修复了程序在启动时偶尔崩溃的问题
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@@ -1,9 +0,0 @@
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//SERVERHOST = 192.168.0.223
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//SERVERPORT = 9000
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ProcessConfig = pPowerManger
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{
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AppTick = 4
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CommsTick = 4
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log_level = INFO
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log_file = ./logfile.log
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}
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@@ -0,0 +1,34 @@
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#!/bin/bash
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echo "开始测试pPowerManger程序启动稳定性..."
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LOOP_COUNT=0
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while true; do
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LOOP_COUNT=$((LOOP_COUNT + 1))
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echo "\n===== 第 $LOOP_COUNT 次循环 ====="
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# 启动pPowerManger程序
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echo "启动pPowerManger..."
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./pPowerManger pPowerManger.moos &
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PROCESS_ID=$!
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# 等待5秒让程序启动
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sleep 0.1
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# 检查程序是否还在运行
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if kill -0 $PROCESS_ID 2>/dev/null; then
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echo "程序启动成功，PID: $PROCESS_ID"
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# 等待2秒后关闭程序
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sleep 2
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echo "关闭程序..."
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kill $PROCESS_ID
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# 等待1秒让程序彻底关闭
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sleep 0.1
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else
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echo "程序启动失败！"
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echo "故障发生在第 $LOOP_COUNT 次循环"
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exit 0.1
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fi
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done
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@@ -0,0 +1,148 @@
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#!/bin/bash
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# 核心配置
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CRASH_LOG_DIR="./crash_logs"
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RUN_DURATION=2
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GDB_TIMEOUT=$((RUN_DURATION + 2)) # 延长超时，确保GDB完全初始化
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MAX_LOOP=0
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# 强制捕获所有致命信号
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CRASH_SIGNALS=("SIGSEGV" "SIGABRT" "SIGILL" "SIGFPE" "SIGBUS")
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# 创建日志目录
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mkdir -p ${CRASH_LOG_DIR}
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rm -f ${CRASH_LOG_DIR}/* # 清空旧日志（可选）
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# 清理进程函数
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cleanup() {
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pkill -9 gdb >/dev/null 2>&1
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pkill -9 pPowerManger >/dev/null 2>&1
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sleep 0.2
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}
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# 检查是否是真崩溃（从日志+系统日志双重验证）
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is_real_crash() {
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local log_file=$1
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local loop=$2
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# 1. 检查GDB日志中的崩溃关键字
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if grep -qiE "segmentation fault|sigsegv|crash detected|backtrace" "${log_file}"; then
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return 0
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fi
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# 2. 检查系统dmesg中的段错误记录（终极验证）
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if dmesg | grep -i "pPowerManger.*segfault" | grep -i "loop_${loop}"; then
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return 0
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fi
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return 1
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}
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# 打印系统级崩溃日志（dmesg）
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print_system_crash_log() {
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local loop=$1
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echo -e "\033[33m===== 系统级崩溃日志（dmesg）=====\033[0m"
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dmesg | grep -A 5 -B 2 "pPowerManger.*segfault" | tail -10
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echo -e "\033[33m===================================\033[0m"
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}
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echo -e "🔍 启动pPowerManger稳定性测试（强制捕获段错误）\n"
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echo "📂 崩溃日志目录: ${CRASH_LOG_DIR}"
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echo "⏱ 程序运行时长: ${RUN_DURATION}秒"
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echo "📌 捕获信号: ${CRASH_SIGNALS[*]}"
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echo -e "========================================\n"
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cleanup # 初始清理
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LOOP_COUNT=0
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while true; do
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LOOP_COUNT=$((LOOP_COUNT + 1))
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if [ ${MAX_LOOP} -ne 0 ] && [ ${LOOP_COUNT} -gt ${MAX_LOOP} ]; then
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echo -e "\n✅ 测试完成（${MAX_LOOP}次循环无崩溃）"
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cleanup
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exit 0
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fi
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echo -e "===== 第 ${LOOP_COUNT} 次循环 ====="
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CRASH_LOG="${CRASH_LOG_DIR}/crash_loop_${LOOP_COUNT}.log"
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GDB_CMD="${CRASH_LOG_DIR}/gdb_cmds_${LOOP_COUNT}.gdb"
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# 生成强化版GDB脚本：强制捕获所有信号，优先初始化信号处理
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cat > ${GDB_CMD} << EOF
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# 核心：GDB启动后先设置信号捕获，再启动程序
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set args pPowerManger.moos
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set timeout ${GDB_TIMEOUT}
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set print pretty on
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set print frame-arguments all
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set logging file ${CRASH_LOG}.gdb_raw
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set logging on # 开启GDB原始日志（双重保障）
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# 强制捕获所有致命信号
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EOF
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# 为每个崩溃信号添加捕获规则（追加到GDB脚本）
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for sig in "${CRASH_SIGNALS[@]}"; do
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cat >> ${GDB_CMD} << EOF
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handle ${sig} stop print pass nostop # 即使子线程崩溃也捕获
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EOF
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done
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# 追加程序启动和崩溃处理逻辑
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cat >> ${GDB_CMD} << EOF
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# 延迟10ms启动程序，确保GDB完全初始化
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sleep 0.01
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run
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# 崩溃后强制打印所有信息（无论是否主线程）
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if \$exitcode != 0 || \$signal_number != 0
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echo "\n====================================="
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echo " CRASH DETECTED"
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echo "====================================="
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echo "Loop: ${LOOP_COUNT}"
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echo "Exit code: \$exitcode"
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echo "Signal: \$signal_name (\$signal_number)"
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echo "====================================="
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thread apply all bt full # 打印所有线程的调用栈（关键！）
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info threads
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info proc mappings # 打印内存映射（排查内存越界）
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info locals
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info registers
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endif
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set logging off
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quit
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EOF
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# 核心：用nohup+GDB启动，避免输出丢失；同时记录进程ID
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echo "启动程序（GDB强化模式）..."
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nohup timeout ${GDB_TIMEOUT} gdb -batch -x ${GDB_CMD} ./pPowerManger > ${CRASH_LOG} 2>&1 &
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GDB_PID=$!
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wait ${GDB_PID} # 等待GDB执行完成
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# 双重验证：检查是否真崩溃
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if is_real_crash ${CRASH_LOG} ${LOOP_COUNT}; then
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# 捕获到真崩溃
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echo -e "\033[31m❌ 第 ${LOOP_COUNT} 次循环捕获到段错误！\033[0m"
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echo -e "\033[31m📄 崩溃日志: ${CRASH_LOG}\033[0m"
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print_system_crash_log ${LOOP_COUNT}
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# 打印最关键的调用栈（所有线程）
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echo -e "\033[31m===== 所有线程崩溃调用栈 =====\033[0m"
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grep -A 50 "thread apply all bt full" ${CRASH_LOG} | grep -v "No stack frame"
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echo -e "\033[31m==============================\033[0m"
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cleanup
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echo -e "\n🛑 测试终止，完整日志在 ${CRASH_LOG}"
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exit 1
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else
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# 无崩溃（正常退出/启动失败）
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if grep -qi "Program exited normally" ${CRASH_LOG}; then
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echo "✅ 程序正常运行${RUN_DURATION}秒后退出"
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else
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echo "⚠️ 程序启动失败（非段错误），继续循环"
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# 保留启动失败日志（方便排查）
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mv ${CRASH_LOG} ${CRASH_LOG}.start_fail
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fi
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rm -f ${GDB_CMD} ${CRASH_LOG}.gdb_raw
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fi
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cleanup
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echo -e "第 ${LOOP_COUNT} 次循环完成\n"
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sleep 0.5
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done
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