HGKeeper

Fixed random segfault happening when loading new PLC in runtime, when using Xenonai.

2018-04-27, Edouard Tisserant

9fa2f8ede5d6

Parents 36a624779f9f
Children 15cd0000350d d3722aa7f66b

Fixed random segfault happening when loading new PLC in runtime, when using Xenonai.

3 files changed, 22 insertions(+), 1 deletions(-)

+5 -0

Beremiz_service.py

+16 -0

runtime/xenomai.py

+1 -1

targets/Xenomai/__init__.py

~~--- a/Beremiz_service.py Thu Apr 19 15:17:05 2018 +0200~~

+++ b/Beremiz_service.py Fri Apr 27 16:32:53 2018 +0200

@@ -1,3 +1,4 @@

+

#!/usr/bin/env python

# -*- coding: utf-8 -*-

@@ -37,6 +38,7 @@

import Pyro.core as pyro

from runtime import PLCObject, ServicePublisher, MainWorker

+from runtime.xenomai import TryPreloadXenomai

import util.paths as paths

@@ -133,6 +135,8 @@

if __name__ == '__main__':

__builtin__.__dict__['_'] = lambda x: x

+ # TODO: add a cmdline parameter if Trying Preloading Xenomai makes problem

+ TryPreloadXenomai()

def Bpath(*args):

@@ -675,3 +679,4 @@

pyroserver.Quit()

sys.exit(0)

+ys.exit(0)

~~--- /dev/null Thu Jan 01 00:00:00 1970 +0000~~

+++ b/runtime/xenomai.py Fri Apr 27 16:32:53 2018 +0200

@@ -0,0 +1,16 @@

+from ctypes import CDLL, RTLD_GLOBAL, pointer, c_int, POINTER, c_char, create_string_buffer

+def TryPreloadXenomai():

+ """

+ Xenomai 3 (at least for version <= 3.0.6) do not handle properly dlclose

+ of shared objects whose dlopen did trigger xenomai_init.

+ As a workaround, this pre-loads xenomai libraries that need to be

+ initialized and call xenomai_init once for all.

+

+ Xenomai auto init of libs MUST be disabled (see --auto-init-solib in xeno-config)

+ """

+ try:

+ for name in ["cobalt", "modechk", "copperplate", "alchemy"]:

+ globals()[name] = CDLL("lib"+name+".so", mode=RTLD_GLOBAL)

+ cobalt.xenomai_init(pointer(c_int(0)), pointer((POINTER(c_char)*2)(create_string_buffer("prog_name"), None)))

+ except:

+ pass

~~--- a/targets/Xenomai/__init__.py Thu Apr 19 15:17:05 2018 +0200~~

+++ b/targets/Xenomai/__init__.py Fri Apr 27 16:32:53 2018 +0200

@@ -37,7 +37,7 @@

if xeno_config:

from util.ProcessLogger import ProcessLogger

status, result, _err_result = ProcessLogger(self.CTRInstance.logger,

~~- xeno_config + " --skin=native --"+flagsname,~~

+ xeno_config + " --skin=posix --skin=alchemy --no-auto-init --"+flagsname,

no_stdout=True).spin()

if status:

self.CTRInstance.logger.write_error(_("Unable to get Xenomai's %s \n") % flagsname)

beremiz