttons represent items from the View menu for the Dump Plot data display window For information about the Dump Plot Window toolbar see 9 4 Toolbars p 135 Status Bar Controls whether the status line along the bottom of the window is visible For information about the Status Bar see 3 5 Status Bar p 52 Signals Bar Controls whether a Signals Bar panel appears in the window The Signals Bar see the figure in 9 2 Dump Plot Window Tour p 132 includes tabs for Signals and Properties For more information about the Signals Bar see 9 5 Signals Bar p 136 134 9 The Dump Plot Window 9 4 Toolbars Pause Stops updates to the table in the Dump Plot window It does not stop data collection but merely stops new data from appea
180. lecting real time signals 25 Bane i I EB eese Iz LZ Cms Spd Nane vam xe19 600066 A You can display the live buffer plus multiple snapshots all at the same time This makes it easy to compare previous runs with real time runs Snapshots are automatically given temporary storage names such as snapshot1 snapshot2 and so forth You can change the names when you save the snapshots to disk Snapshots are in temporary storage until you save them to disk as described in 11 3 Saving Snapshots p 153 11 3 Saving Snapshots While the Take Snapshot command creates a copy of real time data in a temporary buffer the Save Snapshot command stores the data on your file system The 153 Wind River StethoScope for VxWorks User s Guide 7 8 File gt Save Snapshot menu command or the fj button opens the Save Snapshot dialog box as shown in the figure below x Filename CAWindRiver Untilled ss7 g2 E Wiite p Snapshot Snapshot e Write Immediately in the middle of this cycle v 10 secs Run Tite Unnamed Data Write signals and events C Wiile signals only C write events only Reset buffers after writing ive buffers only Output Format StethoScope 7 0 Compressed 557 92 zl Directory CNwindRivers m Base Name Untitled Extension None ha Session Notes The Save Snapshot dialog box
181. lectionModeEnable enable periodic collection ScopeCollectionModeDisable disable periodic collection ScopeCollectionModeGet return the collection mode ScopeChangeSampleRate change the sampling rate ScopeSampleDivisorSet set the sample divisor for sub sampling ScopeRegisterSignalWithOffset register a signal with an offset ScopeRegisterSignal register a signal ScopeRemoveSignal remove a signal ScopeRemoveMultipleSignals remove several similarly named signals ScopeActivateSignal activate a signal ScopeActivateMultipleSignals activate multiple signals ScopeDeactivateSignal deactivate a signal ScopeDeactivateMultipleSignals deactivate a group of signals ScopeInstallSignalWithOffset register and activate a signal with an ScopeInstallSignal register and activate a signal ScopeShowSignals print all registered signals ScopeShowActiveSignals print all signals that are being collected ScopeRegisterArray register an array of signals ScopeInstallArray register and activate an array of signals ScopeTriggerSet set the triggering parameters ScopeTriggerGet return the current trigger parameters 209 DESCRIPTION NAME SYNOPSIS DESCRIPTION RETURNS SEE ALSO NAME SYNOPSIS Wind River StethoScope for VxWorks User s Guide 7 8 This library provides a programmatic interface to StethoScope real time data collection and
182. ll the signals matching the Signal Name field are removed from the target Use debugger to find signals This check box if selected loads and attaches a debugger to your target application and uses it to find the variable The default setting is not selected CAUTION It is recommended that you NOT use this option due to the slow processing and intrusiveness of using the debugger in your target Occasionally you may have to use it however because searching does not work with some compilers and on some target processors The rule of thumb is to only use it only when you have to NOTE This option does not find signals that were installed using the Manual Install procedure described in 13 3 Manual Installation p 184 To save the list of signals you have installed by hand with this dialog box automatically only use the Batch Signal Install dialog box described in 13 2 3 Batch Signal Installation p 183 The Manual Install optional panel for manually installing signals by address contains the following text entry fields used to enter the address Address Enters the machine address in hex to be monitored You must know the address of the variable you want to monitor Offset Enters the offset in hex of a member within a structure if the variable expression contains a pointer to a structure or class You must know the value of this offset 181 Wind River StethoScope for VxWorks User s Guide 7 8 Type A
183. load the required libraries You can then ak jaz load your application module instrumented with the Data buffer size EZIES Sensei Signal buffer size 2048 Sampling rate 50 Sampling task priority 110 Link task priority 252 Probe task priority 250 J 3 Inthe Setup Options dialog box specify whether you want to run an asynchronous sampler task or just load the libraries Spawn Sampler Task Spawns a task on the target that will collect data for any signals that you install either from the StethoScope GUI on the host or from the host shell using the specified Scope Index This task repeatedly calls ScopeCollectSignals based on its own timing you can also use the auxiliary clock so it is asynchronous with the running of your application This option requires you to provide additional initialization parameters such as Sample Buffer Size Signal Buffer Size Sampling Rate Load Libraries Only Loads the required applications libraries You can then load your application module instrumented with the ScopeProbe API 4 Forall modes specify the following settings Scope Index Distinguishes the different instances of ScopeProbe daemons running on the same target Up to 128 different instances may be started on a target so the index can range from 0 to 127 The index specified here will be used to initialize the StethoScope GUI and if selected the demo program or sampler task 166 12 Using a VxWo
184. lt parameters for new Monitor windows when they are created whereas the properties described in this chapter apply only to currently open windows The Monitor Preferences panel as seen in the figure below allows you to change these default values These 149 Wind River StethoScope for VxWorks User s Guide 7 8 preferences have no effect on Mini Monitor windows within Plot windows or already open Monitor windows To change these values on Monitor windows you StethoScope Preferences E N X B have already created see 10 5 2 Properties Tab View p 147 Seed StethoScope Colors Comm Plugins Default Monitor Properties Plot Plugins Dump Plat Resolution secs f Plot n Display Accuracy Monitor digits fa Plot XY Allow Writeback To modify these preferences open the Preferences dialog box with the File gt Preferences menu command E then click Monitor in the left panel to set Default Monitor Properties 150 Resolution secs Controls how often in seconds to refresh the values in the Monitor window default 1 Display Accuracy digits Controls the accuracy of values displayed in the table Set this property to the number of places to the right of the decimal point to use Enter a value between 0 for whole numbers and 6 default 4 Allow Writeback Check box controls whether or not you can use the Monitor window to write modified si
185. mple signals that are registered and activated see Signals Definitions p 13 can be collected and monitored by StethoScope on the host Signals can be installed manually or automatically using the mechanism described in 13 1 Installing Signals for StethoScope p 177 2 Getting Started 2 5 Starting StethoScope 2 Bring up StethoScope s GUI on the host and connect to the target You can connect to more than one target at a time Use the File gt Connect to Target menu command see 3 2 1 Connect to Target p 26 3 Use StethoScope s Signal Manager see 4 Using the Signal Manager to specify which installed signals you want to collect from the target 4 Use StethoScope s Plot Plot XY Dump Plot and Monitor windows to display signals in tables and graphs see Chapters 7 8 9 and 10 respectively With the Monitor window you can write modified signal values back out to the target The Plot and Plot XY windows also allow you to capture and display snapshots Signals Definitions Registered Signals Initially you must let StethoScope know a signal exists by registering it using the API call ScopeRegisterSignal StethoScope cannot collect data from this signal until you Activate it Registered signals appear in the Signal Manager window in the GUI where they can be selected for activation Activated or Active signals These are registered signals that are set up on the host by the Signal Manager see 3 2 7 Signal Manager p
186. n True Maximum snap distance 20 Background image El Mini dump window Dump resolution 1 000000 Dump history limit 1000 B Mini monitor window Monitor resolution 1 000000 Allow writeback False zl Er Signals Ekegna eProp The graphic display window environment properties shown in this tab view are Coordinates X Scale Controls the width of the plot grid in units For example when first started X Range defaults to 3 and the plot displays the X axis from 1 5 to 1 5 X Offset Controls the unit value for the left most coordinate on the plot Y Scale Controls the height of the plot grid in units For example when first started Y Range defaults to 3 and the plot displays the Y axis from 1 5 to 1 5 Y Offset Controls the unit value for the top coordinate on the plot When first started it defaults to 1 5 and you will see that the default Y value of 1 5 is the top value This value will change automatically if you use the Zoom to Fit command Display 96 7 The Plot Window 7 5 Signals Bar Display Accuracy Controls the number of significant digits displayed in the grid line markers Set this property to the number of places you want displayed to the right of the decimal point Enter a value between 0 for integer numbers and 6 default 4 Resolution Permits plotting of only a subset of the collected data points This is useful for increasing rendering speed A divisor value of n causes only e
187. n signal name name would be automatically replaced with underscores 225 EXAMPLES RETURNS SEE ALSO Wind River StethoScope for VxWorks User s Guide 7 8 Itis the caller s responsibility to ensure that the address passed as ptrToStaticArray points to a valid memory location In particular a bad address may cause a Bus Error or Segmentation Fault to occur within ScopeCollectSignals float global array 100 int main static double static_array 50 Initialize ScopeIndex here See ScopeInitServer ScopeRegisterArray my global array1 100 none amp global array float ScopeIndex ScopeRegisterArray my static arrayl 50 none amp static array double ScopeIndex ScopeActivateMultipleSignals my global array1 ScopeIndex ScopeActivateMultipleSignals my static array1 ScopeIndex while ScopeCollectSignals Shutdown ScopeIndex See ScopeShutdown On success this function returns the numbers of array elements successfully registered On failure it returns zero indicating one of the following the index scopelndex is invalid or has not been initialized the type specified type is not recognized the parameters passed are invalid there is no more space in the signal buffer ScopeProbe ScopeRegisterSignal ScopeInstallArray ScopeActivateMultipleSignals ScopeDeactivateMultipleSignals 226 NAME SYNOPSIS DESCRIPTION
188. n change the values of variables on the target as your program runs A message to this effect will be displayed when a value is written You can disable this message by using the check box in the Warning dialog A WARNING Modifying values in a running program is powerful but can be dangerous Be very careful You should realize that the wrong value may be written by accident either by you or by the StethoScope program This could be caused by a mis typed entry an error in determining the variable s correct address or type or a bug in the StethoScope program itself THIS FACILITY SHOULD NOT BE USED TO CONTROL SAFETY CRITICAL SYSTEMS Use this feature at your own risk 10 6 1 Writing Data to the Target for a Selected Signal 1 Make sure Writeback is set to Yes in the Properties panel This causes the Writeback column to appear in the table 2 Enter a value in the Writeback column for the desired signal at any time It can be a number or the name of another signal In the latter case the last available value of the named signal is used 3 With the mouse pointer inside the Writeback field press Enter to write the value to the target A warning prompt will be displayed first Writing a value with the Monitor window changes the variable s value in the target s memory The change occurs asynchronously when the data arrives 10 7 Setting Preferences for a New Monitor Window The Preferences dialog box allows you to set defau
189. n overview of the host side graphical user interface GUI 3 StethoScope Features introduces you to StethoScope s many features Wind River StethoScope for VxWorks User s Guide 7 8 4 Using the Signal Manager talks about the signal manager and its features 5 Triggering tells you how to set up triggering 6 Derived Signals describes how create and display derived signals 7 The Plot Window provides details on the GUI s Plot window which is the window opened automatically when you run StethoScope This window plots signals against time 8 The Plot XY Window provides details on the GUI s Plot XY window used for plotting pairs of signals 9 The Dump Plot Window provides details on the GUI s Dump Plot window used to display the history of signal values in a table 10 The Monitor Window provides details on the GUI s Monitor window used to display the current value of selected signals in a table You can also use this window to modify signal values on the target 11 Working with Snapshots describes how to take and use snapshots of signals 12 Using a VxWorks Target tells how to build and run a VxWorks target application 13 Signal Installation describes how to install signals from a VxWorks target A StethoScope API Reference provides detailed reference data on StethoScope s API library B StethoScope Demonstration lists the source code for the demonstration program C MATLAB and M
190. nals Remove signals fictivate signals Deactivate signals Display registered signals Display activated signals Change position step size Change length of step fidd noise Change sampling rate Throw event LELLL PL T SZ SNL gl TN uit opedemo hl Ok CDI Horas Cras 2 7 1 VxWorks Target Based Demonstration The VxWorks demonstration program can be started from the Workbench IDE as follows 1 how to configure and start a target server tutorial of additional help as shown 19 Connect to the target server for the target on which you wish to run the demonstration program If you do not have a target server running you will need to create it first Refer to Wind River Workbench User s Guide for details on Click Demo BB on the Workbench IDE toolbar shown in the figure below to open the Select ScopeTools Demo dialog box then choose StethoScope Control Demo to open the StethoScope Control Demo Cheat Sheet with a Wind River StethoScope for VxWorks User s Guide 7 8 3 Click the down arrow to the right of the Demo button figure below select StethoScope Control Demo from StethoScope Demo Setup Options dialog box where you can select the Using StethoScope Control Demo Ei Introduction Welcome to ScopeTools Cheat Sheet This cheat sheet is a quick tutorial that will describe all the required steps in order to run the StethoScope Control demo This cheat sheet is divided in sections Once you compl
191. nals True Maximum snap distance 20 Background image Ei Signals E tegna eProp The data display window environment properties shown in this tab view are Coordinates X scale Controls the width of the plot grid in units For example when first started X scale defaults to 3 and the plot displays the X axis from 1 5 to 1 5 121 Wind River StethoScope for VxWorks User s Guide 7 8 X offset Controls the unit value for the left most coordinate on the plot Y scale Controls the height of the plot grid in units For example when first started Y Scale defaults to 3 and the plot displays the Y axis from 1 5 to 1 5 Y offset Controls the unit value for the top coordinate on the plot When first started it is 1 5 and you will see that the Y value of 1 5 is the top value This value will change automatically if you use the Zoom to Fit command Display Display accuracy Controls the number of significant digits displayed in the grid line markers Set this property to the number of places you want displayed to the right of the decimal point Enter a value between 0 for integer numbers and 6 default 4 Resolution Permits plotting of only a subset of the collected data points This is useful for increasing rendering speed A divisor value of n causes only every nth point to be plotted Thus if 1000 points are being collected and the Resolution is 5 then 200 points will be displayed Of course you m
192. native format ss7 extension can be reloaded for viewing in any of the plot windows using the File gt Load Snapshot menu command or the gg button 3 2 3 Save Snapshot Snapshots are created with the Plot Take Snapshot menu command or the button They can be saved to disk using the File gt Save Snapshot menu command or the E button for future reference and reloading This process is described in 11 3 Saving Snapshots p 153 3 2 4 Load Config You can load the configuration parameters set up in a previous StethoScope session and saved with the File Save Config menu command described in 3 2 5 Save Config p 28 using the File Load Config menu command 27 Wind River StethoScope for VxWorks User s Guide 7 8 To load configuration parameters 1 Selectthe File Load Config menu command to bring up the Open dialog box shown below open 04 Look in E scopetools 5 4 e My Recent Documents Desktop 9 My Documents ba My Computer m s LESE MEM File name z Places Files of type Scope Config Files ssc z Cancel 2 Navigate to the pathname containing the file you want to load The default directory is the same directory where you installed StethoScope 3 Select or enter the filename in the Filename field of the dialog box 4 Click Open to open the file and load the configuration parameters If signals that were active when the configuration was saved are not present w
193. nditions set for this trigger until you either Disable Trigger or Hide Dialog that is the trigger will now fire when the conditions are met Disable Trigger Causes the trigger to become disarmed without closing the dialog box configured values remain set Data collection resumes as it was before the trigger was armed 5 4 Setting a trigger This section walks you though the process of setting an example trigger We will use the StethoScope demonstration program introduced in 2 Getting Started for this example The example output from this demonstration is shown and annotated below Refer to it in the text that follows 71 User s Guide 7 8 Q The trigger fires when the value of PosDesired crosses 0 5 on a positive slope E StethoScope Plot 1 le Plot View Window Help Wind River StethoScope for VxWorks The trigger is disabled as soon as PosDesired starts on a negative slope Signals Bar Signals Tree live amp MF 10 30 68 144 0 E i snapshot 8 A snapshot of the collected data is created and listed in the 14 offset 11 Pointer Sine 1 DiffekentTypes 05 05 Signals Tree StethoScope continues to rearm the trigger create more snapshots Cosine o E a W PosDesired vel Acc JoOoo0o00sso000 1 18 snapshot 2 and I I s 425 a6 45 50 525 55 57
194. ndows Plot Plot XY Dump Plot and Monitor You can select a different set of signals in each window see 2 6 5 Signals Bar p 15 The hierarchical steps listed above can be translated into a simple mechanism for signal installation as implemented on a VxWorks target StethoScope provides 3 ways to install signals on your target Automatically Signals can installed using a variable name or a variable expression you enter and letting StethoScope find the variable and determine its address in the executable NOTE For this mode of signal installation you are required to have compiled your code with DWARF2 debugging information Manually You provide the machine address in hexadecimal for the variable that you want to install This method requires that you know the variable s address Using the StethoScope AP You have options with this method but it requires you to recompile your code in any case 178 13 Signal Installation 13 2 Automatic Signal Installation 13 2 Automatic Signal Installation A signal name is the name you assign to a data item that is collected from your target application by StethoScope Signals can be installed by instrumenting code using the StethoScope API see A StethoScope API Reference They can also be installed automatically by variable name or manually by address While installing variables automatically by name is more convenient it requires that your program be compiled with DWARF2 debugging
195. ng Event and Messages 3 ond ews o Bn o turns on the A grein display of event c messages a The marker is a vertical line from top to bottom of the graph showing exactly when the event was collected ee Se ey 7 10 Setting Preferences for a New Plot Window The Preferences dialog box allows you to set default parameters used by the StethoScope GUI when it starts and for new data display windows when they are created whereas the properties described in this chapter apply only to currently open windows The Plot preferences view shown in the figure below allows you to change the default values used when Plot windows are created It also allows you to control some aspects of what happens when a snapshot is taken One additional preference in particular that affects the Plot window is Colors Colors View p 38 106 7 The Plot Window 7 10 Setting Preferences for a New Plot Window x Gee StethoScope Colors Comm Pluglns m Default Plot Properties 4 r Take Snapshot Plot Plugins X Offset Dump A i E IV Select currently selected signals Plot l X Range p IV Use same colors Monitor IV Unselect live signals Plot Y Y Offset 15 Y Range Bo r Default Mini Dump Properties Resolution Resolution secs 1 samples Display Accuracy History Limit 1000 digits p Lines Minimum Gridline Spacing 109 r Default Mini Monitor Propert
196. ng Started 2 6 Data Display Windows 2 6 3 Dump Plot Window The Dump Plot window shown in the figure below is used to monitor the real time values of selected signals as they are collected from the target The Dump Plot window is a simple read only table The first column in the table is a Timestamp followed by a column for each selected signal See 9 The Dump Plot Window for a detailed description of the Dump Plot window 2 6 4 Monitor Window The Monitor window shown in the figure below is used to display the current value of selected signals While the Dump Plot window displays a running history of each selected signal the Monitor window only shows you the last sampled value of each selected signal You can also use this window to modify the values of signals on the target See 10 The Monitor Window for a detailed description of the Monitor window Within each data display window there are other sub windows that display information for signal selection and for augmenting your view of what is happening inside your target program The descriptions of these additional sub windows follows 2 6 5 Signals Bar By default each of the four data display window types contains a Signals Bar panel If a Signals Bar panel is not displayed you can open one using the View Signals Bar menu command Ej The Signals Bar panel has three tabs Signals Legend and Properties as shown below The Signals tab is used to select which signals
197. ng of an area of the graph to select for copying to the clipboard This mark a vertical line is placed at the location of the mouse cursor at the time this option is selected The selection will be highlighted as soon as you select Set Selection End from the pop up menu Set Selection End Marks the end of the graph area you want to copy to the clipboard It also is placed at the location of the mouse cursor at the time this option was selected The graph area between Set Selection Start and Set Selection End is immediately highlighted and ready to be copied into the clipboard using 53 Zooming Wind River StethoScope for VxWorks User s Guide 7 8 either the Plot gt Copy menu command or the standard Ctrl C keyboard shortcut The clipboard can then be copied to most text or bitmap handling applications The results will vary between text lists or bitmap renderings depending on the application NOTE You can also select the entire graph area thus far using the Plot Select All menu command Clear Selection Deselects the graph area selected using the Set Selection Start and Set Selection End commands Note that this does not delete the selected graph data itself In addition to the commands in the on grid menu you can also Pan Pan to shift the offsets to view a different region of a plot see Panning p 56 Take Measurements Measure offsets in the horizontal and vertical directions between any two points see Taking an
198. ng to 26 disconnecting 63 names 10 267 User s Guide 7 8 processsampler alternative to instrumenting your code 185 writing data to 149 target application 4 target shell script 171 terminology 12 time stamps feature of data storage 3 in definition of Timing 203 in Dump Plot window 15 132 in MATLAB example 252 in MATRIXx example 257 in Snapshot window 157 159 in Varplot mFile example 251 tLinkDaemon task connection failure 172 connection but no data 174 verifying target initialization 168 toolbar button descriptions 49 50 toolbars captions 46 90 117 data display windows 48 docking 48 Main 46 90 116 134 144 Plot Window 46 50 90 116 134 144 Plots 46 48 90 116 134 144 ToolTips 48 tProbeDaemon task connection failure 172 verifying target initialization 168 tracelog 36 Triggering dialog box 33 triggers configuring 66 feature full description 65 functions 200 overview 33 parameters 68 69 rearming 70 72 73 snapshot 70 72 status 67 tips 74 troubleshooting connection failures 172 derived signals 83 268 Wind River StethoScope for VxWorks empty signals tree 64 loading errors 172 nodataappears 74 174 no response from target 173 overflows 69 73 U using Events APIs 201 installed signals by default 33 log file 36 Signals Bar 62 signals trees 62 V verbosity 11 defined 260 Log window effect on 36 View menu 45 vxdemo c example 237 W Window menu 47 wizard Derived S
199. node check box removes all signals below that node from the graph with the single click If anode check box is checked but has a grey fill it indicates that some but not all of the signals belonging to that node are checked and displayed on the graph You may have to scroll down to see which ones are checked The signals tree is expanded or collapsed using the icon to the left of each node check box as follows collapsed click to expand down to the next node s expanded click to collapse up to the next node The Units column in the Signals tab view shows the physical measurement units of each signal 9 5 2 Properties Tab View You can view and change the properties for the currently open Dump Plot window by clicking the Properties tab shown in the figure below in the Signals Bar Signals Ba x El Dump Properties Display accuracy 4 Resolution 1 000000 Dump history limit 1000 E Signals eProp 137 Wind River StethoScope for VxWorks User s Guide 7 8 The tabular display window environment properties shown in this tab view are Display accuracy Controls the number of significant digits displayed in the table Set this property to the number of places you want displayed to the right of the decimal point Enter a value between 0 for integer numbers and 6 default 4 Resolution Controls how often in seconds to refresh values in the Dump Plot table default 1 000000
200. nt vs unsigned int It also supports user defined classes structures and unions In order for StethoScope to collect samples of a particular signal you must First register a signal Then activate the signal Registering a signal provides StethoScope supports both the short form and the long form for unsigned types for example uint vs unsigned int It also supports user defined classes structures and unions with relevant information such as its name type and memory location Samples are collected however only when the signal is activated The number of registered signals is limited only by the amount of target memory The number of active signals for a given scope index is however limited to 8192 14 4 1 Installing Signals A signal is installed when it is both registered and activated To register and activate a signal 1 Call ScopeRegisterSignal or ScopeRegisterSignalWithOffset to register the signal The latter function is discussed in 14 4 4 Offsets to Signals p 194 2 Call ScopeActivateSignal to activate the signal Calling ScopelInstallSignal and ScopelInstallSignalWithOffset accomplishes both these steps in a single call see 14 4 5 Installing Signals p 195 192 Example 14 1 14 API Introduction 14 4 Registering and Activating Signals NOTE Installed variables must be valid when ScopeCollectSignals is called to sample all active signals This requirement is met for Static var
201. of historical data to maintain in the v window default 1000 Display Accuracy digits Controls the accuracy of values displayed in the table Set this property to the number of places to the right of the decimal point to use Enter a value between 0 for whole numbers and 6 default 4 139 Wind River StethoScope for VxWorks User s Guide 7 8 140 10 The Monitor Window 10 1 Introduction 141 10 2 Monitor Window Tour 142 10 3 Menu Bar 143 10 4 Toolbar 145 10 5 Signals Bar 146 10 6 Writing Data to the Target 149 10 7 Setting Preferences fora New Monitor Window 149 10 1 Introduction The Monitor window differs from the Dump Plot window in that the Monitor window only shows you the most recent value of each signal whereas the Dump Plot window displays signal values as they change over time The Monitor window can also be used to modify a signal s value on the target 141 Wind River StethoScope for VxWorks User s Guide 7 8 10 2 Monitor Window Tour To open a Monitor window use the File Plots Monitor menu command or the E button The figure below shows a typical Monitor window session from the demonstration program Click in the Writeback column to enter a new value which will be written to the target I Stethoscope Manitor 3 Be plot Yew Window tip Iy ai 31 xv no 3 S zz ob n Monitor Toolbar Button 5 Bru 30 00 144 0 2 v DI orterenetypes Cone 463 D cie
202. often to refresh the values in the mini Monitor window default 1 000000 Allow writeback Select True to create a writeback column for writing modified signal values back out to the target default False To modify any value just type directly into the text field Any changes you make in this window have no effect on any other open Plot windows To change the defaults used when new Plot windows are created use the File Preferences menu command or the button described in 3 2 12 Preferences p 36 7 6 Signal Properties Dialog Box Characteristics of the line used to plot each signal in this window can be configured using the Signal Properties dialog box shown in the figure below Signal Properties E x B General Signal Name PosDesired Signal Type Sampled Signal Cancel Data Type float 43 Display E Color E ffooo0 Zero Level Hold False Show As Bits False Show as Event False Marker Type No Markers Has Ruler False Scale 1 000000 Event Display Display Name Display Time Stamp 98 7 The Plot Window 7 6 Signal Properties Dialog Box This dialog box can be opened from any one of three places Right click a signal in the Signals tab view Right click a signal in the Legend tab view Right click a signal trace in the data display area In the pop up menu that opens select Properties The Signal Properties dialog box opens with the f
203. ograms as a data symbol Valid variable expression entries include Variables of any primitive type such as int float etc Pointers to any primitive type such as int float etc Variables of type enum bool or boolean will be converted to int or char depending on how the compiler implemented them Member variables of structure or class such as Body vel Body gt vel Body gt Pos gt x Array elements such as arm 3 Instances of class structure or union all member variables including member variables of class struct union data types except pointers to the class struct union types will be installed as separate signals Array variables all the array elements are installed Signal Name Is the name you assign to a data item for StethoScope to display in its signals trees and quick select buttons This name is also exported to the files you save It does not have to be the same as the variable expression A signal name can be any name you choose When using the Signal Installation dialog box only global or static variables may be installed For example if the variable expression is Body gt Pos gt x then Body must be a global or static pointer Also Body must be pointing to a valid Pos class struct union data pointer type and if x is also a class struct union data pointer type then it in turn should also point to a valid class struct union at the time of installing the signal x with the above variable expre
204. ollect can also be displayed as vertical lines or markers A marker appears at the temporal location on the plot corresponding to the timestamp that was collected with the event When events are displayed as vertical lines the name of the event event ID and the timestamp can be displayed by choosing options Display Name and Display Timestamp respectively 7 9 2 Events Collected as Markers An example of the display of events collected as a value but displayed as markers is shown in the figure below 104 7 The Plot Window 7 9 Displaying Events Ea Stethoscope Plot 1 De Bot yew Window tiep Signals Tree Un E I OA SMT 105028140 Mesi Connected to besoa eet SO eh STMT a Event messages collected using ScopeEventsMessage appear as Messages under the Event tree Turning on event messages causes vertical lines to be displayed representing the temporal location of the occurrence of the event The message is also displayed 7 9 3 Events Collected as Messages An example of the display of events collected as messages is shown in the figure below 105 Wind River StethoScope for VxWorks User s Guide 7 8 The message Ea StethoS cope Plot 1 is De Bt Yew Window tiep string is printed mE i ew d n am EYE HER close to the af marker line that d indicates when S De Daleet ypes Dion the event was collected Clicki
205. ollowing parameters General Signal Name and Type These first two lines are the signal s name as shown in the Signals Tree and its type Data Type This is the C data type of this signal program variable See Table 14 1 for a list of allowable types Display Color Clicking on the current value opens a small color palette with a basic color selection from which to choose LT xi Standard Custom TT x Standard Custom OK Cancel Colors Colors Cancel Hue iz a Red o z Sat oss Green fo 4 Lum 128 a Blue 255 i Current Current If you would like a color that is not on this color palette you can click Other to open the Colors dialog box where you can select a new color from 99 Wind River StethoScope for VxWorks User s Guide 7 8 the larger selection in the Standard tab view or you can create an entirely new color using the Custom tab view NOTE An alternative method for changing colors of plotted lines on the Plot window graph is given in the discussion of colors preferences in Colors View p 38 Zero Level Hold Select True from the drop down menu to hold the value of the signal until the next sample arrives To demonstrate this feature consider the sampling of a sine wave at a rate of 100Hz as shown in the figure below In the upper view in this figure with Zero Level Hold turned off False the dat
206. ols whether a Signals Bar panel appears in the window The Signals Bar includes tabs for Signals and Properties Auto Fit Causes the plotting area to be scaled dynamically and automatically to the extremes of the data in the Y direction being displayed in the window It thus allows all data points to appear on the plot It toggles on or off but when on it essentially has the effect of using the Zoom to Fit button continuously This command is only available in the Plot XY window Zoom to Fit Changes the scales and offsets so that all the signals fit and take up the entire plot window The scales and offsets remain at these values until Zoom to Fit is selected again This command is only available in the Plot XY windows See also Previous Zoom Previous Zoom Reverses the action of the last zoom action in a Plot or Plot XY window Note that when you use the Zoom to Fit command the history of all previous zoom actions is lost therefore this command will have no effect immediately after a Zoom to Fit command Aspect Lock When checked it causes the aspect ratio to be maintained when you zoom in or out 8 5 Toolbar In a default Plot XY window the first two dockable toolbars are shown with the menu items as described in Sections 3 4 1 Main Toolbar p 48 and 3 4 2 Plot Toolbar p 48 But the right most dockable toolbar is specific to the Plot XY window All the toolbars are dockable which means you can move them to other locations on or off
207. on returns the numbers of array elements successfully installed On failure it returns zero indicating one of the following the index scopeIndex is invalid or has not been initialized the type specified type is not recognized the parameters passed are invalid there is no more space in the signal buffer ScopeProbe ScopeRegisterArray ScopeActivateMultipleSignals ScopeDeactivateMultipleSignals ScopeInstallSignal ScopeInstallSignal ScopeInstallSignal degister and activate a signal RTIBool ScopeInstallSignal const char name const char units void ptrToStaticVar const char type int scopeIndex This function calls ScopeRegisterSignal followed by ScopeActivateSignal It exists purely for backwards compatibility and convenience Users should refer to ScopeRegisterSignal and ScopeActivateSignal for details float global var float global ptr int main static double static_var static double static_ptr Initialize ScopeIndex here See ScopeInitServer ScopeInstallSignal my_global_vari none amp global var float ScopeIndex ScopelInstallSignal my static vari1 none amp static var double ScopeIndex 222 RETURNS SEE ALSO NAME SYNOPSIS DESCRIPTION PARAMETERS A StethoScope API Reference ScopelnstallSignalWithOffset global ptr float calloc 1 sizeof global ptr static ptr double calloc 1
208. onModeDisable ScopeCollectionModeDisable disable periodic collection RTIBool ScopeCollectionModeDisable int scopeIndex Use this function to disable periodic collection of active signals Calling this function sets a flag that is examined by ScopeCollectSignals If the flag is set the function returns without sampling active signals To turn collection on use ScopeCollectionModeEnable On success this function returns RTI TRUE 212 SEE ALSO NAME SYNOPSIS DESCRIPTION RETURNS SEE ALSO NAME SYNOPSIS DESCRIPTION RETURNS A StethoScope API Reference ScopeCollectionModeEnable On failure this function returns RTI FALSE if scopelndex is invalid or is not initialized ScopeProbe ScopeCollectSignals ScopeCollectionModeEnable ScopeCollectionModeGet ScopeCollectionModeEnable ScopeCollectionModeEnable enable periodic collection RTIBool ScopeCollectionModeEnable int scopeIndex Use this function to re enable periodic collection of active signals if it was turned off earlier using ScopeCollectionModeDisable By default after calling ScopeInitServer the collection mode is enabled Refer to ScopeCollectionModeDisable for more information On success this function returns RTI TRUE On failure this function returns RTI FALSE if scopelndex is invalid or is not initialized ScopeProbe ScopeCollectSignals ScopeCollection
209. oolbars p 48 Plot Window Toolbar Controls whether the toolbar used within a data display window is visible The buttons represent items from the Plot and View Menus For more information see 3 4 Toolbars p 48 Status Bar Controls whether the status line along the bottom of the window is visible For more information see 3 5 Status Bar p 52 Toolbar Captions Controls whether the names of the panels Signals Bar Mini Dump and Mini Monitor are displayed in the Plot or Plot XY window This command is only available in the Plot and Plot XY windows Signals Bar Controls whether a Signals Bar panel appears in the window 46 3 StethoScope Features 3 83 Other Menus Mini Dump Creates a Mini Dump Plot window within the window This command is only available in the Plot window see 7 3 2 View Menu p 89 Mini Monitor Creates a Mini Monitor window within the window This command is only available in the Plot window see 7 3 2 View Menu p 89 Axis Properties Allows you to set certain parameters that affect the appearance and labelling of the X or Y axis of a Plot data display area This command is only available in the Plot window Auto Fit Causes the plotting area to be scaled dynamically and automatically to the extremes of the data in the Y direction being displayed in the window This command is only available in the Plot and Plot XY windows Zoom to Fit Changes the scales and offsets so that all the signals fit and ta
210. oolbars p 48 3 6 Pop up Menus p 52 114 8 The Plot XY Window 8 4 Menu Bar 8 4 Menu Bar Some of the Menu Bar items are discussed in detail in 3 2 File Menu p 26 where it is mentioned that the File Window and Help menu items are consistently the same across all data display windows For the Plot XY window however the Plot and View menu items contain some commands that are unique to the Plot XY window Even though partially redundant these menu items are described in detail in the following sections 8 4 1 Plot Menu Commands The Plot menu item contains commands for working with the plots in the Plot XY window Ele Plot View Window Help Print Print Preview Take Snapshot Delete Markers The Plot menu commands are Print Prints the signal traces in the data display window It opens a Print dialog box where you can configure your printer options Print Setup Allows you to select printer parameters and characteristics before printing Print Preview Lets you see on a print mock up screen what the printed page will look like before actually printing it Take Snapshot Saves a copy of all the active signals not just the selected signals for all connected targets For more information see 11 2 Taking Snapshots p 152 Delete Markers Deletes all markers measures and annotations from the grid area For more information see Adding and Removing Markers p 54 115 Wind River StethoScope for
211. opped In the resulting plot the top graph shows the variable s value with Show as bits turned off False and the bottom graph shows the same data with Show as bits turned on True You can easily observe the pattern of the individual bits horizontal lines making up the 16 bit integer showing their 0 and 1 positions with respect to time 101 Wind River StethoScope for VxWorks User s Guide 7 8 This feature works equally well with all signal types but the resulting bit patterns may be more difficult to decipher depending on the complexity of the signal Show as Event Select True from the drop down menu to cause samples to be marked with vertical lines instead of connecting the individual samples with lines Either or both of the selections made in the Event Properties section below are displayed along side the vertical marker For more information on displaying events see 7 9 Displaying Events p 103 Marker Type This drop down list allows you to select a different symbol or marker to be plotted for each sample of this signal The choices are Square A square plots each sample Plus A plus sign plots each sample Diamond A diamond Q plots each sample Has Ruler This true false option displays a separate ruler with colored numbers matching the signal s color on the left Y axis If you have say three signals with rulers on there will be three separate color coded rulers on the left plot boun
212. ot include a Signals Bar open one by using the View gt Signals Bar command or the WJ button Select the signals you want to plot by using the Signals Tree see 4 Using the Signal Manager 2 7 2 What Does the Demo Do Try each of the following StethoScope features consulting the referenced manual section if you need help The demo allows you to 22 Display other signals by clicking on signal entries in the Signals Bar s Signals Tree 2 6 5 Signals Bar p 15 Take a Snapshot from the Plot window and save it Sections 11 2 Taking Snapshots p 152 and 11 3 Saving Snapshots p 153 Export Snapshot data 11 5 Exporting Snapshot Data to MATLAB and MATRIXX p 158 Zoom in and out Shift key left mouse button in Plot screen Zooming p 54 Pan the viewing region click and drag the left mouse button to move Panning p 56 Take measurements Ctrl key left mouse button in Plot screen Taking and Removing On grid Measurements p 56 Calculate derived signals Derived Signals from the File menu 6 Derived Signals Monitor and modify variables Select Pos and PosGain signals in a Monitor window with Writeback turned on Sections 10 2 Monitor Window Tour p 142 and 10 7 Setting Preferences for a New Monitor Window p 149 Try X vs Y plotting Plot XY from the File Plots menu 8 The Plot XY Window Display numeric data Dump Plot from the File Plots menu 9 The Dump Plot Window Set some tri
213. ot m that plots signals It also shows a sample MATLAB session that loads a script file saved by StethoScope then uses the varplot script to produce a PostScript file 249 Wind River StethoScope for VxWorks User s Guide 7 8 Example C 1 Varplot m File oe Name varplot variable plot program for scoped matlab data oe oe oe Usage lt load your scope data gt define a global variable varplot_Names varplot Parameters varplot_Names a matrix of signal names to plot All rows must have the same number of characters Example ForceUp ForceDown varplot Names should be in order curves are plotted AP dP oe oe oe oe oe oe oe oe oe subplotactive The active subplot number if any if this variable exists then handle subplot windows correctly de oe oe oe Description If varplot_Names is defined varplot will print the named signals Otherwise varplot will prompt you for signals to be plotted then plot them with labels etc AP ge oe oe oe oe oe See Also smartplot plotall legend ae de oe Language PRO MATLAB Version 3 5 oe oe Written by Stan Schneider Real Time Innovations July 1988 oe 9e Revision History oe oe plotindex plotdata plotnames unitnames s E if exist varplot Names find the number of curves Num Curves size varplot Names Num CurveszNum Curves 1 1 this Curve 0 end i numsignals length
214. ouble integrator plant simulator To run the demo this assumes you have already loaded StethoScope rlogin target cd scopedir 1ib m68kVx5 1 ld 1 lt vxdemo lo ScopeDemo To recompile cc68k I local VxWorks h Iscopedir include c vxdemo c Useful things to play with Omega float 80 ScopeRemoveMultipleSignals sin InstallFakeSignals 40 ScopeDemoSetRate 20 0 sis phase 3 sis Time none amp Time float A makefile is provided it can be used to compile this code You should first edit it to reflect your system s file structure This is a complete VxWorks application To utilize StethoScope in your system all you need is a call to ScopeInitServer in your startup script a call to ScopeCollectSignals somewhere in your regular processing cycle and a few calls to ScopeInstallSignal WARNING With 64 signals installed the calculation of the sin functions below FakeSignals can only be done at about 200 Hz on a 16MHz 68020 Thus setting the sample rate higher than this will starve both tasks tScopeProbeDaemon and tScopeLinkDaemon Scope will not be able to display any data This is intentional Scope always strives for minimal impact on the real time system NOTES This code normally works using taskDelay It can also work by attaching a semaphore sampleSemaphore to the Aux clock interrupt the recommended means of executing periodic functions in VxWorks If your processor does have
215. ow Help Print Print Setup Print Preview Take Snapshot rb Strip Chart Delete Markers Paste Select All The Plot menu commands are Print Prints the signal traces in the data display window This command is only available in the Plot 7 The Plot Window and Plot XY 8 The Plot XY Window windows Print Setup Allows you to select printer parameters and characteristics before printing This command is only available in the Plot 7 The Plot Window and Plot XY 8 The Plot XY Window windows 44 3 StethoScope Features 3 83 Other Menus Print Preview Lets you see on the screen what the printed page will look like before actually printing it This command is only available in the Plot 7 The Plot Window and Plot XY 8 The Plot XY Window windows Take Snapshot Saves a copy of all the active signals not just the selected signals for all connected targets For more information see 11 2 Taking Snapshots p 152 Strip Chart Changes the display so that it presents a continuous scrolling plot This command is only available in the Plot window For more information see 7 8 Strip Chart Feature p 103 Delete Markers Deletes all markers measures and annotations from the grid area This command is only available in the Plot and Plot XY windows For more information see Adding and Removing Markers p 54 Adding Annotations p 55 and Taking and Removing On grid Measurements p 56 Copy Copies the select
216. owing URL http www windriver com support Wind River StethoScope for VxWorks User s Guide 7 8 13 Oct 05 Part DOC 15611 2D 00 Introductio iouis ien eoram i ocn ai ara GRci 1 1 lnirod ctioti ocna 1 2 COVOTIVIOW vcnananan n a 1 3 PO UAT OS innean 1 4 Architecture ccscccssscsssssesssscccsssereseces 1 4 1 Els cubes TIS Tate oncor 1 5 Reader s Guide s Getting Started 21 2 2 2 3 2 4 2 5 Introduction Installat License Manager Getting Help Starting Zouk ion StethoScope s Initializing the Target Server eeeessscsssscsscccssccssccssseosoe eessssssccssscsssecssccsccccescsssossseoe Contents eesssssscssscsssesssssosscsssessscsssossssssssessseccsscossseosseooe eesssssscsssssssesssesssscssesssccsssccsssssssosscscscosscsosscoose eesssssssssscsssecssssssssosscssscsssscsssesssesssccssscocssecoseeoe eesssssssssscsssssssssssscssscsssesssscsssesssessscscssossseosseeoe eessssssscssssssscsossosssessseosssssssossssssscossecsscecsssesseoe eesssssscssscsssssssssesssssscsssscssssssseosscsosccossessseosoceoe eesesssssssssssssssscsssosssesssccsssocsssssseosscsscecssssosseosoe lii Wind River StethoScope for VxWorks User s Guide 7 8 252 Starting Stethoscope On Your Host iss see eene 9 Starting Automatically from the Workbench IDE Toolbar 9 Starting Manually from the Command Line 10 23 MD Uge iouiesia
217. p 48 10 3 Menu Bar Some of the Menu Bar items are discussed in detail in 3 2 File Menu p 26 where it is mentioned that the File Window and Help menu items are consistently the same across all data display windows For the Monitor window however the View menu item contains some commands that are unique to the Monitor window Even though partially redundant these menu items are described in detail in the following sections 10 3 1 Plot Menu Commands The Plot menu item shown below contains commands for working with data in the Monitor window File Plot View Window Help Take Snapshot 143 Wind River StethoScope for VxWorks User s Guide 7 8 The Plot menu commands are Print Setup Allows you to select printer parameters and characteristics before printing Take Snapshot Saves a copy of all the active signals not just the selected signals for all connected targets For more information see 11 2 Taking Snapshots p 152 10 3 2 View Menu Commands The View menu item shown below contains commands primarily for choosing which elements of the Monitor window to display File Plot View Window Help E Main Toolbar Plots Toolbar v Monitor Window Toolbar Status Bar Signals Bar M Pause Main Toolbar Controls whether the toolbar representing a selection of items from the File menu is displayed on StethoScope s toolbar For more information see 10 4 Toolbar p 145 Plots Tool
218. pecific StethoScope channel The index may be an integer ranging from 0 to 127 If this option is not specified StethoScopeuses 0 A target name of form target n is equivalent to ta target i n For example the following are equivalent C scope ta joshua i 1 C scope ta joshua 1 verbosity level Specifies the amount of diagnostic messages printed to the standard output device A value of 0 causes only errors to be reported Increasing the value in the range of 0 3 increases the volume of messages If this option is not specified StethoScope uses 0 errorlog filename Writes verbosity messages into the file filename in addition to outputting to the log window clicense licenseHost Specifies name of a license file or the host name of the machine running the Wind River License Manager If this option is omitted StethoScope uses the following to obtain a valid license Look for flex license dat in the directory above STETHOSCOPEHOME typically e rti Look for host machine specified by the WR LICENSE FILE environment variable Look for flex license dat in the directory specified by the RTIHOME environment variable Examine each file in the semicolon separated list specified by the LM LICENSE FILE environment variable Save save ssc Automatically saves the workspace state in the file save ssc 11 Wind River StethoScope for VxWorks User s Guide 7 8 load save ssc Reads the state saved in the fi
219. r p 92 Select the signals you want to display in the Plot window see 4 Using the Signal Manager If you are not running the demo program make sure you have installed signals already see 4 Using the Signal Manager and 14 4 Registering and Activating Signals p 191 Verify that the selected signals are plotted in the Plot window 12 Using a VxWorks Target 12 2 VxWorks Targets 12 2 3 Manual Target Loading and Running If you do not use the Workbench IDE or if automatic loading fails you will have to determine which libraries to load yourself load them and initialize StethoScope manually Manual loading of StethoScope is more involved than automatic loading We strongly recommend you create a target shell script that you source from the VxWorks shell WindSh to accomplish StethoScope loading and initialization To load a library type in the host window or add to the script file a line using the following syntax 1d 1 lt WIND_SCOPETOOLS target arch targetArch library where SCOPETOOLSHOME is the root of the tree where you installed StethoScope targetArch reflects the processor and VxWorks version you are using and library is the library to load The targetArch string format is cpu os osversion compilerversion Refer to Appendix A in the RTI ScopeTools Installation Guide and Release Notes for a list of supported architectures The 1 flag in the Id command causes the local symbols to be loaded along
220. r Buffer Reset and clears its plot windows The string Buffer Reset is displayed in the Mini Monitor window whenever the sample buffer is cleared If the Plot window clears frequently accompanied by the appearance of Buffer Reset messages in the Mini Monitor window it is a clear case of overflows on the target Try the above recommendations to alleviate frequent overflows of the sample buffer 5 6 Notes and Hints Data Collection vs Buffering Do not confuse saving snapshots with data collection Stopping data collection by calling ScopeCollectionModeDisable on the target and taking a snapshot will both freeze the data displayed in the graphics window They are however quite different actions as explained below Ifyou call ScopeCollectionModeDisable it prevents further data collection Ifyou take a snapshot it saves all the data collected in the current cycle but does not stop data collection Other data display windows continue to display the Live data Programmatic Access All of the collection control functions can be accessed under program control via calls in the StethoScope API module on the target See 12 Using a VxWorks Target for details If No Data Appears No data will be collected if collection is not active That is ScopeCollectSignals must be called by the target during each sampling period Try setting a breakpoint at ScopeCollectSignals On VxWorks type the following in the shell b
221. r StethoScope for VxWorks User s Guide 7 8 buffers only you can also click the check box to reset the buffers after taking the snapshot 11 8 8 Output The Save Snapshot dialog box provides automatic file naming facilities that make saving multiple data buffers convenient The resulting pathname and filename will appear in the read only Filename text box at the top The Output panel contains the following fields Format You can save snapshot files in the following formats StethoScope This native format which is XML is the default Files written in this format can be re loaded into StethoScope for later viewing for comparison to live data or for export to other formats Files in StethoScope format use the extension ss7 The default format is a compressed version of the StethoScope native format with the extension ss7 gz MATLAB MATLAB is a commercial data analysis program from The MathWorks Inc When data is saved in MATLAB format two files are created a data file with a mat extension and a script file with a m extension ASCII Human readable ASCII format is also supported Files written in this format have a txt extension ASCII files may be used to import StethoScope data into many popular spreadsheet programs A WARNING Files in ASCII format can be very large MATRIX MATRIX is a commercial data analysis program from the National Instruments Corporation When data is saved in MATRIX format two files are cre
222. r viewing in the Plot or Plot XY windows The File gt Load Snapshot menu command or the g button described in 3 2 2 Load Snapshot p 27 brings up the Open dialog box as shown in the figure below 157 Wind River StethoScope for VxWorks User s Guide 7 8 fope zx Look in 3 WindRiver ck My Recent Documents Desktop My Documents CJ vxworks 6 2 g vxworl Ca h2 My 2 workbench 2 4 alll workspace LI DIET ME Filename Untitled ss7 g2 Places Files of type Scope Data Files 7 ss gz si Cancel di 11 5 Exporting Snapshot Data to MATLAB and MATRIX When you save a snapshot in MATLAB or MATRIX format see 11 3 3 Output p 156 two files are created A script file m extension for MATLAB ms extension for MATRIX A data file mat extension for MATLAB xmd extension for MATRIX Running the script file within MATLAB or MATRIX will load the data and create named vectors that correspond to each signal name saved from the buffer This section describes the notes and variables created by the script 11 5 1 Creating Notes The script file contains the following commands that create character array variables for the run title and session notes which are both entered on the Save Snapshot dialog box see 11 3 Saving Snapshots p 153 runtitle Contains the run title notes Contains the session notes 158 11 Working with Snapshots 11 5 Exporting Sn
223. r you have only registered but not activated any signals You can observe this case by opening the Signal Manger window and seeing that signals are listed but none are checked 4 4 Signal Installation A signal name is the name you assign to a data item that is collected from your target application by StethoScope An installed signal is one that has been registered and activated as described in 14 4 1 Installing Signals p 192 Signals can be installed by instrumenting target code using the StethoScope API see A StethoScope API Reference or they can be installed automatically by variable name or manually by address To install a signal automatically select the Signal Installation menu item on the menu bar or right click on a target name in the Signal Manager window to display a pop up menu and select Install Signal This action opens the Signal Installation dialog box where you can configure all the necessary parameters 4 5 Disconnecting from the Target Right click a target name in the Signal Manager window to display a pop up menu and select Disconnect This action severs the communication link between the StethoScope GUI and the target This does not however stop the collection thread or StethoScope daemons on the target You may reconnect the GUI to the same or connect to a different scope index using the New Target Connection dialog box see 3 2 1 Connect to Target p 26 64 5 1 5 2 5 3 5 4 5 5 5 6 Tri
224. rea Signals tab view Legend tab view 127 Wind River StethoScope for VxWorks User s Guide 7 8 8 9 Setting Preferences for a New Plot XY Window The Preferences dialog box allows you to set default parameters for the StethoScope GUI when it starts and for new data display windows when they are created whereas the properties described in this chapter apply only to currently open windows The Plot XY Preferences view shown in the figure below allows you to change the default values used when Plot XY windows are created It also allows you to control some aspects of what happens when a snapshot is taken stethoscope preferences E E General Plot XY i StethoScope Colors E Comm Plugins r Default Plot Properties r Take Snapshot Plot Plugl nee ra Y Offset IV Select currently selected signals Plot YScale 3 IV Use same colors hanto V Unselect live signals Plot XY X Offset fs 5 XScale 3 Resolution samples Display Accuracy igi Minimum Gridline Spacing 100 g Maximum Snap fo Distance 20 IV Snap measures to signals To modify these preferences open the Preferences dialog box with the File gt Preferences menu command then click Plot XY in the left panel to set Default Plot Properties Y Offset Controls the unit value for the top coordinate on the plot When first started it is 1 5 and you will see that the Y value of 1 5 is the top value This value will change
225. rget to store signal information For a description of this buffer see 14 3 2 Target Buffers p 191 Sampling rate Specifies the rate number of times per second at which the sampler task will call ScopeCollectSignals to collect data for the signals installed to the specified Scope Index Sampling task priority Sets the task priority for the sampler task 167 Wind River StethoScope for VxWorks User s Guide 7 8 Link task priority Sets the task priority for the link task Probe task priority Sets the task priority for the probe task Click OK to load the appropriate libraries onto the target and initializes the target If the Start StethoScope GUI on the host option is checked the StethoScope GUI will appear shortly with an open Plot window Verifying Target Initialization To verify that the target has been initialized 1 From the Workbench IDE right click your target select Target Tools gt Host Shell to bring up a shell Type the command i in the shell to print a list of running tasks If you are not using WTX mode the following tasks should be listed tProbeDaemon tLinkDaemon tSamplerTask if you chose to run the sampler task Verifying Target Connection To verify that the StethoScope GUI is connected to your target 1 2 168 Verify that the target appears in the Signals Tree of the Plot window To open a Signals Bar panel if one is not already displayed see 7 5 Signals Ba
226. rify the relationship between signals and events Collection Signals are collected when ScopeCollectSignals is invoked Events are thrown when either ScopeCollectEvent or ScopeCollectMessage is invoked Frequency of Collection Usually signals are collected periodically Variables that are persistent global static are good candidates for being collected at a certain period Variables with limited scope in a program local variables can be collected using the StethoScope Events API Events are utilized for sporadic collection of ephemeral variables Timing StethoScope assumes that ScopeCollectSignals was invoked at the sampling rate you set during initialization The GUI plots each sample with an inter sample distance proportional to the sampling rate Since there is no period associated with the StethoScope Events API an absolute timestamp is acquired from the target during the time of collection The StethoScope GUI then uses this timestamp to place the event at the right temporal location on the Plot window 7 9 Displaying Events p 103 explains how events are plotted Though signals and events are different concepts altogether events can be displayed like signals StethoScope joins the samples collected using ScopeEventsCollect with lines to make them appear like signals It should be noted however that for this display 203 Wind River StethoScope for VxWorks User s Guide 7 8 metho
227. ring in the Dump Plot table To resume normal display unselect the button Show Snapshots Controls what is displayed in the Signals Tree When selected only snapshots appear in the Dump Plot window s Signals Tree When unselected only the live data buffer appears For more information about snapshots see 11 2 Taking Snapshots p 152 9 4 Toolbars Ina default Dump Plot window the first two dockable toolbars are identical to the toolbars shown and with the menu items as described in Sections 3 4 1 Main Toolbar p 48 and 3 4 2 Plot Toolbar p 48 But the right most dockable toolbar is specific to the Dump Plot window All the toolbars are dockable which means you can move them to other locations on or off the window simply by dragging them The menu bar is also dockable Each of the toolbars can be independently displayed or hidden using the View menu item The Dump Plot window s toolbar shown below is a subset of the one shown and described in detail in 3 4 3 Plot Window Toolbar p 50 Show Signal Snapshot Manager Pause Take Always Snapshot On Top 135 Wind River StethoScope for VxWorks User s Guide 7 8 9 5 Signals Bar The Signals Bar shown in the figure below is a sub window in the StethoScope GUI that allows you to view and configure information that affects what signals appear in the data display table If a Signals Bar panel is not displayed you can open one using the View gt Signals Bar
228. rks Target 12 2 VxWorks Targets Target server Select a target server from the drop down list of connected target servers Connection type Use the default TCP IP or choose WTX type Use the WTX protocol only if your target does not have TCP IP support Specifying WTX protocol when running WTX over a serial line can severely limit data throughput Verbosity Controls the volume of status and information messages written to the log file Verbosity has the following options to choose from No messages Displays only critical messages most restrictive Error messages only Displays only error messages Error and warning messages Displays both of these message types All messages Displays all system messages most verbose If you selected Spawn Sampler Task you must specify the following parameters Use AuxClock check box Causes the sampler task to attach a semaphore to the VxWorks auxiliary clock for periodic timing You must clear this box if you do not have an auxiliary clock or if you have another application using the auxiliary clock If this option is not checked the sampler task calls taskDelay to obtain pseudo periodic timing Data buffer size Specifies the size in bytes of the buffer that will be allocated on the target for collecting data samples For a description of this buffer see 14 3 2 Target Buffers p 191 Signal buffer size Specifies the size in bytes of the buffer that will be allocated on the ta
229. robe ScopeCollectSignals ScopelInitServer 211 NAME SYNOPSIS DESCRIPTION SEE ALSO NAME SYNOPSIS DESCRIPTION RETURNS Wind River StethoScope for VxWorks User s Guide 7 8 ScopeCollectSignals ScopeCollectSignals collect a sample from each active signal void ScopeCollectSignals int scopeIndex This routine should be called periodically to collect the values of signals StethoScope will assume that this function is called at the frequency set using ScopeChangeSampleRate However this only affects the timing calculations made by StethoScope If a sample divisor is set and is greater than 1 then this routine will return without collecting data when a sample is to be skipped For instance with a sample divisor of 3 this routine will only actually collect the data every third time it is called The other two times it will simply return immediately Furthermore the behavior of this function depends on triggering If the trigger is set and is waiting for the start condition to occur ARMED this function will return without collecting any data Refer to ScopeTriggerSet for more information VxWorks users the task that calls this routine should have floating point enabled VX FP TASK set Example code exists under the src directory ScopeProbe ScopeChangeSampleRate ScopeCollectionModeEnable ScopeCollectionModeDisable ScopeTriggerSet ScopeCollecti
230. s for the selected target Double click the desired signal 4 Click Add Repeat the above steps for each XY Signal pair you want to be able to see in the Plot XY window 6 When you are done click OK Cancel or Apply 112 8 The Plot XY Window 8 3 Plot XY Window Tour 8 2 2 Deleting a Signal Pair 1 Inthe XY Signals dialog box select the signal pair from the Existing XY Signals list 2 Click Delete 8 2 3 Modifying a Signal Pair Delete the pair then add a new one 8 3 Plot XY Window Tour Open the Plot XY window shown below using the File gt Plots gt Plot XY menu command or the fF button eE Ele plot view Window Help jr SEs vw E a t n a ER x 5 1 25 4 0 75 0 5 0 25 0 0 25 05 075 4 125 1 aj Signals Tree s ME uve eM 10 30 68 144 0 Il Sine Sine2T Previous Zoom Add Marker Add Annotation Remove Markers Set Selection Start Set Selection End Clear Selection L1 Ej x 0 465347 y 0 820166 4 113 Wind River StethoScope for VxWorks User s Guide 7 8 8 3 1 Displaying Signal Values in a Plot XY Window 1 If you do not already have a Signals Bar open in your Plot XY window open one with the File gt Signals Bar menu command or the WJ button 2 Makesure the Signals tab is selected in the Signals Bar so that a Signals Tree is displayed 3 Usethe Signals Tree to select which signals you want to display
231. s from ptrToStaticVar to collect data from This function calls ScopeRegisterSignalWithOffset followed by ScopeActivateSignal It exists purely for convenience Users should refer to ScopeRegisterSignalWithOffset and ScopeActivateSignal for details The following illustrates how to use ScopeInstallSignalWithOffset typedef struct ArmData s float PosX float PosY unsigned char Type double Vel Just to demonstrate pointers and offsets ArmData t int main ArmData t LeftArmData ArmData t calloc 1 sizeof LeftArmData gt Vel double calloc 1 sizeof Initialize ScopeIndex here See ScopeInitServer Notice that you can pass just the address of LeftArmData not the individual fields The type float refers to the type of LeftArmData PosX ScopelInstallSignalWithOffset LeftArm PosX meters amp LeftArmData float offsetof ArmData t PosX 0 ScopelInstallSignalWithOffset LeftArm PosY meters amp LeftArmData float offsetof ArmData t PosY 0 ScopelInstallSignalWithOffset LeftArm Type meters amp LeftArmData uchar offsetof ArmData t Type 0 The type double refers to the type of the member Vel ScopeInstallSignalWithOffset LeftArm Vel meters amp LeftArmData double offsetof ArmData t Vel 0 while Set the data in the member LeftArmData ScopeCollectSignals
232. s invalid ScopeProbe ScopeActivateMultipleSignals 214 NAME SYNOPSIS DESCRIPTION RETURNS SEE ALSO NAME SYNOPSIS DESCRIPTION RETURNS A StethoScope API Reference ScopeDeactivateSignal ScopeDeactivateSignal ScopeDeactivateSignal deactivate a signal RTIBool ScopeDeactivateSignal const char name int scopeIndex This function will remove a signal from the list of activate signals Therefore data will not be collected for this signal during ScopeCollectSignals On success this function returns RTI TRUE indicating that the signal was deactivated On failure this function returns RTI FALSE indicating one of the following the index scopelndex is invalid or has not been initialize there is no active signal named name registered with index scopeIndex ScopeProbe ScopeActivateSignal ScopeEventsAttach ScopeEventsAttach attach an event buffer to a scope index int ScopeEventsAttach int eventBufferSize int scopeIndex This function attaches an event buffer to a scope index The eventsHandle returned by this function should be used to throw events There is a maximum limit of four event buffers that can attach to an index Throwing events into the same buffer from multiple threads is not recommended On success this function returns a non zero eventsHandle On failure it returns O if scopelndex is invalid or is not initialized
233. sececes 132 9 2 1 Displaying Signal Values in a Dump Plot Window L 132 GS Menu Bat sieeackaidano ath bim io ken ii dini p E diem ae quas 153 9831 PlotMenu Commands uude ai nint neces eiie LOO 9 3 2 View Menu Commands eene 134 Ud Taolluis qeseniqemp ed p TDI Oaa I5 9 5 Signals Bar 954 Signals Tab VIEW ici iminium l0 852 Popes DO Vie ceooosedecebapndnn i pp ii iari ossia DU 9 6 Setting Preferences for a New Dump Plot Window dU IolrodedoA cioe epp R RE PCI PIECE E 10 2 Monitor Window Tour e ERU D 143 10 21 Displaying Signal Values in a Monitor Wi 10 3 Menu Bar dA bu RTE M 143 10 3 1 Plot Menu Commands eene 143 10 32 View Mena Commands issccseccsscsscsssnscsieiatassoesvonsccareasoessvennsiarcnmavsusvenveane 244 10 4 Toolbar AUV T AUVUII 00000909090090900000099090909000909000000009990990990900000000009009909000000000009900900000000000000000000000000000000000 9 11 12 Wind River StethoScope for VxWorks User s Guide 7 8 10 5 Signals Baf e 146 185 1 Signals Tab View Gen oi rosbO nni a WNOER UG MEINTE 146 1053 Properties Tab View sociosqu au Febr q Ob pM de 147 10 6 Writing Data to the Target sccssisccacocecsiscsscsscsacosscsisnsnnonsnescssisnonsoseaonenesassnssnoansenessien 149 10 6 01 Writing Data to the Target for a Selected Signal
234. see the effects of modifying this list Plot Plug ins View The Plot Plug ins view shown in the figure below is used to specify the plug ins that control which plots are available for use in StethoScope x Colors CINE z 7 Comm Plugins Configured Plugins Plot Plugins Dump Plot piotsdl ppi j Add Plot Monitor Bemove Plot XY fopertie You will have to exit and restart StethoScope for these changes to take effect All specified Plug Ins must either be located in the same directory as Cancel StethoScope or be on your path The Configured Plug ins panel displays all the plug ins currently configured To delete a plug in first select it on this list then click Remove The buttons are Add Click this button to bring up the Open dialog box in which you can navigate to and select plug in files 40 3 StethoScope Features 3 2 File Menu Remove Click this button to remove a plug in selected in the Configured Plug ins panel Properties Opens the Properties window where you can configure the selected plug in Click Ok to apply the changes The settings take effect immediately for the current session and all subsequent sessions Click Cancel to exit the dialog box without saving your changes NOTE You must exit and restart StethoScope to see the effects of modifying this list Dump Plot View The Dump Plot view shown below allows you to change the default values used when new Dump Plo
235. splaying signal values 87 Legend tab view 94 120 maximum snap distance 97 108 122 minimum gridline spacing 97 108 122 129 138 panning 56 popup menu 52 103 preferences 41 106 138 149 previous zoom 47 53 91 117 resolution 97 108 122 123 129 138 selecting a signal 87 snap measure to signals 97 108 122 snapshots 108 129 status bar 52 strip chart 103 taking on grid measurements 56 toolbar 50 X offset 107 128 Xrange 107 129 Y offset 96 107 122 128 Yrange 107 128 Y scale 96 122 zooming 54 Plot XY Window colors 121 description 14 113 preferences 43 128 previous zoom 47 53 91 117 plots toolbar 48 popup menu deleting snapshots 161 description Legend tab view 58 description on grid 52 description on trace 57 description Signals Tree 57 Plot window general reference 103 Plot window Legend tab view 95 Plot window Signal Properties dialog box 99 Plot window Signals tab view 94 Plot XY window general reference 127 Plot XY window Legend tab view 120 Plot XY window on grid 114 Plot XY window Signal Properties dialog box 124 Index Plot XY window Signals tab view 119 to disconnect GUI from the target 64 to open Signal Installation dialog box 64 179 preferences colors 38 comm plugins 39 dump plot window 41 feature overview 36 general 37 Monitor Window 149 monitor window 42 plot plugins 40 Plot Window 106 138 149 plot window 41 Plot XY Window 43 128 scope ini file 204 Preferences dialog bo
236. ssion 186 13 Signal Installation 13 6 Process Notes 13 6 2 Hierarchical Signal Names Example 13 1 To help you organize your signals better StethoScope supports hierarchical signal names that use the slash character to separate the levels of hierarchy much like path names for files Hierarchical organization is useful for wn Grouping member variables of a class or structure Just substitute for or lt gt when entering signal names that refer to member variables Creating logical groupings among variables that are not otherwise in a common structure Just use a common directory name in their signal names Whenever StethoScope displays signal lists as a tree the tree consists of signal and directory entries such that Asignal entry corresponds to a single registered signal A directory entry indicated by a or 7 node icon contains sub entries that are signal entries or other directory entries A directory entry may be expanded or collapsed to show or hide its sub entries Examples of hierarchical signal names Robot LeftArm PosX Robot LeftArm PosY Robot RightArm PosX Robot RightArm PosY 13 6 3 Classes and Structures Example 13 2 If the named variable refers to an instance of a class structure or union StethoScope installs all its member variables grouping them under the same directory corresponding to the Signal Name field or Variable Expression field if Signal
237. static double static_ptr Initialize ScopeIndex here See ScopeInitServer ScopeRegisterSignal my_global_vari none amp global_var float ScopeIndex ScopeRegisterSignal my static varl none amp static var double ScopeIndex global_ptr static_ptr float calloc 1 sizeof global_ptr double calloc 1 sizeof static ptr ol 227 RETURNS SEE ALSO NAME SYNOPSIS DESCRIPTION Wind River StethoScope for VxWorks User s Guide 7 8 ScopeRegisterSignal my global var2 none global ptr double ScopeIndex ScopeRegisterSignal my_static_var2 none static_ptr double ScopeIndex Activate the registered signals here See ScopeActivateSignal while ScopeCollectSignals Shutdown ScopeIndex See ScopeShutdown On success this function returns RTI_TRUE indicating that the signal was registered On failure it returns RTI FALSE indicating one of the following theindex scopelndex is invalid or has not been initialized the type specified type is not recognized the parameters passed are invalid there is no more space in the signal buffer ScopeProbe ScopeActivateSignal ScopeDeactivateSignal ScopeInstallSignal ScopeRegisterSignalWithOffset ScopeRegisterSignalWithOffset ScopeRegisterSignalWithOffset register a signal with an offset RTIBool ScopeRegisterSignalWithOffset const char
238. t Check the signal names in the snapshot to view their data Since Re arm Trigger was chosen in the UNIX Linux GUL the trigger will be automatically rearmed and this will cause the above to be repeated forever Click Disable Trigger to make StethoScope stop triggering Choose some signals from the Live view again the selected signals have become the snapshot signals since they began appearing and you should be able to observe data being plotted as usual 5 5 Understanding and Preventing Overflows On the target calls to ScopeCollectSignals add data samples to the data buffer and the LinkDaemon task removes samples from the data buffer to send them to the host If the LinkDaemon task and host cannot keep up with the rate at which the data buffer is being filled an overflow will occur when the data buffer is full An overflow is more likely to occur with a small target data buffer and a large number of active signals 5 5 1 Avoiding Overflows You can help prevent buffer overflows by implementing one or both of the following Try raising the priority of the LinkDaemon task for VxWorks targets Try increasing the sample buffer size see the ScopeInitServer entry A StethoScope API Reference 73 Wind River StethoScope for VxWorks User s Guide 7 8 5 5 2 Overflow Behavior When the sample buffer on the target overflows the host is notified immediately The host then throws away all the samples in its sample buffe
239. t data display windows are created These preferences are described in detail in the Dump Plot chapter 9 6 Setting Preferences for a New Dump Plot Window p 138 Stethoscope Preferences NN NNNNRE09 4 E General Dump Plot j StethoScope Colors i Comm Plugins r Default Properties Plot Plugins Dump Plot Resolution secs Plot Monitor History Limit pom 000 Plot XY Lines Display Accuracy Gigits Plot View The Plot view shown in the figure below allows you to change the default values used when new Plot data display windows are created These preferences are 41 Wind River StethoScope for VxWorks User s Guide 7 8 described in detail in the Plot chapter 7 10 Setting Preferences for a New Plot Window p 106 StethoScope Preferences Monitor View The Monitor view shown in the figure below allows you to change the default values used when new Monitor data display windows are created These preferences are described in detail in the Monitor chapter 10 7 Setting Preferences for a New Monitor Window p 149 StethoScope Preferences General Colors Comm Plugins Plot Plugins Dump Plot 42 3 StethoScope Features 3 2 File Menu Plot XY View The Plot XY view shown below allows you to change the default values used when new Plot XY data display windows are created These preferences are described in detail in the Plot XY chapter 8 9 Se
240. t for protection domain testing 5 4a 17jun00 vwc Better cleanup of memory by doing semDelete than Also use flag to cause main task to terminate rather taskDelete 5 4a 12jun00 vwc Add hook routine to be run in sample loop Install Scope s debug signals by default 5 3c 30mar00 vwc Added param to ScopeDemo to set data buf sz 5 3a 09jun99 1af Changed buffer sizes we have 17 variables not 16 don t need quite as much memory for either buffer If ScopeInitServer fails usually due to lack of target memory don t spawm the other tasks 1a 260ct98 nm 1a 160ct98 nm 1a 12aug98 nm RTI 20dec92 sas RTI 25nov92 sas RTI 06may92 sas Made RTI 03apr92 sas RTI 07nov91 sas RTI 01sep89 sas Ul Ul Ul U1 U1 U1 238 1f 17may99 1af Double data buffer size le 15apr99 sda 1e 02apr99 1laf Changed ordering of statements in Shutdown to safer Provide Shutdown functionality to clean up ScopeInitServer now takes two buffer sizes Set WtxOverride to 1 not to true Updated for scope 5 1 release Added Scopelndex Removed support for VxWorks 4 x Ported to VxWorks 5 1 Added rebootHookAdd to insure reboot success VxWorks 5 0 the default Converted to mangen format Added plant simulation written B StethoScope Demonstration B 2 Source code Example vxdemo c DESCRIPTION This file contains code to start a simple synchronous sampler and install and de install a few demo signals It also contains a simple d
241. t the sample divisor for sub sampling int ScopeSampleDivisorSet int newSampleDivisor int scopeIndex This function sets the sample divisor for this index From then on ScopeCollectSignals will succeed only once in newSampleDivisor number of times it is invoked On success this function returns the old sample divisor On failure this function returns 0 indicating one of the following scopelndex is invalid or is not initialized n newSampleDivisor is invalid Range 1 10 000 ScopeProbe ScopeCollectSignals ScopeInitServer ScopeShowActiveSignals ScopeShowActiveSignals print all signals that are being collected void ScopeShowActiveSignals int scopeIndex 231 DESCRIPTION SEE ALSO NAME SYNOPSIS DESCRIPTION SEE ALSO NAME SYNOPSIS DESCRIPTION RETURNS SEE ALSO Wind River StethoScope for VxWorks User s Guide 7 8 This function prints a formatted list of all currently installed signals to the standard output The current signal value is also printed ScopeProbe ScopelInstallSignal ScopeInstallSignalWithOffset ScopeRegisterSignal ScopeRegisterSignalWithOffset ScopeShowsSignals ScopeShowSignals print all registered signals void ScopeShowSignals int scopeIndex This function prints a formatted list of all currently registered signals to the standard output The current signal value is also printed ScopeProbe ScopelIns
242. tallSignal ScopeInstallSignalWithOffset ScopeRegisterSignal ScopeRegisterSignalWithOffset ScopeShutdown ScopeShutdown shuts down a scope index RTIBool ScopeShutdown int scopeIndex This function shuts down the scope index scopelndex Event buffers if any associated with this index are also shutdown On success this function returns RTI TRUE On failure this function returns RTI FALSE if scopelndex is invalid or not initialized ScopeProbe ScopelnitServer ScopeInitServerEx ScopeEventsAttach ScopeEventsDetach 232 NAME SYNOPSIS DESCRIPTION A StethoScope API Reference Scope TriggerSet ScopeTriggerSet ScopeTriggerSet set the triggering parameters RTIBool ScopeTriggerSet ScopeTriggerInfoPtr pTriggerStart ScopeTriggerInfoPtr pTriggerStop RTIBool triggerRearm int scopeIndex This function sets up a trigger Triggering is a way to control when and for how long periodic data collected using ScopeCollectSignals is collected A trigger consists of a start condition and a stop condition After the trigger is armed using ScopeTriggerSet all calls to ScopeCollectSignals will return without collecting data Data collection will resume only after the specified start condition is met The start condition can be based on a signal or an event or a trigger can be set with no start condition trigger immediately option The stop condit
243. target Buttons The following buttons are available Hide Dialog Closes the dialog box and disarms any triggers you have set Reset Dialog Reverts all trigger settings to their default values Arm Trigger Sets the selected trigger to fire the next time the trigger s specified start conditions are met Disable Trigger Stops the trigger from firing when its start conditions are met but still maintaining those start conditions so it can be set again later 5 3 1 Target The Target field is a drop down menu displaying a list of target names and index numbers attached to the StethoScope GUI Select the target on which you want to configure triggering 67 Wind River StethoScope for VxWorks User s Guide 7 8 5 3 2 Start Condition These are the settings that start the trigger The trigger is fired and data collection begins when the trigger conditions you specified in the Start Condition panel are met Data collection stops when the trigger conditions you specified in the Stop Condition panel are met For both Start and Stop Condition panels the following triggering parameters can be set Source Choose the signal or event to be the initial trigger source The following choices are listed in the dialog box Trigger on a signal Specifies the source to be a periodically sampled signal Trigger on an event Specifies the source to be an event Trigger immediately This will cause triggering to start imme
244. tart StethoScope When selected the position of your StethoScope toolbars and window panels will be saved for use the next time you start StethoScope If you have docked your toolbars and rearranged window panels and want StethoScope to use the new positions the next time you start up select this feature This makes it easy for you to pick up where you left off when you start a new session all your windows will be restored Save restore toolbar positions When selected the default values entered in the Preference dialog box for the Plot View Plot View p 41 and Plot XY View Plot XY View p 43 for those open plot windows will be saved and restored Writeback Don t ask before writeback When selected a warning message normally displayed each time a value is written is not displayed in the GUI Click OK to apply changes The settings take affect immediately for the current session and all subsequent sessions until changed again Or click Cancel to exit the dialog box without saving your changes The Colors view shown below allows you to control the trace line color settings only for the Plot and Plot XY windows as described in Chapters 7 The Plot Window and 8 The Plot XY Window respectively Color Preferences take effect as soon as you click OK 38 StethoScope Preferences xi El General Colors Comm Plugins Plot Plugins Dump Plot Plot Monitor Plot XY 3 StethoScope Features Colors I
245. the next available plot color You can select a different color using the Signal Properties dialog box see 7 6 Signal Properties Dialog Box p 98 or the Preferences dialog box see Colors View p 38 The Legend tab view will be updated to include the selected signal The Legend shows you what color is being used for each selected signal You can also use the Legend to select and clear signals 7 5 2 Legend Tab View p 94 describes the Legend tab view When you right click anywhere in the plot area the On grid pop up menu shown in the figure above opens with several options pertaining specifically to the plot area These additional options are described in detail in 7 7 Pop up Menus p 103 Most of the remaining functionality in the Plot window is provided through the toolbars and menus For common Plot window feature descriptions refer to the following sections for more information File Menu Section 3 2 Toolbars Section 3 4 Pop up Menus Section 3 6 7 3 Menu Bar Some of the Menu Bar items are discussed in detail in 3 2 File Menu p 26 where it is mentioned that the File Window and Help menu items are consistently the same across all data display windows For the Plot window however the Plot and View menu items contain some commands that are unique to the Plot window 87 Wind River StethoScope for VxWorks User s Guide 7 8 Even though partially redundant these menu items are described in detail in the
246. the overhead of using a printf statement The values collected in the events buffer are periodically transmitted to the host by the LinkDaemon task running on the target A verbosity level in the range of 1 to 32 can be assigned to each event that is thrown This allows you to assign different verbosity levels to the messages or variable values coming from different modules and by using events masks have control over which ones are collected Event masks can be set using the ScopeEventsMaskSet routine 201 Wind River StethoScope for VxWorks User s Guide 7 8 When the task is finished it should call ScopeEventsDetach to detach the events buffer from the scopeIndex If the scopeIndex is shut down all event buffers associated with it will be freed Example 14 6 Include StethoScope Events API in Source Code include scope scope h define EventLevel1 0x00000001 define EventLevel2 0x00000002 define EventLevel3 0x00000003 define EventLevel30 0x20000000 define EventLevel31 0x50000000 define EventLevel32 0x80000000 void ThrowEvents int scopeIndex int eventsHandle 0 int eventsMask 0 double pi 3 14159 int level 0 Initialize scopeIndex by calling ScopeInitServer here No need to do above if scopeIndex is already initialized Attach an event buffer if eventsHandle ScopeEventsAttach 1 scopeIndex 0 printf Error attaching event buffer to d n
247. then click Edit from the pop up menu to open the Annotation Edit dialog box Deleting a Specific Annotation Drag the annotation off the grid area Right click the annotation then select Delete from the On Grid pop up menu 55 Wind River StethoScope for VxWorks User s Guide 7 8 Panning Panning provides an easy way to change the offset of a plot by allowing you to move the plot directly from within the display window This is useful especially when you have zoomed in and you want to see an adjacent region After zooming in you can pan in the X and Y directions When not zoomed in you can only pan in the Y direction since the entire X range is already in view Panning the View Region Click and drag the left mouse button to move the viewing region Usethe scroll bars Taking and Removing On grid Measurements You can create a line on the grid that measures the distance between any two points As you move the mouse pointer over the plot area the coordinates of the mouse pointer are displayed in the rightmost panel of the status bar at the bottom of the window Measuring Offsets Between Any Two Points on the Plot 1 Press and hold the Ctrl key 2 Place the mouse pointer at the first location on the grid 3 Left click and drag the mouse pointer to the second location 4 Release the mouse button and the Ctrl key This creates a line between the two points and displays the difference between the two points as an
248. tic Calculate a set of simple wave signals paying absolutely no attention to efficiency void SineWaves float t register int i static int squareCount SQUARECOUNT register float wt t Omega float sint cost if squareCount lt 0 squareCount SQUARECOUNT square 1 0 square singroup gt sint sin wt singroup gt cost cos wt singroup gt sin2t sin 2 wt singroup gt sin3t sin 3 wt for i 0 i lt NumberOfPhases i phases i sin wt PHASESHIFT i sint singroup gt sint cost singroup gt cost Throw an event for when Sin and Cos are calculated if singroup gt sint gt 0 1 amp amp singroup gt sint lt 0 2 ScopeEventsCollect ScopeHandle 1 Sine 0 1 0 2 void amp sint RTI FLOAT32ID if singroup gt cost gt 0 5 amp amp singroup gt cost lt 0 6 ScopeEventsCollect ScopeHandle 1 Cosine 0 5 0 6 void amp cost RTI FLOAT32ID static Return a uniform random variable between a and b float Noise float a float b float result result float rand RAND MAX 0 5 return result b a a b 2 241 Wind River StethoScope for VxWorks User s Guide 7 8 static This plant is an Euler double integrator void Plant float t Vel Acc Dt Vel Noise NoiseMag NoiseMag Pos Vel Dt static void Control float t stati
249. tine generates the signals and does the sampling It attaches a semaphore to the Aux clock iff useAuxClock is non zero int 244 ScopeDemoSampler int requestedSR int useAuxClock int noCollection int nTicksBwSamples 0 float actualSR if useAuxClock SampleSemaphore semBCreate SEM Q PRIORITY SEM EMPTY H Connect the timer to the auxillary clock interrupt if useAuxClock amp amp sysAuxClkConnect ScopeDemoTimerInterrupt 0 OK sysAuxClkEnable sysAuxClkRateSet requestedSR hardware may not be exact actualSR sysAuxClkRateGet else actualSR sysClkRateGet if actualSR lt requestedSR Requested rate requestedSR is higher than maximum achievable rate Xi nTicksBwSamples 1 else nTicksBwSamples actualSR requestedSR actualSR requestedSR Tell scope the actual sample rate hardware may not be exact ScopeChangeSampleRateInt int actualSR ScopeIndex if actualSR requestedSR gt 1 1 actualSR requestedSR lt 0 9 printf ScopeDemo requested rate f Hz not n achievable actual sampling rate is f Hz n float requestedSR actualSR Dt 1 actualSR while ScopeDemoShutdownRequest if useAuxClock semTake SampleSemaphore WAIT_FOREVER else taskDelay nTicksBwSamples H Time Dt Sample Time noCollection B StethoScope Demonstration B 2 Source code Example
250. tion ScopeProbe ScopeEventsCollect ScopeEventsAttach ScopeEventsMaskSet 218 NAME SYNOPSIS DESCRIPTION RETURNS SEE ALSO NAME SYNOPSIS DESCRIPTION A StethoScope API Reference ScopelnitServer ScopelnitServer ScopelnitServer initialize a scope index int ScopeInitServer int sampleBufferSize int signalBufferSize int debugLevel int scopeIndex Calls ScopelInitServerEx with default priorities for scopeprobe and scopelink daemon threads Refer to ScopelInitServerEx for details On success this function returns the initialized scope index On failure this function returns a negative number if E scopelIndex is out o f range all indices are occupied memory allocation failed it failed to create daemon threads which will happen if the threads failed to bind to TCP ports or if the priorities specified are not valid on the target operating system ScopeProbe Scopel nitServerEx ScopelnitServerEx ScopelnitServerEx initialize a scope index int ScopeInitServer Ex int sampleBufferSize int signalBufferSize int debugLevel int probeDaemonPriority int linkDaemonPriority int scopeIndex Initializes the scope index scopeIndex If scopeIndex is 1 then this function initializes the next uninitialized scope index This should be called once for each index on VxWorks normally at boot time
251. tive signals even though only selected signals appear on the plot the snapshot buffer also includes all active signals When you take a snapshot all of the live data received is copied into a temporary snapshot buffer No event data other than the event identifiers collected is stored What happens next depends on the Take Snapshot settings in the Plot Preferences panel of the Preferences dialog box see 7 10 Setting Preferences for a New Plot Window p 106 but the following describes the default behavior In the Signals Tree the Live buffer becomes deselected and the snapshot is added at the bottom of the Signals Tree and selected see the figure below The plot grid area will switch from displaying the Live buffer to displaying the newly saved snapshot While the Live buffer is no longer selected in the Signals Tree real time data is still being collected in the Live buffer 152 The snapshot is inserted at a bottom of the Signals Tree and when it is selected the Live buffer is un selected 11 Working with Snapshots 11 3 Saving Snapshots Ex Stethoscope Piot 1 EE Be eit yew wndom te JU Rd som 3 S osom diajn m Ea A gt gt CH NM M J i When the snapshot is first displayed on the grid it uses the same set of selected signals that you were viewing in real time However all active signals are stored in the snapshot so you can select them in the same manner used for se
252. to the type of the member Vel T ScopeRegisterSignalWithOffset LeftArm Vel meters s amp LeftArmData double offsetof ArmData t Vel 0 Add user code and ScopeCollectSignals 14 4 5 Installing Signals StethoScope provides convenience functions ScopeInstallSignal and ScopeInstallSignalWithOffset that register and activate a signal in one step 195 Wind River StethoScope for VxWorks User s Guide 7 8 Example 14 4 Installing elements of an array include scope scope h static float yhat 17 ScopeInstallSignal EstimatorElbowAngle radians amp yhat 2 float 0 ScopeInstallSignal EstimatorElbowRate rad sec amp yhat 3 float 0 Example 14 5 Member Variable Installation include scope scope h typedef struct int packetsize double desiredSwitchValue SwitchType SwitchType inputSw inputSw SwitchType malloc sizeof SwitchType ScopeInstallSignal InputPacketSize points amp inputSw packetsize int 0 ScopeInstallSignal InputDesiredSwitchValue gleebs amp inputSw desiredSwitchValue double 0 14 4 6 Deactivating and Removing Signals You can deactivate and remove signals using the functions ScopeDeactivateSignal Deactivates a signal preventing it from being sampled during ScopeCollectSignals calls ScopeDeactivateMultipleSignals Deactivates signals that match the specified pattern preventing them from being sampl
253. tting Preferences for a New Plot XY Window p 128 x Colors Comm Plugins r Default Plot Properties Take Snapshot OPERE Plot Plugins S Dump Plot vans V Select curently selected signals Plot YScale 3 Use same colors Marior Unselect live signal ignals Plot XY X Offset 15 XScale Resolution ir samples Display Accuracy 4 digits Minimum Gridline Spacing Marinum Srap Distance Cancel IV Snap measures to signals 3 2 13 Close Window Closes only the current window Any remaining open StethoScope windows are unaffected except that if this is the only remaining open window StethoScope will exit 3 2 14 Exit StethoScope Quits the StethoScope GUI but does not stop target daemons All StethoScope windows are closed 43 Wind River StethoScope for VxWorks User s Guide 7 8 3 3 Other Menus The secondary features and remaining functionality in StethoScope s GUI is accessed through the remaining Menu Bar items They are listed and briefly described in the following sub sections but are referenced to and described in detail in the various data display window sections where they are applicable The remaining menu items are Plot View Window Help 3 3 1 Plot Menu The Plot menu shown below contains commands for working with the plots in the Plot 7 The Plot Window and Plot XY 8 The Plot XY Window windows File Plot View Wind
254. tus of the StethoScope trigger 5 3 4 Stop Condition Triggering is disabled when the trigger StopConditions you specify here are met Note that data collection continues even after triggering is disabled unless the trigger is rearmed The following trigger stop parameters can be set Source This parameter specifies the specific kind of triggering source for the Stop Condition It can be one of the following Trigger on a signal Specifies the source to be a periodically sampled signal Trigger on an event Specifies the source to be an event Trigger after set time period This will cause triggering to terminate after the number of seconds specified in the Secs text field has elapsed 69 Wind River StethoScope for VxWorks User s Guide 7 8 Signal If you selected Trigger on a signal any non derived signal may be used as the trigger stop source This excludes deactivated signals those not being collected and displayed by StethoScope Choose a signal from the drop down list If you selected Trigger on an event type in the eventID Level or Secs This field label changes to Secs if you selected you selected Trigger after set time period in Source above otherwise the label is Level If Level enter the signal value which should stop the trigger If Secs enter the the number of seconds of triggering after which you want triggering to stop Slope Specify the slope for the trigger applies only if you selected Tri
255. ty level of this event is turned off The verbosity mask can be set using ScopeEventsMaskSet 216 SEE ALSO NAME SYNOPSIS DESCRIPTION RETURNS SEE ALSO NAME SYNOPSIS DESCRIPTION A StethoScope API Reference ScopeEventsDetach NOTE Calling this function from multiple threads with the same eventsHandle is not recommended Therefore use a separate eventsHandle returned by ScopeEventsAttach for each thread which calls this function ScopeProbe ScopeEventsMessage ScopeEventsAttach ScopeEventsMaskSet ScopeEventsDetach ScopeEventsDetach detach an event buffer from a scope index RTIBool ScopeEventsDetach int eventsHandle eventsHandle is the handle returned by ScopeEventsAttach This function detaches an event buffer from an index On success this function returns RTI TRUE On failure it returns RTI FALSE if n eventsHandle is invalid ScopeProbe ScopelnitServer ScopeEventsAttach ScopeEventsMaskSet ScopeEventsMaskSet set the events verbosity mask RTIBool ScopeEventsMaskSet int eventsMask int scopeIndex StethoScope Events API allows for 32 levels of verbosity This function sets the mask for the specified scope index Each bit in mask corresponds to one verbosity level Setting the mask to 0x00000001 turns off all levels except level 1 messages The mask can be set anytime 217 RETURNS SEE ALSO NAME SYNOP
256. veMultipleSignals const char namePrefix int scopeIndex This function removes a set of installed signals that have namePrefix as prefix If namePrefix is all signals will be removed On success returns the number of signals removed On failure this function returns 0 indicating one of the following namePrefix is NULL thereis no signal named with prefix namePrefix registered with index scopeIndex the index scopelndex is out of range or if index is not initialized ScopeProbe ScopeRemoveSignal ScopeRemoveSignal ScopeRemoveSignal remove a signal RTIBool ScopeRemoveSignal const char name int scopeIndex 230 DESCRIPTION RETURNS SEE ALSO NAME SYNOPSIS DESCRIPTION RETURNS SEE ALSO NAME SYNOPSIS A StethoScope API Reference ScopeSampleDivisorSet This function deactivates and unregisters a signal This will invalidate any partially filled collection buffer After this call users can not activate this signal On success this function returns RTI TRUE indicating that the installed signal was removed On failure it returns RTI FALSE indicating one of the following the index scopelndex is invalid or has not been initialized there is no signal named name registered with index scopeIndex ScopeProbe ScopelInstallSignal ScopeInstallSignalWithOffset ScopeRegisterSignal ScopeSampleDivisorSet ScopeSampleDivisorSet se
257. very nth point to be plotted Thus if 1000 points are being collected and the Resolution is 5 then 200 points will be displayed Of course you may not want to reduce resolution if your data can contain glitches or high frequency phenomena default 1 Grid Spacing Specifies the minimum distance in pixels allowed between the grid lines Increasing this number decreases the number of grid lines decreasing this number increases the number of grid lines Enter a value between 5 and 500 default 100 Snap measures to signals Controls whether or not measures are snapped to the signal lines on the grid Measures are described in Taking and Removing On grid Measurements p 56 default True Maximum snap distance Controls how far away in pixels you can start a measure and still have it snap to the plot line Measures are described in Taking and Removing On grid Measurements p 56 default 20 Background image Allows you to specify special images to be displayed in the graphing area with the graph itself superimposed on top default none Mini dump window Dump resolution Controls how often to refresh the values in the Mini Dump window in seconds default 1 000000 Dump history limit Controls how many lines of historical data to maintain in the Mini Dump window 0 display all default 1000 Mini monitor window 97 Wind River StethoScope for VxWorks User s Guide 7 8 Monitor resolution Controls how
258. vxdemo c H ScopeDemoShutdownInternal return 0 H ARGUMENTS If useAuxClock is TRUE use the Aux clock Otherwise or if there is no Aux clock use taskDelay scopeIndex is the StethoScope index to use It must be coordinated with the GUI verbosity controls the amount of warning and debug messages 0 means only errors will be printed Higher values causes more output If reqDataBufSize is non zero use that value rather then the default 51k If noServer is true then this demo will not start a Scope Server Assumes one is already started If noCollection is non zero then this demo will not call ScopeCollectSignals since it is assumed that another process is collecting void ScopeDemo int useAuxClock int scopeIndex int verbosity int reqDataBufSize int noServer int noCollection int samplingRate 60 Hz int dataBufSize signalBufSize eventBufSize Initialize if Scopelndex gt 0 return if reqDataBufSize 0 dataBufSize 17 8 384 51k data buffer ints floats else dataBufSize reqDataBufSize signalBufSize 40960 eventBufSize 1 if noServer 0 Initialize an index ScopeIndex ScopeInitServer dataBufSize signalBufSize verbosity scopeIndex if ScopeIndex lt 0 printf ScopeInitServer failed return code d n ScopeIndex return 245 Wind River StethoScope for VxWorks User s Guide 7 8 Attach an event bu
259. x 36 49 87 107 114 preventing overflows 69 73 previous zoom in Plot Windows 47 53 91 117 in Plot XY Windows 47 53 91 117 Print dialog box 88 115 Probe Daemon task description 5 processampler 185 Properties tab 16 R registering signals 192 registration examples 193 examples with offset 195 removing markers 54 removing multiple signals 196 removing signals 196 resolution Dump Plot Windows 139 Monitor Windows 150 Plot Windows 97 108 122 123 129 138 routines defined 259 StethoScope API library overview 190 triggering 200 265 User s Guide 7 8 RTIHOME 11 RTP defined 259 running demonstration target program 18 StethoScope 9 running with a VxWorks target targets VxWorks 163 S sampling asynchronous signals 197 downsampling 69 73 functions 200 rate 199 ScopeChangeSampleRate 199 signals 197 synchronous signals 199 Save Config dialog box 29 save ssc 11 saving configuration files 28 snapshots 27 scope index 20 and event buffers 191 described 190 example code 193 Legend tab view 94 120 limits 192 Signal Manager window 64 triggering example 72 scope ini file 204 ScopeActivateMultipleSignal 197 ScopeActivateSignal 192 194 197 ScopeChangeSampleRate 69 73 199 ScopeCollectSignals 69 73 74 174 193 196 197 198 199 ScopeDeactivateMultipleSignals 197 ScopeDeactivateSignal 196 197 scopeIndex 209 ScopelnitServer 174 ScopelnstallArray 197 266 Wind River StethoScope
260. y used by a signal is reclaimed when the signal is removed making it available for additional signals The information stored for a signal takes up 36 bytes plus the number of bytes it takes to store the signal name and units including the terminating null characters Note that a signal registered twice under different scope indices counts as two registered signals Event buffers These are optional buffers that can be attached to an initialized scope index by calling ScopeEventsAttach The event collection APIs ScopeEventsCollect and ScopeEventMessage use these buffers to throw events There can bea maximum of four event buffers per scope index Since the event collection APIs are not reentrant we recommend that each task that throws events use a separate buffer for event collection The above would obviate the need for mutual exclusion among tasks that employ events 14 4 Registering and Activating Signals A StethoScope signal can be any variable in your code of any basic data type such as float double unsigned int or a pointer to any basic type Refer to Table 14 1 for a complete list of types and abbreviations 191 Wind River StethoScope for VxWorks User s Guide 7 8 Table 14 1 Acceptable Data Types unsigned char uchar char unsigned short ushort short unsigned int uint int unsigned long ulong long float double NOTE StethoScope supports both the short form and the long form for unsigned types for example ui

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