[Rock-dev] Preventing multiple instances of compositions

[Matthias Goldhoorn]

Are you using master?
If you are using next the next commit after the merge phase should fix 
this problem.
We had this a while ago.

Best,
Matthias

On 14.03.2014 18:25, Christian Rauch wrote:
> Hello,
>
> we have a simulation composition (AriaSim) using some simulated devices.
>
> If we start this and an additional composition connected to simulated 
> devices we get sometimes (not reproducible) this error message:
>
> {{{
> Syskit[FATAL]: 
> /home/christian/rock_virgo_next/tools/syskit/lib/syskit/network_generation/engine.rb:526:in 
> `block (2 levels) in validate_generated_network': device locomotion is 
> assigned to both Simulation::MarsActuator{1}:0x69a7f58{driver_dev => 
> device(Dev::Simulation::Mars::Actuator, :as => locomotion), conf => 
> [locomotion], locomotion_actuators_mappings => [1, 2, 3, 4]}[] and 
> Simulation::MarsActuator{1}:0x73ca0a8{driver_dev => 
> device(Dev::Simulation::Mars::Actuator, :as => locomotion), conf => 
> [locomotion], locomotion_actuators_mappings => [1, 2, 3, 4]}[], but 
> the tasks have mismatching inputs (Syskit::SpecError)
> }}}
>
> Where locomotion is a simulated devices defined by:
> {{{
> define_simulated_device("locomotion", Dev::Simulation::Mars::Actuator) 
> do |dev|
>     ::Simulation::MarsActuator.dispatch('locomotion_actuators', 
> (1..4).to_a ).
>         use_deployments(/mars_locomotion/).
>         with_arguments(dev.arguments).
>         with_conf('locomotion')
> end
> locomotion_dev.period 0.01
> }}}
>
> and used in:
> {{{
>   define 'aria', Virgo::AriaSim.use(
>     'actuators' => locomotion_def,
>     [...]
>   )
> }}}
>
> In the network graph (see attached *.dot file) one can see that the 
> simulation composition (Virgo::AriaSim) is started twice, and 
> therefore also the Simulation::MarsActuator::Cmp.
> I guess that is not correct.
>
> It might be, that this problem does not occur when a second 
> composition is started accessing a simulated device, but then it 
> happens later when a third, ... composition is started.
>
> => Any ideas why this happens and only happens randomly?
>
>
> Our guess was to prevent the creation of multiple AriaSim instances by 
> setting it as a driver by:
> {{{
> class AriaSim < Syskit::Composition
>     [...]
>     driver_for Dev::Platforms::MobileRoboticsSim, :as=>'ariasimdev'
> end
> }}}
>
> Which results in the error:
> {{{
> Syskit[FATAL]: cannot find a device to tie to 1 task(s)
> Syskit[FATAL]: for Virgo::AriaSim:0x64e5380{}[]
> Syskit[FATAL]:   no candidates for Virgo::AriaSim:ariasimdev
> Syskit[FATAL]: Engine#resolve failed
> }}}
>
> => So the second question is if a composition could be set as a driver 
> and if so, how?
>
> Regards,
> Christian
>
>
>
>
> _______________________________________________
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> Rock-dev at dfki.de
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-- 
  Dipl.-Inf. Matthias Goldhoorn
  Space and Underwater Robotic

  Universität Bremen
  FB 3 - Mathematik und Informatik
  AG Robotik
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