pru_generic.so: cannot open shared object file: No such file or directory

[fogl]

Hello everybody,

I am stuck with machinekit and pru. I am running a single line .hal file:

loadrt prucode=/usr/lib/linuxcnc/rt-preempt/pru_generic pru=0 halname=hpg

This returns:

msgd:0 stopped
rtapi:0 stopped
rtapi_msgd command:  /usr/libexec/linuxcnc/rtapi_msgd --instance=0 --rtmsglevel=1 --usrmsglevel=1 --debug=1 --halsize=524288
rtapi_app command:  /usr/libexec/linuxcnc/rtapi_app_rt-preempt --instance=0 --debug=1
stat: No such file or directory
prutest.hal:6: insmod failed, returned -1:
do_load_cmd: dlopen: prucode=/usr/lib/linuxcnc/rt-preempt/pru_generic.so: cannot open shared object file: No such file or directory
rpath=/usr/lib/linuxcnc/rt-preempt

Even though the file is actually there:

$ ls /usr/lib/linuxcnc/rt-preempt | grep pru
hal_pru.so
hal_pru_generic.so
hal_prudebug.so
pru_decamux.bin
pru_decamux.dbg
pru_generic.bin
pru_generic.dbg

This is my linuxcnc.log (export DEBUG=5):

May 12 14:19:23 beaglebone rtapi:0: do_load_cmd: dlopen: prucode=/usr/lib/linuxcnc/rt-preempt/pru_generic.so: cannot open shared object file:$
May 12 14:19:23 beaglebone rtapi:0: rpath=/usr/lib/linuxcnc/rt-preempt
May 12 14:19:23 beaglebone rtapi:0: 1:rtapi_app:4613:user do_load_cmd: dlopen: prucode=/usr/lib/linuxcnc/rt-preempt/pru_generic.so: cannot op$
May 12 14:19:23 beaglebone rtapi:0: 1:rtapi_app:4613:user rpath=/usr/lib/linuxcnc/rt-preempt
May 12 14:19:24 beaglebone msgd:0: rtapi_app exit detected - scheduled shutdown
May 12 14:19:26 beaglebone msgd:0: msgd shutting down
May 12 14:28:07 beaglebone rtapi:0: do_load_cmd: dlopen: prucode=/usr/lib/linuxcnc/rt-preempt/pru_generic.so: cannot open shared object file:$
May 12 14:28:07 beaglebone rtapi:0: rpath=/usr/lib/linuxcnc/rt-preempt
May 12 14:28:07 beaglebone rtapi:0: 1:rtapi_app:4766:user do_load_cmd: dlopen: prucode=/usr/lib/linuxcnc/rt-preempt/pru_generic.so: cannot op$
May 12 14:28:07 beaglebone rtapi:0: 1:rtapi_app:4766:user rpath=/usr/lib/linuxcnc/rt-preempt
May 12 14:28:08 beaglebone msgd:0: rtapi_app exit detected - scheduled shutdown
May 12 14:28:10 beaglebone msgd:0: msgd shutting down

$ uname -a
Linux beaglebone 4.19.120-bone-rt-r50 #1stretch PREEMPT RT Fri May 8 22:45:31 UTC 2020 armv7l GNU/Linux

Every help would be very much appreciated,

Regards,

Klemen

[John Allwine]

Is it just a matter of adding the .bin to the file name? Something like this:

loadrt prucode=/usr/lib/linuxcnc/rt-preempt/pru_generic.bin pru=0 halname=hpg

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[Charles Steinkuehler]

Your output indicates dlopen is looking for "pru_generic.so" but your
filesystem only has "hal_pru_generic.so".

You need to fix the script(s) trying to load the PRU HAL module or make
a symlink or something so the file dlopen is looking for actually exists.

--
Charles Steinkuehler
cha...@steinkuehler.net

[klemen dovrtel]

Thank you for your reply,

I tried both options, but with no luck:

1. loadrt prucode=/usr/lib/linuxcnc/rt-preempt/hal_pru_generic pru=0 halname=hpg

returns

msgd:0 stopped
rtapi:0 stopped
rtapi_msgd command:  /usr/libexec/linuxcnc/rtapi_msgd --instance=0 --rtmsglevel=1 --usrmsglevel=1 --debug=1 --halsize=524288
rtapi_app command:  /usr/libexec/linuxcnc/rtapi_app_rt-preempt --instance=0 --debug=1
stat: No such file or directory
prutest.hal:6: insmod failed, returned -1:

do_load_cmd: dlopen: prucode=/usr/lib/linuxcnc/rt-preempt/hal_pru_generic.so: cannot open shared object file: No such file or directory
rpath=/usr/lib/linuxcnc/rt-preempt

2. loadrt prucode=/usr/lib/linuxcnc/rt-preempt/pru_generic.bin pru=0 halname=hpg

returns

msgd:0 stopped
rtapi:0 stopped
rtapi_msgd command:  /usr/libexec/linuxcnc/rtapi_msgd --instance=0 --rtmsglevel=1 --usrmsglevel=1 --debug=1 --halsize=524288
rtapi_app command:  /usr/libexec/linuxcnc/rtapi_app_rt-preempt --instance=0 --debug=1
stat: No such file or directory
prutest.hal:6: insmod failed, returned -1:

do_load_cmd: dlopen: prucode=/usr/lib/linuxcnc/rt-preempt/pru_generic.bin.so: cannot open shared object file: No such file or directory

Regards

Klemen

[kdun...@gmail.com]

Try running this command to see if a dependent library is missing:

$ ldd /usr/lib/linuxcnc/rt-preempt/hal_pru_generic.so

[klemen dovrtel]

This is what i get:

$ ldd /usr/lib/linuxcnc/rt-preempt/hal_pru_generic.so

linux-vdso.so.1 (0xbeb23000)
libgcc_s.so.1 => /lib/arm-linux-gnueabihf/libgcc_s.so.1 (0xb6f2b000)
libc.so.6 => /lib/arm-linux-gnueabihf/libc.so.6 (0xb6e3d000)

/lib/ld-linux-armhf.so.3 (0xb6f71000)

But i am not sure what this means - that the library is ok?

Regards

Klemen

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[kdun...@gmail.com]

Yes, it looks like that library is ok.

I don't know how up-to-date these paths/filenames are but have you tried looking in the various places described here: https://github.com/machinekit/machinekit/blob/master/scripts/linuxcnc.in#L210

Machinekit terminated with an error.  For simple cases more information
can be found in the following files:
    $HOME/linuxcnc_debug.txt
    $HOME/linuxcnc_print.txt

For other cases get more meaningfull information by restarting after
    export DEBUG=5

and look at the output of:
    /var/log/linuxcnc.log
    dmesg

[Charles Steinkuehler]

You are missing the name of the HAL driver. The loadrt command expects
a driver name, then the arguments. The error in your first command
shows the HAL system trying to load the HAL driver named:

"prucode=/usr/lib/linuxcnc/rt-preempt/hal_pru_generic"

...you need something like:

loadrt hal_pru_generic <options>

--
Charles Steinkuehler
cha...@steinkuehler.net

[John Allwine]

Maybe symlinking the other file would work?

sudo ln -s /usr/lib/linuxcnc/rt-preempt/hal_pru_generic.so /usr/lib/linuxcnc/rt-preempt/pru_generic.so

Also, maybe specify the specific file for your prucode, which includes the .bin?

loadrt prucode=/usr/lib/linuxcnc/rt-preempt/pru_generic.bin pru=0 halname=hpg

John Allwine           Principal Software Engineer          1.406.451.3799           https://www.pentamachine.com

 

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[klemen dovrtel]

Charles was right, I was missing the name :)

This now loads the pru:

loadrt hal_pru_generic prucode=/usr/lib/linuxcnc/rt-preempt/pru_generic.bin pru=0 halname=hpg

Thank you all for your help and fast response

Regards

Klemen