[Rock-dev] Syskit Monitors

Sylvain Joyeux

2014-06-16 14:38:36 UTC

Yes, on robotics stackexchange ... :P

On Mon, Jun 16, 2014 at 4:32 PM, Matthias Goldhoorn <

Post by Matthias Goldhoorn
16:28:27.564 (Roby) = failed emission of the weak_signal event of
Pipeline::Detector:0x71f5cf0
16:28:27.564 (Roby) = Backtrace
16:28:27.564 (Roby) |
16:28:27.564 (Roby) | /home/auv/dev/tools/roby/lib/roby/task.rb:663:in
`emitting_event'
16:28:27.564 (Roby) |
/home/auv/dev/tools/roby/lib/roby/task_event_generator.rb:46:in `emitting'
16:28:27.564 (Roby) |
/home/auv/dev/tools/roby/lib/roby/event_generator.rb:628:in
`emit_without_propagation'
16:28:27.564 (Roby) |
/home/auv/dev/tools/roby/lib/roby/execution_engine.rb:1017:in `block (2
levels) in event_propagation_step'
16:28:27.564 (Roby) |
/home/auv/dev/tools/roby/lib/roby/execution_engine.rb:648:in
`propagation_context'
16:28:27.564 (Roby) |
/home/auv/dev/tools/roby/lib/roby/execution_engine.rb:1015:in `block in
event_propagation_step'
16:28:27.564 (Roby) |
/home/auv/dev/tools/roby/lib/roby/execution_engine.rb:559:in `block in
gather_propagation'
16:28:27.565 (Roby) |
/home/auv/dev/tools/roby/lib/roby/execution_engine.rb:648:in
`propagation_context'
16:28:27.565 (Roby) |
/home/auv/dev/tools/roby/lib/roby/execution_engine.rb:559:in
`gather_propagation'
16:28:27.565 (Roby) |
/home/auv/dev/tools/roby/lib/roby/execution_engine.rb:1014:in
`event_propagation_step'
16:28:27.565 (Roby) |
/home/auv/dev/tools/roby/lib/roby/execution_engine.rb:783:in `block in
event_propagation_phase'
16:28:27.565 (Roby) |
/home/auv/dev/tools/roby/lib/roby/execution_engine.rb:761:in
`gather_errors'
16:28:27.565 (Roby) |
/home/auv/dev/tools/roby/lib/roby/execution_engine.rb:779:in
`event_propagation_phase'
16:28:27.565 (Roby) |
/home/auv/dev/tools/roby/lib/roby/execution_engine.rb:1426:in
`process_events'
16:28:27.565 (Roby) |
/home/auv/dev/tools/roby/lib/roby/execution_engine.rb:1940:in `block (2
levels) in event_loop'
16:28:27.565 (Roby) |
/home/auv/dev/tools/roby/lib/roby/support.rb:176:in `synchronize'
16:28:27.565 (Roby) |
/home/auv/dev/tools/roby/lib/roby/execution_engine.rb:1939:in `block in
event_loop'
16:28:27.565 (Roby) |
/home/auv/dev/tools/roby/lib/roby/execution_engine.rb:1917:in `loop'
16:28:27.565 (Roby) |
/home/auv/dev/tools/roby/lib/roby/execution_engine.rb:1917:in `event_loop'
16:28:27.565 (Roby) |
/home/auv/dev/tools/roby/lib/roby/execution_engine.rb:1797:in `block (3
levels) in run'
16:28:27.565 (Roby) =
Don't know wether this is a bug, or if i had miss-used the monitor...
183 describe("Find_pipe_with_localization").
184 optional_arg("check_pipe_angle",false)
185 action_state_machine "find_pipe_with_localization" do
186 find_pipe_back = state target_move_def(... some long stuff
here ... )
187 pipe_detector = state pipeline_detector_def
188 pipe_detector.depends_on find_pipe_back, :role => "detector"
189 start(pipe_detector)
190
191 pipe_detector.monitor(
192 'angle_checker', #the Name
193 pipe_detector.find_port('pipeline'), #the port for the
reader
194 :check_pipe_angle => check_pipe_angle). #arguments
195 trigger_on do |pipeline|
196 angle_in_range = true
197 if check_pipe_angle
198 angle_in_range = pipeline.angle < 0.1 &&
pipeline.angle > -0.1
199 end
200 state_valid = pipeline.inspection_state ==
:ALIGN_AUV || pipeline.inspection_state == :FOLLOW_PIPE
201 state_valid && angle_in_range #last condition
202 end. emit pipe_detector.success_event
# for non-monitor use, this works if the above is commented out
203 # forward pipe_detector.align_auv_event, success_event
204 # forward pipe_detector.follow_pipe_event, success_event
205
206 forward pipe_detector.success_event, success_event
207 forward
pipe_detector,find_pipe_back.success_event,failed_event #timeout here on
moving
208 end
Can anyone help me here?,
Best,Matthias
--
--
Matthias Goldhoorn
Unterwasserrobotik
DFKI GmbH
Robotics Innovation Center
Robert-Hooke-Stra?e 5
28359 Bremen, Germany
Phone: +49 (0)421 218-64100
Fax: +49 (0)421 218-64150
E-Mail: robotik at dfki.de
Weitere Informationen: http://www.dfki.de/robotik
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