Hi Seb,
Am 19.01.2014 um 16:42 schrieb Sebastian Kuzminsky <[email protected]>: > I'm trying to get ubc ready to merge, and i'm running into a problem > that i'd like help debugging. > > I have a machine (Precise, x86, with memleak's RTAI kernel) that runs > the ubc branch fine when configured for rip, but throws errors when > installed from the debian packages i've made (with the seb/ubc3-deb branch). > > Here's the output for the RTAI flavor: > >> 0 09:33:47 seb@precise-rtai-x86 /home/seb> which linuxcnc >> /usr/bin/linuxcnc >> 0 09:33:48 seb@precise-rtai-x86 /home/seb> dpkg -s linuxcnc | grep Version >> Version: 1:2.6.0~pre~seb.ubc3.deb~8579fcd >> 0 09:33:51 seb@precise-rtai-x86 /home/seb> DEBUG=5 linuxcnc -l >> LINUXCNC - 2.6.0~pre~seb-ubc3-deb~8579fcd >> Machine configuration directory is '/home/seb/linuxcnc/configs/sim.axis' >> Machine configuration file is 'axis.ini' >> Starting LinuxCNC... >> io started >> halcmd: hal_init() failed: -22 >> NOTE: 'rtapi' module must be loaded This particular error happens if a HAL userland application (io in that case) fails to init the thread-dependent userland side of RTAPI. That code is in the ulapi-<flavor>.so shared object; in the RIP builds those files are in lib/: ./lib/ulapi-xenomai.so ./lib/ulapi-rtai-kernel.so ./lib/ulapi-xenomai-kernel.so ./lib/ulapi-posix.so it is loaded in rtapi/ulapi_autoload.c with dlopen(), hence dlopen path resolution applies Assuming the .so's are built, it comes down to where they are installed (/usr/lib/linuxcnc?) and tell ldconfig about it (maybe a linuxcnc entry in /etc/ld.conf.d) - Michael >> halcmd loadusr io started >> halcmd: hal_init() failed: -22 >> NOTE: 'rtapi' module must be loaded >> halcmd: hal_init() failed: -22 >> NOTE: 'rtapi' module must be loaded >> Shutting down and cleaning up LinuxCNC... >> halcmd: hal_init() failed: -22 >> NOTE: 'rtapi' module must be loaded >> halcmd: hal_init() failed: -22 >> NOTE: 'rtapi' module must be loaded >> halcmd: hal_init() failed: -22 >> NOTE: 'rtapi' module must be loaded >> halcmd: hal_init() failed: -22 >> NOTE: 'rtapi' module must be loaded >> halcmd: hal_init() failed: -22 >> NOTE: 'rtapi' module must be loaded >> halcmd: hal_init() failed: -22 >> NOTE: 'rtapi' module must be loaded >> halcmd: hal_init() failed: -22 >> NOTE: 'rtapi' module must be loaded >> halcmd: hal_init() failed: -22 >> NOTE: 'rtapi' module must be loaded >> halcmd: hal_init() failed: -22 >> NOTE: 'rtapi' module must be loaded >> halcmd: hal_init() failed: -22 >> NOTE: 'rtapi' module must be loaded >> halcmd: hal_init() failed: -22 >> NOTE: 'rtapi' module must be loaded >> halcmd: hal_init() failed: -22 >> NOTE: 'rtapi' module must be loaded >> realtime unload: notice: attempting to unload shmdrv >> Cleanup done >> LinuxCNC terminated with an error. You can find more information in the log: >> /home/seb/linuxcnc_debug.txt >> and >> /home/seb/linuxcnc_print.txt >> as well as in the output of the shell command 'dmesg' and in the terminal >> 255 09:33:58 seb@precise-rtai-x86 /home/seb> > > And the relevant bit from the log: > >> Jan 19 09:33:54 precise-rtai-x86 msgd:0: startup instance=inst0 pid=31317 >> flavor=rtai-kernel rtlevel=5 usrlevel=5 halsize=512000 shm=shmdrv gcc=4.6.3 >> git=unknown >> Jan 19 09:33:54 precise-rtai-x86 kernel: I-pipe: head domain RTAI registered. >> Jan 19 09:33:54 precise-rtai-x86 kernel: RTAI[hal]: compiled with gcc >> version 4.6.3 (Ubuntu/Linaro 4.6.3-1ubuntu5) . >> Jan 19 09:33:54 precise-rtai-x86 kernel: RTAI[hal]: mounted >> (IPIPE-NOTHREADS, IMMEDIATE (INTERNAL IRQs DISPATCHED), ISOL_CPUS_MASK: 0). >> Jan 19 09:33:54 precise-rtai-x86 kernel: SYSINFO: CPUs 2, LINUX APIC IRQ >> 2312, TIM_FREQ 62514702, CLK_FREQ 2095130000, CPU_FREQ 2095130000 >> Jan 19 09:33:54 precise-rtai-x86 kernel: RTAI_APIC_TIMER_IPI: RTAI DEFINED >> 2314, VECTOR 2314; LINUX_APIC_TIMER_IPI: RTAI DEFINED 2312, VECTOR 2312 >> Jan 19 09:33:54 precise-rtai-x86 kernel: TIMER NAME: lapic; VARIOUSLY FOUND >> APIC FREQs: 62514702, 62514702, 59840000 >> Jan 19 09:33:54 precise-rtai-x86 kernel: RTAI[malloc]: global heap size = >> 131072 bytes, <BSD>. >> Jan 19 09:33:54 precise-rtai-x86 kernel: , <uses LINUX SYSCALLs>, kstacks >> pool size = 524288 bytes. >> Jan 19 09:33:54 precise-rtai-x86 kernel: RTAI[sched]: hard timer type/freq = >> APIC/62514702(Hz); default timing: periodic; linear timed lists. >> Jan 19 09:33:54 precise-rtai-x86 kernel: RTAI[sched]: Linux timer freq = >> 1000 (Hz), TimeBase freq = 2095130000 hz. >> Jan 19 09:33:54 precise-rtai-x86 kernel: RTAI[sched]: timer setup = 999 ns, >> resched latency = 2943 ns. >> Jan 19 09:33:54 precise-rtai-x86 kernel: ***** WARNING: GLOBAL HEAP NEITHER >> SHARABLE NOR USABLE FROM USER SPACE (use the vmalloc option for RTAI malloc) >> ***** >> Jan 19 09:33:54 precise-rtai-x86 kernel: RTAI[math]: loaded. >> Jan 19 09:33:54 precise-rtai-x86 msgd:0: :0:kernel RTAPI:0 rtai-kernel >> unknown init >> Jan 19 09:33:54 precise-rtai-x86 msgd:0: rt:0:kernel RTAPI:0 Init complete >> Jan 19 09:33:55 precise-rtai-x86 msgd:0: rt:0:kernel HAL_LIB:0 loading RT >> support gd=fa7f8000 >> Jan 19 09:33:55 precise-rtai-x86 msgd:0: rt:0:kernel RTAPI:0 initing module >> HAL_LIB >> Jan 19 09:33:55 precise-rtai-x86 msgd:0: rt:0:kernel RTAPI:0 module >> 'HAL_LIB' loaded, ID: 1 >> Jan 19 09:33:55 precise-rtai-x86 msgd:0: rt:0:kernel RTAPI: using new shmem 1 >> Jan 19 09:33:55 precise-rtai-x86 msgd:0: rt:0:kernel RTAPI: shmem 01 created >> by module 01, key: 4279346, size: 512000 >> Jan 19 09:33:55 precise-rtai-x86 msgd:0: rt:0:kernel HAL_LIB:0 kernel lib >> installed successfully >> Jan 19 09:33:57 precise-rtai-x86 msgd:0: msgd:0: SIGTERM - shutting down >> Jan 19 09:33:57 precise-rtai-x86 msgd:0: normal shutdown - global segment >> detached >> Jan 19 09:33:58 precise-rtai-x86 kernel: RTAI[math]: unloaded. >> Jan 19 09:33:58 precise-rtai-x86 kernel: RTAI[malloc]: unloaded. >> Jan 19 09:33:58 precise-rtai-x86 kernel: RTAI[sched]: unloaded (forced >> hard/soft/hard transitions: traps 0, syscalls 0). >> Jan 19 09:33:58 precise-rtai-x86 kernel: I-pipe: head domain RTAI >> unregistered. >> Jan 19 09:33:58 precise-rtai-x86 kernel: RTAI[hal]: unmounted. > > And the output for the posix flavor: > >> 255 09:33:58 seb@precise-rtai-x86 /home/seb> DEBUG=5 FLAVOR=posix linuxcnc -l >> LINUXCNC - 2.6.0~pre~seb-ubc3-deb~8579fcd >> Machine configuration directory is '/home/seb/linuxcnc/configs/sim.axis' >> Machine configuration file is 'axis.ini' >> Starting LinuxCNC... >> io started >> halcmd: hal_init() failed: -22 >> NOTE: 'rtapi' module must be loaded >> halcmd loadusr io started >> halcmd: hal_init() failed: -22 >> NOTE: 'rtapi' module must be loaded >> halcmd: hal_init() failed: -22 >> NOTE: 'rtapi' module must be loaded >> Shutting down and cleaning up LinuxCNC... >> halcmd: hal_init() failed: -22 >> NOTE: 'rtapi' module must be loaded >> halcmd: hal_init() failed: -22 >> NOTE: 'rtapi' module must be loaded >> halcmd: hal_init() failed: -22 >> NOTE: 'rtapi' module must be loaded >> halcmd: hal_init() failed: -22 >> NOTE: 'rtapi' module must be loaded >> halcmd: hal_init() failed: -22 >> NOTE: 'rtapi' module must be loaded >> halcmd: hal_init() failed: -22 >> NOTE: 'rtapi' module must be loaded >> halcmd: hal_init() failed: -22 >> NOTE: 'rtapi' module must be loaded >> halcmd: hal_init() failed: -22 >> NOTE: 'rtapi' module must be loaded >> halcmd: hal_init() failed: -22 >> NOTE: 'rtapi' module must be loaded >> halcmd: hal_init() failed: -22 >> NOTE: 'rtapi' module must be loaded >> halcmd: hal_init() failed: -22 >> NOTE: 'rtapi' module must be loaded >> halcmd: hal_init() failed: -22 >> NOTE: 'rtapi' module must be loaded >> Cleanup done >> LinuxCNC terminated with an error. You can find more information in the log: >> /home/seb/linuxcnc_debug.txt >> and >> /home/seb/linuxcnc_print.txt >> as well as in the output of the shell command 'dmesg' and in the terminal > > And the log from the posix flavor startup: > >> Jan 19 09:40:04 precise-rtai-x86 msgd:0: startup instance=inst0 pid=31524 >> flavor=posix rtlevel=5 usrlevel=5 halsize=512000 shm=Posix gcc=4.6.3 >> git=unknown >> Jan 19 09:40:04 precise-rtai-x86 msgd:0: rtapi_app:31526:user master:0 >> started pid=31526 gcc=4.6.3 git=unknown >> Jan 19 09:40:04 precise-rtai-x86 msgd:0: rtapi_app:31526:user rtapi_app: >> handle:0 retrieved posix unknown >> Jan 19 09:40:04 precise-rtai-x86 msgd:0: rtapi:-1:rt RTAPI:0 posix unknown >> init >> Jan 19 09:40:04 precise-rtai-x86 msgd:0: rtapi_app:31526:user rtapi: loaded >> from rtapi.so >> Jan 19 09:40:04 precise-rtai-x86 msgd:0: rtapi:-1:rt HAL_LIB:0 loading RT >> support gd=0xb7353000p >> Jan 19 09:40:04 precise-rtai-x86 msgd:0: rtapi:-1:rt RTAPI: initing module >> HAL_LIB >> Jan 19 09:40:04 precise-rtai-x86 msgd:0: rtapi:-1:rt RTAPI: module 'HAL_LIB' >> loaded, ID: 32769 >> Jan 19 09:40:04 precise-rtai-x86 msgd:0: rtapi:-1:rt HAL_LIB:0 kernel lib >> installed successfully >> Jan 19 09:40:04 precise-rtai-x86 msgd:0: rtapi_app:31526:user hal_lib: >> loaded from hal_lib.so >> Jan 19 09:40:04 precise-rtai-x86 msgd:0: rtapi_app:31526:user rtapi_app:0 >> initialization complete >> Jan 19 09:40:06 precise-rtai-x86 msgd:0: msgd:0: rtapi_app exit detected - >> shutting down >> Jan 19 09:40:06 precise-rtai-x86 msgd:0: rtapi:31526:rt HAL_LIB:0 removing >> RT support >> Jan 19 09:40:06 precise-rtai-x86 msgd:0: rtapi:31526:rt rtapi_exit: freed >> module slot 1, was HAL_LIB >> Jan 19 09:40:06 precise-rtai-x86 msgd:0: rtapi:31526:rt HAL_LIB:0 RT support >> removed successfully >> Jan 19 09:40:06 precise-rtai-x86 msgd:0: rtapi_app:31526:user 'hal_lib' >> unloaded >> Jan 19 09:40:06 precise-rtai-x86 msgd:0: rtapi:31526:rt RTAPI:0 exit >> Jan 19 09:40:06 precise-rtai-x86 msgd:0: rtapi_app:31526:user 'rtapi' >> unloaded >> Jan 19 09:40:06 precise-rtai-x86 msgd:0: rtapi_app:31526:user master:0 exit 0 >> Jan 19 09:40:06 precise-rtai-x86 msgd:0: normal shutdown - global segment >> detached > > I bet it's something stupid and simple i'm doing wrong in the packaging, > but i'm not seeing what it is. > > > -- > Sebastian Kuzminsky > > ------------------------------------------------------------------------------ > CenturyLink Cloud: The Leader in Enterprise Cloud Services. > Learn Why More Businesses Are Choosing CenturyLink Cloud For > Critical Workloads, Development Environments & Everything In Between. > Get a Quote or Start a Free Trial Today. > http://pubads.g.doubleclick.net/gampad/clk?id=119420431&iu=/4140/ostg.clktrk > _______________________________________________ > Emc-developers mailing list > [email protected] > https://lists.sourceforge.net/lists/listinfo/emc-developers ------------------------------------------------------------------------------ CenturyLink Cloud: The Leader in Enterprise Cloud Services. 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