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rtapi_app: Deprecated autostart / add manual start / no autostop #4206

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5ef7491
rtapi_app: start command / autostop removed
hdiethelm Jun 30, 2026
44ab472
tests: Fixes for rtapi no autostop
hdiethelm Jun 30, 2026
755b00d
realtime.in: Format script
hdiethelm Jul 1, 2026
76fccf9
realtime.in: Fix shellcheck issue
hdiethelm Jul 1, 2026
57cf3f0
latency-histogram: Add realtime start
hdiethelm Jul 2, 2026
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8 changes: 5 additions & 3 deletions scripts/latency-histogram
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Original file line number Diff line number Diff line change
Expand Up @@ -35,11 +35,10 @@ source [file join [exec linuxcnc_var HALLIB_DIR] lh_chart.tcl]
proc set_defaults {} {
set ::LH(start) [clock seconds]
# don't include glxgears, error suffices
program_check {halrun halcmd lsmod pgrep pkill hostname}
set ::LH(realtime) [exec linuxcnc_var REALTIME]
program_check {halrun halcmd lsmod pgrep pkill hostname realtime}
if {[string first rtai [string tolower $::tcl_platform(osVersion)]] >=0} {
set ::LH(rtai) rtai
set ::LH(realtime) [exec linuxcnc_var REALTIME]
program_check $::LH(realtime)
}

set ::LH(use_x) 1
Expand Down Expand Up @@ -317,6 +316,9 @@ proc load_packages {} {
exec $::LH(realtime) start &
progress "Delay for realtime startup"
after 1000 ;# wait to load Hal package
} else {
exec $::LH(realtime) start &
#No need to wait, uspace realtime has no startup delay
}

# augment ::auto_path for special case:
Expand Down
256 changes: 137 additions & 119 deletions scripts/realtime.in
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Original file line number Diff line number Diff line change
Expand Up @@ -26,15 +26,17 @@ CheckKernel() {
# Shellcheck doesn't know about substitution
# shellcheck disable=SC2194
case "@KERNEL_VERS@" in
"") ;;
"")
;;
*)
if [ "$(uname -r)" != "@KERNEL_VERS@" ]; then
cat 1>&2 << EOF
if [ "$(uname -r)" != "@KERNEL_VERS@" ]; then
cat 1>&2 << EOF
RTAPI requires the real-time kernel @KERNEL_VERS@ to run. Before running
this realtime application, reboot and choose this kernel at the boot menu.
EOF
exit 1
fi
exit 1
fi
;;
esac
}

Expand Down Expand Up @@ -71,8 +73,8 @@ CheckConfig(){
fi
fi
if [ -z "$RTAPICONF" ] ; then
echo "Missing rtapi.conf. Check your installation." 1>&2
exit 1
echo "Missing rtapi.conf. Check your installation." 1>&2
exit 1
fi
INSMOD="@INSMOD@"
RMMOD="@RMMOD@"
Expand All @@ -94,10 +96,12 @@ CheckConfig(){
MODULES_LOAD=
MODULES_UNLOAD=
case $RTPREFIX in
uspace) SHM_DEV=/dev/zero;;
uspace)
SHM_DEV=/dev/zero
;;
esac
for MOD in $MODULES ; do
eval MOD=\${MODPATH_"$MOD"}
eval MOD="\${MODPATH_${MOD}}"
if [ -z "$MOD" ]; then continue; fi
if [ -L "$MOD" ]; then
MOD=${MOD%/*}/$(readlink "$MOD")
Expand All @@ -108,76 +112,86 @@ CheckConfig(){
MODULES_UNLOAD="$MOD $MODULES_UNLOAD"
done
case $RTPREFIX in
(*rtai*)
MODULES_LOAD="$MODULES_LOAD $RTLIB_DIR/rtapi$MODULE_EXT $RTLIB_DIR/hal_lib$MODULE_EXT"
MODULES_UNLOAD="hal_lib rtapi $MODULES_UNLOAD"
SHM_DEV=/dev/rtai_shm
;;
(*)
MODULES_UNLOAD=
*rtai*)
MODULES_LOAD="$MODULES_LOAD $RTLIB_DIR/rtapi$MODULE_EXT $RTLIB_DIR/hal_lib$MODULE_EXT"
MODULES_UNLOAD="hal_lib rtapi $MODULES_UNLOAD"
SHM_DEV=/dev/rtai_shm
;;
*)
MODULES_UNLOAD=
;;
esac
}

CheckStatus(){
case $RTPREFIX in
uspace)
if [ -z "$($PS -o stat= -o comm= -C rtapi_app | $GREP -v '^Z')" ]; then
echo rtapi_app is not running
return 1
else
echo rtapi_app is running
return 0
fi ;;
*)
# check loaded/unloaded status of modules
unset NOTLOADED
for MOD in $MODULES_UNLOAD ; do
if "$LSMOD" | awk '{print $1}' | $GREP -x "$MOD" >/dev/null ; then
echo "$MOD is loaded"
uspace)
if [ -z "$($PS -o stat= -o comm= -C rtapi_app | $GREP -v '^Z')" ]; then
echo rtapi_app is not running
return 1
else
echo "$MOD is not loaded"
NOTLOADED=NOT
echo rtapi_app is running
return 0
fi
done
if [ -z "$NOTLOADED" ]; then
return 0
else
return 1
fi
;;
*)
# check loaded/unloaded status of modules
unset NOTLOADED
for MOD in $MODULES_UNLOAD ; do
if "$LSMOD" | awk '{print $1}' | $GREP -x "$MOD" >/dev/null ; then
echo "$MOD is loaded"
else
echo "$MOD is not loaded"
NOTLOADED=NOT
fi
done
if [ -z "$NOTLOADED" ]; then
return 0
else
return 1
fi
;;
esac
}

CheckMem(){
# check for user space processes using shared memory
if [ -e /dev/mbuff ] ; then
# device file exists, check for processes using it
if $FUSER -s /dev/mbuff 2>/dev/null; then
# at least one process is using it
echo "ERROR: Can't remove RTLinux modules, kill the following process(es) first"
$FUSER -v /dev/mbuff
exit 1
fi
# device file exists, check for processes using it
if $FUSER -s /dev/mbuff 2>/dev/null; then
# at least one process is using it
echo "ERROR: Can't remove RTLinux modules, kill the following process(es) first"
$FUSER -v /dev/mbuff
exit 1
fi
elif [ -e /dev/rtai_shm ] ; then
# device file exists, check for processes using it
if $FUSER -s /dev/rtai_shm 2>/dev/null; then
# at least one process is using it
echo "ERROR: Can't remove RTAI modules, kill the following process(es) first"
$FUSER -v /dev/rtai_shm
exit 1
fi
# device file exists, check for processes using it
if $FUSER -s /dev/rtai_shm 2>/dev/null; then
# at least one process is using it
echo "ERROR: Can't remove RTAI modules, kill the following process(es) first"
$FUSER -v /dev/rtai_shm
exit 1
fi
fi
}

Load(){
CheckKernel
for MOD in $MODULES_LOAD ; do
if ! [ -d "/sys/module/$(basename "$MOD" .ko)" ]; then
$INSMOD "$MOD" || return $?
fi
done
if [ "$DEBUG" != "" ] && [ -w /proc/rtapi/debug ] ; then
echo "$DEBUG" > /proc/rtapi/debug
fi
case $RTPREFIX in
uspace)
rtapi_app start
;;
*rtai*)
for MOD in $MODULES_LOAD ; do
if ! [ -d "/sys/module/$(basename "$MOD" .ko)" ]; then
$INSMOD "$MOD" || return $?
fi
done
if [ "$DEBUG" != "" ] && [ -w /proc/rtapi/debug ] ; then
echo "$DEBUG" > /proc/rtapi/debug
fi
;;
esac
}

CheckLoaded(){
Expand All @@ -196,29 +210,32 @@ CheckLoaded(){

Unload(){
CheckKernel

case $RTPREFIX in
uspace)
rtapi_app exit
uspace)
rtapi_app exit

# wait 5 seconds for rtapi_app to die and be reaped by its parent
START=$SECONDS
local NPROCS
while [ 5 -gt $((SECONDS-START)) ]; do
# wait 5 seconds for rtapi_app to die and be reaped by its parent
START=$SECONDS
local NPROCS
while [ 5 -gt $((SECONDS-START)) ]; do
NPROCS=$(ps -C rtapi_app -o stat= -o comm= | $GREP -v '^Z' | wc -l)
if [ "$NPROCS" -eq 0 ]; then
break
fi
sleep 0.1
done
NPROCS=$(ps -C rtapi_app -o stat= -o comm= | $GREP -v '^Z' | wc -l)
if [ "$NPROCS" -eq 0 ]; then
break
if [ "$NPROCS" -gt 0 ]; then
echo "ERROR: rtapi_app failed to die" 1>&2
fi
sleep 0.1
done
NPROCS=$(ps -C rtapi_app -o stat= -o comm= | $GREP -v '^Z' | wc -l)
if [ "$NPROCS" -gt 0 ]; then
echo "ERROR: rtapi_app failed to die" 1>&2
fi

ipcrm -M 0x48414c32 2>/dev/null ;# HAL_KEY
ipcrm -M 0x90280A48 2>/dev/null ;# RTAPI_KEY
ipcrm -M 0x48484c34 2>/dev/null ;# UUID_KEY
ipcrm -M 0x48414c32 2>/dev/null ;# HAL_KEY
ipcrm -M 0x90280A48 2>/dev/null ;# RTAPI_KEY
ipcrm -M 0x48484c34 2>/dev/null ;# UUID_KEY
;;
esac

for module in $MODULES_UNLOAD ; do
$RMMOD "$module"
done
Expand All @@ -227,12 +244,13 @@ Unload(){
Verify(){
HAS_REALTIME=false
case $RTPREFIX in
uspace)
rtapi_app check_rt && HAS_REALTIME=true
;;
(*rtai*)
echo "RTAI"
HAS_REALTIME=true
uspace)
rtapi_app check_rt && HAS_REALTIME=true
;;
*rtai*)
echo "RTAI"
HAS_REALTIME=true
;;
esac

if [ $HAS_REALTIME = true ]; then
Expand All @@ -246,50 +264,50 @@ CheckUnloaded(){
# checks to see if all modules were unloaded
STATUS=
for module in $MODULES_UNLOAD ; do
# check to see if the module is installed
if "$LSMOD" | awk '{print $1}' | $GREP -x "$module" >/dev/null ; then
echo "ERROR: Could not unload '$module'"
STATUS=error
fi
# check to see if the module is installed
if "$LSMOD" | awk '{print $1}' | $GREP -x "$module" >/dev/null ; then
echo "ERROR: Could not unload '$module'"
STATUS=error
fi
done
if [ -n "$STATUS" ] ; then
exit 1
exit 1
fi
}

CMD=$1

case "$CMD" in
start|load)
CheckConfig
Load || exit $?
CheckLoaded
;;
restart|force-reload)
CheckConfig
CheckMem
Unload
CheckUnloaded
Load || exit $?
CheckLoaded
;;
stop|unload)
CheckConfig
CheckMem
Unload || exit $?
;;
status)
CheckConfig
CheckStatus || exit $?
;;
verify)
CheckConfig
Verify || exit $?
;;
*)
echo "Usage: $0 {start|load|stop|unload|restart|force-reload|status|verify}" >&2
exit 1
;;
start|load)
CheckConfig
Load || exit $?
CheckLoaded
;;
restart|force-reload)
CheckConfig
CheckMem
Unload
CheckUnloaded
Load || exit $?
CheckLoaded
;;
stop|unload)
CheckConfig
CheckMem
Unload || exit $?
;;
status)
CheckConfig
CheckStatus || exit $?
;;
verify)
CheckConfig
Verify || exit $?
;;
*)
echo "Usage: $0 {start|load|stop|unload|restart|force-reload|status|verify}" >&2
exit 1
;;
esac

exit 0
Expand Down
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