Philippe Gerum wrote: > On Fri, 2010-08-20 at 14:32 +0200, Jan Kiszka wrote: >> Jan Kiszka wrote: >>> Philippe Gerum wrote: >>>> I've toyed a bit to find a generic approach for the nucleus to regain >>>> complete control over a userland application running in a syscall-less >>>> loop. >>>> >>>> The original issue was about recovering gracefully from a runaway >>>> situation detected by the nucleus watchdog, where a thread would spin in >>>> primary mode without issuing any syscall, but this would also apply for >>>> real-time signals pending for such a thread. Currently, Xenomai rt >>>> signals cannot preempt syscall-less code running in primary mode either. >>>> >>>> The major difference between the previous approaches we discussed about >>>> and this one, is the fact that we now force the runaway thread to run a >>>> piece of valid code that calls into the nucleus. We do not force the >>>> thread to run faulty code or at a faulty address anymore. Therefore, we >>>> can reuse this feature to improve the rt signal management, without >>>> having to forge yet-another signal stack frame for this. >>>> >>>> The code introduced only fixes the watchdog related issue, but also does >>>> some groundwork for enhancing the rt signal support later. The >>>> implementation details can be found here: >>>> http://git.xenomai.org/?p=xenomai-rpm.git;a=commit;h=4cf21a2ae58354819da6475ae869b96c2defda0c >>>> >>>> The current mayday support is only available for powerpc and x86 for >>>> now, more will come in the next days. To have it enabled, you have to >>>> upgrade your I-pipe patch to 188.8.131.52-2.7-00 or 2.6.34-2.7-00 for x86, >>>> 184.108.40.206-2.10-01 or 2.6.34-2.10-00 for powerpc. That feature relies on a >>>> new interface available from those latest patches. >>>> >>>> The current implementation does not break the 2.5.x ABI on purpose, so >>>> we could merge it into the stable branch. >>>> >>>> We definitely need user feedback on this. Typically, does arming the >>>> nucleus watchdog with that patch support in, properly recovers from your >>>> favorite "get me out of here" situation? TIA, >>>> >>>> You can pull this stuff from >>>> git://git.xenomai.org/xenomai-rpm.git, queue/mayday branch. >>>> >>> I've retested the feature as it's now in master, and it has one >>> remaining problem: If you run the cpu hog under gdb control and try to >>> break out of the while(1) loop, this doesn't work before the watchdog >>> expired - of course. But if you send the break before the expiry (or hit >>> a breakpoint), something goes wrong. The Xenomai task continues to spin, >>> and there is no chance to kill its process (only gdb). >>> >>> # cat /proc/xenomai/sched >>> CPU PID CLASS PRI TIMEOUT TIMEBASE STAT NAME >>> 0 0 idle -1 - master RR ROOT/0 > > Eeek, we really need to have a look at this funky STAT output.
I've a patch for this queued as well. Was only a cosmetic thing. > >>> 1 0 idle -1 - master R ROOT/1 >>> 0 6120 rt 99 - master Tt cpu-hog >>> # cat /proc/xenomai/stat >>> CPU PID MSW CSW PF STAT %CPU NAME >>> 0 0 0 0 0 00500088 0.0 ROOT/0 >>> 1 0 0 0 0 00500080 99.7 ROOT/1 >>> 0 6120 0 1 0 00342180 100.0 cpu-hog >>> 0 0 0 21005 0 00000000 0.0 IRQ3340: [timer] >>> 1 0 0 35887 0 00000000 0.3 IRQ3340: [timer] >>> >> Fixable by this tiny change: >> >> diff --git a/ksrc/nucleus/sched.c b/ksrc/nucleus/sched.c >> index 5242d9f..04a344e 100644 >> --- a/ksrc/nucleus/sched.c >> +++ b/ksrc/nucleus/sched.c >> @@ -175,7 +175,8 @@ void xnsched_init(struct xnsched *sched, int cpu) >> xnthread_name(&sched->rootcb)); >> >> #ifdef CONFIG_XENO_OPT_WATCHDOG >> - xntimer_init(&sched->wdtimer, &nktbase, xnsched_watchdog_handler); >> + xntimer_init_noblock(&sched->wdtimer, &nktbase, >> + xnsched_watchdog_handler); >> xntimer_set_name(&sched->wdtimer, "[watchdog]"); >> xntimer_set_priority(&sched->wdtimer, XNTIMER_LOPRIO); >> xntimer_set_sched(&sched->wdtimer, sched); >> >> >> I.e. the watchdog timer should not be stopped by any ongoing debug >> session of a Xenomai app. Will queue this for upstream. > > Yes, that makes a lot of sense now. The watchdog would not fire if the > task was single-stepped anyway, since the latter would have been moved > to secondary mode first. Yep. > > Did you see this bug happening in a uniprocessor context as well? No, as it is impossible on a uniprocessor to interact with gdb if a cpu hog - the only existing CPU is simply not available. :) Jan -- Siemens AG, Corporate Technology, CT T DE IT 1 Corporate Competence Center Embedded Linux _______________________________________________ Xenomai-core mailing list Xenomaifirstname.lastname@example.org https://mail.gna.org/listinfo/xenomai-core