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

[Matthias Goldhoorn]

Several things could happen:

The logger consumes too much time to get out the images, caused by a 
slow hdd.
Try to increase the priority level of the pioneer task within your 
deployment to make this more urgent from the point of scheduling.

Matthias

P.S. i assume you task is periodic

On 16.12.2013 16:17, Christian Rauch wrote:
> 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
>
>
>
>
> _______________________________________________
> Rock-dev mailing list
> Rock-dev at dfki.de
> http://www.dfki.de/mailman/cgi-bin/listinfo/rock-dev


-- 
  Dipl.-Inf. Matthias Goldhoorn
  Space and Underwater Robotic

  Universität Bremen
  FB 3 - Mathematik und Informatik
  AG Robotik
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