2011/1/12 Chris Radek <[email protected]>: > On Wed, Jan 12, 2011 at 02:16:00PM +0200, Viesturs L??cis wrote: > >> > I am still not able to complete "sudo comp --install genserkins.c", as >> > I am still getting this error message: >> > >> > WARNING: "go_quat_inv" [/tmp/tmpuiYIV2/genserkins.ko] undefined! >> > ... > > > The "go" math functions are in a different file. I don't think you > can build this kinematics module with comp, because it's made up of > more than one file. > > Get a full git clone, make your changes there, and rebuild the whole > thing. >
I already had source code, so I deleted emc2-dev folder and ran git clone command once again, then I checked out v2.4.6 and did run-in-place install. Each time I change something in genserkins.c, I rebuild with "make" command. With some help from Andy Pugh at least compiling genserkins works without errors or warnings. Both genserkins.c and genserkins.h files, which worked for Andy, can be obtained here: http://www.cutting.lv/fileadmin/user_upload/genserkins.c http://www.cutting.lv/fileadmin/user_upload/genserkins.h When I start EMC Puma sample config with pumakins, it is ok, but with genserkins I get this one: v...@ubuntu:~/emc2-dev/scripts$ emc EMC2 - 2.4.6 Machine configuration directory is '/home/vie/emc2/configs/puma' Machine configuration file is 'puma.ini' Starting EMC2... insmod: error inserting '/usr/realtime-2.6.32-122-rtai/modules/emc2/genserkins.ko': -1 Unknown symbol in module puma_sim_6.hal:4: exit value: 1 puma_sim_6.hal:4: insmod failed, returned -1 See the output of 'dmesg' for more information. Shutting down and cleaning up EMC2... Cleanup done EMC terminated with an error. You can find more information in the log: /home/vie/emc_debug.txt and /home/vie/emc_print.txt as well as in the output of the shell command 'dmesg' and in the terminal v...@ubuntu:~/emc2-dev/scripts$ Andy Pugh tried to compile the module and reported that executing these commands: halrun loadrt genserkins show pin Correctly shows all the pins, including those that I am trying to add - theta and type pins for each joint. I did not manage to get such a satisfactory result. For me dmesg shows basically the same in both cases - when I try to start emc or when I start halrun and then load genserkins. This is dmesg output, when I tried to start emc: [ 11.348299] ieee1394: Host added: ID:BUS[0-00:1023] GUID[00e01800000dbee6] [ 11.644082] intel8x0_measure_ac97_clock: measured 55191 usecs (2659 samples) [ 11.644090] intel8x0: clocking to 48000 [ 13.547677] Adding 261112k swap on /host/ubuntu/disks/swap.disk. Priority:-1 extents:1 across:261112k [ 14.200217] type=1505 audit(1294874545.367:5): operation="profile_load" pid=660 name="/usr/share/gdm/guest-session/Xsession" [ 14.211877] type=1505 audit(1294874545.375:6): operation="profile_replace" pid=661 name="/sbin/dhclient3" [ 14.217787] type=1505 audit(1294874545.383:7): operation="profile_replace" pid=661 name="/usr/lib/NetworkManager/nm-dhcp-client.action" [ 14.218226] type=1505 audit(1294874545.383:8): operation="profile_replace" pid=661 name="/usr/lib/connman/scripts/dhclient-script" [ 14.310019] tg3 0000:02:05.0: firmware: requesting tigon/tg3_tso.bin [ 14.320597] type=1505 audit(1294874545.487:9): operation="profile_load" pid=662 name="/usr/bin/evince" [ 14.337203] type=1505 audit(1294874545.503:10): operation="profile_load" pid=662 name="/usr/bin/evince-previewer" [ 14.516968] ADDRCONF(NETDEV_UP): eth0: link is not ready [ 17.725804] tg3: eth0: Link is up at 1000 Mbps, full duplex. [ 17.725812] tg3: eth0: Flow control is on for TX and on for RX. [ 17.725877] ADDRCONF(NETDEV_CHANGE): eth0: link becomes ready [ 27.752032] eth0: no IPv6 routers present [ 42.212632] end_request: I/O error, dev fd0, sector 0 [ 54.372474] end_request: I/O error, dev fd0, sector 0 [ 2808.202915] I-pipe: Domain RTAI registered. [ 2808.202931] RTAI[hal]: <3.8.1> mounted over IPIPE-NOTHREADS 2.6-03. [ 2808.202935] RTAI[hal]: compiled with gcc version 4.4.3 (Ubuntu 4.4.3-4ubuntu5) . [ 2808.202947] RTAI[hal]: mounted (IPIPE-NOTHREADS, IMMEDIATE (INTERNAL IRQs DISPATCHED), ISOL_CPUS_MASK: 0). [ 2808.202951] PIPELINE layers: [ 2808.202957] e0aa1e20 9ac15d93 RTAI 200 [ 2808.202961] c085cb20 0 Linux 100 [ 2808.299098] __ratelimit: 12 callbacks suppressed [ 2808.299109] insmod: page allocation failure. order:7, mode:0xd0 [ 2808.299118] Pid: 1618, comm: insmod Not tainted 2.6.32-122-rtai #rtai [ 2808.299122] Call Trace: [ 2808.299150] [<c01c4d8e>] __alloc_pages_slowpath+0x46e/0x4a0 [ 2808.299160] [<c01c4efa>] __alloc_pages_nodemask+0x13a/0x170 [ 2808.299166] [<c01c4f4c>] __get_free_pages+0x1c/0x30 [ 2808.299197] [<e0b09814>] alloc_extent+0x34/0xb0 [rtai_sched] [ 2808.299211] [<e0b099d8>] rtheap_init+0x148/0x230 [rtai_sched] [ 2808.299225] [<e0afbd11>] __rtai_lxrt_init+0x41/0x6b0 [rtai_sched] [ 2808.299233] [<c0101041>] do_one_initcall+0x31/0x1b0 [ 2808.299246] [<e0afbcd0>] ? __rtai_lxrt_init+0x0/0x6b0 [rtai_sched] [ 2808.299258] [<c0179781>] sys_init_module+0xb1/0x220 [ 2808.299265] [<c010340d>] syscall_call+0x7/0xb [ 2808.299269] Mem-Info: [ 2808.299273] DMA per-cpu: [ 2808.299277] CPU 0: hi: 0, btch: 1 usd: 0 [ 2808.299280] Normal per-cpu: [ 2808.299284] CPU 0: hi: 186, btch: 31 usd: 0 [ 2808.299292] active_anon:14687 inactive_anon:19544 isolated_anon:20 [ 2808.299294] active_file:19545 inactive_file:57941 isolated_file:108 [ 2808.299296] unevictable:416 dirty:68 writeback:2950 unstable:0 [ 2808.299299] free:7096 slab_reclaimable:2687 slab_unreclaimable:1879 [ 2808.299301] mapped:12581 shmem:1095 pagetables:1162 bounce:0 [ 2808.299313] DMA free:2064kB min:84kB low:104kB high:124kB active_anon:92kB inactive_anon:260kB active_file:48kB inactive_file:5748kB unevictable:0kB isolated(anon):0kB isolated(file):0kB present:15852kB mlocked:0kB dirty:0kB writeback:0kB mapped:64kB shmem:4kB slab_reclaimable:84kB slab_unreclaimable:60kB kernel_stack:8kB pagetables:40kB unstable:0kB bounce:0kB writeback_tmp:0kB pages_scanned:0 all_unreclaimable? no [ 2808.299322] lowmem_reserve[]: 0 492 492 492 [ 2808.299338] Normal free:26320kB min:2792kB low:3488kB high:4188kB active_anon:58656kB inactive_anon:77916kB active_file:78132kB inactive_file:226016kB unevictable:1664kB isolated(anon):80kB isolated(file):432kB present:503856kB mlocked:0kB dirty:272kB writeback:11800kB mapped:50260kB shmem:4376kB slab_reclaimable:10664kB slab_unreclaimable:7456kB kernel_stack:1784kB pagetables:4608kB unstable:0kB bounce:0kB writeback_tmp:0kB pages_scanned:0 all_unreclaimable? no [ 2808.299347] lowmem_reserve[]: 0 0 0 0 [ 2808.299355] DMA: 0*4kB 2*8kB 0*16kB 0*32kB 2*64kB 1*128kB 1*256kB 1*512kB 1*1024kB 0*2048kB 0*4096kB = 2064kB [ 2808.299375] Normal: 838*4kB 1049*8kB 337*16kB 139*32kB 38*64kB 12*128kB 1*256kB 1*512kB 0*1024kB 0*2048kB 0*4096kB = 26320kB [ 2808.299394] 82657 total pagecache pages [ 2808.299398] 3603 pages in swap cache [ 2808.299402] Swap cache stats: add 3771, delete 168, find 121/121 [ 2808.299405] Free swap = 246412kB [ 2808.299408] Total swap = 261112kB [ 2808.303012] 131052 pages RAM [ 2808.303017] 0 pages HighMem [ 2808.303020] 3723 pages reserved [ 2808.303023] 109241 pages shared [ 2808.303026] 66263 pages non-shared [ 2808.309324] RTAI[malloc]: global heap size = 2097152 bytes, <BSD>. [ 2808.316267] RTAI[sched]: IMMEDIATE, MP, USER/KERNEL SPACE: <with RTAI OWN KTASKs>, kstacks pool size = 524288 bytes. [ 2808.316278] RTAI[sched]: hard timer type/freq = APIC/6264158(Hz); default timing: periodic; linear timed lists. [ 2808.316284] RTAI[sched]: Linux timer freq = 250 (Hz), TimeBase freq = 2004325000 hz. [ 2808.316289] RTAI[sched]: timer setup = 999 ns, resched latency = 2944 ns. [ 2808.316570] RTAI[usi]: enabled. [ 2809.541905] RTAI[math]: loaded. [ 2810.579730] pumakins: module license 'unspecified' taints kernel. [ 2810.579738] Disabling lock debugging due to kernel taint [ 2829.417490] RTAI[math]: unloaded. [ 2829.529242] SCHED releases registered named ALIEN RTGLBH [ 2829.546247] RTAI[malloc]: unloaded. [ 2829.644032] RTAI[sched]: unloaded (forced hard/soft/hard transitions: traps 0, syscalls 0). [ 2829.651291] I-pipe: Domain RTAI unregistered. [ 2829.651309] RTAI[hal]: unmounted. [ 2858.997358] I-pipe: Domain RTAI registered. [ 2858.997372] RTAI[hal]: <3.8.1> mounted over IPIPE-NOTHREADS 2.6-03. [ 2858.997376] RTAI[hal]: compiled with gcc version 4.4.3 (Ubuntu 4.4.3-4ubuntu5) . [ 2858.997388] RTAI[hal]: mounted (IPIPE-NOTHREADS, IMMEDIATE (INTERNAL IRQs DISPATCHED), ISOL_CPUS_MASK: 0). [ 2858.997393] PIPELINE layers: [ 2858.997398] e11f9e20 9ac15d93 RTAI 200 [ 2858.997402] c085cb20 0 Linux 100 [ 2859.069998] insmod: page allocation failure. order:7, mode:0xd0 [ 2859.070008] Pid: 1846, comm: insmod Tainted: P 2.6.32-122-rtai #rtai [ 2859.070013] Call Trace: [ 2859.070034] [<c01c4d8e>] __alloc_pages_slowpath+0x46e/0x4a0 [ 2859.070043] [<c01c4efa>] __alloc_pages_nodemask+0x13a/0x170 [ 2859.070050] [<c01c4f4c>] __get_free_pages+0x1c/0x30 [ 2859.070074] [<e125d814>] alloc_extent+0x34/0xb0 [rtai_sched] [ 2859.070090] [<e125d9d8>] rtheap_init+0x148/0x230 [rtai_sched] [ 2859.070104] [<e124fd11>] __rtai_lxrt_init+0x41/0x6b0 [rtai_sched] [ 2859.070111] [<c0101041>] do_one_initcall+0x31/0x1b0 [ 2859.070124] [<e124fcd0>] ? __rtai_lxrt_init+0x0/0x6b0 [rtai_sched] [ 2859.070135] [<c0179781>] sys_init_module+0xb1/0x220 [ 2859.070141] [<c010340d>] syscall_call+0x7/0xb [ 2859.070146] Mem-Info: [ 2859.070149] DMA per-cpu: [ 2859.070153] CPU 0: hi: 0, btch: 1 usd: 0 [ 2859.070156] Normal per-cpu: [ 2859.070160] CPU 0: hi: 186, btch: 31 usd: 0 [ 2859.070168] active_anon:7234 inactive_anon:27345 isolated_anon:39 [ 2859.070171] active_file:10989 inactive_file:65276 isolated_file:80 [ 2859.070173] unevictable:416 dirty:122 writeback:750 unstable:0 [ 2859.070175] free:8542 slab_reclaimable:2148 slab_unreclaimable:1830 [ 2859.070177] mapped:7349 shmem:733 pagetables:1160 bounce:0 [ 2859.070188] DMA free:2064kB min:84kB low:104kB high:124kB active_anon:96kB inactive_anon:256kB active_file:104kB inactive_file:5692kB unevictable:0kB isolated(anon):0kB isolated(file):0kB present:15852kB mlocked:0kB dirty:0kB writeback:0kB mapped:64kB shmem:4kB slab_reclaimable:84kB slab_unreclaimable:60kB kernel_stack:8kB pagetables:40kB unstable:0kB bounce:0kB writeback_tmp:0kB pages_scanned:0 all_unreclaimable? no [ 2859.070196] lowmem_reserve[]: 0 492 492 492 [ 2859.070212] Normal free:32104kB min:2792kB low:3488kB high:4188kB active_anon:28840kB inactive_anon:109124kB active_file:43852kB inactive_file:255412kB unevictable:1664kB isolated(anon):156kB isolated(file):320kB present:503856kB mlocked:0kB dirty:488kB writeback:3000kB mapped:29332kB shmem:2928kB slab_reclaimable:8508kB slab_unreclaimable:7260kB kernel_stack:1816kB pagetables:4600kB unstable:0kB bounce:0kB writeback_tmp:0kB pages_scanned:0 all_unreclaimable? no [ 2859.070222] lowmem_reserve[]: 0 0 0 0 [ 2859.070231] DMA: 0*4kB 2*8kB 0*16kB 0*32kB 2*64kB 1*128kB 1*256kB 1*512kB 1*1024kB 0*2048kB 0*4096kB = 2064kB [ 2859.070250] Normal: 422*4kB 246*8kB 292*16kB 297*32kB 61*64kB 61*128kB 8*256kB 1*512kB 0*1024kB 0*2048kB 0*4096kB = 32104kB [ 2859.070269] 94275 total pagecache pages [ 2859.070273] 16823 pages in swap cache [ 2859.070277] Swap cache stats: add 21629, delete 4806, find 8142/8156 [ 2859.070280] Free swap = 193300kB [ 2859.070283] Total swap = 261112kB [ 2859.073777] 131052 pages RAM [ 2859.073784] 0 pages HighMem [ 2859.073787] 3723 pages reserved [ 2859.073791] 71675 pages shared [ 2859.073794] 68245 pages non-shared [ 2859.077333] RTAI[malloc]: global heap size = 2097152 bytes, <BSD>. [ 2859.079218] RTAI[sched]: IMMEDIATE, MP, USER/KERNEL SPACE: <with RTAI OWN KTASKs>, kstacks pool size = 524288 bytes. [ 2859.079229] RTAI[sched]: hard timer type/freq = APIC/6264158(Hz); default timing: periodic; linear timed lists. [ 2859.079235] RTAI[sched]: Linux timer freq = 250 (Hz), TimeBase freq = 2004325000 hz. [ 2859.079239] RTAI[sched]: timer setup = 999 ns, resched latency = 2944 ns. [ 2859.080380] RTAI[usi]: enabled. [ 2859.447379] RTAI[math]: loaded. [ 2859.582743] genserkins: Unknown symbol go_link_joint_set [ 2859.582921] genserkins: Unknown symbol go_pose_inv [ 2859.583228] genserkins: Unknown symbol go_quat_rpy_convert [ 2859.583400] genserkins: Unknown symbol go_rpy_quat_convert [ 2859.583572] genserkins: Unknown symbol go_matrix_transpose [ 2859.583873] genserkins: Unknown symbol go_matrix_inv [ 2859.584094] genserkins: Unknown symbol go_matrix_matrix_mult [ 2859.584267] genserkins: Unknown symbol go_quat_rvec_convert [ 2859.584439] genserkins: Unknown symbol go_matrix_matrix_add [ 2859.584753] genserkins: Unknown symbol go_cart_vector_convert [ 2859.585010] genserkins: Unknown symbol go_quat_cart_mult [ 2859.585186] genserkins: Unknown symbol go_link_pose_build [ 2859.585493] genserkins: Unknown symbol go_matrix_vector_cross [ 2859.585665] genserkins: Unknown symbol go_matrix_vector_mult [ 2859.585836] genserkins: Unknown symbol go_dh_pose_convert [ 2859.586008] genserkins: Unknown symbol go_pose_pose_mult [ 2859.586179] genserkins: Unknown symbol go_quat_matrix_convert [ 2859.586486] genserkins: Unknown symbol go_quat_inv [ 2860.268311] RTAI[math]: unloaded. [ 2860.381626] SCHED releases registered named ALIEN RTGLBH [ 2860.398309] RTAI[malloc]: unloaded. [ 2860.496038] RTAI[sched]: unloaded (forced hard/soft/hard transitions: traps 0, syscalls 0). [ 2860.503704] I-pipe: Domain RTAI unregistered. [ 2860.503721] RTAI[hal]: unmounted. [ 2925.644035] usb 1-2: new high speed USB device using ehci_hcd and address 3 [ 2925.788754] usb 1-2: configuration #1 chosen from 1 choice [ 2926.167529] Initializing USB Mass Storage driver... [ 2926.167730] scsi5 : SCSI emulation for USB Mass Storage devices [ 2926.168495] usbcore: registered new interface driver usb-storage [ 2926.168504] USB Mass Storage support registered. [ 2926.178837] usb-storage: device found at 3 [ 2926.178844] usb-storage: waiting for device to settle before scanning [ 2931.176309] usb-storage: device scan complete [ 2931.176895] scsi 5:0:0:0: Direct-Access Kingston DataTraveler 2.0 1.02 PQ: 0 ANSI: 0 CCS [ 2931.181565] sd 5:0:0:0: Attached scsi generic sg1 type 0 [ 2931.714464] sd 5:0:0:0: [sdb] 503808 512-byte logical blocks: (257 MB/246 MiB) [ 2931.714948] sd 5:0:0:0: [sdb] Write Protect is off [ 2931.714954] sd 5:0:0:0: [sdb] Mode Sense: 23 00 00 00 [ 2931.714959] sd 5:0:0:0: [sdb] Assuming drive cache: write through [ 2931.719451] sd 5:0:0:0: [sdb] Assuming drive cache: write through [ 2931.719465] sdb: sdb1 [ 2931.725233] sd 5:0:0:0: [sdb] Assuming drive cache: write through [ 2931.725245] sd 5:0:0:0: [sdb] Attached SCSI removable disk [ 2985.857809] usb 1-2: USB disconnect, address 3 [ 3202.616039] usb 1-2: new high speed USB device using ehci_hcd and address 4 [ 3202.760957] usb 1-2: configuration #1 chosen from 1 choice [ 3202.778703] scsi6 : SCSI emulation for USB Mass Storage devices [ 3202.783947] usb-storage: device found at 4 [ 3202.783953] usb-storage: waiting for device to settle before scanning [ 3207.780217] usb-storage: device scan complete [ 3207.780805] scsi 6:0:0:0: Direct-Access Kingston DataTraveler 2.0 1.02 PQ: 0 ANSI: 0 CCS [ 3207.788117] sd 6:0:0:0: Attached scsi generic sg1 type 0 [ 3208.490743] sd 6:0:0:0: [sdb] 503808 512-byte logical blocks: (257 MB/246 MiB) [ 3208.491227] sd 6:0:0:0: [sdb] Write Protect is off [ 3208.491233] sd 6:0:0:0: [sdb] Mode Sense: 23 00 00 00 [ 3208.491237] sd 6:0:0:0: [sdb] Assuming drive cache: write through [ 3208.495871] sd 6:0:0:0: [sdb] Assuming drive cache: write through [ 3208.495886] sdb: sdb1 [ 3208.502014] sd 6:0:0:0: [sdb] Assuming drive cache: write through [ 3208.502028] sd 6:0:0:0: [sdb] Attached SCSI removable disk [ 3632.465070] I-pipe: Domain RTAI registered. [ 3632.465085] RTAI[hal]: <3.8.1> mounted over IPIPE-NOTHREADS 2.6-03. [ 3632.465090] RTAI[hal]: compiled with gcc version 4.4.3 (Ubuntu 4.4.3-4ubuntu5) . [ 3632.465102] RTAI[hal]: mounted (IPIPE-NOTHREADS, IMMEDIATE (INTERNAL IRQs DISPATCHED), ISOL_CPUS_MASK: 0). [ 3632.465106] PIPELINE layers: [ 3632.465112] e0aa1e20 9ac15d93 RTAI 200 [ 3632.465116] c085cb20 0 Linux 100 [ 3632.546501] insmod: page allocation failure. order:7, mode:0xd0 [ 3632.546512] Pid: 2418, comm: insmod Tainted: P 2.6.32-122-rtai #rtai [ 3632.546517] Call Trace: [ 3632.546538] [<c01c4d8e>] __alloc_pages_slowpath+0x46e/0x4a0 [ 3632.546548] [<c01c4efa>] __alloc_pages_nodemask+0x13a/0x170 [ 3632.546555] [<c01c4f4c>] __get_free_pages+0x1c/0x30 [ 3632.546581] [<e0b09814>] alloc_extent+0x34/0xb0 [rtai_sched] [ 3632.546595] [<e0b099d8>] rtheap_init+0x148/0x230 [rtai_sched] [ 3632.546609] [<e0afbd11>] __rtai_lxrt_init+0x41/0x6b0 [rtai_sched] [ 3632.546616] [<c0101041>] do_one_initcall+0x31/0x1b0 [ 3632.546629] [<e0afbcd0>] ? __rtai_lxrt_init+0x0/0x6b0 [rtai_sched] [ 3632.546639] [<c0179781>] sys_init_module+0xb1/0x220 [ 3632.546649] [<c010340d>] syscall_call+0x7/0xb [ 3632.546654] Mem-Info: [ 3632.546657] DMA per-cpu: [ 3632.546661] CPU 0: hi: 0, btch: 1 usd: 0 [ 3632.546664] Normal per-cpu: [ 3632.546668] CPU 0: hi: 186, btch: 31 usd: 0 [ 3632.546676] active_anon:7530 inactive_anon:26567 isolated_anon:34 [ 3632.546678] active_file:17383 inactive_file:60456 isolated_file:94 [ 3632.546680] unevictable:416 dirty:34 writeback:930 unstable:0 [ 3632.546682] free:7076 slab_reclaimable:2501 slab_unreclaimable:1826 [ 3632.546685] mapped:9406 shmem:696 pagetables:1145 bounce:0 [ 3632.546696] DMA free:2056kB min:84kB low:104kB high:124kB active_anon:96kB inactive_anon:256kB active_file:192kB inactive_file:5604kB unevictable:0kB isolated(anon):0kB isolated(file):0kB present:15852kB mlocked:0kB dirty:0kB writeback:0kB mapped:64kB shmem:4kB slab_reclaimable:92kB slab_unreclaimable:60kB kernel_stack:8kB pagetables:40kB unstable:0kB bounce:0kB writeback_tmp:0kB pages_scanned:0 all_unreclaimable? no [ 3632.546705] lowmem_reserve[]: 0 492 492 492 [ 3632.546720] Normal free:26248kB min:2792kB low:3488kB high:4188kB active_anon:30024kB inactive_anon:106012kB active_file:69340kB inactive_file:236220kB unevictable:1664kB isolated(anon):136kB isolated(file):376kB present:503856kB mlocked:0kB dirty:136kB writeback:3720kB mapped:37560kB shmem:2780kB slab_reclaimable:9912kB slab_unreclaimable:7244kB kernel_stack:1792kB pagetables:4540kB unstable:0kB bounce:0kB writeback_tmp:0kB pages_scanned:0 all_unreclaimable? no [ 3632.546730] lowmem_reserve[]: 0 0 0 0 [ 3632.546738] DMA: 0*4kB 1*8kB 0*16kB 0*32kB 2*64kB 1*128kB 1*256kB 1*512kB 1*1024kB 0*2048kB 0*4096kB = 2056kB [ 3632.546757] Normal: 742*4kB 466*8kB 292*16kB 177*32kB 80*64kB 20*128kB 4*256kB 1*512kB 0*1024kB 0*2048kB 0*4096kB = 26248kB [ 3632.546777] 94200 total pagecache pages [ 3632.546780] 15160 pages in swap cache [ 3632.546784] Swap cache stats: add 23189, delete 8029, find 11496/11521 [ 3632.546788] Free swap = 197896kB [ 3632.546791] Total swap = 261112kB [ 3632.550260] 131052 pages RAM [ 3632.550266] 0 pages HighMem [ 3632.550269] 3723 pages reserved [ 3632.550272] 78140 pages shared [ 3632.550275] 69040 pages non-shared [ 3632.557233] RTAI[malloc]: global heap size = 2097152 bytes, <BSD>. [ 3632.557485] RTAI[sched]: IMMEDIATE, MP, USER/KERNEL SPACE: <with RTAI OWN KTASKs>, kstacks pool size = 524288 bytes. [ 3632.557493] RTAI[sched]: hard timer type/freq = APIC/6264158(Hz); default timing: periodic; linear timed lists. [ 3632.557499] RTAI[sched]: Linux timer freq = 250 (Hz), TimeBase freq = 2004325000 hz. [ 3632.557504] RTAI[sched]: timer setup = 999 ns, resched latency = 2944 ns. [ 3632.557814] RTAI[usi]: enabled. [ 3633.391892] RTAI[math]: loaded. [ 3633.596265] genserkins: Unknown symbol go_link_joint_set [ 3633.596445] genserkins: Unknown symbol go_pose_inv [ 3633.596756] genserkins: Unknown symbol go_quat_rpy_convert [ 3633.596932] genserkins: Unknown symbol go_rpy_quat_convert [ 3633.597107] genserkins: Unknown symbol go_matrix_transpose [ 3633.597282] genserkins: Unknown symbol go_matrix_inv [ 3633.597457] genserkins: Unknown symbol go_matrix_matrix_mult [ 3633.597633] genserkins: Unknown symbol go_quat_rvec_convert [ 3633.597808] genserkins: Unknown symbol go_matrix_matrix_add [ 3633.598128] genserkins: Unknown symbol go_cart_vector_convert [ 3633.598310] genserkins: Unknown symbol go_quat_cart_mult [ 3633.598485] genserkins: Unknown symbol go_link_pose_build [ 3633.598796] genserkins: Unknown symbol go_matrix_vector_cross [ 3633.598971] genserkins: Unknown symbol go_matrix_vector_mult [ 3633.599146] genserkins: Unknown symbol go_dh_pose_convert [ 3633.599375] genserkins: Unknown symbol go_pose_pose_mult [ 3633.599551] genserkins: Unknown symbol go_quat_matrix_convert [ 3633.599861] genserkins: Unknown symbol go_quat_inv [ 3634.517717] RTAI[math]: unloaded. [ 3634.631814] SCHED releases registered named ALIEN RTGLBH [ 3634.646234] RTAI[malloc]: unloaded. [ 3634.744029] RTAI[sched]: unloaded (forced hard/soft/hard transitions: traps 0, syscalls 0). [ 3634.751368] I-pipe: Domain RTAI unregistered. [ 3634.751386] RTAI[hal]: unmounted. [ 3641.589397] I-pipe: Domain RTAI registered. [ 3641.589412] RTAI[hal]: <3.8.1> mounted over IPIPE-NOTHREADS 2.6-03. [ 3641.589416] RTAI[hal]: compiled with gcc version 4.4.3 (Ubuntu 4.4.3-4ubuntu5) . [ 3641.589428] RTAI[hal]: mounted (IPIPE-NOTHREADS, IMMEDIATE (INTERNAL IRQs DISPATCHED), ISOL_CPUS_MASK: 0). [ 3641.589433] PIPELINE layers: [ 3641.589438] e1048e20 9ac15d93 RTAI 200 [ 3641.589443] c085cb20 0 Linux 100 [ 3641.632187] RTAI[malloc]: global heap size = 2097152 bytes, <BSD>. [ 3641.632414] RTAI[sched]: IMMEDIATE, MP, USER/KERNEL SPACE: <with RTAI OWN KTASKs>, kstacks pool size = 524288 bytes. [ 3641.632423] RTAI[sched]: hard timer type/freq = APIC/6264158(Hz); default timing: periodic; linear timed lists. [ 3641.632429] RTAI[sched]: Linux timer freq = 250 (Hz), TimeBase freq = 2004325000 hz. [ 3641.632433] RTAI[sched]: timer setup = 999 ns, resched latency = 2944 ns. [ 3641.632608] RTAI[usi]: enabled. [ 3641.782362] RTAI[math]: loaded. [ 3649.637635] genserkins: Unknown symbol go_link_joint_set [ 3649.637820] genserkins: Unknown symbol go_pose_inv [ 3649.638140] genserkins: Unknown symbol go_quat_rpy_convert [ 3649.638320] genserkins: Unknown symbol go_rpy_quat_convert [ 3649.638499] genserkins: Unknown symbol go_matrix_transpose [ 3649.638679] genserkins: Unknown symbol go_matrix_inv [ 3649.638858] genserkins: Unknown symbol go_matrix_matrix_mult [ 3649.639038] genserkins: Unknown symbol go_quat_rvec_convert [ 3649.639218] genserkins: Unknown symbol go_matrix_matrix_add [ 3649.639538] genserkins: Unknown symbol go_cart_vector_convert [ 3649.639718] genserkins: Unknown symbol go_quat_cart_mult [ 3649.639897] genserkins: Unknown symbol go_link_pose_build [ 3649.640300] genserkins: Unknown symbol go_matrix_vector_cross [ 3649.640475] genserkins: Unknown symbol go_matrix_vector_mult [ 3649.640648] genserkins: Unknown symbol go_dh_pose_convert [ 3649.640822] genserkins: Unknown symbol go_pose_pose_mult [ 3649.641003] genserkins: Unknown symbol go_quat_matrix_convert [ 3649.641312] genserkins: Unknown symbol go_quat_inv [ 4081.524297] usb 1-2: USB disconnect, address 4 [ 5965.010700] RTAI[math]: unloaded. [ 5965.117737] SCHED releases registered named ALIEN RTGLBH [ 5965.133386] RTAI[malloc]: unloaded. [ 5965.232045] RTAI[sched]: unloaded (forced hard/soft/hard transitions: traps 0, syscalls 0). [ 5965.239372] I-pipe: Domain RTAI unregistered. [ 5965.239390] RTAI[hal]: unmounted. [ 6054.229011] I-pipe: Domain RTAI registered. [ 6054.229027] RTAI[hal]: <3.8.1> mounted over IPIPE-NOTHREADS 2.6-03. [ 6054.229031] RTAI[hal]: compiled with gcc version 4.4.3 (Ubuntu 4.4.3-4ubuntu5) . [ 6054.229043] RTAI[hal]: mounted (IPIPE-NOTHREADS, IMMEDIATE (INTERNAL IRQs DISPATCHED), ISOL_CPUS_MASK: 0). [ 6054.229047] PIPELINE layers: [ 6054.229053] e0aa1e20 9ac15d93 RTAI 200 [ 6054.229057] c085cb20 0 Linux 100 [ 6054.297825] insmod: page allocation failure. order:7, mode:0xd0 [ 6054.297836] Pid: 2656, comm: insmod Tainted: P 2.6.32-122-rtai #rtai [ 6054.297840] Call Trace: [ 6054.297864] [<c01c4d8e>] __alloc_pages_slowpath+0x46e/0x4a0 [ 6054.297871] [<c01c4efa>] __alloc_pages_nodemask+0x13a/0x170 [ 6054.297878] [<c01c4f4c>] __get_free_pages+0x1c/0x30 [ 6054.297904] [<e0b09814>] alloc_extent+0x34/0xb0 [rtai_sched] [ 6054.297920] [<e0b099d8>] rtheap_init+0x148/0x230 [rtai_sched] [ 6054.297934] [<e0afbd11>] __rtai_lxrt_init+0x41/0x6b0 [rtai_sched] [ 6054.297942] [<c0101041>] do_one_initcall+0x31/0x1b0 [ 6054.297956] [<e0afbcd0>] ? __rtai_lxrt_init+0x0/0x6b0 [rtai_sched] [ 6054.297966] [<c0179781>] sys_init_module+0xb1/0x220 [ 6054.297974] [<c010340d>] syscall_call+0x7/0xb [ 6054.297979] Mem-Info: [ 6054.297983] DMA per-cpu: [ 6054.297987] CPU 0: hi: 0, btch: 1 usd: 0 [ 6054.297990] Normal per-cpu: [ 6054.297994] CPU 0: hi: 186, btch: 31 usd: 0 [ 6054.298002] active_anon:5528 inactive_anon:27417 isolated_anon:2 [ 6054.298004] active_file:14787 inactive_file:60722 isolated_file:71 [ 6054.298006] unevictable:416 dirty:0 writeback:1720 unstable:0 [ 6054.298008] free:10757 slab_reclaimable:2402 slab_unreclaimable:1850 [ 6054.298010] mapped:8330 shmem:586 pagetables:1115 bounce:0 [ 6054.298022] DMA free:2064kB min:84kB low:104kB high:124kB active_anon:96kB inactive_anon:256kB active_file:212kB inactive_file:5584kB unevictable:0kB isolated(anon):0kB isolated(file):0kB present:15852kB mlocked:0kB dirty:0kB writeback:0kB mapped:64kB shmem:4kB slab_reclaimable:84kB slab_unreclaimable:60kB kernel_stack:8kB pagetables:40kB unstable:0kB bounce:0kB writeback_tmp:0kB pages_scanned:0 all_unreclaimable? no [ 6054.298031] lowmem_reserve[]: 0 492 492 492 [ 6054.298046] Normal free:40964kB min:2792kB low:3488kB high:4188kB active_anon:22016kB inactive_anon:109412kB active_file:58936kB inactive_file:237304kB unevictable:1664kB isolated(anon):8kB isolated(file):284kB present:503856kB mlocked:0kB dirty:0kB writeback:6880kB mapped:33256kB shmem:2340kB slab_reclaimable:9524kB slab_unreclaimable:7340kB kernel_stack:1784kB pagetables:4420kB unstable:0kB bounce:0kB writeback_tmp:0kB pages_scanned:0 all_unreclaimable? no [ 6054.298057] lowmem_reserve[]: 0 0 0 0 [ 6054.298064] DMA: 0*4kB 2*8kB 0*16kB 0*32kB 2*64kB 1*128kB 1*256kB 1*512kB 1*1024kB 0*2048kB 0*4096kB = 2064kB [ 6054.298084] Normal: 677*4kB 524*8kB 399*16kB 255*32kB 113*64kB 52*128kB 20*256kB 1*512kB 0*1024kB 0*2048kB 0*4096kB = 40964kB [ 6054.298104] 93366 total pagecache pages [ 6054.298107] 16828 pages in swap cache [ 6054.298111] Swap cache stats: add 26655, delete 9827, find 13048/13196 [ 6054.298115] Free swap = 190540kB [ 6054.298118] Total swap = 261112kB [ 6054.301619] 131052 pages RAM [ 6054.301625] 0 pages HighMem [ 6054.301628] 3723 pages reserved [ 6054.301631] 74870 pages shared [ 6054.301634] 68372 pages non-shared [ 6054.309338] RTAI[malloc]: global heap size = 2097152 bytes, <BSD>. [ 6054.309602] RTAI[sched]: IMMEDIATE, MP, USER/KERNEL SPACE: <with RTAI OWN KTASKs>, kstacks pool size = 524288 bytes. [ 6054.309611] RTAI[sched]: hard timer type/freq = APIC/6264158(Hz); default timing: periodic; linear timed lists. [ 6054.309617] RTAI[sched]: Linux timer freq = 250 (Hz), TimeBase freq = 2004325000 hz. [ 6054.309621] RTAI[sched]: timer setup = 999 ns, resched latency = 2944 ns. [ 6054.311497] RTAI[usi]: enabled. [ 6054.991555] RTAI[math]: loaded. [ 6062.013596] genserkins: Unknown symbol go_link_joint_set [ 6062.013783] genserkins: Unknown symbol go_pose_inv [ 6062.014105] genserkins: Unknown symbol go_quat_rpy_convert [ 6062.014286] genserkins: Unknown symbol go_rpy_quat_convert [ 6062.014468] genserkins: Unknown symbol go_matrix_transpose [ 6062.014649] genserkins: Unknown symbol go_matrix_inv [ 6062.014831] genserkins: Unknown symbol go_matrix_matrix_mult [ 6062.015012] genserkins: Unknown symbol go_quat_rvec_convert [ 6062.015194] genserkins: Unknown symbol go_matrix_matrix_add [ 6062.015517] genserkins: Unknown symbol go_cart_vector_convert [ 6062.015698] genserkins: Unknown symbol go_quat_cart_mult [ 6062.015880] genserkins: Unknown symbol go_link_pose_build [ 6062.016291] genserkins: Unknown symbol go_matrix_vector_cross [ 6062.016477] genserkins: Unknown symbol go_matrix_vector_mult [ 6062.016652] genserkins: Unknown symbol go_dh_pose_convert [ 6062.016827] genserkins: Unknown symbol go_pose_pose_mult [ 6062.017003] genserkins: Unknown symbol go_quat_matrix_convert [ 6062.017312] genserkins: Unknown symbol go_quat_inv [ 6067.232169] RTAI[math]: unloaded. [ 6067.344600] SCHED releases registered named ALIEN RTGLBH [ 6067.362276] RTAI[malloc]: unloaded. [ 6067.460033] RTAI[sched]: unloaded (forced hard/soft/hard transitions: traps 0, syscalls 0). [ 6067.467380] I-pipe: Domain RTAI unregistered. [ 6067.467398] RTAI[hal]: unmounted. [ 6187.404034] usb 1-2: new high speed USB device using ehci_hcd and address 5 [ 6187.549735] usb 1-2: configuration #1 chosen from 1 choice [ 6187.550707] scsi7 : SCSI emulation for USB Mass Storage devices [ 6187.550999] usb-storage: device found at 5 [ 6187.551005] usb-storage: waiting for device to settle before scanning [ 6192.548207] usb-storage: device scan complete [ 6192.548800] scsi 7:0:0:0: Direct-Access Kingston DataTraveler 2.0 1.02 PQ: 0 ANSI: 0 CCS [ 6192.553381] sd 7:0:0:0: Attached scsi generic sg1 type 0 [ 6193.204241] sd 7:0:0:0: [sdb] 503808 512-byte logical blocks: (257 MB/246 MiB) [ 6193.204724] sd 7:0:0:0: [sdb] Write Protect is off [ 6193.204729] sd 7:0:0:0: [sdb] Mode Sense: 23 00 00 00 [ 6193.204734] sd 7:0:0:0: [sdb] Assuming drive cache: write through [ 6193.208865] sd 7:0:0:0: [sdb] Assuming drive cache: write through [ 6193.208878] sdb: sdb1 [ 6193.214753] sd 7:0:0:0: [sdb] Assuming drive cache: write through [ 6193.214765] sd 7:0:0:0: [sdb] Attached SCSI removable disk [ 6269.689088] I-pipe: Domain RTAI registered. [ 6269.689103] RTAI[hal]: <3.8.1> mounted over IPIPE-NOTHREADS 2.6-03. [ 6269.689108] RTAI[hal]: compiled with gcc version 4.4.3 (Ubuntu 4.4.3-4ubuntu5) . [ 6269.689119] RTAI[hal]: mounted (IPIPE-NOTHREADS, IMMEDIATE (INTERNAL IRQs DISPATCHED), ISOL_CPUS_MASK: 0). [ 6269.689124] PIPELINE layers: [ 6269.689129] e0aa1e20 9ac15d93 RTAI 200 [ 6269.689133] c085cb20 0 Linux 100 [ 6269.756578] insmod: page allocation failure. order:7, mode:0xd0 [ 6269.756589] Pid: 2805, comm: insmod Tainted: P 2.6.32-122-rtai #rtai [ 6269.756594] Call Trace: [ 6269.756616] [<c01c4d8e>] __alloc_pages_slowpath+0x46e/0x4a0 [ 6269.756624] [<c01c4efa>] __alloc_pages_nodemask+0x13a/0x170 [ 6269.756631] [<c01c4f4c>] __get_free_pages+0x1c/0x30 [ 6269.756656] [<e0b09814>] alloc_extent+0x34/0xb0 [rtai_sched] [ 6269.756670] [<e0b099d8>] rtheap_init+0x148/0x230 [rtai_sched] [ 6269.756684] [<e0afbd11>] __rtai_lxrt_init+0x41/0x6b0 [rtai_sched] [ 6269.756692] [<c0101041>] do_one_initcall+0x31/0x1b0 [ 6269.756706] [<e0afbcd0>] ? __rtai_lxrt_init+0x0/0x6b0 [rtai_sched] [ 6269.756717] [<c0179781>] sys_init_module+0xb1/0x220 [ 6269.756724] [<c010340d>] syscall_call+0x7/0xb [ 6269.756729] Mem-Info: [ 6269.756733] DMA per-cpu: [ 6269.756737] CPU 0: hi: 0, btch: 1 usd: 0 [ 6269.756741] Normal per-cpu: [ 6269.756745] CPU 0: hi: 186, btch: 31 usd: 0 [ 6269.756754] active_anon:7048 inactive_anon:27834 isolated_anon:44 [ 6269.756757] active_file:14436 inactive_file:62009 isolated_file:84 [ 6269.756759] unevictable:416 dirty:105 writeback:270 unstable:0 [ 6269.756761] free:7839 slab_reclaimable:2343 slab_unreclaimable:1835 [ 6269.756764] mapped:10279 shmem:748 pagetables:1189 bounce:0 [ 6269.756776] DMA free:2064kB min:84kB low:104kB high:124kB active_anon:96kB inactive_anon:256kB active_file:212kB inactive_file:5584kB unevictable:0kB isolated(anon):0kB isolated(file):0kB present:15852kB mlocked:0kB dirty:0kB writeback:0kB mapped:64kB shmem:4kB slab_reclaimable:84kB slab_unreclaimable:60kB kernel_stack:8kB pagetables:40kB unstable:0kB bounce:0kB writeback_tmp:0kB pages_scanned:0 all_unreclaimable? no [ 6269.756786] lowmem_reserve[]: 0 492 492 492 [ 6269.756803] Normal free:29292kB min:2792kB low:3488kB high:4188kB active_anon:28096kB inactive_anon:111080kB active_file:57532kB inactive_file:242452kB unevictable:1664kB isolated(anon):176kB isolated(file):336kB present:503856kB mlocked:0kB dirty:420kB writeback:1080kB mapped:41052kB shmem:2988kB slab_reclaimable:9288kB slab_unreclaimable:7280kB kernel_stack:1816kB pagetables:4716kB unstable:0kB bounce:0kB writeback_tmp:0kB pages_scanned:0 all_unreclaimable? no [ 6269.756814] lowmem_reserve[]: 0 0 0 0 [ 6269.756823] DMA: 0*4kB 2*8kB 0*16kB 0*32kB 2*64kB 1*128kB 1*256kB 1*512kB 1*1024kB 0*2048kB 0*4096kB = 2064kB [ 6269.756845] Normal: 1157*4kB 809*8kB 249*16kB 156*32kB 64*64kB 26*128kB 5*256kB 1*512kB 0*1024kB 0*2048kB 0*4096kB = 29292kB [ 6269.756866] 95171 total pagecache pages [ 6269.756870] 17561 pages in swap cache [ 6269.756874] Swap cache stats: add 29760, delete 12199, find 15807/15991 [ 6269.756878] Free swap = 185512kB [ 6269.756882] Total swap = 261112kB [ 6269.760329] 131052 pages RAM [ 6269.760335] 0 pages HighMem [ 6269.760339] 3723 pages reserved [ 6269.760342] 80605 pages shared [ 6269.760344] 69783 pages non-shared [ 6269.769170] RTAI[malloc]: global heap size = 2097152 bytes, <BSD>. [ 6269.772815] RTAI[sched]: IMMEDIATE, MP, USER/KERNEL SPACE: <with RTAI OWN KTASKs>, kstacks pool size = 524288 bytes. [ 6269.772826] RTAI[sched]: hard timer type/freq = APIC/6264158(Hz); default timing: periodic; linear timed lists. [ 6269.772833] RTAI[sched]: Linux timer freq = 250 (Hz), TimeBase freq = 2004325000 hz. [ 6269.772837] RTAI[sched]: timer setup = 999 ns, resched latency = 2944 ns. [ 6269.775896] RTAI[usi]: enabled. [ 6270.116156] RTAI[math]: loaded. [ 6271.092820] genserkins: Unknown symbol go_link_joint_set [ 6271.093005] genserkins: Unknown symbol go_pose_inv [ 6271.093326] genserkins: Unknown symbol go_quat_rpy_convert [ 6271.093507] genserkins: Unknown symbol go_rpy_quat_convert [ 6271.093688] genserkins: Unknown symbol go_matrix_transpose [ 6271.093868] genserkins: Unknown symbol go_matrix_inv [ 6271.094049] genserkins: Unknown symbol go_matrix_matrix_mult [ 6271.094230] genserkins: Unknown symbol go_quat_rvec_convert [ 6271.094410] genserkins: Unknown symbol go_matrix_matrix_add [ 6271.094732] genserkins: Unknown symbol go_cart_vector_convert [ 6271.094912] genserkins: Unknown symbol go_quat_cart_mult [ 6271.095093] genserkins: Unknown symbol go_link_pose_build [ 6271.095426] genserkins: Unknown symbol go_matrix_vector_cross [ 6271.095607] genserkins: Unknown symbol go_matrix_vector_mult [ 6271.095787] genserkins: Unknown symbol go_dh_pose_convert [ 6271.095968] genserkins: Unknown symbol go_pose_pose_mult [ 6271.096196] genserkins: Unknown symbol go_quat_matrix_convert [ 6271.096507] genserkins: Unknown symbol go_quat_inv [ 6277.185657] RTAI[math]: unloaded. [ 6277.257059] SCHED releases registered named ALIEN RTGLBH [ 6277.273271] RTAI[malloc]: unloaded. [ 6277.372029] RTAI[sched]: unloaded (forced hard/soft/hard transitions: traps 0, syscalls 0). [ 6277.380274] I-pipe: Domain RTAI unregistered. [ 6277.380291] RTAI[hal]: unmounted. I would like to ask, if somebody else could try this genserkins version and report back the results. Thanks! Viesturs ------------------------------------------------------------------------------ Protect Your Site and Customers from Malware Attacks Learn about various malware tactics and how to avoid them. Understand malware threats, the impact they can have on your business, and how you can protect your company and customers by using code signing. http://p.sf.net/sfu/oracle-sfdevnl _______________________________________________ Emc-developers mailing list [email protected] https://lists.sourceforge.net/lists/listinfo/emc-developers
