I've removed all occurences of WithRoot and checks of euid!=0 I've had
to add --mode-check to XENOMAI_CFLAGS and XENOMAI_LDFLAGS. The method
to create a periodic thread is a little different.
The attached patch shows all the changes I did to get it working.
regards,
Mark.
Alec Ari <[email protected]> wrote:
What's the problem exactly? Maybe I can help?
Alec
diff --git a/src/Makefile b/src/Makefile
index f0df90a6b..49d84e5ef 100644
--- a/src/Makefile
+++ b/src/Makefile
@@ -188,7 +188,7 @@ INCLUDE += -I$(INCLUDEPY)
# Compilation options. Perhaps some of these should come from Makefile.inc?
(CXXFLAGS now does)
INTEGER_OVERFLOW_FLAGS := -fwrapv
-OPT := -Os $(INTEGER_OVERFLOW_FLAGS)
+OPT := -fPIC -O0 $(INTEGER_OVERFLOW_FLAGS)
DEBUG := $(DEBUG) -g -Wall
CFLAGS := $(INCLUDE) $(OPT) $(DEBUG) $(EXTRA_DEBUG) -DULAPI -std=gnu99
-fgnu89-inline
CXXFLAGS := $(INCLUDE) $(CXXFLAGS) $(EXTRA_DEBUG) -DULAPI $(DEBUG) $(OPT)
-Woverloaded-virtual
diff --git a/src/configure.in b/src/configure.in
index 538d3b732..e1feead89 100644
--- a/src/configure.in
+++ b/src/configure.in
@@ -166,7 +166,7 @@ RTPREFIX=""
KERNELDIR=""
RTFLAGS=""
-NONDISTRIBUTABLE=false
+NONDISTRIBUTABLE=true
AC_ARG_ENABLE(non-distributable,
AS_HELP_STRING(
[--enable-non-distributable],
@@ -276,8 +276,9 @@ if test "$RTS" = uspace || test -z "$RTS" -a "$RTAI_CONFIG"
= "none" ; then
else
USPACE_XENOMAI=+xenomai
CONFIG_USPACE_XENOMAI=y
- XENOMAI_CFLAGS=`$XENOMAI_CONFIG --skin posix --cflags`
- XENOMAI_LDFLAGS=`$XENOMAI_CONFIG --skin posix --ldflags`
+ XENOMAI_CFLAGS=`$XENOMAI_CONFIG --auto-init-solib --skin posix --cflags
--mode-check`
+ XENOMAI_LDFLAGS=`$XENOMAI_CONFIG --auto-init-solib --skin posix --ldflags
--mode-check`
+ XENOMAI_LDFLAGS="$XENOMAI_LDFLAGS -lanalogy"
AC_DEFINE([USPACE_XENOMAI], [], [Define if uspace realtime should
optionally support Xenomai])
fi
AC_SUBST([CONFIG_USPACE_XENOMAI])
diff --git a/src/emc/usr_intf/axis/scripts/axis.py
b/src/emc/usr_intf/axis/scripts/axis.py
index 74e18c22c..8161330bd 100755
--- a/src/emc/usr_intf/axis/scripts/axis.py
+++ b/src/emc/usr_intf/axis/scripts/axis.py
@@ -1711,7 +1711,7 @@ def get_jog_speed_map(a):
return get_jog_speed(a)
def get_max_jog_speed(a):
- max_linear_speed = vars.max_speed.get()
+ max_linear_speed = vars.maxvel_speed.get()
max_linear_speed = to_internal_linear_unit(max_linear_speed)
if vars.metric.get(): max_linear_speed = max_linear_speed * 25.4
diff --git a/src/hal/utils/scope.c b/src/hal/utils/scope.c
index da5f552b5..14426046f 100644
--- a/src/hal/utils/scope.c
+++ b/src/hal/utils/scope.c
@@ -767,7 +767,7 @@ static void main_window_closed(GtkWidget * widget, gpointer
* gdata)
}
static void set_focus(GtkWindow *window, GtkWidget *widget, gpointer *data) {
- gtk_window_set_urgency_hint(window, FALSE);
+ // gtk_window_set_urgency_hint(window, FALSE);
}
static void quit(int sig)
diff --git a/src/rtapi/Submakefile b/src/rtapi/Submakefile
index c4f145d69..26113a202 100644
--- a/src/rtapi/Submakefile
+++ b/src/rtapi/Submakefile
@@ -16,10 +16,10 @@ USERSRCS += $(RTAPI_APP_SRCS)
$(call TOOBJSDEPS, rtapi/rtapi_pci.cc): EXTRAFLAGS += $(LIBUDEV_CFLAGS) -O0
$(call TOOBJSDEPS, $(RTAPI_APP_SRCS)): EXTRAFLAGS += -DSIM \
- -UULAPI -DRTAPI -pthread $(RTAPI_APP_CFLAGS)
+ -UULAPI -DRTAPI $(RTAPI_APP_CFLAGS)
../bin/rtapi_app: $(call TOOBJS, $(RTAPI_APP_SRCS))
$(ECHO) Linking $(notdir $@)
- $(Q)$(CXX) -rdynamic $(LDFLAGS) -o $@ $^ $(LIBDL) -pthread -lrt
$(LIBUDEV_LIBS)
+ $(Q)$(CXX) -rdynamic $(LDFLAGS) -o $@ $^ $(XENOMAI_LDFLAGS) $(LIBDL)
$(LIBUDEV_LIBS)
TARGETS += ../bin/rtapi_app
endif
diff --git a/src/rtapi/uspace_common.h b/src/rtapi/uspace_common.h
index 82f1c5bfb..0bd484021 100644
--- a/src/rtapi/uspace_common.h
+++ b/src/rtapi/uspace_common.h
@@ -33,10 +33,6 @@ static int msg_level = RTAPI_MSG_ERR; /* message
printing level */
#include "config.h"
-#ifdef RTAPI
-#include "rtapi_uspace.hh"
-#endif
-
typedef struct {
int magic; /* to check for valid handle */
int key; /* key to shared memory area */
@@ -54,9 +50,6 @@ static rtapi_shmem_handle shmem_array[MAX_SHM] = {{0},};
int rtapi_shmem_new(int key, int module_id, unsigned long int size)
{
-#ifdef RTAPI
- WITH_ROOT;
-#endif
rtapi_shmem_handle *shmem;
int i;
@@ -351,7 +344,7 @@ static int detect_rtai() {
static int detect_xenomai() {
struct utsname u;
uname(&u);
- return strcasestr (u.release, "-xenomai") != 0;
+ return strcasestr (u.release, "-ipipe+") != 0;
}
#else
static int detect_xenomai() {
diff --git a/src/rtapi/uspace_rtapi_app.cc b/src/rtapi/uspace_rtapi_app.cc
index 30cd371c6..f7607c0c3 100644
--- a/src/rtapi/uspace_rtapi_app.cc
+++ b/src/rtapi/uspace_rtapi_app.cc
@@ -529,6 +529,9 @@ int main(int argc, char **argv) {
}
vector<string> args;
for(int i=1; i<argc; i++) { args.push_back(string(argv[i])); }
+ seteuid(euid);
+ ruid=0;
+ euid=0;
become_master:
int fd = socket(PF_UNIX, SOCK_STREAM, 0);
@@ -775,12 +778,12 @@ static int harden_rt()
static RtapiApp *makeApp()
{
- if(euid != 0 || harden_rt() < 0)
+ if(0 && (euid != 0 || harden_rt() < 0))
{
rtapi_print_msg(RTAPI_MSG_ERR, "Note: Using POSIX non-realtime\n");
return new Posix(SCHED_OTHER);
}
- WithRoot r;
+ // WithRoot r;
void *dll = nullptr;
if(detect_xenomai()) {
dll = dlopen(EMC2_HOME "/lib/libuspace-xenomai.so.0", RTLD_NOW);
@@ -1188,8 +1191,9 @@ void rtapi_timespec_advance(struct timespec &result,
const struct timespec &src,
}
int rtapi_open_as_root(const char *filename, int mode) {
- WITH_ROOT;
+ setfsuid(geteuid());
int r = open(filename, mode);
+ setfsuid(getuid());
if(r < 0) return -errno;
return r;
}
@@ -1202,10 +1206,7 @@ int rtapi_spawn_as_root(pid_t *pid, const char *path,
WITH_ROOT;
setreuid(euid, euid);
priv_info("before posix_spawn");
- int r = posix_spawn(pid, path, file_actions, attrp, argv, envp);
- setresuid(ruid, ruid, (pid_t)-1);
- priv_info("after posix_spawnp");
- return r;
+ return posix_spawn(pid, path, file_actions, attrp, argv, envp);
}
int rtapi_spawnp_as_root(pid_t *pid, const char *path,
@@ -1216,10 +1217,7 @@ int rtapi_spawnp_as_root(pid_t *pid, const char *path,
WITH_ROOT;
setreuid(euid, euid);
priv_info("before posix_spawnp");
- int r = posix_spawnp(pid, path, file_actions, attrp, argv, envp);
- setresuid(ruid, ruid, (pid_t)-1);
- priv_info("after posix_spawnp");
- return r;
+ return posix_spawnp(pid, path, file_actions, attrp, argv, envp);
}
int rtapi_do_as_root(int (*fn)(void *), void *arg) {
diff --git a/src/rtapi/uspace_xenomai.cc b/src/rtapi/uspace_xenomai.cc
index 35151d611..a047f8059 100644
--- a/src/rtapi/uspace_xenomai.cc
+++ b/src/rtapi/uspace_xenomai.cc
@@ -2,19 +2,27 @@
#include "rtapi.h"
#include "rtapi_uspace.hh"
#include <posix/pthread.h>
+#include <time.h>
#include <atomic>
+#include <stdio.h>
+#include <errno.h>
+#include <string.h>
+#include <signal.h>
#ifdef HAVE_SYS_IO_H
#include <sys/io.h>
#endif
+#include <sys/syscall.h>
-namespace
+#define gettid() syscall(__NR_gettid)
+#define sigev_notify_thread_id _sigev_un._tid
+
+#include "uspace_xenomai.hh"
+
+namespace uspace_xenomai
{
-struct RtaiTask : rtapi_task {
- RtaiTask() : rtapi_task{}, cancel{}, thr{} {}
- std::atomic<int> cancel;
- pthread_t thr;
-};
+pthread_once_t key_once;
+pthread_key_t key;
struct XenomaiApp : RtapiApp {
XenomaiApp() : RtapiApp(SCHED_FIFO) {
@@ -75,15 +83,24 @@ struct XenomaiApp : RtapiApp {
auto task = reinterpret_cast<RtaiTask*>(arg);
pthread_setspecific(key, arg);
- struct timespec now;
- clock_gettime(CLOCK_MONOTONIC, &now);
+ struct sigevent ev;
+ ev.sigev_notify=SIGEV_THREAD_ID;
+ ev.sigev_signo=SIGALRM;
+ ev.sigev_notify_thread_id=gettid();
+ if(timer_create(CLOCK_MONOTONIC, &ev, &task->timer)) {
+ rtapi_print("Cannot create timer for task %d\n", task->id);
+ return nullptr;
+ }
- // originally, I used pthread_make_periodic_np here, and
- // pthread_wait_np in wait(), but in about 1 run in 50 this led to
- // "xenomai: watchdog triggered" and rtapi_app was killed.
- //
- // encountered on: 3.18.20-xenomai-2.6.5 with a 2-thread SMP system
- rtapi_timespec_advance(task->nextstart, now, task->period);
+ struct itimerspec its;
+ its.it_value.tv_sec=0;
+ its.it_value.tv_nsec=task->period;
+ its.it_interval.tv_sec=0;
+ its.it_interval.tv_nsec=task->period;
+ if(timer_settime(task->timer, 0, &its, NULL)) {
+ rtapi_print("Cannot set timer for task %d\n", task->id);
+ return nullptr;
+ }
(task->taskcode) (task->arg);
@@ -100,24 +117,19 @@ struct XenomaiApp : RtapiApp {
}
void wait() {
- int task_id = task_self();
- auto task = ::rtapi_get_task<RtaiTask>(task_id);
- if(task->cancel) {
+ auto task = ::rtapi_get_task<RtaiTask>(task_self());
+
+ int sigs;
+ sigset_t sigset;
+ sigemptyset(&sigset);
+ sigaddset(&sigset, SIGALRM);
+ if(sigwait(&sigset, &sigs)<0)
+ rtapi_print("sigwait failed for task %d\n", task->id);
+
+ if(timer_getoverrun(task->timer))
+ unexpected_realtime_delay(task);
+ if(task->cancel)
pthread_exit(nullptr);
- }
- rtapi_timespec_advance(task->nextstart, task->nextstart, task->period);
- struct timespec now;
- clock_gettime(CLOCK_MONOTONIC, &now);
- if(rtapi_timespec_less(task->nextstart, now))
- {
- if(policy == SCHED_FIFO)
- unexpected_realtime_delay(task);
- }
- else
- {
- int res = clock_nanosleep(CLOCK_MONOTONIC, TIMER_ABSTIME,
&task->nextstart, nullptr);
- if(res < 0) perror("clock_nanosleep");
- }
}
unsigned char do_inb(unsigned int port) {
@@ -143,8 +155,6 @@ struct XenomaiApp : RtapiApp {
return task->id;
}
- static pthread_once_t key_once;
- static pthread_key_t key;
static void init_key(void) {
pthread_key_create(&key, NULL);
}
@@ -161,13 +171,11 @@ struct XenomaiApp : RtapiApp {
}
};
-pthread_once_t XenomaiApp::key_once;
-pthread_key_t XenomaiApp::key;
}
extern "C" RtapiApp *make();
RtapiApp *make() {
rtapi_print_msg(RTAPI_MSG_ERR, "Note: Using XENOMAI (posix-skin)
realtime\n");
- return new XenomaiApp;
+ return new uspace_xenomai::XenomaiApp;
}
diff --git a/src/rtapi/uspace_xenomai.hh b/src/rtapi/uspace_xenomai.hh
new file mode 100644
index 000000000..40db40b16
--- /dev/null
+++ b/src/rtapi/uspace_xenomai.hh
@@ -0,0 +1,10 @@
+namespace uspace_xenomai {
+struct RtaiTask : rtapi_task {
+ RtaiTask() : rtapi_task{}, cancel{}, thr{} {}
+ std::atomic<int> cancel;
+ pthread_t thr;
+ timer_t timer;
+};
+
+extern pthread_key_t key;
+}
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