[Xenomai-help] system freeze with 2.3.x latest svn

[Stephan Zimmermann <s.zimmermann@domain.hid>]

Hello,
I get the following message and a completely frozen system when I run my
applications after upgrading to branches/v2.3.x  rev. 2137. (Everything 
worked fine on revision 2077)

'Xenomai: fatal: re-enqueuing a relaxed thread in the RPI queue'

Maybe I did s.th. stupid again?

I did 'svn -r 2137 up' in the source directory and recompiled 
everything (kernel, xenomai, my application). It's a AMD-X2 with Kernel 
2.6.17.14, running Debian Sarge. My colleague tells me he saw the same 
when experimenting with trunk.

some additional infos:

'svn info' gives me:
------------------------------------------------------------------
linux1:~/xenomai_svn_test/xenomai$ svn info
Pfad: .
URL: http://svn.gna.org/svn/xenomai/branches/v2.3.x
UUID des Projektarchivs: c6d672ea-8702-0410-b560-f74c916a59fe
Revision: 2137
Knotentyp: Verzeichnis
Plan: normal
Letzter Autor: rpm
Letzte geänderte Rev: 2137
Letztes Änderungsdatum: 2007-02-07 12:13:48 +0100 (Mi, 07 Feb 2007)
Eigenschaften zuletzt geändert: 2007-01-22 13:20:30 +0100 (Mo, 22 Jan 2007)


the following code leads to the crash, shortly after entering main():
--------------------------------------------------------------------
#include <iostream>
#include <sys/mman.h>
#include <assert.h>
#include "native/task.h"
#include "native/timer.h"
#include "native/queue.h"
#include "native/intr.h"

#include <sys/io.h>

RT_TASK maintask;
RT_TASK inttask;
RT_TASK intcreatortask;

#define LPT_BASE	0x378
#define LPT_INT		7

bool finish = false;

void int_task(void* cookie){
	int err = 0;
	int counter = 0;
	RT_INTR lptint;
	
	err = rt_intr_create(&lptint,"parp_int",7,0);
	std::cout << "interrupt create:" << err << std::endl;
	
	err = rt_intr_enable(&lptint);
	std::cout << "interrupt enable:" << err << std::endl;
	
	// switch int mode on
	outb_p(0x10, LPT_BASE + 2);
	
	// all pins = 0
	outb_p(0x00, LPT_BASE );
	
	while(!finish){
		err = rt_intr_wait(&lptint, 100);
		if(err >= 0 ){
			counter++;
			std::cout << "got " << err << " loop: " << counter << std::endl;
		}
	}
	
	err = rt_intr_disable(&lptint);
	std::cout << "interrupt disable:" << err << std::endl;
	
	err = rt_intr_delete(&lptint);
	std::cout << "interrupt delete:" << err << std::endl;
}

void int_creator_task(void* cookie){
	char ob = 0x00;
	for(int i = 0; i < 1000; i++){	
		rt_task_sleep(100);
		outb_p(ob,LPT_BASE);
		if(ob){
			ob = 0x00;
		}else{
			ob = 0xFF;
		}
	}
	finish = true;
}

int main(void){
	int err;
	
	std::cout << "xenomai interrupt test" << std::endl;
	mlockall(MCL_CURRENT | MCL_FUTURE);
	
	if (iopl(3)) {
		printf("iopl err\n");
		exit(1);
	}
	
	err = rt_task_shadow (&maintask,"maintask",10,0);
	std::cout << "task shadow:" << err << std::endl;
	
	err = rt_timer_set_mode(1000000);
	std::cout << "timer set mode:" << err << std::endl;
	
	rt_task_spawn(&inttask,"interrupt-task",1024,50,T_JOINABLE,int_task,NULL);
	
	rt_task_spawn(&intcreatortask,"interrupt-creator-task",1024,50,T_JOINABLE,int_creator_task,NULL);
	
	rt_task_join(&intcreatortask);
	rt_task_join(&inttask);
	
	std::cout << "task's finished, exiting" << std::endl;
	
	return 0;
}