<div dir="ltr">Yes, on robotics stackexchange ... :P</div><div class="gmail_extra"><br><br><div class="gmail_quote">On Mon, Jun 16, 2014 at 4:32 PM, Matthias Goldhoorn <span dir="ltr"><<a href="mailto:matthias.goldhoorn@dfki.de" target="_blank">matthias.goldhoorn@dfki.de</a>></span> wrote:<br>
<blockquote class="gmail_quote" style="margin:0 0 0 .8ex;border-left:1px #ccc solid;padding-left:1ex">I had just tested my first monitor, which results in the following error:<br>
<br>
16:28:27.564 (Roby) = failed emission of the weak_signal event of<br>
Pipeline::Detector:0x71f5cf0<br>
16:28:27.564 (Roby) = Backtrace<br>
16:28:27.564 (Roby) |<br>
16:28:27.564 (Roby) | /home/auv/dev/tools/roby/lib/roby/task.rb:663:in<br>
`emitting_event'<br>
16:28:27.564 (Roby) |<br>
/home/auv/dev/tools/roby/lib/roby/task_event_generator.rb:46:in `emitting'<br>
16:28:27.564 (Roby) |<br>
/home/auv/dev/tools/roby/lib/roby/event_generator.rb:628:in<br>
`emit_without_propagation'<br>
16:28:27.564 (Roby) |<br>
/home/auv/dev/tools/roby/lib/roby/execution_engine.rb:1017:in `block (2<br>
levels) in event_propagation_step'<br>
16:28:27.564 (Roby) |<br>
/home/auv/dev/tools/roby/lib/roby/execution_engine.rb:648:in<br>
`propagation_context'<br>
16:28:27.564 (Roby) |<br>
/home/auv/dev/tools/roby/lib/roby/execution_engine.rb:1015:in `block in<br>
event_propagation_step'<br>
16:28:27.564 (Roby) |<br>
/home/auv/dev/tools/roby/lib/roby/execution_engine.rb:559:in `block in<br>
gather_propagation'<br>
16:28:27.565 (Roby) |<br>
/home/auv/dev/tools/roby/lib/roby/execution_engine.rb:648:in<br>
`propagation_context'<br>
16:28:27.565 (Roby) |<br>
/home/auv/dev/tools/roby/lib/roby/execution_engine.rb:559:in<br>
`gather_propagation'<br>
16:28:27.565 (Roby) |<br>
/home/auv/dev/tools/roby/lib/roby/execution_engine.rb:1014:in<br>
`event_propagation_step'<br>
16:28:27.565 (Roby) |<br>
/home/auv/dev/tools/roby/lib/roby/execution_engine.rb:783:in `block in<br>
event_propagation_phase'<br>
16:28:27.565 (Roby) |<br>
/home/auv/dev/tools/roby/lib/roby/execution_engine.rb:761:in `gather_errors'<br>
16:28:27.565 (Roby) |<br>
/home/auv/dev/tools/roby/lib/roby/execution_engine.rb:779:in<br>
`event_propagation_phase'<br>
16:28:27.565 (Roby) |<br>
/home/auv/dev/tools/roby/lib/roby/execution_engine.rb:1426:in<br>
`process_events'<br>
16:28:27.565 (Roby) |<br>
/home/auv/dev/tools/roby/lib/roby/execution_engine.rb:1940:in `block (2<br>
levels) in event_loop'<br>
16:28:27.565 (Roby) |<br>
/home/auv/dev/tools/roby/lib/roby/support.rb:176:in `synchronize'<br>
16:28:27.565 (Roby) |<br>
/home/auv/dev/tools/roby/lib/roby/execution_engine.rb:1939:in `block in<br>
event_loop'<br>
16:28:27.565 (Roby) |<br>
/home/auv/dev/tools/roby/lib/roby/execution_engine.rb:1917:in `loop'<br>
16:28:27.565 (Roby) |<br>
/home/auv/dev/tools/roby/lib/roby/execution_engine.rb:1917:in `event_loop'<br>
16:28:27.565 (Roby) |<br>
/home/auv/dev/tools/roby/lib/roby/execution_engine.rb:1797:in `block (3<br>
levels) in run'<br>
16:28:27.565 (Roby) =<br>
<br>
<br>
Don't know wether this is a bug, or if i had miss-used the monitor...<br>
here is the action_state_machine i'm using:<br>
<br>
183 describe("Find_pipe_with_localization").<br>
184 optional_arg("check_pipe_angle",false)<br>
185 action_state_machine "find_pipe_with_localization" do<br>
186 find_pipe_back = state target_move_def(... some long stuff<br>
here ... )<br>
187 pipe_detector = state pipeline_detector_def<br>
188 pipe_detector.depends_on find_pipe_back, :role => "detector"<br>
189 start(pipe_detector)<br>
190<br>
191 pipe_detector.monitor(<br>
192 'angle_checker', #the Name<br>
193 pipe_detector.find_port('pipeline'), #the port for the<br>
reader<br>
194 :check_pipe_angle => check_pipe_angle). #arguments<br>
195 trigger_on do |pipeline|<br>
196 angle_in_range = true<br>
197 if check_pipe_angle<br>
198 angle_in_range = pipeline.angle < 0.1 &&<br>
pipeline.angle > -0.1<br>
199 end<br>
200 state_valid = pipeline.inspection_state ==<br>
:ALIGN_AUV || pipeline.inspection_state == :FOLLOW_PIPE<br>
201 state_valid && angle_in_range #last condition<br>
202 end. emit pipe_detector.success_event<br>
# for non-monitor use, this works if the above is commented out<br>
203 # forward pipe_detector.align_auv_event, success_event<br>
204 # forward pipe_detector.follow_pipe_event, success_event<br>
205<br>
206 forward pipe_detector.success_event, success_event<br>
207 forward<br>
pipe_detector,find_pipe_back.success_event,failed_event #timeout here on<br>
moving<br>
208 end<br>
<br>
<br>
<br>
<br>
<br>
Can anyone help me here?,<br>
Best,Matthias<br>
<br>
<br>
--<br>
--<br>
Matthias Goldhoorn<br>
Unterwasserrobotik<br>
<br>
Standort Bremen:<br>
DFKI GmbH<br>
Robotics Innovation Center<br>
Robert-Hooke-Straße 5<br>
28359 Bremen, Germany<br>
<br>
Phone: +49 (0)421 218-64100<br>
Fax: +49 (0)421 218-64150<br>
E-Mail: <a href="mailto:robotik@dfki.de">robotik@dfki.de</a><br>
<br>
Weitere Informationen: <a href="http://www.dfki.de/robotik" target="_blank">http://www.dfki.de/robotik</a><br>
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</blockquote></div><br></div>