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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"> first of all the guc firmware aren’t a issue, so go on
</span><span style="font-size:11.0pt;font-family:Wingdings;color:#1F497D;mso-fareast-language:EN-US">J</span><span style="font-size:11.0pt;font-family:"Calibri",sans-serif;color:#1F497D;mso-fareast-language:EN-US"><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>
<p class="MsoNormal"><span style="font-size:11.0pt;font-family:"Calibri",sans-serif;color:#1F497D;mso-fareast-language:EN-US">In order to understand the issue i think you should try to split your application in small pieces: in this way we can try to delimit
the perimeter of the issue.<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 could try to run a simple application (using the ethercat example that you can find on the repository) that only read or write
some objects from your slaves and step after step you can add pieces of code in order to identify when and where the issue happens. I don’t know how much is big your app, but from my point of view it’s the only way to achieve some results.<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>
<p class="MsoNormal"><span style="font-size:11.0pt;font-family:"Calibri",sans-serif;color:#1F497D;mso-fareast-language:EN-US">Other note: in your first log i saw that the crash happened in EoE context, did you use it? Could you try to disable it and test it
again?<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>
<p class="MsoNormal"><span style="font-size:11.0pt;font-family:"Calibri",sans-serif;color:#1F497D;mso-fareast-language:EN-US">Have a nice weekend<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">Roberto<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> mercoledì 29 maggio 2019 15:50<br>
<b>A:</b> Viola Roberto <roberto.viola@systemceramics.com>; etherlab-users@etherlab.org<br>
<b>Cc:</b> Edoardo Ida <edoardo.ida2@unibo.it><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">Thanks for following up, much appreciated.<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">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.<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" style="margin-bottom:12.0pt"><span style="font-family:"Calibri",sans-serif;color:black">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:<o:p></o:p></span></p>
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<p class="MsoNormal"><span style="font-size:10.0pt;font-family:"Courier New";color:#303336">possible missing firmware /lib/firmware/i915/kbl_guc_ver9_14.bin for module i915</span><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-size:10.0pt;font-family:"Courier New";color:#303336">possible missing firmware /lib/firmware/i915/bxt_guc_ver8_7.bin for module i915</span><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-size:10.0pt;font-family:"Courier New";color:#303336"><br>
<br>
</span><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;background:white">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><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"><o:p> </o:p></span></p>
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<pre style="background:#EFF0F1;max-height: 600px;border-radius: 3px;overflow:auto"><code><span style="color:#303336;background:#EFF0F1">sudo update-initramfs -u</span></code><span style="font-family:Consolas;color:#393318;background:white"><o:p></o:p></span></pre>
<p class="MsoNormal"><span style="font-family:"Calibri",sans-serif;color:black;background:white">I then recompiled both the RT kernel and etherlab libs, but except for the disappeared warnings, nothing changed.</span><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"><o:p> </o:p></span></p>
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<p class="MsoNormal"><span style="font-family:"Calibri",sans-serif;color:black">The video card I'm mounting is the following:<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-size:10.0pt;font-family:"Courier New";color:#303336">$ lshw -C video</span><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-size:10.0pt;font-family:"Courier New";color:#303336"> *-display
</span><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-size:10.0pt;font-family:"Courier New";color:#303336"> description: VGA compatible controller</span><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-size:10.0pt;font-family:"Courier New";color:#303336"> product: HD Graphics 620</span><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-size:10.0pt;font-family:"Courier New";color:#303336"> vendor: Intel Corporation</span><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-size:10.0pt;font-family:"Courier New";color:#303336"> physical id: 2</span><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-size:10.0pt;font-family:"Courier New";color:#303336"> bus info:
<a href="mailto:pci@0000:00:02.0">pci@0000:00:02.0</a></span><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-size:10.0pt;font-family:"Courier New";color:#303336"> version: 02</span><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-size:10.0pt;font-family:"Courier New";color:#303336"> width: 64 bits</span><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-size:10.0pt;font-family:"Courier New";color:#303336"> clock: 33MHz</span><span style="font-family:"Calibri",sans-serif;color:black"><o:p></o:p></span></p>
</div>
<div>
<p class="MsoNormal"><span style="font-size:10.0pt;font-family:"Courier New";color:#303336"> capabilities: pciexpress msi pm vga_controller bus_master cap_list rom</span><span style="font-family:"Calibri",sans-serif;color:black"><o:p></o:p></span></p>
</div>
<div>
<p class="MsoNormal"><span style="font-size:10.0pt;font-family:"Courier New";color:#303336"> configuration: driver=i915 latency=0</span><span style="font-family:"Calibri",sans-serif;color:black"><o:p></o:p></span></p>
</div>
<div>
<p class="MsoNormal"><span style="font-size:10.0pt;font-family:"Courier New";color:#303336"> resources: irq:280 memory:de000000-deffffff memory:b0000000-bfffffff ioport:f000(size=64) memory:c0000-dffff</span><span style="font-family:"Calibri",sans-serif;color:black"><o:p></o:p></span></p>
</div>
<p class="MsoNormal"><span style="font-family:"Calibri",sans-serif;color:black"><o:p> </o:p></span></p>
</div>
<div>
<p class="MsoNormal"><span style="font-family:"Calibri",sans-serif;color:black">I've tried to stress both CPU <o:p></o:p></span></p>
</div>
<div>
<p class="MsoNormal"><span style="font-family:"Calibri",sans-serif;color:black"><o:p> </o:p></span></p>
</div>
<div>
<p class="MsoNormal"><span style="font-size:10.0pt;font-family:"Courier New";color:#303336">$ stress --cpu `nproc` --vm `nproc` --vm-bytes 1GB --io `nproc` --hdd `nproc` --hdd-bytes 1GB --timeout 60s</span><span style="font-family:"Calibri",sans-serif;color:black"><o:p></o:p></span></p>
<div>
<p class="MsoNormal"><span style="font-size:10.0pt;font-family:"Courier New";color:#303336">stress: info: [6624] dispatching hogs: 4 cpu, 4 io, 4 vm, 4 hdd</span><span style="font-family:"Calibri",sans-serif;color:black"><o:p></o:p></span></p>
</div>
<div>
<p class="MsoNormal"><span style="font-size:10.0pt;font-family:"Courier New";color:#303336">stress: info: [6624] successful run completed in 60s</span><span style="font-family:"Calibri",sans-serif;color:black"><o:p></o:p></span></p>
</div>
<div>
<p class="MsoNormal"><span style="font-family:"Calibri",sans-serif;color:black"><o:p> </o:p></span></p>
</div>
<p class="MsoNormal"><span style="font-family:"Calibri",sans-serif;color:black">and video card <o:p></o:p></span></p>
</div>
<div>
<p class="MsoNormal"><span style="font-family:"Calibri",sans-serif;color:black"><o:p> </o:p></span></p>
</div>
<div>
<p class="MsoNormal"><span style="font-size:10.0pt;font-family:"Courier New";color:#303336">$ glmark2
</span><span style="font-family:"Calibri",sans-serif;color:black"><o:p></o:p></span></p>
<div>
<p class="MsoNormal"><span style="font-size:10.0pt;font-family:"Courier New";color:#303336">=======================================================</span><span style="font-family:"Calibri",sans-serif;color:black"><o:p></o:p></span></p>
</div>
<div>
<p class="MsoNormal"><span style="font-size:10.0pt;font-family:"Courier New";color:#303336"> glmark2 2014.03+git20150611.fa71af2d</span><span style="font-family:"Calibri",sans-serif;color:black"><o:p></o:p></span></p>
</div>
<div>
<p class="MsoNormal"><span style="font-size:10.0pt;font-family:"Courier New";color:#303336">=======================================================</span><span style="font-family:"Calibri",sans-serif;color:black"><o:p></o:p></span></p>
</div>
<div>
<p class="MsoNormal"><span style="font-size:10.0pt;font-family:"Courier New";color:#303336"> OpenGL Information</span><span style="font-family:"Calibri",sans-serif;color:black"><o:p></o:p></span></p>
</div>
<div>
<p class="MsoNormal"><span style="font-size:10.0pt;font-family:"Courier New";color:#303336"> GL_VENDOR: Intel Open Source Technology Center</span><span style="font-family:"Calibri",sans-serif;color:black"><o:p></o:p></span></p>
</div>
<div>
<p class="MsoNormal"><span style="font-size:10.0pt;font-family:"Courier New";color:#303336"> GL_RENDERER: Mesa DRI Intel(R) HD Graphics 620 (Kaby Lake GT2)
</span><span style="font-family:"Calibri",sans-serif;color:black"><o:p></o:p></span></p>
</div>
<div>
<p class="MsoNormal"><span style="font-size:10.0pt;font-family:"Courier New";color:#303336"> GL_VERSION: 3.0 Mesa 18.0.5</span><span style="font-family:"Calibri",sans-serif;color:black"><o:p></o:p></span></p>
</div>
<div>
<p class="MsoNormal"><span style="font-size:10.0pt;font-family:"Courier New";color:#303336">=======================================================</span><span style="font-family:"Calibri",sans-serif;color:black"><o:p></o:p></span></p>
</div>
<div>
<p class="MsoNormal"><span style="font-size:10.0pt;font-family:"Courier New";color:#303336">[build] use-vbo=false: FPS: 1392 FrameTime: 0.718 ms</span><span style="font-family:"Calibri",sans-serif;color:black"><o:p></o:p></span></p>
</div>
<div>
<p class="MsoNormal"><span style="font-size:10.0pt;font-family:"Courier New";color:#303336">[build] use-vbo=true: FPS: 1494 FrameTime: 0.669 ms</span><span style="font-family:"Calibri",sans-serif;color:black"><o:p></o:p></span></p>
</div>
<div>
<p class="MsoNormal"><span style="font-size:10.0pt;font-family:"Courier New";color:#303336">[texture] texture-filter=nearest: FPS: 1220 FrameTime: 0.820 ms</span><span style="font-family:"Calibri",sans-serif;color:black"><o:p></o:p></span></p>
</div>
<div>
<p class="MsoNormal"><span style="font-size:10.0pt;font-family:"Courier New";color:#303336">[texture] texture-filter=linear: FPS: 1370 FrameTime: 0.730 ms</span><span style="font-family:"Calibri",sans-serif;color:black"><o:p></o:p></span></p>
</div>
<div>
<p class="MsoNormal"><span style="font-size:10.0pt;font-family:"Courier New";color:#303336">[texture] texture-filter=mipmap: FPS: 1379 FrameTime: 0.725 ms</span><span style="font-family:"Calibri",sans-serif;color:black"><o:p></o:p></span></p>
</div>
<div>
<p class="MsoNormal"><span style="font-size:10.0pt;font-family:"Courier New";color:#303336">[shading] shading=gouraud: FPS: 1352 FrameTime: 0.740 ms</span><span style="font-family:"Calibri",sans-serif;color:black"><o:p></o:p></span></p>
</div>
<div>
<p class="MsoNormal"><span style="font-size:10.0pt;font-family:"Courier New";color:#303336">[shading] shading=blinn-phong-inf: FPS: 1356 FrameTime: 0.737 ms</span><span style="font-family:"Calibri",sans-serif;color:black"><o:p></o:p></span></p>
</div>
<div>
<p class="MsoNormal"><span style="font-size:10.0pt;font-family:"Courier New";color:#303336">[shading] shading=phong: FPS: 1334 FrameTime: 0.750 ms</span><span style="font-family:"Calibri",sans-serif;color:black"><o:p></o:p></span></p>
</div>
<div>
<p class="MsoNormal"><span style="font-size:10.0pt;font-family:"Courier New";color:#303336">[shading] shading=cel: FPS: 1365 FrameTime: 0.733 ms</span><span style="font-family:"Calibri",sans-serif;color:black"><o:p></o:p></span></p>
</div>
<div>
<p class="MsoNormal"><span style="font-size:10.0pt;font-family:"Courier New";color:#303336">[bump] bump-render=high-poly: FPS: 1004 FrameTime: 0.996 ms</span><span style="font-family:"Calibri",sans-serif;color:black"><o:p></o:p></span></p>
</div>
<div>
<p class="MsoNormal"><span style="font-size:10.0pt;font-family:"Courier New";color:#303336">[bump] bump-render=normals: FPS: 1474 FrameTime: 0.678 ms</span><span style="font-family:"Calibri",sans-serif;color:black"><o:p></o:p></span></p>
</div>
<div>
<p class="MsoNormal"><span style="font-size:10.0pt;font-family:"Courier New";color:#303336">[bump] bump-render=height: FPS: 1496 FrameTime: 0.668 ms</span><span style="font-family:"Calibri",sans-serif;color:black"><o:p></o:p></span></p>
</div>
<div>
<p class="MsoNormal"><span style="font-size:10.0pt;font-family:"Courier New";color:#303336">[effect2d] kernel=0,1,0;1,-4,1;0,1,0;: FPS: 1141 FrameTime: 0.876 ms</span><span style="font-family:"Calibri",sans-serif;color:black"><o:p></o:p></span></p>
</div>
<div>
<p class="MsoNormal"><span style="font-size:10.0pt;font-family:"Courier New";color:#303336">[effect2d] kernel=1,1,1,1,1;1,1,1,1,1;1,1,1,1,1;: FPS: 847 FrameTime: 1.181 ms</span><span style="font-family:"Calibri",sans-serif;color:black"><o:p></o:p></span></p>
</div>
<div>
<p class="MsoNormal"><span style="font-size:10.0pt;font-family:"Courier New";color:#303336">[pulsar] light=false:quads=5:texture=false: FPS: 1543 FrameTime: 0.648 ms</span><span style="font-family:"Calibri",sans-serif;color:black"><o:p></o:p></span></p>
</div>
<div>
<p class="MsoNormal"><span style="font-size:10.0pt;font-family:"Courier New";color:#303336">[desktop] blur-radius=5:effect=blur:passes=1:separable=true:windows=4: FPS: 670 FrameTime: 1.493 ms</span><span style="font-family:"Calibri",sans-serif;color:black"><o:p></o:p></span></p>
</div>
<div>
<p class="MsoNormal"><span style="font-size:10.0pt;font-family:"Courier New";color:#303336">[desktop] effect=shadow:windows=4: FPS: 891 FrameTime: 1.122 ms</span><span style="font-family:"Calibri",sans-serif;color:black"><o:p></o:p></span></p>
</div>
<div>
<p class="MsoNormal"><span style="font-size:10.0pt;font-family:"Courier New";color:#303336">[buffer] columns=200:interleave=false:update-dispersion=0.9:update-fraction=0.5:update-method=map: FPS: 638 FrameTime: 1.567 ms</span><span style="font-family:"Calibri",sans-serif;color:black"><o:p></o:p></span></p>
</div>
<div>
<p class="MsoNormal"><span style="font-size:10.0pt;font-family:"Courier New";color:#303336">[buffer] columns=200:interleave=false:update-dispersion=0.9:update-fraction=0.5:update-method=subdata: FPS: 493 FrameTime: 2.028 ms</span><span style="font-family:"Calibri",sans-serif;color:black"><o:p></o:p></span></p>
</div>
<div>
<p class="MsoNormal"><span style="font-size:10.0pt;font-family:"Courier New";color:#303336">[buffer] columns=200:interleave=true:update-dispersion=0.9:update-fraction=0.5:update-method=map: FPS: 690 FrameTime: 1.449 ms</span><span style="font-family:"Calibri",sans-serif;color:black"><o:p></o:p></span></p>
</div>
<div>
<p class="MsoNormal"><span style="font-size:10.0pt;font-family:"Courier New";color:#303336">[ideas] speed=duration: FPS: 1265 FrameTime: 0.791 ms</span><span style="font-family:"Calibri",sans-serif;color:black"><o:p></o:p></span></p>
</div>
<div>
<p class="MsoNormal"><span style="font-size:10.0pt;font-family:"Courier New";color:#303336">[jellyfish] <default>: FPS: 1258 FrameTime: 0.795 ms</span><span style="font-family:"Calibri",sans-serif;color:black"><o:p></o:p></span></p>
</div>
<div>
<p class="MsoNormal"><span style="font-size:10.0pt;font-family:"Courier New";color:#303336">[terrain] <default>: FPS: 189 FrameTime: 5.291 ms</span><span style="font-family:"Calibri",sans-serif;color:black"><o:p></o:p></span></p>
</div>
<div>
<p class="MsoNormal"><span style="font-size:10.0pt;font-family:"Courier New";color:#303336">[shadow] <default>: FPS: 982 FrameTime: 1.018 ms</span><span style="font-family:"Calibri",sans-serif;color:black"><o:p></o:p></span></p>
</div>
<div>
<p class="MsoNormal"><span style="font-size:10.0pt;font-family:"Courier New";color:#303336">[refract] <default>: FPS: 360 FrameTime: 2.778 ms</span><span style="font-family:"Calibri",sans-serif;color:black"><o:p></o:p></span></p>
</div>
<div>
<p class="MsoNormal"><span style="font-size:10.0pt;font-family:"Courier New";color:#303336">[conditionals] fragment-steps=0:vertex-steps=0: FPS: 1339 FrameTime: 0.747 ms</span><span style="font-family:"Calibri",sans-serif;color:black"><o:p></o:p></span></p>
</div>
<div>
<p class="MsoNormal"><span style="font-size:10.0pt;font-family:"Courier New";color:#303336">[conditionals] fragment-steps=5:vertex-steps=0: FPS: 1337 FrameTime: 0.748 ms</span><span style="font-family:"Calibri",sans-serif;color:black"><o:p></o:p></span></p>
</div>
<div>
<p class="MsoNormal"><span style="font-size:10.0pt;font-family:"Courier New";color:#303336">[conditionals] fragment-steps=0:vertex-steps=5: FPS: 1329 FrameTime: 0.752 ms</span><span style="font-family:"Calibri",sans-serif;color:black"><o:p></o:p></span></p>
</div>
<div>
<p class="MsoNormal"><span style="font-size:10.0pt;font-family:"Courier New";color:#303336">[function] fragment-complexity=low:fragment-steps=5: FPS: 1343 FrameTime: 0.745 ms</span><span style="font-family:"Calibri",sans-serif;color:black"><o:p></o:p></span></p>
</div>
<div>
<p class="MsoNormal"><span style="font-size:10.0pt;font-family:"Courier New";color:#303336">[function] fragment-complexity=medium:fragment-steps=5: FPS: 1343 FrameTime: 0.745 ms</span><span style="font-family:"Calibri",sans-serif;color:black"><o:p></o:p></span></p>
</div>
<div>
<p class="MsoNormal"><span style="font-size:10.0pt;font-family:"Courier New";color:#303336">[loop] fragment-loop=false:fragment-steps=5:vertex-steps=5: FPS: 1315 FrameTime: 0.760 ms</span><span style="font-family:"Calibri",sans-serif;color:black"><o:p></o:p></span></p>
</div>
<div>
<p class="MsoNormal"><span style="font-size:10.0pt;font-family:"Courier New";color:#303336">[loop] fragment-steps=5:fragment-uniform=false:vertex-steps=5: FPS: 1221 FrameTime: 0.819 ms</span><span style="font-family:"Calibri",sans-serif;color:black"><o:p></o:p></span></p>
</div>
<div>
<p class="MsoNormal"><span style="font-size:10.0pt;font-family:"Courier New";color:#303336">[loop] fragment-steps=5:fragment-uniform=true:vertex-steps=5: FPS: 1275 FrameTime: 0.784 ms</span><span style="font-family:"Calibri",sans-serif;color:black"><o:p></o:p></span></p>
</div>
<div>
<p class="MsoNormal"><span style="font-size:10.0pt;font-family:"Courier New";color:#303336">=======================================================</span><span style="font-family:"Calibri",sans-serif;color:black"><o:p></o:p></span></p>
</div>
<div>
<p class="MsoNormal"><span style="font-size:10.0pt;font-family:"Courier New";color:#303336"> glmark2 Score: 1142
</span><span style="font-family:"Calibri",sans-serif;color:black"><o:p></o:p></span></p>
</div>
<div>
<p class="MsoNormal"><span style="font-size:10.0pt;font-family:"Courier New";color:#303336">=======================================================</span><span style="font-family:"Calibri",sans-serif;color:black"><o:p></o:p></span></p>
</div>
<p class="MsoNormal"><span style="font-family:"Calibri",sans-serif;color:black"><o:p> </o:p></span></p>
</div>
<div>
<p class="MsoNormal"><span style="font-family:"Calibri",sans-serif;color:black">and no apparent issues arised.<o:p></o:p></span></p>
</div>
<div>
<p class="MsoNormal"><span style="font-family:"Calibri",sans-serif;color:black"><o:p> </o:p></span></p>
</div>
<div>
<p class="MsoNormal"><span style="font-family:"Calibri",sans-serif;color:black">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.<o:p></o:p></span></p>
</div>
<div>
<p class="MsoNormal"><span style="font-family:"Calibri",sans-serif;color:black">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).<o:p></o:p></span></p>
</div>
<div>
<p class="MsoNormal"><span style="font-family:"Calibri",sans-serif;color:black"><o:p> </o:p></span></p>
</div>
<div>
<p class="MsoNormal"><span style="font-family:"Calibri",sans-serif;color:black">Please let me know if you have any suggestions or need any other information.<o:p></o:p></span></p>
</div>
<div>
<p class="MsoNormal"><span style="font-family:"Calibri",sans-serif;color:black"><o:p> </o:p></span></p>
</div>
<div>
<p class="MsoNormal"><span style="font-family:"Calibri",sans-serif;color:black">Thanks again,<o:p></o:p></span></p>
</div>
<div>
<p class="MsoNormal"><span style="font-family:"Calibri",sans-serif;color:black">Simone<o:p></o:p></span></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>
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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"><o:p></o:p></span></p>
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</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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</span><span style="font-family:"Calibri",sans-serif;color:black"><a href="https://www.unibo.it/sitoweb/simone.comari2"><span style="font-size:10.0pt;font-family:"Segoe UI",sans-serif">https://www.unibo.it/sitoweb/simone.comari2</span></a></span><span style="font-family:"Segoe UI",sans-serif;color:#212121"><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> lunedì 27 maggio 2019 10:57<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>
<o:p></o:p></p>
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<p class="MsoNormal"> <o:p></o:p></p>
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<p class="xmsonormal"><span style="font-size:11.0pt;font-family:"Calibri",sans-serif;color:#1F497D">Hi Simone,
</span><o:p></o:p></p>
<p class="xmsonormal"><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><o:p></o:p></p>
<p class="xmsonormal"><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><o:p></o:p></p>
<p class="xmsonormal"><span style="font-size:11.0pt;font-family:"Calibri",sans-serif;color:#1F497D">BTW what videocard do you have?</span><o:p></o:p></p>
<p class="xmsonormal"><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><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"> Simone Comari [<a href="mailto:simone.comari2@unibo.it">mailto:simone.comari2@unibo.it</a>]
<br>
<b>Inviato:</b> giovedì 23 maggio 2019 12:51<br>
<b>A:</b> Viola Roberto <<a href="mailto:roberto.viola@systemceramics.com">roberto.viola@systemceramics.com</a>>;
<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><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 Roberto,</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">First of all, thank you for your quick response.
</span><o:p></o:p></p>
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<p class="xmsonormal"><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><o:p></o:p></p>
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<ol style="margin-top:0cm" start="1" type="1">
<li class="MsoNormal" style="color:black;mso-list:l1 level1 lfo1"><span style="font-family:"Calibri",sans-serif">Boot up</span><o:p></o:p></li><li class="MsoNormal" style="color:black;mso-list:l1 level1 lfo1"><span style="font-family:"Calibri",sans-serif">Application launch (successful ethercat network setup) through Qt IDE</span><o:p></o:p></li><li class="MsoNormal" style="color:black;mso-list:l1 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</span><o:p></o:p></li><li class="MsoNormal" style="color:black;mso-list:l1 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)</span><o:p></o:p></li><li class="MsoNormal" style="color:black;mso-list:l1 level1 lfo1"><span style="font-family:"Calibri",sans-serif">Hard shut-down of the "frozen" system</span><o:p></o:p></li></ol>
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<p class="xmsonormal"><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><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">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><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">Thanks again.</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 class="MsoNormal">Technical Dept<o:p></o:p></p>
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<p class="MsoNormal"><span style="font-size:7.5pt">+39 0536836680 <o:p></o:p></span></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:
</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>
</span><span style="font-size:10.0pt;font-family:"Segoe UI",sans-serif;color:#212121">Websites:</span><span style="font-family:"Segoe UI",sans-serif;color:#212121"><br>
</span><span style="font-family:"Calibri",sans-serif;color:black"><a href="https://www.unibo.it/sitoweb/simone.comari2"><span style="font-size:10.0pt;font-family:"Segoe UI",sans-serif">https://www.unibo.it/sitoweb/simone.comari2</span></a></span><span style="font-family:"Segoe UI",sans-serif;color:#212121"><br>
</span><span style="font-family:"Calibri",sans-serif;color:black"><a href="http://grab.diem.unibo.it/" target="_blank"><span style="font-size:10.0pt;font-family:"Segoe UI",sans-serif">http://grab.diem.unibo.it</span></a></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;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>
<o:p></o:p></p>
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<p class="xmsonormal"> <o:p></o:p></p>
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<p class="xxmsonormal"><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="xxmsonormal"><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="xxmsonormal"><span style="font-size:11.0pt;font-family:"Calibri",sans-serif;color:#1F497D">R.</span><o:p></o:p></p>
<p class="xxmsonormal"><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="xxmsonormal"><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="xxmsonormal"> <o:p></o:p></p>
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<p class="xxmsonormal"><span style="font-family:"Calibri",sans-serif;color:black">Hi all,</span><o:p></o:p></p>
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<p class="xxmsonormal"><span style="font-family:"Calibri",sans-serif;color:black"> </span><o:p></o:p></p>
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<p class="xxmsonormal"><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="xxmsonormal"><span style="font-family:"Calibri",sans-serif;color:black"><br>
First, I'll try to describe my setup:</span><o:p></o:p></p>
<ul style="margin-top:0cm" type="disc">
<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="xxmsonormal"><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:l2 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:l2 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:l2 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:l2 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:l2 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:l2 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="xxmsonormal"><span style="font-family:"Calibri",sans-serif;color:black">Problem description:</span><o:p></o:p></p>
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<ul style="margin-top:0cm" type="disc">
<li class="MsoNormal" style="color:black;mso-list:l0 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:l0 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:l0 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:l0 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="xxmsonormal"><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="xxmsonormal"><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="xxmsonormal"><span style="font-family:"Calibri",sans-serif;color:black"> </span><o:p></o:p></p>
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<p class="xxmsonormal"><span style="font-family:"Calibri",sans-serif;color:black">Best regards,</span><o:p></o:p></p>
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<p class="xxmsonormal"><span style="font-family:"Calibri",sans-serif;color:black">Simone</span><o:p></o:p></p>
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<p class="xmsonormal"><span style="color:#0093D3">Roberto Viola</span><o:p></o:p></p>
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<p class="xmsonormal">Technical Dept<o:p></o:p></p>
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<p class="xmsonormal"><span style="font-size:7.5pt">+39 0536836680 </span><o:p></o:p></p>
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<p class="xmsonormal"><span style="font-size:10.0pt;font-family:"Arial",sans-serif">Via Ghiarola Vecchia, 73</span><o:p></o:p></p>
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<p class="xmsonormal"><span style="font-size:10.0pt;font-family:"Arial",sans-serif">41042 Fiorano (Mo) ITALY</span><o:p></o:p></p>
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<p class="xmsonormal"><span style="font-size:10.0pt;font-family:"Arial",sans-serif">+39 0536 836111</span><o:p></o:p></p>
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<p class="xmsonormal"><span style="font-size:10.0pt;font-family:"Arial",sans-serif"><a href="mailto:info@system-electronics.it" title="">info@system-electronics.it</a></span><o:p></o:p></p>
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<p class="xmsonormal"><span style="font-size:10.0pt;font-family:"Arial",sans-serif"><a href="http://www.system-electronics.it" title="">www.system-electronics.it</a></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>
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</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>
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