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

[Christian Rauch]

I set the priority by:

task("seekur_drv","aria::Task").priority(99)

which does not affect the result (still delays).

The aria::Task is periodic (100ms) and the camera_ids::Task is triggered 
in the updateHook after a new image arrives.

As the camera Logger is writing with approx. 10 MB/s (and CPU load is 
below 20%) which is far away from the HDD limit (~60MB/s) and this whole 
issue does not occur when running the cameras with logger in syskit and 
the aria::Task outside syskit, I assume that this is not a hardware 
related issue.

As this problem for now seems to occur only when running both tasks 
(aria, camera_ids) within the bundle; what are the options to change the 
scheduling by syskit? Does syskit change the behaviour of how processes 
are scheduled by the OS in any way?

Regards,
Christian


Am 16.12.2013 16:21, schrieb 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
>>
>>
>>
>>
>> _______________________________________________
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>
>
> --
>   Dipl.-Inf. Matthias Goldhoorn
>   Space and Underwater Robotic
>
>   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
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>
>   Tel.:    +49 421 178 45-4193
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>   Fax:     +49 421 178 45-4150
>   E-Mail:matthias.goldhoorn at informatik.uni-bremen.de
>
>   Weitere Informationen:http://www.informatik.uni-bremen.de/robotik
>
>
>
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>

-- 
  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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