I'm using xenomai 2.2 rc3 on a MPC8247, on linux 2.6.14.
I have a problem using mq_open. Please see the attached code.
If I fork before the mq_open the kernel, I get a kernel oops.
Why this behaviour?
//***************************************************************
#include <termios.h>
#include <stdio.h>
#include <unistd.h>
#include <fcntl.h>
#include <sys/signal.h>
#include <sys/types.h>
#include <sys/select.h>
#include <error.h>
#include <errno.h>
#include <stdio.h>
#include <string.h>
#include <stdarg.h>
#include <stdlib.h>
#include <errno.h>
#include <fcntl.h>
#include <signal.h>
#include <time.h>
#include <unistd.h>
#include <sys/types.h>
#include <sys/wait.h>
#include <sys/time.h>
#include <sys/ioctl.h>
#include <sys/socket.h>
#include <sys/socketvar.h>
#include <sys/mount.h>
#include <netinet/in.h>
#include <arpa/inet.h>
#include <netdb.h>
#include <pthread.h>
#include <unistd.h>
#include <mqueue.h>
#include <sys/mman.h>
pthread_t Main_Exec_thread_id;
#define MAIN_TASK_PRI 20
#define MAIN_STACK_SIZE 8192
pthread_attr_t Main_Exec_attr;
struct sched_param Main_Exec_parm;
int Main_PID = 0;
int Mains_Parent = 0;
int Child_PID = 0;
void split (void);
void *MainExecThread (void *dummy)
{
struct mq_attr buf;
int perms = 0666;
buf.mq_msgsize = 4;
buf.mq_maxmsg = 20;
printf ("mq_open\n");
sleep (2);
mq_open ("/con_to_R01", O_CREAT | O_RDWR , perms, &buf);
pause ();
return 0;
}
int child (void)
{
Main_PID = getpid ();
printf ("main pid = %08x\n", Main_PID) ;
printf ("main parent = %08x\n", Mains_Parent);
mlockall (MCL_CURRENT | MCL_FUTURE);
pthread_attr_init (&Main_Exec_attr);
pthread_attr_setinheritsched(&Main_Exec_attr, 1);
pthread_attr_setschedpolicy(&Main_Exec_attr, SCHED_FIFO);
pthread_attr_setstacksize(&Main_Exec_attr, MAIN_STACK_SIZE);
Main_Exec_parm.sched_priority = MAIN_TASK_PRI;
pthread_attr_setschedparam(&Main_Exec_attr, &Main_Exec_parm);
pthread_create (&Main_Exec_thread_id, &Main_Exec_attr,
(void*(*)(void*))MainExecThread, 0);
while (true)
pause ();
printf ("MAIN PAUSE RETURNED\n") ;
}
void parent (void)
{
while (true)
pause ();
}
void split (void)
{
int pid = fork ();
if (pid == 0) // child
{
child ();
}
else // parent
{
Child_PID = pid;
parent ();
}
}
int main (int argc, char *argv[])
{
Mains_Parent = getpid ();
#if 1
split ();
#endif
#if 0
child ();
#endif
}
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