[Xenomai] Xenomai warn_upon_switch

[Xenomai] Xenomai warn_upon_switch

[Leopold Palomo-Avellaneda]

Hi,

since 2.6.x the Orocos users have difficulties (or simple cannot) use Xenomai. 
Despite of some bug in the Orocos code, xenomai emits a warn_upon_switch that 
makes the user to use a console program - deployer - (basically for the orocos 
philosofy) to launch rt programs.

I think that this signal must be treated in some way by the Orocos code, but 
it's not developed yet. Since then, there's a way to silent this signal, or 
simple that doesn't overflow the console but thousand of messages like this:

/opt/orocos-toolchain-xenomai/install/lib/liborocos-rtt-
xenomai.so.2.6(warn_upon_switch+0x15)[0x7f662af09295]
/lib/x86_64-linux-gnu/libpthread.so.0(+0xf030)[0x7f66297eb030]
/usr/lib/libnative.so.3(rt_mutex_release+0xbb)[0x7f6629c0231b]
/opt/orocos-toolchain-xenomai/install/lib/liborocos-rtt-
xenomai.so.2.6(_ZN3RTT2os6ThreadD1Ev+0x11d)[0x7f662af0530d]
/opt/orocos-toolchain-xenomai/install/lib/liborocos-rtt-
xenomai.so.2.6(_ZN3RTT8ActivityD2Ev+0x37)[0x7f662aebbd27]
/opt/orocos-toolchain-xenomai/install/lib/liborocos-rtt-
xenomai.so.2.6(_ZN3RTT8ActivityD0Ev+0x9)[0x7f662aebbd79]
/opt/orocos-toolchain-xenomai/install/lib/liborocos-rtt-
xenomai.so.2.6(_ZN3RTT11TaskContextD1Ev+0x16c)[0x7f662aebd0ac]
/opt/orocos-toolchain-xenomai/install/lib/liborocos-ocl-taskbrowser-
xenomai.so.2.6.0(_ZN3OCL11TaskBrowserD1Ev+0xed)[0x7f662a9193fd]
deployer-xenomai(main+0x70a)[0x40f67a]
/lib/x86_64-linux-gnu/libc.so.6(__libc_start_main+0xfd)[0x7f6627e5fead]
deployer-xenomai[0x40fa5d]
/opt/orocos-toolchain-xenomai/install/lib/liborocos-rtt-
xenomai.so.2.6(warn_upon_switch+0x15)[0x7f662af09295]
/lib/x86_64-linux-gnu/libpthread.so.0(+0xf030)[0x7f66297eb030]
/usr/lib/libnative.so.3(rt_mutex_release+0xbb)[0x7f6629c0231b]
/opt/orocos-toolchain-xenomai/install/lib/liborocos-rtt-
xenomai.so.2.6(_ZN3RTT2os5MutexD1Ev+0x3d)[0x7f662aeb91fd]
/opt/orocos-toolchain-xenomai/install/lib/liborocos-rtt-
xenomai.so.2.6(_ZN3RTT11TaskContextD1Ev+0xfc)[0x7f662aebd03c]
/opt/orocos-toolchain-xenomai/install/lib/liborocos-ocl-taskbrowser-
xenomai.so.2.6.0(_ZN3OCL11TaskBrowserD1Ev+0xed)[0x7f662a9193fd]
deployer-xenomai(main+0x70a)[0x40f67a]
/lib/x86_64-linux-gnu/libc.so.6(__libc_start_main+0xfd)[0x7f6627e5fead]
deployer-xenomai[0x40fa5d]
/opt/orocos-toolchain-xenomai/install/lib/liborocos-rtt-
xenomai.so.2.6(warn_upon_switch+0x15)[0x7f662af09295]
/lib/x86_64-linux-gnu/libpthread.so.0(+0xf030)[0x7f66297eb030]
/usr/lib/libnative.so.3(rt_mutex_release+0xbb)[0x7f6629c0231b]
/opt/orocos-toolchain-xenomai/install/lib/liborocos-rtt-
xenomai.so.2.6(_ZN3RTT15ExecutionEngineD2Ev+0x2d2)[0x7f662aef71d2]
/opt/orocos-toolchain-xenomai/install/lib/liborocos-rtt-
xenomai.so.2.6(_ZN3RTT15ExecutionEngineD0Ev+0x9)[0x7f662aef7319]
/opt/orocos-toolchain-xenomai/install/lib/liborocos-ocl-taskbrowser-
xenomai.so.2.6.0(_ZN3OCL11TaskBrowserD1Ev+0xed)[0x7f662a9193fd]
deployer-xenomai(main+0x70a)[0x40f67a]
/lib/x86_64-linux-gnu/libc.so.6(__libc_start_main+0xfd)[0x7f6627e5fead]
deployer-xenomai[0x40fa5d]
/opt/orocos-toolchain-xenomai/install/lib/liborocos-rtt-
xenomai.so.2.6(warn_upon_switch+0x15)[0x7f662af09295]
/lib/x86_64-linux-gnu/libpthread.so.0(+0xf030)[0x7f66297eb030]
/usr/lib/libnative.so.3(rt_mutex_release+0xbb)[0x7f6629c0231b]
/opt/orocos-toolchain-xenomai/install/lib/liborocos-rtt-
xenomai.so.2.6(_ZN3RTT2os6ThreadD1Ev+0x11d)[0x7f662af0530d]
/opt/orocos-toolchain-xenomai/install/lib/liborocos-rtt-
xenomai.so.2.6(_ZN3RTT8ActivityD2Ev+0x37)[0x7f662aebbd27]
/opt/orocos-toolchain-xenomai/install/lib/liborocos-rtt-
xenomai.so.2.6(_ZN3RTT8ActivityD0Ev+0x9)[0x7f662aebbd79]
/opt/orocos-toolchain-xenomai/install/lib/liborocos-rtt-
xenomai.so.2.6(_ZN3RTT11TaskContextD1Ev+0x16c)[0x7f662aebd0ac]
/opt/orocos-toolchain-xenomai/install/lib/liborocos-ocl-deployment-
xenomai.so.2.6.0(_ZN3OCL19DeploymentComponentD2Ev+0x1bf)[0x7f662a60c9af]
deployer-xenomai(main+0x3c0)[0x40f330]
/lib/x86_64-linux-gnu/libc.so.6(__libc_start_main+0xfd)[0x7f6627e5fead]
deployer-xenomai[0x40fa5d]
/opt/orocos-toolchain-xenomai/install/lib/liborocos-rtt-
xenomai.so.2.6(warn_upon_switch+0x15)[0x7f662af09295]
/lib/x86_64-linux-gnu/libpthread.so.0(+0xf030)[0x7f66297eb030]
/usr/lib/libnative.so.3(rt_mutex_release+0xbb)[0x7f6629c0231b]
/opt/orocos-toolchain-xenomai/install/lib/liborocos-rtt-
xenomai.so.2.6(_ZN3RTT2os5MutexD1Ev+0x3d)[0x7f662aeb91fd]
/opt/orocos-toolchain-xenomai/install/lib/liborocos-rtt-
xenomai.so.2.6(_ZN3RTT11TaskContextD1Ev+0xfc)[0x7f662aebd03c]
/opt/orocos-toolchain-xenomai/install/lib/liborocos-ocl-deployment-
xenomai.so.2.6.0(_ZN3OCL19DeploymentComponentD2Ev+0x1bf)[0x7f662a60c9af]
deployer-xenomai(main+0x3c0)[0x40f330]
/lib/x86_64-linux-gnu/libc.so.6(__libc_start_main+0xfd)[0x7f6627e5fead]
deployer-xenomai[0x40fa5d]
/opt/orocos-toolchain-xenomai/install/lib/liborocos-rtt-
xenomai.so.2.6(warn_upon_switch+0x15)[0x7f662af09295]
/lib/x86_64-linux-gnu/libpthread.so.0(+0xf030)[0x7f66297eb030]
/usr/lib/libnative.so.3(rt_mutex_release+0xbb)[0x7f6629c0231b]
/opt/orocos-toolchain-xenomai/install/lib/liborocos-rtt-
xenomai.so.2.6(_ZN3RTT15ExecutionEngineD2Ev+0x2d2)[0x7f662aef71d2]
/opt/orocos-toolchain-xenomai/install/lib/liborocos-rtt-
xenomai.so.2.6(_ZN3RTT15ExecutionEngineD0Ev+0x9)[0x7f662aef7319]
/opt/orocos-toolchain-xenomai/install/lib/liborocos-ocl-deployment-
xenomai.so.2.6.0(_ZN3OCL19DeploymentComponentD2Ev+0x1bf)[0x7f662a60c9af]
deployer-xenomai(main+0x3c0)[0x40f330]
/lib/x86_64-linux-gnu/libc.so.6(__libc_start_main+0xfd)[0x7f6627e5fead]
deployer-xenomai[0x40fa5d]
/opt/orocos-toolchain-xenomai/install/lib/liborocos-rtt-
xenomai.so.2.6(warn_upon_switch+0x15)[0x7f662af09295]
/lib/x86_64-linux-gnu/libpthread.so.0(+0xf030)[0x7f66297eb030]
/usr/lib/libnative.so.3(rt_mutex_release+0xbb)[0x7f6629c0231b]
/opt/orocos-toolchain-xenomai/install/lib/liborocos-rtt-
xenomai.so.2.6(_ZN3RTT2os6ThreadD1Ev+0x11d)[0x7f662af0530d]
/opt/orocos-toolchain-xenomai/install/lib/liborocos-rtt-
xenomai.so.2.6(_ZN3RTT8ActivityD2Ev+0x37)[0x7f662aebbd27]
/opt/orocos-toolchain-xenomai/install/lib/liborocos-rtt-
xenomai.so.2.6(_ZN3RTT8ActivityD0Ev+0x9)[0x7f662aebbd79]
/opt/orocos-toolchain-xenomai/install/lib/liborocos-rtt-
xenomai.so.2.6(_ZN3RTT8internal12GlobalEngineD1Ev+0x8a)[0x7f662af2657a]
/opt/orocos-toolchain-xenomai/install/lib/liborocos-rtt-
xenomai.so.2.6(_ZN3RTT8internal12GlobalEngineD0Ev+0x9)[0x7f662af265f9]
/opt/orocos-toolchain-xenomai/install/lib/liborocos-rtt-
xenomai.so.2.6(_ZN3RTT8internal12GlobalEngine7ReleaseEv+0x16)[0x7f662af267f6]
/opt/orocos-toolchain-xenomai/install/lib/liborocos-rtt-
xenomai.so.2.6(_Z9__os_exitv+0x6)[0x7f662af07976]
deployer-xenomai(main+0x49b)[0x40f40b]
/lib/x86_64-linux-gnu/libc.so.6(__libc_start_main+0xfd)[0x7f6627e5fead]
deployer-xenomai[0x40fa5d]
/opt/orocos-toolchain-xenomai/install/lib/liborocos-rtt-
xenomai.so.2.6(warn_upon_switch+0x15)[0x7f662af09295]
/lib/x86_64-linux-gnu/libpthread.so.0(+0xf030)[0x7f66297eb030]
/usr/lib/libnative.so.3(rt_mutex_release+0xbb)[0x7f6629c0231b]
/opt/orocos-toolchain-xenomai/install/lib/liborocos-rtt-
xenomai.so.2.6(_ZN3RTT15ExecutionEngineD2Ev+0x2d2)[0x7f662aef71d2]
/opt/orocos-toolchain-xenomai/install/lib/liborocos-rtt-
xenomai.so.2.6(_ZN3RTT8internal12GlobalEngineD0Ev+0x9)[0x7f662af265f9]
/opt/orocos-toolchain-xenomai/install/lib/liborocos-rtt-
xenomai.so.2.6(_ZN3RTT8internal12GlobalEngine7ReleaseEv+0x16)[0x7f662af267f6]
/opt/orocos-toolchain-xenomai/install/lib/liborocos-rtt-
xenomai.so.2.6(_Z9__os_exitv+0x6)[0x7f662af07976]
deployer-xenomai(main+0x49b)[0x40f40b]
/lib/x86_64-linux-gnu/libc.so.6(__libc_start_main+0xfd)[0x7f6627e5fead]
deployer-xenomai[0x40fa5d]
/opt/orocos-toolchain-xenomai/install/lib/liborocos-rtt-
xenomai.so.2.6(warn_upon_switch+0x15)[0x7f662af09295]
/lib/x86_64-linux-gnu/libpthread.so.0(+0xf030)[0x7f66297eb030]
/usr/lib/libnative.so.3(rt_mutex_release+0xbb)[0x7f6629c0231b]
/opt/orocos-toolchain-xenomai/install/lib/liborocos-rtt-
xenomai.so.2.6(_ZN3RTT6plugin12PluginLoaderD1Ev+0x72)[0x7f662af37af2]
/opt/orocos-toolchain-xenomai/install/lib/liborocos-rtt-
xenomai.so.2.6(_ZN5boost6detail17sp_counted_impl_pIN3RTT6plugin12PluginLoaderEE7disposeEv+0x12)
[0x7f662af3eeb2]
/opt/orocos-toolchain-xenomai/install/lib/liborocos-rtt-
xenomai.so.2.6(_ZN3RTT6plugin12PluginLoader7ReleaseEv+0x59)[0x7f662af37089]
/opt/orocos-toolchain-xenomai/install/lib/liborocos-rtt-
xenomai.so.2.6(_ZN3RTT2os16StartStopManager6callerEN5boost8functionIFvvEEE+0x18)
[0x7f662af02858]
/opt/orocos-toolchain-xenomai/install/lib/liborocos-rtt-
xenomai.so.2.6(_ZN5boost6detail8function22void_function_invoker1IPFvNS_8functionIFvvEEEEvS5_E6invokeERNS1_15function_bufferES5_+0x44)
[0x7f662af026a4]
/opt/orocos-toolchain-xenomai/install/lib/liborocos-rtt-
xenomai.so.2.6(_ZSt8for_eachISt16reverse_iteratorIN9__gnu_cxx17__normal_iteratorIPN5boost8functionIFvvEEESt6vectorIS6_SaIS6_EEEEENS4_IFvS6_EEEET0_T_SG_SF_+0xb9)
[0x7f662af02c09]
/opt/orocos-toolchain-xenomai/install/lib/liborocos-rtt-
xenomai.so.2.6(_ZN3RTT2os16StartStopManager4stopEv+0x6a)[0x7f662af0215a]
/opt/orocos-toolchain-xenomai/install/lib/liborocos-rtt-
xenomai.so.2.6(_Z9__os_exitv+0x4f)[0x7f662af079bf]
deployer-xenomai(main+0x49b)[0x40f40b]
/lib/x86_64-linux-gnu/libc.so.6(__libc_start_main+0xfd)[0x7f6627e5fead]
deployer-xenomai[0x40fa5d]
/opt/orocos-toolchain-xenomai/install/lib/liborocos-rtt-
xenomai.so.2.6(warn_upon_switch+0x15)[0x7f662af09295]
/lib/x86_64-linux-gnu/libpthread.so.0(+0xf030)[0x7f66297eb030]
/usr/lib/libnative.so.3(rt_mutex_release+0xbb)[0x7f6629c0231b]
/opt/orocos-toolchain-xenomai/install/lib/liborocos-rtt-
xenomai.so.2.6(_ZN3RTT6LoggerD2Ev+0x57)[0x7f662aeb69f7]
/opt/orocos-toolchain-xenomai/install/lib/liborocos-rtt-
xenomai.so.2.6(_ZN3RTT6Logger7ReleaseEv+0x32)[0x7f662aeb7902]
/opt/orocos-toolchain-xenomai/install/lib/liborocos-rtt-
xenomai.so.2.6(_Z9__os_exitv+0x85)[0x7f662af079f5]
deployer-xenomai(main+0x49b)[0x40f40b]
/lib/x86_64-linux-gnu/libc.so.6(__libc_start_main+0xfd)[0x7f6627e5fead]
deployer-xenomai[0x40fa5d]
TLSF bytes allocated=524288 overhead=6368 max-used=6368 currently-used=6368 
still-allocated=0
/opt/orocos-toolchain-xenomai/install/lib/liborocos-rtt-
xenomai.so.2.6(warn_upon_switch+0x15)[0x7f662af09295]
/lib/x86_64-linux-gnu/libpthread.so.0(+0xf030)[0x7f66297eb030]
/usr/lib/libnative.so.3(rt_mutex_release+0xbb)[0x7f6629c0231b]
/opt/orocos-toolchain-xenomai/install/lib/liborocos-rtt-
xenomai.so.2.6(_ZN3RTT5types18TypeInfoRepositoryD1Ev+0x165)[0x7f662af2d515]
/opt/orocos-toolchain-xenomai/install/lib/liborocos-rtt-
xenomai.so.2.6(_ZN5boost6detail17sp_counted_impl_pIN3RTT5types18TypeInfoRepositoryEE7disposeEv+0x12)
[0x7f662af2e912]
/opt/orocos-toolchain-xenomai/install/lib/liborocos-rtt-
xenomai.so.2.6(_ZN5boost10shared_ptrIN3RTT5types18TypeInfoRepositoryEED2Ev+0x29)
[0x7f662aed52c9]
/lib/x86_64-linux-gnu/libc.so.6(__cxa_finalize+0xa5)[0x7f6627e78175]
/opt/orocos-toolchain-xenomai/install/lib/liborocos-rtt-
xenomai.so.2.6(+0xf83d3)[0x7f662aeb03d3]


Thanks in advance,

Leopold
-- 
--
Linux User 152692
Catalonia

Re: [Xenomai] Xenomai warn_upon_switch

[Gilles Chanteperdrix]

On 06/26/2013 09:06 AM, Leopold Palomo-Avellaneda wrote:

> Hi,
> 
> since 2.6.x the Orocos users have difficulties (or simple cannot) use Xenomai. 
> Despite of some bug in the Orocos code, xenomai emits a warn_upon_switch that 
> makes the user to use a console program - deployer - (basically for the orocos 
> philosofy) to launch rt programs.
> 
> I think that this signal must be treated in some way by the Orocos code, but 
> it's not developed yet. Since then, there's a way to silent this signal, or 
> simple that doesn't overflow the console but thousand of messages like this:


In case it is a bug which has already been fixed, could you try xenomai
2.6 git?

-- 
                                                                Gilles.

Re: [Xenomai] Xenomai warn_upon_switch

[Leopold Palomo-Avellaneda]

A Dimecres, 26 de juny de 2013, Gilles Chanteperdrix va escriure:
> On 06/26/2013 09:06 AM, Leopold Palomo-Avellaneda wrote:
> 
> > Hi,
> > 
> > since 2.6.x the Orocos users have difficulties (or simple cannot) use 
Xenomai. 
> > Despite of some bug in the Orocos code, xenomai emits a warn_upon_switch 
that 
> > makes the user to use a console program - deployer - (basically for the 
orocos 
> > philosofy) to launch rt programs.
> > 
> > I think that this signal must be treated in some way by the Orocos code, 
but 
> > it's not developed yet. Since then, there's a way to silent this signal, 
or 
> > simple that doesn't overflow the console but thousand of messages like 
this:
> 
> 
> In case it is a bug which has already been fixed, could you try xenomai
> 2.6 git?

I don't understand that it could be a Xenomai bug. It's a Orocos bug IMHO. In 
the orocos list they commented that:

>AFAICS you've enabled the warn_upon_switch signal, AFAIK the printouts all
>refer to code paths that are causing mode switches.


......
> Real-time memory: 517920 bytes free of 524288 allocated.
> /opt/orocos-toolchain/install/lib/liborocos-rtt-
> xenomai.so.2.6(warn_upon_switch+0x15)[0x7fda1b2fb295]
> /lib/x86_64-linux-gnu/libpthread.so.0(+0xf030)[0x7fda19bdd030]
> /usr/lib/libnative.so.3(rt_mutex_release+0xbb)[0x7fda19ff431b]
> /opt/orocos-toolchain/install/lib/liborocos-rtt-
> xenomai.so.2.6(_ZN3RTT2os6ThreadD1Ev+0x11d)[0x7fda1b2f730d]
> /opt/orocos-toolchain/install/lib/liborocos-rtt-
> xenomai.so.2.6(_ZN3RTT8ActivityD2Ev+0x37)[0x7fda1b2add27]
> /opt/orocos-toolchain/install/lib/liborocos-rtt-
> xenomai.so.2.6(_ZN3RTT8ActivityD0Ev+0x9)[0x7fda1b2add79]
> /opt/orocos-toolchain/install/lib/liborocos-rtt-
>
> 
xenomai.so.2.6(_ZN5boost10shared_ptrIN3RTT4base17ActivityInterfaceEEaSERKS4_+0x4e)
> [0x7fda1b2b9cde]
> /opt/orocos-toolchain/install/lib/liborocos-rtt-
>
> 
xenomai.so.2.6(_ZN3RTT11TaskContext11setActivityEPNS_4base17ActivityInterfaceE+0x72)
> [0x7fda1b2aecb2]
> /opt/orocos-toolchain/install/lib/liborocos-ocl-deployment-
> xenomai.so.2.6.0(_ZN3OCL19DeploymentComponent11setActivityERKSsdii+0x127)
> [0x7fda1a9f8997]
> /opt/orocos-toolchain/install/lib/liborocos-ocl-deployment-
>
> xenomai.so.2.6.0(_ZNK5boost9function4IbRKSsdiiEclES2_dii+0x18)
[0x7fda1aa4dd68]
> /opt/orocos-toolchain/install/lib/liborocos-ocl-deployment-
>

AAnd I don't know how to silent (or if is possible) this messages.

Regards,

Leo

-- 
--
Linux User 152692
Catalonia

Re: [Xenomai] Xenomai warn_upon_switch

[Philippe Gerum]

On 06/27/2013 11:09 AM, Leopold Palomo-Avellaneda wrote:

>
> AAnd I don't know how to silent (or if is possible) this messages.

Try disabling CONFIG_XENO_OPT_DEBUG_SYNCH_RELAX if currently set in your 
kernel config. If that is still not enough, then you will have to switch 
off PTHREAD_WARNSW manually, using pthread_set_mode_np(), for each 
thread which triggers this signal.

-- 
Philippe.

Re: [Xenomai] Xenomai warn_upon_switch

[Gilles Chanteperdrix]

On 06/27/2013 11:09 AM, Leopold Palomo-Avellaneda wrote:

> A Dimecres, 26 de juny de 2013, Gilles Chanteperdrix va escriure:
>> On 06/26/2013 09:06 AM, Leopold Palomo-Avellaneda wrote:
>>
>>> Hi,
>>>
>>> since 2.6.x the Orocos users have difficulties (or simple cannot) use 
> Xenomai. 
>>> Despite of some bug in the Orocos code, xenomai emits a warn_upon_switch 
> that 
>>> makes the user to use a console program - deployer - (basically for the 
> orocos 
>>> philosofy) to launch rt programs.
>>>
>>> I think that this signal must be treated in some way by the Orocos code, 
> but 
>>> it's not developed yet. Since then, there's a way to silent this signal, 
> or 
>>> simple that doesn't overflow the console but thousand of messages like 
> this:
>>
>>
>> In case it is a bug which has already been fixed, could you try xenomai
>> 2.6 git?
> 
> I don't understand that it could be a Xenomai bug. It's a Orocos bug IMHO. In 
> the orocos list they commented that:
> 
>> AFAICS you've enabled the warn_upon_switch signal, AFAIK the printouts all
>> refer to code paths that are causing mode switches.
> 
> 
> ......
>> Real-time memory: 517920 bytes free of 524288 allocated.
>> /opt/orocos-toolchain/install/lib/liborocos-rtt-
>> xenomai.so.2.6(warn_upon_switch+0x15)[0x7fda1b2fb295]
>> /lib/x86_64-linux-gnu/libpthread.so.0(+0xf030)[0x7fda19bdd030]
>> /usr/lib/libnative.so.3(rt_mutex_release+0xbb)[0x7fda19ff431b]
>> /opt/orocos-toolchain/install/lib/liborocos-rtt-
>> xenomai.so.2.6(_ZN3RTT2os6ThreadD1Ev+0x11d)[0x7fda1b2f730d]
>> /opt/orocos-toolchain/install/lib/liborocos-rtt-
>> xenomai.so.2.6(_ZN3RTT8ActivityD2Ev+0x37)[0x7fda1b2add27]
>> /opt/orocos-toolchain/install/lib/liborocos-rtt-
>> xenomai.so.2.6(_ZN3RTT8ActivityD0Ev+0x9)[0x7fda1b2add79]
>> /opt/orocos-toolchain/install/lib/liborocos-rtt-
>>
>>
> xenomai.so.2.6(_ZN5boost10shared_ptrIN3RTT4base17ActivityInterfaceEEaSERKS4_+0x4e)
>> [0x7fda1b2b9cde]
>> /opt/orocos-toolchain/install/lib/liborocos-rtt-
>>
>>
> xenomai.so.2.6(_ZN3RTT11TaskContext11setActivityEPNS_4base17ActivityInterfaceE+0x72)
>> [0x7fda1b2aecb2]
>> /opt/orocos-toolchain/install/lib/liborocos-ocl-deployment-
>> xenomai.so.2.6.0(_ZN3OCL19DeploymentComponent11setActivityERKSsdii+0x127)
>> [0x7fda1a9f8997]
>> /opt/orocos-toolchain/install/lib/liborocos-ocl-deployment-
>>
>> xenomai.so.2.6.0(_ZNK5boost9function4IbRKSsdiiEclES2_dii+0x18)
> [0x7fda1aa4dd68]
>> /opt/orocos-toolchain/install/lib/liborocos-ocl-deployment-
>>
> 
> AAnd I don't know how to silent (or if is possible) this messages.


The point is that these messages are telling you that there is a bug,
either in xenomai code (a bug was fixed since xenomai 2.6.2.1 which
could explain such a behaviour), or in orocos code. When the bug is
fixed the signal will disappear.

-- 
                                                                Gilles.

Re: [Xenomai] Xenomai warn_upon_switch

[Gilles Chanteperdrix]

On 06/27/2013 02:19 PM, Gilles Chanteperdrix wrote:

>> AAnd I don't know how to silent (or if is possible) this messages.
> 
> 
> The point is that these messages are telling you that there is a bug,
> either in xenomai code (a bug was fixed since xenomai 2.6.2.1 which
> could explain such a behaviour), or in orocos code. When the bug is
> fixed the signal will disappear.
> 


Sorry, the bug I was referring was fixed between xenomai 2.6.2 and
xenomai 2.6.2.1, anyway, if you use xenomai 2.6 current git, and install
a handler for SIGDEBUG as done in examples/native/sigdebug.c, you should
be able to know the reason for receiving the signal you get, and help us
help you from there.

-- 
                                                                Gilles.

Re: [Xenomai] Xenomai warn_upon_switch

[Leopold Palomo-Avellaneda]

A Dijous, 27 de juny de 2013, Gilles Chanteperdrix va escriure:
> On 06/27/2013 11:09 AM, Leopold Palomo-Avellaneda wrote:
> 
> > A Dimecres, 26 de juny de 2013, Gilles Chanteperdrix va escriure:
> >> On 06/26/2013 09:06 AM, Leopold Palomo-Avellaneda wrote:
> >>
> >>> Hi,
> >>>
> >>> since 2.6.x the Orocos users have difficulties (or simple cannot) use 
> > Xenomai. 
> >>> Despite of some bug in the Orocos code, xenomai emits a warn_upon_switch 
> > that 
> >>> makes the user to use a console program - deployer - (basically for the 
> > orocos 
> >>> philosofy) to launch rt programs.
> >>>
> >>> I think that this signal must be treated in some way by the Orocos code, 
> > but 
> >>> it's not developed yet. Since then, there's a way to silent this signal, 
> > or 
> >>> simple that doesn't overflow the console but thousand of messages like 
> > this:
> >>
> >>
> >> In case it is a bug which has already been fixed, could you try xenomai
> >> 2.6 git?
> > 
> > I don't understand that it could be a Xenomai bug. It's a Orocos bug IMHO. 
In 
> > the orocos list they commented that:
> > 
> >> AFAICS you've enabled the warn_upon_switch signal, AFAIK the printouts 
all
> >> refer to code paths that are causing mode switches.
> > 
> > 
> > ......
> >> Real-time memory: 517920 bytes free of 524288 allocated.
> >> /opt/orocos-toolchain/install/lib/liborocos-rtt-
> >> xenomai.so.2.6(warn_upon_switch+0x15)[0x7fda1b2fb295]
> >> /lib/x86_64-linux-gnu/libpthread.so.0(+0xf030)[0x7fda19bdd030]
> >> /usr/lib/libnative.so.3(rt_mutex_release+0xbb)[0x7fda19ff431b]
> >> /opt/orocos-toolchain/install/lib/liborocos-rtt-
> >> xenomai.so.2.6(_ZN3RTT2os6ThreadD1Ev+0x11d)[0x7fda1b2f730d]
> >> /opt/orocos-toolchain/install/lib/liborocos-rtt-
> >> xenomai.so.2.6(_ZN3RTT8ActivityD2Ev+0x37)[0x7fda1b2add27]
> >> /opt/orocos-toolchain/install/lib/liborocos-rtt-
> >> xenomai.so.2.6(_ZN3RTT8ActivityD0Ev+0x9)[0x7fda1b2add79]
> >> /opt/orocos-toolchain/install/lib/liborocos-rtt-
> >>
> >>
> > 
xenomai.so.2.6(_ZN5boost10shared_ptrIN3RTT4base17ActivityInterfaceEEaSERKS4_+0x4e)
> >> [0x7fda1b2b9cde]
> >> /opt/orocos-toolchain/install/lib/liborocos-rtt-
> >>
> >>
> > 
xenomai.so.2.6(_ZN3RTT11TaskContext11setActivityEPNS_4base17ActivityInterfaceE+0x72)
> >> [0x7fda1b2aecb2]
> >> /opt/orocos-toolchain/install/lib/liborocos-ocl-deployment-
> >> xenomai.so.2.6.0(_ZN3OCL19DeploymentComponent11setActivityERKSsdii+0x127)
> >> [0x7fda1a9f8997]
> >> /opt/orocos-toolchain/install/lib/liborocos-ocl-deployment-
> >>
> >> xenomai.so.2.6.0(_ZNK5boost9function4IbRKSsdiiEclES2_dii+0x18)
> > [0x7fda1aa4dd68]
> >> /opt/orocos-toolchain/install/lib/liborocos-ocl-deployment-
> >>
> > 
> > AAnd I don't know how to silent (or if is possible) this messages.
> 
> 
> The point is that these messages are telling you that there is a bug,
> either in xenomai code (a bug was fixed since xenomai 2.6.2.1 which
> could explain such a behaviour), or in orocos code. When the bug is
> fixed the signal will disappear.

I have compiled a new kernel and the messages are still. I'm using 2.6.2.1. I 
agree that there's a bug but in orocos. I understand that Xenomai emits a 
signal warning about context switch and orocos (or whatever application that 
uses Xenomai) must treat with it. This behavior was changed in 2.6.x.

Please could you confirm if is this the problem?


Regards,

Leo
-- 
--
Linux User 152692
Catalonia

Re: [Xenomai] Xenomai warn_upon_switch

[Gilles Chanteperdrix]

On 06/27/2013 02:54 PM, Leopold Palomo-Avellaneda wrote:

> A Dijous, 27 de juny de 2013, Gilles Chanteperdrix va escriure:
>> On 06/27/2013 11:09 AM, Leopold Palomo-Avellaneda wrote:
>>
>>> A Dimecres, 26 de juny de 2013, Gilles Chanteperdrix va escriure:
>>>> On 06/26/2013 09:06 AM, Leopold Palomo-Avellaneda wrote:
>>> AAnd I don't know how to silent (or if is possible) this messages.
>>
>>
>> The point is that these messages are telling you that there is a bug,
>> either in xenomai code (a bug was fixed since xenomai 2.6.2.1 which
>> could explain such a behaviour), or in orocos code. When the bug is
>> fixed the signal will disappear.
> 
> I have compiled a new kernel and the messages are still. I'm using 2.6.2.1. I 
> agree that there's a bug but in orocos. I understand that Xenomai emits a 
> signal warning about context switch and orocos (or whatever application that 
> uses Xenomai) must treat with it. This behavior was changed in 2.6.x.
> 
> Please could you confirm if is this the problem?


As I said, to answer this question, you should change the SIGDEBUG
signal handler as is done in examples/native/sigdebug.c to know the
signal reason.

-- 
                                                                Gilles.

Re: [Xenomai] Xenomai warn_upon_switch

[Leopold Palomo-Avellaneda]

A Dijous, 27 de juny de 2013, Gilles Chanteperdrix va escriure:
> On 06/27/2013 02:54 PM, Leopold Palomo-Avellaneda wrote:
> 
> > A Dijous, 27 de juny de 2013, Gilles Chanteperdrix va escriure:
> >> On 06/27/2013 11:09 AM, Leopold Palomo-Avellaneda wrote:
> >>
> >>> A Dimecres, 26 de juny de 2013, Gilles Chanteperdrix va escriure:
> >>>> On 06/26/2013 09:06 AM, Leopold Palomo-Avellaneda wrote:
> >>> AAnd I don't know how to silent (or if is possible) this messages.
> >>
> >>
> >> The point is that these messages are telling you that there is a bug,
> >> either in xenomai code (a bug was fixed since xenomai 2.6.2.1 which
> >> could explain such a behaviour), or in orocos code. When the bug is
> >> fixed the signal will disappear.
> > 
> > I have compiled a new kernel and the messages are still. I'm using 
2.6.2.1. I 
> > agree that there's a bug but in orocos. I understand that Xenomai emits a 
> > signal warning about context switch and orocos (or whatever application 
that 
> > uses Xenomai) must treat with it. This behavior was changed in 2.6.x.
> > 
> > Please could you confirm if is this the problem?
> 
> 
> As I said, to answer this question, you should change the SIGDEBUG
> signal handler as is done in examples/native/sigdebug.c to know the
> signal reason.
> 

Ok,

I see. I don't know how is the Orocos code, but I will try to look on it. The 
example you have post seems clear.

Thanks for all,

I will inform,


Best regards,

Leo


-- 
--
Linux User 152692
Catalonia

Re: [Xenomai] Xenomai warn_upon_switch

[Peter Soetens]

On Thu, Jun 27, 2013 at 11:17 AM, Philippe Gerum <rpm@xenomai.org> wrote:
> On 06/27/2013 11:09 AM, Leopold Palomo-Avellaneda wrote:
>
>>
>> AAnd I don't know how to silent (or if is possible) this messages.
>
>
> Try disabling CONFIG_XENO_OPT_DEBUG_SYNCH_RELAX if currently set in your
> kernel config. If that is still not enough, then you will have to switch off
> PTHREAD_WARNSW manually, using pthread_set_mode_np(), for each thread which
> triggers this signal.

Quoting Gilles:
"The point is that these messages are telling you that there is a bug,
either in xenomai code (a bug was fixed since xenomai 2.6.2.1 which
could explain such a behaviour), or in orocos code. When the bug is
fixed the signal will disappear."

We're having one thread ( main() ) which is modeswitching all the time
since it's doing user IO using the console, filesystem etc.

I didn't consider this as a bug, and we only enable PTHREAD_WARNSW for
specific threads, where it does matter.

I also have the CONFIG_XENO_OPT_DEBUG_SYNCH_RELAX option on in my test
system, and I'm not seeing any of these messages (while the MSW
increments).

So it beats me what is causing these messages in his setup.

Leo, which version (git hash tag) are you using ?

Peter

Re: [Xenomai] Xenomai warn_upon_switch

[Gilles Chanteperdrix]

On 06/28/2013 05:35 PM, Peter Soetens wrote:

> On Thu, Jun 27, 2013 at 11:17 AM, Philippe Gerum<rpm@xenomai.org>  wrote:
>> On 06/27/2013 11:09 AM, Leopold Palomo-Avellaneda wrote:
>>
>>>
>>> AAnd I don't know how to silent (or if is possible) this messages.
>>
>>
>> Try disabling CONFIG_XENO_OPT_DEBUG_SYNCH_RELAX if currently set in your
>> kernel config. If that is still not enough, then you will have to switch off
>> PTHREAD_WARNSW manually, using pthread_set_mode_np(), for each thread which
>> triggers this signal.
>
> Quoting Gilles:
> "The point is that these messages are telling you that there is a bug,
> either in xenomai code (a bug was fixed since xenomai 2.6.2.1 which
> could explain such a behaviour), or in orocos code. When the bug is
> fixed the signal will disappear."
>
> We're having one thread ( main() ) which is modeswitching all the time
> since it's doing user IO using the console, filesystem etc.
>
> I didn't consider this as a bug, and we only enable PTHREAD_WARNSW for
> specific threads, where it does matter.


What would be a problem would be to change scheduling policy from 
SCHED_FIFO to SCHED_OTHER in a section protected by a mutex, you would 
then get the signal when releasing the mutex. In this case, when using 
xenomai 2.6.2.1, you would get a SIGDEBUG with reason 
SIGDEBUG_MIGRATE_PRIOINV reason, after 2.6.2.1 you would get a SIGDEBUG 
with reason SIGDEBUG_RESCNT_IMBALANCE.

This is considered as a bug, because if the mutex is shared with other 
threads using SCHED_FIFO policy, switching from SCHED_FIFO to 
SCHED_OTHER would cause the thread holding the mutex to switch to 
secondary mode, and so potentially cause a priority inversion.

But I think we already discussed this a long time ago on this list.

Anyway, a way to know what happens is to print the reason in the signal 
handler.

-- 
                                                                 Gilles.

Re: [Xenomai] Xenomai warn_upon_switch

[Gilles Chanteperdrix]

On 06/28/2013 05:35 PM, Peter Soetens wrote:

> On Thu, Jun 27, 2013 at 11:17 AM, Philippe Gerum<rpm@xenomai.org>  wrote:
>> On 06/27/2013 11:09 AM, Leopold Palomo-Avellaneda wrote:
>>
>>>
>>> AAnd I don't know how to silent (or if is possible) this messages.
>>
>>
>> Try disabling CONFIG_XENO_OPT_DEBUG_SYNCH_RELAX if currently set in your
>> kernel config. If that is still not enough, then you will have to switch off
>> PTHREAD_WARNSW manually, using pthread_set_mode_np(), for each thread which
>> triggers this signal.
>
> Quoting Gilles:
> "The point is that these messages are telling you that there is a bug,
> either in xenomai code (a bug was fixed since xenomai 2.6.2.1 which
> could explain such a behaviour), or in orocos code. When the bug is
> fixed the signal will disappear."


And in fact, the bug might as well be in the application code...

-- 
                                                                 Gilles.

Re: [Xenomai] Xenomai warn_upon_switch

[Leopold Palomo Avellaneda]

A Divendres, 28 de juny de 2013, Peter Soetens va escriure:
> On Thu, Jun 27, 2013 at 11:17 AM, Philippe Gerum <rpm@xenomai.org> wrote:
> > On 06/27/2013 11:09 AM, Leopold Palomo-Avellaneda wrote:
> >> AAnd I don't know how to silent (or if is possible) this messages.
> > 
> > Try disabling CONFIG_XENO_OPT_DEBUG_SYNCH_RELAX if currently set in your
> > kernel config. If that is still not enough, then you will have to switch
> > off PTHREAD_WARNSW manually, using pthread_set_mode_np(), for each
> > thread which triggers this signal.
> 
> Quoting Gilles:
> "The point is that these messages are telling you that there is a bug,
> either in xenomai code (a bug was fixed since xenomai 2.6.2.1 which
> could explain such a behaviour), or in orocos code. When the bug is
> fixed the signal will disappear."
> 
> We're having one thread ( main() ) which is modeswitching all the time
> since it's doing user IO using the console, filesystem etc.
> 
> I didn't consider this as a bug, and we only enable PTHREAD_WARNSW for
> specific threads, where it does matter.
> 
> I also have the CONFIG_XENO_OPT_DEBUG_SYNCH_RELAX option on in my test
> system, and I'm not seeing any of these messages (while the MSW
> increments).
> 
> So it beats me what is causing these messages in his setup.

:-(

some other people in the orocos list has mention it [1] but I would prefer to 
have a wrong setup than a orocos bug.
 
> Leo, which version (git hash tag) are you using ?

- Debian Wheezy, 
- kernel 3.5.7, corresponding to the adeos patch provided in that version.
- xenomai 2.6.2? (downloaded, not git)

Now someone would like to kill me. I don't know if is 2.6.2.1 or 2.6.2. I 
thought that it was 2.6.2.1, but I built the packages some time ago and they 
have been my base, but looking on the dates maybe I'm wrong :-(

How can I know the version of a tree of files of xenomai?

I have not be able to found any changelog in the tar.bz2. ... On monday I 
would repeat all my tests ....

If you want to test it add in you sources list:

---------------------------
# Debian-robotics
deb http://sir.upc.edu/debian-robotics wheezy-robotics main
deb-src http://sir.upc.edu/debian-robotics wheezy-robotics main
---------------------------
apt-key adv --keyserver pgp.mit.edu --recv-keys 682EC09CF944807E
apt-get update
apt-get install linux-image-3.5.7-xenomai-2.6.2.1 libxenomai-dev

about the xenomai package don't trust in the version numbers, because I think 
that,as it was for my personal use, I didn't put 4 numbers. But, I remember 
that 2.6.2 cannot build the debian package and 2.6.2.1 yes. 

I have always work with debian packages. 

It's too late now but f I did a mistake with the version number I'm really 
embarrassed.

On Monday I will test it all again.

Leo

[1] http://www.orocos.org/forum/orocos/orocos-users/warnuponswitch-leaving-
deployer-xenomai


-- 
--
Linux User 152692     PGP: 0xF944807E
Catalonia
-------------------------------------
A: Because it messes up the order in which people normally read text.
Q: Why is top-posting such a bad thing?
A: Top-posting.
Q: What is the most annoying thing in e-mail?

Re: [Xenomai] Xenomai warn_upon_switch

[Philippe Gerum]

On 06/29/2013 01:34 AM, Leopold Palomo Avellaneda wrote:
> A Divendres, 28 de juny de 2013, Peter Soetens va escriure:
>> On Thu, Jun 27, 2013 at 11:17 AM, Philippe Gerum <rpm@xenomai.org> wrote:
>>> On 06/27/2013 11:09 AM, Leopold Palomo-Avellaneda wrote:
>>>> AAnd I don't know how to silent (or if is possible) this messages.
>>>
>>> Try disabling CONFIG_XENO_OPT_DEBUG_SYNCH_RELAX if currently set in your
>>> kernel config. If that is still not enough, then you will have to switch
>>> off PTHREAD_WARNSW manually, using pthread_set_mode_np(), for each
>>> thread which triggers this signal.
>>
>> Quoting Gilles:
>> "The point is that these messages are telling you that there is a bug,
>> either in xenomai code (a bug was fixed since xenomai 2.6.2.1 which
>> could explain such a behaviour), or in orocos code. When the bug is
>> fixed the signal will disappear."
>>
>> We're having one thread ( main() ) which is modeswitching all the time
>> since it's doing user IO using the console, filesystem etc.
>>
>> I didn't consider this as a bug, and we only enable PTHREAD_WARNSW for
>> specific threads, where it does matter.
>>
>> I also have the CONFIG_XENO_OPT_DEBUG_SYNCH_RELAX option on in my test
>> system, and I'm not seeing any of these messages (while the MSW
>> increments).
>>
>> So it beats me what is causing these messages in his setup.
>
> :-(
>
> some other people in the orocos list has mention it [1] but I would prefer to
> have a wrong setup than a orocos bug.
>
>> Leo, which version (git hash tag) are you using ?
>
> - Debian Wheezy,
> - kernel 3.5.7, corresponding to the adeos patch provided in that version.
> - xenomai 2.6.2? (downloaded, not git)
>
> Now someone would like to kill me. I don't know if is 2.6.2.1 or 2.6.2. I
> thought that it was 2.6.2.1, but I built the packages some time ago and they
> have been my base, but looking on the dates maybe I'm wrong :-(
>
> How can I know the version of a tree of files of xenomai?
>
> I have not be able to found any changelog in the tar.bz2. ... On monday I
> would repeat all my tests ....
>
> If you want to test it add in you sources list:
>
> ---------------------------
> # Debian-robotics
> deb http://sir.upc.edu/debian-robotics wheezy-robotics main
> deb-src http://sir.upc.edu/debian-robotics wheezy-robotics main
> ---------------------------
> apt-key adv --keyserver pgp.mit.edu --recv-keys 682EC09CF944807E
> apt-get update
> apt-get install linux-image-3.5.7-xenomai-2.6.2.1 libxenomai-dev
>
> about the xenomai package don't trust in the version numbers, because I think
> that,as it was for my personal use, I didn't put 4 numbers. But, I remember
> that 2.6.2 cannot build the debian package and 2.6.2.1 yes.
>
> I have always work with debian packages.
>
> It's too late now but f I did a mistake with the version number I'm really
> embarrassed.
>
> On Monday I will test it all again.

Again, a Gilles mentioned several times already, a sane way to debug 
this issue is to hook the SIGDEBUG signal Xenomai sends your process, 
displaying the reason why it does it, in the signal handler.

Please have a careful look at src/testsuite/latency/latency.c:491, 
function sigdebug(). Add a similar code to your main process, you will 
get the information. From that point, debugging should be 
straightforward. Until then, your might be searching a needle in a haystack.

-- 
Philippe.

Re: [Xenomai] Xenomai warn_upon_switch

[Gilles Chanteperdrix]

On 06/29/2013 01:34 AM, Leopold Palomo Avellaneda wrote:

> How can I know the version of a tree of files of xenomai?


For the kernel-space part, the version appears in the boot messages (dmesg).
For the user-space part, you can not see the version at run-time, the 
version is in the config/version file in xenomai sources.

For the problem you have, you only need kernel-space from 2.6.2.1. 
User-space does not matter. You can also check in the sources if you 
have the following patch applied:

http://git.xenomai.org/?p=xenomai-2.6.git;a=commitdiff;h=6641c821c015d9fece07b8ac60c210cb9b0307a4;hp=943b5b3297ed996794a7fabf37bd57329b77293f

-- 
                                                                 Gilles.

Re: [Xenomai] Xenomai warn_upon_switch

[Philippe Gerum]

On 06/29/2013 04:05 PM, Gilles Chanteperdrix wrote:
> On 06/29/2013 01:34 AM, Leopold Palomo Avellaneda wrote:
>
>> How can I know the version of a tree of files of xenomai?
>
>
> For the kernel-space part, the version appears in the boot messages
> (dmesg).

/proc/xenomai/version as well.

> For the user-space part, you can not see the version at run-time, the
> version is in the config/version file in xenomai sources.

xeno-config --version would do.

>
> For the problem you have, you only need kernel-space from 2.6.2.1.
> User-space does not matter. You can also check in the sources if you
> have the following patch applied:
>
> http://git.xenomai.org/?p=xenomai-2.6.git;a=commitdiff;h=6641c821c015d9fece07b8ac60c210cb9b0307a4;hp=943b5b3297ed996794a7fabf37bd57329b77293f
>
>


-- 
Philippe.

Re: [Xenomai] Xenomai warn_upon_switch .. kill the user

[Leopold Palomo-Avellaneda]

A Divendres, 28 de juny de 2013, Peter Soetens va escriure:
> On Thu, Jun 27, 2013 at 11:17 AM, Philippe Gerum <rpm@xenomai.org> wrote:
> > On 06/27/2013 11:09 AM, Leopold Palomo-Avellaneda wrote:
> >
> >>
> >> AAnd I don't know how to silent (or if is possible) this messages.
> >
> >
> > Try disabling CONFIG_XENO_OPT_DEBUG_SYNCH_RELAX if currently set in your
> > kernel config. If that is still not enough, then you will have to switch 
off
> > PTHREAD_WARNSW manually, using pthread_set_mode_np(), for each thread 
which
> > triggers this signal.
> 
> Quoting Gilles:
> "The point is that these messages are telling you that there is a bug,
> either in xenomai code (a bug was fixed since xenomai 2.6.2.1 which
> could explain such a behaviour), or in orocos code. When the bug is
> fixed the signal will disappear."
> 
> We're having one thread ( main() ) which is modeswitching all the time
> since it's doing user IO using the console, filesystem etc.
> 
> I didn't consider this as a bug, and we only enable PTHREAD_WARNSW for
> specific threads, where it does matter.
> 
> I also have the CONFIG_XENO_OPT_DEBUG_SYNCH_RELAX option on in my test
> system, and I'm not seeing any of these messages (while the MSW
> increments).
> 
> So it beats me what is causing these messages in his setup.
> 
> Leo, which version (git hash tag) are you using ?

Hi,

my worst thoughts have been confirmed this morning. I did a mistake and I have 
lost your time during these days. I was using 2.6.2 instead of 2.6.2.1. I'm so 
sorry. I don't know what to say...

I'm extremely busy this week because a presentation but next week I will 
review all of this. With:

-Debian Wheezy
- Xenomai 2.6.2.1
- Kernel 3.5.7
Orocos 2.6 works and no warning messages are showed.... I have to test the 
ethercat config.

I'm so sorry ....

Leo







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Linux User 152692
Catalonia