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:

sudo modinfo /usr/realtime-5.4.258-rtai-amd64/modules/linuxcnc/motmod.ko [sudo] password for rmurphy: filename: /usr/realtime-5.4.258-rtai-amd64/modules/linuxcnc/motmod.ko license: GPL description: Motion Controller for EMC author: Matt Shaver/John Kasunich depends: homecomp,tpmod,hal_lib,millturn,rtapi,rtai_math name: motmod vermagic: 5.4.258-rtai-amd64 SMP mod_unload parm: key:shared memory key (int) parm: base_period_nsec:fastest thread period (nsecs) (long) parm: base_thread_fp:floating point in base thread? (int) parm: servo_period_nsec:servo thread period (nsecs) (long) parm: traj_period_nsec:trajectory planner period (nsecs) (long) parm: num_spindles:number of spindles (int) parm: num_joints:number of joints used in kinematics (int) parm: num_extrajoints:number of extra joints (not used in kinematics) (int) parm: num_dio:number of digital inputs/outputs (int) parm: names_din:names of digital inputs (array of charp) parm: names_dout:names of digital outputs (array of charp) parm: num_aio:number of analog inputs/outputs (int) parm: names_ain:names of analog inputs (array of charp) parm: names_aout:names of analog outputs (array of charp) parm: num_misc_error:number of misc error inputs (int) parm: names_misc_errors:names of errors (array of charp) parm: unlock_joints_mask:mask to select joints for unlock pins (int)

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.