[Rock-dev] updateHook hanging (blocked?) when started via syskit

[Christian Rauch]

Hi,

I am using the aria task within syskit as a device which is supposed to
be called every 100ms. The aria task uses an additional thread provided 
by the aria driver to communicate with the robot.

If I run that task from the syskit shell without additional sensors the
updateHook gets called as expected. If I add one or more cameras
(camera_ids) with loggers it happens that the updateHook gets stuck for 
some time:

{{{
[DEBUG] - aria::updateHook at: 1386784751.580.629
[DEBUG] - aria::updateHook at: 1386784751.680.668
[DEBUG] - aria::updateHook at: 1386784751.780.542
ArRobotPacketReceiver::receivePacket: bad packet, bad checksum
Warning: Task 'Packet Handler' took 1213 ms to run (longer than the 250
warning time)
Warning: ArRobot sync tasks too long at 1213 ms, (100 ms normal 250 ms
warning)
[DEBUG] - aria::updateHook at: 1386784753.673.374
[DEBUG] - aria::updateHook at: 1386784753.677.372
[DEBUG] - aria::updateHook at: 1386784753.681.379
[DEBUG] - aria::updateHook at: 1386784753.685.211
[DEBUG] - aria::updateHook at: 1386784753.689.226
[DEBUG] - aria::updateHook at: 1386784753.697.023
[DEBUG] - aria::updateHook at: 1386784753.701.405
[DEBUG] - aria::updateHook at: 1386784753.705.386
[DEBUG] - aria::updateHook at: 1386784753.709.383
[DEBUG] - aria::updateHook at: 1386784753.713.216
[DEBUG] - aria::updateHook at: 1386784753.717.292
[DEBUG] - aria::updateHook at: 1386784753.721.253
[DEBUG] - aria::updateHook at: 1386784753.725.392
[DEBUG] - aria::updateHook at: 1386784753.729.400
[DEBUG] - aria::updateHook at: 1386784753.733.392
ArRobotPacketReceiver::receivePacket: bad packet, bad checksum
[DEBUG] - aria::updateHook at: 1386784753.737.227
[DEBUG] - aria::updateHook at: 1386784753.741.226
[DEBUG] - aria::updateHook at: 1386784753.745.274
[DEBUG] - aria::updateHook at: 1386784753.749.305
[DEBUG] - aria::updateHook at: 1386784753.781.249
[DEBUG] - aria::updateHook at: 1386784753.881.453
[DEBUG] - aria::updateHook at: 1386784753.981.492
[DEBUG] - aria::updateHook at: 1386784754.081.523
[DEBUG] - aria::updateHook at: 1386784754.181.392
[DEBUG] - aria::updateHook at: 1386784754.281.428
[DEBUG] - aria::updateHook at: 1386784754.381.462
}}}


For some reason this problem does no longer occur as soon as the camera
loggers are stopped. It also does not occur when the aria Task is
started outside of syskit by using the default deployment and the
TaskInspector or the orocos.rb API.

It looks like the whole task is blocked somehow (the updateHook is not
really taking that much processing time).
Any ideas where this might come from and why this only occurs when 
running both tasks with loggers in syskit?

Regards,
Christian


-- 
  Christian Rauch
  Space Robotics

  Universität Bremen
  FB 3 - Mathematik und Informatik
  AG Robotik
  Robert-Hooke-Straße 1
  28359 Bremen, Germany

  Zentrale: +49 421 178 45-6611

  Besuchsadresse der Nebengeschäftstelle:
  Robert-Hooke-Straße 5
  28359 Bremen, Germany

  Tel:     +49 421 178 45-6619
  Empfang: +49 421 178 45-6600
  Fax:     +49 421 178 45-4150
  E-Mail:  Christian.Rauch at dfki.de

  Weitere Informationen: http://www.informatik.uni-bremen.de/robotik


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