[Rock-dev] Problem with mixed sizes of typekit types

[Dennis Hemker]

Hey Thomas,

yes, it's related. Most of the "corrupted" logs are the ones with 
different types of string offsets. As Janosch mentioned, the isSame 
method in C++ fails, but that was a thing we observed while we were 
struggling with the non-loadable streams in logfiles.

Best,

Dennis


Am 20.07.2017 um 19:21 schrieb Thomas Roehr:
> Hey Dennis,
>
> can you check if that is related:
>
> https://github.com/orocos-toolchain/typelib/issues/95
>
> Best
> Thomas
>
> On 09.06.2017 14:06, Alexander Fabisch wrote:
>> Hi Dennis,
>>
>> I think I have a similar problem: the problem seems to be the offset of
>> strings, right? I assume that if you subtract the offset of sourceFrame
>> from the offset of targetFrame you SHOULD get something like the size of
>> the the type that has been used to encode the length of the string (8
>> Byte vs. 32 Byte)? I have a logfile that looks like type a and a logfile
>> that looks like type b but the actual length is encoded in the first 8
>> Byte of the string in both cases. You can check that if you look
>> directly at the binary data in the logfile with "hexdump -C <file>":
>>
>>   > 00000820  ...  0c 00 00 00 00 00 00 00  |9...............| <- 0c 00
>> 00 00 00 00 00 00 == 12
>>   > 00000830  68 65 6c 6c 6f 77 20 77  6f 72 6c 64 02 ff 01 00 |hellow
>> world....|
>>
>> Best regards,
>>
>> Alexander
>>
>>
>> Am 09.06.2017 um 12:35 schrieb Dennis Hemker:
>>> Hey Guys,
>>>
>>> I encountered a weird problem during the use of the C++-based
>>> rock-replay2, which uses the local typekit definitions to load
>>> marshalled types from the log files. In some logfiles, the local and the
>>> marshalled typekit type mismatch in their sizes, for instance the
>>> RigidBodyState_m type. The log was recorded with the Sherpa-Bot in Utah:
>>>
>>> type a:
>>> compound /base/samples/RigidBodyState_m [416] {
>>>          (+0) compound /base/Time [8] {
>>>            (+0) sint(8) (/int64_t) microseconds
>>>          }; time
>>>          (+8) container /std/string</int8_t> sourceFrame
>>>          (+16) container /std/string</int8_t> targetFrame
>>>          (+24) compound /wrappers/Matrix</double,3,1> [24] {
>>>            (+0) array[3] of
>>>              float(8) (/double) data
>>>          }; position
>>>          (+48) compound /wrappers/Matrix</double,3,3> [72] {
>>>            (+0) array[9] of
>>>              float(8) (/double) data
>>>          }; cov_position
>>>          (+120) compound /wrappers/Quaternion</double> [32] {
>>>            (+0) array[3] of
>>>              float(8) (/double) im
>>>            (+24) float(8) (/double) re
>>>          }; orientation
>>>          (+152) compound /wrappers/Matrix</double,3,3> [72] {
>>>            (+0) array[9] of
>>>              float(8) (/double) data
>>>          }; cov_orientation
>>>          (+224) compound /wrappers/Matrix</double,3,1> [24] {
>>>            (+0) array[3] of
>>>              float(8) (/double) data
>>>          }; velocity
>>>          (+248) compound /wrappers/Matrix</double,3,3> [72] {
>>>            (+0) array[9] of
>>>              float(8) (/double) data
>>>          }; cov_velocity
>>>          (+320) compound /wrappers/Matrix</double,3,1> [24] {
>>>            (+0) array[3] of
>>>              float(8) (/double) data
>>>          }; angular_velocity
>>>          (+344) compound /wrappers/Matrix</double,3,3> [72] {
>>>            (+0) array[9] of
>>>              float(8) (/double) data
>>>          }; cov_angular_velocity
>>>        };
>>> type b:
>>> compound /base/samples/RigidBodyState_m [464] {
>>>          (+0) compound /base/Time [8] {
>>>            (+0) sint(8) (/int64_t) microseconds
>>>          }; time
>>>          (+8) container /std/string</int8_t> sourceFrame
>>>          (+40) container /std/string</int8_t> targetFrame
>>>          (+72) compound /wrappers/Matrix</double,3,1> [24] {
>>>            (+0) array[3] of
>>>              float(8) (/double) data
>>>          }; position
>>>          (+96) compound /wrappers/Matrix</double,3,3> [72] {
>>>            (+0) array[9] of
>>>              float(8) (/double) data
>>>          }; cov_position
>>>          (+168) compound /wrappers/Quaternion</double> [32] {
>>>            (+0) array[3] of
>>>              float(8) (/double) im
>>>            (+24) float(8) (/double) re
>>>          }; orientation
>>>          (+200) compound /wrappers/Matrix</double,3,3> [72] {
>>>            (+0) array[9] of
>>>              float(8) (/double) data
>>>          }; cov_orientation
>>>          (+272) compound /wrappers/Matrix</double,3,1> [24] {
>>>            (+0) array[3] of
>>>              float(8) (/double) data
>>>          }; velocity
>>>          (+296) compound /wrappers/Matrix</double,3,3> [72] {
>>>            (+0) array[9] of
>>>              float(8) (/double) data
>>>          }; cov_velocity
>>>          (+368) compound /wrappers/Matrix</double,3,1> [24] {
>>>            (+0) array[3] of
>>>              float(8) (/double) data
>>>          }; angular_velocity
>>>          (+392) compound /wrappers/Matrix</double,3,3> [72] {
>>>            (+0) array[9] of
>>>              float(8) (/double) data
>>>          }; cov_angular_velocity
>>>        };Checking /body_joint.state
>>>
>>> Differences can be found in the source- and targetFrame definitions.
>>>
>>> Thank you and best regards,
>>>
>>> Dennis
>>>
>>> _______________________________________________
>>> Rock-dev mailing list
>>> Rock-dev at dfki.de
>>> http://www.dfki.de/mailman/cgi-bin/listinfo/rock-dev
>