Error during compilation inside scicoslab building process of modnum aborted

Hello,

I think I found a bug when using RTSS and RTAI with Scicos. When I try to compile a Scicos diagram with RTSS blocks, ScicosLab is unable to compile the generated code and returns the following error:
«I recovered from the following error:
unix_w: rtmain44.c: In function ‘rtRegisterScope’:                        
in RTAICodeGen_ action.»
When I run the makefile manually the compilation error is always the same and is due to an error in the generated code in the file «.c». At the lines where the dynamics parameters are reported there are carriage returns with wrong «__CONST__» assignements.

The code just below is taken from the part of the code which cause ScicosLab to fail. (I removed the parts of the code which seems to be right)

/* Object parameters declaration */
  /* Routine name of block: rtss_scs_robot_cf4
   * Gui name of block: rt_robot_if
   * Compiled structure index: 1
   */
  __CONST__ double opar_1={-3.1415927,0,0,0,0,0.758,0.1164,-0.0013,0.0149,
  __CONST__   0.0008893,0.0097063,0.0091825,-0.0001221,-0.000011,0.0046667,0.000014,
  __CONST__   78.25,0.03,0,0};

  /* Routine name of block: rtss_scs_gravload_cf4
   * Gui name of block: rt_gravload_if
   * Compiled structure index:

  __CONST__ double opar_8={-3.1415927,0,0,0,0,0.758,0.1164,-0.0013,0.0149,
  __CONST__   0.0008893,0.0097063,0.0091825,-0.0001221,-0.000011,0.0046667,0.000014,
  __CONST__   78.25,0.03,0,0};

Hi,

I’m sorry for the late reply.

I’m really under heavy load right now, and I cannot investigate the problem until the end of the next week. Anyway, can you provide some detail of your configuration? ScicosLab and RTAILab versions in particular (I assume you’re running RTSS-1.0.0b1, not the development (SVN) version…)

Thanks.

Regards,

Matteo

Hi Matteo,

Thank you for your answer.
Indeed I use RTSS-1.0.0b1 and not the SVN version. The version of ScicosLab I use is 4.4.1 and the version of RTAI is 3.8.1.
I have to deal with the same issue with blocks which are not include in the RTSS library when I compile with the rtss_rtai toolchain. It seems it occurs when the parameters of a block is over a given number of characters (which I cannot identify).

I hope my message is clear enough.
Thanks for your help.
Regards,
Olivier

Hi Olivier,

I use RTSS-1.0.0b1 and not the SVN version. The version of ScicosLab I use is 4.4.1

The 1.0.0b1 distrib works with the following configuration: SL-4.3 + RTAI-3.8.1. I have a patch for SL-4.4b7 in the svn version, but I don’t know if it works for SL-4.4.1 as well. Try it by checking it out as:

svn co -r284 https://rtss.svn.sourceforge.net/svnroot/rtss/software/scicoslab/rtss/branches/rel-1.0.x robot

and please let me know if this fixes your issue. If not, I’ll further investigate the problem and I’ll try to release a fix for the next week.

See you soon,

• Matteo

Hi Matteo,

Unfortunately the patch doesn’t seem to work with the version I use.

Thank you for your help.

Olivier

Hi Olivier,

I’m able to reproduce your problem. I’ll further investigate it and I’ll provide a fix in the next few days. Anyway, I have 2 questions for you:

I have to deal with the same issue with blocks which are not include in the RTSS library when I compile with the rtss_rtai toolchain

1. Which are these blocks? Please give me their names.
2. Are you sure that the code generation works if you use the standard rtai toolchain?

Regards,

• Matteo

Hi Matteo,

I reproduced the error with common blocks, it seems that it comes from the scope block. The problem appears even with the rtai toolchain, so I guess RTSS is not involved when using common blocks.
I also notice that it does not occur everytime and I am able to compile within ScicosLab most generally when using common blocks (not from RTSS).

Below is the generated code with RTAI toolchain:

  /* Routine name of block: rtscope
   * Gui name of block: rtai4_scope
   * Compiled structure index: 155
   */
  __CONST__ unsigned char opar_81={101,114,114,111,114,83,97,109,112,108,101,83,
  __CONST__   116,97,116,101,0};
  __CONST__ unsigned char opar_82={101,115,115,49,0};
  __CONST__ unsigned char opar_83={101,115,115,50,0};
  __CONST__ unsigned char opar_84={101,115,115,51,0};
  __CONST__ unsigned char opar_85={101,115,115,52,0};

And the error message from ScicosLab which is similar to the message we can get when compiling with rtss_rtai toolchain :

Executing «ok=compile_standalone();»…  
I recovered from the following error:
unix_w: rtmain44.c: In function ‘rtRegisterScope’:                        
in RTAICodeGen_ action.

When using RTSS blocks the errors appears even if we are not using scope block.

Thank you for your help.

See you soon,
Olivier

Hi Olivier,

In fact, there is a problem in RTAICodeGen_.sci for blocks using the object parameters list (opar). RTSS blocks make an extensive use of the opar attribute, and you can see that rtai4_scope block does use it as well:

/* Routine name of block: rtscope
 * Gui name of block: rtai4_scope
 * Compiled structure index: 155 */
                                                        +-----> opar!
                                                         |
 __CONST__ unsigned char opar_81[]={101,114,114,111,114,83,97,109,112,108,101,83,
 __CONST__ 116,97,116,101,0};

I’ve reported the issue to Roberto Bucher (RTAILab lead developer) and he said he’ll provide a fix in a few days.

In the mean time, you can patch your RTAICodeGen_.sci by replacing lines 2472-2487 with the following code:

for j=1:nopar
  if mat2scs_c_nb(opar(opptr(i)+j-1)) <> 11 then
    Co_body = cformatline(mat2c_typ(opar(opptr(i)+j-1)) +...              // <MM120611>
        ' opar_'+string(opptr(i)+j-1) + '[]={'+...
            strcat(string(opar(opptr(i)+j-1)),',')+'};',70);
    Co_body(1) = '  __CONST__ '+Co_body(1);
    Code_opar =[Code_opar; Co_body]                                       // </MM120611>
  else //** cmplx test
    Co_body = cformatline(mat2c_typ(opar(opptr(i)+j-1)) +...              // <MM120611>
        ' opar_'+string(opptr(i)+j-1) + '[]={'+...
            strcat(string([real(opar(opptr(i)+j-1)(:));
                imag(opar(opptr(i)+j-1)(:))]),',')+'};',70);
    Co_body(1) = '  __CONST__ '+Co_body(1);
    Code_opar =[Code_opar; Co_body]                                       // </MM120611>
  end
end

It does work for me, let me know if it works for you too.

Regards,

• Matteo

Hi Matteo,

Sorry for the late reply.

Unfortunately the patch you suggested does not seem to work for me…
I should probably wait that Roberto Butcher releases the fix and try again. If it still does not work I should consider reinstalling scicoslab.
What do you think ?

Thanks for your help it is very appreciated.

Regards,

Olivier

I should probably wait that Roberto Butcher releases the fix and try again. If it still does not work I should consider reinstalling scicoslab

A better option would be to send me two of your diagrams  (with and without RTSS blocks) which you are unable to generate code from.

You can send them at mmorelli@users.sourceforge.net.

See you soon,

• Matteo