Summary: I am getting a segfault when calling an embedded Python script, which somehow only happens when the script is called the second time around.
Hello there! I am quite a beginner, and this is my first time posing a question on Stack Overflow, so please do correct me if make mistakes.
I am trying to call a Python script from C++ that returns a tuple of data. My C++ program is currently able to parse the tuple into its components (two integers, "ultra_dist" and "gas_density"). I can call getUltraNGasData() once, and there is no problem in collecting the data.
The problem seems to arise when I attempt to call the function the second time from within the loop in the main() function. The program crashes and I get an exception: "unhandled Signal 11, program terminating".
Here is the C++ program (abridged, not full). This should compile:
#include <cstdio>
#include <unistd.h>
#include <stdio.h>
#include <errno.h>
#include <pthread.h>
#include <Python.h>
#include <stdlib.h>
void getUltraNGasData(int* ultra_dist, int* gas_density){
// Initialize the Python interpreter.
Py_Initialize();
// Create some Python objects that will later be assigned values.
PyObject *pName, *pModule, *pDict, *pFunc;
// Set Python path
PyRun_SimpleString("import sys");
PyRun_SimpleString("sys.path.append('/home/pi/Desktop')");
// Convert the file name to a Python string.
pName = PyString_FromString("GetData_Ultra+Gas");
if(pName == NULL){
printf("Mispelled script name?\n");
exit(-1);
}
// Import the file as a Python module.
pModule = PyImport_Import(pName);
if(pModule == NULL){
printf("No Python script found!\n");
exit(-1);
}
// Create a dictionary for the contents of the module.
pDict = PyModule_GetDict(pModule);
// Get the add method from the dictionary.
pFunc = PyDict_GetItemString(pDict, "main");
Py_INCREF(pName);
Py_INCREF(pModule);
Py_INCREF(pDict);
Py_INCREF(pFunc);
// Call the function with the arguments.
PyObject* pResult = PyObject_CallObject(pFunc, NULL);
// Print a message if calling the method failed.
if(pResult == NULL) printf("Method failed.\n");
//Parse values
PyObject* tupleItem1 = PyTuple_GetItem(pResult,0);
if(tupleItem1 == NULL){
printf("No ultrasonic distance return value from Python script.\n");
exit(-2);
}else{
*ultra_dist=(int) PyInt_AsLong(tupleItem1);
}
PyObject* tupleItem2 = PyTuple_GetItem(pResult,1);
if(tupleItem2 == NULL){
printf("No gas sensor measurement return value from Python script.\n");
exit(-2);
}else{
*gas_density=(int) PyInt_AsLong(tupleItem2);
}
// Destroy the Python interpreter.
Py_CLEAR(pModule);
Py_CLEAR(pName);
Py_CLEAR(pDict);
Py_CLEAR(pFunc);
Py_CLEAR(pResult);
Py_CLEAR(tupleItem1);
Py_CLEAR(tupleItem2);
Py_Finalize();
printf("Ultra_dist = %d, Gas_density = %d\n",*ultra_dist,*gas_density);
}
int main(){
int ultra_dist=0; //Ultrasonic measured range (in cm)
int gas_density=0; //Estimate of gas density (%)
while(1){
getUltraNGasData(&ultra_dist,&gas_density); //Get measurements from gas and ultrasonic sensors by calling Python script
}
}
And here is the full Python script being called, which reads data from an ADC using bitbanging of SPI. I would abridge this to just returning two made-up values, but it seems that the error disappears if I do so - meaning it is somehow related to the whole of this Python script:
#!/usr/bin/env python2.7
# adapted from script by Alex Eames http://RasPi.tv
import time
import os
import subprocess
import smtplib
import string
import RPi.GPIO as GPIO
from time import gmtime, strftime
GPIO.setmode(GPIO.BCM)
#DEFINITIONS
#ADC channels
ULTRA_ADC_CH = 0
GAS_ADC_CH = 1
#Other definitions
adc_ch = [ULTRA_ADC_CH,GAS_ADC_CH] # Particular ADC channel to read
reps = 10 # how many times to take each measurement for averaging
time_between_readings = 1 # seconds between clusters of readings
V_REF = 5.0 #reference voltage
ultra_conv_factor=1./(0.0098/2.54) #Ultrasonic factor: cm/mV
# Define Pins/Ports
SPICLK = 22 # FOUR SPI ports on the ADC
SPIMISO = 5
SPIMOSI = 6
SPICS = 26
SPICS2 = 16
# read SPI data from MCP3002 chip, 2 possible adc channels (0 & 1)
# this uses a bitbang method rather than Pi hardware spi
def readadc(adc_ch, clockpin, mosipin, misopin, cspin):
if ((adc_ch > 1) or (adc_ch < 0)):
return -1
if (adc_ch == 0):
commandout = 0x6
else:
commandout = 0x7
GPIO.output(cspin, True)
GPIO.output(clockpin, False) # start clock low
GPIO.output(cspin, False) # bring CS low
commandout <<= 5 # we only need to send 3 bits here
for i in range(3):
if (commandout & 0x80):
GPIO.output(mosipin, True)
else:
GPIO.output(mosipin, False)
commandout <<= 1
GPIO.output(clockpin, True)
GPIO.output(clockpin, False)
adcout = 0
# read in one empty bit, one null bit and 10 ADC bits
for i in range(12):
GPIO.output(clockpin, True)
GPIO.output(clockpin, False)
adcout <<= 1
if (GPIO.input(misopin)):
adcout |= 0x1
GPIO.output(cspin, True)
adcout /= 2 # first bit is 'null' so drop it
return adcout
#MAIN FUNCTION: to get ultrasonic and gas sensor data
def main():
reps=10
#Set up ports
GPIO.setup(SPIMOSI, GPIO.OUT) # set up the SPI interface pins
GPIO.setup(SPIMISO, GPIO.IN)
GPIO.setup(SPICLK, GPIO.OUT)
GPIO.setup(SPICS, GPIO.OUT)
try:
for adc_channel in adc_ch: #adc_ch is the channel number
adctot = 0
# read the analog value
for i in range(reps): #Read same ADC repeatedly for # REPS
read_adc = readadc(adc_channel, SPICLK, SPIMOSI, SPIMISO, SPICS)
adctot += read_adc
#time.sleep(0.01) #Minimum 11.5us limit for acquisition & conversion
read_adc = adctot / reps / 1.0 # Take average value
# print read_adc
# convert analog reading to Volts = ADC * ( V_REF / 1024 )
volts = read_adc * ( V_REF / 1024.0)
# convert voltage to measurement
if (adc_channel==ULTRA_ADC_CH):
ultra_dist = volts * ultra_conv_factor
if ultra_dist < 50: # Filtering to reduce effect of noise below 50cm
reps = 100
else:
reps = 10
#print "\nUltrasonic distance: %d" %ultra_dist
elif (adc_channel==GAS_ADC_CH):
gas_val_percent = volts / V_REF *100
#print "Gas density: %d\n" %gas_val_percent
#time.sleep(time_between_readings)
except KeyboardInterrupt: # trap a CTRL+C keyboard interrupt
GPIO.cleanup()
GPIO.cleanup()
return (ultra_dist, gas_val_percent)
# To call main function
if __name__ == '__main__':
main()
Sorry for the very long code block! (You can ignore the functionality of the SPI, though - it is working and is not relevant to the issue.)
From what I've found, Signal 11 is just a segfault, so it doesn't tell me much about the problem.
I originally guessed that the issue has to do with memory, which is why I have added the Py_INCREF and Py_CLEAR lines when using the Python C++ API. When I comment out the CLEARs, the segfaults shifts from line PyImport_Import() to PyObject_CallObject(). (I know this from setting breakpoints before and after, since backtracing in gdb didn't seem to be very informative.) However, I have no idea what the root cause may be just various signs such as the length of the script called and this reference counting.
I have looked through SO about similar segfault cases (e.g. https://stackoverflow.com/questions/16207457/pyobject-segfault-on-function-call#=), but it seems to be very unique to the program. Plus, not much is mentioned in the API about debugging. This problem has been bothering me for several hours now, so I would appreciate any help I can get.
Thank you!
(FYI: I am running this on a Raspberry Pi using a modified OS image (Erle "Frambuesa").However, I can certainly check if I get the same issue on Raspbian, in case it makes any difference.)
