[Rock-dev] [urgent] Roby PlanRebuilder / DRb::DRbServerNotFound

[Allan E. Conquest]

Hi guys,

one year ago on SAUC-E '11 we wrote a script to extract relevant 
information (like timestamp, pose, task states) out of several log files 
incl. the supervision events.0.log in order to store it in a CSV file. 
This file was being provided to the competition judges to help them 
understand what AVALON did in the mission run.

Now we would like to do this again but something in the framework 
changed so that we cannot do it our old way and have currently no 
suitable alternative at hand.

When we call

rebuilder.find_model(stream, model_name)

we get this error (see below for a code snippet):

/usr/lib/ruby/1.8/drb/drb.rb:1653:in `current_server': 
DRb::DRbServerNotFound while serving added_transaction(#<dRoby:Plan 
0x3055688 at single>, #<dRoby:Transaction 0x5acca60 at single>) 
(DRb::DRbServerNotFound)
     from 
/home/allan/dev/avalon/next/tools/roby/lib/roby/distributed/base.rb:174:in 
`from_object'
     from 
/home/allan/dev/avalon/next/tools/roby/lib/roby/distributed/base.rb:51:in `remote_id'
     from 
/home/allan/dev/avalon/next/tools/roby/lib/roby/basic_object.rb:90:in 
`remote_siblings_defval'
     from 
/home/allan/dev/avalon/next/tools/utilrb/lib/utilrb/object/attribute.rb:61:in 
`remote_siblings'
     from 
/home/allan/dev/avalon/next/tools/roby/lib/roby/distributed/proxy.rb:48:in 
`update'
     from 
/home/allan/dev/avalon/next/tools/roby/lib/roby/distributed/proxy.rb:45:in 
`each'
     from 
/home/allan/dev/avalon/next/tools/roby/lib/roby/distributed/proxy.rb:45:in 
`update'
     from 
/home/allan/dev/avalon/next/tools/roby/lib/roby/distributed/proxy.rb:419:in 
`update'
     from 
/home/allan/dev/avalon/next/tools/roby/lib/roby/distributed/peer.rb:305:in 
`local_object'
     from 
/home/allan/dev/avalon/next/tools/roby/lib/roby/distributed/base.rb:331:in 
`update'
     from 
/home/allan/dev/avalon/next/tools/roby/lib/roby/distributed/peer.rb:304:in 
`local_object'
     from 
/home/allan/dev/avalon/next/tools/roby/lib/roby/log/plan_rebuilder.rb:209:in 
`local_object'
     from 
/home/allan/dev/avalon/next/tools/roby/lib/roby/log/plan_rebuilder.rb:434:in 
`local_object'
     from 
/home/allan/dev/avalon/next/tools/roby/lib/roby/log/plan_rebuilder.rb:515:in 
`added_transaction'
     from 
/home/allan/dev/avalon/next/tools/roby/lib/roby/log/plan_rebuilder.rb:410:in 
`send'
     from 
/home/allan/dev/avalon/next/tools/roby/lib/roby/log/plan_rebuilder.rb:410:in 
`process'
     from 
/home/allan/dev/avalon/next/tools/roby/lib/roby/log/plan_rebuilder.rb:407:in 
`catch'
     from 
/home/allan/dev/avalon/next/tools/roby/lib/roby/log/plan_rebuilder.rb:407:in 
`process'
     from 
/home/allan/dev/avalon/next/tools/roby/lib/roby/log/file.rb:123:in 
`each_slice'
     from 
/home/allan/dev/avalon/next/tools/roby/lib/roby/log/plan_rebuilder.rb:405:in 
`each'
     from 
/home/allan/dev/avalon/next/tools/roby/lib/roby/log/plan_rebuilder.rb:405:in 
`each_slice'
     from 
/home/allan/dev/avalon/next/tools/roby/lib/roby/log/plan_rebuilder.rb:405:in 
`process'
     from 
/home/allan/dev/avalon/next/tools/roby/lib/roby/log/plan_rebuilder.rb:278:in 
`analyze_stream'
     from 
/home/allan/dev/avalon/next/tools/roby/lib/roby/log/plan_rebuilder.rb:266:in 
`find_model'
     from ../../next/supervision/scripts/logs/log_converter.rb:132
     from ../../next/supervision/scripts/logs/log_converter.rb:122:in `each'
     from ../../next/supervision/scripts/logs/log_converter.rb:122


This is the relevant code:

require 'roby/standalone'
require 'roby/log/event_stream'
require 'roby/log/plan_rebuilder'
require 'pocolog'

desired_models = [
#   'Orocos::RobyPlugin::OffshorePipelineDetector::Task',
     'Orocos::RobyPlugin::OrientationEstimator::Baseestimator'
# ...
]

orientation_logfile = Pocolog::Logfiles.open('orientation_estimator.0.log')
orientation_stream = 
orientation_logfile.stream('orientation_estimator.attitude_b_g')

# Get tasks of all desired models
desired_models.each do |arg|

     puts "*********** Working #{arg}"

     stream = Roby::LogReplay::EventFileStream.open(input_logfile)
     rebuilder = Roby::LogReplay::PlanRebuilder.new

     model_name = arg

     state = Hash.new
     model = rebuilder.find_model(stream, /#{model_name}/i) ### <<<<< ERROR

     all_tasks = ValueSet.new
     rebuilder.analyze_stream(stream) do
         tasks = rebuilder.plan.find_tasks(model).to_a
         all_tasks.merge(tasks.to_value_set)
     false
     end

     all_tasks.each do |p|
         p.history.each do |ev|
             all << ev
         end
     end

end


We are using the next flavor.

Any suggestion is highly appreciated!

Thank you in advance,

Allan