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AP_HAL_SITL: generate a core file for a given PID

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Similarly to dumpstack.sh, uses gdb to dump a core file
This commit is contained in:
Peter Barker 2021-07-06 15:32:25 +10:00 committed by Peter Barker
parent 2f7603e08e
commit 7a9dd8127a
2 changed files with 32 additions and 18 deletions
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2
libraries/AP_HAL_SITL/SITL_cmdline.cpp
View File

@ -53,6 +53,7 @@ static void _sig_fpe(int signum)
{ {
fprintf(stderr, "ERROR: Floating point exception - aborting\n"); fprintf(stderr, "ERROR: Floating point exception - aborting\n");
AP_HAL::dump_stack_trace(); AP_HAL::dump_stack_trace();
AP_HAL::dump_core_file();
abort(); abort();
} }
@ -61,6 +62,7 @@ static void _sig_segv(int signum)
{ {
fprintf(stderr, "ERROR: segmentation fault - aborting\n"); fprintf(stderr, "ERROR: segmentation fault - aborting\n");
AP_HAL::dump_stack_trace(); AP_HAL::dump_stack_trace();
AP_HAL::dump_core_file();
abort(); abort();
} }

48
libraries/AP_HAL_SITL/system.cpp
View File

@ -37,6 +37,7 @@ void panic(const char *errormsg, ...)
printf("\n"); printf("\n");
dump_stack_trace(); dump_stack_trace();
dump_core_file();
if (getenv("SITL_PANIC_EXIT")) { if (getenv("SITL_PANIC_EXIT")) {
// this is used on the autotest server to prevent us waiting // this is used on the autotest server to prevent us waiting
@ -47,52 +48,54 @@ void panic(const char *errormsg, ...)
} }
// partly flogged from: https://github.com/tridge/junkcode/blob/master/segv_handler/segv_handler.c // partly flogged from: https://github.com/tridge/junkcode/blob/master/segv_handler/segv_handler.c
void dump_stack_trace() void run_command_on_ownpid(const char *commandname)
{ {
// find dumpstack command: // find dumpstack command:
const char *dumpstack = "dumpstack.sh"; // if we can't find it trust in PATH const char *command_filepath = commandname; // if we can't find it trust in PATH
struct stat statbuf; struct stat statbuf;
const char *paths[] { const char *paths[] {
"Tools/scripts/dumpstack.sh", "Tools/scripts/%s",
"APM/Tools/scripts/dumpstack.sh", // for autotest server "APM/Tools/scripts/%s", // for autotest server
"../Tools/scripts/dumpstack.sh", // when run from e.g. ArduCopter subdirectory "../Tools/scripts/%s", // when run from e.g. ArduCopter subdirectory
}; };
char buffer[60];
for (uint8_t i=0; i<ARRAY_SIZE(paths); i++) { for (uint8_t i=0; i<ARRAY_SIZE(paths); i++) {
if (::stat(paths[i], &statbuf) != -1) { // form up a filepath from each path and commandname; if it
dumpstack = paths[i]; // exists, use it
snprintf(buffer, sizeof(buffer), paths[i], commandname);
if (::stat(buffer, &statbuf) != -1) {
command_filepath = buffer;
break; break;
} }
} }
char cmd[100];
char progname[100]; char progname[100];
char *p; int n = readlink("/proc/self/exe", progname, sizeof(progname)-1);
int n;
n = readlink("/proc/self/exe", progname, sizeof(progname)-1);
if (n == -1) { if (n == -1) {
strncpy(progname, "unknown", sizeof(progname)); strncpy(progname, "unknown", sizeof(progname));
n = strlen(progname); n = strlen(progname);
} }
progname[n] = 0; progname[n] = 0;
p = strrchr(progname, '/'); char *p = strrchr(progname, '/');
if (p != nullptr) { if (p != nullptr) {
*p = 0; *p = 0;
} else { } else {
p = progname; p = progname;
} }
char output_filepath[30]; char output_filepath[80];
snprintf(output_filepath, snprintf(output_filepath,
ARRAY_SIZE(output_filepath), ARRAY_SIZE(output_filepath),
"dumpstack_%s.%d.out", "%s_%s.%d.out",
commandname,
p+1, p+1,
(int)getpid()); (int)getpid());
char cmd[200];
snprintf(cmd, snprintf(cmd,
sizeof(cmd), sizeof(cmd),
"sh %s %d >%s 2>&1", "sh %s %d >%s 2>&1",
dumpstack, command_filepath,
(int)getpid(), (int)getpid(),
output_filepath); output_filepath);
fprintf(stderr, "Running: %s\n", cmd); fprintf(stderr, "Running: %s\n", cmd);
@ -101,8 +104,8 @@ void dump_stack_trace()
fprintf(stderr, "Failed\n"); fprintf(stderr, "Failed\n");
return; return;
} }
fprintf(stderr, "Stack dumped\n"); fprintf(stderr, "%s has been run. Output was:\n", commandname);
fprintf(stderr, "-------------- begin %s output ----------------\n", commandname);
// print the trace on stderr: // print the trace on stderr:
int fd = open(output_filepath, O_RDONLY); int fd = open(output_filepath, O_RDONLY);
if (fd == -1) { if (fd == -1) {
@ -124,8 +127,17 @@ void dump_stack_trace()
break; break;
} }
} }
fprintf(stderr, "-------------- end %s output ----------------\n", commandname);
close(fd); close(fd);
} }
void dump_stack_trace()
{
run_command_on_ownpid("dumpstack.sh");
}
void dump_core_file()
{
run_command_on_ownpid("dumpcore.sh");
}
uint32_t micros() uint32_t micros()
{ {