[Rock-dev] Preventing multiple instances of compositions

[Christian Rauch]

Am 17.03.2014 07:59, schrieb Matthias Goldhoorn:
> Are you using master?
> If you are using next the next commit after the merge phase should fix
> this problem.
Yes, we are on next. With syskit commit 423fb288 (net_gen: properly 
synchronize finishing [...]) the error is still present. The error also 
occurs when switching completely with syskit and roby to master.

Regards,
Christian


> 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
>>
>>
>>
>>
>> _______________________________________________
>> Rock-dev mailing list
>> Rock-dev at dfki.de
>> http://www.dfki.de/mailman/cgi-bin/listinfo/rock-dev
>
>

-- 
  Christian Rauch
  Space Robotics

  Universität Bremen
  FB 3 - Mathematik und Informatik
  AG Robotik
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  28359 Bremen, Germany

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