Working as expected on my box (Beaglebone black, xeno 3.0.4 on linux
4.4.68) :
rt_mutex_create -> 0
rt_cond_create -> 0
rt_task_spawn -> 0
rt_cond_wait_until took 9998937664 ticks, ret -110
rt_task_join -> 0
Maybe something is wrong with your kernel config ?
On 14/09/17 19:34, Antoine Hoarau wrote:
2017-09-14 18:29 GMT+02:00 Philippe Gerum <[email protected]>:
On 09/14/2017 06:08 PM, Antoine Hoarau wrote:
Le jeu. 14 sept. 2017 à 16:30, Philippe Gerum <[email protected]> a écrit :
On 09/14/2017 02:03 PM, Antoine Hoarau wrote:
Hello,
I'm porting a library that uses Xenomai 2.6.5 native to 3.0.5 alchemy on
an
x64 Ubuntu 16.04 + Cobalt kernel 4.9.38.
I'm stuck on conditions that do not wait signals to be emitted :
int ret = rt_cond_wait_until(cond, mutex, rt_timer_ns2ticks(abs_time) )
returns -ETIMEDOUT immediately.
>From the documentation : -ETIMEDOUT is returned if abs_timeout is reached
before the condition variable is signaled. But I verified that
rt_timer_ns2ticks(abs_time) > rt_timer_read(), so it should wait.
You may want to check your calling args, e.g. wait for a second before
timeout:
ret = rt_cond_wait_until(&cond, &mutex, rt_timer_read() +
1000000000ULL);
if (ret)
error(1, -ret, "rt_cond_wait_until");
Same. It returns directly with -ETIMEDOUT.
This code works as expected here. You may want to provide a simple test
case illustrating the bug on your end.
It does not wait one 1 sec, it returns directly.
This lead me to beleive that something was wrong with the mutex.
I'm unsure to understand why.
If I look at the code, the return value can be the return of the mutex if
something is wrong :
https://git.xenomai.org/xenomai-3.git/tree/lib/alchemy/cond.c#n382
You must have locked the mutex before calling rt_cond_wait*(), so if you
did so, then such mutex has to be valid at the time of the call. The
code you refer to can only return -EINVAL if invalid, so this can't be.
Here's a minimal example :
#include <stdio.h>
#include <xeno_config.h>
#include <xenomai/init.h>
#include <alchemy/mutex.h>
#include <alchemy/cond.h>
#include <alchemy/task.h>
#include <alchemy/timer.h>
RT_MUTEX mutex;
RT_COND cond;
RT_TASK demo_task;
void demo(void *arg)
{
RTIME now = rt_timer_read();
int ret = rt_cond_wait_until(&cond,&mutex,now + 10000000000ULL);
RTIME then = rt_timer_read();
printf("rt_cond_wait_until took %lld ticks, ret %d\n",then-now,ret);
rt_task_sleep(rt_timer_ns2ticks(2E9));
}
int main(int argc, char* argv[])
{
printf("rt_mutex_create -> %d\n",rt_mutex_create(&mutex,"Mutex"));
printf("rt_cond_create -> %d\n",rt_cond_create(&cond,"Cond"));
int prio = 0;
printf("rt_task_spawn -> %d\n",rt_task_spawn(&demo_task,
"TestCond", 0, prio, T_JOINABLE,&demo,NULL));
printf("rt_task_join -> %d\n",rt_task_join(&demo_task));
return 0;
}
It returns :
rt_mutex_create -> 0
rt_cond_create -> 0
rt_task_spawn -> 0
rt_cond_wait_until took 22047 ticks, ret -110
rt_task_join -> 0
It should wait 10 seconds, but returns immediately with ETIMEOUT.
--
Philippe.
--
Florian RICHER
Institut des Systèmes Intelligents et de Robotique - CNRS
Université Pierre et Marie Curie
Pyramide - Tour 55/65 - Boite courrier 173
4 Place Jussieu - 75005 Paris
Tel. : 01.44.27.62.53
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