Hello,
I succeeded to use printk in shadow.c :
So in xnshadow_harden function, there are calls to printk before
ERESTARTSYS returns :
if (signal_pending(this_task) || down_interruptible(&gk->sync))
{
/* Grab the request token. */
printk(KERN_DEBUG "xnshadow_harden : return ERESTARTSYS 1\n");
return -ERESTARTSYS;
}
...
if (rthal_current_domain == rthal_root_domain) {
if (XENO_DEBUG(NUCLEUS) && (!signal_pending(this_task)
|| this_task->state != TASK_RUNNING))
xnpod_fatal
("xnshadow_harden() failed for thread %s[%d]",
thread->name, xnthread_user_pid(thread));
printk(KERN_DEBUG "xnshadow_harden : return ERESTARTSYS 2 - thread %s
[%d]\n"
,thread->name, nthread_user_pid(thread));
return -ERESTARTSYS;
}
Now , when I execute my test program, for each crash, I ve got one of my
two messages in kernel trace.
In the test program, there are three Xenomai thread :
threadTimeOutEnd (prio : 85): This thread waits the timeout end thanks to
a Semaphore (In the timeout end handler, the Semaphore is posted), and
warns threadTimeOut with a condvar broadcast. This thread calls display
function to debug the program.
threadTimeOut (prio : 80): Malloc memory space to create timeout. Set-up
timeouts of 5ms. Free memory space of achieved timeouts (This thread is
notified of timeout end with a condvar broadcasted by threadTimeOutEnd).
This thread must do the timeout end handler processing.This thread calls
display function to debug the program.
threadDisplay (prio : 70): Call display function in a loop.
This is the program :
###################################################################
#include <sys/mman.h>
#include <pthread.h>
#include <unistd.h>
#include <sys/time.h>
#include <string.h>
#include <stdio.h>
#include <stdlib.h>
#include <stdbool.h>
#include <stdarg.h>
#include <time.h>
#include <math.h>
#include <signal.h>
#include <semaphore.h>
#include <errno.h>
#define NB_PTR_TEMPO 5 // 5 timeouts maximum
#define STACKSIZE 350
// stack
static int Stack[STACKSIZE];
static unsigned short Write_ptr = 0;
static unsigned short Read_ptr = 0;
// Display
pthread_mutex_t lockDisplay;
unsigned char bufferDisplay[2048];
// Timer
struct stTimeOut {
timer_t timer_h;
struct sigaction sa;
struct sigevent sig_spec;
struct itimerspec tmr_setting;
int number;
}*timeOut0_ptr, *timeOut1_ptr, *timeOut2_ptr, *timeOut3_ptr, *timeOut4_ptr;
// Thread start
pthread_cond_t start_signal;
pthread_mutex_t main_start_lock;
bool bMainStart = false;
// Time-out end
pthread_cond_t TimeOutEnd_signal;
pthread_mutex_t timeOutEnd_lock;
bool bTimeOutEnd = false;
sem_t TimeOutWait_sem;
// Stack mutex
pthread_mutex_t Stack_lock;
void check(const char *file, int line, const char *service,
int status, int err)
{
if (status >= 0)
return;
fprintf(stderr, "%s:%d: %s: %s\n", file, line, service, strerror(err));
exit(EXIT_FAILURE);
}
#define check_pthread(expr) \
({ \
int _status = (expr); \
check(__FILE__, __LINE__, #expr, -_status, _status); \
})
#define check_unix(expr) \
({ \
int _status = (expr); \
check(__FILE__, __LINE__, #expr, _status, errno); \
})
/************************ Stack functions *************************/
int StackCreation(void)
{
Write_ptr = 0;
Read_ptr = 0;
return 0;
}
void StackWrite(int number)
{
if (Write_ptr >= STACKSIZE)
Write_ptr = 0;
Stack[Write_ptr++] = number;
}
int StackRead(void)
{
int number;
if (Read_ptr >= STACKSIZE)
Read_ptr = 0;
number = Stack[Read_ptr++];
return number;
}
unsigned short GetWritePtr(void)
{
return Write_ptr;
}
unsigned short GetReadPtr(void)
{
return Read_ptr;
}
/************************ Functions ******************************/
void display(char * chaine,...)
{
int err;
check_pthread(pthread_mutex_lock(&lockDisplay));
va_list ArgDisplay;
va_start(ArgDisplay, chaine);
check_unix(vsprintf((char *)bufferDisplay,chaine,ArgDisplay));
bool bErrWrite = false;
do
{
bErrWrite = false;
if (write(2, (char*)bufferDisplay, strlen((char *)bufferDisplay)) < 0)
{
err = errno;
printf("display : erreur write : %d, %s\n",err,strerror(err));
if (err == EINTR)
{
bErrWrite = true;
}
else
{
exit(0);
}
}
}while (bErrWrite);
if((err = pthread_mutex_unlock(&lockDisplay)) != 0)
{
if(err != EINTR)
{
printf("display : erreur pthread_mutex_unlock : %d,
%s\n",err,strerror(err));
exit(0);
}
}
}
int func(volatile int* i)
{
return (*i)++;
}
void DeleteTimer(timer_t timer)
{
if (timer!=NULL)
check_unix(__real_timer_delete(timer));
}
void EndTimeOut (int signo,siginfo_t *info,void*context)
{
volatile int i, result = 0;
StackWrite(((struct stTimeOut*)(info->si_value.sival_ptr))->number);
check_unix(sem_post(&TimeOutWait_sem));
}
void StartTimeOut (int nb_Sec, int nb_nSec, struct stTimeOut* timeOut)
{
(timeOut->sa).sa_flags = SA_SIGINFO;
(timeOut->sa).sa_sigaction = EndTimeOut;
check_unix(sigaction(SIGRTMIN, &(timeOut->sa), NULL));
(timeOut->sig_spec).sigev_notify = SIGEV_SIGNAL;
(timeOut->sig_spec).sigev_signo = SIGRTMIN;
(timeOut->sig_spec).sigev_value.sival_ptr = timeOut;
check_unix(__real_timer_create(CLOCK_REALTIME, &(timeOut->sig_spec),
&(timeOut->timer_h)));
(timeOut->tmr_setting).it_value.tv_sec = nb_Sec;
(timeOut->tmr_setting).it_value.tv_nsec = nb_nSec;
(timeOut->tmr_setting).it_interval.tv_sec = 0;
(timeOut->tmr_setting).it_interval.tv_nsec = 0;
check_unix(__real_timer_settime((timeOut->timer_h), 0,
&(timeOut->tmr_setting),NULL));
}
/************************** Threads ********************************/
void* threadTimeOutEnd(void * arg) {
int NbSem = 0;
bool bSemWaitError;
display("TimeOutEnd thread\n");
check_pthread(pthread_mutex_lock(&main_start_lock));
while (!bMainStart) {
check_pthread(pthread_cond_wait(&start_signal, &main_start_lock));
}
check_pthread(pthread_mutex_unlock(&main_start_lock));
display("TimeOutEnd thread\n");
while (1) {
do
{
bSemWaitError = false;
if (sem_wait (&TimeOutWait_sem)<0)
{
int err = errno;
display("Semaphore::Get - erreur sem_wait : errno :%d -> %s\n"
,err,strerror(err));
if (err == EINTR)
{
bSemWaitError = true;
}
}
}while (bSemWaitError);
check_pthread(pthread_mutex_lock(&timeOutEnd_lock));
check_pthread(pthread_cond_broadcast(&TimeOutEnd_signal));
bTimeOutEnd = true;
check_pthread(pthread_mutex_unlock(&timeOutEnd_lock));
}
}
void* threadTimeOut(void * arg) {
int i=1;
int j, k, NbTimeOut, numTimeOut;
char strComm[1024];
timeOut0_ptr = timeOut1_ptr = timeOut2_ptr = timeOut3_ptr =
timeOut4_ptr = NULL;
display("TimeOut thread\n");
check_pthread(pthread_mutex_lock(&main_start_lock));
while (!bMainStart)
check_pthread(pthread_cond_wait(&start_signal, &main_start_lock));
check_pthread(pthread_mutex_unlock(&main_start_lock));
display("TimeOut thread\n");
while (i < 100) {
// Malloc and start of time out
for (j=0 ; j < NB_PTR_TEMPO; j++) {
switch(j) {
case 0 : if (timeOut0_ptr == NULL) {
timeOut0_ptr=(struct stTimeOut*)malloc(sizeof(struct
stTimeOut));
if (timeOut0_ptr == NULL)
{
display("0 : Malloc error\n");
exit(1);
}
timeOut0_ptr->number = i;
i++;
display("0 : Start of time out %d - 5ms\n",
timeOut0_ptr->number);
StartTimeOut(0,500000000,timeOut0_ptr);
}
break;
case 1 : if (timeOut1_ptr == NULL) {
timeOut1_ptr=(struct stTimeOut*)malloc(sizeof(struct
stTimeOut));
if (timeOut1_ptr == NULL)
{
display("1 : Malloc error\n");
exit(1);
}
timeOut1_ptr->number = i;
i++;
display("1 : Start of time out %d - 5ms\n",
timeOut1_ptr->number);
StartTimeOut(0,500000000,timeOut1_ptr);
}
break;
case 2 : if (timeOut2_ptr == NULL) {
timeOut2_ptr=(struct stTimeOut*)malloc(sizeof(struct
stTimeOut));
if (timeOut2_ptr == NULL)
{
display("2 : Malloc error\n");
exit(1);
}
timeOut2_ptr->number = i;
i++;
display("2 : Start of time out %d - 5ms\n",
timeOut2_ptr->number);
StartTimeOut(0,500000000,timeOut2_ptr);
}
break;
case 3 : if (timeOut3_ptr == NULL) {
timeOut3_ptr=(struct stTimeOut*)malloc(sizeof(struct
stTimeOut));
if (timeOut3_ptr == NULL)
{
display("3 : Malloc error\n");
exit(1);
}
timeOut3_ptr->number = i;
i++;
display("3 : Start of time out %d - 5ms\n",
timeOut3_ptr->number);
StartTimeOut(0,500000000,timeOut3_ptr);
}
break;
case 4 : if (timeOut4_ptr == NULL) {
timeOut4_ptr=(struct stTimeOut*)malloc(sizeof(struct
stTimeOut));
if (timeOut4_ptr == NULL)
{
display("4 : Malloc error\n");
exit(1);
}
timeOut4_ptr->number = i;
i++;
display("4 : Start of time out %d - 5ms\n",
timeOut4_ptr->number);
StartTimeOut(0,500000000,timeOut4_ptr);
}
break;
}
}
check_pthread(pthread_mutex_lock(&timeOutEnd_lock));
while (!bTimeOutEnd){
check_pthread(pthread_cond_wait(&TimeOutEnd_signal,
&timeOutEnd_lock));
}
bTimeOutEnd = false;
check_pthread(pthread_mutex_unlock(&timeOutEnd_lock));
NbTimeOut = GetWritePtr() - GetReadPtr();
display("Number of time-outs ends : %d\n", NbTimeOut);
for (j=0; j < NbTimeOut; j++) {
numTimeOut = StackRead();
display("TimeOut%d ends\n", numTimeOut);
for (k=0; k < NB_PTR_TEMPO; k++) {
switch(k) {
case 0 : if (timeOut0_ptr != NULL) {
if (timeOut0_ptr->number == numTimeOut) {
free(timeOut0_ptr);
timeOut0_ptr = NULL;
}
}
break;
case 1 : if (timeOut1_ptr != NULL) {
if (timeOut1_ptr->number == numTimeOut) {
free(timeOut1_ptr);
timeOut1_ptr = NULL;
}
}
break;
case 2 : if (timeOut2_ptr != NULL) {
if (timeOut2_ptr->number == numTimeOut) {
free(timeOut2_ptr);
timeOut2_ptr = NULL;
}
}
break;
case 3 : if (timeOut3_ptr != NULL) {
if (timeOut3_ptr->number == numTimeOut) {
free(timeOut3_ptr);
timeOut3_ptr = NULL;
}
}
break;
case 4 : if (timeOut4_ptr != NULL) {
if (timeOut4_ptr->number == numTimeOut) {
free(timeOut4_ptr);
timeOut4_ptr = NULL;
}
}
break;
}
}
}
}
while(1) {
sleep(10);
}
return NULL;
}
void* threadDisplay(void * arg) {
volatile int i=0;
volatile int result;
display("Display thread\n");
check_pthread(pthread_mutex_lock(&main_start_lock));
while (!bMainStart)
check_pthread(pthread_cond_wait(&start_signal, &main_start_lock));
check_pthread(pthread_mutex_unlock(&main_start_lock));
display("Display thread\n");
while (i <= 100000) {
result = func(&i);
display("Display thread :%d \r",result);
}
display("End of display thread\n");
return NULL;
}
/***********************************************************************/
void cleanup_upon_sig(int sig __attribute__((unused)))
{
if (timeOut0_ptr)
DeleteTimer(timeOut0_ptr->timer_h);
if (timeOut1_ptr)
DeleteTimer(timeOut1_ptr->timer_h);
if (timeOut2_ptr)
DeleteTimer(timeOut2_ptr->timer_h);
if (timeOut3_ptr)
DeleteTimer(timeOut3_ptr->timer_h);
if (timeOut4_ptr)
DeleteTimer(timeOut4_ptr->timer_h);
exit(0);
}
int main(int argc, char** argv) {
pthread_attr_t attr;
pthread_mutexattr_t attr_proto;
pthread_t p0;
pthread_t p1;
pthread_t p2;
struct sched_param sch;
// Stack creation
StackCreation();
check_unix(signal(SIGINT, cleanup_upon_sig));
check_unix(signal(SIGTERM, cleanup_upon_sig));
check_unix(mlockall(MCL_CURRENT|MCL_FUTURE));
// mutex and sem initialisation
check_pthread(pthread_cond_init(&start_signal, NULL));
check_pthread(pthread_mutex_init(&main_start_lock, NULL));
check_pthread(pthread_cond_init(&TimeOutEnd_signal, NULL));
check_pthread(pthread_mutex_init(&timeOutEnd_lock, NULL));
check_unix(sem_init (&TimeOutWait_sem, 0,0));
check_pthread(pthread_mutexattr_init(&attr_proto));
check_pthread(pthread_mutexattr_setprotocol(&attr_proto,PTHREAD_PRIO_INHERIT));
check_pthread(pthread_mutex_init(&lockDisplay, &attr_proto));
check_pthread(pthread_attr_init(&attr));
check_pthread(pthread_attr_setinheritsched(&attr,PTHREAD_EXPLICIT_SCHED));
check_pthread(pthread_attr_setschedpolicy(&attr, SCHED_FIFO));
// TimeOutEnd thread creation
sch.sched_priority = 85;
check_pthread(pthread_attr_setschedparam(&attr, &sch));
check_pthread(pthread_create(&p0, &attr, threadTimeOutEnd, NULL));
check_pthread(pthread_set_name_np( p0,"threadTimeOutEnd"));
// TimeOut thread creation
sch.sched_priority = 80;
check_pthread(pthread_attr_setschedparam(&attr, &sch));
check_pthread(pthread_create(&p1, &attr, threadTimeOut, NULL));
check_pthread(pthread_set_name_np( p1,"threadTimeOut"));
// Display thread creation
sch.sched_priority = 70;
check_pthread(pthread_attr_setschedparam(&attr, &sch));
check_pthread(pthread_create(&p2, &attr, threadDisplay, NULL));
check_pthread(pthread_set_name_np( p2,"threadDisplay"));
check_pthread(pthread_attr_destroy(&attr));
display("Main condition broadcast\n");
// Start of all threads
check_pthread(pthread_mutex_lock(&main_start_lock));
bMainStart = true;
check_pthread(pthread_cond_broadcast(&start_signal));
check_pthread(pthread_mutex_unlock(&main_start_lock));
while (1) {
sleep(5);
}
return 0;
}
####################################################################
I always have severals types of crash :
####################################################################
-->> first : pthread_mutex_unlock returns Unknown error 512
-> console :
TimeOutEnd thread
TimeOut thread
Display thread
Main condition broadcast
TimeOutEnd thread
TimeOut thread
0 : Start of time out 1 - 5ms
Display thread
1 : Start of time out 2 - 5ms
2 : Start of time out 3 - 5ms
3 : Start of time out 4 - 5ms
4 : Start of time out 5 - 5ms
display : erreur pthread_mutex_unlock : 512, Unknown error 512 <--- stop
of test program execution : exit call in display function
-> kernel traces :
BUG: scheduling while atomic: testTimer12_cor/0x00000002/4501
[<c03631db>] schedule+0x7d/0x354
[<c010ddc6>] __wake_up_sync+0x58/0x79
[<c0140b88>] xnshadow_harden+0x93/0x203
[<c0234860>] tty_ldisc_deref+0x7e/0x9b
[<c0140d6b>] losyscall_event+0x73/0x13a
[<c012f475>] __ipipe_dispatch_event+0xb1/0x174
[<c0140cf8>] losyscall_event+0x0/0x13a
[<c0108a4c>] __ipipe_syscall_root+0x6b/0xd1
[<c0102589>] system_call+0x29/0x4a
=======================
xnshadow_harden : return ERESTARTSYS 2 - thread threadDisplay [4501]
note: testTimer12_cor[4501] exited with preempt_count 1
Xenomai: Posix: destroying semaphore c7768290.
Xenomai: Posix: destroying mutex c7765c50.
Xenomai: Posix: destroying mutex c7761690.
Xenomai: Posix: destroying mutex c7766b10.
Xenomai: Posix: destroying condition variable c7765d50.
Xenomai: Posix: destroying condition variable c7766d50.
####################################################################
-->> Second : no error code returned by a test program function
-> console :
TimeOutEnd thread
TimeOut thread
Display thread
Main condition broadcast
TimeOutEnd thread
TimeOut thread
0 : Start of time out 1 - 5ms
Display thread
1 : Start of time out 2 - 5ms
2 : Start of time out 3 - 5ms
3 : Start of time out 4 - 5ms
4 : Start of time out 5 - 5ms
Semaphore::Get - erreur sem_wait : errno :4 -> Interrupted system call
Number of time-outs ends : 5
TimeOut1 ends
TimeOut2 ends
TimeOut3 ends
TimeOut4 ends
TimeOut5 ends
0 : Start of time out 6 - 5ms
1 : Start of time out 7 - 5ms
2 : Start of time out 8 - 5ms
3 : Start of time out 9 - 5ms
4 : Start of time out 10 - 5ms
display : erreur write : 4, Interrupted system call
Number of time-outs ends : 1
TimeOut6 ends
0 : Start of time out 11 - 5ms
Number of time-outs ends : 4
TimeOut7 ends
TimeOut8 ends
TimeOut9 ends
TimeOut10 ends
1 : Start of time out 12 - 5ms
2 : Start of time out 13 - 5ms
3 : Start of time out 14 - 5ms
4 : Start of time out 15 - 5ms <--- stop of test program execution
-> kernel traces :
BUG: scheduling while atomic: testTimer12_cor/0x00000002/4506
[<c03631db>] schedule+0x7d/0x354
[<c010ddc6>] __wake_up_sync+0x58/0x79
[<c0140b88>] xnshadow_harden+0x93/0x203
[<c0234860>] tty_ldisc_deref+0x7e/0x9b
[<c0140d6b>] losyscall_event+0x73/0x13a
[<c012f475>] __ipipe_dispatch_event+0xb1/0x174
[<c0140cf8>] losyscall_event+0x0/0x13a
[<c0108a4c>] __ipipe_syscall_root+0x6b/0xd1
[<c0102589>] system_call+0x29/0x4a
=======================
xnshadow_harden : return ERESTARTSYS 2 - thread threadDisplay [4506]
note: testTimer12_cor[4506] exited with preempt_count 1
Xenomai: POSIX: destroyed thread c7760810
Xenomai: Posix: destroying semaphore c7765c50.
Xenomai: Posix: destroying mutex c7765d50.
Xenomai: Posix: destroying mutex c7761690.
Xenomai: Posix: destroying mutex c7768290.
Xenomai: Posix: destroying condition variable c7766d50.
Xenomai: Posix: destroying condition variable c7766b10.
or
BUG: scheduling while atomic: testTimer12_cor/0x00000002/2940
[<c03631db>] schedule+0x7d/0x354
[<c010ddc6>] __wake_up_sync+0x58/0x79
[<c0140b88>] xnshadow_harden+0x93/0x203
[<c01229fe>] hrtimer_start+0xa1/0xc3
[<c0140d6b>] losyscall_event+0x73/0x13a
[<c012f475>] __ipipe_dispatch_event+0xb1/0x174
[<c0140cf8>] losyscall_event+0x0/0x13a
[<c0108a4c>] __ipipe_syscall_root+0x6b/0xd1
[<c0102589>] system_call+0x29/0x4a
=======================
xnshadow_harden : return ERESTARTSYS 2 - thread threadTimeOut [2940]
note: testTimer12_cor[2940] exited with preempt_count 1
Xenomai: Posix: destroying semaphore c7760910.
Xenomai: Posix: destroying mutex c7760850.
Xenomai: Posix: destroying mutex c77608d0.
Xenomai: Posix: destroying mutex c7760950.
Xenomai: Posix: destroying condition variable c7760810.
Xenomai: Posix: destroying condition variable c7760890.
####################################################################
-->> Third : no error code returned by a test program function
-> console :
TimeOutEnd thread
TimeOut thread
Display thread
Main condition broadcast
TimeOutEnd thread
TimeOut thread
0 : Start of time out 1 - 5ms
Display thread
1 : Start of time out 2 - 5ms
2 : Start of time out 3 - 5ms
3 : Start of time out 4 - 5ms
4 : Start of time out 5 - 5ms
Semaphore::Get - erreur sem_wait : errno :4 -> Interrupted system call
Number of time-outs ends : 4
TimeOut1 ends
TimeOut2 ends
TimeOut3 ends
TimeOut4 ends
...
0 : Start of time out 16 - 5ms
1 : Start of time out 17 - 5ms
2 : Start of time out 18 - 5ms
3 : Start of time out 19 - 5ms
Number of time-outs ends : 1
TimeOut15 ends
4 : Start of time out 20 - 5ms
Number of time-outs ends : 2
TimeOut16 ends
TimeOut17 ends
0 : Start of time out 21 - 5ms
1 : Start of time out 22 - 5ms
Number of time-outs ends : 2
TimeOut18 ends
TimeOut19 ends
2 : Start of time out 23 - 5ms
3 : Start of time out 24 - 5ms
Number of time-outs ends : 1
TimeOut20 ends
4 : Start of time out 25 - 5ms
Display thread :43617 <--- test program crash (ctrl+c to stop it)
-> kernel traces :
xnshadow_harden : return ERESTARTSYS 1
Xenomai: POSIX: destroyed thread c7760810
Xenomai: Posix: destroying semaphore c7761110.
Xenomai: Posix: destroying mutex c7761050.
Xenomai: Posix: destroying mutex c77610d0.
Xenomai: Posix: destroying mutex c7761150.
Xenomai: Posix: destroying condition variable c7761010.
Xenomai: Posix: destroying condition variable c7761090.
or
xnshadow_harden : return ERESTARTSYS 2 - thread threadDisplay [3165]
Xenomai: POSIX: destroyed thread c7760810
Xenomai: Posix: destroying semaphore c7761110.
Xenomai: Posix: destroying mutex c7761050.
Xenomai: Posix: destroying mutex c77610d0.
Xenomai: Posix: destroying mutex c7761150.
Xenomai: Posix: destroying condition variable c7761010.
Xenomai: Posix: destroying condition variable c7761090.
####################################################################
-->> Fourth : test program is executed without crash but there are
xnshadow_harden traces
-> console :
...
-> kernel traces (For example) :
xnshadow_harden : return ERESTARTSYS 1
or
xnshadow_harden : return ERESTARTSYS 2 - thread threadDisplay [2889]
or
xnshadow_harden : return ERESTARTSYS 2 - thread threadTimeOut [2950]
####################################################################
test program is also executed without errors.
It's difficult to me to understand what exactly happens in xnshadow_harden
function. At a moment, there is a problem when display thread or timeout
thread have to return in the xenomai domain, but why ?
thank you for your help.
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