[Xenomai] What is the main() thread before you call rt_task_shadow()?

Philippe Gerum rpm at xenomai.org
Sun Jun 11 16:38:51 CEST 2017

On 06/11/2017 04:18 AM, Giulio Moro wrote:
> Giulio Moro wrote:
>>> A side note: it seems that calling `rt_task_bind()` causes a switch to secondary mode, as I see the MSW counter increasing for every call to it.
> Philippe Gerum wrote:
>> This should not be the case in x3; you may want to run the app over gdb,
>> enabling the T_WARNSW flag at task creation, so that a signal will be
>> sent to the process when a mode switch happens. Inspecting the stack
>> backtrace should give us a hint about the code causing such switch.
> as it turns out, if I call rt_task_shadow() before the loop where I repeatedly call rt_task_bind(), then the mode switches go away.
> The description of the --main-prio command line option (http://xenomai.org/2015/05/application-setup-and-init/#Standard_Xenomai_command_line_options) says
> "When xenomai_init() is called for bootstrapping the real-time services for the current process, the calling context is automatically turned into a Xenomai thread, managed by the Cobalt kernel."
> I assumed that this would be equivalent to a call to `rt_task_shadow()` and that such an explicit call is not needed, given that the process already shows up in /proc/xenomai/sched/stat.
> Instead, as I found out above, this is not the case.
> So my question is: what kind of task is the main thread after bootstrap (and thus after the call to xenomai_init()), but before the call to rt_task_shadow()?

By default, this is a task bound to the Cobalt core with a zero priority
(SCHED_OTHER,0), which means that it can request services to Cobalt, but
does not compete with actual real-time threads. As a consequence, such
thread will switch to primary mode when issuing a Cobalt service which
requires it (such as one called by rt_task_bind()), then switch back to
secondary mode automatically when leaving the Cobalt syscall.

This explains the MSW increase when calling rt_task_bind() over the
default main() thread, which stops when making it a real-time thread via


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