sabrovic89
Posts: 20
Joined: Tue May 06, 2014 7:34 pm

sigHandler : unhandled signal 11, terminating

Fri May 16, 2014 11:29 am

Hi,
i've developped a java application which command stepper motor through the a C library (pigpio), i used JNI to acces this library , when i execute the appplication it runs ok but some time it gives me an error :
sigHandler : unhandled signal 11, terminating
i don't know anything about this error , can someone help me please

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joan
Posts: 14942
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Location: UK

Re: sigHandler : unhandled signal 11, terminating

Fri May 16, 2014 11:38 am

signal 11 is a segment violation, i.e. the program is accessing memory outside of that allocated to the program. Generally a pointer hasn't been initialised or is NULL.

/bin/kill -L

lists the common signals.

You'd probably need to run the program in the debugger (gdb) to find the fault. If it happens within pigpio code I would be interested.

sabrovic89
Posts: 20
Joined: Tue May 06, 2014 7:34 pm

Re: sigHandler : unhandled signal 11, terminating

Fri May 16, 2014 1:34 pm

JNIEXPORT void JNICALL Java_Machine_1Cnc_Moteur_moveX__FFF(JNIEnv *env, jobject obj, jfloat dir, jfloat Dx, jfloat vitesse)

{


int us,step,i=0;
step = ((Dx * 25000) / 2.5);

us = vitesse;
if(us < 2)
{
us = 2;
}
if(gpioInitialise()<0) return 1;
gpioSetMode(PUL1, PI_OUTPUT);
gpioSetMode(DIR1, PI_OUTPUT);

pulse[0].gpioOn = (1<<PUL1); /* high */
pulse[0].gpioOff = 0;
pulse[0].usDelay = us;

pulse[1].gpioOn = 0;
pulse[1].gpioOff = (1<<PUL1); /* low */
pulse[1].usDelay = 3;
if(dir == 1)
{
gpioWrite(DIR1, 1);
gpioDelay(5);
gpioWaveClear();
gpioWaveAddGeneric(2, pulse);

gpioWaveTxStart(PI_WAVE_MODE_REPEAT);
gpioDelay(step*us+3);
gpioWaveTxStop();
}
if(dir == -1)
{
gpioWrite(DIR1, 0);
gpioDelay(5);
gpioWaveClear();
gpioWaveAddGeneric(2, pulse);

gpioWaveTxStart(PI_WAVE_MODE_REPEAT);
gpioDelay(step*us+3);
gpioWaveTxStop();

}


}

this is the function is in a library that i have created , and i call thisfunction from a java program through JNI

sabrovic89
Posts: 20
Joined: Tue May 06, 2014 7:34 pm

Re: sigHandler : unhandled signal 11, terminating

Fri May 16, 2014 5:27 pm

how can i debug my java program from the terminal, i'm running the program on my raspberry , please help me Joan

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joan
Posts: 14942
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Location: UK

Re: sigHandler : unhandled signal 11, terminating

Fri May 16, 2014 5:44 pm

I'm not sure how to debug Java.

When do you call the C code you posted?

It seems to have a gpioInitialise() without a corresponding gpioTerminate().

I can't see where pulse is defined.

sabrovic89
Posts: 20
Joined: Tue May 06, 2014 7:34 pm

Re: sigHandler : unhandled signal 11, terminating

Fri May 16, 2014 5:51 pm

joan wrote:I'm not sure how to debug Java.

When do you call the C code you posted?

It seems to have a gpioInitialise() without a corresponding gpioTerminate().

I can't see where pulse is defined.
this is the defenition of the pulse : gpioPulse_t pulse[2];
i call the code from my java program with JNI interface ,
do you know JNI ?

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joan
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Location: UK

Re: sigHandler : unhandled signal 11, terminating

Fri May 16, 2014 5:58 pm

I don't know Java and have never used JNI.

Is the function called just once or is it called repeatedly?

sabrovic89
Posts: 20
Joined: Tue May 06, 2014 7:34 pm

Re: sigHandler : unhandled signal 11, terminating

Fri May 16, 2014 6:00 pm

joan wrote:I don't know Java and have never used JNI.

Is the function called just once or is it called repeatedly?
when i hit a button which rotate the stepper motor in the applciation the function runs

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joan
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Location: UK

Re: sigHandler : unhandled signal 11, terminating

Fri May 16, 2014 9:12 pm

That doesn't help me understand the environment within which pigpio is running.

As presented the code would fail every time apart from the first call. Subsequent calls to gpioInitialise would fail as the library would already be resident in memory.

Is gpioTerminate called anywhere or is the C code launched in a separate process which is killed at completion?

sabrovic89
Posts: 20
Joined: Tue May 06, 2014 7:34 pm

Re: sigHandler : unhandled signal 11, terminating

Sat May 17, 2014 7:04 pm

joan wrote:That doesn't help me understand the environment within which pigpio is running.

As presented the code would fail every time apart from the first call. Subsequent calls to gpioInitialise would fail as the library would already be resident in memory.

Is gpioTerminate called anywhere or is the C code launched in a separate process which is killed at completion?
No i didn't call gpioTerminate () , because when i call it i can use the button only one time , when i press the button second time to move the mottor nothing happens , but i think i have to call gpioInitialise () just one time , maybe when i call it many time by pressing the button many times the memory reserved for t he program is full so it will give me this error , what do you think ?

sabrovic89
Posts: 20
Joined: Tue May 06, 2014 7:34 pm

Re: sigHandler : unhandled signal 11, terminating

Sat May 17, 2014 7:41 pm

i try to call the gpioInitialise just one time at the begining of the program out of this function , but i get the same resulat , by the way my java program is calling a C library ( .so which i have made and it contains this function which uses the pigpio library) which include this function , do understand now ?

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joan
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Location: UK

Re: sigHandler : unhandled signal 11, terminating

Sat May 17, 2014 8:22 pm

sabrovic89 wrote:i try to call the gpioInitialise just one time at the begining of the program out of this function , but i get the same resulat , by the way my java program is calling a C library ( .so which i have made and it contains this function which uses the pigpio library) which include this function , do understand now ?
No, I still don't understand what is happening.

Perhaps if you posted more of the code that would give the context I am missing.

I think you may be better of using pigpio as a daemon. At the moment you seem to be repeatedly re-initialising the library which takes about half a second.

sabrovic89
Posts: 20
Joined: Tue May 06, 2014 7:34 pm

Re: sigHandler : unhandled signal 11, terminating

Sat May 17, 2014 9:39 pm

what do you mean by using pigpio as a daemon?
right now i'm calling gpioInitialise () only one time , this is my code :

this function i call to initilize the gpio when i hit the button :

JNIEXPORT void JNICALL Java_Machine_1Cnc_Moteur_MoteurOn
(JNIEnv *env, jobject obj)
{
gpioInitialise();

}




rhis function i call each time i hit the button to move the mottor :
JNIEXPORT void JNICALL Java_Machine_1Cnc_Moteur_moveX__FFF(JNIEnv *env, jobject obj, jfloat dir, jfloat Dx, jfloat vitesse)
{


int us,step,i=0;

step = ((Dx * 25000) / 2.5);

us = vitesse;
if(us < 2)
{
us = 2;
}
gpioSetMode(PUL1, PI_OUTPUT);
gpioSetMode(DIR1, PI_OUTPUT);

pulse[0].gpioOn = (1<<PUL1); /* high */
pulse[0].gpioOff = 0;
pulse[0].usDelay = us;

pulse[1].gpioOn = 0;
pulse[1].gpioOff = (1<<PUL1); /* low */
pulse[1].usDelay = 3;

if(dir == 1)
{
gpioWrite(DIR1, 1);
gpioDelay(5);
gpioWaveClear();
gpioWaveAddGeneric(2, pulse);

gpioWaveTxStart(PI_WAVE_MODE_REPEAT);
gpioDelay(step*(us+3));
gpioWaveTxStop();


}
if(dir == -1)
{
gpioWrite(DIR1, 0);
gpioDelay(5);
gpioWaveClear();
gpioWaveAddGeneric(2, pulse);

gpioWaveTxStart(PI_WAVE_MODE_REPEAT);
gpioDelay(step*(us+3));
gpioWaveTxStop();

}

}

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joan
Posts: 14942
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Location: UK

Re: sigHandler : unhandled signal 11, terminating

Sun May 18, 2014 8:21 am

First of all, apologies, I forgot you can call gpioInitialise again without error if the library is already initialised. The only effect is to reset the library started time.

I tried the following code which hopefully is similar to yours.

Code: Select all

#include <stdio.h>

#include <pigpio.h>

#define LOOPS 100000
#define DELAY 5000

#define PUL1 22
#define DIR1 4

gpioPulse_t pulse[2];

void Java_Machine_1Cnc_Moteur_moveX__FFF(
   char *env, int obj, float dir, float Dx, float vitesse)
{
   int us,step,i=0;

   step = ((Dx * 25000) / 2.5);

   us = vitesse;
   if(us < 2)
   {
      us = 2;
   }
   gpioSetMode(PUL1, PI_OUTPUT);
   gpioSetMode(DIR1, PI_OUTPUT);

   pulse[0].gpioOn = (1<<PUL1); /* high */
   pulse[0].gpioOff = 0;
   pulse[0].usDelay = us;

   pulse[1].gpioOn = 0;
   pulse[1].gpioOff = (1<<PUL1); /* low */
   pulse[1].usDelay = 3;

   if(dir == 1)
   {
      gpioWrite(DIR1, 1);
      gpioDelay(5);
      gpioWaveClear();
      gpioWaveAddGeneric(2, pulse);

      gpioWaveTxStart(PI_WAVE_MODE_REPEAT);
      gpioDelay(step*(us+3));
      gpioWaveTxStop();
   }

   if(dir == -1)
   {
      gpioWrite(DIR1, 0);
      gpioDelay(5);
      gpioWaveClear();
      gpioWaveAddGeneric(2, pulse);

      gpioWaveTxStart(PI_WAVE_MODE_REPEAT);
      gpioDelay(step*(us+3));
      gpioWaveTxStop();
   }
}

int main(int argc, char *argv[1])
{
   int loops, delay;
   int i, status;

   if (argc > 1) loops = atoi(argv[1]);
   else loops = LOOPS;

   if (argc > 2) delay = atoi(argv[2]);
   else delay = DELAY;

   for (i=0; i<loops; i++)
   {
      status = gpioInitialise();

      Java_Machine_1Cnc_Moteur_moveX__FFF(
         NULL, 0, 1.0, 1.0, 5.5);
   }
}
By default diagnostics and errors are written to stderr. Generally there won't be any unless you change an internal debug level.

To increase the debug level (show more) you send signal USR2 to the running process. USR1 decreases the debug level.

I sent several sudo kill -USR2 2283 to the running process id (generally one more than reported to the shell) to get the following output.

Code: Select all

joan@soft /ram $ cp /code/sabrovic89.c .
joan@soft /ram $ m sabrovic89 
joan@soft /ram $ sudo ./sabrovic89  &
[1] 2282
joan@soft /ram $ 2014-05-18 07:53:35 gpioInitialise: 
2014-05-18 07:53:35 initDMAgo: 
2014-05-18 07:53:35 gpioInitialise: 
2014-05-18 07:53:35 initDMAgo: 
2014-05-18 07:53:35 gpioInitialise: 
...
2014-05-18 07:56:07 gpioInitialise: 
2014-05-18 07:56:07 gpioSetMode: gpio=22 mode=1
2014-05-18 07:56:07 gpioSetMode: gpio=4 mode=1
2014-05-18 07:56:07 gpioWrite: gpio=4 level=1
2014-05-18 07:56:07 gpioDelay: microseconds=5
2014-05-18 07:56:07 gpioWaveClear: 
2014-05-18 07:56:07 gpioWaveAddGeneric: numPulses=2 pulses=000C7DC0
2014-05-18 07:56:07 gpioWaveTxStart: mode=1
2014-05-18 07:56:07 initDMAgo: 
2014-05-18 07:56:07 gpioDelay: microseconds=80000
2014-05-18 07:56:07 gpioSleep: timetype=0 seconds=0 micros=80000
2014-05-18 07:56:07 gpioWaveTxStop: 
2014-05-18 07:56:07 gpioInitialise: 
2014-05-18 07:56:07 gpioSetMode: gpio=22 mode=1
2014-05-18 07:56:07 gpioSetMode: gpio=4 mode=1
2014-05-18 07:56:07 gpioWrite: gpio=4 level=1
2014-05-18 07:56:07 gpioDelay: microseconds=5
2014-05-18 07:56:07 gpioWaveClear: 
2014-05-18 07:56:07 gpioWaveAddGeneric: numPulses=2 pulses=000C7DC0
2014-05-18 07:56:07 gpioWaveTxStart: mode=1
2014-05-18 07:56:07 initDMAgo: 
2014-05-18 07:56:07 gpioDelay: microseconds=80000
2014-05-18 07:56:07 gpioSleep: timetype=0 seconds=0 micros=80000
2014-05-18 07:56:07 gpioWaveTxStop: 
...
2014-05-18 08:10:47 gpioInitialise: 
2014-05-18 08:10:47 gpioSetMode: gpio=22 mode=1
2014-05-18 08:10:47 gpioSetMode: gpio=4 mode=1
2014-05-18 08:10:47 gpioWrite: gpio=4 level=1
2014-05-18 08:10:47 gpioDelay: microseconds=5
2014-05-18 08:10:47 gpioWaveClear: 
2014-05-18 08:10:47 gpioWaveAddGeneric: numPulses=2 pulses=000C7DC0
2014-05-18 08:10:47 gpioWaveTxStart: mode=1
2014-05-18 08:10:47 initDMAgo: 
2014-05-18 08:10:47 gpioDelay: microseconds=80000
2014-05-18 08:10:47 gpioSleep: timetype=0 seconds=0 micros=80000
2014-05-18 08:10:47 gpioWaveTxStop: 
2014-05-18 08:10:47 gpioInitialise: 
2014-05-18 08:10:47 gpioSetMode: gpio=22 mode=1
2014-05-18 08:10:47 gpioSetMode: gpio=4 mode=1
2014-05-18 08:10:47 gpioWrite: gpio=4 level=1
2014-05-18 08:10:47 gpioDelay: microseconds=5
2014-05-18 08:10:47 gpioWaveClear: 
2014-05-18 08:10:47 gpioWaveAddGeneric: numPulses=2 pulses=000C7DC0
2014-05-18 08:10:47 gpioWaveTxStart: mode=1
2014-05-18 08:10:47 initDMAgo: 
2014-05-18 08:10:47 gpioDelay: microseconds=80000
2014-05-18 08:10:47 gpioSleep: timetype=0 seconds=0 micros=80000
2014-05-18 08:10:47 gpioWaveTxStop: 
...
2014-05-18 10:19:17 gpioInitialise: 
2014-05-18 10:19:17 gpioSetMode: gpio=22 mode=1
2014-05-18 10:19:17 gpioSetMode: gpio=4 mode=1
2014-05-18 10:19:17 gpioWrite: gpio=4 level=1
2014-05-18 10:19:17 gpioDelay: microseconds=5
2014-05-18 10:19:17 gpioWaveClear: 
2014-05-18 10:19:17 gpioWaveAddGeneric: numPulses=2 pulses=000C7DC0
2014-05-18 10:19:17 gpioWaveTxStart: mode=1
2014-05-18 10:19:17 initDMAgo: 
2014-05-18 10:19:17 gpioDelay: microseconds=80000
2014-05-18 10:19:17 gpioSleep: timetype=0 seconds=0 micros=80000
2014-05-18 10:19:17 gpioWaveTxStop: 
2014-05-18 10:19:17 gpioInitialise: 
2014-05-18 10:19:17 gpioSetMode: gpio=22 mode=1
2014-05-18 10:19:17 gpioSetMode: gpio=4 mode=1
2014-05-18 10:19:17 gpioWrite: gpio=4 level=1
2014-05-18 10:19:17 gpioDelay: microseconds=5
2014-05-18 10:19:17 gpioWaveClear: 
2014-05-18 10:19:17 gpioWaveAddGeneric: numPulses=2 pulses=000C7DC0
2014-05-18 10:19:17 gpioWaveTxStart: mode=1
2014-05-18 10:19:17 initDMAgo: 
2014-05-18 10:19:17 gpioDelay: microseconds=80000
2014-05-18 10:19:17 gpioSleep: timetype=0 seconds=0 micros=80000
2014-05-18 10:19:17 gpioWaveTxStop: 
2014-05-18 10:19:17 gpioTerminate: 
2014-05-18 10:19:17 initReleaseResources:
I didn't see any problems.

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Dark programmer
Posts: 13
Joined: Mon Jun 16, 2014 3:53 pm

Re: sigHandler : unhandled signal 11, terminating

Fri Jul 11, 2014 9:26 pm

joan wrote:signal 11 is a segment violation, i.e. the program is accessing memory outside of that allocated to the program. Generally a pointer hasn't been initialised or is NULL.

/bin/kill -L

lists the common signals.

You'd probably need to run the program in the debugger (gdb) to find the fault. If it happens within pigpio code I would be interested.
Hello Joan,

if a pointer is a null, is there any way to re-start it again in java? I'm aware that you are skilled with C++ however there is always similar concept between Java and C++.

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joan
Posts: 14942
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Location: UK

Re: sigHandler : unhandled signal 11, terminating

Fri Jul 11, 2014 9:40 pm

You shouldn't have NULL pointers. It's probably best to find out why they are there and get rid of the root cause.

Makaroonen
Posts: 1
Joined: Mon May 18, 2015 2:48 pm

Re: sigHandler : unhandled signal 11, terminating

Mon May 18, 2015 2:54 pm

I'm currently building a quadrocopter with a raspberry pi and I have had alot of problems where the pi outputs:

"2015-05-16 12:39:09 sigHandler: Unhandled signal 11, terminating"

After that the pi is completely unresponsive and there is no other option than to pull the power cable.

I’ve managed to solve the problem and I wanted to share it with you guys because it’s not an obvious solution.

So, from the beginning. I’m controlling four brushless motors through the GPIO ports on the raspberry pi. With the use of pigpio library I’m actuating pulses that are connected to four esc’s (electronic speed controller) that generete the power signals to the motors. The problem I’ve had was that after one minute of operation the pi freezes with the message:

"2015-05-16 12:39:09 sigHandler: Unhandled signal 11, terminating"

During debugging I tried running only two motors connected to the pi and noticed that everything was working fine! This made me suspect that there were some hardware issues that caused my problems. I read online that a shortage of power can cause nasty memory problems.

Up to this moment I had powered my raspberry pi through the micro usb port and a battery. I read that the micro usb port has a fuse that only allows a certain amount of current to pass. Now I tried powering the raspberry through ports 1 & 3 on the gpio board. I connected a powerful battery to both ports - and now it works fine! So I’m now certain that it was a shortage of current. It didn’t work to power the raspberry with both the gpio ports AND the micro usb - the usb cable have to be disconnected to prevent the pi from freezing.

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xranby
Posts: 540
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Contact: Website

Re: sigHandler : unhandled signal 11, terminating

Mon Aug 17, 2015 8:19 pm

check to make sure that the pi does not signal under-voltage, because if it does then you may get bit-flips that can make any application crash.

the pi signals low power if the power led blinks and
if you have a hdmi cable attached, then look if you occasionally see a rainbow square in the top right corner of the screen

raspberry pi under-voltage-warnings:
viewtopic.php?f=29&t=82373
Xerxes Rånby @xranby I once had two, then I gave one away. Now both are in use every day!
twitter.com/xranby

Zurig
Posts: 7
Joined: Thu Sep 03, 2015 9:11 am

Re: sigHandler : unhandled signal 11, terminating

Thu Sep 03, 2015 9:23 am

Did you find the problem yet ? I have exactly the same problem.

beside the pigpio library I also use the gpio pins for serial communication (with a different library) and also the webcam is in use.

The "sigHandler : unhandled signal 11, terminating" I get only sometimes and it has to be related with the pigpio library, because I also tried with Pi4J library to read the gpio's and there I never had this error. (As a matter of fact I cannot use the Pi4J library because it is not detecting signals in real-time)

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joan
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Location: UK

Re: sigHandler : unhandled signal 11, terminating

Thu Sep 03, 2015 10:36 am

Zurig wrote:Did you find the problem yet ? I have exactly the same problem.

beside the pigpio library I also use the gpio pins for serial communication (with a different library) and also the webcam is in use.

The "sigHandler : unhandled signal 11, terminating" I get only sometimes and it has to be related with the pigpio library, because I also tried with Pi4J library to read the gpio's and there I never had this error. (As a matter of fact I cannot use the Pi4J library because it is not detecting signals in real-time)
Your program is trying to access memory it shouldn't. In C the usual cause is an uninitialised pointer.

If you think pigpio is responsible generate a SSCCE and I'll investigate.

Zurig
Posts: 7
Joined: Thu Sep 03, 2015 9:11 am

Re: sigHandler : unhandled signal 11, terminating

Thu Sep 03, 2015 1:24 pm

I will try to narrow down the problem, it could be a problem with Java in cooperation with pigpio library (?)

Others have had problem as well in cooperation with Java:

See here on page 47 : e-voting.bfh.ch/app/download/6104257161/MR15.pdf?t=1438778544

Code: Select all

During this development we tried to use the free Pi4J library that is written in Java. It is
based on the WiringPi library that uses software-timed PWMs which are not as precise as
hardware-timed PWM but seemed to nevertheless.
Unfortunately during implementation we discovered that PI4J only enables four PWM signals
which was not enough for our prototype so we had to look out for another solution.
After some research we discovered the now used PIGPIO library. Because of the somewhat
confusing documentation of this library we started to use it through Java Native Access
(JNA), which meant for us to read into JNA and the C compilation and linking process.
We implemented this native access and wrote the corresponding C code. The resulted
implementation worked, but spontaneously crashed because of an unhandled kernel signal 11
in the PIGPIO library, which "is sent to a process when it makes an invalid virtual memory
reference, or segmentation fault, i.e. when it performs a segmentation violation" [22].
[b]By reading through several forums we gured that other people were dealing with this specic
problem as well and nally discovered the current solution using a daemon and system calls[/b].
"By reading through several forums we gured that other people were dealing with this specic
problem as well and nally discovered the current solution using a daemon and system calls"

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joan
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Location: UK

Re: sigHandler : unhandled signal 11, terminating

Thu Sep 03, 2015 1:50 pm

Zurig wrote:I will try to narrow down the problem, it could be a problem with Java in cooperation with pigpio library (?)

Others have had problem as well in cooperation with Java:
...
I don't use Java. I've not noticed anything similar myself. Someone needs to run under a debugger like gdb to capture the SIGSEGV. A trace back may well then show the root cause.

Perhaps the wrappers are dodgy? There is a set of wrappers at https://github.com/nkolban/jpigpio

Zurig
Posts: 7
Joined: Thu Sep 03, 2015 9:11 am

Re: sigHandler : unhandled signal 11, terminating

Fri Sep 04, 2015 6:09 am

Hello Joan

It seems that the problem is related to Java JNI.
Using JNI, I load a shared library that uses the pigpio lib and this for some reason does not work.
However when I make an executable from the same library and execute it from Java as a new process, then it seems to work without "sigHandler : unhandled signal 11, terminating"
The results from the executable I pipe back into java

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joan
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Location: UK

Re: sigHandler : unhandled signal 11, terminating

Fri Sep 04, 2015 7:43 am

Zurig wrote:Hello Joan

It seems that the problem is related to Java JNI.
Using JNI, I load a shared library that uses the pigpio lib and this for some reason does not work.
However when I make an executable from the same library and execute it from Java as a new process, then it seems to work without "sigHandler : unhandled signal 11, terminating"
The results from the executable I pipe back into java
Okay, thanks, I'll forget about this as a pigpio issue unless there is some new evidence.

Kateline
Posts: 24
Joined: Fri Oct 24, 2014 10:20 am

Re: sigHandler : unhandled signal 11, terminating

Fri Jan 06, 2017 11:04 am

Hi everybody!
the pigpio library is also greeting me with a nice segmentation fault...
With gdb i found out that it came from a call to gpioWrite...
I tried to protect all the calls in my code (if(gpioWrite(13,0)!=0)) but i don't go through that and i can't manage to find which one is causing me trouble...
I'm using gpioWrite in a multithread application, could it be that two gpioWrite are executed at the same time and it doesn't work?
Any ideas?
Thanks a lot!
Kat

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