* [Xenomai] Signal not received
@ 2015-05-11 19:04 Mann, Anthony M
2015-05-11 19:20 ` Philippe Gerum
` (2 more replies)
0 siblings, 3 replies; 5+ messages in thread
From: Mann, Anthony M @ 2015-05-11 19:04 UTC (permalink / raw
To: xenomai@xenomai.org
The code below uses POSIX and when compiled for a Linux kernel, it
works. When the code is compiled to use the Cobalt real-time kernel, the
POSIX calls are wrapped (--posix). Executing the program, the thread,
timer and semaphore work but the signal from the expired timer (SIGRTMIN)
is not delivered but is in the queue. I had tried to unblock all signals
when the signal was detected in the queue. That did not work either.
Also, when compiled for the Linux kernel, sigemptyset with sigsuspend
causes the main loop to suspend; however, the POSIX wrappped version,
sigsuspend did not suspend the loop. Sigprocmask was needed to be call
first, then it suspended. Since the SIGTRMIN was not received the main
goes no further. However, when pressing ctrl-c, the SIGINT is received
and calls the kill_handler routine as intented. Then the main loop
continues.
I am new to Xenomai and any suggestions on why the program is not
receiving the SIGRTMIN signal and how to correct it will be much
appreciated.
The system is setup with:
Ubuntu 14.04 LTS
vanilla kernel linux 3.14.33
ipipe-core-3.14.33-x86-8.patch
xenomai-3.0-rc4
Build args: --with-core=cobalt --enable-smp --enable-pshared
--host=x86_64-linux host_alias=x86_64-linux
Thanks,
Tony
----------------------------------------------------------------
#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include <sys/ioctl.h>
#include <sys/stat.h>
#include <sys/mman.h>
#include <fcntl.h>
#include <sched.h>
#include <sys/types.h>
#include <pthread.h>
#include <semaphore.h>
#include <signal.h>
#include <unistd.h>
#include <sys/syscall.h>
#include <sys/types.h>
#include <time.h>
#include <signal.h>
#include <errno.h>
#include "/usr/xenomai/include/cobalt/wrappers.h"
/* This is needed if compiling for linux kernel, remove for Cobalt
#define sigev_notify_thread_id _sigev_un._tid
------------------------------- */
short fexit_t1=0, fexit_mon=0;
timer_t timer_id;
timer_t * __restrict__ timer_id_rptr;
struct sigaction act, oact, act1, oact1;
struct tm gmt;
/* Timer variables */
struct sigaction sa;
sigset_t allsigs;
struct itimerspec tmr_setting;
/* Define threads and attributes
*********************************/
pthread_t tidp0; /* main */
pthread_t tidp1; /* timing */
pthread_attr_t attr1;
/* Semaphores for threads
******************************/
char *bs30_path = "/bsem30"; /* timing */
int bsfd30;
sem_t *timing_semaphore;
int status=0;
/* Thread Entries */
extern void timing();
int gfos;
/* Thread functions */
#include "thrds2.c"
/* Routine that is called when timer expires */
void timer_intr(int sig, siginfo_t *extra, void *cruft)
{
int value=0;
sem_post(timing_semaphore);
if (sem_getvalue(timing_semaphore,&value) < 0)
printf("Error with sem getvalue\n");
}
/***********************************************************************/
void kill_handler( int sig)
{
if (sig == SIGCHLD)
{
printf("CHILD Signal captured !!!\n");
}else{
printf("%s\n","program killed\n");
fexit_mon = 1;
}
printf("fexit mon set in kill handler\n");
fflush(stdout);
}
int main()
{
int pid, tc;
char msg[120];
/* Timer variables */
struct sigaction sa;
struct sigevent sig_spec;
struct sigevent * __restrict__ sig_spec_rptr;
sigset_t allsigs;
struct itimerspec tmr_setting;
struct itimerspec * __restrict__ tmr_setting_rptr;
struct itimerspec *tmr_value;
struct sched_param schedule_parameter;
/* Testing variables*/
sigset_t pendingmask;
union sigval sigvalret;
/* *********** */
/* Setup error handler parameters */
act1.sa_handler = kill_handler;
if(sigemptyset(&act1.sa_mask) == -1) {
perror("sigemptyset");
exit(EXIT_FAILURE);
}
act1.sa_flags = 0;
if(sigaction(SIGINT, &act1, &oact1) == -1) {
perror("sigaction");
exit(EXIT_FAILURE);
}
/* Create the threads */
add_thread("timing",timing);
/* Setup main & Thread Priorities */
schedule_parameter.sched_priority = 17;
if(pthread_setschedparam(tidp0, SCHED_FIFO,
&schedule_parameter) == -1) {
printf("Error setting scheduler policy. Program Terminated");
perror(" Scheduler problem");
exit(-1);
}
/* Thread start */
if (start_thrd("timing"))
{
printf("Cannot start Timing Thread!");
exit(0);
}
/* setup signal to respond to timer */
sigemptyset(&sa.sa_mask);
sa.sa_flags = SA_SIGINFO;
sa.sa_sigaction = timer_intr;
if ( sigaction(SIGRTMIN, &sa, NULL) < 0 )
{
perror("sigaction");
printf("Timer signal setup failed");
exit(0);
}
sig_spec.sigev_notify = SIGEV_THREAD_ID;
sig_spec.sigev_signo = SIGRTMIN;
sig_spec.sigev_notify_thread_id = getpid();
sig_spec.sigev_value.sival_ptr = &timer_id;
/* create timer, which uses the REALTIME clock */
timer_id_rptr = &timer_id;
sig_spec_rptr = &sig_spec;
if ((timer_create(CLOCK_REALTIME,sig_spec_rptr,timer_id_rptr)) < 0 )
{
perror("timer create");
printf("Error creating timer\n");
exit(0);
}
tmr_setting.it_value.tv_sec = 0;
tmr_setting.it_value.tv_nsec = 50000000;
tmr_setting.it_interval.tv_sec = 0;
tmr_setting.it_interval.tv_nsec = 50000000;
tmr_setting_rptr = &tmr_setting;
if (timer_settime(timer_id,0,tmr_setting_rptr,NULL) < 0 ) {
perror("settimer");
printf("Error setting timer parameters");
exit(0);
}
printf("timer SET\n");
fflush(stdout);
/* wait for signals */
if (sigemptyset(&allsigs) < 0)
printf("sigemptyset error\n");
sigprocmask(SIG_BLOCK, &allsigs, NULL);
/* Main loop */
while (1) {
sigsuspend(&allsigs);
/* Testing signal status */
if (sigpending(&pendingmask) < 0)
perror("sigpending");
if (sigismember(&pendingmask, SIGRTMIN))
{
printf("\nSIGRTMIN pending\n");
/* sigaddset(&allsigs, SIGRTMIN);
sigprocmask(SIG_UNBLOCK, &allsigs, NULL); */
}
if (sigqueue(pid, NULL, sigvalret) < 0)
perror("sigqueue error");
else
printf("*");
if(fexit_mon == 1) {
printf("\nPROGRAM TERMINATION COMMENSING!!!\n");
sleep (5);
fexit_t1 = 1;
printf("Killing timing semaphore\n");
sem_post(timing_semaphore);
sleep(1);
if (pthread_join(thrd_id("timing"), (void **)&status) == -1)
{
sprintf(msg,"%s%d","timing thread - pthread_join error, status = ", status);
printf("%s\n", msg);
printf("timing thread - pthread_join error, status = %d\n",status);
}
delete_thrd(thrd_id("timing"));
if(sem_unlink(bs30_path) == -1) { /* remove bin-semph */
printf("unlink error for timing semaphore");
perror("sem_unlink bsem30");
}
exit(0);
}else{
sched_yield();
}
}
printf("Done.\n");
exit(0);
}
/* timing process */
void timing()
{
long int seconds;
int fos; /* fraction of second */
char msg[80];
printf("Timing!!!\n");
fflush(stdout);
seconds = 0;
fos = 0;
change_priority("timing",45);
/* Setup Binary Semaphore */
if((timing_semaphore = sem_open(bs30_path, O_CREAT ,0644, 0)) == -1) {
if(errno != EEXIST) {
printf("Error opening timing semaphore");
perror("timing [30] mksem");
fexit_mon = 1;
printf("fexit mon set in sem open exist / timing thread\n");
sched_yield();
}
}
/* Wait on Signals */
while (1) {
/* Normal signal process */
if(sem_wait(timing_semaphore) == -1) {
printf("sem_wait error in timing thread");
perror("sem_wait 30 perror");
fexit_mon = 1;
sched_yield();
}
***
sched_yield();
}
}
^ permalink raw reply [flat|nested] 5+ messages in thread
* Re: [Xenomai] Signal not received
2015-05-11 19:04 [Xenomai] Signal not received Mann, Anthony M
@ 2015-05-11 19:20 ` Philippe Gerum
2015-05-11 19:26 ` Philippe Gerum
2015-05-11 19:26 ` Gilles Chanteperdrix
2015-05-22 15:18 ` [Xenomai] Thread not receiving signal Mann, Anthony M
2 siblings, 1 reply; 5+ messages in thread
From: Philippe Gerum @ 2015-05-11 19:20 UTC (permalink / raw
To: Mann, Anthony M, xenomai@xenomai.org
On 05/11/2015 09:04 PM, Mann, Anthony M wrote:
> The code below uses POSIX and when compiled for a Linux kernel, it
> works. When the code is compiled to use the Cobalt real-time kernel, the
> POSIX calls are wrapped (--posix). Executing the program, the thread,
> timer and semaphore work but the signal from the expired timer (SIGRTMIN)
> is not delivered but is in the queue. I had tried to unblock all signals
> when the signal was detected in the queue. That did not work either.
>
> Also, when compiled for the Linux kernel, sigemptyset with sigsuspend
> causes the main loop to suspend; however, the POSIX wrappped version,
> sigsuspend did not suspend the loop. Sigprocmask was needed to be call
> first, then it suspended. Since the SIGTRMIN was not received the main
> goes no further. However, when pressing ctrl-c, the SIGINT is received
> and calls the kill_handler routine as intented. Then the main loop
> continues.
>
> I am new to Xenomai and any suggestions on why the program is not
> receiving the SIGRTMIN signal and how to correct it will be much
> appreciated.
The doc mentioned below may help. Executive summary: asynchronous
delivery of signals is not supported, a thread has to wait for these
explicitly.
http://xenomai.org/migrating-from-xenomai-2-x-to-3-x/#Real-time_signals
--
Philippe.
^ permalink raw reply [flat|nested] 5+ messages in thread
* Re: [Xenomai] Signal not received
2015-05-11 19:20 ` Philippe Gerum
@ 2015-05-11 19:26 ` Philippe Gerum
0 siblings, 0 replies; 5+ messages in thread
From: Philippe Gerum @ 2015-05-11 19:26 UTC (permalink / raw
To: Mann, Anthony M, xenomai@xenomai.org
On 05/11/2015 09:20 PM, Philippe Gerum wrote:
> On 05/11/2015 09:04 PM, Mann, Anthony M wrote:
>> The code below uses POSIX and when compiled for a Linux kernel, it
>> works. When the code is compiled to use the Cobalt real-time kernel, the
>> POSIX calls are wrapped (--posix). Executing the program, the thread,
>> timer and semaphore work but the signal from the expired timer (SIGRTMIN)
>> is not delivered but is in the queue. I had tried to unblock all signals
>> when the signal was detected in the queue. That did not work either.
>>
>> Also, when compiled for the Linux kernel, sigemptyset with sigsuspend
>> causes the main loop to suspend; however, the POSIX wrappped version,
>> sigsuspend did not suspend the loop. Sigprocmask was needed to be call
>> first, then it suspended. Since the SIGTRMIN was not received the main
>> goes no further. However, when pressing ctrl-c, the SIGINT is received
>> and calls the kill_handler routine as intented. Then the main loop
>> continues.
>>
>> I am new to Xenomai and any suggestions on why the program is not
>> receiving the SIGRTMIN signal and how to correct it will be much
>> appreciated.
>
> The doc mentioned below may help. Executive summary: asynchronous
> delivery of signals is not supported, a thread has to wait for these
> explicitly.
>
> http://xenomai.org/migrating-from-xenomai-2-x-to-3-x/#Real-time_signals
>
Btw, this assumes that you are running xenomai 3, in which case, you can
still access the regular (non real-time) linux implementation of
timer_create() as follows:
ret = __STD(timer_create(...));
Conversely, timers created by the Cobalt/POSIX API will deliver signal
notifications to a thread waiting for them via sigwait(), sigtimedwait()
etc.
--
Philippe.
^ permalink raw reply [flat|nested] 5+ messages in thread
* Re: [Xenomai] Signal not received
2015-05-11 19:04 [Xenomai] Signal not received Mann, Anthony M
2015-05-11 19:20 ` Philippe Gerum
@ 2015-05-11 19:26 ` Gilles Chanteperdrix
2015-05-22 15:18 ` [Xenomai] Thread not receiving signal Mann, Anthony M
2 siblings, 0 replies; 5+ messages in thread
From: Gilles Chanteperdrix @ 2015-05-11 19:26 UTC (permalink / raw
To: Mann, Anthony M; +Cc: xenomai@xenomai.org
On Mon, May 11, 2015 at 07:04:05PM +0000, Mann, Anthony M wrote:
> The code below uses POSIX and when compiled for a Linux kernel, it
> works. When the code is compiled to use the Cobalt real-time kernel, the
> POSIX calls are wrapped (--posix). Executing the program, the thread,
> timer and semaphore work but the signal from the expired timer (SIGRTMIN)
> is not delivered but is in the queue. I had tried to unblock all signals
> when the signal was detected in the queue. That did not work either.
>
> Also, when compiled for the Linux kernel, sigemptyset with sigsuspend
> causes the main loop to suspend; however, the POSIX wrappped version,
> sigsuspend did not suspend the loop. Sigprocmask was needed to be call
> first, then it suspended. Since the SIGTRMIN was not received the main
> goes no further. However, when pressing ctrl-c, the SIGINT is received
> and calls the kill_handler routine as intented. Then the main loop
> continues.
>
> I am new to Xenomai and any suggestions on why the program is not
> receiving the SIGRTMIN signal and how to correct it will be much
> appreciated.
>
> The system is setup with:
> Ubuntu 14.04 LTS
> vanilla kernel linux 3.14.33
> ipipe-core-3.14.33-x86-8.patch
> xenomai-3.0-rc4
> Build args: --with-core=cobalt --enable-smp --enable-pshared
> --host=x86_64-linux host_alias=x86_64-linux
See:
https://xenomai.org/migrating-from-xenomai-2-x-to-3-x/#Real-time_signals
--
Gilles.
^ permalink raw reply [flat|nested] 5+ messages in thread
* [Xenomai] Thread not receiving signal
2015-05-11 19:04 [Xenomai] Signal not received Mann, Anthony M
2015-05-11 19:20 ` Philippe Gerum
2015-05-11 19:26 ` Gilles Chanteperdrix
@ 2015-05-22 15:18 ` Mann, Anthony M
2 siblings, 0 replies; 5+ messages in thread
From: Mann, Anthony M @ 2015-05-22 15:18 UTC (permalink / raw
To: xenomai@xenomai.org
Hello,
I am trying to get the thread (timing) to wait for the signal (SIGRTMIN). It is not receiving the signal. When sigwait is moved to the main thread, the signal is received. The program uses POSIX wrappers.
How can I get the timing thread to receive the signal?
Also, in an article, it stated "any application linking against libcobalt has its main thread attached to the real-time system automatically". When a thread is created from the main, will that thread be in the primary or secondary mode?
Below is an example of the program.
The system is setup with:
Ubuntu 14.04 LTS
vanilla kernel linux 3.14.33
ipipe-core-3.14.33-x86-8.patch
xenomai-3.0-rc4
Build args: --with-core=cobalt --enable-smp --enable-pshared
--host=x86_64-linux host_alias=x86_64-linux
Thanks for your help with my previous signal issue.
Tony
-------------------------------------------------
#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include <sys/ioctl.h>
#include <sys/stat.h>
#include <sys/mman.h>
#include <fcntl.h>
#include <sched.h>
#include <sys/types.h>
#include <pthread.h>
#include <semaphore.h>
#include <signal.h>
#include <unistd.h>
#include <sys/syscall.h>
#include <sys/types.h>
#include <time.h>
#include <signal.h>
#include <errno.h>
#include "/usr/xenomai/include/cobalt/wrappers.h"
short fexit_t1=0, fexit_mon=0;
timer_t timer_id;
timer_t * __restrict__ timer_id_rptr;
struct sigaction act, oact, act1, oact1;
struct tm gmt;
/* Timer variables */
struct sigaction sa;
sigset_t allsigs;
struct itimerspec tmr_setting;
/* Define threads and attributes
*********************************/
pthread_t tidp0; /* main */
pthread_t tidp1; /* timing */
pthread_attr_t attr1;
/* Semaphores for threads
******************************/
char *bs30_path = "/bsem30"; /* main */
int bsfd30;
sem_t *main_semaphore;
int status=0;
/* Thread Entries */
extern void timing();
int gfos;
/* Thread functions */
#include "thrds2.c"
/* Routine that is called when timer expires */
void timer_intr(int sig, siginfo_t *extra, void *cruft) {
int value=0;
sem_post(timing_semaphore);
if (sem_getvalue(timing_semaphore,&value) < 0)
printf("Error with sem getvalue\n"); }
/***********************************************************************/
void kill_handler( int sig)
{
if (sig == SIGCHLD)
{
printf("CHILD Signal captured !!!\n");
}else{
printf("%s\n","program killed\n");
fexit_mon = 1;
}
printf("fexit mon set in kill handler\n");
fflush(stdout);
}
int main()
{
int pid, tc;
char msg[120];
/* Timer variables */
struct sigaction sa;
struct sigevent sig_spec;
struct sigevent * __restrict__ sig_spec_rptr;
sigset_t allsigs;
struct itimerspec tmr_setting;
struct itimerspec * __restrict__ tmr_setting_rptr;
struct itimerspec *tmr_value;
struct sched_param schedule_parameter;
/* Setup error handler parameters */
act1.sa_handler = kill_handler;
if(sigemptyset(&act1.sa_mask) == -1) {
perror("sigemptyset");
exit(EXIT_FAILURE);
}
act1.sa_flags = 0;
if(sigaction(SIGINT, &act1, &oact1) == -1) {
perror("sigaction");
exit(EXIT_FAILURE);
}
/* create mask */
if (sigemptyset(&allsigs) < 0)
printf("sigemptyset error\n");
sigaddset(&allsigs, SIGRTMIN);
/* Create the threads */
add_thread("timing",timing);
/* Thread start */
if (start_thrd("timing"))
{
printf("Cannot start Timing Thread!");
exit(0);
}
/* Setup main & Thread Priorities */
schedule_parameter.sched_priority = 17;
if(pthread_setschedparam(tidp0, SCHED_FIFO,
&schedule_parameter) == -1) {
printf("Error setting scheduler policy. Program Terminated");
perror(" Scheduler problem");
exit(-1);
}
/* setup signal to respond to timer */
sigemptyset(&sa.sa_mask);
sa.sa_flags = SA_SIGINFO;
sa.sa_sigaction = timer_intr;
if ( sigaction(SIGRTMIN, &sa, NULL) < 0 )
{
perror("sigaction");
printf("Timer signal setup failed");
exit(0);
}
sig_spec.sigev_notify = SIGEV_THREAD_ID;
sig_spec.sigev_signo = SIGRTMIN;
sig_spec.sigev_notify_thread_id = getpid();
sig_spec.sigev_value.sival_ptr = &timer_id;
/* create timer, which uses the REALTIME clock */
timer_id_rptr = &timer_id;
sig_spec_rptr = &sig_spec;
if ((timer_create(CLOCK_REALTIME,sig_spec_rptr,timer_id_rptr)) < 0 )
{
perror("timer create");
printf("Error creating timer\n");
exit(0);
}
tmr_setting.it_value.tv_sec = 0;
tmr_setting.it_value.tv_nsec = 50000000;
tmr_setting.it_interval.tv_sec = 0;
tmr_setting.it_interval.tv_nsec = 50000000;
tmr_setting_rptr = &tmr_setting;
if (timer_settime(timer_id,0,tmr_setting_rptr,NULL) < 0 ) {
perror("settimer");
printf("Error setting timer parameters");
exit(0);
}
printf("timer SET\n");
fflush(stdout);
/* Main loop */
while (1) {
if (sem_wait(main_semaphore) == -1)
{
perror("main semaphore error:: ");
exit(0);
}
***
}
}
if(fexit_mon == 1) {
printf("\nPROGRAM TERMINATION COMMENSING!!!\n");
***
exit(0);
}else{
sched_yield();
}
}
printf("Done.\n");
exit(0);
}
/* timing process */
void timing()
{
int sig;
change_priority("timing",45);
while (1)
{
/* Wait for SIGRTMIN */
if ((sigwait(&sigm, &sig) > ))
{
pritnf("Sigwait error\n");
perror("sigwait: ");
}
***
}
}
}
^ permalink raw reply [flat|nested] 5+ messages in thread
end of thread, other threads:[~2015-05-22 15:18 UTC | newest]
Thread overview: 5+ messages (download: mbox.gz follow: Atom feed
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2015-05-11 19:04 [Xenomai] Signal not received Mann, Anthony M
2015-05-11 19:20 ` Philippe Gerum
2015-05-11 19:26 ` Philippe Gerum
2015-05-11 19:26 ` Gilles Chanteperdrix
2015-05-22 15:18 ` [Xenomai] Thread not receiving signal Mann, Anthony M
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