Hi Simone, just a quick hint in order to understand the freeze: try to run the setup inside a VM (kvm or virtualbox) in order to catch the serial log from the kernel or, if you have a UART avaiable on your system, directly from it. In this way we should try to understand the issue better. R.
Da: etherlab-users [mailto:etherlab-users-boun...@etherlab.org] Per conto di Simone Comari Inviato: mercoledì 22 maggio 2019 18:52 A: etherlab-users@etherlab.org Oggetto: [etherlab-users] System randomly freezes in multi-thread Qt application with a RT process Hi all, I am a young research fellow at the university of Bologna and I just started working with EtherCAT technology and RT systems yet, so please forgive me if I misuse words or I'm not precise enough. First, I'll try to describe my setup: * Ubuntu 16.04.6 with patched fully preemptible RT kernel 4.13.13-rt5 * Qt 5.12.2 * PCI driver e1000e * Ethercat master running on this Linux RT * Elmo GOLD SOLO WHISTLE Drives (ethercat slaves) Secondly, a brief outline of my software architecture: * POSIX threads * Qt-based GUI running on a non-RT thread * Ethercat network setup (ethercat master and slaves init) done in the same non-RT thread * If initialization is successful, start a new RT-thread in charge of handling all ethercat-related functionalities (read/write/status-check). * Shared resources between RT and non-RT ones handled with pthread_mutex (even if I'm not 100% sure I'm using it correctly) * Implementation of our generic ethercat master can be found here<https://github.com/UNIBO-GRABLab/grab_common/blob/e5278b6fe611654bfa84c951d8b77e56ebbc8fa9/libgrabec/src/ethercatmaster.cpp> Problem description: * Once the ethercat network is setup and the RT thread is started, quite randomly the system freezes without errors of any sorts. Sometimes it happens when motors are enabled and operational, sometimes when they are enabled and idle, sometimes even if they are disabled. It is not reproducible and I couldn't link it to any particular step in my application. Sometimes it happens even if I simply start it, but always after successful initialization. * Even when I manage to close the application, next time I try to run it it tells me that master is busy and ec_e1000e is in use. Only solution is to manually hard-shut-down the PC. * Other thing I noticed is that even if the main thread (the GUI one, so non-RT) is closed, the child RT-thread stays running with status D (uninterruptible sleep) blocking a great deal of CPU (that is why probably the whole system freezes). * We tried with different computers (both laptop and desktop) to exclude a platform's dependency, but the issue remains. Please let me know if there is any missing important information that can help understanding the problem. Thank you a lot for the support. Best regards, Simone Roberto Viola Technical Dept +39 0536836680 [cid:image208517.JPG@9e805ded.4fab4000] SYSTEM CERAMICS S.p.A. Via Ghiarola Vecchia, 73 41042 Fiorano (Mo) ITALY +39 0536 836111 i...@system-electronics.it<mailto:i...@system-electronics.it> www.system-electronics.it<http://www.system-electronics.it> [cid:image2bb2df.JPG@a8c6e8a2.4ea6a68f] ________________________________ Le informazioni contenute in questa email, inclusi i suoi allegati, sono riservate e ad uso esclusivo del destinatario. Qualora le fosse pervenuta per errore, lei non è autorizzato a copiare, inoltrare e/o rendere nota questa email e i suoi allegati, totalmente o parzialmente, e pertanto la preghiamo di cancellarla immediatamente senza visionarne il contenuto e gli allegati. Avvertenza: la presente casella e-mail ed i messaggi da essa derivanti, sono di esclusivo utilizzo aziendale /lavorativo e mai personale. Risposte al presente messaggio: si avvisa il destinatario che eventuali sue risposte, potranno essere lette dall’intera azienda /ufficio /reparto di appartenenza del mittente. The information contained in this e-mail, including attachments, is confidential and exclusively for the use of the intended recipient. If you received this communication by mistake you are not authorized to copy, send and/or publish this message and its attachments, in whole or in part and therefore please delete this message. ____________________________________________________ SIMONE COMARI Research Fellow DIN – Dept. of Industrial Engineering Alma Mater Studiorum – University of Bologna Via Umberto Terracini, 24, 40131 Bologna (BO), Italy E-mail: simone.coma...@unibo.it<mailto:simone.coma...@unibo.it> Websites: https://www.unibo.it/sitoweb/simone.comari2 http://grab.diem.unibo.it<http://grab.diem.unibo.it/>
_______________________________________________ etherlab-users mailing list etherlab-users@etherlab.org http://lists.etherlab.org/mailman/listinfo/etherlab-users
