Re: rt_task_wait_period hangs system

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Thank you Paolo for the quick response!

On 03/21/2018 05:21 PM, Paolo Mantegazza wrote:
> First of all, if you can let me in your system I'm ready to take the=20
> burden of trying to understand what is happening.
> Even if in 20 years of RTAI development-usage I lost my system just=20
> three times. Nonetheless it would be better if=C2=A0 such a system can =
go=20
> ashtray without any trouble for anybody. I do not want to be hold=20
> responsible for anything.
> On your side you must be ready to be flooded by emails (or phone calls)=
=20
> to push the reset switch of your system.

I am ready and send you an email with the necessary details.

> I'm a bit curious to see why neither the calibration nor the kernel=20
> space latency test are running. The latter is a bit strange indeed,=20
> especially in view of the fact that 4.1 is OK. In fact the changes of=20
> 5.1 should affect user space, mostly.

This is my imrepssion as well - its strange. In particular given the=20
latency test without overruns.

> BTW, have you run also the kthread latency test? Let ime know about it=20
> too, please.

Attached is the kthreads test. This works as well. Only the switch test=20
does not report on the terminal (it complains about /var/log/messages=20
not being there - it is indeed not enabled), but the output of dmesg=20
shows the results (at end of the attached file).

> As a final comment I do not share the fact that max latencies in the=20
> range of 10-15 (us) are not great. To me they are indeed, to the point=20
> that of being a bit too optimistic. Likely taken for short time checks=20
> with Linux unloaded.

With "not great" I only meant that I know that with some effort I might=20
get them better. And you are right, they are taken on a machine without=20
load as a first check whether things are working. I am actually amazed=20
that on a first shot without any tweaking I got these latencies. This is=20
my general impression with rtai-5.1 that - in case it works - I get=20
already quite good latencies. First shot means that I start out with the=20
configuration of a matching lowlatency kernel, change a few kernel=20
configs, and run localmodconfig.

Jan

> To have them better I usually have to resort to CPU isolation, matched=20
> to a few other things I forgot.
>=20
> Paolo.
>=20
> On 03/21/2018 04:21 PM, Jan Benda wrote:
>> Hi,
>>
>> a follow up on Pauls issue:
>>
>> I installed rtai-5.1 with the hal-linux-4.4.115-x86-10.patch on=20
>> several intel i3, i5 and i7 machines. The results are mixed - some=20
>> work out of the box without tweaking (which is really cool) but others=
=20
>> hang up when insmoding rtai_sched - i.e. when it runs the calibration.=
=20
>> Loading rtai_sched with kernel_latency=3D10 user_latency=3D10, as=20
>> suggested, works always (no calibration).
>>
>> I modified the realtime/bin/rtai-load script such that it loads=20
>> rtai_sched without calibration:
>>
>> -- rtai-load=C2=A0=C2=A0 2018-03-20 18:32:15.317723122 +0100
>> +++ /home/benda/rtai-load=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0 2018-03-=
21 15:53:59.619659835 +0100
>> @@ -158,7 +158,9 @@
>> =C2=A0=C2=A0=C2=A0=C2=A0=C2=A0 # one. If the latter fails too, assume =
the feature is built into
>> =C2=A0=C2=A0=C2=A0=C2=A0=C2=A0 # the scheduler or not needed. Obviousl=
y, we should _always_ find
>> =C2=A0=C2=A0=C2=A0=C2=A0=C2=A0 # the scheduler...
>> -=C2=A0=C2=A0=C2=A0=C2=A0 if test -r $rtai_moddir/rtai_$mod$modext; th=
en
>> +=C2=A0=C2=A0=C2=A0=C2=A0 if test "x$mod" =3D "sched"; then
>> +=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0 $sudo $insmod $rtai_moddir=
/rtai_$mod$modext kernel_latency=3D10=20
>> user_latency=3D10
>> +=C2=A0=C2=A0=C2=A0=C2=A0 elif test -r $rtai_moddir/rtai_$mod$modext; =
then
>> =C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0 test $verbose =3D 1 &=
& echo "+ $insmod=20
>> $rtai_moddir/rtai_$mod$modext"
>> =C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0 $sudo $insmod $rtai_m=
oddir/rtai_$mod$modext
>> =C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0 if test $? =3D 0 ; then
>>
>> With that I can run all user tests (see latencies* file for test=20
>> results (they are not great, but ok for a first shot) and infos on the=
=20
>> machine, config* is the kernel configuration).
>>
>> Note that on the same machine we had rtai 4.1 running without problems=
.
>>
>> However, when I run the kern latency test the machine hangs up - not=20
>> when insmoding rtai_sched but when executing the periodic task in=20
>> kernel space. So comedi is not to blame here.
>>
>> Hanging up means the LEDs on the keyboard blink, the computer is=20
>> inacessible, and I do not find any hints in the kernel log.
>>
>> I assume that the calibration feature in rtai_sched also runs a=20
>> periodic task.
>>
>> So something goes wrong with the period tasks.
>>
>> Any ideas?
>>
>> I also could provide access to the machines.
>>
>> Best,
>> Jan
>>
>>
>>
>> On 03/15/2018 12:46 PM, Paul Pfeiffer wrote:
>>> Dear RTAI community,
>>>
>>> after installation of RTAI 5.1 and running the latency tests, I am=20
>>> trying to run production code, which leads to a system crash.=20
>>> Debgugging lead me to conclude that it is the call to=20
>>> rt_task_wait_period, that produced the crash.
>>>
>>> System info:
>>> RTAi 5.1, Kernel 4.9.76, Intel i5-6600K
>>>
>>> In detail, the call happens in a custom kernel module, that first=20
>>> chooses between oneshot and periodic mode (both lead to the same cras=
h)
>>>
>>> ```
>>> #ifdef ONESHOT_MODE
>>> =C2=A0=C2=A0 rt_set_oneshot_mode();
>>> =C2=A0=C2=A0 start_rt_timer(1);
>>> #else
>>> =C2=A0=C2=A0 rt_set_periodic_mode();
>>> =C2=A0=C2=A0 #endif
>>>
>>> ```
>>>
>>> =C2=A0=C2=A0registers a real time task
>>>
>>> ```
>>> rt_linux_use_fpu( usesFPU );=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0 /* declare=
 if we use the FPU */
>>>
>>> retVal =3D rt_task_init( &dynClampTask.rtTask, dynclamp_loop, dummy,=20
>>> stackSize, priority, usesFPU, signal );
>>> ```
>>>
>>> and then makes it periodic
>>>
>>> ```
>>> rt_task_make_periodic( &dynClampTask.rtTask, rt_get_time() +=20
>>> periodTicks, periodTicks )
>>> ```
>>> Both of this calls are successful.
>>>
>>> In the task dynclamp_loop, the only calls to RTAI are
>>> ```
>>> rt_get_cpu_time_in_ns()
>>> ```
>>> which poses no problem and
>>>
>>> ```
>>> rt_task_wait_period()
>>> ```
>>> which kills the system.=C2=A0 This has worked in previous RTAI versio=
ns=20
>>> and on other machines, so we were wondering whether this a 5.1=20
>>> specific problem or related to our new machine? For completeness, I=20
>>> attach the source code of the kernel module, the functions of=20
>>> interest are dynclamp_loop, init_dynclamp_loop and=20
>>> cleanup_dynclamp_loop. Any ideas?
>>>
>>> Maybe related, I have recently been reporting my diffuculties=20
>>> installing RTAI 5.1, especially the system hig up when rtai_sched was=
=20
>>> loaded. Thanks to the help of Paolo, see thread "RTAI in debian 9",=20
>>> this problem was fixed via manual generation of a calibration file.
>>>
>>> Sorry, for the long question, but we are really eager to use the=20
>>> latest RTAI version and would like to understand this problem.
>>>
>>> Best, Paul
>>>
>>>
>>>
>>>
>>> _______________________________________________
>>> Rtai mailing list
>>> [email protected]
>>> https://mail.rtai.org/cgi-bin/mailman/listinfo/rtai
>>>
>>
>>
>>
>>
>> _______________________________________________
>> Rtai mailing list
>> [email protected]
>> https://mail.rtai.org/cgi-bin/mailman/listinfo/rtai
>=20
>=20


--=20
----------------------------------------------------------------------

Prof. Dr. Jan Benda
Abteilung Neuroethologie
Institut fuer Neurobiologie
Universitaet Tuebingen
Auf der Morgenstelle 28 E                 phone: +49 / 7071 - 29 74573
72076 Tuebingen                             fax: +49 / 7071 - 29 5144

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