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<div class="moz-cite-prefix">On 16.12.2013 19:28, Christian Rauch
wrote:<br>
</div>
<blockquote cite="mid:52AF4634.1070205@dfki.de" type="cite">I set
the priority by:
<br>
<br>
task("seekur_drv","aria::Task").priority(99)
<br>
<br>
which does not affect the result (still delays).
<br>
<br>
The aria::Task is periodic (100ms) and the camera_ids::Task is
triggered in the updateHook after a new image arrives.
<br>
</blockquote>
I assume both in one deployment. You could (for testing reasons) try
to separate the deployments.<br>
<blockquote cite="mid:52AF4634.1070205@dfki.de" type="cite">
<br>
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.
<br>
</blockquote>
did you take a look to the load AND the system CPU Usage (top lines
from `top`)<br>
<blockquote cite="mid:52AF4634.1070205@dfki.de" type="cite">
<br>
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?
<br>
</blockquote>
Syskit does NOT influence the scheduling of tasks, this is defined
at deployment time implicitly. The only differences when using
syskit are:<br>
- Syskit takes also CPU Load<br>
- Syskit might use different connection types than you runscript
-> take a look to `syskit instanciate ...` the connection policys
are part of the graph<br>
<br>
I still assume some load-related problems on your machine, sinc'e
you mention that if you stopping the logger everything works fine.<br>
<blockquote cite="mid:52AF4634.1070205@dfki.de" type="cite">
<br>
Regards,
<br>
Christian
<br>
<br>
<br>
Am 16.12.2013 16:21, schrieb Matthias Goldhoorn:
<br>
<blockquote type="cite">Several things could happen:
<br>
<br>
The logger consumes too much time to get out the images, caused
by a
<br>
slow hdd.
<br>
Try to increase the priority level of the pioneer task within
your
<br>
deployment to make this more urgent from the point of
scheduling.
<br>
<br>
Matthias
<br>
<br>
P.S. i assume you task is periodic
<br>
<br>
On 16.12.2013 16:17, Christian Rauch wrote:
<br>
<blockquote type="cite">Hi,
<br>
<br>
I am using the aria task within syskit as a device which is
supposed to
<br>
be called every 100ms. The aria task uses an additional thread
<br>
provided by the aria driver to communicate with the robot.
<br>
<br>
If I run that task from the syskit shell without additional
sensors the
<br>
updateHook gets called as expected. If I add one or more
cameras
<br>
(camera_ids) with loggers it happens that the updateHook gets
stuck
<br>
for some time:
<br>
<br>
{{{
<br>
[DEBUG] - aria::updateHook at: 1386784751.580.629
<br>
[DEBUG] - aria::updateHook at: 1386784751.680.668
<br>
[DEBUG] - aria::updateHook at: 1386784751.780.542
<br>
ArRobotPacketReceiver::receivePacket: bad packet, bad checksum
<br>
Warning: Task 'Packet Handler' took 1213 ms to run (longer
than the 250
<br>
warning time)
<br>
Warning: ArRobot sync tasks too long at 1213 ms, (100 ms
normal 250 ms
<br>
warning)
<br>
[DEBUG] - aria::updateHook at: 1386784753.673.374
<br>
[DEBUG] - aria::updateHook at: 1386784753.677.372
<br>
[DEBUG] - aria::updateHook at: 1386784753.681.379
<br>
[DEBUG] - aria::updateHook at: 1386784753.685.211
<br>
[DEBUG] - aria::updateHook at: 1386784753.689.226
<br>
[DEBUG] - aria::updateHook at: 1386784753.697.023
<br>
[DEBUG] - aria::updateHook at: 1386784753.701.405
<br>
[DEBUG] - aria::updateHook at: 1386784753.705.386
<br>
[DEBUG] - aria::updateHook at: 1386784753.709.383
<br>
[DEBUG] - aria::updateHook at: 1386784753.713.216
<br>
[DEBUG] - aria::updateHook at: 1386784753.717.292
<br>
[DEBUG] - aria::updateHook at: 1386784753.721.253
<br>
[DEBUG] - aria::updateHook at: 1386784753.725.392
<br>
[DEBUG] - aria::updateHook at: 1386784753.729.400
<br>
[DEBUG] - aria::updateHook at: 1386784753.733.392
<br>
ArRobotPacketReceiver::receivePacket: bad packet, bad checksum
<br>
[DEBUG] - aria::updateHook at: 1386784753.737.227
<br>
[DEBUG] - aria::updateHook at: 1386784753.741.226
<br>
[DEBUG] - aria::updateHook at: 1386784753.745.274
<br>
[DEBUG] - aria::updateHook at: 1386784753.749.305
<br>
[DEBUG] - aria::updateHook at: 1386784753.781.249
<br>
[DEBUG] - aria::updateHook at: 1386784753.881.453
<br>
[DEBUG] - aria::updateHook at: 1386784753.981.492
<br>
[DEBUG] - aria::updateHook at: 1386784754.081.523
<br>
[DEBUG] - aria::updateHook at: 1386784754.181.392
<br>
[DEBUG] - aria::updateHook at: 1386784754.281.428
<br>
[DEBUG] - aria::updateHook at: 1386784754.381.462
<br>
}}}
<br>
<br>
<br>
For some reason this problem does no longer occur as soon as
the camera
<br>
loggers are stopped. It also does not occur when the aria Task
is
<br>
started outside of syskit by using the default deployment and
the
<br>
TaskInspector or the orocos.rb API.
<br>
<br>
It looks like the whole task is blocked somehow (the
updateHook is not
<br>
really taking that much processing time).
<br>
Any ideas where this might come from and why this only occurs
when
<br>
running both tasks with loggers in syskit?
<br>
<br>
Regards,
<br>
Christian
<br>
<br>
<br>
<br>
<br>
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<br>
</blockquote>
<br>
<br>
--
<br>
Dipl.-Inf. Matthias Goldhoorn
<br>
Space and Underwater Robotic
<br>
<br>
Universität Bremen
<br>
FB 3 - Mathematik und Informatik
<br>
AG Robotik
<br>
Robert-Hooke-Straße 1
<br>
28359 Bremen, Germany
<br>
<br>
Zentrale: +49 421 178 45-6611
<br>
<br>
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<br>
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<br>
Empfang: +49 421 178 45-6600
<br>
Fax: +49 421 178 45-4150
<br>
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<br>
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Informationen:<a class="moz-txt-link-freetext" href="http://www.informatik.uni-bremen.de/robotik">http://www.informatik.uni-bremen.de/robotik</a>
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</blockquote>
<br>
<br>
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</blockquote>
<br>
<br>
<pre class="moz-signature" cols="72">--
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: <a class="moz-txt-link-abbreviated" href="mailto:matthias.goldhoorn@informatik.uni-bremen.de">matthias.goldhoorn@informatik.uni-bremen.de</a>
Weitere Informationen: <a class="moz-txt-link-freetext" href="http://www.informatik.uni-bremen.de/robotik">http://www.informatik.uni-bremen.de/robotik</a></pre>
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