[Xenomai-help] What have I misunderstood about condition variables

[Xenomai-help] What have I misunderstood about condition variables

[Anders Blomdell]

Why do I get the following output (Xenomai 2.4.2 / kernel 2.6.24.3):

ABCaAbBCABCcd 3
aAbBCABCcd 5
aAbBCABCcd 7
aAbBCABCcd 9
aAbBCABCcd 11
aAbBCABCcd 13

>From this small program:

#include <native/cond.h>
#include <native/mutex.h>
#include <native/task.h>
#include <native/timer.h>
#include <rtdk.h>
#include <sys/mman.h>

RT_TASK main_task, producer_task, consumer_task;
RT_MUTEX mutex;
RT_COND cond;
int data;

static void producer(void *arg)
{
  while(1) {
    rt_task_set_mode(0, T_PRIMARY, 0);
    rt_printf("A");
    rt_mutex_acquire(&mutex, TM_INFINITE);
    rt_printf("B");
    data++;
    rt_mutex_release(&mutex);
    rt_mutex_acquire(&mutex, TM_INFINITE);
    rt_cond_broadcast(&cond);
    rt_printf("C");
    rt_mutex_release(&mutex);
    rt_task_sleep(100000000L);
  }
}


static void consumer(void *arg)
{
  while(1) {
    int err;

    rt_task_set_mode(T_PRIMARY, 0, 0);
    rt_mutex_acquire(&mutex, TM_INFINITE);
    rt_printf("a");
    rt_task_sleep(1000000000L);
    rt_printf("b");
    err = rt_cond_wait(&cond, &mutex, TM_INFINITE);
    rt_printf("c");
    rt_mutex_release(&mutex);
    rt_printf("d %d\n", data);
  }
}


int main(int argc, char *argv[])
{
  mlockall(MCL_CURRENT|MCL_FUTURE);
  rt_print_auto_init(1);
  rt_task_shadow(&main_task, NULL, 1, T_FPU);
  rt_mutex_create(&mutex, NULL);
  rt_cond_create (&cond, NULL);
  rt_task_create(&producer_task, NULL, 0, 50, 0);
  rt_task_start(&producer_task, &producer, NULL);
  rt_task_create(&consumer_task, NULL, 0, 20, 0);
  rt_task_start(&consumer_task, &consumer, &consumer_task);
  while (1) {
    rt_task_sleep(1000000000L);
  }
  return 0;
}

To me the symptoms indicate that the high priority producer gets the mutex and
signals it before the consumer has properly started to wait on the condition.

Regards

Anders Blomdell


-- 
Anders Blomdell                  Email: anders.blomdell@domain.hid
Department of Automatic Control
Lund University                  Phone:    +46 46 222 4625
P.O. Box 118                     Fax:      +46 46 138118
SE-221 00 Lund, Sweden

Re: [Xenomai-help] What have I misunderstood about condition variables

[Gilles Chanteperdrix]

On Tue, Mar 11, 2008 at 7:19 PM, Anders Blomdell
>  To me the symptoms indicate that the high priority producer gets the mutex and
>  signals it before the consumer has properly started to wait on the condition.

I have not read your program in detail, but what may be your problem
is that condition variables are not semaphores: if you signal a
condition variable when nobody is waiting the signal is lost. A
condition variable is supposed to be associated with a condition
relying on variable external to the condition variables itself.

The following posix construct waits that the variable a changes values to 1:

waiter:
pthread_mutex_lock(&mutex);
while (a != 1)
          pthread_cond_wait(&cond, &mutex);
pthread_mutex_unlock(&mutex);

signaler:
pthread_mutex_lock(&mutex);
a = 1;
pthread_cond_signal(&cond);
pthread_mutex_unlock(&mutex);

Note the while loop, instead of a simple if, it is necessary to handle
correctly spurious wakeups.

-- 
 Gilles Chanteperdrix

Re: [Xenomai-help] What have I misunderstood about condition variables

[Anders Blomdell]

Gilles Chanteperdrix wrote:
> On Tue, Mar 11, 2008 at 7:19 PM, Anders Blomdell
>>  To me the symptoms indicate that the high priority producer gets the mutex and
>>  signals it before the consumer has properly started to wait on the condition.
> 
> I have not read your program in detail, but what may be your problem
> is that condition variables are not semaphores: if you signal a
> condition variable when nobody is waiting the signal is lost. 
I know this, but the problem is that the program loses signals when it is
waiting. In the consumer:

    rt_mutex_acquire(&mutex, TM_INFINITE);
    rt_printf("a");
    rt_task_sleep(1000000000L);
    rt_printf("b");
    err = rt_cond_wait(&cond, &mutex, TM_INFINITE);
    rt_printf("c");
    rt_mutex_release(&mutex);
    rt_printf("d %d\n", data);

i.e. after a 'b' has been written, the consumer is waiting on the condition
(Yes, I know that I access data outside the mutex...).

In the producer:

    rt_printf("B");
    data++;
    rt_mutex_release(&mutex);
    rt_mutex_acquire(&mutex, TM_INFINITE);
    rt_cond_broadcast(&cond);
    rt_printf("C");
    rt_mutex_release(&mutex);
    rt_task_sleep(100000000L);

i.e. the condition is signalled just before 'C' is written.

To elaborate on the [unexpected] output sequence:

     a		(consumer inside mutex)
     A		(producer about to enter mutex)
     b          (consumer starts waiting on condition)
     B          (producer has entered mutex)
     C          (producer has signalled condition)
     ...here I would have expected the consumer to resume...
     A          (producer has slept for 1 second, outside mutex)
     B          (producer has entered mutex)
     C          (producer has signalled condition)
     c          (consumer has got the second signal on condition)
     d		(consumer has left mutex)



> condition variable is supposed to be associated with a condition
> relying on variable external to the condition variables itself.
Yes I know all this, but the problem is that a high priority thread waiting for
the mutex, claims the mutex and signals the condition before the low priority
thread has started to wait for the condition (even ).

>...
> Note the while loop, instead of a simple if, it is necessary to handle
> correctly spurious wakeups.
My problem is the opposite, I don't get the wakeups :-(

The following program is more like my original problem (which was tricky to
isolate):

#include <native/cond.h>
#include <native/mutex.h>
#include <native/task.h>
#include <native/timer.h>
#include <rtdk.h>
#include <sys/mman.h>

RT_TASK main_task, producer_task, consumer_task;
RT_MUTEX mutex;
RT_COND cond;
int waiting, signalled;

static void producer(void *arg)
{
  while(1) {
    rt_task_set_mode(0, T_PRIMARY, 0);

    rt_printf("Producer sleep...\n");
    rt_task_sleep(1000000000L);
    rt_printf("...producer slept\n");

    rt_mutex_acquire(&mutex, TM_INFINITE);
    rt_printf("Producer has entered waiting=%d, signalled=%d\n",
	      waiting, signalled);
    if (waiting && !signalled) {
      rt_cond_broadcast(&cond);
      signalled = 1;
      rt_printf("  sent signal\n");
    }
    rt_mutex_release(&mutex);
  }
}


static void consumer(void *arg)
{
  while(1) {
    int err;

    rt_task_set_mode(T_PRIMARY, 0, 0);
    rt_mutex_acquire(&mutex, TM_INFINITE);
    rt_task_sleep(1000000000L);
    waiting = 1;
    signalled = 0;
    rt_printf("Consumer about to wait waiting=%d, signalled=%d\n",
	      waiting, signalled);
    err = rt_cond_wait(&cond, &mutex, 2000000000L);
    if (err != 0 && signalled) {
      rt_printf("Consumer not awoken err=%d, signalled=%d\n",
		err, signalled);
    } else {
      rt_printf("Consumer awoken\n");
    }
    rt_mutex_release(&mutex);
  }
}


int main(int argc, char *argv[])
{
  mlockall(MCL_CURRENT|MCL_FUTURE);
  rt_print_auto_init(1);
  rt_task_shadow(&main_task, NULL, 1, T_FPU);
  rt_mutex_create(&mutex, NULL);
  rt_cond_create (&cond, NULL);
  rt_task_create(&producer_task, NULL, 0, 50, 0);
  rt_task_start(&producer_task, &producer, NULL);
  rt_task_create(&consumer_task, NULL, 0, 20, 0);
  rt_task_start(&consumer_task, &consumer, &consumer_task);
  while (1) {
    rt_task_sleep(1000000000L);
  }
  return 0;
}

And here I get the output:

Producer sleep...
...producer slept
Consumer about to wait waiting=1, signalled=0
Producer has entered waiting=1, signalled=0
  sent signal
Producer sleep...
...producer slept
Producer has entered waiting=1, signalled=1
Producer sleep...
Consumer not awoken err=-110, signalled=1
...producer slept
Producer has entered waiting=1, signalled=1
Producer sleep...
...producer slept
Consumer about to wait waiting=1, signalled=0
Producer has entered waiting=1, signalled=0
  sent signal
Producer sleep...
...producer slept
Producer has entered waiting=1, signalled=1
Producer sleep...
Consumer not awoken err=-110, signalled=1
...producer slept
Producer has entered waiting=1, signalled=1
Producer sleep...

What am I missing?


-- 
Anders Blomdell                  Email: anders.blomdell@domain.hid
Department of Automatic Control
Lund University                  Phone:    +46 46 222 4625
P.O. Box 118                     Fax:      +46 46 138118
SE-221 00 Lund, Sweden

Re: [Xenomai-core] [Xenomai-help] What have I misunderstood about condition variables

[Anders Blomdell]

Anders Blomdell wrote:
> Gilles Chanteperdrix wrote:
>> On Tue, Mar 11, 2008 at 7:19 PM, Anders Blomdell
>>>  To me the symptoms indicate that the high priority producer gets the mutex and
>>>  signals it before the consumer has properly started to wait on the condition.
>> I have not read your program in detail, but what may be your problem
>> is that condition variables are not semaphores: if you signal a
>> condition variable when nobody is waiting the signal is lost. 
> I know this, but the problem is that the program loses signals when it is
> waiting. In the consumer:
> 
>     rt_mutex_acquire(&mutex, TM_INFINITE);
>     rt_printf("a");
>     rt_task_sleep(1000000000L);
>     rt_printf("b");
>     err = rt_cond_wait(&cond, &mutex, TM_INFINITE);
>     rt_printf("c");
>     rt_mutex_release(&mutex);
>     rt_printf("d %d\n", data);
> 
> i.e. after a 'b' has been written, the consumer is waiting on the condition
> (Yes, I know that I access data outside the mutex...).
> 
> In the producer:
> 
>     rt_printf("B");
>     data++;
>     rt_mutex_release(&mutex);
>     rt_mutex_acquire(&mutex, TM_INFINITE);
>     rt_cond_broadcast(&cond);
>     rt_printf("C");
>     rt_mutex_release(&mutex);
>     rt_task_sleep(100000000L);
> 
> i.e. the condition is signalled just before 'C' is written.
> 
> To elaborate on the [unexpected] output sequence:
> 
>      a		(consumer inside mutex)
>      A		(producer about to enter mutex)
>      b          (consumer starts waiting on condition)
>      B          (producer has entered mutex)
>      C          (producer has signalled condition)
>      ...here I would have expected the consumer to resume...
>      A          (producer has slept for 1 second, outside mutex)
>      B          (producer has entered mutex)
>      C          (producer has signalled condition)
>      c          (consumer has got the second signal on condition)
>      d		(consumer has left mutex)
> 
> 
> 
>> condition variable is supposed to be associated with a condition
>> relying on variable external to the condition variables itself.
> Yes I know all this, but the problem is that a high priority thread waiting for
> the mutex, claims the mutex and signals the condition before the low priority
> thread has started to wait for the condition (even ).
> 
>> ...
>> Note the while loop, instead of a simple if, it is necessary to handle
>> correctly spurious wakeups.
> My problem is the opposite, I don't get the wakeups :-(
> 
> The following program is more like my original problem (which was tricky to
> isolate):
> 
> #include <native/cond.h>
> #include <native/mutex.h>
> #include <native/task.h>
> #include <native/timer.h>
> #include <rtdk.h>
> #include <sys/mman.h>
> 
> RT_TASK main_task, producer_task, consumer_task;
> RT_MUTEX mutex;
> RT_COND cond;
> int waiting, signalled;
> 
> static void producer(void *arg)
> {
>   while(1) {
>     rt_task_set_mode(0, T_PRIMARY, 0);
> 
>     rt_printf("Producer sleep...\n");
>     rt_task_sleep(1000000000L);
>     rt_printf("...producer slept\n");
> 
>     rt_mutex_acquire(&mutex, TM_INFINITE);
>     rt_printf("Producer has entered waiting=%d, signalled=%d\n",
> 	      waiting, signalled);
>     if (waiting && !signalled) {
>       rt_cond_broadcast(&cond);
>       signalled = 1;
>       rt_printf("  sent signal\n");
>     }
>     rt_mutex_release(&mutex);
>   }
> }
> 
> 
> static void consumer(void *arg)
> {
>   while(1) {
>     int err;
> 
>     rt_task_set_mode(T_PRIMARY, 0, 0);
>     rt_mutex_acquire(&mutex, TM_INFINITE);
>     rt_task_sleep(1000000000L);
>     waiting = 1;
>     signalled = 0;
>     rt_printf("Consumer about to wait waiting=%d, signalled=%d\n",
> 	      waiting, signalled);
>     err = rt_cond_wait(&cond, &mutex, 2000000000L);
>     if (err != 0 && signalled) {
>       rt_printf("Consumer not awoken err=%d, signalled=%d\n",
> 		err, signalled);
>     } else {
>       rt_printf("Consumer awoken\n");
>     }
>     rt_mutex_release(&mutex);
>   }
> }
> 
> 
> int main(int argc, char *argv[])
> {
>   mlockall(MCL_CURRENT|MCL_FUTURE);
>   rt_print_auto_init(1);
>   rt_task_shadow(&main_task, NULL, 1, T_FPU);
>   rt_mutex_create(&mutex, NULL);
>   rt_cond_create (&cond, NULL);
>   rt_task_create(&producer_task, NULL, 0, 50, 0);
>   rt_task_start(&producer_task, &producer, NULL);
>   rt_task_create(&consumer_task, NULL, 0, 20, 0);
>   rt_task_start(&consumer_task, &consumer, &consumer_task);
>   while (1) {
>     rt_task_sleep(1000000000L);
>   }
>   return 0;
> }
> 
> And here I get the output:
> 
> Producer sleep...
> ...producer slept
> Consumer about to wait waiting=1, signalled=0
> Producer has entered waiting=1, signalled=0
>   sent signal
> Producer sleep...
> ...producer slept
> Producer has entered waiting=1, signalled=1
> Producer sleep...
> Consumer not awoken err=-110, signalled=1
> ...producer slept
> Producer has entered waiting=1, signalled=1
> Producer sleep...
> ...producer slept
> Consumer about to wait waiting=1, signalled=0
> Producer has entered waiting=1, signalled=0
>   sent signal
> Producer sleep...
> ...producer slept
> Producer has entered waiting=1, signalled=1
> Producer sleep...
> Consumer not awoken err=-110, signalled=1
> ...producer slept
> Producer has entered waiting=1, signalled=1
> Producer sleep...
> 
> What am I missing?
OK, found the bug (not mine!). I suggest something like this:

--- ksrc/skins/native/cond.c.orig       2008-03-11 20:42:52.000000000 +0100
+++ ksrc/skins/native/cond.c    2008-03-11 21:00:10.000000000 +0100
@@ -438,13 +438,20 @@

 int rt_cond_wait(RT_COND *cond, RT_MUTEX *mutex, RTIME timeout)
 {
-       int err, kicked = 0;
+       /* We can't use rt_mutex_release since that might reschedule
+          before we do our xnsynch_sleep_on, hence most of of the code
+          is duplicated here */
+       int err = 0, kicked = 0;
        xnthread_t *thread;
        spl_t s;
+       int lockcnt;

        if (timeout == TM_NONBLOCK)
                return -EWOULDBLOCK;

+       if (xnpod_unblockable_p())
+               return -EPERM;
+
        xnlock_get_irqsave(&nklock, s);

        cond = xeno_h2obj_validate(cond, XENO_COND_MAGIC, RT_COND);
@@ -454,10 +461,26 @@
                goto unlock_and_exit;
        }

-       err = rt_mutex_release(mutex);
+       mutex = xeno_h2obj_validate(mutex, XENO_MUTEX_MAGIC, RT_MUTEX);

-       if (err)
+       if (!mutex) {
+               err = xeno_handle_error(mutex, XENO_MUTEX_MAGIC, RT_MUTEX);
+               goto unlock_and_exit;
+       }
+
+       if (xnpod_current_thread() != xnsynch_owner(&mutex->synch_base)) {
+               err = -EPERM;
                goto unlock_and_exit;
+       }
+
+       lockcnt = mutex->lockcnt; /* Leave even if mutex is nested */
+
+       mutex->lockcnt = 0;
+
+       if (xnsynch_wakeup_one_sleeper(&mutex->synch_base)) {
+               mutex->lockcnt = 1;
+               /* Scheduling deferred */
+       }

        thread = xnpod_current_thread();

@@ -474,6 +497,8 @@

        rt_mutex_acquire(mutex, TM_INFINITE);

+       mutex->lockcnt = lockcnt; /* Adjust lockcnt */
+
        if (kicked)
                xnthread_set_info(thread, XNKICKED);




-- 
Anders Blomdell                  Email: anders.blomdell@domain.hid
Department of Automatic Control
Lund University                  Phone:    +46 46 222 4625
P.O. Box 118                     Fax:      +46 46 138118
SE-221 00 Lund, Sweden

Re: [Xenomai-core] [Xenomai-help] What have I misunderstood about condition variables

[Philippe Gerum]

Anders Blomdell wrote:
> OK, found the bug (not mine!).

No, it's mine. Actually, you fixed two of them, since nested locks would not be
released properly when entering cond_wait. Will merge, thanks.

 I suggest something like this:
> 
> --- ksrc/skins/native/cond.c.orig       2008-03-11 20:42:52.000000000 +0100
> +++ ksrc/skins/native/cond.c    2008-03-11 21:00:10.000000000 +0100
> @@ -438,13 +438,20 @@
> 
>  int rt_cond_wait(RT_COND *cond, RT_MUTEX *mutex, RTIME timeout)
>  {
> -       int err, kicked = 0;
> +       /* We can't use rt_mutex_release since that might reschedule
> +          before we do our xnsynch_sleep_on, hence most of of the code
> +          is duplicated here */
> +       int err = 0, kicked = 0;
>         xnthread_t *thread;
>         spl_t s;
> +       int lockcnt;
> 
>         if (timeout == TM_NONBLOCK)
>                 return -EWOULDBLOCK;
> 
> +       if (xnpod_unblockable_p())
> +               return -EPERM;
> +
>         xnlock_get_irqsave(&nklock, s);
> 
>         cond = xeno_h2obj_validate(cond, XENO_COND_MAGIC, RT_COND);
> @@ -454,10 +461,26 @@
>                 goto unlock_and_exit;
>         }
> 
> -       err = rt_mutex_release(mutex);
> +       mutex = xeno_h2obj_validate(mutex, XENO_MUTEX_MAGIC, RT_MUTEX);
> 
> -       if (err)
> +       if (!mutex) {
> +               err = xeno_handle_error(mutex, XENO_MUTEX_MAGIC, RT_MUTEX);
> +               goto unlock_and_exit;
> +       }
> +
> +       if (xnpod_current_thread() != xnsynch_owner(&mutex->synch_base)) {
> +               err = -EPERM;
>                 goto unlock_and_exit;
> +       }
> +
> +       lockcnt = mutex->lockcnt; /* Leave even if mutex is nested */
> +
> +       mutex->lockcnt = 0;
> +
> +       if (xnsynch_wakeup_one_sleeper(&mutex->synch_base)) {
> +               mutex->lockcnt = 1;
> +               /* Scheduling deferred */
> +       }
> 
>         thread = xnpod_current_thread();
> 
> @@ -474,6 +497,8 @@
> 
>         rt_mutex_acquire(mutex, TM_INFINITE);
> 
> +       mutex->lockcnt = lockcnt; /* Adjust lockcnt */
> +
>         if (kicked)
>                 xnthread_set_info(thread, XNKICKED);
> 
> 
> 
> 


-- 
Philippe.

Re: [Xenomai-help] What have I misunderstood about condition variables

[Gilles Chanteperdrix]

Anders Blomdell wrote:
 > Gilles Chanteperdrix wrote:
 > > On Tue, Mar 11, 2008 at 7:19 PM, Anders Blomdell
 > >>  To me the symptoms indicate that the high priority producer gets the mutex and
 > >>  signals it before the consumer has properly started to wait on the condition.
 > > 
 > > I have not read your program in detail, but what may be your problem
 > > is that condition variables are not semaphores: if you signal a
 > > condition variable when nobody is waiting the signal is lost. 
 > I know this, but the problem is that the program loses signals when it is
 > waiting. In the consumer:

Sorry for the noise (and thanks for the patch).

-- 


					    Gilles Chanteperdrix.

Re: [Xenomai-help] What have I misunderstood about condition variables

[Anders Blomdell]

Gilles Chanteperdrix wrote:
> Anders Blomdell wrote:
>  > Gilles Chanteperdrix wrote:
>  > > On Tue, Mar 11, 2008 at 7:19 PM, Anders Blomdell
>  > >>  To me the symptoms indicate that the high priority producer gets the mutex and
>  > >>  signals it before the consumer has properly started to wait on the condition.
>  > > 
>  > > I have not read your program in detail, but what may be your problem
>  > > is that condition variables are not semaphores: if you signal a
>  > > condition variable when nobody is waiting the signal is lost. 
>  > I know this, but the problem is that the program loses signals when it is
>  > waiting. In the consumer:
> 
> Sorry for the noise (and thanks for the patch).
You are welcome.

Small afterthought/question. In the following code:

        xnlock_get_irqsave(&nklock, s);

	...

        mutex->lockcnt = 0;

        if (xnsynch_wakeup_one_sleeper(&mutex->synch_base)) {
                mutex->lockcnt = 1;
                /* Scheduling deferred */
        }

        thread = xnpod_current_thread();

        xnsynch_sleep_on(&cond->synch_base, timeout, XN_RELATIVE);


Am I correct in assuming that no other task (even on a multiprocessor) can claim
the mutex until xnsynch_sleep_on has done its rescheduling?

/Anders


-- 
Anders Blomdell                  Email: anders.blomdell@domain.hid
Department of Automatic Control
Lund University                  Phone:    +46 46 222 4625
P.O. Box 118                     Fax:      +46 46 138118
SE-221 00 Lund, Sweden

Re: [Xenomai-help] What have I misunderstood about condition variables

[Gilles Chanteperdrix]

On Wed, Mar 12, 2008 at 1:00 PM, Anders Blomdell
<anders.blomdell@domain.hid> wrote:
>
> Gilles Chanteperdrix wrote:
>  > Anders Blomdell wrote:
>  >  > Gilles Chanteperdrix wrote:
>  >  > > On Tue, Mar 11, 2008 at 7:19 PM, Anders Blomdell
>  >  > >>  To me the symptoms indicate that the high priority producer gets the mutex and
>  >  > >>  signals it before the consumer has properly started to wait on the condition.
>  >  > >
>  >  > > I have not read your program in detail, but what may be your problem
>  >  > > is that condition variables are not semaphores: if you signal a
>  >  > > condition variable when nobody is waiting the signal is lost.
>  >  > I know this, but the problem is that the program loses signals when it is
>  >  > waiting. In the consumer:
>  >
>  > Sorry for the noise (and thanks for the patch).
>  You are welcome.
>
>  Small afterthought/question. In the following code:
>
>
>         xnlock_get_irqsave(&nklock, s);
>
>         ...
>
>
>         mutex->lockcnt = 0;
>
>         if (xnsynch_wakeup_one_sleeper(&mutex->synch_base)) {
>                 mutex->lockcnt = 1;
>                 /* Scheduling deferred */
>         }
>
>         thread = xnpod_current_thread();
>
>         xnsynch_sleep_on(&cond->synch_base, timeout, XN_RELATIVE);
>
>
>  Am I correct in assuming that no other task (even on a multiprocessor) can claim
>  the mutex until xnsynch_sleep_on has done its rescheduling?

Yes, the nklock is a spin lock, so when you hold it (with interrupts
disabled), no one else ca have it.

-- 
 Gilles Chanteperdrix