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

Matthias Goldhoorn matthias.goldhoorn at dfki.de
Tue Dec 17 08:36:48 CET 2013 

On 16.12.2013 19:28, Christian Rauch wrote:
> 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.
I assume both in one deployment. You could (for testing reasons) try to 
separate the deployments.
>
> 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.
did you take a look to the load AND the system CPU Usage (top lines from 
`top`)
>
> 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?
Syskit does NOT influence the scheduling of tasks, this is defined at 
deployment time implicitly. The only differences when using syskit are:
- Syskit takes also CPU Load
- Syskit might use different connection types than you runscript -> take 
a look to `syskit instanciate ...` the connection policys are part of 
the graph

I still assume some load-related problems on your machine, sinc'e you 
mention that if you stopping the logger everything works fine.
>
> 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
>>>
>>>
>>>
>>>
>>> _______________________________________________
>>> 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
>>   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 45-4193
>>   Empfang: +49 421 178 45-6600
>>   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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>>
>
>
>
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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
  28359 Bremen, Germany
  
  Tel.:    +49 421 178 45-4193
  Empfang: +49 421 178 45-6600
  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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