[Xenomai] ERROR:rt_task_create failed: Operation not permitted

[Marco Várzea]

Hi,

Are you running your application has root? If not you should take a look at
the following:

http://xenomai.org/2014/06/running-a-xenomai-application-as-a-regular-user/

Best Regards
Marco Várzea

2015-12-31 8:01 GMT+00:00 jj subot <suprbot2015 at gmail.com>:

> Hi,
>
> Happy new year!
>
> I'm a newbie to xenomai and linux, so Help!
>
> I  build the xenomai environment on raspberry 2:
>
> xenomai 3+ raspbian linux 3.18.20
>
> and then i build my test programe, i just try to create a rt task like
> this:
>
>
> main.cpp:
>
>
> /****************************************************************************/
> #include <errno.h>
> #include <signal.h>
> #include <stdio.h>
> #include <string.h>
> #include <stdbool.h>
> #include <math.h>
>
> #include <rtdm/rtdm.h>
> #include <alchemy/sem.h>
> #include <alchemy/mutex.h>
> #include <alchemy/timer.h>
>
> //cobalt
> #include <sys/mman.h>
> #include <unistd.h>
>
> //trank
> #include <trank/native/task.h>
> #include <trank/rtdk.h>
>
> #include <pthread.h>
>
> RT_TASK my_task;
>
> static int run = 1;
>
>
> /****************************************************************************/
>
> void my_task_proc(void *arg)
> {
>    rt_task_set_periodic(NULL, TM_NOW, 1000000*10); // ns  10ms
>
>    while(run);
> }
>
>
>
> /****************************************************************************
>  * Signal handler
>
>  ***************************************************************************/
>
> void signal_handler(int sig)
> {
>     run = 0;
> }
>
>
>
> /****************************************************************************
>  * Main function
>
>  ***************************************************************************/
>
> int main(int argc, char *argv[])
> {
>     int ret;
>
>     /* Perform auto-init of rt_print buffers if the task doesn't do so */
>     rt_print_auto_init(1);
>
>     signal(SIGTERM, signal_handler);
>     signal(SIGINT, signal_handler);
>
>     mlockall(MCL_CURRENT | MCL_FUTURE);
>
>     ret = rt_task_create(&my_task, "my_task", 0, 80, T_FPU);
>     if (ret < 0) {
>         fprintf(stderr, "Failed to create task: %s\n", strerror(-ret));
>         return -1;
>     }
>
>     printf("Starting my_task...\n");
>     ret = rt_task_start(&my_task, &my_task_proc, NULL);
>     if (ret < 0) {
>         fprintf(stderr, "Failed to start task: %s\n", strerror(-ret));
>         return -1;
>     }
>
>     while (run) {
>         sched_yield();
>     }
>
>     printf("Deleting realtime task...\n");
>     rt_task_delete(&my_task);
>
>     return 0;
> }
>
>
> /****************************************************************************/
>
> CmakeLists：
>
> INCLUDE_DIRECTORIES(/usr/xenomai/include /usr/xenomai/include/xenomai
> /usr/xenomai/include/cobalt /opt/etherlab/include)
> LINK_DIRECTORIES(/usr/xenomai/lib)
> ADD_EXECUTABLE(ecat_t1 main.cpp)
> TARGET_LINK_LIBRARIES(ecat_t1 rt cobalt copperplate alchemy trank pthread)
>
> When i run it,
> Failed to create task: Operation not permitted
> WHY!
> HELP~
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>