Hello,
I just realized a problem with synchronous message passing support. When
rt_task_send() send times out, I get the oops below from line:
http://www.rts.uni-hannover.de/xenomai/lxr/source/ksrc/skins/native/task.c#1976
-bash-3.2# ./oops_sender
pre-rt_task_receive()
[ 662.423571] Unable to handle kernel paging request for data at address
0x0000024c
[ 662.515607] Faulting instruction address: 0xc0070124
[ 662.576614] Oops: Kernel access of bad area, sig: 11 [#2]
[ 662.642806] mpc5200-simple-platform
[ 662.685493] last sysfs file:
[ 662.721775] Modules linked in:
[ 662.759127] NIP: c0070124 LR: c00701c8 CTR: 00000000
[ 662.819974] REGS: c7b8bd40 TRAP: 0300 Tainted: G D
(2.6.36.4-00003-g1af23a4-dirty)
[ 662.925684] MSR: 00003032 <FP,ME,IR,DR> CR: 24008482 XER: 20000000
[ 663.003613] DAR: 0000024c, DSISR: 20000000
[ 663.053780] TASK = c7b923f0[1227] 'oops_test_main' THREAD: c7b8a000
[ 663.128525] GPR00: 00000000 c7b8bdf0 c7b923f0 c902a69c c042ea60 00000000
36291b28 c042ea60
[ 663.231015] GPR08: c902a210 fffffe0c c902a210 c9029df8 24008422 1004a118
00000000 00000000
[ 663.333503] GPR16: c040dc54 c0425ba0 fffffff0 c7b8bf50 c0425ba0 c042f058
00000010 c902a210
[ 663.435993] GPR24: c03f9af8 c0425ba0 c03fb678 00000000 fffffdfc c902a200
c7b8be20 fffffffc
[ 663.540611] NIP [c0070124] rt_task_receive+0xc8/0x1ac
[ 663.602534] LR [c00701c8] rt_task_receive+0x16c/0x1ac
[ 663.664436] Call Trace:
[ 663.694322] [c7b8bdf0] [c00701c8] rt_task_receive+0x16c/0x1ac (unreliable)
[ 663.778687] [c7b8be10] [c0072de4] __rt_task_receive+0xd0/0x1b0
[ 663.850245] [c7b8be90] [c0068cd0] losyscall_event+0xc8/0x328
[ 663.919654] [c7b8bed0] [c00587c8] __ipipe_dispatch_event+0xa4/0x200
[ 663.996532] [c7b8bf20] [c000ae78] __ipipe_syscall_root+0x58/0x164
[ 664.071289] [c7b8bf40] [c00104b8] DoSyscall+0x20/0x5c
[ 664.133213] --- Exception: c01 at 0xffaca7c
[ 664.133222] LR = 0xffaca14
[ 664.221809] Instruction dump:
[ 664.258092] 557b07fe 90091b48 813d049c 7f9c4800 419e007c 2f890000 3929fe0c
419e0070
[ 664.353104] 2f890000 3b800000 419e0008 3b89fff0 <83bc0450> 3be0ff97 801e000c
7f9d0040
[ 664.452834] ---[ end trace 07ae98a3f6576a96 ]---
Message from syslogd@ at Sat Feb 21 08:02:43 1970 ...
CPUP0 kernel: [ 662.685493] last sysfs file: rt_task_send() failed: -110
(Connection timed out)
Killing child
The oops is *not* trigger if the timeout is long enough and
rt_task_send() returns successfully.
I'm using on a PowerPC MPC5200-based system:
-bash-3.2# cat /proc/ipipe/version
2.12-03
-bash-3.2# cat /proc/xenomai/version
2.5.6
-bash-3.2# uname -a
Linux CPUP0 2.6.36.4-00003-g1af23a4-dirty #9 Thu Jun 9 11:56:54 CEST 2011 ppc
ppc ppc GNU/Linux
Any idea what could go wrong. I have attached my litte test programs
including Makefile. Just start it with ./oops_sender.
Thanks,
Wolfgang.
APPLICATIONS = oops_sender oops_receiver
XENO ?= /usr/xenomai
XENOCONFIG=$(shell PATH=$(XENO):$(XENO)/bin:$(PATH) which xeno-config
2>/dev/null)
ifeq ($(XENOCONFIG),)
all::
@echo ">>> Invoke make like this: \"make XENO=/path/to/xeno-config\"
<<<"
@echo
endif
CC=$(shell $(XENOCONFIG) --cc)
CFLAGS=$(shell $(XENOCONFIG) --skin native --cflags)
LDFLAGS=$(shell $(XENOCONFIG) --skin native --ldflags)
all:: $(APPLICATIONS)
clean::
$(RM) $(APPLICATIONS) *.o
#include <errno.h>
#include <stdlib.h>
#include <sys/mman.h>
#include <unistd.h>
#include <native/task.h>
#include <native/pipe.h>
static RT_TASK task;
static RT_TASK_MCB rcv_mcb = { 0, 0, NULL, 0 };
static RT_TASK_MCB rpl_mcb = { 0, 0, NULL, 0 };
static void receiver_task_main(void *data)
{
int handle, rc;
while (1) {
fprintf(stderr, "pre-rt_task_receive()\n");
handle = rt_task_receive(&rcv_mcb, TM_INFINITE);
if (handle < 0) {
fprintf(stderr, "rt_task_receive() error: %d (%s)\n",
handle, strerror(-handle));
continue;
} else
fprintf(stderr, "rt_task_receive() handle: %d\n",
handle);
rc = rt_task_reply(handle, &rpl_mcb);
if (rc < 0)
fprintf(stderr, "rt_task_reply() error: %d (%s)\n", rc,
strerror(-rc));
else
fprintf(stderr, "Reply sent.\n");
}
}
int main(int argc, char **argv)
{
int rc;
rc = mlockall(MCL_CURRENT | MCL_FUTURE);
if (rc) {
fprintf(stderr, "mlockall() failed: error %d (%s)\n", errno,
strerror(errno));
return EXIT_FAILURE;
}
rc = rt_task_create(&task, "oops_test_main", 0, 50, T_JOINABLE);
if (rc) {
fprintf(stderr, "rt_task_create() failed\n");
return EXIT_FAILURE;
}
rc = rt_task_start(&task, receiver_task_main, NULL);
if (rc) {
fprintf(stderr, "rt_task_start() failed\n");
return EXIT_FAILURE;
}
rc = rt_task_join(&task);
if (rc) {
fprintf(stderr, "rt_task_join() failed\n");
return EXIT_FAILURE;
}
return EXIT_SUCCESS;
}
#include <errno.h>
#include <stdlib.h>
#include <sys/mman.h>
#include <sys/types.h>
#include <sys/wait.h>
#include <unistd.h>
#include <native/task.h>
#include <native/pipe.h>
static RT_TASK receiver_task, sender_task;
static RT_TASK_MCB rcv_mcb = { 0, 0, NULL, 0 };
static RT_TASK_MCB rpl_mcb = { 0, 0, NULL, 0 };
static int start_service()
{
int pid, rc;
pid = fork();
if (pid < 0) {
perror("fork()");
return 0;
}
else if (!pid) {
rc = execl("oops_receiver", "oops_receiver", (char *)NULL);
fprintf(stderr, "Starting service failed: %d (%s)\n", errno,
strerror(errno));
exit(rc);
} else
return pid;
}
static void kill_child(int child_pid)
{
fprintf(stderr, "Killing child\n");
kill(child_pid, SIGTERM);
sleep(1);
kill(child_pid, SIGKILL);
waitpid(child_pid, NULL, 0);
}
int main(int argc, char **argv)
{
int rc, child_pid;
child_pid = start_service();
if (!child_pid)
return EXIT_FAILURE;
rc = mlockall(MCL_CURRENT | MCL_FUTURE);
if (rc) {
fprintf(stderr, "mlockall() failed: error %d (%s)\n", errno,
strerror(errno));
goto failure;
}
rc = rt_task_shadow(&sender_task, NULL, 1, 0);
if (rc) {
fprintf(stderr, "rt_task_shadow() failed: %d (%s)\n", rc,
strerror(-rc));
goto failure;
}
// wait for receiver process to get ready
sleep(1);
rc = rt_task_bind(&receiver_task, "oops_test_main", TM_INFINITE);
if (rc) {
fprintf(stderr, "rt_task_bind() failed: %d (%s)\n", rc,
strerror(-rc));
goto failure;
}
rc = rt_task_send(&receiver_task, &rcv_mcb, &rpl_mcb, 10000);
if (rc < 0) {
fprintf(stderr, "rt_task_send() failed: %d (%s)\n", rc,
strerror(-rc));
goto failure;
} else
fprintf(stderr, "rt_task_send() successful\n");
sleep(2);
kill_child(child_pid);
return EXIT_SUCCESS;
failure:
kill_child(child_pid);
return EXIT_FAILURE;
}
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