when I launch any application with target=lxrt the system hangs after the first activity is created . Orocos and RTAI are compilated with the same compiler( GCC 4.4.3). this is the log:
0.000 [ Info ][Logger] Successfully extracted environment variable ORO_LOGLEVEL 0.000 [ Info ][Logger] OROCOS version '2.6.0' compiled with GCC 4.4.3. Running in LXRT/RTAI. 0.000 [ Info ][Logger] Orocos Logging Activated at level : [ Debug ] ( 6 ) 0.000 [ Info ][Logger] Reference System Time is : 8397984238656 ticks ( 2462.11 seconds ). 0.000 [ Info ][Logger] Logging is relative to this time. 0.000 [ Info ][Logger] RTAI Periodic Timer runs in preemptive 'one-shot' mode. 0.000 [ Debug ][Logger] RTAI Task Created 0.000 [ Debug ][Logger] MainThread started. 0.000 [ Debug ][Logger] Starting StartStopManager. 0.000 [ Info ][Logger] No RTT_COMPONENT_PATH set. Using default: /home/laboratorio/orocos/orocos-toolchain/install/lib/orocos 0.000 [ Info ][Logger] No RTT_COMPONENT_PATH set. Using default: /home/laboratorio/orocos/orocos-toolchain/install/lib/orocos 0.000 [ Debug ][Logger] PluginLoader Created 0.000 [ Info ][Logger] plugin 'rtt' not loaded before. 0.000 [ Debug ][Logger] No such directory: /home/laboratorio/orocos/orocos-toolchain/install/lib/orocos/./plugins 0.000 [ Info ][Logger] Loading plugin libraries from directory /home/laboratorio/orocos/orocos-toolchain/install/lib/orocos/lxrt/./plugins ... 0.000 [ Debug ][Logger] Scanning file /home/laboratorio/orocos/orocos-toolchain/install/lib/orocos/lxrt/./plugins/librtt-marshalling-lxrt.so.2.6.0 ...not a .so library: ignored. 0.000 [ Debug ][Logger] Scanning file /home/laboratorio/orocos/orocos-toolchain/install/lib/orocos/lxrt/./plugins/librtt-scripting-lxrt.so ...Found library librtt-scripting-lxrt.so 0.000 [ Info ][Logger] Loaded RTT Service 'scripting' from 'rtt-scripting' 0.002 [ Debug ][Logger] Scanning file /home/laboratorio/orocos/orocos-toolchain/install/lib/orocos/lxrt/./plugins/librtt-marshalling-lxrt.so ...Found library librtt-marshalling-lxrt.so 0.002 [ Info ][Logger] Loaded RTT Service 'marshalling' from 'rtt-marshalling' 0.002 [ Debug ][Logger] Scanning file /home/laboratorio/orocos/orocos-toolchain/install/lib/orocos/lxrt/./plugins/librtt-scripting-lxrt.so.2.6.0 ...not a .so library: ignored. 0.002 [ Info ][Logger] typekit 'rtt' not loaded before. 0.002 [ Debug ][Logger] No such directory: /home/laboratorio/orocos/orocos-toolchain/install/lib/orocos/./types 0.002 [ Info ][Logger] Loading typekit libraries from directory /home/laboratorio/orocos/orocos-toolchain/install/lib/orocos/lxrt/./types ... 0.002 [ Debug ][Logger] Scanning file /home/laboratorio/orocos/orocos-toolchain/install/lib/orocos/lxrt/./types/librtt-transport-mqueue-lxrt.so.2.6.0 ...not a .so library: ignored. 0.025 [ Debug ][Logger] Scanning file /home/laboratorio/orocos/orocos-toolchain/install/lib/orocos/lxrt/./types/librtt-transport-corba-lxrt.so ...Found library librtt-transport-corba-lxrt.so 0.025 [ Info ][TypekitRepository::Import] Loading Transport CORBA://rtt-types. 0.025 [ Info ][Logger] Loaded RTT TypeKit/Transport 'rtt-corba-types' from 'rtt-transport-corba' 0.038 [ Debug ][Logger] Scanning file /home/laboratorio/orocos/orocos-toolchain/install/lib/orocos/lxrt/./types/librtt-typekit-lxrt.so ...Found library librtt-typekit-lxrt.so 0.038 [ Info ][TypekitRepository::Import] Loading Typekit rtt-types. 0.038 [ Debug ][TypekitRepository::Import] Registered Type 'int' to the Orocos Type System. 0.038 [ Info ][TypekitRepository::Import] Registered new 'CORBA' transport for int 0.038 [ Debug ][TypekitRepository::Import] Registered Type 'uint' to the Orocos Type System. 0.038 [ Info ][TypekitRepository::Import] Registered new 'CORBA' transport for uint 0.038 [ Debug ][TypekitRepository::Import] Registered Type 'double' to the Orocos Type System. 0.038 [ Info ][TypekitRepository::Import] Registered new 'CORBA' transport for double 0.038 [ Debug ][TypekitRepository::Import] Registered Type 'float' to the Orocos Type System. 0.038 [ Info ][TypekitRepository::Import] Registered new 'CORBA' transport for float 0.038 [ Debug ][TypekitRepository::Import] Registered Type 'char' to the Orocos Type System. 0.038 [ Info ][TypekitRepository::Import] Registered new 'CORBA' transport for char 0.038 [ Debug ][TypekitRepository::Import] Registered Type 'bool' to the Orocos Type System. 0.038 [ Info ][TypekitRepository::Import] Registered new 'CORBA' transport for bool 0.038 [ Debug ][TypekitRepository::Import] Registered Type 'void' to the Orocos Type System. 0.038 [ Info ][TypekitRepository::Import] Registered new 'CORBA' transport for void 0.038 [ Debug ][TypekitRepository::Import] Registered Type 'FlowStatus' to the Orocos Type System. 0.038 [ Debug ][TypekitRepository::Import] Registered Type 'SendStatus' to the Orocos Type System. 0.039 [ Debug ][TypekitRepository::Import] Registered Type 'PropertyBag' to the Orocos Type System. 0.039 [ Debug ][TypekitRepository::Import] Registered Type 'ConnPolicy' to the Orocos Type System. 0.039 [ Info ][TypekitRepository::Import] Registered new 'CORBA' transport for ConnPolicy 0.039 [ Debug ][TypekitRepository::Import] Registered Type 'SendHandle' to the Orocos Type System. 0.039 [ Debug ][TypekitRepository::Import] Registered Type 'TaskContext' to the Orocos Type System. 0.039 [ Info ][TypekitRepository::Import] Registered new 'CORBA' transport for TaskContext 0.039 [ Debug ][TypekitRepository::Import] Registered Type 'string' to the Orocos Type System. 0.039 [ Info ][TypekitRepository::Import] Registered new 'CORBA' transport for string 0.039 [ Debug ][TypekitRepository::Import] Registered Type 'array' to the Orocos Type System. 0.039 [ Info ][TypekitRepository::Import] Registered new 'CORBA' transport for array 0.039 [ Debug ][TypekitRepository::Import] Registered Type 'rt_string' to the Orocos Type System. 0.039 [ Info ][Logger] Loaded RTT TypeKit/Transport 'rtt-types' from 'rtt-typekit' 0.039 [ Debug ][Logger] Scanning file /home/laboratorio/orocos/orocos-toolchain/install/lib/orocos/lxrt/./types/librtt-transport-mqueue-lxrt.so ...Found library librtt-transport-mqueue-lxrt.so 0.039 [ Info ][TypekitRepository::Import] Loading Transport mqueue://rtt-types. 0.040 [ Info ][TypekitRepository::Import] Registered new 'mqueue' transport for array 0.040 [ Info ][TypekitRepository::Import] Registered new 'mqueue' transport for bool 0.040 [ Info ][TypekitRepository::Import] Registered new 'mqueue' transport for char 0.040 [ Info ][TypekitRepository::Import] Registered new 'mqueue' transport for double 0.040 [ Info ][TypekitRepository::Import] Registered new 'mqueue' transport for float 0.040 [ Info ][TypekitRepository::Import] Registered new 'mqueue' transport for int 0.040 [ Info ][TypekitRepository::Import] Registered new 'mqueue' transport for uint 0.040 [ Debug ][TypekitRepository::Import] Transport mqueue did not install a fallback handler for 'unknown_t'. 0.040 [ Info ][Logger] Loaded RTT TypeKit/Transport 'rtt-mqueue-transport' from 'rtt-transport-mqueue' 0.040 [ Debug ][Logger] Scanning file /home/laboratorio/orocos/orocos-toolchain/install/lib/orocos/lxrt/./types/librtt-typekit-lxrt.so.2.6.0 ...not a .so library: ignored. 0.040 [ Debug ][Logger] Scanning file /home/laboratorio/orocos/orocos-toolchain/install/lib/orocos/lxrt/./types/librtt-transport-corba-lxrt.so.2.6.0 ...not a .so library: ignored. 0.040 [ Info ][Thread] Creating Thread for scheduler=ORO_SCHED_OTHER, priority=255, CPU affinity=0, with name='Hello' 0.142 [ Info ][Hello] Thread created with scheduler type 'ORO_SCHED_OTHER', priority 255, cpu affinity 4294967295 and period 0 (PID= 0 ). 0.142 [ Info ][Thread] Creating Thread for scheduler=ORO_SCHED_OTHER, priority=255, CPU affinity=0, with name='GlobalEngine' 0.244 [ Info ][GlobalEngine] Thread created with scheduler type 'ORO_SCHED_OTHER', priority 255, cpu affinity 4294967295 and period 0 (PID= 0 ). 0.245 [ Info ][Thread] Creating Thread for scheduler=ORO_SCHED_RT, priority=5, CPU affinity=0, with name='Activity'
RTAI 3.9 and rtai_sem
I use Orocos toolchain 2.6 under ubuntu 10.04 with RTAI 3.9. The system hangs when an activity is created and only if the module "rtai_sem" is loaded.
RTAI 3.9 and rtai_sem
On Wed, Jan 9, 2013 at 9:43 AM, <dgerb [..] ...> wrote:
> I use Orocos toolchain 2.6 under ubuntu 10.04 with RTAI 3.9. The system
> hangs
> when an activity is created and only if the module "rtai_sem" is loaded.
>
The rtai_sem module must be loaded. It has been many years since I tested
Orocos against RTAI/LXRT. Solving this will require typical debugging
skills such as analysing the last lines of 'dmesg', turning on the debug
features of the RTAI kernel modules, checking if the API of RTAI 3.5 -> 3.9
didn't change semantics (ie we check for a return value which was different
in 3.5 or 3.9)
Another thing you should do in RTT is :
cd build
cmake .. -DENABLE_TESTS=ON
make check
and report on which unit tests work and which don't.
Good luck,
Peter
Re:
> I use Orocos toolchain 2.6 under ubuntu 10.04 with RTAI 3.9. The system > hangs > when an activity is created and only if the module "rtai_sem" is loaded. >
The rtai_sem module must be loaded. It has been many years since I tested Orocos against RTAI/LXRT. Solving this will require typical debugging skills such as analysing the last lines of 'dmesg', turning on the debug features of the RTAI kernel modules, checking if the API of RTAI 3.5 -> 3.9 didn't change semantics (ie we check for a return value which was different in 3.5 or 3.9)
Another thing you should do in RTT is : cd build cmake .. -DENABLE_TESTS=ON make check
and report on which unit tests work and which don't.
Good luck, Peter
this is the output of make check : [..][100%] Built target typekit_test UpdateCTestConfiguration from :/home/laboratorio/orocos/orocos-toolchain/rtt/build/tests/DartConfiguration.tcl Parse Config file:/home/laboratorio/orocos/orocos-toolchain/rtt/build/tests/DartConfiguration.tcl UpdateCTestConfiguration from :/home/laboratorio/orocos/orocos-toolchain/rtt/build/DartConfiguration.tcl Parse Config file:/home/laboratorio/orocos/orocos-toolchain/rtt/build/DartConfiguration.tcl Test project /home/laboratorio/orocos/orocos-toolchain/rtt/build Constructing a list of tests Done constructing a list of tests Checking test dependency graph... test 1
1: Test command: /home/laboratorio/orocos/orocos-toolchain/rtt/build/tests/main-test 1: Test timeout computed to be: 1500 test 2 2: Test command: /home/laboratorio/orocos/orocos-toolchain/rtt/build/tests/list-test 2: Test timeout computed to be: 1500 2: Running 2 test cases... 2: 2: *** No errors detected test 3 3: Test command: /home/laboratorio/orocos/orocos-toolchain/rtt/build/tests/core-test 3: Test timeout computed to be: 1500 (the system hangs)and this is the output of dmesg [..] [ 470.527697] I-pipe: Domain RTAI registered. [ 470.527701] RTAI[hal]: <3.9-test1> mounted over IPIPE-NOTHREADS 2.7-03. [ 470.527703] RTAI[hal]: compiled with gcc version 4.4.3 (Ubuntu 4.4.3-4ubuntu5.1) . [ 470.527758] RTAI[hal]: mounted (IPIPE-NOTHREADS, IMMEDIATE (INTERNAL IRQs VECTORED), ISOL_CPUS_MASK: 0). [ 470.527759] PIPELINE layers: [ 470.527761] f82abe00 9ac15d93 RTAI 2147483647 [ 470.527762] c04aa740 0 Linux 100 [ 470.558631] RTAI[malloc]: global heap size = 2097152 bytes, <TLSF>. [ 470.558837] RTAI[sched]: IMMEDIATE, MP, USER/KERNEL SPACE: <without RTAI OWN KTASKs>, <uses LINUX SYSCALLs>, kstacks pool size = 524288 bytes. [ 470.558841] RTAI[sched]: hard timer type/freq = APIC/6269977(Hz); default timing: periodic; linear timed lists. [ 470.558843] RTAI[sched]: Linux timer freq = 250 (Hz), TimeBase freq = 3411513000 hz. [ 470.558844] RTAI[sched]: timer setup = 999 ns, resched latency = 2944 ns. [ 470.558845] RTAI[usi]: enabled. [ 488.510484] BUG: unable to handle kernel NULL pointer dereference at 00000504 [ 488.510488] IP: [<f831a176>] rtai_lxrt_invoke+0x11dc/0x1be6 [rtai_lxrt] [ 488.510494] *pdpt = 000000000edf2001 *pde = 0000000000000000 [ 488.510497] Oops: 0000 [#1] PREEMPT SMP [ 488.510499] last sysfs file: /sys/devices/pci0000:00/0000:00:1c.5/0000:07:00.0/irq [ 488.510501] Modules linked in: rtai_sem rtai_lxrt rtai_hal binfmt_misc ppdev ipv6 psmouse serio_raw evdev lp parport usbhid hid ext3 jbd mbcache sg sr_mod sd_mod cdrom ata_generic ohci1394 r8169 ahci ieee1394 ehci_hcd libata scsi_mod mii usbcore [ 488.510518] [ 488.510520] Pid: 5365, comm: main-test Not tainted (2.6.32.20-hal-rtai-3.9.1 #2) System Product Name [ 488.510521] EIP: 0060:[<f831a176>] EFLAGS: 00213246 CPU: 0 [ 488.510524] EIP is at rtai_lxrt_invoke+0x11dc/0x1be6 [rtai_lxrt] [ 488.510526] EAX: f82ce0d0 EBX: 00000000 ECX: f8323cc0 EDX: 00000000 [ 488.510527] ESI: bfe40f38 EDI: 00000001 EBP: ced7bf30 ESP: ced7bee0 [ 488.510528] DS: 007b ES: 007b FS: 00d8 GS: 00e0 SS: 0068 [ 488.510530] Process main-test (pid: 5365, ti=ced7a000 task=f64bc610 task.ti=ced7a000) [ 488.510531] I-pipe domain Linux [ 488.510532] Stack: [ 488.510533] ce801680 ced7beec c0155789 ced7bf00 c017feac f82ce0d0 f7401600 00000200 [ 488.510537] <0> 0002d804 ced7bf0c c0155789 ced7bf20 c017feac ce58c7f8 f70025d8 ce801680 [ 488.510541] <0> ced7bf2c bfe40f30 0807e708 ced7bf44 ced7bf4c f82a8e3e ced7bf48 40013280 [ 488.510546] Call Trace: [ 488.510550] [<c0155789>] ? __ipipe_restore_root+0x22/0x24 [ 488.510554] [<c017feac>] ? kmem_cache_free+0x90/0x98 [ 488.510556] [<f82ce0d0>] ? rt_sem_wait_if+0x0/0x3ef [rtai_sem] [ 488.510559] [<c0155789>] ? __ipipe_restore_root+0x22/0x24 [ 488.510561] [<c017feac>] ? kmem_cache_free+0x90/0x98 [ 488.510564] [<f82a8e3e>] ? intercept_syscall_prologue+0x53/0x109 [rtai_hal] [ 488.510566] [<f82a8e3e>] ? intercept_syscall_prologue+0x53/0x109 [rtai_hal] [ 488.510569] [<c01550e6>] ? __ipipe_dispatch_event+0x28/0x185 [ 488.510571] [<c0185012>] ? __fput+0x16a/0x172 [ 488.510574] [<c018502d>] ? fput+0x13/0x15 [ 488.510576] [<c0182709>] ? filp_close+0x51/0x5b [ 488.510579] [<c011454b>] ? __ipipe_syscall_root+0x5f/0xed [ 488.510582] [<c01029f7>] ? sysenter_past_esp+0x5c/0x6f [ 488.510583] Code: cc 8b 15 2c 04 00 00 8b 45 c8 e8 71 73 ee c7 83 7d dc 00 0f 84 88 00 00 00 8b 4d dc 89 d8 8b 15 30 04 00 00 e8 57 73 ee c7 eb 76 <8b> 83 04 05 00 00 85 c0 7e 3f ff 76 20 ff 76 1c ff 76 18 ff 76 [ 488.510609] EIP: [<f831a176>] rtai_lxrt_invoke+0x11dc/0x1be6 [rtai_lxrt] SS:ESP 0068:ced7bee0 [ 488.510613] CR2: 0000000000000504 [ 488.510615] ---[ end trace a608e184876a7e28 ]--- [ 489.628020] BUG: unable to handle kernel NULL pointer dereference at 00000504 [ 489.628023] IP: [<f831a176>] rtai_lxrt_invoke+0x11dc/0x1be6 [rtai_lxrt] [ 489.628029] *pdpt = 000000000ed78001 *pde = 0000000000000000 [ 489.628032] Oops: 0000 [#2] PREEMPT SMP [ 489.628034] last sysfs file: /sys/devices/pci0000:00/0000:00:1c.5/0000:07:00.0/irq [ 489.628036] Modules linked in: rtai_sem rtai_lxrt rtai_hal binfmt_misc ppdev ipv6 psmouse serio_raw evdev lp parport usbhid hid ext3 jbd mbcache sg sr_mod sd_mod cdrom ata_generic ohci1394 r8169 ahci ieee1394 ehci_hcd libata scsi_mod mii usbcore [ 489.628052] [ 489.628054] Pid: 5366, comm: list-test Tainted: G D (2.6.32.20-hal-rtai-3.9.1 #2) System Product Name [ 489.628056] EIP: 0060:[<f831a176>] EFLAGS: 00213246 CPU: 0 [ 489.628059] EIP is at rtai_lxrt_invoke+0x11dc/0x1be6 [rtai_lxrt] [ 489.628060] EAX: f82ce0d0 EBX: 00000000 ECX: f8323cc0 EDX: 00000000 [ 489.628062] ESI: bf9db4f8 EDI: 00000001 EBP: ce531f30 ESP: ce531ee0 [ 489.628063] DS: 007b ES: 007b FS: 00d8 GS: 00e0 SS: 0068 [ 489.628065] Process list-test (pid: 5366, ti=ce530000 task=f3e40000 task.ti=ce530000) [ 489.628066] I-pipe domain Linux [ 489.628067] Stack: [ 489.628068] ce801680 ce531eec c0155789 ce531f00 c017feac f82ce0d0 f7401600 00000200 [ 489.628072] <0> 0002d804 ce531f0c c0155789 ce531f20 c017feac ce7a4d48 f70025d8 ce801680 [ 489.628076] <0> ce531f2c bf9db4f0 0811bba8 ce531f44 ce531f4c f82a8e3e ce531f48 40013280 [ 489.628081] Call Trace: [ 489.628085] [<c0155789>] ? __ipipe_restore_root+0x22/0x24 [ 489.628088] [<c017feac>] ? kmem_cache_free+0x90/0x98 [ 489.628091] [<f82ce0d0>] ? rt_sem_wait_if+0x0/0x3ef [rtai_sem] [ 489.628093] [<c0155789>] ? __ipipe_restore_root+0x22/0x24 [ 489.628095] [<c017feac>] ? kmem_cache_free+0x90/0x98 [ 489.628098] [<f82a8e3e>] ? intercept_syscall_prologue+0x53/0x109 [rtai_hal] [ 489.628100] [<f82a8e3e>] ? intercept_syscall_prologue+0x53/0x109 [rtai_hal] [ 489.628103] [<c01550e6>] ? __ipipe_dispatch_event+0x28/0x185 [ 489.628106] [<c0185012>] ? __fput+0x16a/0x172 [ 489.628108] [<c018502d>] ? fput+0x13/0x15 [ 489.628110] [<c0182709>] ? filp_close+0x51/0x5b [ 489.628114] [<c011454b>] ? __ipipe_syscall_root+0x5f/0xed [ 489.628116] [<c01029f7>] ? sysenter_past_esp+0x5c/0x6f [ 489.628117] Code: cc 8b 15 2c 04 00 00 8b 45 c8 e8 71 73 ee c7 83 7d dc 00 0f 84 88 00 00 00 8b 4d dc 89 d8 8b 15 30 04 00 00 e8 57 73 ee c7 eb 76 <8b> 83 04 05 00 00 85 c0 7e 3f ff 76 20 ff 76 1c ff 76 18 ff 76 [ 489.628143] EIP: [<f831a176>] rtai_lxrt_invoke+0x11dc/0x1be6 [rtai_lxrt] SS:ESP 0068:ce531ee0 [ 489.628147] CR2: 0000000000000504 [ 489.628149] ---[ end trace a608e184876a7e29 ]--- [ 560.764266] LXRT releases PID 5368 (ID: core-test). [ 560.772442] LXRT releases PID 5367 (ID: core-test). [ 564.020921] BUG: unable to handle kernel NULL pointer dereference at 00000504 [ 564.020924] IP: [<f831a176>] rtai_lxrt_invoke+0x11dc/0x1be6 [rtai_lxrt] [ 564.020931] *pdpt = 000000000e77d001 *pde = 0000000000000000 [ 564.020933] Oops: 0000 [#3] PREEMPT SMP [ 564.020936] last sysfs file: /sys/devices/pci0000:00/0000:00:1c.5/0000:07:00.0/irq [ 564.020938] Modules linked in: rtai_sem rtai_lxrt rtai_hal binfmt_misc ppdev ipv6 psmouse serio_raw evdev lp parport usbhid hid ext3 jbd mbcache sg sr_mod sd_mod cdrom ata_generic ohci1394 r8169 ahci ieee1394 ehci_hcd libata scsi_mod mii usbcore [ 564.020954] [ 564.020956] Pid: 5685, comm: main-test Tainted: G D (2.6.32.20-hal-rtai-3.9.1 #2) System Product Name [ 564.020958] EIP: 0060:[<f831a176>] EFLAGS: 00213246 CPU: 0 [ 564.020961] EIP is at rtai_lxrt_invoke+0x11dc/0x1be6 [rtai_lxrt] [ 564.020962] EAX: f82ce0d0 EBX: 00000000 ECX: f8323cc0 EDX: 00000000 [ 564.020963] ESI: bfe4f878 EDI: 00000001 EBP: ce5f9f30 ESP: ce5f9ee0 [ 564.020965] DS: 007b ES: 007b FS: 00d8 GS: 00e0 SS: 0068 [ 564.020966] Process main-test (pid: 5685, ti=ce5f8000 task=f3e42890 task.ti=ce5f8000) [ 564.020968] I-pipe domain Linux [ 564.020968] Stack: [ 564.020969] ce8010e0 ce5f9eec c0155789 ce5f9f00 c017feac f82ce0d0 ce8010e0 ce8010f8 [ 564.020974] <0> 0002d804 ce5f9f0c c0155789 ce5f9f20 c017feac ce535330 f70025d8 ce8010e0 [ 564.020978] <0> ce5f9f2c bfe4f870 0807e708 ce5f9f44 ce5f9f4c f82a8e3e ce5f9f48 40013280 [ 564.020983] Call Trace: [ 564.020987] [<c0155789>] ? __ipipe_restore_root+0x22/0x24 [ 564.020990] [<c017feac>] ? kmem_cache_free+0x90/0x98 [ 564.020992] [<f82ce0d0>] ? rt_sem_wait_if+0x0/0x3ef [rtai_sem] [ 564.020995] [<c0155789>] ? __ipipe_restore_root+0x22/0x24 [ 564.020997] [<c017feac>] ? kmem_cache_free+0x90/0x98 [ 564.021000] [<f82a8e3e>] ? intercept_syscall_prologue+0x53/0x109 [rtai_hal] [ 564.021002] [<f82a8e3e>] ? intercept_syscall_prologue+0x53/0x109 [rtai_hal] [ 564.021005] [<c01550e6>] ? __ipipe_dispatch_event+0x28/0x185 [ 564.021008] [<c0185012>] ? __fput+0x16a/0x172 [ 564.021010] [<c018502d>] ? fput+0x13/0x15 [ 564.021012] [<c0182709>] ? filp_close+0x51/0x5b [ 564.021016] [<c011454b>] ? __ipipe_syscall_root+0x5f/0xed [ 564.021018] [<c01029f7>] ? sysenter_past_esp+0x5c/0x6f [ 564.021019] Code: cc 8b 15 2c 04 00 00 8b 45 c8 e8 71 73 ee c7 83 7d dc 00 0f 84 88 00 00 00 8b 4d dc 89 d8 8b 15 30 04 00 00 e8 57 73 ee c7 eb 76 <8b> 83 04 05 00 00 85 c0 7e 3f ff 76 20 ff 76 1c ff 76 18 ff 76 [ 564.021046] EIP: [<f831a176>] rtai_lxrt_invoke+0x11dc/0x1be6 [rtai_lxrt] SS:ESP 0068:ce5f9ee0 [ 564.021049] CR2: 0000000000000504 [ 564.021051] ---[ end trace a608e184876a7e2a ]--- [ 564.101148] BUG: unable to handle kernel NULL pointer dereference at 00000504 [ 564.101152] IP: [<f831a176>] rtai_lxrt_invoke+0x11dc/0x1be6 [rtai_lxrt] [ 564.101158] *pdpt = 000000000e744001 *pde = 0000000000000000 [ 564.101160] Oops: 0000 [#4] PREEMPT SMP [ 564.101163] last sysfs file: /sys/devices/pci0000:00/0000:00:1c.5/0000:07:00.0/irq [ 564.101165] Modules linked in: rtai_sem rtai_lxrt rtai_hal binfmt_misc ppdev ipv6 psmouse serio_raw evdev lp parport usbhid hid ext3 jbd mbcache sg sr_mod sd_mod cdrom ata_generic ohci1394 r8169 ahci ieee1394 ehci_hcd libata scsi_mod mii usbcore [ 564.101181] [ 564.101183] Pid: 5686, comm: list-test Tainted: G D (2.6.32.20-hal-rtai-3.9.1 #2) System Product Name [ 564.101185] EIP: 0060:[<f831a176>] EFLAGS: 00213246 CPU: 0 [ 564.101188] EIP is at rtai_lxrt_invoke+0x11dc/0x1be6 [rtai_lxrt] [ 564.101189] EAX: f82ce0d0 EBX: 00000000 ECX: f8323cc0 EDX: 00000000 [ 564.101190] ESI: bff62078 EDI: 00000001 EBP: ce5fbf30 ESP: ce5fbee0 [ 564.101192] DS: 007b ES: 007b FS: 00d8 GS: 00e0 SS: 0068 [ 564.101194] Process list-test (pid: 5686, ti=ce5fa000 task=f3e40760 task.ti=ce5fa000) [ 564.101195] I-pipe domain Linux [ 564.101196] Stack: [ 564.101197] ce8010e0 ce5fbeec c0155789 ce5fbf00 c017feac f82ce0d0 ce8010e0 ce8010f8 [ 564.101201] <0> 0002d804 ce5fbf0c c0155789 ce5fbf20 c017feac ce535330 f70025d8 ce8010e0 [ 564.101205] <0> ce5fbf2c bff62070 0811bba8 ce5fbf44 ce5fbf4c f82a8e3e ce5fbf48 40013280 [ 564.101210] Call Trace: [ 564.101214] [<c0155789>] ? __ipipe_restore_root+0x22/0x24 [ 564.101217] [<c017feac>] ? kmem_cache_free+0x90/0x98 [ 564.101219] [<f82ce0d0>] ? rt_sem_wait_if+0x0/0x3ef [rtai_sem] [ 564.101222] [<c0155789>] ? __ipipe_restore_root+0x22/0x24 [ 564.101224] [<c017feac>] ? kmem_cache_free+0x90/0x98 [ 564.101227] [<f82a8e3e>] ? intercept_syscall_prologue+0x53/0x109 [rtai_hal] [ 564.101229] [<f82a8e3e>] ? intercept_syscall_prologue+0x53/0x109 [rtai_hal] [ 564.101232] [<c01550e6>] ? __ipipe_dispatch_event+0x28/0x185 [ 564.101235] [<c0185012>] ? __fput+0x16a/0x172 [ 564.101237] [<c018502d>] ? fput+0x13/0x15 [ 564.101239] [<c0182709>] ? filp_close+0x51/0x5b [ 564.101243] [<c011454b>] ? __ipipe_syscall_root+0x5f/0xed [ 564.101245] [<c01029f7>] ? sysenter_past_esp+0x5c/0x6f [ 564.101246] Code: cc 8b 15 2c 04 00 00 8b 45 c8 e8 71 73 ee c7 83 7d dc 00 0f 84 88 00 00 00 8b 4d dc 89 d8 8b 15 30 04 00 00 e8 57 73 ee c7 eb 76 <8b> 83 04 05 00 00 85 c0 7e 3f ff 76 20 ff 76 1c ff 76 18 ff 76 [ 564.101272] EIP: [<f831a176>] rtai_lxrt_invoke+0x11dc/0x1be6 [rtai_lxrt] SS:ESP 0068:ce5fbee0 [ 564.101276] CR2: 0000000000000504 [ 564.101278] ---[ end trace a608e184876a7e2b ]--- [ 1012.355184] LXRT releases PID 5688 (ID: core-test). [ 1012.363357] LXRT releases PID 5687 (ID: core-test). [ 1024.830261] BUG: unable to handle kernel NULL pointer dereference at 00000504 [ 1024.830265] IP: [<f831a176>] rtai_lxrt_invoke+0x11dc/0x1be6 [rtai_lxrt] [ 1024.830271] *pdpt = 000000000ed13001 *pde = 0000000000000000 [ 1024.830274] Oops: 0000 [#5] PREEMPT SMP [ 1024.830276] last sysfs file: /sys/devices/pci0000:00/0000:00:1c.7/0000:09:00.0/local_cpus [ 1024.830278] Modules linked in: rtai_sem rtai_lxrt rtai_hal binfmt_misc ppdev ipv6 psmouse serio_raw evdev lp parport usbhid hid ext3 jbd mbcache sg sr_mod sd_mod cdrom ata_generic ohci1394 r8169 ahci ieee1394 ehci_hcd libata scsi_mod mii usbcore [ 1024.830295] [ 1024.830297] Pid: 6048, comm: main-test Tainted: G D (2.6.32.20-hal-rtai-3.9.1 #2) System Product Name [ 1024.830299] EIP: 0060:[<f831a176>] EFLAGS: 00213246 CPU: 0 [ 1024.830302] EIP is at rtai_lxrt_invoke+0x11dc/0x1be6 [rtai_lxrt] [ 1024.830303] EAX: f82ce0d0 EBX: 00000000 ECX: f8323cc0 EDX: 00000000 [ 1024.830304] ESI: bffd19d8 EDI: 00000001 EBP: ce5b1f30 ESP: ce5b1ee0 [ 1024.830306] DS: 007b ES: 007b FS: 00d8 GS: 00e0 SS: 0068 [ 1024.830308] Process main-test (pid: 6048, ti=ce5b0000 task=f64ba890 task.ti=ce5b0000) [ 1024.830309] I-pipe domain Linux [ 1024.830310] Stack: [ 1024.830311] ce800f78 ce5b1eec c0155789 ce5b1f00 c017feac f82ce0d0 ce800f78 ce800f90 [ 1024.830315] <0> 0002d804 ce5b1f0c c0155789 ce5b1f20 c017feac ceb2d660 f70025d8 ce800f78 [ 1024.830319] <0> ce5b1f2c bffd19d0 0807e708 ce5b1f44 ce5b1f4c f82a8e3e ce5b1f48 40013280 [ 1024.830324] Call Trace: [ 1024.830328] [<c0155789>] ? __ipipe_restore_root+0x22/0x24 [ 1024.830331] [<c017feac>] ? kmem_cache_free+0x90/0x98 [ 1024.830333] [<f82ce0d0>] ? rt_sem_wait_if+0x0/0x3ef [rtai_sem] [ 1024.830336] [<c0155789>] ? __ipipe_restore_root+0x22/0x24 [ 1024.830338] [<c017feac>] ? kmem_cache_free+0x90/0x98 [ 1024.830341] [<f82a8e3e>] ? intercept_syscall_prologue+0x53/0x109 [rtai_hal] [ 1024.830343] [<f82a8e3e>] ? intercept_syscall_prologue+0x53/0x109 [rtai_hal] [ 1024.830346] [<c01550e6>] ? __ipipe_dispatch_event+0x28/0x185 [ 1024.830349] [<c0185012>] ? __fput+0x16a/0x172 [ 1024.830351] [<c018502d>] ? fput+0x13/0x15 [ 1024.830353] [<c0182709>] ? filp_close+0x51/0x5b [ 1024.830357] [<c011454b>] ? __ipipe_syscall_root+0x5f/0xed [ 1024.830359] [<c01029f7>] ? sysenter_past_esp+0x5c/0x6f [ 1024.830360] Code: cc 8b 15 2c 04 00 00 8b 45 c8 e8 71 73 ee c7 83 7d dc 00 0f 84 88 00 00 00 8b 4d dc 89 d8 8b 15 30 04 00 00 e8 57 73 ee c7 eb 76 <8b> 83 04 05 00 00 85 c0 7e 3f ff 76 20 ff 76 1c ff 76 18 ff 76 [ 1024.830387] EIP: [<f831a176>] rtai_lxrt_invoke+0x11dc/0x1be6 [rtai_lxrt] SS:ESP 0068:ce5b1ee0 [ 1024.830391] CR2: 0000000000000504 [ 1024.830392] ---[ end trace a608e184876a7e2c ]--- [ 1024.908924] BUG: unable to handle kernel NULL pointer dereference at 00000504 [ 1024.908927] IP: [<f831a176>] rtai_lxrt_invoke+0x11dc/0x1be6 [rtai_lxrt] [ 1024.908933] *pdpt = 000000000e5c7001 *pde = 0000000000000000 [ 1024.908936] Oops: 0000 [#6] PREEMPT SMP [ 1024.908938] last sysfs file: /sys/devices/pci0000:00/0000:00:1c.7/0000:09:00.0/local_cpus [ 1024.908940] Modules linked in: rtai_sem rtai_lxrt rtai_hal binfmt_misc ppdev ipv6 psmouse serio_raw evdev lp parport usbhid hid ext3 jbd mbcache sg sr_mod sd_mod cdrom ata_generic ohci1394 r8169 ahci ieee1394 ehci_hcd libata scsi_mod mii usbcore [ 1024.908957] [ 1024.908959] Pid: 6049, comm: list-test Tainted: G D (2.6.32.20-hal-rtai-3.9.1 #2) System Product Name [ 1024.908960] EIP: 0060:[<f831a176>] EFLAGS: 00213246 CPU: 0 [ 1024.908963] EIP is at rtai_lxrt_invoke+0x11dc/0x1be6 [rtai_lxrt] [ 1024.908965] EAX: f82ce0d0 EBX: 00000000 ECX: f8323cc0 EDX: 00000000 [ 1024.908966] ESI: bfb71988 EDI: 00000001 EBP: ce4c7f30 ESP: ce4c7ee0 [ 1024.908967] DS: 007b ES: 007b FS: 00d8 GS: 00e0 SS: 0068 [ 1024.908969] Process list-test (pid: 6049, ti=ce4c6000 task=f3e43b00 task.ti=ce4c6000) [ 1024.908970] I-pipe domain Linux [ 1024.908971] Stack: [ 1024.908972] ce800f78 ce4c7eec c0155789 ce4c7f00 c017feac f82ce0d0 ce800f78 ce800f90 [ 1024.908976] <0> 0002d804 ce4c7f0c c0155789 ce4c7f20 c017feac ceb2d660 f70025d8 ce800f78 [ 1024.908980] <0> ce4c7f2c bfb71980 0811bba8 ce4c7f44 ce4c7f4c f82a8e3e ce4c7f48 40013280 [ 1024.908985] Call Trace: [ 1024.908989] [<c0155789>] ? __ipipe_restore_root+0x22/0x24 [ 1024.908992] [<c017feac>] ? kmem_cache_free+0x90/0x98 [ 1024.908995] [<f82ce0d0>] ? rt_sem_wait_if+0x0/0x3ef [rtai_sem] [ 1024.908997] [<c0155789>] ? __ipipe_restore_root+0x22/0x24 [ 1024.908999] [<c017feac>] ? kmem_cache_free+0x90/0x98 [ 1024.909002] [<f82a8e3e>] ? intercept_syscall_prologue+0x53/0x109 [rtai_hal] [ 1024.909005] [<f82a8e3e>] ? intercept_syscall_prologue+0x53/0x109 [rtai_hal] [ 1024.909007] [<c01550e6>] ? __ipipe_dispatch_event+0x28/0x185 [ 1024.909010] [<c0185012>] ? __fput+0x16a/0x172 [ 1024.909013] [<c018502d>] ? fput+0x13/0x15 [ 1024.909015] [<c0182709>] ? filp_close+0x51/0x5b [ 1024.909018] [<c011454b>] ? __ipipe_syscall_root+0x5f/0xed [ 1024.909021] [<c01029f7>] ? sysenter_past_esp+0x5c/0x6f [ 1024.909022] Code: cc 8b 15 2c 04 00 00 8b 45 c8 e8 71 73 ee c7 83 7d dc 00 0f 84 88 00 00 00 8b 4d dc 89 d8 8b 15 30 04 00 00 e8 57 73 ee c7 eb 76 <8b> 83 04 05 00 00 85 c0 7e 3f ff 76 20 ff 76 1c ff 76 18 ff 76 [ 1024.909048] EIP: [<f831a176>] rtai_lxrt_invoke+0x11dc/0x1be6 [rtai_lxrt] SS:ESP 0068:ce4c7ee0 [ 1024.909052] CR2: 0000000000000504 [ 1024.909054] ---[ end trace a608e184876a7e2d ]---
Re:
I run Orocos RTT succesfully on RTAI 3.9 but it it has been necessary to insert, in "Thread.cpp", the line rtos_sem_init (&sem, 1); before the line rtos_sem_wait( &sem ); to avoid the system hangs after the creation of first activity. The file is in orocos-toolchain/rtt/rtt/os/ and you must remake rtt. I don't know if it is a stable solution.
orocos RTT RTAI 3.9.1
Hi all, I am still fighting against Orocos-RTT and RTAI 3.9.1. The line rtos_sem_init (&sem, 1) mentioned above does not seeem to solve the problem (thus, I removed it). I patched Logger.hpp/cpp with the patch at http://bugs.orocos.org/attachment.cgi?id=712 as described at
In addition, I set-DOS_RT_MALLOC_MMAP=-DOS_RT_MALLOC_SBRK=OFF, -DENABLE_TESTS=ON, and than I run make check in rtt/build directory. I get the messages at the end of the message. The check blocks on task-test. The output of the gdb command for task-test is also below. Did any of you encounter and solve the same problem? Also a solution for RTT+Rtai 3.8 would be fine.Please, help me.
Diego G.
OUTPUT OF MAKE CHECK
test 1
1: Test command: /home/laboratorio/rock/tools/rtt/build/tests/main-test 1: Test timeout computed to be: 2500 test 2 2: Test command: /home/laboratorio/rock/tools/rtt/build/tests/list-test 2: Test timeout computed to be: 2500 2: Running 2 test cases... 2: 2: *** No errors detected test 3 3: Test command: /home/laboratorio/rock/tools/rtt/build/tests/core-test 3: Test timeout computed to be: 2500 3: Running 11 test cases... 3: 3: *** No errors detected test 4 4: Test command: /home/laboratorio/rock/tools/rtt/build/tests/task-test 4: Test timeout computed to be: 25004: task-test: /usr/include/boost/thread/pthread/mutex.hpp:136: bool boost::timed_mutex::try_lock(): Assertion `!res || res==16' failed.
4: Running 19 test cases...
4: unknown location(0): fatal error in "testSequential": signal: SIGABRT (application abort requeste
4: /home/laboratorio/rock/tools/rtt/tests/taskthread_test.cpp(383): last checkpoint
4: /home/laboratorio/rock/tools/rtt/tests/taskthread_test.cpp(506): error in "testThreadConfig": check tt->getScheduler() == 0 failed
4: /home/laboratorio/rock/tools/rtt/tests/taskthread_test.cpp(519): error in "testThreadConfig": check tt->stop() failed
4: /home/laboratorio/rock/tools/rtt/tests/taskthread_test.cpp(524): error in "testThreadConfig": check tt->start() failed
4: /home/laboratorio/rock/tools/rtt/tests/taskthread_test.cpp(525): error in "testThreadConfig": check tt->stop() failed
4: /home/laboratorio/rock/tools/rtt/tests/taskthread_test.cpp(526): error in "testThreadConfig": check tt->start() failed
GDB OF TASK-TEST
0 0xb7fe2424 in __kernel_vsyscall () 1 0xb6eaf651 in raise () from /lib/tls/i686/cmov/libc.so.6 2 0xb6eb2a82 in abort () from /lib/tls/i686/cmov/libc.so.6 3 0xb6ea8718 in __assert_fail () from /lib/tls/i686/cmov/libc.so.6 4 0xb7ee1c2e in boost::timed_mutex::try_lock (this=0xbfffdee0) at /usr/include/boost/thread/pthread/mutex.hpp:136 5 RTT::os::Mutex::trylock (this=0xbfffdee0) at /home/laboratorio/rock/tools/rtt/rtt/os/Mutex.hpp:182 6 0xb7f8bf57 in MutexTryLock (this=0xbfffded4) at /home/laboratorio/rock/tools/rtt/rtt/extras/../os/MutexLock.hpp:98 7 RTT::extras::SequentialActivity::trigger (this=0xbfffded4) at /home/laboratorio/rock/tools/rtt/rtt/extras/SequentialActivity.cpp:158 8 0x080d634a in ActivitiesThreadTestSuite::testSequential::test_method (this=0xbfffdf4c) at /home/laboratorio/rock/tools/rtt/tests/taskthread_test.cpp:383 9 0x080d826a in testSequential_invoker () at /home/laboratorio/rock/tools/rtt/tests/taskthread_test.cpp:360 10 0x080d05dc in invoke<void (*)()> (this=0x8112ac8) at /usr/include/boost/test/utils/callback.hpp:56 11 boost::unit_test::ut_detail::callback0_impl_t<boost::unit_test::ut_detail::unused, void (*)()>::invoke (this=0x8112ac8) at /usr/include/boost/test/utils/callback.hpp:89 12 0x08095ff1 in boost::unit_test::callback0<boost::unit_test::ut_detail::unused>::operator() (this=0x811d120) at /usr/include/boost/test/utils/callback.hpp:118 13 operator() (this=0x811d120) at /usr/include/boost/test/impl/unit_test_monitor.ipp:41 14 invoke<boost::unit_test::<unnamed>::zero_return_wrapper_t<boost::unit_test::callback0<boost::unit_test::ut_detail::unused> > > (this=0x811d120) at /usr/include/boost/test/utils/callback.hpp:42 15 invoke (this=0x811d120) at /usr/include/boost/test/utils/callback.hpp:89 16 0x080939bd in boost::unit_test::callback0<int>::operator() (this=0x81104c8, F=...) at /usr/include/boost/test/utils/callback.hpp:118 17 do_invoke<boost::scoped_ptr<boost::detail::translate_exception_base>, boost::unit_test::callback0<int> > (this=0x81104c8, F=...) at /usr/include/boost/test/impl/execution_monitor.ipp:244 18 boost::execution_monitor::catch_signals (this=0x81104c8, F=...) at /usr/include/boost/test/impl/execution_monitor.ipp:956 19 0x08093aa5 in boost::execution_monitor::execute (this=0x81104c8, F=...) at /usr/include/boost/test/impl/execution_monitor.ipp:1282 20 0x080a32dd in boost::unit_test::unit_test_monitor_t::execute_and_translate (this=0x81104c8, tc=...) at /usr/include/boost/test/impl/unit_test_monitor.ipp:69 21 0x080c49be in boost::unit_test::framework_impl::visit (this=0x8110400, tc=...) at /usr/include/boost/test/impl/framework.ipp:150 22 0x0809c431 in boost::unit_test::traverse_test_tree (suite=..., V=...) at /usr/include/boost/test/impl/unit_test_suite.ipp:207 23 0x0809c431 in boost::unit_test::traverse_test_tree (suite=..., V=...) at /usr/include/boost/test/impl/unit_test_suite.ipp:207 24 0x0809d8ef in boost::unit_test::framework::run (id=1, continue_test=true) at /usr/include/boost/test/impl/framework.ipp:436 25 0x080a8634 in boost::unit_test::unit_test_main (init_func=0x8091120 <init_unit_test_suite(int, char**)>, argc=1, argv=0xbfffeda4) at /usr/include/boost/test/impl/unit_test_main.ipp:185 26 0x080a8ca3 in main (argc=1, argv=0xbfffeda4) at /usr/include/boost/test/impl/unit_test_main.ipp:237
orocos RTT RTAI 3.9.1
On Mon, Apr 15, 2013 at 3:28 PM, <dgerb [..] ...> wrote:
> Hi all,
> I am still fighting against Orocos-RTT and RTAI 3.9.1. The line
> rtos_sem_init (&sem, 1) mentioned above does not seeem to solve the problem
> (thus, I removed it). I patched Logger.hpp/cpp with the patch at
> http://bugs.orocos.org/attachment.cgi?id=712
> as described at
> http://www.orocos.org/forum/rtt/rtt-dev/bug-879-new-error-compilation-de....
> In addition, I set-DOS_RT_MALLOC_MMAP=-DOS_RT_MALLOC_SBRK=OFF,
> -DENABLE_TESTS=ON, and than
> I run make check in rtt/build directory. I get the messages at the end of the
> message.
> The check blocks on task-test. The output of the gdb command for task-test is
> also below.
>
> Did any of you encounter and solve the same problem? Also a solution for
> RTT+Rtai 3.8 would be fine.
>
> Please, help me.
>
> Diego G.
>
>
> OUTPUT OF MAKE CHECK
>
> test 1
> Start 1: main-test
>
> 1: Test command: /home/laboratorio/rock/tools/rtt/build/tests/main-test
> 1: Test timeout computed to be: 2500
> 1/38 Test #1: main-test ........................ Passed 0.05 sec
> test 2
> Start 2: list-test
>
> 2: Test command: /home/laboratorio/rock/tools/rtt/build/tests/list-test
> 2: Test timeout computed to be: 2500
> 2: Running 2 test cases...
> 2:
> 2: *** No errors detected
> 2/38 Test #2: list-test ........................ Passed 0.05 sec
> test 3
> Start 3: core-test
>
> 3: Test command: /home/laboratorio/rock/tools/rtt/build/tests/core-test
> 3: Test timeout computed to be: 2500
> 3: Running 11 test cases...
> 3:
> 3: *** No errors detected
> 3/38 Test #3: core-test ........................ Passed 5.60 sec
> test 4
> Start 4: task-test
>
> 4: Test command: /home/laboratorio/rock/tools/rtt/build/tests/task-test
>
> 4: Test timeout computed to be: 2500
>
> 4: task-test: /usr/include/boost/thread/pthread/mutex.hpp:136: bool
> boost::timed_mutex::try_lock(): Assertion `!res || res==16' failed.
This indicates a clear misconfiguration of your build. It shouldn't
use boost mutexes at all.. !
Did you forcibly turn on boost mutexes in the cmake config ?
Peter
RTAI 3.9 lock on rt_sem_wait
Hi Peter, thanks for your reply. The only option I can see in the cmake file of RTT regarding boost is ORO_OS_USE_BOOST_THREAD that is set now to off in my case. I installed the last version of BOOST (1.53) and when I run the test the system hangs on: core-test and, precisely, at /home/laboratorio/rock/tools/rtt/rtt/os/lxrt/fosi.c line 114 (rt_sem_wait(m->sem)). Any ideas?
Please, help me.
Diego G.