On Mon, Sep 26, 2011 at 12:46 PM, Philippe Gerum <[email protected]> wrote:
> On Fri, 2011-09-23 at 22:23 +0200, Philippe Gerum wrote:
>> On Fri, 2011-09-23 at 22:21 +0200, Ronny Meeus wrote:
>> > On Fri, Sep 23, 2011 at 3:00 PM, Philippe Gerum <[email protected]> wrote:
>> > > On Thu, 2011-09-22 at 22:15 +0200, Ronny Meeus wrote:
>> > >> Hello
>> > >>
>> > >> I have created some time ago a test application for the PSOS interface
>> > >> of Xenomai.
>> > >> This is a extensive test that stresses most of the PSOS services we
>> > >> use in our application. You can find it as an attachment.
>> > >> It is running fine on Xenomai 2-5-6.
>> > >> Note that in the test application there is also a benchmarking part.
>> > >> This is currently disabled, I will fix that later.
>> > >>
>> > >> Now I'm investigating a switch to xenomai-forge so I tried to run the
>> > >> same test on this platform.
>> > >
>> > > This is a double cleanup call, due to the incorrect propagation of an
>> > > internal error detected in the task trampoline within the psos emulator.
>> > > In fact, this reveals a more general shortcoming with handling this
>> > > situation for tasks, and this may also reveal an issue with t_delete()
>> > > over the Mercury core.
>> > >
>> > > I can't reproduce the issue here with your test program, but I'm sure
>> > > something is wrong in the emulator anyway, I'm just lucky with the
>> > > timings. Since you are running over the vanilla kernel and maybe x86,
>> > > you could run valgrind to check whether some memory corruption is
>> > > detected.
>> > >
>> > > I'm working on this bug which will bite any emulator based on the
>> > > copperplate interface the same way. I don't see any show stopper to fix
>> > > it, but this needs some thoughts to do this properly.
>> > >
>> > > Btw,
>> > >
>> > > - what is your architecture?
>> > > - what is your glibc version?
>> >
>> > Running on a PC (virtual BOX).
>> >
>> > This is the information about the lib I use:
>> > meeusr@meeusr-laptop:/lib$ ./libc.so.6
>> > GNU C Library (Ubuntu EGLIBC 2.11.1-0ubuntu7.6) stable release version
>> > 2.11.1, by Roland McGrath et al.
>> > Copyright (C) 2009 Free Software Foundation, Inc.
>> > This is free software; see the source for copying conditions.
>> > There is NO warranty; not even for MERCHANTABILITY or FITNESS FOR A
>> > PARTICULAR PURPOSE.
>> > Compiled by GNU CC version 4.4.3.
>> > Compiled on a Linux >>2.6.24-27-server<< system on 2010-11-17.
>> > Available extensions:
>> > crypt add-on version 2.1 by Michael Glad and others
>> > GNU Libidn by Simon Josefsson
>> > Native POSIX Threads Library by Ulrich Drepper et al
>> > BIND-8.2.3-T5B
>> > For bug reporting instructions, please see:
>> > <http://www.debian.org/Bugs/>.
>> >
>> >
>> > The valgrind stuff I will do later.
>>
>> I can reproduce now. This is highly timing dependent.
>>
>
> git://git.xenomai.org/xenomai-forge.git has a general fix for this
> issue. Your test code will need the following patch to work. The basic
> fix is that you can't create multiple objects with the same name with
> Xenomai, because we need unique names for the registry to be meaningful.
Thanks for looking into this issue.
The problem that we have is that we have a huge application and we
cannot guarantee that all tasknames are unique.
That is why I have implemented a mechanism to make a taskname unique
(I already had this in the Xenomai-2.5.6). In the force version this
could be something like:
if (name == NULL || *name == '\0')
sprintf(task->name, "t%lu", ++anon_tids);
else {
struct clusterobj *cobj =
cluster_findobj(&psos_task_table, name);
if (cobj != NULL) {
snprintf(task->name,sizeof(task->name),
"%s@%lu", name, ++anon_tids);
}
else
strncpy(task->name, name, sizeof(task->name));
task->name[sizeof(task->name) - 1] = '\0';
}
This is an example for tasks. The same could be done for
regions,semaphores and message queues. I tried it on my repo and the
task application (rtprint) runs unmodified.
The only issue I see with this approach is that when 2 tasks with an
identical name, for example TEST, are created, the second one will be
mapped to TEST@1. If a t_ident call is executed, the TID of the first
instance will be returned, which is fine. If now the first task is
deleted, the t_ident call will fail.
Next to this I also adapted the task priority automatically using
following algorithm:
static int check_task_priority(u_long *psos_prio)
{
if (*psos_prio < 1 || *psos_prio > 255) /* In theory. */
return ERR_PRIOR;
/* Do not change priorities <=10 and >= 240.
* Priorities in between are divided by 4 */
if (*psos_prio > 240)
*psos_prio = 70 + *psos_prio - 240;
else if (*psos_prio > 10)
*psos_prio = 11 + ((*psos_prio-10)/4);
if ((int)(*psos_prio) >= threadobj_max_prio - 1) /* In practice. */
panic("current implementation restricts pSOS "
"priority levels to range [1..%d]",
threadobj_max_prio - 2);
return SUCCESS;
}
It also works well for our application.
Please share your thoughts.
>
> I reduced the number of test loops as well, since 100 or 1000 loops do
> not make any difference. Actually, two consecutive iterations of
> t_create/t_delete were enough to trigger the issue.
>
> --- rtprint.c.orig 2011-09-26 12:38:47.711339003 +0200
> +++ rtprint.c 2011-09-26 12:37:49.871339005 +0200
> @@ -115,7 +115,7 @@
>
> my_printf("%s\n",__FUNCTION__);
>
> - check("t_create",t_create("TEST",250,16000,16000,0,&tid),0);
> + check("t_create",t_create(NULL,96,16000,16000,0,&tid),0);
> check("t_setreg",t_setreg(tid,0UL,100UL),0);
> check("t_getreg",t_getreg(tid,0UL,®_value),0);
> check("reg_value",reg_value,100);
> @@ -150,7 +150,7 @@
>
> suspendmyself = 0;
>
> - check("t_create",t_create("TEST",250,16000,16000,0,&tid),0);
> + check("t_create",t_create(NULL,96,16000,16000,0,&tid),0);
> check("t_start",t_start(tid,0,test_tasksuspend_body,args),0);
>
> counter = 0;
> @@ -201,7 +201,7 @@
> static void create_and_start_task(unsigned long *tid)
> {
> unsigned long local_args[4] = {0,200,300,400};
> - check("t_create low prio",t_create ("TEST",2,4000,0,T_LOCAL,tid),0);
> + check("t_create low prio",t_create (NULL,2,4000,0,T_LOCAL,tid),0);
> check("t_start low
> prio",t_start(*tid,T_PREEMPT|T_TSLICE,test_taskcreation_body,local_args),0);
> }
>
> @@ -219,7 +219,7 @@
>
> for (i=1;i<2;i++)
> {
> - check("t_create",t_create("TEST",(unsigned
> long)i,16000,16000,0,&tid),0);
> + check("t_create",t_create(NULL,(unsigned
> long)i,16000,16000,0,&tid),0);
> check("t_start",t_start(tid,T_PREEMPT| T_TSLICE |
> T_NOASR,test_taskcreation_body2,args),0);
> }
>
> @@ -260,7 +260,7 @@
> args[0] = 0;
> for (i=0;i<500;i++)
> {
> - check("t_create loop3",t_create
> ("TEST",(i%250)+1,100000,0,0,&tid),0);
> + check("t_create loop3",t_create
> ("TEST",(i%96)+1,100000,0,0,&tid),0);
> check("t_start
> loop3",t_start(tid,T_PREEMPT,test_taskcreation_body,args),0);
> check("t_delete loop3",t_delete(tid),0);
> my_printf("t_create + t_start + t_delete %d\r",i);
> @@ -334,7 +334,7 @@
> test_basicevents();
>
> t_ident(0,0,&args[0]);
> - check("t_create",t_create("TEST",2,16000,16000,0,&tid),0);
> + check("t_create",t_create(NULL,2,16000,16000,0,&tid),0);
> check("t_start",t_start(tid,0,test_events_body,args),0);
>
> ev_receive(1,EV_ALL|EV_WAIT,0,&ev_rcvd);
> @@ -361,7 +361,7 @@
> }
>
> for (i=0;i<50;i++)
> -
> check("q_create",q_create("TTTU",0,Q_NOLIMIT|Q_PRIOR,&qids[i]),0);
> +
> check("q_create",q_create(NULL,0,Q_NOLIMIT|Q_PRIOR,&qids[i]),0);
> for (i=0;i<50;i++)
> check("q_delete",q_delete(qids[i]),0);
> }
> @@ -439,20 +439,20 @@
>
> my_printf("%s\n",__FUNCTION__);
>
> - check("q_create",q_create("TEST",0,Q_NOLIMIT|Q_PRIOR,&qid1),0);
> - check("q_create",q_create("TEST",0,Q_NOLIMIT|Q_PRIOR,&qid2),0);
> + check("q_create",q_create(NULL,0,Q_NOLIMIT|Q_PRIOR,&qid1),0);
> + check("q_create",q_create(NULL,0,Q_NOLIMIT|Q_PRIOR,&qid2),0);
>
> args[0] = qid1;
> args[1] = qid2;
> args[2] = 1000;
> t_ident(0,0,&args[3]);
> - check("t_create",t_create("TEST",50,16000,16000,0,&tid),0);
> + check("t_create",t_create(NULL,50,16000,16000,0,&tid),0);
> check("t_start",t_start(tid,0,test_msgqueue_ctxtswitch_body,args),0);
>
> args[0] = qid2;
> args[1] = qid1;
> args[3] = 0; /* Make sure only 1 sends the event. */
> - check("t_create",t_create("TEST",50,16000,16000,0,&tid),0);
> + check("t_create",t_create(NULL,50,16000,16000,0,&tid),0);
> check("t_start",t_start(tid,0,test_msgqueue_ctxtswitch_body,args),0);
>
> /*send initial message */
> @@ -490,8 +490,8 @@
>
> my_printf("%s\n",__FUNCTION__);
>
> - check("t_create",t_create("TEST",50,16000,16000,0,&tid1),0);
> - check("t_create",t_create("TEST",50,16000,16000,0,&tid2),0);
> + check("t_create",t_create(NULL,50,16000,16000,0,&tid1),0);
> + check("t_create",t_create(NULL,50,16000,16000,0,&tid2),0);
>
> args[0] = tid2;
> args[1] = 1000;
> @@ -533,7 +533,7 @@
> }
>
> for (i=0;i<50;i++)
> - check("sm_create",sm_create("TTTT",0,SM_PRIOR,&smids[i]),0);
> + check("sm_create",sm_create(NULL,0,SM_PRIOR,&smids[i]),0);
> for (i=0;i<50;i++)
> check("sm_delete",sm_delete(smids[i]),0);
>
> @@ -690,7 +690,7 @@
>
> copperplate_init(argc, argv);
>
> - check("t_create",t_create("TEST",50,16000,16000,0,&tid),0);
> + check("t_create",t_create("ROOT",50,16000,16000,0,&tid),0);
> check("t_start",t_start(tid,0,test_main_body,args),0);
>
> while (1) tm_wkafter(1000);
> @@ -703,7 +703,7 @@
> {
> int i = 0;
> char testCaseName[32];
> - int count = 1000;
> + int count = 100;
>
> for (i=0;i<count;i++)
> {
> @@ -711,12 +711,12 @@
> unsigned long args[4] = {0,200,300,400};
>
> sprintf(testCaseName,"t_create %d",i);
> - check(testCaseName,t_create
> ("TEST",(i%250)+1,100000,0,0,&tid),0);
> + check(testCaseName,t_create
> ("TEST",(i%96)+1,100000,0,0,&tid),0);
> sprintf(testCaseName,"t_start %d",i);
>
> check(testCaseName,t_start(tid,T_PREEMPT,test_taskcreation_body,args),0);
> sprintf(testCaseName,"t_delete %d",i);
> check(testCaseName,t_delete(tid),0);
> - if ((i%1000) == 0) my_printf("create + start + delete
> %d\n",i);
> + if ((i%100) == 0) my_printf("create + start + delete %d\n",i);
> }
>
> for (i=0;i<count;i++)
> @@ -725,10 +725,10 @@
> unsigned long args[4] = {100,200,300,400};
>
> sprintf(testCaseName,"t_create %d",i);
> - check(testCaseName,t_create
> ("TEST",(i%250)+1,100000,0,0,&tid),0);
> + check(testCaseName,t_create
> (NULL,(i%96)+1,100000,0,0,&tid),0);
> sprintf(testCaseName,"t_start %d",i);
>
> check(testCaseName,t_start(tid,T_PREEMPT,test_taskcreation_body2,args),0);
> - if ((i%1000) == 0) my_printf("create + start + self delete
> %d\n",i);
> + if ((i%100) == 0) my_printf("create + start + self delete
> %d\n",i);
> }
>
> for (i=0;i<count;i++)
> @@ -739,7 +739,7 @@
> check(testCaseName,sm_create("TTTT",0,SM_PRIOR,&smid),0);
> sprintf(testCaseName,"sm_delete %d",i);
> check(testCaseName,sm_delete(smid),0);
> - if ((i%1000) == 0) my_printf("sm_create + sm_delete %d\n",i);
> + if ((i%100) == 0) my_printf("sm_create + sm_delete %d\n",i);
> }
>
> for (i=0;i<count;i++)
> @@ -750,7 +750,7 @@
>
> check(testCaseName,q_create("TTTT",0,Q_NOLIMIT|Q_PRIOR,&qid),0);
> sprintf(testCaseName,"q_delete %d",i);
> check(testCaseName,q_delete(qid),0);
> - if ((i%1000) == 0) my_printf("q_create + q_delete %d\n",i);
> + if ((i%100) == 0) my_printf("q_create + q_delete %d\n",i);
> }
>
> --
> Philippe.
>
>
>
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