Re: [Xenomai] Context Switch with rtnet

[Gilles Chanteperdrix <gilles.chanteperdrix@xenomai.org>]

On 09/22/2012 03:20 PM, Franz Engel wrote:

>> On Fri, 21 Sep 2012 12:08:40 +0200, Kai Bollue <mlist1@bollue.de>
>>> On 21.09.2012 12:02, Gilles Chanteperdrix wrote:
>>>> On 09/21/2012 11:58 AM, Kai Bollue wrote:
>>>>> On 14.09.2012 17:01, Franz Engel wrote:
>>>>> Hi,
>>>>>
>>>>> I've a little problem. I'm using the rtnet.h-header and the
>> following function:
>>>>> ret = recvfrom ( ethernetConnection.sock, &recBuffer, sizeof (
>>>>> recBuffer ),0, ( struct sockaddr * )
>>>>> &ethernetConnection.dest_addr,&destlen );
>>>> Hi,
>>>>
>>>> stupid question: But you do use an rtnet socket, not a normal one,
>> do
>>>> you? In this case, shouldn't it be rt_dev_recvfrom(...)?
>>> When using the posix skin, recvfrom is substituted at compilation (or
>>> more exactly link-edit) time with __wrap_recvfrom, implemented in
>>> libpthread_rt.so, allowing to work with real-time sockets.
>>>
>>
>> Ah, sorry, I missed that.
>>
> 
> Sorry, I missed to answer on some questions:
> 
> Let me explain my problem again. When I run my program ("mytask") the CSW
> and MSW increase every time the program receive a message:
> CPU  PID    MSW        CSW        PF    STAT       %CPU  NAME
>   0  0      0          396        0     00500080  100.0  ROOT/0
>   1  0      0          0          0     00500080  100.0  ROOT/1
>   0  1336   1          1          0     00300380    0.0  kogmo_man
>   0  0      0          209        0     00000082    0.0  rtnet-stack
>   0  0      0          1          0     00000082    0.0  rtnet-rtpc
>   0  0      0          1          0     00000082    0.0  rtcfg-rx
>   0  5182   1          15         0     00340182    0.0  mytask
>   0  0      0          143        0     00000000    0.0  IRQ22: rteth0
>   1  0      0          186        0     00000000    0.0  IRQ22: rteth0
>   0  0      0          2054479    0     00000000    0.0  IRQ4364: [timer]
>   1  0      0          547805     0     00000000    0.0  IRQ4364: [timer]
> 
> Wolfgang advised me to find the reason for this phenomenon like the program
> on this link:
> http://www.rts.uni-hannover.de/xenomai/lxr/source/examples/native/sigdebug.c
> I tried it and modified my code (see the code further down). When I insert
> an "cout" after "rt_task_set_mode(0, T_WARNSW, NULL);" I get a failure
> message (so it should work). But when I run this program without the cout I
> get no message, but the CSW and MSW counter are still increases.  
> 
> 
> That's my versions:
> rtnet 0.9.12
> xenomai 2.5.5.2
> linux kernel 2.6.32-20
> ubuntu 10.04
> i-pipe patch: adeos-ipipe-2.6.32.20-x86-2.7-03.patch
> NIC driver: 8139too
> CPU: Intel vPro
> 
> 
> Any other ideas? Or is it not a problem but the normal state that the
> counters increases?
> 
> Here is the code of my cmake-file:
> cmake_minimum_required(VERSION 2.8)
> 
> ##################################
> # BEGIN OF EDITING THIS TEMPLATE #
> ##################################
> 
> ############################################
> # PLEASE ENTER HERE THE NAME OF YOUR PROJECT
> 
> set(ProjectName robotrsiVersuch)  #e.g. "robotdatalogger" (do not forget the
> quotes)
> 
> PROJECT(${ProjectName})
> 
> ###############################################
> # ENTER HERE THE VERSION NUMBER OF YOUR PROJECT
> set(${ProjectName}_VERSION_MAJOR 1)
> set(${ProjectName}_VERSION_MINOR 0)
> 
> ###############################################
> # ENABLE OR DIABLE THE USE OF XENOMAI AND QT
> option(USE_XENOMAI	"xenomai"		ON	)
> option(USE_RTNET	"rtnet"			ON	)
> 
> #############################################
> # NOW ADD ALL SOURCE FILES OF YOUR PROJECT
> # IF YOU'RE USING QT, ALSO ADD ALL HEADERS OF 
> # QT-OBJECTS, UI-FILES AND RESOURCES
> 
> #####################
> # INCLUDE DIRECTORIES
> 
> set(MAIN_DIR ${PROJECT_SOURCE_DIR}/../..)
> set(SOURCE_DIR src)
> 
> 
> #############################################
> # ENTER THE INSTALL DIRECTORY
> # added by stefan.thumfart@profactor.at
> set(INSTALLDIR ${MAIN_DIR}/bin)
> 
> set(INCLUDES
>     ${SOURCE_DIR}
> )
> 
> 
> ###########
> # LIBRARIES
> 
> set(EXTRA_LIBS 
> 
> )
> 
> ######
> # CPPs
> 
> set(SOURCES 
> 	main.cpp
> 	src/rsiinterface.cpp
> 	src/rsiinterface.h
> )
> 
> #############
> # MOC-Headers
> set(MOC_HEADERS
> 
> )
> 
> ##########
> # UI-Files
> set(UIS
> 
> )
> 
> ###########
> # Resources
> set(RESOURCES 
> 
> )
> 
> ##################################
> #  END OF EDITING THIS TEMPLATE  #
> ##################################
> 
> 
> message (STATUS "Usage of Xenomai: ${USE_XENOMAI}")
> message (STATUS "Usage of RTnet: ${USE_RTNET}")
> 
> message(STATUS "Generating buid files for project ${ProjectName}, version
> ${${ProjectName}_VERSION_MAJOR}.${${ProjectName}_VERSION_MINOR}")
> 
> include_directories(${INCLUDES})
> 
> 
> IF(USE_XENOMAI)
>     message(STATUS "Starting Xenomai configuration")
> 
>     message(STATUS "startign RTnet configuration")
>     include_directories(/usr/local/rtnet/include)
>     include_directories(/usr/xenomai/include/rtdm)
>     message(STATUS "RTnet configuration finished")   
> 
>     find_library(XENO_rtdm rtdm /usr/xenomai/lib)
>     set(EXTRA_LIBS ${EXTRA_LIBS} ${XENO_rtdm})
>     message(STATUS ${EXTRA_LIBS} )
> 
>     set(XENOMAI_DIR "/usr/xenomai")
>     set(XENOMAI_INCLUDE_DIR ${XENOMAI_DIR}/include)
>     set(XENOMAI_INCLUDE_POSIX_DIR ${XENOMAI_DIR}/include/native)
> 
>     exec_program("${XENOMAI_DIR}/bin/xeno-config --skin=native --ldflags"
> OUTPUT_VARIABLE XENOMAI_EXE_LINKER_FLAGS)
>     set(CMAKE_EXE_LINKER_FLAGS ${CMAKE_EXE_LINKER_FLAGS}
> ${XENOMAI_EXE_LINKER_FLAGS})
>     exec_program("${XENOMAI_DIR}/bin/xeno-config --skin=native --cflags"
> OUTPUT_VARIABLE XENOMAI_DEFINITIONS)
>     set(EXTRA_DEFINITIONS ${EXTRA_DEFINITIONS} ${XENOMAI_DEFINITIONS})
>     ADD_DEFINITIONS(${EXTRA_DEFINITIONS})
> 
>     set(EXTRA_LIBS ${EXTRA_LIBS} rtdk)
>     
>     message(STATUS ${XENOMAI_EXE_LINKER_FLAGS})
>     message(STATUS ${XENOMAI_DEFINITIONS})
>     message(STATUS "Xenomai configuration finished")
> ELSE(USE_XENOMAI)
>     find_library(RT_TIME_LIB rt)
>     set(EXTRA_LIBS ${EXTRA_LIBS} ${RT_TIME_LIB})
> ENDIF(USE_XENOMAI)
> 
> 
> IF (USE_RTNET)
> 
> ENDIF (USE_RTNET)
> 
> 
> add_executable(${ProjectName} ${SOURCES})
> 
> TARGET_LINK_LIBRARIES(${ProjectName} ${EXTRA_LIBS})
> 
> install(TARGETS ${ProjectName} DESTINATION ${INSTALLDIR})
> 
> And this is my cpp:
> #include <unistd.h>
> #include <stdlib.h>
> #include <stdio.h>
> #include <string.h>
> #include <signal.h>
> #include <getopt.h>
> #include <execinfo.h>
> #include <sys/mman.h>
> 
> #include <stdexcept>
> #include <arpa/inet.h>
> #include <native/task.h>
> #include "rtdk.h"
> #include <rtnet.h>
> 
> 
> #define RECBUFFERSIZE 600
> #define SENDBUFFERSIZE 300
> 
> RT_TASK task;
> const char *reason_str[7];
> 
> struct conn_t
> {
>     int sock;
>     struct sockaddr_in dest_addr;
>     struct sockaddr_in local_addr;
> };
> 
> struct conn_t getSocket ()
> {
>     struct conn_t ethernetConnection;
> 
>     //ethernetConnection.dest_addr.sin_family         = AF_INET;
>     ethernetConnection.dest_addr.sin_addr.s_addr    = inet_addr
> ("192.168.100.12");
>     ethernetConnection.dest_addr.sin_port           = htons (6002);
>     
>     //ethernetConnection.local_addr.sin_family        = AF_INET;
>     ethernetConnection.local_addr.sin_addr.s_addr   = inet_addr
> ("192.168.100.11");
>     ethernetConnection.local_addr.sin_port          = htons (6008);
> 
>     if ( ( ethernetConnection.sock = socket ( AF_INET, SOCK_DGRAM,
> IPPROTO_UDP ) ) < 0 )
>     {
>         throw std::runtime_error("Can not open socket");
>     }
>     else
>     {
>     }
> 
>     if ( bind ( ethernetConnection.sock, ( struct sockaddr * )
> &ethernetConnection.local_addr, sizeof ( ethernetConnection.local_addr ) ) <
> 0 )
>     {
>         close ( ethernetConnection.sock );
>         throw std::runtime_error("Can not bind socket");
>     }
>     else
>     {
>     }
> 
>     return ethernetConnection;
> }
> 
> void task_body (void *cookie)
> {  
>     char recBuffer[RECBUFFERSIZE];
> 
>     socklen_t destlen;
>     
>     struct conn_t ethernetConnection;
>     
>     ethernetConnection = getSocket();
> 
>     destlen = sizeof ( ethernetConnection.dest_addr );
>     
>     int k;
>     
>     rt_task_set_mode(0, T_WARNSW, NULL);
>     
>     for(k=0;k<1000;k++)
>     {
>         recvfrom( ethernetConnection.sock, &recBuffer, sizeof ( recBuffer
> ),0, ( struct sockaddr * ) &ethernetConnection.dest_addr,&destlen );
> 	
>         //ret = rt_dev_sendto ( ethernetConnection.sock, &sendBuffer, strlen
> ( sendBuffer ) +1, 0, ( struct sockaddr * )
> &ethernetConnection.dest_addr,destlen);
>     }
> }
> 
> 
> void warn_upon_switch(int sig, siginfo_t *si, void *context)
> {
>     unsigned int reason = si->si_value.sival_int;
>     void *bt[32];
>     int nentries;
>     
>     printf("\nSIGDEBUG received, reason %d: %s\n", reason,
>            reason <= SIGDEBUG_WATCHDOG ? reason_str[reason] : "<unknown>");
>     /* Dump a backtrace of the frame which caused the switch to
>        secondary mode: */
>     nentries = backtrace(bt,sizeof(bt) / sizeof(bt[0]));
>     backtrace_symbols_fd(bt,nentries,fileno(stdout));
> }


Beware the stack, you probably can not use printf with the default
thread stack size (this is the reason why backtrace_symbols_fd is used).

-- 
                                                                Gilles.