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<div style="font-family: Calibri, Arial, Helvetica, sans-serif; font-size: 12pt; color: rgb(0, 0, 0);">
Hi Roberto,</div>
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<br>
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Thanks for following up, much appreciated.</div>
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<br>
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We tried the same setup on a laptop (Dell Inspiron-5567, Intel® Core™ i7-7500U CPU @ 2.70GHz × 4), dual booted Windows 10/Ubuntu 16.04.6 but the behavior remains the same.</div>
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<br>
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I noticed nevertheless that both workstations have the same driver for the video card (i.e.
<i>i915</i>). I also noticed that at the end of RT kernel build (I think when making
<i>modules_install</i>) there was a warning about a couple of missing firmwares for this device:<br>
<br>
</div>
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<span style="font-family: monospace; font-size: 9.75pt; color: rgb(48, 51, 54); background-color: rgba(0, 0, 0, 0);">possible missing firmware /lib/firmware/i915/kbl_guc_ver9_14.bin for module i915</span><br>
</div>
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<span style="font-family: monospace; background-color: rgba(0, 0, 0, 0); font-size: 9.75pt; color: rgb(48, 51, 54); display: inline !important;">possible missing firmware /lib/firmware/i915/</span><span style="font-family: monospace; font-size: 9.75pt; color: rgb(48, 51, 54); background-color: rgba(0, 0, 0, 0);">bxt_guc_ver8_7.bin </span><span style="font-family: monospace; background-color: rgba(0, 0, 0, 0); font-size: 9.75pt; color: rgb(48, 51, 54); display: inline !important;">for
module i915</span></div>
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<span style="font-family: monospace; background-color: rgba(0, 0, 0, 0); font-size: 9.75pt; color: rgb(48, 51, 54); display: inline !important;"><br>
</span></div>
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<span style="font-family: Calibri, Arial, Helvetica, sans-serif; background-color: rgb(255, 255, 255); display: inline !important">So I copied the missing files (taken from
<a href="https://git.kernel.org/pub/scm/linux/kernel/git/firmware/linux-firmware.git/tree/i915" title="https://git.kernel.org/pub/scm/linux/kernel/git/firmware/linux-firmware.git/tree/i915">
here</a>) into <i>/lib/firmware/i915</i> and updated with following command:</span></div>
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<span style="font-family: Calibri, Arial, Helvetica, sans-serif; background-color: rgb(255, 255, 255); display: inline !important"><br>
</span></div>
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<span style="font-family: Calibri, Arial, Helvetica, sans-serif; background-color: rgb(255, 255, 255); display: inline !important">
<pre style="margin: 0px 0px 1em; padding: 12px 8px; font-family: Consolas, Menlo, Monaco, "Lucida Console", "Liberation Mono", "DejaVu Sans Mono", "Bitstream Vera Sans Mono", "Courier New", monospace, sans-serif; font-size: 13px; width: auto; max-height: 600px; overflow: auto; background-color: rgb(239, 240, 241); border-radius: 3px; display: block; color: rgb(57, 51, 24); text-align: left"><code style="margin: 0px; background-color: rgb(239, 240, 241)"><span style="margin: 0px; color: rgb(48, 51, 54)">sudo update</span><span style="margin: 0px; color: rgb(48, 51, 54)">-</span><span style="margin: 0px; color: rgb(48, 51, 54)">initramfs </span><span style="margin: 0px; color: rgb(48, 51, 54)">-</span><span style="margin: 0px; color: rgb(48, 51, 54)">u</span></code></pre>
I then recompiled both the RT kernel and etherlab libs, but except for the disappeared warnings, nothing changed.</span></div>
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<span style="font-family: Calibri, Arial, Helvetica, sans-serif; background-color: rgb(255, 255, 255); display: inline !important"><br>
</span></div>
<div style="font-family: Calibri, Arial, Helvetica, sans-serif; font-size: 12pt; color: rgb(0, 0, 0);">
The video card I'm mounting is the following:</div>
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<br>
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<span style="font-family: monospace; font-size: 9.75pt; color: rgb(48, 51, 54); background-color: rgba(0, 0, 0, 0);">$ lshw -C video</span>
<div><span style="font-family: monospace; font-size: 9.75pt; color: rgb(48, 51, 54); background-color: rgba(0, 0, 0, 0);"> *-display
</span><br>
</div>
<div><span style="font-family: monospace; font-size: 9.75pt; color: rgb(48, 51, 54); background-color: rgba(0, 0, 0, 0);"> description: VGA compatible controller</span><br>
</div>
<div><span style="font-family: monospace; font-size: 9.75pt; color: rgb(48, 51, 54); background-color: rgba(0, 0, 0, 0);"> product: HD Graphics 620</span><br>
</div>
<div><span style="font-family: monospace; font-size: 9.75pt; color: rgb(48, 51, 54); background-color: rgba(0, 0, 0, 0);"> vendor: Intel Corporation</span><br>
</div>
<div><span style="font-family: monospace; font-size: 9.75pt; color: rgb(48, 51, 54); background-color: rgba(0, 0, 0, 0);"> physical id: 2</span><br>
</div>
<div><span style="font-family: monospace; font-size: 9.75pt; color: rgb(48, 51, 54); background-color: rgba(0, 0, 0, 0);"> bus info: pci@0000:00:02.0</span><br>
</div>
<div><span style="font-family: monospace; font-size: 9.75pt; color: rgb(48, 51, 54); background-color: rgba(0, 0, 0, 0);"> version: 02</span><br>
</div>
<div><span style="font-family: monospace; font-size: 9.75pt; color: rgb(48, 51, 54); background-color: rgba(0, 0, 0, 0);"> width: 64 bits</span><br>
</div>
<div><span style="font-family: monospace; font-size: 9.75pt; color: rgb(48, 51, 54); background-color: rgba(0, 0, 0, 0);"> clock: 33MHz</span><br>
</div>
<div><span style="font-family: monospace; font-size: 9.75pt; color: rgb(48, 51, 54); background-color: rgba(0, 0, 0, 0);"> capabilities: pciexpress msi pm vga_controller bus_master cap_list rom</span><br>
</div>
<div><span style="font-family: monospace; font-size: 9.75pt; color: rgb(48, 51, 54); background-color: rgba(0, 0, 0, 0);"> configuration: driver=i915 latency=0</span><br>
</div>
<div><span style="font-family: monospace; font-size: 9.75pt; color: rgb(48, 51, 54); background-color: rgba(0, 0, 0, 0);"> resources: irq:280 memory:de000000-deffffff memory:b0000000-bfffffff ioport:f000(size=64) memory:c0000-dffff</span><br>
</div>
<span></span><br>
</div>
<div style="font-family: Calibri, Arial, Helvetica, sans-serif; font-size: 12pt; color: rgb(0, 0, 0);">
I've tried to stress both CPU </div>
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<br>
</div>
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<span style="font-family: monospace; font-size: 9.75pt; color: rgb(48, 51, 54); background-color: rgba(0, 0, 0, 0);">$ stress --cpu `nproc` --vm `nproc` --vm-bytes 1GB --io `nproc` --hdd `nproc` --hdd-bytes 1GB --timeout 60s</span><br>
<div><span style="font-family: monospace; font-size: 9.75pt; color: rgb(48, 51, 54); background-color: rgba(0, 0, 0, 0);">stress: info: [6624] dispatching hogs: 4 cpu, 4 io, 4 vm, 4 hdd</span><br>
</div>
<div><span style="font-family: monospace; font-size: 9.75pt; color: rgb(48, 51, 54); background-color: rgba(0, 0, 0, 0);">stress: info: [6624] successful run completed in 60s</span><br>
</div>
<span></span>
<div style="font-family: Calibri, Arial, Helvetica, sans-serif; font-size: 12pt; color: rgb(0, 0, 0);">
<br>
</div>
and video card </div>
<div style="font-family: Calibri, Arial, Helvetica, sans-serif; font-size: 12pt; color: rgb(0, 0, 0);">
<br>
</div>
<div style="font-family: Calibri, Arial, Helvetica, sans-serif; font-size: 12pt; color: rgb(0, 0, 0);">
<span style="font-family: monospace; font-size: 9.75pt; color: rgb(48, 51, 54); background-color: rgba(0, 0, 0, 0);">$ glmark2
</span><br>
<div><span style="font-family: monospace; font-size: 9.75pt; color: rgb(48, 51, 54); background-color: rgba(0, 0, 0, 0);">=======================================================</span><br>
</div>
<div><span style="font-family: monospace; font-size: 9.75pt; color: rgb(48, 51, 54); background-color: rgba(0, 0, 0, 0);"> glmark2 2014.03+git20150611.fa71af2d</span><br>
</div>
<div><span style="font-family: monospace; font-size: 9.75pt; color: rgb(48, 51, 54); background-color: rgba(0, 0, 0, 0);">=======================================================</span><br>
</div>
<div><span style="font-family: monospace; font-size: 9.75pt; color: rgb(48, 51, 54); background-color: rgba(0, 0, 0, 0);"> OpenGL Information</span><br>
</div>
<div><span style="font-family: monospace; font-size: 9.75pt; color: rgb(48, 51, 54); background-color: rgba(0, 0, 0, 0);"> GL_VENDOR: Intel Open Source Technology Center</span><br>
</div>
<div><span style="font-family: monospace; font-size: 9.75pt; color: rgb(48, 51, 54); background-color: rgba(0, 0, 0, 0);"> GL_RENDERER: Mesa DRI Intel(R) HD Graphics 620 (Kaby Lake GT2)
</span><br>
</div>
<div><span style="font-family: monospace; font-size: 9.75pt; color: rgb(48, 51, 54); background-color: rgba(0, 0, 0, 0);"> GL_VERSION: 3.0 Mesa 18.0.5</span><br>
</div>
<div><span style="font-family: monospace; font-size: 9.75pt; color: rgb(48, 51, 54); background-color: rgba(0, 0, 0, 0);">=======================================================</span><br>
</div>
<div><span style="font-family: monospace; font-size: 9.75pt; color: rgb(48, 51, 54); background-color: rgba(0, 0, 0, 0);">[build] use-vbo=false: FPS: 1392 FrameTime: 0.718 ms</span><br>
</div>
<div><span style="font-family: monospace; font-size: 9.75pt; color: rgb(48, 51, 54); background-color: rgba(0, 0, 0, 0);">[build] use-vbo=true: FPS: 1494 FrameTime: 0.669 ms</span><br>
</div>
<div><span style="font-family: monospace; font-size: 9.75pt; color: rgb(48, 51, 54); background-color: rgba(0, 0, 0, 0);">[texture] texture-filter=nearest: FPS: 1220 FrameTime: 0.820 ms</span><br>
</div>
<div><span style="font-family: monospace; font-size: 9.75pt; color: rgb(48, 51, 54); background-color: rgba(0, 0, 0, 0);">[texture] texture-filter=linear: FPS: 1370 FrameTime: 0.730 ms</span><br>
</div>
<div><span style="font-family: monospace; font-size: 9.75pt; color: rgb(48, 51, 54); background-color: rgba(0, 0, 0, 0);">[texture] texture-filter=mipmap: FPS: 1379 FrameTime: 0.725 ms</span><br>
</div>
<div><span style="font-family: monospace; font-size: 9.75pt; color: rgb(48, 51, 54); background-color: rgba(0, 0, 0, 0);">[shading] shading=gouraud: FPS: 1352 FrameTime: 0.740 ms</span><br>
</div>
<div><span style="font-family: monospace; font-size: 9.75pt; color: rgb(48, 51, 54); background-color: rgba(0, 0, 0, 0);">[shading] shading=blinn-phong-inf: FPS: 1356 FrameTime: 0.737 ms</span><br>
</div>
<div><span style="font-family: monospace; font-size: 9.75pt; color: rgb(48, 51, 54); background-color: rgba(0, 0, 0, 0);">[shading] shading=phong: FPS: 1334 FrameTime: 0.750 ms</span><br>
</div>
<div><span style="font-family: monospace; font-size: 9.75pt; color: rgb(48, 51, 54); background-color: rgba(0, 0, 0, 0);">[shading] shading=cel: FPS: 1365 FrameTime: 0.733 ms</span><br>
</div>
<div><span style="font-family: monospace; font-size: 9.75pt; color: rgb(48, 51, 54); background-color: rgba(0, 0, 0, 0);">[bump] bump-render=high-poly: FPS: 1004 FrameTime: 0.996 ms</span><br>
</div>
<div><span style="font-family: monospace; font-size: 9.75pt; color: rgb(48, 51, 54); background-color: rgba(0, 0, 0, 0);">[bump] bump-render=normals: FPS: 1474 FrameTime: 0.678 ms</span><br>
</div>
<div><span style="font-family: monospace; font-size: 9.75pt; color: rgb(48, 51, 54); background-color: rgba(0, 0, 0, 0);">[bump] bump-render=height: FPS: 1496 FrameTime: 0.668 ms</span><br>
</div>
<div><span style="font-family: monospace; font-size: 9.75pt; color: rgb(48, 51, 54); background-color: rgba(0, 0, 0, 0);">[effect2d] kernel=0,1,0;1,-4,1;0,1,0;: FPS: 1141 FrameTime: 0.876 ms</span><br>
</div>
<div><span style="font-family: monospace; font-size: 9.75pt; color: rgb(48, 51, 54); background-color: rgba(0, 0, 0, 0);">[effect2d] kernel=1,1,1,1,1;1,1,1,1,1;1,1,1,1,1;: FPS: 847 FrameTime: 1.181 ms</span><br>
</div>
<div><span style="font-family: monospace; font-size: 9.75pt; color: rgb(48, 51, 54); background-color: rgba(0, 0, 0, 0);">[pulsar] light=false:quads=5:texture=false: FPS: 1543 FrameTime: 0.648 ms</span><br>
</div>
<div><span style="font-family: monospace; font-size: 9.75pt; color: rgb(48, 51, 54); background-color: rgba(0, 0, 0, 0);">[desktop] blur-radius=5:effect=blur:passes=1:separable=true:windows=4: FPS: 670 FrameTime: 1.493 ms</span><br>
</div>
<div><span style="font-family: monospace; font-size: 9.75pt; color: rgb(48, 51, 54); background-color: rgba(0, 0, 0, 0);">[desktop] effect=shadow:windows=4: FPS: 891 FrameTime: 1.122 ms</span><br>
</div>
<div><span style="font-family: monospace; font-size: 9.75pt; color: rgb(48, 51, 54); background-color: rgba(0, 0, 0, 0);">[buffer] columns=200:interleave=false:update-dispersion=0.9:update-fraction=0.5:update-method=map: FPS: 638 FrameTime: 1.567 ms</span><br>
</div>
<div><span style="font-family: monospace; font-size: 9.75pt; color: rgb(48, 51, 54); background-color: rgba(0, 0, 0, 0);">[buffer] columns=200:interleave=false:update-dispersion=0.9:update-fraction=0.5:update-method=subdata: FPS: 493 FrameTime: 2.028 ms</span><br>
</div>
<div><span style="font-family: monospace; font-size: 9.75pt; color: rgb(48, 51, 54); background-color: rgba(0, 0, 0, 0);">[buffer] columns=200:interleave=true:update-dispersion=0.9:update-fraction=0.5:update-method=map: FPS: 690 FrameTime: 1.449 ms</span><br>
</div>
<div><span style="font-family: monospace; font-size: 9.75pt; color: rgb(48, 51, 54); background-color: rgba(0, 0, 0, 0);">[ideas] speed=duration: FPS: 1265 FrameTime: 0.791 ms</span><br>
</div>
<div><span style="font-family: monospace; font-size: 9.75pt; color: rgb(48, 51, 54); background-color: rgba(0, 0, 0, 0);">[jellyfish] <default>: FPS: 1258 FrameTime: 0.795 ms</span><br>
</div>
<div><span style="font-family: monospace; font-size: 9.75pt; color: rgb(48, 51, 54); background-color: rgba(0, 0, 0, 0);">[terrain] <default>: FPS: 189 FrameTime: 5.291 ms</span><br>
</div>
<div><span style="font-family: monospace; font-size: 9.75pt; color: rgb(48, 51, 54); background-color: rgba(0, 0, 0, 0);">[shadow] <default>: FPS: 982 FrameTime: 1.018 ms</span><br>
</div>
<div><span style="font-family: monospace; font-size: 9.75pt; color: rgb(48, 51, 54); background-color: rgba(0, 0, 0, 0);">[refract] <default>: FPS: 360 FrameTime: 2.778 ms</span><br>
</div>
<div><span style="font-family: monospace; font-size: 9.75pt; color: rgb(48, 51, 54); background-color: rgba(0, 0, 0, 0);">[conditionals] fragment-steps=0:vertex-steps=0: FPS: 1339 FrameTime: 0.747 ms</span><br>
</div>
<div><span style="font-family: monospace; font-size: 9.75pt; color: rgb(48, 51, 54); background-color: rgba(0, 0, 0, 0);">[conditionals] fragment-steps=5:vertex-steps=0: FPS: 1337 FrameTime: 0.748 ms</span><br>
</div>
<div><span style="font-family: monospace; font-size: 9.75pt; color: rgb(48, 51, 54); background-color: rgba(0, 0, 0, 0);">[conditionals] fragment-steps=0:vertex-steps=5: FPS: 1329 FrameTime: 0.752 ms</span><br>
</div>
<div><span style="font-family: monospace; font-size: 9.75pt; color: rgb(48, 51, 54); background-color: rgba(0, 0, 0, 0);">[function] fragment-complexity=low:fragment-steps=5: FPS: 1343 FrameTime: 0.745 ms</span><br>
</div>
<div><span style="font-family: monospace; font-size: 9.75pt; color: rgb(48, 51, 54); background-color: rgba(0, 0, 0, 0);">[function] fragment-complexity=medium:fragment-steps=5: FPS: 1343 FrameTime: 0.745 ms</span><br>
</div>
<div><span style="font-family: monospace; font-size: 9.75pt; color: rgb(48, 51, 54); background-color: rgba(0, 0, 0, 0);">[loop] fragment-loop=false:fragment-steps=5:vertex-steps=5: FPS: 1315 FrameTime: 0.760 ms</span><br>
</div>
<div><span style="font-family: monospace; font-size: 9.75pt; color: rgb(48, 51, 54); background-color: rgba(0, 0, 0, 0);">[loop] fragment-steps=5:fragment-uniform=false:vertex-steps=5: FPS: 1221 FrameTime: 0.819 ms</span><br>
</div>
<div><span style="font-family: monospace; font-size: 9.75pt; color: rgb(48, 51, 54); background-color: rgba(0, 0, 0, 0);">[loop] fragment-steps=5:fragment-uniform=true:vertex-steps=5: FPS: 1275 FrameTime: 0.784 ms</span><br>
</div>
<div><span style="font-family: monospace; font-size: 9.75pt; color: rgb(48, 51, 54); background-color: rgba(0, 0, 0, 0);">=======================================================</span><br>
</div>
<div><span style="font-family: monospace; font-size: 9.75pt; color: rgb(48, 51, 54); background-color: rgba(0, 0, 0, 0);"> glmark2 Score: 1142
</span><br>
</div>
<div><span style="font-family: monospace; font-size: 9.75pt; color: rgb(48, 51, 54); background-color: rgba(0, 0, 0, 0);">=======================================================</span><br>
</div>
<span></span><br>
</div>
<div style="font-family: Calibri, Arial, Helvetica, sans-serif; font-size: 12pt; color: rgb(0, 0, 0);">
and no apparent issues arised.</div>
<div style="font-family: Calibri, Arial, Helvetica, sans-serif; font-size: 12pt; color: rgb(0, 0, 0);">
<br>
</div>
<div style="font-family: Calibri, Arial, Helvetica, sans-serif; font-size: 12pt; color: rgb(0, 0, 0);">
I'm attaching two log sessions from my latest laptop trials. Inside you can find a brief description of the operations carried out for each session.</div>
<div style="font-family: Calibri, Arial, Helvetica, sans-serif; font-size: 12pt; color: rgb(0, 0, 0);">
I noticed that in one of them it looks like one source of the freezing is related to
<i>rt_mutex</i>, which I'm not really confident with but I have the feeling is the actual source of our problem (probably in the way we implemented the ethercat communication in our code).</div>
<div style="font-family: Calibri, Arial, Helvetica, sans-serif; font-size: 12pt; color: rgb(0, 0, 0);">
<br>
</div>
<div style="font-family: Calibri, Arial, Helvetica, sans-serif; font-size: 12pt; color: rgb(0, 0, 0);">
Please let me know if you have any suggestions or need any other information.</div>
<div style="font-family: Calibri, Arial, Helvetica, sans-serif; font-size: 12pt; color: rgb(0, 0, 0);">
<br>
</div>
<div style="font-family: Calibri, Arial, Helvetica, sans-serif; font-size: 12pt; color: rgb(0, 0, 0);">
Thanks again,</div>
<div style="font-family: Calibri, Arial, Helvetica, sans-serif; font-size: 12pt; color: rgb(0, 0, 0);">
Simone</div>
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<span style="color:rgb(33,33,33); font-family:"Segoe UI","Helvetica Neue",sans-serif; font-size:10pt">____________________________________________________</span><br style="color:rgb(33,33,33); font-family:wf_segoe-ui_normal,"Segoe UI","Segoe WP",Tahoma,Arial,sans-serif,serif,EmojiFont">
<span style="font-size:10pt; font-family:"Segoe UI","Helvetica Neue",sans-serif"></span><br style="color:rgb(33,33,33); font-family:wf_segoe-ui_normal,"Segoe UI","Segoe WP",Tahoma,Arial,sans-serif,serif,EmojiFont">
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<div id="divRplyFwdMsg" dir="ltr"><font face="Calibri, sans-serif" style="font-size:11pt" color="#000000"><b>Da:</b> Viola Roberto <roberto.viola@systemceramics.com><br>
<b>Inviato:</b> lunedì 27 maggio 2019 10:57<br>
<b>A:</b> Simone Comari; etherlab-users@etherlab.org<br>
<b>Oggetto:</b> R: System randomly freezes in multi-thread Qt application with a RT process</font>
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<p class="x_MsoNormal"><span style="font-size:11.0pt; font-family:"Calibri",sans-serif; color:#1F497D">Hi Simone,
</span></p>
<p class="x_MsoNormal"><span style="font-size:11.0pt; font-family:"Calibri",sans-serif; color:#1F497D"> from the logs it seems a issue releated to your i915 (video card, i guess inside your CPU).</span></p>
<p class="x_MsoNormal"><span style="font-size:11.0pt; font-family:"Calibri",sans-serif; color:#1F497D">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.</span></p>
<p class="x_MsoNormal"><span style="font-size:11.0pt; font-family:"Calibri",sans-serif; color:#1F497D">BTW what videocard do you have?</span></p>
<p class="x_MsoNormal"><span style="font-size:11.0pt; font-family:"Calibri",sans-serif; color:#1F497D">Did you try to catch the logs on other systems (laptop for example)?</span></p>
<p class="x_MsoNormal"><span style="font-size:11.0pt; font-family:"Calibri",sans-serif; color:#1F497D">R.</span></p>
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<p class="x_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</span></p>
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<p class="x_MsoNormal"><span style="font-family:"Calibri",sans-serif; color:black">Hi Roberto,</span></p>
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<p class="x_MsoNormal"><span style="font-family:"Calibri",sans-serif; color:black">First of all, thank you for your quick response.
</span></p>
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<p class="x_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:</span></p>
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<ol start="1" type="1">
<li class="x_MsoNormal" style="color:black"><span style="font-family:"Calibri",sans-serif">Boot up</span></li><li class="x_MsoNormal" style="color:black"><span style="font-family:"Calibri",sans-serif">Application launch (successful ethercat network setup) through Qt IDE</span></li><li class="x_MsoNormal" style="color:black"><span style="font-family:"Calibri",sans-serif">Successful enabling of a single motor (i.e. one of the ethercat slaves) through our GUI</span></li><li class="x_MsoNormal" style="color:black"><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)</span></li><li class="x_MsoNormal" style="color:black"><span style="font-family:"Calibri",sans-serif">Hard shut-down of the "frozen" system</span></li></ol>
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<p class="x_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.</span></p>
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<p class="x_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.</span></p>
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<p class="x_MsoNormal"><span style="font-family:"Calibri",sans-serif; color:black"> </span></p>
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<p class="x_MsoNormal"><span style="font-family:"Calibri",sans-serif; color:black">Thanks again.</span></p>
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<p class="x_MsoNormal"><span style="font-family:"Calibri",sans-serif; color:black"> </span></p>
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<p class="x_MsoNormal"><span style="font-family:"Calibri",sans-serif; color:black">Best regards,</span></p>
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<p class="x_MsoNormal"><span style="font-family:"Calibri",sans-serif; color:black">Simone</span></p>
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</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"></span></p>
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<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="x_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="x_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></p>
<p class="x_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></p>
<p class="x_xmsonormal"><span style="font-size:11.0pt; font-family:"Calibri",sans-serif; color:#1F497D">R.</span></p>
<p class="x_xmsonormal"><span style="font-size:11.0pt; font-family:"Calibri",sans-serif; color:#1F497D"> </span></p>
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<p class="x_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></p>
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<p class="x_xmsonormal"><span style="font-family:"Calibri",sans-serif; color:black">Hi all,</span></p>
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<p class="x_xmsonormal"><span style="font-family:"Calibri",sans-serif; color:black"> </span></p>
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<div>
<p class="x_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></p>
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<p class="x_xmsonormal"><span style="font-family:"Calibri",sans-serif; color:black"><br>
First, I'll try to describe my setup:</span></p>
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<li class="x_MsoNormal" style="color:black"><span style="font-family:"Calibri",sans-serif">Ubuntu 16.04.6 with patched fully preemptible RT kernel 4.13.13-rt5 </span></li><li class="x_MsoNormal" style="color:black"><span style="font-family:"Calibri",sans-serif">Qt 5.12.2</span></li><li class="x_MsoNormal" style="color:black"><span style="font-family:"Calibri",sans-serif">PCI driver e1000e</span></li><li class="x_MsoNormal" style="color:black"><span style="font-family:"Calibri",sans-serif">Ethercat master running on this Linux RT</span></li><li class="x_MsoNormal" style="color:black"><span style="font-family:"Calibri",sans-serif">Elmo GOLD SOLO WHISTLE Drives (ethercat slaves) </span></li></ul>
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<p class="x_xmsonormal"><span style="font-family:"Calibri",sans-serif; color:black">Secondly, a brief outline of my software architecture:</span></p>
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<li class="x_MsoNormal" style="color:black"><span style="font-family:"Calibri",sans-serif">POSIX threads</span></li><li class="x_MsoNormal" style="color:black"><span style="font-family:"Calibri",sans-serif">Qt-based GUI running on a non-RT thread</span></li><li class="x_MsoNormal" style="color:black"><span style="font-family:"Calibri",sans-serif">Ethercat network setup (ethercat master and slaves init) done in the same non-RT thread</span></li><li class="x_MsoNormal" style="color:black"><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></li><li class="x_MsoNormal" style="color:black"><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></li><li class="x_MsoNormal" style="color:black"><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></li></ul>
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<p class="x_xmsonormal"><span style="font-family:"Calibri",sans-serif; color:black">Problem description:</span></p>
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<li class="x_MsoNormal" style="color:black"><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></li><li class="x_MsoNormal" style="color:black"><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></li><li class="x_MsoNormal" style="color:black"><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></li><li class="x_MsoNormal" style="color:black"><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></li></ul>
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<p class="x_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></p>
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<p class="x_xmsonormal"><span style="font-family:"Calibri",sans-serif; color:black">Thank you a lot for the support.</span></p>
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<p class="x_xmsonormal"><span style="font-family:"Calibri",sans-serif; color:black">Best regards,</span></p>
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<p class="x_xmsonormal"><span style="font-family:"Calibri",sans-serif; color:black">Simone</span></p>
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</span><b><span style="font-size:10.0pt; font-family:"Segoe UI",sans-serif; color:#212121">SIMONE COMARI</span></b></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>
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