Debian 12 RTAI

john@rtai:/usr/realtime-5.4.258-rtai-amd64/testsuite$ pwd
/usr/realtime-5.4.258-rtai-amd64/testsuite
john@rtai:/usr/realtime-5.4.258-rtai-amd64/testsuite$ sudo /usr/realtime-5.4.258-rtai-amd64/testsuite/display
[sudo] password for john:
CANNOT FIND MAILBOX
john@rtai:/usr/realtime-5.4.258-rtai-amd64/testsuite$ sudo /usr/realtime-5.4.258-rtai-amd64/testsuite/latency
CANNOT CREATE MAILBOX
john@rtai:/usr/realtime-5.4.258-rtai-amd64/testsuite$ sudo /usr/realtime-5.4.258-rtai-amd64/testsuite/run
.runinfo is /usr/realtime-5.4.258-rtai-amd64/testsuite/.runinfo
RTAI loaded.
Unloading modules...
Running rmmod on /usr/realtime-5.4.258-rtai-amd64/testsuite/.runinfo...
rmmod: ERROR: Module rtai_msg is not currently loaded
rmmod: ERROR: Module rtai_mbx is not currently loaded
rmmod: ERROR: Module rtai_sched is in use by: rtapi
rmmod: ERROR: Module rtai_hal is in use by: rtapi rtai_sched
All RTAI modules unloaded.
Running insmod on /usr/realtime-5.4.258-rtai-amd64/testsuite/.runinfo...
insmod: ERROR: could not insert module /usr/realtime-5.4.258-rtai-amd64/modules/rtai_hal.ko: File exists
Error inserting rtai_hal.ko
CANNOT CREATE MAILBOX
CANNOT FIND MAILBOX
Cleaning up...
rmmod: ERROR: Module rtai_msg is not currently loaded
Error removing rtai_msg.ko

john@rtai:/usr/realtime-5.4.258-rtai-amd64/testsuite$ halrun -U
ERROR:  Can't remove RTAI modules, kill the following process(es) first
                     USER        PID ACCESS COMMAND
/dev/rtai_shm:       john       1106 ....m halcmd

john@rtai:~$ halrun
halcmd: loadrt trivkins coordinates=XYZ
halcmd: loadrt motmod base_period_nsec=100000 servo_period_nsec=1000000 num_joints=3
insmod: ERROR: could not insert module /usr/realtime-5.4.258-rtai-amd64/modules/linuxcnc/motmod.ko: Unknown symbol in module
<stdin>:2: exit value: 1
<stdin>:2: insmod for motmod failed, returned -1
See the output of 'dmesg' for more information.
halcmd: 

Print file information:
RUN_IN_PLACE=no
LINUXCNC_DIR=
LINUXCNC_BIN_DIR=/usr/bin
LINUXCNC_TCL_DIR=/usr/lib/tcltk/linuxcnc
LINUXCNC_SCRIPT_DIR=
LINUXCNC_RTLIB_DIR=/usr/realtime-5.4.258-rtai-amd64/modules/linuxcnc
LINUXCNC_CONFIG_DIR=
LINUXCNC_LANG_DIR=/usr/lib/tcltk/linuxcnc/msgs
INIVAR=inivar
HALCMD=halcmd
LINUXCNC_EMCSH=/usr/bin/wish8.6
LINUXCNC - 2.9.2
Machine configuration directory is '/home/john/linuxcnc/configs/my-mill'
Machine configuration file is 'my-mill.ini'
INIFILE=/home/john/linuxcnc/configs/my-mill/my-mill.ini
VERSION=1.1
PARAMETER_FILE=linuxcnc.var
TPMOD=
HOMEMOD=
TASK=milltask
HALUI=
DISPLAY=axis
COORDINATES=X Y Z
KINEMATICS=trivkins coordinates=XYZ
Starting LinuxCNC...
Starting LinuxCNC server program: linuxcncsvr
Loading Real Time OS, RTAPI, and HAL_LIB modules
Starting LinuxCNC IO program: io
linuxcnc TPMOD=tpmod HOMEMOD=homemod EMCMOT=motmod
Found file(REL): ./my-mill.hal
Found file(REL): ./custom.hal
Starting TASK program: milltask
Starting DISPLAY program: axis
libnml/buffer/shmem.cc 507: SHMEM: Can't take semaphore

**********************************************************
* Current Directory = /home/john/linuxcnc/configs/my-mill
* 
**********************************************************
* BufferName = toolSts
* BufferType = 0
* ProcessName = emc
* Configuration File = /usr/share/linuxcnc/linuxcnc.nml
* CMS Status = -1 (CMS_MISC_ERROR:   A miscellaneous  error occurred.)
* Recent errors repeated:

SHMEM: Can't take semaphore



* BufferLine: B toolSts               SHMEM   localhost       1024    0       0       5       16 1005 TCP=5005 xdr
* ProcessLine: P emc           toolSts         LOCAL   localhost       R       0       1.0     0       0
* error_type = 5 (NML_INTERNAL_CMS_ERROR)
************************************************************

Shutting down and cleaning up LinuxCNC...
task: 4249 cycles, min=0.000005, max=0.077609, avg=0.010031, 0 latency excursions (> 10x expected cycle time of 0.010000s)
Removing HAL_LIB, RTAPI, and Real Time OS modules
Removing NML shared memory segments

Debug file information:
link (updating variable file): No such file or directory
note: MAXV     max: 1.000 units/sec 60.000 units/min
note: LJOG     max: 1.000 units/sec 60.000 units/min
note: LJOG default: 0.100 units/sec 6.000 units/min
note: jog_order='XYZ'
note: jog_invert=set()
/usr/bin/linuxcnc: line 977:  1788 Segmentation fault      $EMCDISPLAY -ini "$INIFILE" $EMCDISPLAYARGS $EXTRA_ARGS
1715
Inconsistency detected by ld.so: rtld.c: 1656: dl_main: Assertion `main_map != NULL' failed!
1784
Stopping realtime threads
Unloading hal components

Kernel message information:
[   88.945183] I-pipe: head domain RTAI registered.
[   88.945184] RTAI[hal]: mounted. ISOL_CPUS_MASK: 0.
[   88.945185] SYSINFO - # CPUs: 4, TIMER NAME: 'lapic-deadline', TIMER IRQ: 4355, TIMER FREQ: 474987506, CLOCK NAME: 'tsc', CLOCK FREQ: 3791999000, CPU FREQ: 3791999000, LINUX TIMER IRQ: 4355.
[   88.949322] RTAI[malloc]: global heap size = 2097152 bytes, <BSD>.
[   88.949347] kstacks pool size = 524288 bytes
[   88.949347] RTAI[sched]: hard timer type/freq = lapic-deadline/474987506(Hz)
[   88.949348] linear timed lists.
[   88.949348] RTAI[sched]: Linux timer freq = 250 (Hz), TimeBase freq = 3791999000 hz.
[   88.949349] RTAI[sched]: timer setup = 82 ns, resched latency = 0 ns.
[   88.950696] USERMODE CHECK: OK.
[   88.950697] USERMODE CHECK PROVIDED (ns): KernelLatency 809, UserLatency 1094.
[   88.950698] FINAL CALIBRATION SUMMARY (ns): KernelLatency 809, UserLatency 1094.
[   88.966552] RTAI[math]: loaded integrated musl libm version 1.2.3.
[   89.079357] traps: hal_manualtoolc[1775] general protection fault ip:51710d sp:7ffc0ba72b10 error:0 in python3.11[41f000+2b3000]
[   98.833243] [pango] FcInit[1819]: segfault at 10 ip 00007f14d476e579 sp 00007f14d188bb90 error 4 in libc.so.6[7f14d46fd000+155000]
[   98.833247] Code: 8b 4e 08 49 39 c8 0f 82 7d 03 00 00 48 83 f9 0f 0f 86 73 03 00 00 4c 8b 06 49 83 e0 f8 49 39 c0 0f 85 db 05 00 00 4c 8b 42 18 <49> 3b 50 10 0f 85 fd 04 00 00 4c 39 7a 10 0f 85 f3 04 00 00 f6 c1
[  131.785856] axis[1788]: segfault at 14 ip 00007f0b06c91a50 sp 00007fffbfc57fe0 error 4 in libtcl8.6.so[7f0b06bd8000+143000]
[  131.785862] Code: 66 2e 0f 1f 84 00 00 00 00 00 4d 85 f6 74 b0 41 c7 06 00 00 00 00 eb a7 66 90 48 85 db 0f 84 38 ff ff ff 0f 1f 80 00 00 00 00 <44> 39 6b 10 75 06 4c 39 7b 20 74 d4 48 8b 1b 48 85 db 75 ec e9 18
[  134.163588] RTAI[math]: unloaded.
[  134.226200] SCHED releases registered named ALIEN PEDV$D
[  134.228332] RTAI[malloc]: unloaded.
[  134.338161] RTAI[sched]: unloaded (forced hard/soft/hard transitions: traps 0, syscalls 0).
[  134.355825] I-pipe: head domain RTAI unregistered.
[  134.355829] RTAI[hal]: unmounted.

Print file information:
RUN_IN_PLACE=no
LINUXCNC_DIR=
LINUXCNC_BIN_DIR=/usr/bin
LINUXCNC_TCL_DIR=/usr/lib/tcltk/linuxcnc
LINUXCNC_SCRIPT_DIR=
LINUXCNC_RTLIB_DIR=/usr/realtime-5.4.258-rtai-amd64/modules/linuxcnc
LINUXCNC_CONFIG_DIR=
LINUXCNC_LANG_DIR=/usr/lib/tcltk/linuxcnc/msgs
INIVAR=inivar
HALCMD=halcmd
LINUXCNC_EMCSH=/usr/bin/wish8.6
LINUXCNC - 2.9.2
Machine configuration directory is '/home/john/linuxcnc/configs/my-mill'
Machine configuration file is 'my-mill.ini'
INIFILE=/home/john/linuxcnc/configs/my-mill/my-mill.ini
VERSION=1.1
PARAMETER_FILE=linuxcnc.var
TPMOD=
HOMEMOD=
TASK=milltask
HALUI=
DISPLAY=axis
COORDINATES=X Y Z
KINEMATICS=trivkins coordinates=XYZ
Starting LinuxCNC...
Starting LinuxCNC server program: linuxcncsvr
Loading Real Time OS, RTAPI, and HAL_LIB modules
Starting LinuxCNC IO program: io
linuxcnc TPMOD=tpmod HOMEMOD=homemod EMCMOT=motmod
Found file(REL): ./my-mill.hal
Found file(REL): ./custom.hal
Starting TASK program: milltask
Starting DISPLAY program: axis
Shutting down and cleaning up LinuxCNC...
task: 34 cycles, min=0.000005, max=0.011682, avg=0.005748, 0 latency excursions (> 10x expected cycle time of 0.010000s)
Removing HAL_LIB, RTAPI, and Real Time OS modules
Removing NML shared memory segments

Debug file information:
/usr/bin/linuxcnc: line 977:  2934 Segmentation fault      $EMCDISPLAY -ini "$INIFILE" $EMCDISPLAYARGS $EXTRA_ARGS
2862
2931
Stopping realtime threads
Unloading hal components

Kernel message information:
[  270.856729] I-pipe: head domain RTAI registered.
[  270.856730] RTAI[hal]: mounted. ISOL_CPUS_MASK: 0.
[  270.856732] SYSINFO - # CPUs: 4, TIMER NAME: 'lapic-deadline', TIMER IRQ: 4355, TIMER FREQ: 474987506, CLOCK NAME: 'tsc', CLOCK FREQ: 3791999000, CPU FREQ: 3791999000, LINUX TIMER IRQ: 4355.
[  270.859936] RTAI[malloc]: global heap size = 2097152 bytes, <BSD>.
[  270.859960] kstacks pool size = 524288 bytes
[  270.859960] RTAI[sched]: hard timer type/freq = lapic-deadline/474987506(Hz)
[  270.859961] linear timed lists.
[  270.859961] RTAI[sched]: Linux timer freq = 250 (Hz), TimeBase freq = 3791999000 hz.
[  270.859962] RTAI[sched]: timer setup = 82 ns, resched latency = 0 ns.
[  270.860778] USERMODE CHECK: OK.
[  270.860778] USERMODE CHECK PROVIDED (ns): KernelLatency 809, UserLatency 1094.
[  270.860779] FINAL CALIBRATION SUMMARY (ns): KernelLatency 809, UserLatency 1094.
[  270.867139] RTAI[math]: loaded integrated musl libm version 1.2.3.
[  271.150629] axis[2934]: segfault at 0 ip 00007fbaa6352083 sp 00007ffdc8eb94c0 error 6 in libtcl8.6.so[7fbaa62ad000+143000]
[  271.150634] Code: 8b 5c 24 20 e9 ae fe ff ff 66 0f 1f 44 00 00 48 8b 45 00 0f b6 4a 01 49 83 c6 08 48 83 c2 02 48 8b 40 70 48 8b 04 c8 49 89 06 <83> 00 01 0f b6 02 e9 2e ff ff ff 66 90 49 8b 8c 24 a8 00 00 00 48
[  273.622344] RTAI[math]: unloaded.
[  273.684923] SCHED releases registered named ALIEN PEDV$D
[  273.697002] RTAI[malloc]: unloaded.
[  273.804895] RTAI[sched]: unloaded (forced hard/soft/hard transitions: traps 0, syscalls 0).
[  273.822479] I-pipe: head domain RTAI unregistered.
[  273.822482] RTAI[hal]: unmounted.