* [Xenomai-core] rt_task_suspend, rt_task_delete chooses wrong tasks
@ 2011-08-01 10:04 Roberto Bielli
2011-08-01 14:42 ` Gilles Chanteperdrix
0 siblings, 1 reply; 4+ messages in thread
From: Roberto Bielli @ 2011-08-01 10:04 UTC (permalink / raw)
To: xenomai
Hi,
i see a big problem in xenomai. Aftear a certain number of task deletion
(rt_task_delete) and re-create task
the RT_TASK descriptors that i have in my application don't match with
the correct task.
1. function for deleting the task.
int mtsuspendtask( int idTsk )
{
int err;
RT_TASK_INFO tskInfo;
RT_TASK_INFO tskInfoD;
rt_task_inquire( rt_task_self(), &tskInfo );
//non sospendo task che non esistono
if((err = (rt_task_inquire (tabRtTask[idTsk].rtDesc, NULL ))) != 0)
{
AltTraceInN(ALTRACE_LEV_OS_TASK, "rt_task_inquire (ts): %s - err
%d (caller: %s)", tabRtTask[idTsk].name, err, tskInfo.name );
return err;
}
err = rt_task_suspend ( tabRtTask[idTsk].rtDesc );
AltTraceInN(ALTRACE_LEV_OS_TASK, "rt_task_suspend : %s - err %d
(caller: %s)", tabRtTask[idTsk].name, err, tskInfo.name );
if( err != 0 )
{
return err;
}
err = rt_task_delete (tabRtTask[idTsk].rtDesc);
AltTraceInN(ALTRACE_LEV_OS_TASK, "rt_task_delete : %s - err %d
(caller: %s)", tabRtTask[idTsk].name, err, tskInfo.name );
if ((err != 0) && (err != -3))
{
return (err);
}
while ((err = (rt_task_inquire (tabRtTask[idTsk].rtDesc, &tskInfoD)))
== 0)
{
AltTraceInN(ALTRACE_LEV_OS_TASK, "idTsk in tabella: %d", idTsk );
AltTraceInN(ALTRACE_LEV_OS_TASK, "rt_task_inquire : %s",
tskInfoD.name );
AltTraceInN(ALTRACE_LEV_OS_TASK, "rt_task_inquire : %s - err %d
(caller: %s)", tabRtTask[idTsk].name, err, tskInfo.name );
mtsleep (2); //...rt_task_sleep( 4 milliseconds );
}
return (err);
}
2. function for creating the task
int mtresettask( int idTsk )
{
int err;
RT_TASK_INFO tskInfo;
rt_task_inquire( rt_task_self(), &tskInfo );
memset( tabRtTask[idTsk].rtDesc, 0, sizeof( RT_TASK ) );
err = rt_task_create( tabRtTask[idTsk].rtDesc,
tabRtTask[idTsk].name,
tabRtTask[idTsk].stkSize,tabRtTask[idTsk].priority,tabRtTask[idTsk].mode);
AltTraceInN(ALTRACE_LEV_OS_TASK, "rt_task_create : %s - err %d
(caller: %s)", tabRtTask[idTsk].name, err, tskInfo.name );
if( err != 0 )
return err;
err = rt_task_start( tabRtTask[idTsk].rtDesc, (void
(*)(void*))tabRtTask[idTsk].fnAddr, tabRtTask[idTsk].tskArgs );
AltTraceInN(ALTRACE_LEV_OS_TASK, "rt_task_start : %s - err %d
(caller: %s)", tabRtTask[idTsk].name, err, tskInfo.name );
return (err);
}
Thanks in advance
Best Regards
--
+------------------------------------------------------------------------------------------------+
Roberto Bielli
Sviluppo Software
Axel S.r.l.
Via Del Cannino, 3
21020 Crosio Della Valle
Varese - Italy
Telefono: +39 0332 949600
Fax: +39 0332 969315
E-mail: roberto.bielli@domain.hid
Web Site: www.axelsw.it
+------------------------------------------------------------------------------------------------+
Si precisa che le informazioni contenute in questo messaggio sono riservate e ad uso esclusivo del destinatario.
Qualora il messaggio in parola Le fosse pervenuto per errore, La preghiamo di eliminarlo senza copiarlo e di non inoltrarlo a terzi,
dandocene gentilmente comunicazione. Grazie.
Informativa sul trattamento dei dati personali (D. Lgs. 196/2003).
I dati utilizzati per la spedizione del presente messaggio sono utilizzati da Axel S.r.l., titolare del trattamento,
per l'invio delle comunicazioni dei diversi settori aziendali, non essendo autorizzata la divulgazione a terzi.
Potrete rivolgere alla seguente mail richieste di verifica, rettifica o cancellazione dei Vostri dati: info@domain.hid
This e-mail and any attachments is confidential and may contain privileged information
intended for the addressee(s) only. Dissemination, copying, printing or use by anybody
else is unauthorised. If you are not the intended recipient,
please delete this message and any attachments and advise the sender
by return e-mail.Thank you.
+------------------------------------------------------------------------------------------------+
^ permalink raw reply [flat|nested] 4+ messages in thread
* Re: [Xenomai-core] rt_task_suspend, rt_task_delete chooses wrong tasks
2011-08-01 10:04 [Xenomai-core] rt_task_suspend, rt_task_delete chooses wrong tasks Roberto Bielli
@ 2011-08-01 14:42 ` Gilles Chanteperdrix
2011-08-01 15:18 ` Roberto Bielli
0 siblings, 1 reply; 4+ messages in thread
From: Gilles Chanteperdrix @ 2011-08-01 14:42 UTC (permalink / raw)
To: Roberto Bielli; +Cc: xenomai
On 08/01/2011 12:04 PM, Roberto Bielli wrote:
> Hi,
>
> i see a big problem in xenomai. Aftear a certain number of task deletion
> (rt_task_delete) and re-create task
> the RT_TASK descriptors that i have in my application don't match with
> the correct task.
Could you show us the code which initializes the rtDesc member of the
structure, in order to allow us reproducing your scenario?
--
Gilles.
^ permalink raw reply [flat|nested] 4+ messages in thread
* Re: [Xenomai-core] rt_task_suspend, rt_task_delete chooses wrong tasks
2011-08-01 14:42 ` Gilles Chanteperdrix
@ 2011-08-01 15:18 ` Roberto Bielli
2011-08-01 17:48 ` Gilles Chanteperdrix
0 siblings, 1 reply; 4+ messages in thread
From: Roberto Bielli @ 2011-08-01 15:18 UTC (permalink / raw)
To: Gilles Chanteperdrix; +Cc: xenomai
[-- Attachment #1: Type: text/plain, Size: 2010 bytes --]
Hi,
i send the source files with the initialization.
In the file apgs.c there is the main procedure that call the function
InitRTEnv() that initialize all.
Thanks a lot
Best regards
Il 01/08/2011 16:42, Gilles Chanteperdrix ha scritto:
> Could you show us the code which initializes the rtDesc member of the
> structure, in order to allow us reproducing your scenario?
--
+------------------------------------------------------------------------------------------------+
Roberto Bielli
Sviluppo Software
Axel S.r.l.
Via Del Cannino, 3
21020 Crosio Della Valle
Varese - Italy
Telefono: +39 0332 949600
Fax: +39 0332 969315
E-mail: roberto.bielli@domain.hid
Web Site: www.axelsw.it
+------------------------------------------------------------------------------------------------+
Si precisa che le informazioni contenute in questo messaggio sono riservate e ad uso esclusivo del destinatario.
Qualora il messaggio in parola Le fosse pervenuto per errore, La preghiamo di eliminarlo senza copiarlo e di non inoltrarlo a terzi,
dandocene gentilmente comunicazione. Grazie.
Informativa sul trattamento dei dati personali (D. Lgs. 196/2003).
I dati utilizzati per la spedizione del presente messaggio sono utilizzati da Axel S.r.l., titolare del trattamento,
per l'invio delle comunicazioni dei diversi settori aziendali, non essendo autorizzata la divulgazione a terzi.
Potrete rivolgere alla seguente mail richieste di verifica, rettifica o cancellazione dei Vostri dati: info@domain.hid
This e-mail and any attachments is confidential and may contain privileged information
intended for the addressee(s) only. Dissemination, copying, printing or use by anybody
else is unauthorised. If you are not the intended recipient,
please delete this message and any attachments and advise the sender
by return e-mail.Thank you.
+------------------------------------------------------------------------------------------------+
[-- Attachment #2: apgs.c --]
[-- Type: text/plain, Size: 7127 bytes --]
/** \file APgs.c
* Applicazione per eseguire PLC in tempo reale. Axel S.r.l. 2008
*
*/
#include <stdio.h>
#include <sys/ucontext.h>
#include <unistd.h>
#include <stdlib.h>
#include "cext.h"
#include "fujitsu.h"
#include "pc.h"
#include "rttasks.h"
#include "sysgen.h"
#include "version.h"
#include "alplc/communication.h"
#include "alplc/plcmanager.h"
#include "TraceInput.h"
#include "TraceLog.h"
/** versione Real time */
#define RT_VERSION "AXEL S.R.L - " NAME_ARM_APGS " - v. " VERS_ARM_APGS " - " DATE_ARM_APGS
/** opzioni da linea di comando */
#define CMD_OPT "p:hc:DM:"
static boolean stopApplication;
/** gestore dei segnali di processo */
void sigHandler( int sig, siginfo_t *info,void *context )
{
ucontext_t *uc = (ucontext_t *)context;
int i = 0;
RT_TASK_INFO dstTaskSig;
if (! stopApplication)
{
for( i = 0; i < NUMTASKS; i++ )
{
if( rt_task_inquire( tabRtTask[i].rtDesc, &dstTaskSig ) == 0 && ( dstTaskSig.status & 0x380 ) == 0x380 )
{
AltTraceInN( ALTRACE_LEV_BASE, "Il Task RT %s ha generato un segnale: 0x%08X", dstTaskSig.name, dstTaskSig.status );
break;
}
}
switch( sig )
{
case SIGTERM:
AltTraceIn0( ALTRACE_LEV_BASE, "Arrivato segnale di SIGTERM" );
break;
// case SIGINT:
// PrintTimeMex( TRUE,"Arrivato segnale di SIGINT\n" );
// break;
case SIGPIPE:
AltTraceIn0( ALTRACE_LEV_BASE,"Arrivato segnale di SIGPIPE" );
break;
case SIGFPE:
AltTraceInN( ALTRACE_LEV_BASE,"Arrivato segnale di SIGFPE all'indirizzo: 0x%08x", uc->uc_mcontext.fault_address );
break;
case SIGSEGV:
AltTraceInN( ALTRACE_LEV_BASE,"Arrivato segnale di SIGSEGV all'indirizzo: 0x%08x", uc->uc_mcontext.fault_address );
signal( SIGSEGV, SIG_DFL );
break;
case SIGBUS:
AltTraceInN( ALTRACE_LEV_BASE, "Arrivato segnale di SIGBUS all'indirizzo: 0x%08x", uc->uc_mcontext.arm_pc);
signal( SIGBUS, SIG_DFL );
break;
default:
AltTraceIn0( ALTRACE_LEV_BASE, "Arrivato segnale NON riconosciuto" );
break;
}
// quando verrà eseguito il main viene fermata l'applicazione, tranne nel caso di segmentation fault
// perchè così può essere costruito un core dump dell'applicazione
stopApplication = TRUE;
// Faccio partire task di chiusura
AltTraceIn0( ALTRACE_LEV_BASE,"Start task Apgs (sigHandler) ...");
mtresumetask( tsk_APGS );
}
}
void ChiusuraAPGS (void)
{
/* terminazione dell'applicazione su kill */
AltTraceIn0( ALTRACE_LEV_BASE,"Disabilitazione irq fujitsu..." );
disable_irq_fujitsu();
AltTraceIn0( ALTRACE_LEV_BASE,"Eliminazione tasks realtime..." );
CleanRtEnv();
AltTraceIn0( ALTRACE_LEV_BASE,"Stop della comunicazione di rete..." );
StopCommunication();
AltTraceIn0( ALTRACE_LEV_BASE,"Messa in reset del fujitsu..." );
put_rst_fujtusu();
AltTraceIn0( ALTRACE_LEV_BASE,"Eliminazione della memoria IO mappata..." );
unmapMicroRegMemory();
unmapFujMem();
unmapPCMem();
closeIOMem();
}
int main (int argc, char *argv[])
{
// Porta di comunicazione
int s;
mlockall(MCL_CURRENT|MCL_FUTURE);
// gestione signal handler
struct sigaction sa;
sa.sa_sigaction = sigHandler;
sigemptyset (&sa.sa_mask);
sa.sa_flags = SA_SIGINFO;
sigaction(SIGTERM, &sa, NULL);
// sigaction(SIGINT, &sa, NULL);
sigaction(SIGPIPE, &sa, NULL);
sigaction(SIGFPE, &sa, NULL);
sigaction(SIGSEGV, &sa, NULL);
sigaction(SIGBUS, &sa, NULL);
printf( RT_VERSION"\n" );
//creazione area di trace
if( !AltCreateTraceArea( _T("APGS"), 0x1000 ) )
perror( "Impossibile creare l'area di trace " );
AltSetTraceMask( ALTRACE_LEV_BASE );
AltSetTraceTime( FALSE );
// lettura degli argomenti dalla riga di comando con getopt ------------------------
s = getopt( argc,argv,CMD_OPT );
if ( s == 'h' )
{
printf( "utilizzo: APGS \n"
" [-h] # Mostra questo help\n"
" [-c] # Path del file .cod"
" [-p] # Setta la porta di comunicazione del LogicLab\n"
" [-D] # Lancia applicativo in Debug\n"
" [-M] # Cambia maschera di trace di acquisizione\n");
exit( 0 );
}
do
{
switch (s)
{
case 'p':
// Inizializzazione e partenza del gestore PLC
SetTcpPort( atoi( optarg ) );
break;
case 'c':
// settiamo il path del file .cod
SetCodPath( optarg );
break;
case 'D':
mt_debug = VERO;
break;
case 'M':
AltSetTraceMask( strtoul( optarg, NULL, 0 ) );
break;
}
} while ( (s = getopt( argc,argv,CMD_OPT ) ) != EOF);
//partenza acquisizione da parte di AlTrace
AltStartTrace();
AltTraceIn0( ALTRACE_LEV_BASE, _T("AlTrace configured, levels active:") );
AltTraceIn0( ALTRACE_LEV_BASE, _T("ALTRACE_LEV_BASE - Base level") );
AltTraceIn0( ALTRACE_LEV_OS_TASK, _T("ALTRACE_LEV_OS_TASK - OS task management") );
AltTraceIn0( ALTRACE_LEV_OS_SEM, _T("ALTRACE_LEV_OS_SEM - OS semaphore calls") );
AltTraceIn0( ALTRACE_LEV_OS_SLEEP, _T("ALTRACE_LEV_OS_SLEEP - OS sleep calls") );
AltTraceIn0( ALTRACE_LEV_OS_REGION, _T("ALTRACE_LEV_OS_REGION - OS mutex calls") );
AltTraceIn0( ALTRACE_LEV_OS_MBX, _T("ALTRACE_LEV_OS_MBX - OS mailbox calls") );
AltTraceIn0( ALTRACE_LEV_OS_LINUX, _T("ALTRACE_LEV_OS_LINUX - OS base services linux calls") );
AltTraceIn0( ALTRACE_LEV_RT_PLC, _T("ALTRACE_LEV_RT_PLC - PLC runtime operations") );
AltTraceIn0( ALTRACE_LEV_GDB, _T("ALTRACE_LEV_GDB - GDB protocol operations") );
//----------------------------------------------------------------------------------
AltTraceIn0( ALTRACE_LEV_BASE, "Apertura Memoria IO...");
if ( ! openIOMem() )
{
AltTraceIn0( ALTRACE_LEV_BASE, "Errore su apertura memoria di IO");
return 0;
}
AltTraceIn0( ALTRACE_LEV_BASE, "Mappatura memorie di IO e risorse arm...");
if ( ! mapPcMem()|| ! mapFujMem() || ! mapMicroRegMemory() )
{
AltTraceIn0( ALTRACE_LEV_BASE,"Errore: Memorie IO non mappate o risosrse non valide");
return FALSE;
}
AltTraceIn0( ALTRACE_LEV_BASE,"Generazione del sistema realtime...");
AltTraceIn0( ALTRACE_LEV_BASE,"Inizializzazione IRQ da Fujitsu...");
init_irq_fujitsu();
AltTraceIn0( ALTRACE_LEV_BASE,"Disabilitazione IRQ da fujitsu e reset fujitsu...");
disable_irq_fujitsu();
// mettiamo in reset il fujitsu
put_rst_fujtusu();
usleep (10000);
// rimuoviamo il reset del fujitsu
remove_rst_fujitsu();
AltTraceIn0( ALTRACE_LEV_BASE,"Inizializzazione ambiente realtime..." );
if( ! InitRTEnv() )
{
ChiusuraAPGS ();
exit(0);
}
AltTraceIn0( ALTRACE_LEV_BASE, "Start task Sysgen ...");
mtresumetask( tsk_SYSGEN );
for( ;; )
{
usleep (1000000);
}
return(0);
}
void Apgs (void)
{
ChiusuraAPGS ();
exit(0);
}
[-- Attachment #3: rttasks.c --]
[-- Type: text/plain, Size: 17774 bytes --]
/** \file rttasks.c
* implementazione delle funzioni e dei task real time Axel
*/
#include "cext.h"
#include "pc.h"
#include "rttasks.h"
#include "apgs.h"
#include "inout.h"
#include "iomanag.h"
#include "sysgen.h"
#include "datacan.h"
#include "reghyd.h"
#include "mper.h"
#include "canbus.h"
#include "cansrv.h"
#include "can443.h"
#include "gestdp.h"
#include "canbus.h"
#include "execc.h"
#include "barri.h"
#include "execnn.h"
#include "execyzvw.h"
#include "foratura.h"
#include "funsw.h"
#include "funswy.h"
#include "funswz.h"
#include "funswv.h"
#include "funsww.h"
#include "testa.h"
#include "testa2.h"
#include "hostc.h"
#include "per_par.h"
#include "funino.h"
#include "clk.h"
#include "alplc/plcmanager.h"
#include "TraceInput.h"
#include "TraceLog.h"
RT_INTR int_desc; /* definizione irq Xenomai */
RT_TASK tskHndXeno[NUMTASKS]; /* Descrittore dei task Xenomai */
RT_SEM tskSem[NUMTASKS]; /* Definizione degli handle dei semafori di avvio per ogni task */
RT_SEM envSem[NUMSYSSEM]; /* semafori di sistema */
RT_MUTEX envReg[NUMSYSREG]; /* regioni di sistema */
RT_QUEUE envMbx[NUMSYSMBX]; /* mailbox di sistema */
/* ----------------TABELLA DEI TASK------------------------------------------ */
// ; Tasks
// ;
// ; Nome Pri Stack Start
//
// #def task, Sysgen, 31, 400, sysgen
// #def task, Polkey, 31, 400, poll_key
// #def task, plc, 28, 400, exe_plc ; PLC
// #def task, Inout, 25, 800, inout
// #def task, Alarm, 24, 400, alarm
// #def task, Exemsg, 23, 800, exemsg
// #def task, Exec, 22, 800, exec ; Exec
// #def task, Execc, 21, 800, execc ; Exec canonico
// #def task, Arbix, 21, 800, arbix
// #def task, Barri, 20, 800, barri
// #def task, AxeCan, 20, 400, AxeCan ; Gestore assi CAN
// #def task, IniCan, 20, 400, IniCan ; Gestore assi INI CAN
// #def task, CanBus, 19, 400, CanBus ; Task Canbus
// #def task, Exec00, 18, 400, exec00
// #def task, Exec01, 18, 400, exec01
// #def task, Exec02, 18, 400, exec02
// #def task, Exec03, 18, 400, exec03
// #def task, Exec04, 18, 400, exec04
// #def task, Exec05, 18, 400, exec05
// #def task, Exec06, 18, 400, exec06
// #def task, Exec07, 18, 400, exec07
// #def task, Exec08, 18, 400, exec08
// #def task, Exec09, 18, 400, exec09
// #def task, Exec10, 18, 400, exec10
// #def task, Exec11, 18, 400, exec11
// #def task, Exec12, 18, 400, exec12
// #def task, Exec13, 18, 400, exec13
// #def task, Exec14, 18, 400, exec14
// #def task, Exec15, 18, 400, exec15
// #def task, Exec16, 18, 400, exec16
// #def task, Exec17, 18, 400, exec17
// #def task, Exec18, 18, 400, exec18
// #def task, Exec19, 18, 400, exec19
// #def task, Execy, 18, 800, execy
// #def task, Execz, 18, 800, execz
// #def task, Execv, 18, 800, execv
// #def task, Execw, 18, 800, execw
// #def task, Fun, 18, 800, fun
// #def task, Funy, 18, 800, funy
// #def task, Funz, 18, 800, funz
// #def task, Funv, 18, 800, funv
// #def task, Funw, 18, 800, funw
// #def task, Cuty, 18, 800, cuty
// #def task, Cutz, 18, 800, cutz
// #def task, Cutv, 18, 800, cutv
// #def task, Cutw, 18, 800, cutw
// #def task, Cutp, 18, 800, CutPz ; Cambio utensile punzo TipoC
// #def task, Testa, 18, 800, testa
// #def task, Testa2, 18, 800, testa2
// #def task, Hostc, 18, 800, hostc
// #def task, RefParC, 16, 800, RefParC ; Ref Par CanBus
// #def task, Gdbplc, 15, 800, gdbplc
// #def task, Gdbdp, 15, 800, gdbdp
// #def task, FunIno, 13, 800, funIno
// #def task, Gestdp, 13, 800, gestdp
// #def task, bckplc, 10, 400, bckplc
// #def task, orologio, 2, 400, orologio
RTTASKS tabRtTask[] = {
//
// Tabella dei task - contiene nell'ordine tutti i task da lanciare nel sistema realtime.
//
//pr name rtDescriptor stkSize mode semaphore fnAddr tskArgs
{ 90, "TskAPGS", &tskHndXeno[tsk_APGS], 0x8000, 0, 0, (word32) Apgs, NULL },
{ 85, "TskSysgen", &tskHndXeno[tsk_SYSGEN], 0x8000, 0, 0, (word32) Sysgen, NULL },
{ 80, "TskIoManag", &tskHndXeno[tsk_IOMANAG], 0x8000, 0, 0, (word32) IOManag, NULL },
{ 31, "TskPolKey", &tskHndXeno[tsk_POLKEY], 0x8000, 0, 0, (word32) poll_key, NULL },
{ 25, "TskInout", &tskHndXeno[tsk_INOUT], 0x8000, 0, 0, (word32) Inout, NULL },
{ 24, "TskAlarm", &tskHndXeno[tsk_ALARM], 0x80000, 0, 0, (word32) Alarm, NULL },
{ 23, "TskExeMsg", &tskHndXeno[tsk_EXEMSG], 0x8000, 0, 0, (word32) exemsg, NULL },
{ 22, "TskExec", &tskHndXeno[tsk_EXEC], 0x80000, 0, 0, (word32) Exec, NULL },
{ 21, "TskExecc", &tskHndXeno[tsk_EXECC], 0x8000, 0, 0, (word32) execc, NULL },
{ 21, "TskArbix", &tskHndXeno[tsk_ARBIX], 0x8000, 0, 0, (word32) arbix, NULL },
{ 20, "TskBarri", &tskHndXeno[tsk_BARRI], 0x8000, 0, 0, (word32) barri, NULL },
{ 20, "TskAxeCan", &tskHndXeno[tsk_AXECAN], 0x8000, 0, 0, (word32) AxeCan, NULL },
{ 20, "TskIniCan", &tskHndXeno[tsk_INICAN], 0x8000, 0, 0, (word32) IniCan, NULL },
{ 19, "TskCanBus", &tskHndXeno[tsk_CANBUS], 0x8000, 0, 0, (word32) CanBus, NULL },
{ 18, "TskExec00", &tskHndXeno[tsk_EXEC00], 0x8000, 0, 0, (word32) exec00, NULL },
{ 18, "TskExec01", &tskHndXeno[tsk_EXEC01], 0x8000, 0, 0, (word32) exec01, NULL },
{ 18, "TskExec02", &tskHndXeno[tsk_EXEC02], 0x8000, 0, 0, (word32) exec02, NULL },
{ 18, "TskExec03", &tskHndXeno[tsk_EXEC03], 0x8000, 0, 0, (word32) exec03, NULL },
{ 18, "TskExec04", &tskHndXeno[tsk_EXEC04], 0x8000, 0, 0, (word32) exec04, NULL},
{ 18, "TskExec05", &tskHndXeno[tsk_EXEC05], 0x8000, 0, 0, (word32) exec05, NULL},
{ 18, "TskExec06", &tskHndXeno[tsk_EXEC06], 0x8000, 0, 0, (word32) exec06, NULL},
{ 18, "TskExec07", &tskHndXeno[tsk_EXEC07], 0x8000, 0, 0, (word32) exec07, NULL},
{ 18, "TskExec08", &tskHndXeno[tsk_EXEC08], 0x8000, 0, 0, (word32) exec08, NULL},
{ 18, "TskExec09", &tskHndXeno[tsk_EXEC09], 0x8000, 0, 0, (word32) exec09, NULL},
{ 18, "TskExec10", &tskHndXeno[tsk_EXEC10], 0x8000, 0, 0, (word32) exec10, NULL},
{ 18, "TskExec11", &tskHndXeno[tsk_EXEC11], 0x8000, 0, 0, (word32) exec11, NULL},
{ 18, "TskExec12", &tskHndXeno[tsk_EXEC12], 0x8000, 0, 0, (word32) exec12, NULL},
{ 18, "TskExec13", &tskHndXeno[tsk_EXEC13], 0x8000, 0, 0, (word32) exec13, NULL},
{ 18, "TskExec14", &tskHndXeno[tsk_EXEC14], 0x8000, 0, 0, (word32) exec14, NULL},
{ 18, "TskExec15", &tskHndXeno[tsk_EXEC15], 0x8000, 0, 0, (word32) exec15, NULL},
{ 18, "TskExec16", &tskHndXeno[tsk_EXEC16], 0x8000, 0, 0, (word32) exec16, NULL},
{ 18, "TskExec17", &tskHndXeno[tsk_EXEC17], 0x8000, 0, 0, (word32) exec17, NULL},
{ 18, "TskExec18", &tskHndXeno[tsk_EXEC18], 0x8000, 0, 0, (word32) exec18, NULL},
{ 18, "TskExec19", &tskHndXeno[tsk_EXEC19], 0x8000, 0, 0, (word32) exec19, NULL},
{ 18, "TskExecY", &tskHndXeno[tsk_EXECY], 0x8000, 0, 0, (word32) ExecY, NULL},
{ 18, "TskExecZ", &tskHndXeno[tsk_EXECZ], 0x8000, 0, 0, (word32) ExecZ, NULL},
{ 18, "TskExecV", &tskHndXeno[tsk_EXECV], 0x8000, 0, 0, (word32) ExecV, NULL},
{ 18, "TskExecW", &tskHndXeno[tsk_EXECW], 0x8000, 0, 0, (word32) ExecW, NULL},
{ 18, "TskFun", &tskHndXeno[tsk_FUN], 0x8000, 0, 0, (word32) fun, NULL},
{ 18, "TskFunY", &tskHndXeno[tsk_FUNY], 0x8000, 0, 0, (word32) funy, NULL},
{ 18, "TskFunZ", &tskHndXeno[tsk_FUNZ], 0x8000, 0, 0, (word32) funz, NULL},
{ 18, "TskFunV", &tskHndXeno[tsk_FUNV], 0x8000, 0, 0, (word32) funv, NULL},
{ 18, "TskFunW", &tskHndXeno[tsk_FUNW], 0x8000, 0, 0, (word32) funw, NULL},
{ 18, "TskForY", &tskHndXeno[tsk_FORY], 0x8000, 0, 0, (word32) ForaY, NULL},
{ 18, "TskForZ", &tskHndXeno[tsk_FORZ], 0x8000, 0, 0, (word32) ForaZ, NULL},
{ 18, "TskForV", &tskHndXeno[tsk_FORV], 0x8000, 0, 0, (word32) ForaV, NULL},
{ 18, "TskForW", &tskHndXeno[tsk_FORW], 0x8000, 0, 0, (word32) ForaW, NULL },
{ 18, "TskCutY", &tskHndXeno[tsk_CUTY], 0x8000, 0, 0, (word32) cuty, NULL },
{ 18, "TskCutZ", &tskHndXeno[tsk_CUTZ], 0x8000, 0, 0, (word32) cutz, NULL },
{ 18, "TskCutV", &tskHndXeno[tsk_CUTV], 0x8000, 0, 0, (word32) cutv, NULL },
{ 18, "TskCutW", &tskHndXeno[tsk_CUTW], 0x8000, 0, 0, (word32) cutw, NULL },
{ 18, "TskCutP", &tskHndXeno[tsk_CUTP], 0x8000, 0, 0, (word32) CutPz, NULL },
{ 18, "TskTesta", &tskHndXeno[tsk_TESTA], 0x8000, 0, 0, (word32) testa, NULL },
{ 18, "TskTesta2", &tskHndXeno[tsk_TESTA2], 0x8000, 0, 0, (word32) testa2, NULL },
{ 18, "TskHostc", &tskHndXeno[tsk_HOSTC], 0x8000, 0, 0, (word32) hostc, NULL },
{ 16, "TskRefParC", &tskHndXeno[tsk_REFPARC], 0x8000, 0, 0, (word32) RefParC, NULL },
{ 15, "TskPlcQuery", &tskHndXeno[ID_RTTASK_PLD], 0x8000, 0, 0, (word32) tskHnd_PlcQuery, NULL },
{ 13, "TskFunIno", &tskHndXeno[tsk_FUNINO], 0x8000, 0, 0, (word32) funIno, NULL },
{ 13, "TskGestdp", &tskHndXeno[tsk_GESTDP], 0x8000, 0, 0, (word32) gestdp, NULL },
{ 10, "TskBckPlc", &tskHndXeno[tsk_BCKPLC], 0x8000, 0, 0, (word32) bckplc, NULL },
{ 2, "TskOrologio", &tskHndXeno[tsk_OROLOGIO], 0x8000, 0, 0, (word32) orologio, NULL },
};
/*----------------------------------------------------------------------------*/
/*corpo del task background */
void tskHnd_PlcQuery ( void *cookie )
{
// Comandi di background per runtime
for( ;; )
{
PLCRuntimeBackground();
mtsleep( 100 );
}
}
//attivazione tasks realtime
boolean InitRTEnv( void )
{
int err, i;
char nameSem[ MAXSEMLENNAME ];
// ???
AltTraceIn0(ALTRACE_LEV_BASE, "INTR Xenomai userspace...");
err = rt_intr_create( &int_desc, IRQNAME , IRQNUMBER, I_PROPAGATE );
AltTraceInN(ALTRACE_LEV_OS_TASK, "rt_intr_create : %s - err %d", IRQNAME, err );
if ( err != 0 )
{
AltTraceIn0(ALTRACE_LEV_BASE,".........................KO" );
return FALSE;
}
AltTraceIn0(ALTRACE_LEV_BASE,"OK" );
// gestione del timer periodico
err = rt_timer_set_mode( QUANTUMTIMENS );
AltTraceInN(ALTRACE_LEV_OS_TASK, "rt_timer_set_mode - err %d", err );
if ( err != 0 )
{
AltTraceIn0(ALTRACE_LEV_BASE,"Errore su rt_timer_set_mode" );
return FALSE;
}
// creazione dei semafori realtime
for(i=0; i < NUMSYSSEM; i++ )
{
sprintf( nameSem, "envSem%d", i );
AltTraceInN(ALTRACE_LEV_BASE,"SEM environment %s...", nameSem );
err = rt_sem_create( &envSem[i], nameSem, 0, S_FIFO );
AltTraceInN(ALTRACE_LEV_OS_SEM, "rt_sem_create : %s - err %d", nameSem, err );
if ( err != 0 )
{
AltTraceIn0(ALTRACE_LEV_BASE,".........................KO" );
return FALSE;
}
AltTraceIn0(ALTRACE_LEV_BASE,"OK" );
}
// creazione delle mailbox realtime
for(i=0; i < NUMSYSMBX; i++ )
{
sprintf( nameSem, "envMbx%d", i );
AltTraceInN(ALTRACE_LEV_BASE,"MBX environment %s...", nameSem );
err = rt_queue_create( &envMbx[i], nameSem, MBX_SIZE_POOL, Q_UNLIMITED, Q_FIFO );
AltTraceInN(ALTRACE_LEV_OS_MBX, "rt_queue_create : %s - err %d", nameSem, err );
if ( err != 0 )
{
AltTraceIn0(ALTRACE_LEV_BASE,".........................KO" );
return FALSE;
}
AltTraceIn0(ALTRACE_LEV_BASE,"OK" );
}
// creazione delle regioni realtime
for(i=0; i < NUMSYSREG; i++ )
{
sprintf( nameSem, "envReg%d", i );
AltTraceInN(ALTRACE_LEV_BASE,"RGN environment %s...", nameSem );
err = rt_mutex_create( &envReg[i], nameSem );
AltTraceInN(ALTRACE_LEV_OS_REGION, "rt_mutex_create : %s - err %d", nameSem, err );
if ( err != 0 )
{
AltTraceIn0(ALTRACE_LEV_BASE,".........................KO" );
return FALSE;
}
AltTraceIn0(ALTRACE_LEV_BASE,"OK" );
}
// creazione dei task realtime
for ( i = 0; i < NUMTASKS; i++ )
{
// creazione dei semafori per ogni task
if( tabRtTask[i].enabSem != 0 )
{
AltTraceInN(ALTRACE_LEV_BASE,"SEM task %s...", tabRtTask[i].name );
sprintf( nameSem, "%sSem%d", tabRtTask[i].name, i );
err = rt_sem_create( tabRtTask[i].enabSem, nameSem, 0, S_FIFO | S_PULSE );
AltTraceInN(ALTRACE_LEV_OS_SEM, "rt_sem_create : %s - err %d", nameSem, err );
if ( err != 0 )
{
AltTraceIn0(ALTRACE_LEV_BASE,".........................KO" );
return FALSE;
}
AltTraceIn0(ALTRACE_LEV_BASE,"OK" );
}
AltTraceInN(ALTRACE_LEV_BASE,"TSK %s create...", tabRtTask[i].name );
err = rt_task_create( tabRtTask[i].rtDesc, tabRtTask[i].name, tabRtTask[i].stkSize,tabRtTask[i].priority,tabRtTask[i].mode);
AltTraceInN(ALTRACE_LEV_OS_SEM, "rt_task_create : %s - err %d", tabRtTask[i].name, err );
if ( err != 0 )
{
AltTraceIn0(ALTRACE_LEV_BASE,".........................KO" );
return FALSE;
}
AltTraceIn0(ALTRACE_LEV_BASE,"OK" );
}
//creazione mutex di sincronizzazione cancellazioni
err = rt_mutex_create( &mutexDelete, "mutexDelete" );
if ( err != 0 )
{
AltTraceInN(ALTRACE_LEV_BASE,"Impossible to create mutexDelete err = %d", err );
return FALSE;
}
return TRUE;
}
boolean CleanRtEnv( void )
{
int i, err;
char nameSem[ MAXSEMLENNAME ];
// Il primo task APGS non deve essere resettato perchè deve chiudere l'applicazione !!!!
for ( i=NUMTASKS-1; i > 0; i-- )
{
AltTraceInN(ALTRACE_LEV_BASE,"TSK %s delete...", tabRtTask[i].name );
err = rt_task_delete( tabRtTask[i].rtDesc );
if ( err != 0 )
AltTraceIn0(ALTRACE_LEV_BASE,".........................KO" );
else
AltTraceIn0(ALTRACE_LEV_BASE,"OK" );
if( tabRtTask[i].enabSem != 0 )
{
AltTraceInN(ALTRACE_LEV_BASE,"SEM task %s delete...", tabRtTask[i].name );
err = rt_sem_delete( tabRtTask[i].enabSem );
if ( err != 0 )
AltTraceIn0(ALTRACE_LEV_BASE,".........................KO" );
else
AltTraceIn0(ALTRACE_LEV_BASE,"OK" );
}
}
AltTraceIn0(ALTRACE_LEV_BASE,"INTR Xenomai userspace delete...");
err = rt_intr_delete( &int_desc );
if ( err != 0 )
AltTraceIn0(ALTRACE_LEV_BASE,".........................KO" );
else
AltTraceIn0(ALTRACE_LEV_BASE,"OK" );
for ( i=0; i < NUMSYSSEM; i++ )
{
sprintf( nameSem, "envSem%d", i );
AltTraceInN(ALTRACE_LEV_BASE,"SEM environment %s delete...", nameSem );
err = rt_sem_delete( getEnvSem( i ) );
if ( err != 0 )
AltTraceIn0(ALTRACE_LEV_BASE,".........................KO" );
else
AltTraceIn0(ALTRACE_LEV_BASE,"OK" );
}
for ( i=0; i < NUMSYSREG; i++ )
{
sprintf( nameSem, "envReg%d", i );
AltTraceInN(ALTRACE_LEV_BASE,"RGN environment %s delete...", nameSem );
err = rt_mutex_delete( &envReg[i] );
if ( err != 0 )
AltTraceIn0(ALTRACE_LEV_BASE,".........................KO" );
else
AltTraceIn0(ALTRACE_LEV_BASE,"OK" );
}
for ( i=0; i < NUMSYSMBX; i++ )
{
sprintf( nameSem, "envMbx%d", i );
AltTraceInN(ALTRACE_LEV_BASE,"MBX environment %s delete...", nameSem );
err = rt_queue_delete( getEnvMbx( i ) );
if ( err != 0 )
AltTraceIn0(ALTRACE_LEV_BASE,".........................KO" );
else
AltTraceIn0(ALTRACE_LEV_BASE,"OK" );
}
return TRUE;
}
//----------------------------------------------------------------------------
[-- Attachment #4: rttasks.h --]
[-- Type: text/plain, Size: 5597 bytes --]
#ifndef _RTTASKS_H
#define _RTTASKS_H
#include "mitos.h"
#include "fujitsu.h"
#include "utilities.h"
#define MAXTSKLENNAME 16
#define MAXSEMLENNAME MAXTSKLENNAME + 6
//incremento dei cicli effettuati dall'avvio del realtime
extern RT_INTR int_desc;
/* costanti di definizione dei task */
#define NUMTASKS 61 // TOTALI
#define tsk_APGS 0
#define tsk_SYSGEN 1
#define tsk_IOMANAG 2
#define tsk_POLKEY 3
#define tsk_INOUT 4
#define tsk_ALARM 5
#define tsk_EXEMSG 6
#define tsk_EXEC 7
#define tsk_EXECC 8
#define tsk_ARBIX 9
#define tsk_BARRI 10
#define tsk_AXECAN 11
#define tsk_INICAN 12
#define tsk_CANBUS 13
#define tsk_EXEC00 14
#define tsk_EXEC01 15
#define tsk_EXEC02 16
#define tsk_EXEC03 17
#define tsk_EXEC04 18
#define tsk_EXEC05 19
#define tsk_EXEC06 20
#define tsk_EXEC07 21
#define tsk_EXEC08 22
#define tsk_EXEC09 23
#define tsk_EXEC10 24
#define tsk_EXEC11 25
#define tsk_EXEC12 26
#define tsk_EXEC13 27
#define tsk_EXEC14 28
#define tsk_EXEC15 29
#define tsk_EXEC16 30
#define tsk_EXEC17 31
#define tsk_EXEC18 32
#define tsk_EXEC19 33
#define tsk_EXECY 34
#define tsk_EXECZ 35
#define tsk_EXECV 36
#define tsk_EXECW 37
#define tsk_FUN 38
#define tsk_FUNY 39
#define tsk_FUNZ 40
#define tsk_FUNV 41
#define tsk_FUNW 42
#define tsk_FORY 43
#define tsk_FORZ 44
#define tsk_FORV 45
#define tsk_FORW 46
#define tsk_CUTY 47
#define tsk_CUTZ 48
#define tsk_CUTV 49
#define tsk_CUTW 50
#define tsk_CUTP 51
#define tsk_TESTA 52
#define tsk_TESTA2 53
#define tsk_HOSTC 54
#define tsk_REFPARC 55
#define ID_RTTASK_PLD 56
#define tsk_FUNINO 57
#define tsk_GESTDP 58
#define tsk_BCKPLC 59
#define tsk_OROLOGIO 60
#define NUMSYSSEM 28 // TOTALI
#define ID_SEM_EXE 0
#define ID_SEM_AXECAN 1
#define ID_SEM_INICAN 2
#define ID_SEM_ALA 3
#define ID_SEM_EXY 4
#define ID_SEM_EXZ 5
#define ID_SEM_EXV 6
#define ID_SEM_EXW 7
#define ID_SEM_REX 8
#define ID_SEM_FUN 9
#define ID_SEM_FUNY 10
#define ID_SEM_FUNZ 11
#define ID_SEM_FUNV 12
#define ID_SEM_FUNW 13
#define ID_SEM_FORY 14
#define ID_SEM_FORZ 15
#define ID_SEM_FORV 16
#define ID_SEM_FORW 17
#define ID_SEM_CUTY 18
#define ID_SEM_CUTZ 19
#define ID_SEM_CUTV 20
#define ID_SEM_CUTW 21
#define ID_SEM_CUTP 22
#define ID_SEM_INOUT 23
#define ID_SEM_PKEY 24
#define ID_SEM_MSG 25
#define ID_SEM_RESMSG 26
#define ID_SEM_SDO 27
#define NUMSYSREG 2 // TOTALI
#define ID_REG_MEM 0
#define ID_REG_SDO 1
#define NUMSYSMBX 29 // TOTALI
#define ID_MBX_CUTY 0
#define ID_MBX_RCUTY 1
#define ID_MBX_CUTZ 2
#define ID_MBX_RCUTZ 3
#define ID_MBX_CUTV 4
#define ID_MBX_RCUTV 5
#define ID_MBX_CUTW 6
#define ID_MBX_RCUTW 7
#define ID_MBX_CUTP 8 // Mailbox per invio a CUTP
#define ID_MBX_RCUTP 9 // Mailbox per risposta da CUTP
#define ID_MBX_BAR 10
#define ID_MBX_RBAR_C 11
#define ID_MBX_RBAR_B 12
#define ID_MBX_ARB 13
#define ID_MBX_RARB_A 14
#define ID_MBX_RARB_B 15
#define ID_MBX_RARB_C 16
#define ID_MBX_RARB_D 17
#define ID_MBX_RARB_E 18
#define ID_MBX_RARB_F 19
#define ID_MBX_TSA 20
#define ID_MBX_RTSA 21
#define ID_MBX_TSA2 22
#define ID_MBX_RTSA2 23
#define ID_MBX_EXEC 24 // Comando Task EXEC CANONICO
#define ID_MBX_REXE 25 // Risposta dei Task EXEC CANONICO e SECONDO
#define ID_MBX_MSG 26 // Mailbox per task EXEMSG
#define ID_MBX_RESMSG 27 // Mailbox richiesta reset coda per EXEMSG
#define ID_MBX_CANBUS 28 // Mailbox richiesta task CanBus
///////////////////////////////////////////////////////////////////////////////
typedef struct
{
int priority; // range between 99 and 0, 99 is the most priority
char name[MAXTSKLENNAME]; // nome da assegnare al task
RT_TASK * rtDesc; // descrittore che viene valorizzato durante la create
int stkSize; // dimensione dello stack da istanziare, con valore 0 viene scelto dal sistem
int mode; // vedi documentazione Xenomai, funzione rt_task_create
RT_SEM * enabSem; // semaforo di abilitazione del task
word32 fnAddr; // puntatore alla funzione da eseguire
void * tskArgs; // puntatore agli argomenti da passare alla funzione eseguita dal task
}
RTTASKS;
extern RTTASKS tabRtTask[];
extern RT_SEM envSem[NUMSYSSEM];
extern RT_MUTEX envReg[NUMSYSREG];
extern RT_QUEUE envMbx[NUMSYSMBX];
//attivazione tasks realtime
extern boolean InitRTEnv( void );
extern boolean CleanRtEnv( void );
//prototipi handler dei task
// extern void tskHnd_IrqFuj ( void *cookie );
// extern void tskHnd_Inout ( void *cookie );
// extern void tskHnd_PlcFast ( void *cookie );
// extern void tskHnd_PlcSlow ( void *cookie );
// extern void tskHnd_CanSrv ( void *cookie );
// extern void tskHnd_Bck ( void *cookie );
extern void tskHnd_PlcQuery ( void *cookie );
//prototipi task esterni
extern void AxeCan( void );
extern void IniCan( void );
extern void exemsg (void);
extern void arbix (void);
extern void cuty (void);
extern void cutv (void);
extern void cutw (void);
extern void CutPz (void);
extern void cutz (void);
extern void CutPz (void);
#endif
^ permalink raw reply [flat|nested] 4+ messages in thread
* Re: [Xenomai-core] rt_task_suspend, rt_task_delete chooses wrong tasks
2011-08-01 15:18 ` Roberto Bielli
@ 2011-08-01 17:48 ` Gilles Chanteperdrix
0 siblings, 0 replies; 4+ messages in thread
From: Gilles Chanteperdrix @ 2011-08-01 17:48 UTC (permalink / raw)
To: Roberto Bielli; +Cc: xenomai
On 08/01/2011 05:18 PM, Roberto Bielli wrote:
> Hi,
>
> i send the source files with the initialization.
> In the file apgs.c there is the main procedure that call the function
> InitRTEnv() that initialize all.
>
> Thanks a lot
>
> Best regards
>
> Il 01/08/2011 16:42, Gilles Chanteperdrix ha scritto:
>> Could you show us the code which initializes the rtDesc member of the
>> structure, in order to allow us reproducing your scenario?
>
>
There is way too much code to be sure that the bug comes from Xenomai.
Please try and reduce the code to a simple, self-contained (and I stress
it) test case.
--
Gilles.
^ permalink raw reply [flat|nested] 4+ messages in thread
end of thread, other threads:[~2011-08-01 17:48 UTC | newest]
Thread overview: 4+ messages (download: mbox.gz follow: Atom feed
-- links below jump to the message on this page --
2011-08-01 10:04 [Xenomai-core] rt_task_suspend, rt_task_delete chooses wrong tasks Roberto Bielli
2011-08-01 14:42 ` Gilles Chanteperdrix
2011-08-01 15:18 ` Roberto Bielli
2011-08-01 17:48 ` Gilles Chanteperdrix
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