| [pok-devel] Problem while developping a ARINC653 system for POK without AADL |
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Hello,
I am currently trying an experiment to port a very simple ARINC 653 system of 4
partitions originally running on ARINC 653 system simulator "SIMA" to a POK
environment. My guess was that considering ARINC 653's portability, an
application running on SIMA could easily run on POK (after small modifications
of course).
Since I am not using any AADL model, but instead, an ARINC 653 XML file
describing the system (that is the configuration method under the simulator
SIMA), I used your tool: "misc/arinc653-xml-conf.pl" for the generation of the
deployment.h/.c kernel configuration. After some work, the system is now
building itself successfully.
However, during launch, after QEMU boots the kernel, instead of receiving
outputs of my different partitions on the console screen, I receive a flood of
the following error messages:
********************************************************************************
[KERNEL] Raise exception invalid opcode fault current thread=X
[KERNEL] [WARNING] Error 13 raised by partition Y but no error recovery was set
********************************************************************************
or
********************************************************************************
[KERNEL] Raise exception general protection fault current thread=X
[KERNEL] [WARNING] Error 13 raised by partition Y but no error recovery was set
********************************************************************************
Where 'X' are thread IDs: 0, 4, 8 and 11
and where 'Y' are partition IDs: 0, 1, 2 and 3
After a lot of search, I fail to understand which part of my code is generating
such errors. Just in case some of you have seen this problem before, I am
sharing this with you!
Below, I am including the configuration file of the kernel:
"kernel/deployment.h", and of one of my partition: "client/deployment.h". You
will also find the source code of that partition at the end. Most of my
partitions are alike, and all of them generates the error message, so I don't
think you need all of it.
Thanks for your time (the mail was long!).
Julien Savard
********************************************************************************
$POK_PATH/examples/arinc653-sima/not-generated-code/cpu/kernel/deployment.h
********************************************************************************
#ifndef __POK_ARINC653_GENERATED_CONFIGURATION_H__
#define __POK_ARINC653_GENERATED_CONFIGURATION_H__
#include <core/schedvalues.h>
#define POK_NEEDS_CONSOLE 1
#define POK_NEEDS_ERROR_HANDLING 1
#define POK_NEEDS_DEBUG 1
#define POK_GENERATED_CODE 0
#define POK_NEEDS_GETTICK 1
#define POK_NEEDS_SCHED 1
#define POK_NEEDS_THREADS 1
#define POK_CONFIG_NB_THREADS 16
#define POK_CONFIG_PARTITIONS_NTHREADS {4,4,3,3} //-- Order of partitions:
serveur1, serveur2, serveur3, client
#define POK_NEEDS_PARTITIONS 1
#define POK_CONFIG_NB_PARTITIONS 4
#define POK_CONFIG_PARTITIONS_SIZE {0,0,0,0}
#define POK_NEEDS_SCHED_RR 1
#define POK_CONFIG_PARTITIONS_SCHEDULER
{POK_SCHED_RR,POK_SCHED_RR,POK_SCHED_RR,POK_SCHED_RR}
#define POK_CONFIG_SCHEDULING_MAJOR_FRAME 1333
#define POK_CONFIG_SCHEDULING_NBSLOTS 4
#define POK_CONFIG_SCHEDULING_SLOTS {333,333,333,333}
#define POK_CONFIG_SCHEDULING_SLOTS_ALLOCATION {3,2,1,0}
#define POK_NEEDS_PORTS_QUEUEING 1
#define POK_NEEDS_PORTS_SAMPLING 1
#define POK_CONFIG_NB_PORTS 8
#define POK_CONFIG_NB_GLOBAL_PORTS 8
typedef enum {
DEUX_global=-1,
TROIS_global=-1,
QUATRE_global=-1,
CINQ_global=-1,
SIX_global=-1,
UN_global=-1,
ECH_UN_global=-1,
ECH_DEUX_global=-1
} pok_port_identifier_t;
typedef enum {
DEUX=0,
TROIS=1,
QUATRE=2,
CINQ=3,
SIX=4,
UN=5,
ECH_UN=6,
ECH_DEUX=7,
invalid_local_port = 8
} pok_port_local_identifier_t;
#define POK_CONFIG_PARTITIONS_PORTS {2,2,3,1}
#endif
********************************************************************************
********************************************************************************
********************************************************************************
$POK_PATH/examples/arinc653-sima/not-generated-code/cpu/client/deployment.h
********************************************************************************
#ifndef __DEPLOYMENT_H_
#define __DEPLOYMENT_H_
#define POK_NEEDS_THREADS 1
#define POK_GENERATED_CODE 0
#define POK_NEEDS_ERROR_HANDLING 1
#define POK_NEEDS_ALLOCATOR 1
#define POK_NEEDS_CONSOLE 1
#define POK_CONFIG_NB_THREADS 3
#define POK_CONFIG_STACKS_SIZE 8192
#define POK_NEEDS_ARINC653_TIME 1
#define POK_NEEDS_ARINC653_QUEUEING 1
#define POK_NEEDS_ARINC653_SAMPLING 1
#define POK_NEEDS_PORTS_SAMPLING 1
#define POK_NEEDS_QUEUEING_PORTS 1
#define POK_NEEDS_ARINC653_PROCESS 1
#define POK_NEEDS_ARINC653_ERROR 1
#define POK_NEEDS_ARINC653_PARTITION 1
#define POK_USE_GENERATED_ERROR_HANDLER 1
#endif
********************************************************************************
********************************************************************************
********************************************************************************
$POK_PATH/examples/arinc653-sima/not-generated-code/cpu/client/main.c
********************************************************************************
#include <types.h>
#include <libc/string.h>
#include <libc/stdio.h>
#include <libc/stdlib.h>
#include <arinc653/types.h>
#include "deployment.h"
#include <arinc653/sampling.h>
#include <arinc653/process.h>
#include <arinc653/error.h>
#include <arinc653/partition.h>
#include <arinc653/time.h>
#include <core/error.h>
#include <core/thread.h>
#include <core/partition.h>
SYSTEM_TIME_TYPE WAIT_INTERVAL = 1333;
void pok_error_handler_worker ()
{
ERROR_STATUS_TYPE error_status;
RETURN_CODE_TYPE ret;
while (1)
{
STOP_SELF ();
GET_ERROR_STATUS (&(error_status), &(ret));
switch (error_status.FAILED_PROCESS_ID)
{
case 1:
{
switch (error_status.ERROR_CODE)
{
case DEADLINE_MISSED:
{
pok_thread_restart (1);
break;
}
case APPLICATION_ERROR:
{
pok_error_ignore (APPLICATION_ERROR, 1);
break;
}
case NUMERIC_ERROR:
{
pok_partition_set_mode (POK_PARTITION_MODE_INIT_WARM);
break;
}
case ILLEGAL_REQUEST:
{
pok_partition_set_mode (POK_PARTITION_MODE_STOPPED);
break;
}
case POWER_FAIL:
{
pok_error_ignore (POWER_FAIL, 1);
break;
}
case MEMORY_VIOLATION:
{
pok_thread_restart (1);
break;
}
case HARDWARE_FAULT:
{
pok_thread_restart (1);
break;
}
case STACK_OVERFLOW:
{
pok_thread_restart (1);
break;
}
}
break;
}
}
}
}
void* expediteur()
{
RETURN_CODE_TYPE rc;
QUEUING_PORT_ID_TYPE file;
char msg[1025];
MESSAGE_SIZE_TYPE taille;
int i = 0;
int k=0;
for(k=0; k<1025; k++){
msg[k] = 0;
}
GET_QUEUING_PORT_ID("UN", &file, &rc);
if (rc != NO_ERROR) {
printf("Ne peut recevoir le QUEUING PORT ID: %d\n", rc);
}
while(1) {
strcpy(msg, "Ceci est le message non-numerote");
taille = strlen(msg);
printf("Envoie de '%s'\n", msg);
SEND_QUEUING_MESSAGE(
file,
(MESSAGE_ADDR_TYPE)msg,
taille,
INFINITE_TIME_VALUE,
&rc);
if (rc != NO_ERROR) {
printf("Ne peut envoyer le message: %d, %d, %lld\n",
rc, (int)file, INFINITE_TIME_VALUE);
break;
}
TIMED_WAIT(WAIT_INTERVAL, &rc);
if (rc != NO_ERROR) {
printf("Ne peut attendre: %i\n", rc);
break;
}
}
}
int main ()
{
PROCESS_ATTRIBUTE_TYPE atts;
RETURN_CODE_TYPE rc;
PROCESS_ID_TYPE id1;
QUEUING_PORT_ID_TYPE file;
atts.PERIOD = 1333;
atts.TIME_CAPACITY = INFINITE_TIME_VALUE;
atts.ENTRY_POINT = expediteur;
atts.STACK_SIZE = 1500;
atts.BASE_PRIORITY = 10;
atts.DEADLINE = SOFT;
strcpy(atts.NAME, "UN");
CREATE_PROCESS(&atts, &id1, &rc);
if (rc != NO_ERROR) {
printf("N'a pas pu creer la tache '%s': %d\n", atts.NAME, rc);
}
START(id1, &rc);
if (rc != NO_ERROR) {
printf("N'a pas pu demarrer la tache %ld: %d\n", id1, rc);
}
CREATE_ERROR_HANDLER (pok_error_handler_worker, 8192, &rc);
CREATE_QUEUING_PORT("UN", 1024, 32, SOURCE, FIFO, &file, &rc);
if (rc != NO_ERROR) {
printf("N'a pas pu creer le port de file d'attente: %d\n", rc);
}
SET_PARTITION_MODE(NORMAL, &rc);
if (rc != NO_ERROR) {
printf("N'a pas pu passer en mode NORMAL: %d\n", rc);
}
return NO_ERROR;
}
********************************************************************************
********************************************************************************