About Andrefs

I have the following code to read rt memory from ethercat at each 2ms.   switch (event_type) { case common::scheduler::SchedEventType::SCHED_EVENT_TICK: // Call real-time method here if (m_finalStateMachineState == FinalStateMachineState::SCHED_OPERATING) { runSharedMemUser(); } return common::scheduler::SchedEventResponse::SCHED_EVENT_RESP_OKAY; (...) (...) (...) void Callable::runSharedMemUser() { comm::datalayer::DlResult result; // // ----------------------- Write flatbuffer Output memory ----------------------- result = outputMemUser->beginAccess(inData, revisionOut); if (result == comm::datalayer::DlResult::DL_RT_NOTOPEN) { outputMemUser->endAccess(); return; } if (STATUS_FAILED(result)) { TRACE_ERR("ERROR Accessing output memory failed with: %s", result.toString()); return; } size_t size = 0; if (comm::datalayer::STATUS_FAILED(outputMemUser->getSize(size))) { TRACE_ERR("WARNING Can't read output memory size"); return; } else { if (isFirstRun1) { outDataRead = new uint8_t[size]; memcpy(outDataRead, inData, size); isFirstRun1 = false; }else{ delete[] outDataRead; outDataRead = new uint8_t[size]; memcpy(outDataRead, inData, size); } } outputMemUser->endAccess(); // ----------------------- Write flatbuffer Input memory ----------------------- result = inputMemUser->beginAccess(inData, revisionIn); if (result == comm::datalayer::DlResult::DL_RT_NOTOPEN) { inputMemUser->endAccess(); return; } if (STATUS_FAILED(result)) { TRACE_ERR("ERROR Accessing input memory failed with: %s", result.toString()); return; } size = 0; if (comm::datalayer::STATUS_FAILED(inputMemUser->getSize(size))) { TRACE_ERR("WARNING Can't read input memory size"); return; } else { if (isFirstRun2) { inDataRead = new uint8_t[size]; memcpy(inDataRead, inData, size); isFirstRun2 = false; }else{ delete[] inDataRead; inDataRead = new uint8_t[size]; memcpy(inDataRead, inData, size); } } inputMemUser->endAccess(); TRACE_INFO("runSharedMemUser"); }   The average running time is good, but sometimes it takes more than 2ms and I have a scheduler error. Can someone give me some help to try to solve this?   ... View more