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

[Thomas Roehr]

On 12.07.2012 17:18, Allan E. Conquest wrote:
> 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!
1. seems you need to have druby running, which should be started by 
supervision (otherwise you might have to start it manually -> in 
lib/roby/app.rb  -> setup_drb_server )
2. check your droby configuration (in bundle/supervision -> config/app.yml
3. verify with netstat whether you actually have a server listening on 
the ports
4. check for relevant commits otherwise: search for DRb, druby ..

Best
Thomas
>
> Thank you in advance,
>
> Allan
> _______________________________________________
> Rock-dev mailing list
> Rock-dev at dfki.de
> http://www.dfki.de/mailman/cgi-bin/listinfo/rock-dev


-- 
Thomas Röhr (M.Sc.)
Space Robotics

Standort Bremen:
DFKI GmbH
Robotics Innovation Center
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