On Tue, Aug 21, 2012 at 6:52 PM, Johnathan Van Why <jrvanwhy [..] ...> wrote:
> When we try to run a component in Orocos under Xenomai, we get
> excessively verbose warnings. The following deployment script can
> trigger these warnings:
>
> import("atrias_noop_conn")
> loadComponent("atrias_connector", "NoopConn")
> setActivity("atrias_connector", 0.001, 0, ORO_SCHED_OTHER)
>
> NoopComm is a component that doesn't do anything (for testing).
>
> Stepping through these manually in the deployer, I get the following
> output on the setActivity line.
>
> Deployer [S]> setActivity("atrias_connector", 0.001, 0, ORO_SCHED_OTHER)
> 10.715 [ Info ][Thread] Creating Thread for scheduler=1, priority=0,
> CPU affinity=4294967295, with name='atrias_connector'
> 10.716 [ Info ][atrias_connector1] Thread created with scheduler
> type '1', priority 0, cpu affinity 0 and period 0.001.
> /home/drl/rosstacks/orocos_toolchain/install/lib/liborocos-rtt-xenomai.so.2.5(warn_upon_switch+0x15)[0x7f782c0c58c5]
> /lib/x86_64-linux-gnu/libpthread.so.0(+0xfcb0)[0x7f782b507cb0]
> /usr/xenomai/lib/libnative.so.3(rt_mutex_release+0x8a)[0x7f782a5fec6a]
> /home/drl/rosstacks/orocos_toolchain/install/lib/liborocos-rtt-xenomai.so.2.5(_ZN3RTT2os6ThreadD1Ev+0x122)[0x7f782c0c1362]
> /home/drl/rosstacks/orocos_toolchain/install/lib/liborocos-rtt-xenomai.so.2.5(_ZN3RTT8ActivityD2Ev+0x2e)[0x7f782c07ea0e]
> /home/drl/rosstacks/orocos_toolchain/install/lib/liborocos-rtt-xenomai.so.2.5(_ZN3RTT8ActivityD0Ev+0x9)[0x7f782c07ea69]
> /home/drl/rosstacks/orocos_toolchain/install/lib/liborocos-rtt-xenomai.so.2.5(_ZN5boost6detail12shared_countD1Ev+0x49)[0x7f782c078479]
> /home/drl/rosstacks/orocos_toolchain/install/lib/liborocos-rtt-xenomai.so.2.5(_ZN3RTT11TaskContext11setActivityEPNS_4base17ActivityInterfaceE+0xca)[0x7f782c07f4ca]
> /home/drl/rosstacks/orocos_toolchain/install/lib/liborocos-ocl-deployment-xenomai.so.2.5.0(_ZN3OCL19DeploymentComponent11setActivityERKSsdii+0xff)[0x7f782ba83f8f]
> /home/drl/rosstacks/orocos_toolchain/install/lib/liborocos-ocl-deployment-xenomai.so.2.5.0(_ZN3RTT8internal11InvokerImplILi4EFbRKSsdiiENS0_24LocalOperationCallerImplIS4_EEE4callES3_dii+0x14b)[0x7f782bad6b9b]
> /home/drl/rosstacks/orocos_toolchain/install/lib/liborocos-ocl-deployment-xenomai.so.2.5.0(_ZNK3RTT8internal20FusedMCallDataSourceIFbRKSsdiiEE8evaluateEv+0x95)[0x7f782bb00d25]
> /home/drl/rosstacks/orocos_toolchain/install/lib/liborocos-ocl-taskbrowser-xenomai.so.2.5.0(_ZN3OCL11TaskBrowser7doPrintEN5boost13intrusive_ptrIN3RTT4base14DataSourceBaseEEEb+0x3e)[0x7f782bd8e84e]
> /home/drl/rosstacks/orocos_toolchain/install/lib/liborocos-ocl-taskbrowser-xenomai.so.2.5.0(_ZN3OCL11TaskBrowser11printResultEPN3RTT4base14DataSourceBaseEb+0x8f)[0x7f782bd8f38f]
> /home/drl/rosstacks/orocos_toolchain/install/lib/liborocos-ocl-taskbrowser-xenomai.so.2.5.0(_ZN3OCL11TaskBrowser11evalCommandERSs+0x4be)[0x7f782bd9556e]
> /home/drl/rosstacks/orocos_toolchain/install/lib/liborocos-ocl-taskbrowser-xenomai.so.2.5.0(_ZN3OCL11TaskBrowser4loopEv+0xc9f)[0x7f782bd9927f]
> /home/drl/rosstacks/orocos_toolchain/ocl/bin/deployer-xenomai(main+0x751)[0x40d351]
> /lib/x86_64-linux-gnu/libc.so.6(__libc_start_main+0xed)[0x7f782ac4676d]
> /home/drl/rosstacks/orocos_toolchain/ocl/bin/deployer-xenomai[0x40d4f1]
> = true
>
> These warnings are making legitimate output from Orocos and our
> software difficult to find. We want these to show if a context switch
> occurs during realtime operation... but we'd like to silence them
> during initialization.

Or there's a bug in your setup code, or there's a bug in RTT. The warn
on switch flag should only be set for specific threads. The above
switch happens in the main() thread, which indeed switches frequently
when executing the taskbrowser.

How did you enable the warn on switch code in your example ?

Peter