https://www.fmtc.be/bugzilla/orocos/show_bug.cgi?id=683

Summary: revision ethercat-demo
Product: OCL
Version: 1.8.0
Platform: All
OS/Version: All
Status: NEW
Severity: normal
Priority: P3
Component: Hardware
AssignedTo: orocos-dev [..] ...
ReportedBy: steven [dot] kauffmann [..] ...
CC: orocos-dev [..] ...
Estimated Hours: 0.0

Created an attachment (id=465)
--> (https://www.fmtc.be/bugzilla/orocos/attachment.cgi?id=465)
Ethercat-demo patch

Hi,

I have updated the configuration database of the ethercat devices. Files that
are not used anymore are deleted. The EthercatIO component is updated with
extra documentation in the code.

It requires the IOcomponent::addDigitalInInterface function see this bug:
https://www.fmtc.be/bugzilla/orocos/show_bug.cgi?id=679

The test application is working under gnulinux and xenomai, but under xenomai
I'm getting a segfault when closing the application.

Here is a bt of the program:

#0 0xb706613d in pthread_cancel () from /lib/i686/cmov/libpthread.so.0
#1 0xb70912d8 in rt_task_delete (task=0x949b24c) at
../../../../src/skins/native/task.c:215
#2 0xb7962d0c in RTT::OS::detail::rtos_task_delete_main (main_task=0x949b248)
at /root/SVN/rtt-1.8/src/os/xenomai/fosi_internal.cpp:147
#3 0xb7957a96 in ~MainThread (this=0x949b240) at
/root/SVN/rtt-1.8/src/os/MainThread.cpp:57
#4 0xb7957ebe in boost::checked_delete<RTT::OS::MainThread> (x=0x949b240) at
/usr/include/boost/checked_delete.hpp:34
#5 0xb7957ee0 in
boost::detail::sp_counted_impl_p<RTT::OS::MainThread>::dispose (this=0x949d830)
at /usr/include/boost/detail/sp_counted_impl.hpp:79
#6 0xb7eee508 in boost::detail::sp_counted_base::release (this=0x949d830) at
/usr/include/boost/detail/sp_counted_base_gcc_x86.hpp:145
#7 0xb7eee542 in ~shared_count (this=0xbfa27170) at
/usr/include/boost/detail/shared_count.hpp:205
#8 0xb7957dfc in ~shared_ptr (this=0xbfa2716c) at
/usr/include/boost/shared_ptr.hpp:131
#9 0xb7957f2a in boost::shared_ptr<RTT::OS::ThreadInterface>::reset
(this=0xb7bb15e4) at /usr/include/boost/shared_ptr.hpp:288
#10 0xb7957a60 in RTT::OS::MainThread::Release () at
/root/SVN/rtt-1.8/src/os/MainThread.cpp:70
#11 0xb795ae7b in __os_exit () at /root/SVN/rtt-1.8/src/os/startstop.cpp:162
#12 0x0804912c in main (argc=1, argv=0xbfa272a4) at
/root/SVN/ocl-1.8/hardware/ethercat-demo/tests/main.cpp:11

Because orocos uses the native xenomai calls and eml the posix ones, the
ethercat-demo application links with both xenomai libs.

I tried to reproduce this error:
xenomai app that links with native and posix xenomai lib => no seg fault

xenomai app (native) + linking with eml => no seg fault

empty orocos main + linking with eml => seg fault

but the segfault only occurs if I use Orocos.