rt_task_init_schmod() failure reason?

[Aref Taidi]

When I run the system the first time I don't have this problem. But when I
kill -9 the system and re-run, consistently same thread fails - does this
suggest a memory leak problem within RTAI or my code?

Is "size of global heap" the only memory configuration within RTAI?

Does reconfiguration mean I need to go through the whole process of RTAI
reinstallation etc.?

When I look at the process currently running when I switch on the PC I see
two copies of rtai_up.ko and three copies of rtai_betrpc.ko as follows - is
this normal? I only added one insmod for each to /etc/rc.d/rc.local though?

[root at localhost core]# ps -ef | grep rtai
root  2318  1    0 16:06 ?      00:00:00 insmod
/usr/realtime/modules/rtai_up.ko
root  2319  2318 0 16:06 ?      00:00:00 insmod
/usr/realtime/modules/rtai_up.ko
root  2330  1    0 16:06 ?      00:00:00 insmod
/usr/realtime/modules/rtai_netrpc.ko ThisNode=127.0.0.1
root  2331  1    0 16:06 ?      00:00:00 insmod
/usr/realtime/modules/rtai_netrpc.ko ThisNode=127.0.0.1
root  2332  1    0 16:06 ?      00:00:00 insmod
/usr/realtime/modules/rtai_netrpc.ko ThisNode=127.0.0.1
root  2687  2639 0 16:16 pts/4  00:00:00 grep rtai

Many thanks,
Aref



-----Original Message-----
From: Paolo Mantegazza [mailto:mantegazza at aero.polimi.it] 
Sent: 29 November 2007 10:39
To: Aref Taidi
Cc: 'Paolo Mantegazza'; rtai at rtai.org
Subject: Re: rt_task_init_schmod() failure reason?

Aref Taidi wrote:
> Hello Paolo,
> 
> I am using RTAI 3.3 FC5 with vanilla kernel 2.6.15.6. I am initially
> registering 14 threads, but need to add 13 more, and some more later -
they
> are all in user space. Some of these communicate with and FLTK Linux
process
> partially through share memory created through rt_shm_alloc(). I have used
> the default number, didn't know it is configurable. For creation of each
> task I am making the following call sequence for every one of them:
> 
> pthread_t      taskN;
> unsigned long  taskN_id;
> RT_TASK       *rtai_taskN;
> 
> pthread_create( &taskN, NULL, (void *) taskN_entryPoint, NULL)
> taskN_id = nam2num( "TASK01" );
> pthread_setcanceltype(PTHREAD_CANCEL_ASYNCHRONOUS, NULL);
> rtai_taskN = rt_task_init_schmod(taskN_id, taskNprio, 2048, 1024,
> SCHED_FIFO, 0xff);
> mlockall(MCL_CURRENT | MCL_FUTURE);
> rt_grow_and_lock_stack(60000);
> rt_make_hard_real_time();
> rt_task_use_fpu(rtai_ taskN, 1);
> myTaskMBX = rt_typed_mbx_init(nam2num("MBXNAM"), 2000, FIFO_Q);
> 
> Many thanks,
> 

Rt_task_init can return NULL if:
- there is no more memory to allocate in real time within, the RTAI 
available heap, what a task needs; for that you should increase the 
related heap size at RTAI configuration
- there is a conflicting name identifier; you should find it
- there is no more space in the table of the registered objects in user 
space, not only tasks but anything RTAI create/opens (sems, maiboxes, 
etc. etc.); for that you should increase the related size at RTAI 
configuration.

Paolo

> Aref
> 
> -----Original Message-----
> From: Paolo Mantegazza [mailto:mante at aero.polimi.it] 
> Sent: 29 November 2007 00:28
> To: Aref Taidi
> Cc: rtai at rtai.org
> Subject: Re: rt_task_init_schmod() failure reason?
> 
> Aref Taidi writes: 
> 
> 
>>Hello everyone, 
>>
>>I am having difficulty finding out why a call to rt_task_init_schmod()
> 
> fails
> 
>>and returns NULL.  
>>
>>I have many user space hard real-time threads, but one of them fails to
>>initialise when I make a call to rt_task_init_schmod(). The threads are of
>>various priority order, call to the above function to initialise each are
>>made not necessarily in their priority order, but always in the same
>>sequence. All have unique 6 letter name, there is plenty of memory. But
>>always same thread initialisation failed. I changed the name of that
> 
> thread,
> 
>>it caused another one to fail! 
>>
>>Is there a technique to find out exactly why rt_task_init_schmod() has
>>returned NULL? 
>>
>>Many thanks in advance, 
>>
> 
> 
> What RTAI version? How many RTAI objects are you registering? Have you 
> configured the related number or used the default? 
> 
> Paolo.
> 
>>Aref 
>>
>>
>>_______________________________________________
>>RTAI mailing list
>>RTAI at rtai.org
>>https://mail.rtai.org/cgi-bin/mailman/listinfo/rtai
> 
>  
> 
> 
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