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Jetson JetPack-5.1.2-L4T-R35.4.1 修复libvargus内存损坏问题

article 2024/10/25 20:23:36

1. 前言说明

我们在JetPack 5.1的camera pipeline上遇到了一些问题。

正常运行了很长一段时间(多天)，但它会突然得到以下错误。

log如下：

Oct 05 07:13:25 camera process[1032]: Module_id 30 Severity 2 : (fusa) Error: InvalidState Invalid Status index in:/capture/src/fusaViHandler.cpp 705
Oct 05 07:13:25 camera process[1032]: SCF: Error InvalidState:  (propagating from src/services/capture/FusaCaptureViCsiHw.cpp, function waitCsiFrameEnd(), line 600)
Oct 05 07:13:25 camera process[1032]: SCF: Error InvalidState:  (propagating from src/common/Utils.cpp, function workerThread(), line 114)
Oct 05 07:13:25 camera process[1032]: SCF: Error InvalidState: Worker thread ViCsiHw frameComplete failed (in src/common/Utils.cpp, function workerThread(), line 133)
Oct 05 07:13:25 camera process[1032]: SCF: Error InvalidState:  (propagating from src/services/capture/FusaCaptureViCsiHw.cpp, function waitCsiFrameEnd(), line 600)
Oct 05 07:13:25 camera process[1032]: SCF: Error InvalidState:  (propagating from src/common/Utils.cpp, function workerThread(), line 114)
Oct 05 07:13:25 camera process[1032]: SCF: Error InvalidState: Worker thread ViCsiHw frameComplete failed (in src/common/Utils.cpp, function workerThread(), line 133)
Oct 05 07:13:25 camera process[1032]: SCF: Error InvalidState: Timeout waiting on frame start sensor guid 3, capture sequence ID = -570929408 (in src/services/capture/FusaCaptureViCsiHw.cpp, funct>
Oct 05 07:13:25 camera process[1032]: SCF: Error InvalidState:  (propagating from src/common/Utils.cpp, function workerThread(), line 114)
Oct 05 07:13:25 camera process[1032]: SCF: Error InvalidState: Worker thread ViCsiHw frameStart failed (in src/common/Utils.cpp, function workerThread(), line 133)
Oct 05 07:13:25 camera process[1032]: SCF: Error InvalidState: Timeout waiting on frame start sensor guid 0, capture sequence ID = -570928384 (in src/services/capture/FusaCaptureViCsiHw.cpp, funct>
Oct 05 07:13:25 camera process[1032]: SCF: Error InvalidState:  (propagating from src/common/Utils.cpp, function workerThread(), line 114)
Oct 05 07:13:25 camera process[1032]: SCF: Error InvalidState: Worker thread ViCsiHw frameStart failed (in src/common/Utils.cpp, function workerThread(), line 133)
Oct 05 07:13:25 camera process[1032]: SCF: Error InvalidState: Timeout waiting on frame start sensor guid 2, capture sequence ID = -570928896 (in src/services/capture/FusaCaptureViCsiHw.cpp, funct>
Oct 05 07:13:25 camera process[1032]: double free or corruption (out)
Oct 05 07:13:25 camera process[1032]: SCF: Error InvalidState:  (propagating from src/services/capture/FusaCaptureViCsiHw.cpp, function waitCsiFrameEnd(), line 600)
Oct 05 07:13:25 camera process[1032]: Module_id 30 Severity 2 : (fusa) Error: InvalidState Invalid Status index in:/capture/src/fusaViHandler.cpp 705
Oct 05 07:13:25 camera process[1032]: SCF: Error InvalidState: Timeout waiting on frame start sensor guid 1, capture sequence ID = -570928640 (in src/services/capture/FusaCaptureViCsiHw.cpp, funct>
Oct 05 07:13:25 camera process[1032]: SCF: Error InvalidState:  (propagating from src/common/Utils.cpp, function workerThread(), line 114)
Oct 05 07:13:25 camera process[1032]: SCF: Error InvalidState: Worker thread ViCsiHw frameStart failed (in src/common/Utils.cpp, function workerThread(), line 133)
Oct 05 07:13:25 camera process[1032]: SCF: Error InvalidState:  (propagating from src/common/Utils.cpp, function workerThread(), line 114)
Oct 05 07:13:25 camera process[1032]: SCF: Error InvalidState: Worker thread ViCsiHw frameComplete failed (in src/common/Utils.cpp, function workerThread(), line 133)
Oct 05 07:13:25 camera process[1032]: SCF: Error InvalidState:  (propagating from src/common/Utils.cpp, function workerThread(), line 114)
Oct 05 07:13:25 camera process[1032]: SCF: Error InvalidState: Worker thread ViCsiHw frameStart failed (in src/common/Utils.cpp, function workerThread(), line 133)

我用AddressSanitizer构建了我们的软件，得到了以下错误。

这可能与libvargus .so中的内存损坏有关。

调试信息如下：

=================================================================
==19750==ERROR: AddressSanitizer: negative-size-param: (size=-6)
    #0 0xffffb5994f93 in memmove (/lib/aarch64-linux-gnu/libasan.so.4+0x75f93)
    #1 0xaaaad8c03a2b in std::char_traits<char>::move(char*, char const*, unsigned long) /usr/aarch64-linux-gnu/include/c++/7/bits/char_traits.h:342
    #2 0xaaaad8c0c703 in std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >::_S_move(char*, char const*, unsigned long) /usr/aarch64-linux-gnu/include/c++/7/bits/basic_string.h:349
    #3 0xaaaad8c09adb in std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >::_M_replace(unsigned long, unsigned long, char const*, unsigned long) /usr/aarch64-linux-gnu/include/c++/7/bits/basic_string.tcc:438
    #4 0xffff2a935d8f  (/usr/lib/aarch64-linux-gnu/tegra/libnvargus.so+0x7ad8f)
    #5 0xffff2a961697  (/usr/lib/aarch64-linux-gnu/tegra/libnvargus.so+0xa6697)
    #6 0xffff2a96317f  (/usr/lib/aarch64-linux-gnu/tegra/libnvargus.so+0xa817f)
    #7 0xffff2a9486cb  (/usr/lib/aarch64-linux-gnu/tegra/libnvargus.so+0x8d6cb)
    #8 0xffff2a282f17  (/usr/lib/aarch64-linux-gnu/tegra/libnvscf.so+0x145f17)
    #9 0xffff2a2833cb  (/usr/lib/aarch64-linux-gnu/tegra/libnvscf.so+0x1463cb)
    #10 0xffff2a2838cf  (/usr/lib/aarch64-linux-gnu/tegra/libnvscf.so+0x1468cf)
    #11 0xffff2a1acd5b  (/usr/lib/aarch64-linux-gnu/tegra/libnvscf.so+0x6fd5b)
    #12 0xffff2a1d744f  (/usr/lib/aarch64-linux-gnu/tegra/libnvscf.so+0x9a44f)
    #13 0xffff2a1eef2b  (/usr/lib/aarch64-linux-gnu/tegra/libnvscf.so+0xb1f2b)
    #14 0xffff2a1bddff  (/usr/lib/aarch64-linux-gnu/tegra/libnvscf.so+0x80dff)
    #15 0xffff2a1bdf8b  (/usr/lib/aarch64-linux-gnu/tegra/libnvscf.so+0x80f8b)
    #16 0xffff2a1bc9b7  (/usr/lib/aarch64-linux-gnu/tegra/libnvscf.so+0x7f9b7)
    #17 0xffffb249b113  (/usr/lib/aarch64-linux-gnu/tegra/libnvos.so+0x9113)
    #18 0xffffb58f5623 in start_thread (/lib/aarch64-linux-gnu/libpthread.so.0+0x7623)
    #19 0xffffb520d49b  (/lib/aarch64-linux-gnu/libc.so.6+0xd149b)

0xfffeb533080b is located 27 bytes inside of 31-byte region [0xfffeb53307f0,0xfffeb533080f)
allocated by thread T47 here:
    #0 0xffffb59f22eb in operator new(unsigned long) (/lib/aarch64-linux-gnu/libasan.so.4+0xd32eb)
    #1 0xaaaad8c0ca5f in __gnu_cxx::new_allocator<char>::allocate(unsigned long, void const*) /usr/aarch64-linux-gnu/include/c++/7/ext/new_allocator.h:111
    #2 0xaaaad8c09f33 in std::allocator_traits<std::allocator<char> >::allocate(std::allocator<char>&, unsigned long) /usr/aarch64-linux-gnu/include/c++/7/bits/alloc_traits.h:436
    #3 0xaaaad8c0b4cb in std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >::_M_create(unsigned long&, unsigned long) /usr/aarch64-linux-gnu/include/c++/7/bits/basic_string.tcc:153
    #4 0xaaaad8c0c84f in std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >::_M_mutate(unsigned long, unsigned long, char const*, unsigned long) /usr/aarch64-linux-gnu/include/c++/7/bits/basic_string.tcc:317
    #5 0xaaaad8c09c6b in std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >::_M_replace(unsigned long, unsigned long, char const*, unsigned long) /usr/aarch64-linux-gnu/include/c++/7/bits/basic_string.tcc:466
    #6 0xffff2a935d8f  (/usr/lib/aarch64-linux-gnu/tegra/libnvargus.so+0x7ad8f)
    #7 0xffffb520d49b  (/lib/aarch64-linux-gnu/libc.so.6+0xd149b)

Thread T47 created by T39 (argus_thread) here:
    #0 0xffffb5958857 in __interceptor_pthread_create (/lib/aarch64-linux-gnu/libasan.so.4+0x39857)
    #1 0xffffb249b3ff  (/usr/lib/aarch64-linux-gnu/tegra/libnvos.so+0x93ff)
    #2 0xffff6664e4db in argus_thread /home/user/src/nvidia-gstreamer/src/gstarguscamerasrc/gstarguscamerasrc.cpp:977
    #3 0xffffb5784483  (/lib/aarch64-linux-gnu/libglib-2.0.so.0+0x7b483)
    #4 0xffffb58f5623 in start_thread (/lib/aarch64-linux-gnu/libpthread.so.0+0x7623)
    #5 0xffffb520d49b  (/lib/aarch64-linux-gnu/libc.so.6+0xd149b)

Thread T39 (argus_thread) created by T37 (arguscamera) here:
    #0 0xffffb5958857 in __interceptor_pthread_create (/lib/aarch64-linux-gnu/libasan.so.4+0x39857)
    #1 0xffffb57a92e7  (/lib/aarch64-linux-gnu/libglib-2.0.so.0+0xa02e7)
    #2 0xffffb57848ef in g_thread_new (/lib/aarch64-linux-gnu/libglib-2.0.so.0+0x7b8ef)
    #3 0xffff6664e047 in gst_nv_argus_camera_set_caps /home/user/src/nvidia-gstreamer/src/gstarguscamerasrc/gstarguscamerasrc.cpp:864
    #4 0xffffb4ecc71f in gst_base_src_set_caps (/lib/aarch64-linux-gnu/libgstbase-1.0.so.0+0x3f71f)
    #5 0xffffb4eccc73  (/lib/aarch64-linux-gnu/libgstbase-1.0.so.0+0x3fc73)
    #6 0xffffb4eca5d3  (/lib/aarch64-linux-gnu/libgstbase-1.0.so.0+0x3d5d3)
    #7 0xffffb566370f  (/lib/aarch64-linux-gnu/libgstreamer-1.0.so.0+0xc870f)
    #8 0xffffb5784483  (/lib/aarch64-linux-gnu/libglib-2.0.so.0+0x7b483)
    #9 0xffffb58f5623 in start_thread (/lib/aarch64-linux-gnu/libpthread.so.0+0x7623)
    #10 0xffffb520d49b  (/lib/aarch64-linux-gnu/libc.so.6+0xd149b)

Thread T37 (arguscamera) created by T0 here:
    #0 0xffffb5958857 in __interceptor_pthread_create (/lib/aarch64-linux-gnu/libasan.so.4+0x39857)
    #1 0xffffb57a92e7  (/lib/aarch64-linux-gnu/libglib-2.0.so.0+0xa02e7)
    #2 0xffffb5785123  (/lib/aarch64-linux-gnu/libglib-2.0.so.0+0x7c123)
    #3 0xffffb5785563 in g_thread_pool_push (/lib/aarch64-linux-gnu/libglib-2.0.so.0+0x7c563)
    #4 0xffffb5664777  (/lib/aarch64-linux-gnu/libgstreamer-1.0.so.0+0xc9777)
    #5 0xffffb4ecd01b in gst_base_src_start_complete (/lib/aarch64-linux-gnu/libgstbase-1.0.so.0+0x4001b)
    #6 0xffffb4ecd34f  (/lib/aarch64-linux-gnu/libgstbase-1.0.so.0+0x4034f)
    #7 0xffffb4ecd877  (/lib/aarch64-linux-gnu/libgstbase-1.0.so.0+0x40877)
    #8 0xffffb5627b2b  (/lib/aarch64-linux-gnu/libgstreamer-1.0.so.0+0x8cb2b)
    #9 0xffffb5602ddb in gst_element_change_state (/lib/aarch64-linux-gnu/libgstreamer-1.0.so.0+0x67ddb)


SUMMARY: AddressSanitizer: negative-size-param (/lib/aarch64-linux-gnu/libasan.so.4+0x75f93) in memmove
==19750==ABORTING

2. 查阅资料

Nvidia Jetson最近解决了libvargus中的内存损坏问题。

可以换到最新的Jetpack发布版本，即Jetpack-5.1.2/ l4t-r35.4.1

同时更新预构建的二进制libvargus.so，用如下附近

https://download.csdn.net/download/jzwjzw19900922/88557361

3. 测试

经过测试，更新版本可解决上述内存损坏问题

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