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<p class="MsoNormal"><span style="font-size:11.0pt;font-family:"Calibri",sans-serif;color:#1F497D;mso-fareast-language:EN-US">Hi Simone,
<o:p></o:p></span></p>
<p class="MsoNormal"><span style="font-size:11.0pt;font-family:"Calibri",sans-serif;color:#1F497D;mso-fareast-language:EN-US"> from the logs it seems a issue releated to your i915 (video card, i guess inside your CPU).<o:p></o:p></span></p>
<p class="MsoNormal"><span style="font-size:11.0pt;font-family:"Calibri",sans-serif;color:#1F497D;mso-fareast-language:EN-US">You should try to understand the cause of issue: i suggest to try without the ethercat and stressing the cpu and the video card in
some other way. I guess it’s not related to ethercat.<o:p></o:p></span></p>
<p class="MsoNormal"><span style="font-size:11.0pt;font-family:"Calibri",sans-serif;color:#1F497D;mso-fareast-language:EN-US">BTW what videocard do you have?<o:p></o:p></span></p>
<p class="MsoNormal"><span style="font-size:11.0pt;font-family:"Calibri",sans-serif;color:#1F497D;mso-fareast-language:EN-US">Did you try to catch the logs on other systems (laptop for example)?<o:p></o:p></span></p>
<p class="MsoNormal"><span style="font-size:11.0pt;font-family:"Calibri",sans-serif;color:#1F497D;mso-fareast-language:EN-US">R.<o:p></o:p></span></p>
<p class="MsoNormal"><span style="font-size:11.0pt;font-family:"Calibri",sans-serif;color:#1F497D;mso-fareast-language:EN-US"><o:p> </o:p></span></p>
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<p class="MsoNormal"><b><span style="font-size:11.0pt;font-family:"Calibri",sans-serif">Da:</span></b><span style="font-size:11.0pt;font-family:"Calibri",sans-serif"> Simone Comari [mailto:simone.comari2@unibo.it]
<br>
<b>Inviato:</b> giovedì 23 maggio 2019 12:51<br>
<b>A:</b> Viola Roberto <roberto.viola@systemceramics.com>; etherlab-users@etherlab.org<br>
<b>Oggetto:</b> R: System randomly freezes in multi-thread Qt application with a RT process<o:p></o:p></span></p>
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<p class="MsoNormal"><o:p> </o:p></p>
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<p class="MsoNormal"><span style="font-family:"Calibri",sans-serif;color:black">Hi Roberto,<o:p></o:p></span></p>
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<p class="MsoNormal"><span style="font-family:"Calibri",sans-serif;color:black"><o:p> </o:p></span></p>
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<p class="MsoNormal"><span style="font-family:"Calibri",sans-serif;color:black">First of all, thank you for your quick response.
<o:p></o:p></span></p>
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<p class="MsoNormal"><span style="font-family:"Calibri",sans-serif;color:black">Attached you can find the
<i>kernel.log</i> and <i>system.log</i> of a single session, that is:<o:p></o:p></span></p>
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<ol start="1" type="1">
<li class="MsoNormal" style="color:black;mso-margin-top-alt:auto;mso-margin-bottom-alt:auto;mso-list:l0 level1 lfo1">
<span style="font-family:"Calibri",sans-serif">Boot up<o:p></o:p></span></li><li class="MsoNormal" style="color:black;mso-margin-top-alt:auto;mso-margin-bottom-alt:auto;mso-list:l0 level1 lfo1">
<span style="font-family:"Calibri",sans-serif">Application launch (successful ethercat network setup) through Qt IDE<o:p></o:p></span></li><li class="MsoNormal" style="color:black;mso-margin-top-alt:auto;mso-margin-bottom-alt:auto;mso-list:l0 level1 lfo1">
<span style="font-family:"Calibri",sans-serif">Successful enabling of a single motor (i.e. one of the ethercat slaves) through our GUI<o:p></o:p></span></li><li class="MsoNormal" style="color:black;mso-margin-top-alt:auto;mso-margin-bottom-alt:auto;mso-list:l0 level1 lfo1">
<span style="font-family:"Calibri",sans-serif">Simple operation (e.g. manual velocity control) until problem occurs (it took a couple of minutes this time)<o:p></o:p></span></li><li class="MsoNormal" style="color:black;mso-margin-top-alt:auto;mso-margin-bottom-alt:auto;mso-list:l0 level1 lfo1">
<span style="font-family:"Calibri",sans-serif">Hard shut-down of the "frozen" system<o:p></o:p></span></li></ol>
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<p class="MsoNormal"><span style="font-family:"Calibri",sans-serif;color:black">I hope these are the logs you were talking about, please let me know otherwise.<o:p></o:p></span></p>
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<p class="MsoNormal"><span style="font-family:"Calibri",sans-serif;color:black"><o:p> </o:p></span></p>
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<p class="MsoNormal"><span style="font-family:"Calibri",sans-serif;color:black">Maybe it's worth mentioning we followed
<a href="https://github.com/UNIBO-GRABLab/cable_robot/wiki/Installation" title="https://github.com/UNIBO-GRABLab/cable_robot/wiki/Installation">
these</a> instructions to install both the RT kernel and ethercat libs, just in case we misused patches or configurations.<o:p></o:p></span></p>
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<p class="MsoNormal"><span style="font-family:"Calibri",sans-serif;color:black"><o:p> </o:p></span></p>
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<p class="MsoNormal"><span style="font-family:"Calibri",sans-serif;color:black">Thanks again.<o:p></o:p></span></p>
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<p class="MsoNormal"><span style="font-family:"Calibri",sans-serif;color:black"><o:p> </o:p></span></p>
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<p class="MsoNormal"><span style="font-family:"Calibri",sans-serif;color:black">Best regards,<o:p></o:p></span></p>
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<p class="MsoNormal"><span style="font-family:"Calibri",sans-serif;color:black">Simone<o:p></o:p></span></p>
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<td style="COLOR: #0093d3">Roberto Viola</td>
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<td>Technical Dept</td>
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<td style="FONT-SIZE: 10px">+39 0536836680 </td>
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<td><strong>SYSTEM CERAMICS S.p.A.</strong></td>
</tr>
<tr>
<td><font size="2" face="Arial">Via Ghiarola Vecchia, 73</font></td>
</tr>
<tr>
<td><font size="2" face="Arial">41042 Fiorano (Mo) ITALY</font></td>
</tr>
<tr>
<td><font size="2" face="Arial">+39 0536 836111</font></td>
</tr>
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<td><font size="2" face="Arial"><span style="font-family:Arial;font-size:10pt;"><a href="mailto:info@system-electronics.it" title="" target="" style="font-family:Arial;font-size:10pt;"><span style="font-family:Arial; font-size:10pt;">info@system-electronics.it</span></a></span></font></td>
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<td><span style="font-family:Arial;font-size:10pt;"><a href="http://www.system-electronics.it" title="" target="" style="font-family:Arial;font-size:10pt;"><span style="font-family:Arial; font-size:10pt;">www.system-electronics.it</span></a></span></td>
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<p><span style="font-size:10.0pt;font-family:"Segoe UI",sans-serif;color:#212121">____________________________________________________</span><span style="font-family:"Segoe UI",sans-serif;color:#212121"><br>
<br>
</span><b><span style="font-size:10.0pt;font-family:"Segoe UI",sans-serif;color:#212121">SIMONE COMARI</span></b><span style="font-family:"Calibri",sans-serif;color:black"><o:p></o:p></span></p>
<p><i><span style="font-size:10.0pt;font-family:"Segoe UI",sans-serif;color:black">Research Fellow</span></i><i><span style="font-size:10.0pt;font-family:"Segoe UI",sans-serif;color:#212121"><br>
</span></i><span style="font-size:10.0pt;font-family:"Segoe UI",sans-serif;color:#212121">DIN – Dept. of Industrial Engineering</span><span style="font-family:"Segoe UI",sans-serif;color:#212121"><br>
</span><span style="font-size:10.0pt;font-family:"Segoe UI",sans-serif;color:#212121">Alma Mater Studiorum – University of Bologna</span><span style="font-family:"Segoe UI",sans-serif;color:#212121"><br>
</span><span style="font-size:10.0pt;font-family:"Segoe UI",sans-serif;color:#212121">Via Umberto Terracini, 24, 40131 Bologna (BO), Italy </span><span style="font-family:"Calibri",sans-serif;color:black"><o:p></o:p></span></p>
<p><span style="font-size:10.0pt;font-family:"Segoe UI",sans-serif;color:#212121">E-mail:
</span><span style="font-family:"Segoe UI",sans-serif;color:#212121"><a href="mailto:simone.comari2@unibo.it"><span style="font-size:10.0pt">simone.comari2@unibo.it</span></a><br>
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<p class="MsoNormal"><b><span style="font-size:11.0pt;font-family:"Calibri",sans-serif;color:black">Da:</span></b><span style="font-size:11.0pt;font-family:"Calibri",sans-serif;color:black"> Viola Roberto <<a href="mailto:roberto.viola@systemceramics.com">roberto.viola@systemceramics.com</a>><br>
<b>Inviato:</b> giovedì 23 maggio 2019 08:00<br>
<b>A:</b> Simone Comari; <a href="mailto:etherlab-users@etherlab.org">etherlab-users@etherlab.org</a><br>
<b>Oggetto:</b> R: System randomly freezes in multi-thread Qt application with a RT process</span>
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<p class="xmsonormal"><span style="font-size:11.0pt;font-family:"Calibri",sans-serif;color:#1F497D">Hi Simone, just a quick hint in order to understand the freeze: try to run the setup inside a VM (kvm or virtualbox) in order to catch the serial log from the
kernel or, if you have a UART avaiable on your system, directly from it.</span><o:p></o:p></p>
<p class="xmsonormal"><span style="font-size:11.0pt;font-family:"Calibri",sans-serif;color:#1F497D">In this way we should try to understand the issue better.</span><o:p></o:p></p>
<p class="xmsonormal"><span style="font-size:11.0pt;font-family:"Calibri",sans-serif;color:#1F497D">R.</span><o:p></o:p></p>
<p class="xmsonormal"><span style="font-size:11.0pt;font-family:"Calibri",sans-serif;color:#1F497D"> </span><o:p></o:p></p>
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<p class="xmsonormal"><b><span style="font-size:11.0pt;font-family:"Calibri",sans-serif">Da:</span></b><span style="font-size:11.0pt;font-family:"Calibri",sans-serif"> etherlab-users [<a href="mailto:etherlab-users-bounces@etherlab.org">mailto:etherlab-users-bounces@etherlab.org</a>]
<b>Per conto di </b>Simone Comari<br>
<b>Inviato:</b> mercoledì 22 maggio 2019 18:52<br>
<b>A:</b> <a href="mailto:etherlab-users@etherlab.org">etherlab-users@etherlab.org</a><br>
<b>Oggetto:</b> [etherlab-users] System randomly freezes in multi-thread Qt application with a RT process</span><o:p></o:p></p>
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<p class="xmsonormal"> <o:p></o:p></p>
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<p class="xmsonormal"><span style="font-family:"Calibri",sans-serif;color:black">Hi all,</span><o:p></o:p></p>
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<p class="xmsonormal"><span style="font-family:"Calibri",sans-serif;color:black"> </span><o:p></o:p></p>
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<p class="xmsonormal"><span style="font-family:"Calibri",sans-serif;color:black">I am a young research fellow at the university of Bologna and I just started working with EtherCAT technology and RT systems yet, so please forgive me if I misuse words or I'm
not precise enough.</span><o:p></o:p></p>
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<p class="xmsonormal"><span style="font-family:"Calibri",sans-serif;color:black"><br>
First, I'll try to describe my setup:</span><o:p></o:p></p>
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<li class="MsoNormal" style="color:black;mso-list:l3 level1 lfo2"><span style="font-family:"Calibri",sans-serif">Ubuntu 16.04.6 with patched fully preemptible RT kernel 4.13.13-rt5 </span><o:p></o:p></li><li class="MsoNormal" style="color:black;mso-list:l3 level1 lfo2"><span style="font-family:"Calibri",sans-serif">Qt 5.12.2</span><o:p></o:p></li><li class="MsoNormal" style="color:black;mso-list:l3 level1 lfo2"><span style="font-family:"Calibri",sans-serif">PCI driver e1000e</span><o:p></o:p></li><li class="MsoNormal" style="color:black;mso-list:l3 level1 lfo2"><span style="font-family:"Calibri",sans-serif">Ethercat master running on this Linux RT</span><o:p></o:p></li><li class="MsoNormal" style="color:black;mso-list:l3 level1 lfo2"><span style="font-family:"Calibri",sans-serif">Elmo GOLD SOLO WHISTLE Drives (ethercat slaves) </span><o:p></o:p></li></ul>
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<p class="xmsonormal"><span style="font-family:"Calibri",sans-serif;color:black">Secondly, a brief outline of my software architecture:</span><o:p></o:p></p>
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<li class="MsoNormal" style="color:black;mso-list:l1 level1 lfo3"><span style="font-family:"Calibri",sans-serif">POSIX threads</span><o:p></o:p></li><li class="MsoNormal" style="color:black;mso-list:l1 level1 lfo3"><span style="font-family:"Calibri",sans-serif">Qt-based GUI running on a non-RT thread</span><o:p></o:p></li><li class="MsoNormal" style="color:black;mso-list:l1 level1 lfo3"><span style="font-family:"Calibri",sans-serif">Ethercat network setup (ethercat master and slaves init) done in the same non-RT thread</span><o:p></o:p></li><li class="MsoNormal" style="color:black;mso-list:l1 level1 lfo3"><span style="font-family:"Calibri",sans-serif">If initialization is successful, start a new RT-thread in charge of handling all ethercat-related functionalities (read/write/status-check).</span><o:p></o:p></li><li class="MsoNormal" style="color:black;mso-list:l1 level1 lfo3"><span style="font-family:"Calibri",sans-serif">Shared resources between RT and non-RT ones handled with pthread_mutex (even if I'm not 100% sure I'm using it correctly)</span><o:p></o:p></li><li class="MsoNormal" style="color:black;mso-list:l1 level1 lfo3"><span style="font-family:"Calibri",sans-serif">Implementation of our generic ethercat master can be found
<a href="https://github.com/UNIBO-GRABLab/grab_common/blob/e5278b6fe611654bfa84c951d8b77e56ebbc8fa9/libgrabec/src/ethercatmaster.cpp" title="https://github.com/UNIBO-GRABLab/grab_common/blob/e5278b6fe611654bfa84c951d8b77e56ebbc8fa9/libgrabec/src/ethercatmaster.cpp">
here</a> </span><o:p></o:p></li></ul>
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<p class="xmsonormal"><span style="font-family:"Calibri",sans-serif;color:black">Problem description:</span><o:p></o:p></p>
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<li class="MsoNormal" style="color:black;mso-list:l2 level1 lfo4"><span style="font-family:"Calibri",sans-serif">Once the ethercat network is setup and the RT thread is started, quite randomly the system freezes without errors of any sorts. Sometimes it happens
when motors are enabled and operational, sometimes when they are enabled and idle, sometimes even if they are disabled. It is not reproducible and I couldn't link it to any particular step in my application. Sometimes it happens even if I simply start it,
but always after successful initialization.</span><o:p></o:p></li><li class="MsoNormal" style="color:black;mso-list:l2 level1 lfo4"><span style="font-family:"Calibri",sans-serif">Even when I manage to close the application, next time I try to run it it tells me that master is busy and ec_e1000e is in use. Only solution is
to manually hard-shut-down the PC.</span><o:p></o:p></li><li class="MsoNormal" style="color:black;mso-list:l2 level1 lfo4"><span style="font-family:"Calibri",sans-serif">Other thing I noticed is that even if the main thread (the GUI one, so non-RT) is closed, the child RT-thread stays running with status D (uninterruptible
sleep) blocking a great deal of CPU (that is why probably the whole system freezes).</span><o:p></o:p></li><li class="MsoNormal" style="color:black;mso-list:l2 level1 lfo4"><span style="font-family:"Calibri",sans-serif">We tried with different computers (both laptop and desktop) to exclude a platform's dependency, but the issue remains.</span><o:p></o:p></li></ul>
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<p class="xmsonormal"><span style="font-family:"Calibri",sans-serif;color:black">Please let me know if there is any missing important information that can help understanding the problem.</span><o:p></o:p></p>
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<p class="xmsonormal"><span style="font-family:"Calibri",sans-serif;color:black">Thank you a lot for the support.</span><o:p></o:p></p>
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<p class="xmsonormal"><span style="font-family:"Calibri",sans-serif;color:black"> </span><o:p></o:p></p>
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<p class="xmsonormal"><span style="font-family:"Calibri",sans-serif;color:black">Best regards,</span><o:p></o:p></p>
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<p class="xmsonormal"><span style="font-family:"Calibri",sans-serif;color:black">Simone</span><o:p></o:p></p>
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<p><span style="font-size:10.0pt;font-family:"Segoe UI",sans-serif;color:#212121">____________________________________________________</span><span style="font-family:"Segoe UI",sans-serif;color:#212121"><br>
<br>
</span><b><span style="font-size:10.0pt;font-family:"Segoe UI",sans-serif;color:#212121">SIMONE COMARI</span></b><o:p></o:p></p>
<p><i><span style="font-size:10.0pt;font-family:"Segoe UI",sans-serif;color:black">Research Fellow</span></i><i><span style="font-size:10.0pt;font-family:"Segoe UI",sans-serif;color:#212121"><br>
</span></i><span style="font-size:10.0pt;font-family:"Segoe UI",sans-serif;color:#212121">DIN – Dept. of Industrial Engineering</span><span style="font-family:"Segoe UI",sans-serif;color:#212121"><br>
</span><span style="font-size:10.0pt;font-family:"Segoe UI",sans-serif;color:#212121">Alma Mater Studiorum – University of Bologna</span><span style="font-family:"Segoe UI",sans-serif;color:#212121"><br>
</span><span style="font-size:10.0pt;font-family:"Segoe UI",sans-serif;color:#212121">Via Umberto Terracini, 24, 40131 Bologna (BO), Italy </span><o:p></o:p></p>
<p><span style="font-size:10.0pt;font-family:"Segoe UI",sans-serif;color:#212121">E-mail:
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