[Rock-dev] Configure Components, adding new parameters fail

Alexander Duda Alexander.Duda at dfki.de
Wed Jun 26 14:16:10 CEST 2013 

Am 26.06.2013 um 14:04 schrieb Pierre Letier <pierre.letier at spaceapplications.com>:

> Hi, 
> 
> I have installed the "next" flavor and recompile my code (creating new components from scratch). However, adding two double parameter to my config structure still makes the program to fail. Adding only one (or removing those existing) doesn't cause any problem.
> 
> However, when I log the port (through the ruby script line "Orocos.log_all_ports"), the program can be started wit any number of parameters in my config structure. What can cause this difference ?
> 
> Here is the output when launching my code without the logger:
> 
> 0.054 [ Warning][TaskContextServer()] CTaskContext 'ipos' already bound to CORBA Naming Service.
> 0.054 [ Warning][TaskContextServer()] Trying to rebind... done. New CTaskContext bound to Naming Service.
> 0.055 [ Warning][TaskContextServer()] CTaskContext 'ipos_Logger' already bound to CORBA Naming Service.
> 0.055 [ Warning][TaskContextServer()] Trying to rebind... done. New CTaskContext bound to Naming Service.
> 
> ****** Start Initialization of the Ethercat Master ***** 
> Request Ethercat Master
> Create Domain
> Configuring PDOs...
> Vizkit[WARN]: deprecation: use Async API to connect the port /ipos.status to a widget or code block
> Vizkit[WARN]: deprecation: use Async API to connect the port /ipos.modeOpDisplay to a widget or code block
> Orocos[WARN]: TaskContextProxy /ipos is already initialized with different options.
> Vizkit[WARN]: deprecation: use Async API to connect the port /ipos.actualPosition to a widget or code block
> Orocos[WARN]: TaskContextProxy /ipos is already initialized with different options.
> Vizkit[WARN]: deprecation: use Async API to connect the port /ipos.actualVelocity to a widget or code block
> Orocos[WARN]: TaskContextProxy /ipos is already initialized with different options.
> Vizkit[WARN]: deprecation: use Async API to connect the port /ipos.actualCurrent to a widget or code block
> Orocos[WARN]: TaskContextProxy /ipos is already initialized with different options.
> Activating master...
> 
> 1.959 [ ERROR  ][Logger] caught CORBA exception while reading a remote channel: COMM_FAILURE COMM_FAILURE_WaitingForReply
> 1.959 [ ERROR  ][Logger] caught CORBA exception while reading a remote channel: COMM_FAILURE COMM_FAILURE_WaitingForReply
> 1.959 [ ERROR  ][Logger] caught CORBA exception while reading a remote channel: COMM_FAILURE COMM_FAILURE_WaitingForReply
> 1.960 [ ERROR  ][Logger] caught CORBA exception while reading a remote channel: COMM_FAILURE COMM_FAILURE_WaitingForReply
> Orocos[WARN]: deployment ipos unexpectedly terminated with signal 11

From my point of view this is not caused by the framework but by the internal of the component. You can send me the source code and I can have a look if this helps. You can also try to use gdb or valgrind to get a proper backtrace why the component crashes. 

Regards Alex

> 
> 
> Thank you, 
> 
> Pierre
> 
> 
> 
> ----- Original Message -----
> From: "Alexander Duda" <Alexander.Duda at dfki.de>
> To: "pierre letier" <pierre.letier at spaceapplications.com>, rock-dev at dfki.de
> Sent: Wednesday, 26 June, 2013 10:26:23 AM
> Subject: Re: Fwd: Re: [Rock-dev] Configure Components, adding new parameters fail
> 
> 
> Hi, 
> 
> my guess is that you haven't fully build your project after changing the type and your deployment is built against the old definitions (autoproj build). 
> 
> Regarding the port_proxy. We have completely removed it on next and master and replaced it with native ruby threads because of endless problems. Therefore I would recommend to switch to next if you encounter problems with it. The warnings you are getting are just fault alarms because there is no typekit for standard types like double,int,etc. Threrefore you can simply ignore them. Sorry for that. 
> 
> Regards 
> Alex 
> 
> 
> 
> On 06/26/2013 10:06 AM, Matthias Goldhoorn wrote: 
> 
> 
> 
> 
> -------- Original Message -------- 
> Subject: 	Re: [Rock-dev] Configure Components, adding new parameters fail 
> Date: 	Tue, 25 Jun 2013 17:09:12 +0200 (CEST) 
> From: 	Pierre Letier <pierre.letier at spaceapplications.com> 
> To: 	Matthias Goldhoorn <matthias.goldhoorn at dfki.de> 
> CC: 	rock-dev at dfki.de 
> 
> Dear Matthias, 
> 
> Here is a copy of the file.
> 
> #ifndef IPOS_CONFIG_H
> #define IPOS_CONFIG_H
> 
> namespace ipos 
> {	
> 	struct Config
> 	{
> 		double gain_position;
> 		double gain_velocity;
> 		double gain_current;
> 		double torque_const;
> 		//double TS_amplification_gain;
> 		//double TS_sensitivity;
> 		double TS_reference;
> 		
> 		Config() 
> 		{   
> 			gain_position = 1.0;
> 			gain_velocity = 1.0;
> 			gain_current = 1.0;
> 			torque_const = 1.0;
> 			//TS_amplification_gain = 1.0;
> 			//TS_sensitivity = 0.0;
> 			TS_reference = 0.0;
> 		}   
> 
> 	};
> 
> }// end namespace
> 
> #endif // IPOS_CONFIG_H
> 
> ----- Original Message -----
> From: "Matthias Goldhoorn" <matthias.goldhoorn at dfki.de> To: "pierre letier" <pierre.letier at spaceapplications.com> Cc: rock-dev at dfki.de Sent: Tuesday, 25 June, 2013 4:47:39 PM
> Subject: Re: [Rock-dev] Configure Components, adding new parameters fail
> 
> 
> Hi,
> can you add the line of the configuration file too?
> What kind of property is you field?
> Do you try to use an std::vector<double>?
> 
> Seems you componend never defined the correct type?!...
> 
> Greetings,
> Matthias
> 
> On 25.06.2013 16:43, Pierre Letier wrote:
>> I had an existing library/component working, that uses a configuration file. The configuration structure was initially composed of 4 double. I wanted to add some parameters to that configuration structure, but for unknown reason, when adding two more doubles, the component can not anymore been started (adding only one works normally).
>> 
>> I receive the following error when starting the component:
>> 
>> Orocos[WARN]: deployment orogen_default_ipos__Task unexpectedly terminated with signal 11
>> 
>> Is there some limit on the size of the configuration structure ? Or Am I missing something with the configuration process ?
>> 
>> When running the component with only one added parameter, It works although I receive the following warning (in case something wrong happens already there):
>> 
>> Vizkit[WARN]: Corba call timout is set to 20000 and connect timeout to 2000
>> Vizkit[WARN]: This might block your script during connection problems.
>> Activating master...
>> 
>> Orocos[WARN]: failed to load plugins for double on : the '' typekit is not available to pkgconfig
>> Orocos[WARN]:   /home/pierre/rock_20130226/tools/orocos.rb/lib/orocos/typekits.rb:90:in `rescue in find_typekit_pkg'
>> Orocos[WARN]:   /home/pierre/rock_20130226/tools/orocos.rb/lib/orocos/typekits.rb:87:in `find_typekit_pkg'
>> Orocos[WARN]:   /home/pierre/rock_20130226/tools/orocos.rb/lib/orocos/typekits.rb:190:in `find_typekit_plugin_paths'
>> Orocos[WARN]:   /home/pierre/rock_20130226/tools/orocos.rb/lib/orocos/typekits.rb:178:in `plugin_libs_for_name'
>> Orocos[WARN]:   /home/pierre/rock_20130226/gui/vizkit/ruby/lib/vizkit/port_proxy_extensions.rb:89:in `load_plugins_for_type'
>> Orocos[WARN]:   /home/pierre/rock_20130226/gui/vizkit/ruby/lib/vizkit/port_proxy_extensions.rb:24:in `proxy_port'
>> Orocos[WARN]:   /home/pierre/rock_20130226/gui/vizkit/ruby/lib/vizkit/task_proxy.rb:698:in `method_missing'
>> Orocos[WARN]:   /home/pierre/rock_20130226/gui/vizkit/ruby/lib/vizkit/task_proxy.rb:107:in `__reader_writer'
>> Orocos[WARN]:   /home/pierre/rock_20130226/gui/vizkit/ruby/lib/vizkit/oqconnection.rb:126:in `timerEvent'
>> Orocos[WARN]:   /home/pierre/rock_20130226/.gems/gems/qtbindings-4.8.3.0/lib/Qt/qtruby4.rb:469:in `method_missing'
>> Orocos[WARN]:   /home/pierre/rock_20130226/.gems/gems/qtbindings-4.8.3.0/lib/Qt/qtruby4.rb:469:in `exec'
>> Orocos[WARN]:   /home/pierre/rock_20130226/gui/vizkit/ruby/lib/vizkit/vizkit.rb:151:in `block in exec'
>> Orocos[WARN]:   /home/pierre/rock_20130226/tools/orocos.rb/lib/orocos/process.rb:398:in `block in run'
>> Orocos[WARN]:   /home/pierre/rock_20130226/tools/orocos.rb/lib/orocos/process.rb:832:in `guard'
>> Orocos[WARN]:   /home/pierre/rock_20130226/tools/orocos.rb/lib/orocos/process.rb:397:in `run'
>> Orocos[WARN]:   /home/pierre/rock_20130226/tools/orocos.rb/lib/orocos/process.rb:74:in `run'
>> Orocos[WARN]:   /home/pierre/rock_20130226/gui/vizkit/ruby/lib/vizkit/vizkit.rb:143:in `exec'
>> Orocos[WARN]:   orogen/ipos/scripts/ipos.rb:90:in `block in<main>'
>> Orocos[WARN]:   /home/pierre/rock_20130226/tools/orocos.rb/lib/orocos/process.rb:398:in `block in run'
>> Orocos[WARN]:   /home/pierre/rock_20130226/tools/orocos.rb/lib/orocos/process.rb:832:in `guard'
>> Orocos[WARN]:   /home/pierre/rock_20130226/tools/orocos.rb/lib/orocos/process.rb:397:in `run'
>> Orocos[WARN]:   /home/pierre/rock_20130226/tools/orocos.rb/lib/orocos/process.rb:74:in `run'
>> Orocos[WARN]:   orogen/ipos/scripts/ipos.rb:10:in `<main>'
>> Orocos[WARN]: failed to load plugins for double on : the '' typekit is not available to pkgconfig
>> Orocos[WARN]:   /home/pierre/rock_20130226/tools/orocos.rb/lib/orocos/typekits.rb:90:in `rescue in find_typekit_pkg'
>> Orocos[WARN]:   /home/pierre/rock_20130226/tools/orocos.rb/lib/orocos/typekits.rb:87:in `find_typekit_pkg'
>> Orocos[WARN]:   /home/pierre/rock_20130226/tools/orocos.rb/lib/orocos/typekits.rb:190:in `find_typekit_plugin_paths'
>> Orocos[WARN]:   /home/pierre/rock_20130226/tools/orocos.rb/lib/orocos/typekits.rb:178:in `plugin_libs_for_name'
>> Orocos[WARN]:   /home/pierre/rock_20130226/gui/vizkit/ruby/lib/vizkit/port_proxy_extensions.rb:89:in `load_plugins_for_type'
>> Orocos[WARN]:   /home/pierre/rock_20130226/gui/vizkit/ruby/lib/vizkit/port_proxy_extensions.rb:24:in `proxy_port'
>> Orocos[WARN]:   /home/pierre/rock_20130226/gui/vizkit/ruby/lib/vizkit/task_proxy.rb:698:in `method_missing'
>> Orocos[WARN]:   /home/pierre/rock_20130226/gui/vizkit/ruby/lib/vizkit/task_proxy.rb:107:in `__reader_writer'
>> Orocos[WARN]:   /home/pierre/rock_20130226/gui/vizkit/ruby/lib/vizkit/oqconnection.rb:126:in `timerEvent'
>> Orocos[WARN]:   /home/pierre/rock_20130226/.gems/gems/qtbindings-4.8.3.0/lib/Qt/qtruby4.rb:469:in `method_missing'
>> Orocos[WARN]:   /home/pierre/rock_20130226/.gems/gems/qtbindings-4.8.3.0/lib/Qt/qtruby4.rb:469:in `exec'
>> Orocos[WARN]:   /home/pierre/rock_20130226/gui/vizkit/ruby/lib/vizkit/vizkit.rb:151:in `block in exec'
>> Orocos[WARN]:   /home/pierre/rock_20130226/tools/orocos.rb/lib/orocos/process.rb:398:in `block in run'
>> Orocos[WARN]:   /home/pierre/rock_20130226/tools/orocos.rb/lib/orocos/process.rb:832:in `guard'
>> Orocos[WARN]:   /home/pierre/rock_20130226/tools/orocos.rb/lib/orocos/process.rb:397:in `run'
>> Orocos[WARN]:   /home/pierre/rock_20130226/tools/orocos.rb/lib/orocos/process.rb:74:in `run'
>> Orocos[WARN]:   /home/pierre/rock_20130226/gui/vizkit/ruby/lib/vizkit/vizkit.rb:143:in `exec'
>> Orocos[WARN]:   orogen/ipos/scripts/ipos.rb:90:in `block in<main>'
>> Orocos[WARN]:   /home/pierre/rock_20130226/tools/orocos.rb/lib/orocos/process.rb:398:in `block in run'
>> Orocos[WARN]:   /home/pierre/rock_20130226/tools/orocos.rb/lib/orocos/process.rb:832:in `guard'
>> Orocos[WARN]:   /home/pierre/rock_20130226/tools/orocos.rb/lib/orocos/process.rb:397:in `run'
>> Orocos[WARN]:   /home/pierre/rock_20130226/tools/orocos.rb/lib/orocos/process.rb:74:in `run'
>> Orocos[WARN]:   orogen/ipos/scripts/ipos.rb:10:in `<main>'
>> Orocos[WARN]: failed to load plugins for double on : the '' typekit is not available to pkgconfig
>> Orocos[WARN]:   /home/pierre/rock_20130226/tools/orocos.rb/lib/orocos/typekits.rb:90:in `rescue in find_typekit_pkg'
>> Orocos[WARN]:   /home/pierre/rock_20130226/tools/orocos.rb/lib/orocos/typekits.rb:87:in `find_typekit_pkg'
>> Orocos[WARN]:   /home/pierre/rock_20130226/tools/orocos.rb/lib/orocos/typekits.rb:190:in `find_typekit_plugin_paths'
>> Orocos[WARN]:   /home/pierre/rock_20130226/tools/orocos.rb/lib/orocos/typekits.rb:178:in `plugin_libs_for_name'
>> Orocos[WARN]:   /home/pierre/rock_20130226/gui/vizkit/ruby/lib/vizkit/port_proxy_extensions.rb:89:in `load_plugins_for_type'
>> Orocos[WARN]:   /home/pierre/rock_20130226/gui/vizkit/ruby/lib/vizkit/port_proxy_extensions.rb:24:in `proxy_port'
>> Orocos[WARN]:   /home/pierre/rock_20130226/gui/vizkit/ruby/lib/vizkit/task_proxy.rb:698:in `method_missing'
>> Orocos[WARN]:   /home/pierre/rock_20130226/gui/vizkit/ruby/lib/vizkit/task_proxy.rb:107:in `__reader_writer'
>> Orocos[WARN]:   /home/pierre/rock_20130226/gui/vizkit/ruby/lib/vizkit/oqconnection.rb:126:in `timerEvent'
>> Orocos[WARN]:   /home/pierre/rock_20130226/.gems/gems/qtbindings-4.8.3.0/lib/Qt/qtruby4.rb:469:in `method_missing'
>> Orocos[WARN]:   /home/pierre/rock_20130226/.gems/gems/qtbindings-4.8.3.0/lib/Qt/qtruby4.rb:469:in `exec'
>> Orocos[WARN]:   /home/pierre/rock_20130226/gui/vizkit/ruby/lib/vizkit/vizkit.rb:151:in `block in exec'
>> Orocos[WARN]:   /home/pierre/rock_20130226/tools/orocos.rb/lib/orocos/process.rb:398:in `block in run'
>> Orocos[WARN]:   /home/pierre/rock_20130226/tools/orocos.rb/lib/orocos/process.rb:832:in `guard'
>> Orocos[WARN]:   /home/pierre/rock_20130226/tools/orocos.rb/lib/orocos/process.rb:397:in `run'
>> Orocos[WARN]:   /home/pierre/rock_20130226/tools/orocos.rb/lib/orocos/process.rb:74:in `run'
>> Orocos[WARN]:   /home/pierre/rock_20130226/gui/vizkit/ruby/lib/vizkit/vizkit.rb:143:in `exec'
>> Orocos[WARN]:   orogen/ipos/scripts/ipos.rb:90:in `block in<main>'
>> Orocos[WARN]:   /home/pierre/rock_20130226/tools/orocos.rb/lib/orocos/process.rb:398:in `block in run'
>> Orocos[WARN]:   /home/pierre/rock_20130226/tools/orocos.rb/lib/orocos/process.rb:832:in `guard'
>> Orocos[WARN]:   /home/pierre/rock_20130226/tools/orocos.rb/lib/orocos/process.rb:397:in `run'
>> Orocos[WARN]:   /home/pierre/rock_20130226/tools/orocos.rb/lib/orocos/process.rb:74:in `run'
>> Orocos[WARN]:   orogen/ipos/scripts/ipos.rb:10:in `<main>'
>> 
>> 
>> 
>> Thank you
>> 
>> Pierre
>> 
>> 
>> 
>> 
>> 
>> 
> 
> 
> -- 
>  Dipl.-Inf. Matthias Goldhoorn
>  Space and Underwater Robotic
> 
>  Universität Bremen
>  FB 3 - Mathematik und Informatik
>  AG Robotik
>  Robert-Hooke-Straße 5
>  28359 Bremen, Germany
> 
>  Tel.:     +49 421 178 45-4193
>  Zentrale: +49 421 178 45-6550
>  Fax:      +49 421 178 45-4150
>  E-Mail: matthias.goldhoorn at uni-bremen.de Weitere Informationen: http://www.informatik.uni-bremen.de/robotik 
> 
> -- 
> Dipl.-Ing. Alexander Duda
> Unterwasserrobotik
> 
> DFKI Bremen
> Robotics Innovation Center
> Robert-Hooke-Straße 5
> 28359 Bremen, Germany
> 
> Phone: +49 (0)421 178-456620
> Fax:   +49 (0)421 178-454150
> E-Mail: alexander.duda at dfki.de Weitere Informationen: http://www.dfki.de/robotik -----------------------------------------------------------------------
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