Philippe Gerum wrote:
> Niklaus Giger wrote:
>> Am Sonntag, 18. Mai 2008 schrieb Philippe Gerum:
>>> Niklaus Giger wrote:
>>>> Hi
>>>>
>>>> I just tried to get a sample test program to run under Xenomai-SOLO
>>>> and run into this panic message:
>>>> Xenomai/SOLO: current implementation restricts VxWorkspriority levels to
>>>> range [-2..0]
>>>> looking at the code I found at taskLib.c
>>>>> 263 {
>>>>> 264 if (wind_prio < 0 || wind_prio > 255) /* In theory. */
>>>>> 265 return S_taskLib_ILLEGAL_PRIORITY;
>>>>> 266
>>>>> 267 if (wind_prio >= threadobj_max_prio - 1) /* In practice.
>>>>> */
>>>>> 268 panic("current implementation restricts VxWorks"
>>>>> 269 "priority levels to range [%d..0]",
>>>>> 270 threadobj_max_prio - 2);
>>>>> 271 return OK;
>>>> Therefore I seem to have only the option of priority 0 which is way too
>>>> limited.
>>>>
>>> The SOLO version is purely Linux native, so you only get what the underlying
>>> kernel provides you, including in terms of available priority scales. Since
>>> RT
>>> threads are members of the SCHED_FIFO class, you get 99 priority levels,
>>> unless
>>> you patch the vanilla kernel to handle more. The way to solve this properly
>>> for
>>> SOLO is to write a patch against PREEMPT_RT that allows wider priority
>>> scales,
>>> and to get it merged upstream.
>> Sorry, but you did not get my point. I tried to call it with priority 50,
>> which
>> should be in this range, which I verified with gdb
>> (gdb) info stack
>> #0 panic (fmt=0xb7eebb90 "current implementation restricts VxWorkspriority
>> levels to range [%d..0]") at panic.c:45
>> #1 0xb7eea1ac in check_task_priority (wind_prio=50) at taskLib.c:268
>> #2 0xb7eea1d9 in __taskInit (task=0x9eda0e0, tcb=0x9eda10c, name=0xbfc43760
>> "BSysAsyncTimerMgrThread", prio=50, flags=0,
>> entry=0x81281c4 <BSysOsWrapperThread_callback(int)>, stacksize=51200) at
>> taskLib.c:284
>> <...>
>>
>> I am happy with the rang 0.99 and also will no run any latency tests, as
>> xenomai-SOLO is for me at the moment just a test bed to check for compiler
>> error etc, as at the moment I have no running powerpc kernel for my PPC440
>> target.
>>
>
> Have a look at my next answer: the test fails because threadobj_max_prio is
> zero, which can't be the case after the emulator has properly initialized. You
> may have run into either of the following problems:
>
> - since you seem to be using C++, don't create tasks in static constructors.
> They are run before solo_init() is called.
>
Actually, don't do anything that involves the emulation services - except
calling kernelInit() - in static constructors.
> - make sure to call kernelInit() from the VxWorks emulation lib, just like the
> tests from the test suite do.
>
i.e. kernelInit() calls solo_init(), which initializes the thread emulation
package, which sets threadobj_max_prio appropriately.
>
>> Best regards
>>
>
>
--
Philippe.
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