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List:       orocos-users
Subject:    [Orocos-users] Controller example: [ ERROR ][TypeInfoName] Can not compose unknown_t.
From:       sonicboomshanky () gmail ! com (shashank sharma)
Date:       2012-01-15 16:59:18
Message-ID: CADPuorgWPaRfDyAoGERH=601p+i-CxpFsm1CTs168TxTYkUR2g () mail ! gmail ! com
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Hello everyone,

Thank you Ruben for the suggestion!

Br
Shashank

On Sat, Jan 14, 2012 at 12:00 PM, <
orocos-users-request at lists.mech.kuleuven.be> wrote:

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> Today's Topics:
> 
> 1. Re: Two-headed activities (S Roderick)
> 2. Re: Controller example: [ ERROR ][TypeInfoName] Can not
> compose unknown_t. (Ruben Smits)
> 
> 
> ----------------------------------------------------------------------
> 
> Message: 1
> Date: Fri, 13 Jan 2012 15:19:51 -0500
> From: S Roderick <kiwi.net at mac.com>
> Subject: Re: [Orocos-users] Two-headed activities
> To: "orocos-users at lists.mech.kuleuven.be Users"
> <orocos-users at lists.mech.kuleuven.be>
> Message-ID: <109BBFDB-9881-4DB8-B9A4-D7D241B45305 at mac.com>
> Content-Type: text/plain; CHARSET=US-ASCII
> 
> On Jan 13, 2012, at 10:35 , Stephen Roderick wrote:
> 
> > On Jan 7, 2012, at 04:15 , Markus Klotzbuecher wrote:
> > 
> > > On Fri, Jan 06, 2012 at 07:38:19PM +0100, Stephen Roderick wrote:
> > > > On Jan 6, 2012, at 09:08 , Markus Klotzbuecher wrote:
> > > > 
> > > > > On Fri, Jan 06, 2012 at 01:42:38PM +0100, S Roderick wrote:
> > > > > > We have a need to synchronize a suite of components, controlled by a
> > > > > > single Coordination component, to a hardware signal. But that signal
> > > > > > isn't available during initialization and shutdown (which takes many
> > > > > > seconds), and may block or dissappear at certain times. During these
> > > > > > periods, we still want the Coordinator to be able to run
> > > > > > periodically. So I think we need a custom Activity that is periodic
> > > > > > by default, but otherwise synchronized to the hardware signal when
> > > > > > available. Obviously the Coordinator component and/or the activity
> > > > > > will have to deal appropriately with the timeout on the hardware
> > > > > > signal.
> > > > > > 
> > > > > > Has anyone done anything like this before? Does anyone have any
> > > > > 
> > > > > Not exactly, but similar.
> > > > > 
> > > > > > alternative suggestions?
> > > > > 
> > > > > The event driven scenario: Have a periodic TimerComponent trigger your
> > > > > event driven Coordinator at your desired "base" frequency. Then simply
> > > > > connect your event generating hardware component (or any other!).
> > > > > 
> > > > > I like this one somewhat better, because it doesn't require a new
> > > > > primitive (the custom Activity). One the other hand for ultra-low
> > > > > latencies the latter might do slightly better; YMMV.
> > > > 
> > > > Your idea does have merit, however, you hit the nail on the head as
> > > > we need very low latency. But out of curiosity, how do you imagine
> > > 
> > > Ok. But note that RTT is indeed quite efficient at communicating event
> > > messages. On my machine using C++ components the wakeup latency with
> > > this approach was few tens of microseconds ([1], Section 4.2).
> > > 
> > > > connecting the "event generating hardware component"? Particularly
> > > > as that item isn't an Orocos component.
> > > 
> > > You will have a software (driver) component too, no? That one defines
> > > a port to which it writes a data-sample according to the hardware
> > > signal. Then you only need to connect that output port to an event
> > > port of your coordinator.
> > > 
> > > Markus
> > 
> > We have ended up doing this a little differently, but I wanted to
> communicate the result, along with a few interesting things learned along
> the way.
> > 
> > Our hardware driver is in a non-Orocos controlled thread, and writes to
> a pipe when the hardware updates. This is the signal we want to sync on.
> This signal is not available until the hardware is fully initialized (takes
> several seconds), and is not available if certain hardware faults occur.
> > 
> > Our coordinator is simply a state machine, now run by a
> FileDescriptorActivity (FDA). The FDA timeout capability is used to drive
> this component when the hardware signal is not available. We had to add a
> method call to the run() blocks for each state of interest, to process the
> FDA results (error, timeout,  isUpdated, etc) and react accordingly.
> > 
> > Interesting observations (these pertain to RTT v1)
> > 
> > - emitting an event to the coordinator causes additional step()
> executions to occur (i.e update hook executions, and state machine cycles).
> This can overload CPUs ... which is what happened to us (we went from the
> intended 500 Hz, to almost 4 kHz). This will also occur for commands
> (search for trigger() in EventProcessor and CommandProcessor
> implementations). The user implemention must deal with this.
> > 
> > - it might be possible that the work fd set in FDA can be used when not
> initialized, if an isUpdated() call occurs before loop(). This would not be
> the typical call sequence, but ...
> > 
> > - I believe that there is a possible race condition in the FDA
> implementation, that can theoretically cause fd activity to be missed. The
> timing for this to occur is very fine though. You have to watch() a new fd
> exactly when an existing fd activity occurs. The loop within a loop in
> loop() that processes the trigger-update-sets command can set do_trigger to
> false, causing the fd activity of that cycle to be ignored.
> 
> And one thing I missed
> 
> - for cases such as ours, where the file descriptor being watched is
> periodic in nature, I think we should allow the FDA to be configured with
> an _intended_ period. This allows the component, or components called via
> slave activities, to use the intended period (e.g. getPeriod() ) in
> computations. So a Computational component used within a Periodic activity
> in one deployment, or with a FD activity that is based on a periodic signal
> in a different deployemtn, requires no additional configuration or changes.
> 
> 
> 
> 
> 
> ------------------------------
> 
> Message: 2
> Date: Fri, 13 Jan 2012 20:34:39 +0100
> From: Ruben Smits <ruben at intermodalics.eu>
> Subject: Re: [Orocos-users] Controller example: [ ERROR
> ][TypeInfoName] Can not compose unknown_t.
> To: shashank sharma <sonicboomshanky at gmail.com>
> Cc: orocos-users at lists.mech.kuleuven.be
> Message-ID:
> <CAN8PhbmLRCr63HPvL8SvJE2SxfVG5Roamq65a=avbgQFZGKZwQ at mail.gmail.com
> > 
> Content-Type: text/plain; charset="iso-8859-1"
> 
> On Fri, Jan 13, 2012 at 5:02 PM, shashank sharma
> <sonicboomshanky at gmail.com>wrote:
> 
> > Hello Everyone,
> > 
> > I am trying to build the controller example from Orocos and I have RTT
> > version 2.5 installed. I am also sending my source code as an attachment
> to
> > reproduce the errors. Following is the screen output:
> > 
> > aviator at aviator-laptop:~/orocos_test/Controller$ rosrun ocl
> > deployer-gnulinux -s example1.cpf
> > 0.049 [ Warning][DeploymentComponent::import] The ROS package 'ocl' in
> > '/opt/ros/electric/stacks/orocos_toolchain/ocl' nor its dependencies
> > contained a lib/orocos directory. I'll look in the RTT_COMPONENT_PATH
> next.
> > 0.087 [ ERROR  ][TypekitRepository::Import] A protocol with id 1 was
> > already added for type /std/string
> > 0.087 [ ERROR  ][TypekitRepository::Import] A protocol with id 1 was
> > already added for type /std/vector</double>
> > 0.112 [ ERROR  ][TypekitRepository::Import] A protocol with id 2 was
> > already added for type /std/vector</double>
> > Plugin of Controller loaded in process.
> > 0.126 [ ERROR  ][TypekitRepository::Import] A protocol with id 42 was
> > already added for type /std/string
> > 0.126 [ ERROR  ][TypekitRepository::Import] A protocol with id 42 was
> > already added for type /std/vector</double>
> > 0.139 [ ERROR  ][TypekitRepository::Import] A protocol with id 2 was
> > already added for type /std/string
> > 0.139 [ ERROR  ][TypekitRepository::Import] A protocol with id 2 was
> > already added for type /std/vector</double>
> > 0.139 [ ERROR  ][TypekitRepository::Import] A protocol with id 42 was
> > already added for type /std/string
> > 0.140 [ ERROR  ][TypekitRepository::Import] A protocol with id 2 was
> > already added for type /std/string
> > 0.140 [ ERROR  ][TypekitRepository::Import] A protocol with id 42 was
> > already added for type /std/vector</double>
> > 0.140 [ ERROR  ][TypekitRepository::Import] A protocol with id 2 was
> > already added for type /std/vector</double>
> > 0.141 [ ERROR  ][TypekitRepository::Import] A protocol with id 1 was
> > already added for type /std/string
> > 0.141 [ ERROR  ][TypekitRepository::Import] A protocol with id 1 was
> > already added for type /std/vector</double>
> > Plugin of Plant loaded in process.
> > 0.145 [ Warning][DeploymentComponent::loadComponents] Lowering scheduler
> > type to SCHED_OTHER for non-privileged users..
> > 0.145 [ Warning][DeploymentComponent::loadComponents] Forcing priority
> > (99) of thread with SCHED_OTHER policy to 0.
> > 0.146 [ Warning][Thread] Lowering scheduler type to SCHED_OTHER for
> > non-privileged users..
> > 0.146 [ Warning][Activity] Lowering scheduler type to SCHED_OTHER for
> > non-privileged users..
> > 0.148 [ ERROR  ][ReportingComponent] Can not report InputPort
> SensorValues
> > of Component Controller_Component
> > 0.148 [ ERROR  ][ReportingComponent] Can not report InputPort SetPoints
> of
> > Component Plant_Component
> > 0.148 [ ERROR  ][TypeInfoName] Can not compose unknown_t.
> > 0.148 [ ERROR  ][refreshProperties] refreshProperties:  Could not update,
> > nor convert Property unknown_t Gain: type mismatch, can not update with
> > double Gain
> > 0.148 [ ERROR  ][DeploymentComponent::configureComponents] Failed to
> > configure properties for component Controller_Component
> > 0.149 [ ERROR  ][Logger] Failed to configure a component: aborting
> > kick-start.
> > Switched to : Deployer
> > 
> > This console reader allows you to browse and manipulate TaskContexts.
> > You can type in an operation, expression, create or change variables.
> > (type 'help' for instructions and 'ls' for context info)
> > 
> > TAB completion and HISTORY is available ('bash' like)
> > 
> > Use 'Ctrl-D' or type 'quit' to exit this program.
> > 
> > Deployer [S]>
> > 
> > 
> > There are a lot of Errors that I am unable to rectify. Also I am able to
> > start my reporting and Plant components via TaskBrowser, However the
> > Controller components fails to start as the Properties file is not loaded
> > due to "Unknown_t " error. Also I am unable to load the program script
> into
> > the Controller Component because of the same error. These unknown types
> are
> > doubles which I think are inherently handled by RTT. Can someone tell me
> > what is the problem? I also reviewed the mailing list archives but did
> not
> > find a suitable thread.
> > 
> > 
> I think that the error comes from the property Gain which is of type
> double. I assume that the addProperty faulty adds this as a
> Property<double> instead of double which causes the unknown_t. This has
> been reported before and can be resolved by,
> 
> * changing the type of gain to double instead of Property<double>
> * change the addProperty statement to addProperty(&gain)
> 
> Ruben
> 
> 
> > Best Wishes
> > Shashank
> > 
> > --
> > Orocos-Users mailing list
> > Orocos-Users at lists.mech.kuleuven.be
> > http://lists.mech.kuleuven.be/mailman/listinfo/orocos-users
> > 
> > 
> --
> Ruben Smits, Phd
> Chief Technology Officer
> Intermodalics BVBA
> +32479511786
> www.intermodalics.eu
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