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• Further Dreamcast Hacking

  3 février 2011, par Multimedia Mike — Sega Dreamcast

  I’m still haunted by Sega Dreamcast programming, specifically the fact that I used to be able to execute custom programs on the thing (roughly 8-10 years ago) and now I cannot. I’m going to compose a post to describe my current adventures on this front. There are 3 approaches I have been using : Raw, Kallistios, and the almighty Linux.

  
  

  Raw
  What I refer to as "raw" is an assortment of programs that lived in a small number of source files (sometimes just one ASM file) and could be compiled with the most basic SH-4 toolchain. The advantage here is that there aren’t many moving parts and not many things that can possibly go wrong, so it provides a good functional baseline.

  One of the original Dreamcast hackers was Marcus Comstedt, who still has his original DC material hosted at the reasonably easy-to-remember URL mc.pp.se/dc. I can get some of these simple demos to work, but not others.

  I also successfully assembled and ran a pair of 256-byte (!!) demos from this old DC scene page.

  KallistiOS
  KallistiOS (or just KOS) was a real-time OS developed for the DC and was popular among the DC homebrew community. All the programming I did back in the day was based around KOS. Now I can’t get any of it to work. More specifically, KOS can’t seem to make it past a certain point in its system initialization.

  The Linux Option
  I was never that excited about running Linux on my Dreamcast. For some hackers, running Linux on a given piece of consumer electronics is the highest attainable goal. Back in the day, I looked at it from a much more pragmatic perspective— I didn’t see much use in running Linux on the DC, not as much as running KOS which was developed to be a much more appropriate fit.

  However, I was able to burn a CD-R of an old binary image of Linux 2.4.5 compiled for the Dreamcast and boot it some months ago. So I at least have a feeling that this should work. I have never cross-compiled a kernel of my own (though I have compiled many, many x86 kernels in my time, so I’m not a total n00b in this regard). I figured this might be a good time to start.

  The first item that worries me is getting a functional cross-compiling toolchain. Fortunately, a little digging in the Linux kernel documentation pointed me in the direction of a bunch of ready-made toolchains hosted at kernel.org. So I grabbed one of the SH toolchains (gcc-4.3.3-nolibc) and got rolling.

  I’m well familiar with the cycle of 'make menuconfig' in order to pick configuration options, and then 'make' to build a kernel (or usually 'make zImage' or 'make bzImage' to create compressed images). For cross compiling, the primary difference seems to be editing the root Makefile in the Linux source code tree (I’m using 2.6.37, the latest stable as of this writing) and setting a value for the CROSS_COMPILE variable. Then, run 'make menuconfig' followed by 'make' as normal.

  The Linux 2.6 series is supposed to support a range of Renesas (formerly Hitachi) SH processors and board configurations. This includes reasonable defaults for the Sega Dreamcast hardware. I got it all compiling except for a series of .S files. Linus Torvalds once helped me debug a program I work on so I thought I’d see if there was something I could help debug here.

  The first issue was with ASM statements of a form similar to :

  mov #0xffffffe0, r1
  

  Now, the DC’s SH-4 is a RISC CPU. A lot of RISC architectures adopt a fixed instruction size of 32 bits. You can’t encode an entire 32-bit immediate value inside of a 32-bit instruction (there would be no room for the instruction encoding). Further, the SH series encoded instructions with a mere 16 bits. The move immediate data instruction only allows for an 8-bit, sign-extended value.

  I decided that the above statement is equivalent to :

  mov #-32, r1
  

  I’ll give this statement the benefit of the doubt that it used to work with the gcc toolchain somewhere along the line. I assume that the assembler is supposed to know enough to substitute the first form with the second.

  The next problem is that an ’sti’ instruction shows up in a number of spots. Using Intel x86 conventions, this is a "set interrupt flag" instruction (I remember that the 6502 CPU had the same instruction mnemonic, though its interrupt flag’s operation was opposite that of the x86). The SH-4 reference manual lists no ’sti’ instruction. When it gets to these lines, the assembler complains about immediate move instructions with too large data, like the instructions above. I’m guessing they must be macro’d to something else but I failed to find where. I commented out those lines for the time being. Probably not that smart, but I want to keep this moving for now.

  So I got the code to compile into a kernel file called ’vmlinux’. I’ve seen this file many times before but never thought about how to get it to run directly. The process has usually been to compress it and send it over to lilo or grub for loading, as that is the job of the bootloader. I have never even wondered what format the vmlinux file takes until now. It seems that ’vmlinux’ is just a plain old ELF file :

  $ file vmlinux
  vmlinux : ELF 32-bit LSB executable, Renesas SH,
  version 1 (SYSV), statically linked, not stripped
  

  The ’dc-tool’ program that uploads executables to the waiting bootloader on the Dreamcast is perfectly cool accepting ELF files (and S-record files, and raw binary files). After a very lengthy upload process, execution fails (resets the system).

  For the sake of comparison, I dusted off that Linux 2.4.5 bootable Dreamcast CD-ROM and directly uploaded the vmlinux file from that disc. That works just fine (until it’s time to go to the next loading phase, i.e., finding a filesystem). Possible issues here could include the commented ’sti’ instructions (could be that they aren’t just decoration). I’m also trying to understand the memory organization— perhaps the bootloader wants the ELF to be based at a different address. Or maybe the kernel and the bootloader don’t like each other in the first place— in this case, I need to study the bootable Linux CD-ROM to see how it’s done.

  Optimism
  Even though I’m meeting with rather marginal success, this is tremendously educational. I greatly enjoy these exercises if only for the deeper understanding they bring for the lowest-level system details.

• RoQ on Dreamcast

  18 mars 2011, par Multimedia Mike — Sega Dreamcast

  I have been working on that challenge to play back video on the Sega Dreamcast. To review, I asserted that the RoQ format would be a good fit for the Sega Dreamcast hardware. The goal was to play 640x480 video at 30 frames/second. Short version : I have determined that it is possible to decode such video in real time. However, I ran into certain data rate caveats.

  First off : Have you ever wondered if the Dreamcast can read an 80mm optical disc ? It can ! I discovered this when I only had 60 MB of RoQ samples to burn on a disc and a spindle full of these 210MB-capacity 80mm CD-Rs that I never have occasion to use.

  
  
  

  New RoQ Library
  There are open source RoQ decoders out there but I decided to write a new one. A few reasons : 1) RoQ is so simple that I didn’t think it would take too long ; 2) it would be nice to have a RoQ library that is license-compatible (BSD-like) with the rest of the KallistiOS distribution ; 3) the idroq.tar.gz distribution, while license-compatible, has enough issues that I didn’t want to correct it.

  Thankfully, I was correct about the task not being too difficult : I put together a new RoQ decoder in short order. I’m a bit embarrassed to admit that the part I had the most trouble with was properly converting YUV -> RGB.
  
  About the approach I took : While the original idroq.tar.gz decoder maintains YUV 4:2:0 codebooks (which led to chroma bugs during motion compensation) and FFmpeg’s decoder maintains YUV 4:4:4 codebooks, this decoder is built to convert the YUV 4:2:0 vectors into RGB565 vectors during the vector unpacking phase. Thus, the entire frame is rendered in RGB565 — no lengthy YUV -> RGB conversion after decoding — and all pixels are shuffled around as 16-bit units (minor speedup vs. shuffling everything as bytes).

  I also entertained the idea of maintaining YUYV codebooks (since the DC supports that colorspace as a texture format). But I scrapped that idea when I remembered it would lead to the same chroma bleeding problem seen in the original idroq.tar.gz decoder.

  Onto The Dreamcast
  I developed the library on a Linux computer, allowing it to output a series of PNM files for visual verification and debugging. Dropping it into a basic DC/KOS-compatible program was trivial and the first order of business was profiling.

  At first, I profiled the entire decode operation : open file, then read and decode each chunk while tossing away the results. I was roundly disappointed to see that, e.g., an 8.5-second RoQ sample needed a little more than 20 seconds to complete. Not real time. I performed a series of optimizations on the decoding library that netted notable performance gains when profiling on Linux. When I brought these same optimizations over to the DC, decoding time didn’t improve at all. This was my first suspicion that perhaps my assumptions regarding the DC’s optical drive’s data rate were not correct.

  Dreamcast Data Rate Profiling
  Let’s start with some definitions : In terms of data rate, an ’X’, i.e., 1X is the minimum data rate needed to read CD quality audio from a disc. At that speed, a drive should be able to stream 75 sectors each second. When reading mode 1/form 1 CD-ROM data, each sector has 2048 bytes (2 kbytes), so a single-speed data rate should achieve 150 kbytes/sec.

  The Dreamcast is supposed to possess a 12X optical drive. This would imply a maximum data rate of 150 kbytes/sec * 12 = 1800 kbytes/sec.

  Rigging up a trivial experiment using the RoQ samples burned on a few different CD-R discs, the best data rate I can see is about 500-525 kbytes/sec, or around 3.5X.

  Where’s the discrepancy ? My first theory has to do with the fact that not all optical media is created equal. This is why optical drives often advertise a slew of numbers which refer to the best theoretical speed for reading a CD vs. writing a CD-R vs. writing a CD-RW, etc. Perhaps the DC drive can’t read CD-Rs very quickly. To test this theory, I tried streaming a large file from a conventionally mastered CD-ROM. This worked well for the closest CD-ROM I had on hand : I was able to stream data at a rate that works out to about 6.5X.

  I smell a science project for another evening : Profiling read speeds from a mastered CD-ROM, burned CD-R, and also a mastered GD-ROM, on each of the 3 Dreamcast consoles I possess (I’ve heard that there’s variance between optical drives depending on manufacturing run).

  The Good News
  I added a little finer-grained code to profile just the video decoding functions. The good news is that the decoder meets my real time goals : That 8.5-second RoQ sample encoded at 640x480x30fps makes its way through the video decoding functions on the DC in a little less than 5 seconds. If the optical drive can supply the data fast enough, the video decoder can take care of the rest.

  The RoQ encoder included with FFmpeg does not honor any bitrate parameters. Instead, I encoded the same file at 320x240. It reportedly decoded in real time and can be streamed in real time as well.

  I say "reportedly" because I’m simply working from textual output at this point ; the next phase is to hook the decoder up to the display hardware.

• Our latest improvement to QA : Screenshot Testing

  2 octobre 2013, par benaka — Development

  Introduction to QA in Piwik

  Like any piece of good software, Piwik comes with a comprehensive QA suite that includes unit and integration tests. The unit tests make sure core components of Piwik work properly. The integration tests make sure Piwik’s tracking and report aggregation and APIs work properly.

  To complete our QA suite, we’ve recently added a new type of tests : Screenshot tests, that we use to make sure Piwik’s controller and JavaScript code works properly.

  This blog post will explain how they work and describe our experiences setting them up ; we hope to show you an example of innovative QA practices in an active open source project.

  Screenshot Tests

  As the name implies, our screenshot tests (1) first capture a screenshot of a URL, then (2) compare the result with an expected image. This lets us test the code in Piwik’s controllers and Piwik’s JavaScript simply by specifying a URL.

  Contrast this with conventional UI tests that test for page content changes. Such tests require writing large amounts of test code that, at most, check for changes in HTML. Our tests, on the otherhand, will be able to show regressions in CSS and JavaScript rendering logic with a bare minimum of testing code.

  Capturing Screenshots

  Screenshots are captured using a 3rd party tool. We tried several tools before settling on PhantomJS. PhantomJS executes a JavaScript file with an environment that allows it to create WebKit powered web views. When capturing a screenshot, we supply PhantomJS with a script that :

  • opens a web page view,
  • loads a URL,
  • waits for all AJAX requests to be completed,
  • waits for all images to be loaded
  • waits for all JavaScript to be run.

  Then it renders the completed page to an PNG file.

  • To see how we use PhantomJS see capture.js.
  • To see how we wait for AJAX requests to complete and images to load see override.js.

  Comparing Screenshots

  Once a screenshot is generated we test for UI regressions by comparing it with an expected image. There is no sort of fuzzy matching involved. We just check that the images consist of the same bytes.

  If a screenshot test fails we use ImageMagick’s compare command line tool to generate an image diff :

  

  In this example above, there was a change that caused the Search box to be hidden in the datatable. This resulted in the whole Data table report being shifted up a few pixels. The differences are visible in red color which gives rapid feedback to the developers what has changed in the last commit.

  Screenshot Tests on Travis

  We experienced trouble generating identical screenshots on different machines, so our tests were not initially automated by Travis. Once we surpassed this hurdle, we created a new github repo to store our UI tests and screenshots and then enabled the travis build for it. We also made sure that every time a commit is pushed to the Piwik repo, our travis build will push a commit to the UI test repo to run the UI tests.

  We decided to create a new repository so the main repository wouldn’t be burdened with the large screenshot files (which git would not handle very well). We also made sure the travis build would upload all the generated screenshots to a server so debugging failures would be easier.

  Problems we experienced

  Getting generated screenshots to render identically on separate machines was quite a challenge. It took months to figure out how to get it right. Here’s what we learned :

  Fonts will render identically on different machines, but different machines can pick the wrong fonts. When we first tried getting these tests to run on Travis, we noticed small differences in the way fonts were rendered on different machines. We thought this was an insurmountable problem that would occur due to the libraries installed on these machines. It turns out, the machines were just picking the wrong fonts. After installing certain fonts during our Travis build, everything started working.

  Different versions of GD can generate slightly different images. GD is used in Piwik to, among other things, generate sparkline images. Different versions of GD will result in slightly different images. They look the same to the naked eye, but some pixels will have slightly different colors. This is, unfortunately, a problem we couldn’t solve. We couldn’t make sure that everyone who runs the tests uses the same version of GD, so instead we disabled sparklines for UI testing.

  What we learned about existing screenshot capturing tools

  We tried several screenshot capturing tools before finding one that would work adequately. Here’s what we learned about them :

  • CutyCapt This is the first screenshot capturing tool we tried. CutyCapt is a C++ program that uses QtWebKit to load and take a screenshot of a page. It can’t be used to capture multiple screenshots in one run and it can’t be used to wait for all AJAX/Images/JavaScript to complete/load (at least not currently).

  • PhantomJS This is the solution we eventually chose. PhantomJS is a headless scriptable browser that currently uses WebKit as its rendering engine.

    For the most part, PhantomJS is the best solution we found. It reliably renders screenshots, allows JavaScript to be injected into pages it loads, and since it essentially just runs JavaScript code that you provide, it can be made to do whatever you want.

  • SlimerJS SlimerJS is a clone of PhantomJS that uses Gecko as the rendering engine. It is meant to function similarly to PhantomJS. Unfortunately, due to some limitations hard-coded in Mozilla’s software, we couldn’t use it.

    For one, SlimerJS is not headless. There is, apparently, no way to do that when embedding Mozilla. You can, however, run it through xvfb, however the fact that it has to create a window means some odd things can happen. When using SlimerJS, we would sometimes end up with images where tooltips would display as if the mouse was hovering over an element. This inconsistency meant we couldn’t use it for our tests.

  One tool we didn’t try was Selenium Webdriver. Although Selenium is traditionally used to create tests that check for HTML content, it can be used to generate screenshots. (Note : PhantomJS supports using a remote WebDriver.)

  Our Future Plans for Screenshot Testing

  At the moment we render a couple dozen screenshots. We test how our PHP code, JavaScript code and CSS makes Piwik’s UI look, but we don’t test how it behaves. This is our next step.

  We want to create Screenshot Unit Tests for each UI control Piwik uses (for example, the Data Table View or the Site Selector). These tests would use the Widgetize plugin to load a control by itself, then execute JavaScript that simulates events and user behavior, and finally take a screenshot. This way we can test how our code handles clicks and hovers and all sorts of other behavior.

  Screenshots Tests will make Piwik more stable and keep us agile and able to release early and often. Thank you for your support & Spreading the word about Piwik !