another scripting problem

On Tuesday 18 January 2011 15:09:33 Dominick Vanthienen wrote:
> Hi,
>
> I've this statemachine, where I try to invoke an operation.
> When I do so, it hangs, in a similar way as in my previous mail.
> (blocking, I can't type anything in the taskBrowser OR a crash (see below))
> He executes the operation when I type the command in the taskBrowser.

I'm assuming you're using the latest toolchain-2.2 ?

>
> the state machine:
>
> state ControliTaSCScene{
> entry{
> print.ln("hello 3")
> Scene.CartesianMotion_Wy_global=1.0
> yield
> print.ln("hello 4") //he will print this line!
>
> CartesianTrajectoryGenerator.moveTo(KDL.Frame(KDL.Vector(0.1,0.0,0.1),KDL.R
> otation()),5.0) //this is the line he doesn't want to execute

Could it be that moveTo is executed (the C++ function returns), but the script
does not continue ?

> print.ln("hello 5") //he never get to this line :(
> }
> exit{
> Scene.CartesianMotion_Wy_global=0.0
> CartesianTrajectoryGenerator.stop()
> Scene.stop()
> CartesianMotion.stop()
> KukaLWR.stop()
> }
> transition if stopRobot==true then select StopRobot
> }
>
> expected behavior (this is the same state machine, but without the
> operation call, I call it manually)
> ---------------------------------------------------------------------------
> -------------------------------------------------------
>
> SuperVisor [R]> Test.activate
> hello 1
> = true
>
> SuperVisor [R]> Test.start
> = true
>
> SuperVisor [R]> hello 2
> hello 3
> hello 4
> hello 5
>
> SuperVisor [R]>
> CartesianTrajectoryGenerator.moveTo(KDL.Frame(KDL.Vector(0.1,0.0,0.1),KDL.R
> otation()),5.0) = true
>
> behavior with the operation call in the script: (log in attachement)
> -------------------------------------------------------------
> SuperVisor [R]> Test.activate
> hello 1
> = true
>
> SuperVisor [R]> Test.start
>
> (when it doesn't crash, he prints hello 2, 3 and 4 here)

I'll need the valgrind output and the RTT compiled with 'Debug' instead.
Which Linux distribution + which architecture are you using ?
Could you try to compile the *first* test program suggested here:
https://partner-bugzilla.redhat.com/show_bug.cgi?id=593396
and run it for a few minutes ?
g++ test-free.cpp -o test-free -g -lpthread

>
> *** glibc detected ***
> /home/u0065688/src/svn/robotics-ros/packages/orocos_toolchain_ros/ocl/bin/d
> eployer-gnulinux: invalid fastbin entry (free): 0x0812ba28 ***
> ======= Backtrace: =========
> /lib/libc.so.6(+0x6c501)[0xb78a3501]
> /lib/libc.so.6(+0x6dd70)[0xb78a4d70]
> /lib/libc.so.6(cfree+0x6d)[0xb78a7e5d]
> /usr/lib/libstdc++.so.6(_ZdlPv+0x21)[0xb7a82441]
> /home/u0065688/src/svn/robotics-ros/packages/orocos_toolchain_ros/rtt/insta
> ll/lib/orocos/plugins/librtt-scripting-gnulinux.so.2.2.0(_ZN5boost6detail17
> sp_counted_impl_pINS_6spirit7classic11basic_chsetIcEEE7disposeEv+0x20)[0xb7
> 6189b0]
> /home/u0065688/src/svn/robotics-ros/packages/orocos_toolchain_ros/ocl/lib/
> liborocos-log4cpp-gnulinux.so.2.2.0(_ZN5boost6detail12shared_countD1Ev+0x38
> )[0xb7faf998]
> /home/u0065688/src/svn/robotics-ros/packages/orocos_toolchain_ros/rtt/inst
> all/lib/orocos/plugins/librtt-scripting-gnulinux.so.2.2.0(_ZN3RTT9scripting
> 12CommonParserC1Ev+0xf8c)[0xb76de94c]
> /home/u0065688/src/svn/robotics-ros/packages/orocos_toolchain_ros/rtt/inst
> all/lib/orocos/plugins/librtt-scripting-gnulinux.so.2.2.0(_ZN3RTT9scripting
> 6Parser19parseValueStatementERKSsPNS_11TaskContextE+0x1c8)[0xb76a8528]
> /home/u0065688/src/svn/robotics-ros/packages/orocos_toolchain_ros/ocl/lib/
> liborocos-taskbrowser-gnulinux.so.2.2.0(_ZN3OCL11TaskBrowser11evalCommandER
> Ss+0x392)[0xb7dd48f2]
> /home/u0065688/src/svn/robotics-ros/packages/orocos_toolchain_ros/ocl/lib/
> liborocos-taskbrowser-gnulinux.so.2.2.0(_ZN3OCL11TaskBrowser4loopEv+0xe6a)[
> 0xb7ddbd7a]
> /home/u0065688/src/svn/robotics-ros/packages/orocos_toolchain_ros/ocl/bin/
> deployer-gnulinux(main+0x3b2)[0x80528f2]
> /lib/libc.so.6(__libc_start_main+0xe7)[0xb784dce7]
> /home/u0065688/src/svn/robotics-ros/packages/orocos_toolchain_ros/ocl/bin/d
> eployer-gnulinux[0x8052471] ======= Memory map: ========
> 08048000-08061000 r-xp 00000000 08:07 4591240
> /home/u0065688/src/svn/robotics-ros/packages/orocos_toolchain_ros/ocl/bin/d
> eployer-gnulinux 08061000-08062000 r--p 00018000 08:07 4591240
> /home/u0065688/src/svn/robotics-ros/packages/orocos_toolchain_ros/ocl/bin/d
> eployer-gnulinux 08062000-08063000 rw-p 00019000 08:07 4591240
> /home/u0065688/src/svn/robotics-ros/packages/orocos_toolchain_ros/ocl/bin/d
> eployer-gnulinux 08063000-0813f000 rw-p 00000000 00:00 0 [heap]
> ace8c000-ace8d000 ---p 00000000 00:00 0
> ace8d000-ad68d000 rw-p 00000000 00:00 0
> ad68d000-ad68e000 ---p 00000000 00:00 0
> ad68e000-ade8e000 rw-p 00000000 00:00 0
> ade8e000-ade8f000 ---p 00000000 00:00 0
> ade8f000-ae68f000 rw-p 00000000 00:00 0
> ae68f000-ae690000 ---p 00000000 00:00 0
> ae690000-aee90000 rw-p 00000000 00:00 0
> aee90000-aee91000 ---p 00000000 00:00 0
> aee91000-af691000 rw-p 00000000 00:00 0
> b0e94000-b0e95000 ---p 00000000 00:00 0
> b0e95000-b1695000 rw-p 00000000 00:00 0
> b1b00000-b1d00000 r--p 00000000 08:05 139259
> /usr/lib/locale/locale-archive
> b1d00000-b1d34000 rw-p 00000000 00:00 0
> b1d34000-b1e00000 ---p 00000000 00:00 0
> b1e96000-b1f98000 r-xp 00000000 08:07 3674652
> /home/u0065688/src/svn/robotics-ros/packages/private-kul-ros-pkg/trajectory
> _generators/lib/orocos/libcartesiangeneratorpos-gnulinux.so
> b1f98000-b1fa1000 r--p 00101000 08:07 3674652
> /home/u0065688/src/svn/robotics-ros/packages/private-kul-ros-pkg/trajectory
> _generators/lib/orocos/libcartesiangeneratorpos-gnulinux.so
> b1fa1000-b1fa2000 rw-p 0010a000 08:07 3674652
> /home/u0065688/src/svn/robotics-ros/packages/private-kul-ros-pkg/trajectory
> _generators/lib/orocos/libcartesiangeneratorpos-gnulinux.so
> b1fa2000-b21a4000 r-xp 00000000 08:07 3674735
> /home/u0065688/src/svn/robotics-ros/packages/private-kul-ros-pkg/lissajous_
> lwr/lib/orocos/liblasermotion-gnulinux.so b21a4000-b21b5000 r--p 00201000
> 08:07 3674735
> /home/u0065688/src/svn/robotics-ros/packages/private-kul-ros-pkg/lissajous_
> lwr/lib/orocos/liblasermotion-gnulinux.so b21b5000-b21b6000 rw-p 00212000
> 08:07 3674735
> /home/u0065688/src/svn/robotics-ros/packages/private-kul-ros-pkg/lissajous_
> lwr/lib/orocos/liblasermotion-gnulinux.so b21b6000-b2234000 r-xp 00000000
> 08:07 3674701
> /home/u0065688/src/svn/robotics-ros/packages/private-kul-ros-pkg/lissajous_
> lwr/lib/orocos/liblissajousgenerator-gnulinux.so b2234000-b2238000 r--p
> 0007e000 08:07 3674701
> /home/u0065688/src/svn/robotics-ros/packages/private-kul-ros-pkg/lissajous_
> lwr/lib/orocos/liblissajousgenerator-gnulinux.so b2238000-b2239000 rw-p
> 00082000 08:07 3674701
> /home/u0065688/src/svn/robotics-ros/packages/private-kul-ros-pkg/lissajous_
> lwr/lib/orocos/liblissajousgenerator-gnulinux.so b2239000-b22ab000 r-xp
> 00000000 08:07 3674732
> /home/u0065688/src/svn/robotics-ros/packages/private-kul-ros-pkg/lissajous_
> lwr/lib/orocos/libnaxesvelocitycontroller-gnulinux.so b22ab000-b22af000
> r--p 00072000 08:07 3674732
> /home/u0065688/src/svn/robotics-ros/packages/private-kul-ros-pkg/lissajous_
> lwr/lib/orocos/libnaxesvelocitycontroller-gnulinux.so b22af000-b22b0000
> rw-p 00076000 08:07 3674732
> /home/u0065688/src/svn/robotics-ros/packages/private-kul-ros-pkg/lissajous_
> lwr/lib/orocos/libnaxesvelocitycontroller-gnulinux.so b22b0000-b2302000
> r-xp 00000000 08:07 3674423
> /home/u0065688/src/svn/robotics-ros/packages/private-kul-ros-pkg/lissajous_
> lwr/lib/orocos/libdummyKukaLWR-gnulinux.so b2302000-b2305000 r--p 00051000
> 08:07 3674423
> /home/u0065688/src/svn/robotics-ros/packages/private-kul-ros-pkg/lissajous_
> lwr/lib/orocos/libdummyKukaLWR-gnulinux.so b2305000-b2306000 rw-p 00054000
> 08:07 3674423
> /home/u0065688/src/svn/robotics-ros/packages/private-kul-ros-pkg/lissajous_
> lwr/lib/orocos/libdummyKukaLWR-gnulinux.so b2306000-b2a64000 r-xp 00000000
> 08:07 3937181
> /home/u0065688/src/svn/robotics-ros/packages/private-kul-ros-pkg/stacks/oro
> cos_kinematics_dynamics/kdl_rtt_plugin/lib/orocos/types/libkdl_rtt_plugin-g
> nulinux.so b2a64000-b2a9c000 r--p 0075d000 08:07 3937181
> /home/u0065688/src/svn/robotics-ros/packages/private-kul-ros-pkg/stacks/oro
> cos_kinematics_dynamics/kdl_rtt_plugin/lib/orocos/types/libkdl_rtt_plugin-g
> nulinux.so b2a9c000-b2a9f000 rw-p 00795000 08:07 3937181
> /home/u0065688/src/svn/robotics-ros/packages/private-kul-ros-pkg/stacks/oro
> cos_kinematics_dynamics/kdl_rtt_plugin/lib/orocos/types/libkdl_rtt_plugin-g
> nulinux.so Program received signal SIGABRT, Aborted.
> 0xb7fe1424 in __kernel_vsyscall ()
> (gdb) bt
> #0 0xb7fe1424 in __kernel_vsyscall ()
> #1 0xb7861941 in raise (sig=6) at
> ../nptl/sysdeps/unix/sysv/linux/raise.c:64
> #2 0xb7864e42 in abort () at abort.c:92
> #3 0xb7899305 in __libc_message (do_abort=2, fmt=0xb79712c0 "*** glibc
> detected *** %s: %s: 0x%s ***\n") at
> ../sysdeps/unix/sysv/linux/libc_fatal.c:189
> #4 0xb78a3501 in malloc_printerr (action=<value optimized out>, str=0x6
> <Address 0x6 out of bounds>, ptr=0x812ba28) at malloc.c:6283
> #5 0xb78a4d70 in _int_free (av=<value optimized out>, p=<value
> optimized out>) at malloc.c:4795
> #6 0xb78a7e5d in __libc_free (mem=0x812ba28) at malloc.c:3738
> #7 0xb7a82441 in operator delete(void*) () from /usr/lib/libstdc++.so.6
> #8 0xb76189b0 in
> checked_delete<boost::spirit::classic::basic_chset<char> >
> (this=0x812a518) at /usr/include/boost/checked_delete.hpp:34
> #9
> boost::detail::sp_counted_impl_p<boost::spirit::classic::basic_chset<char>
>
> >::dispose (this=0x812a518) at
>
> /usr/include/boost/smart_ptr/detail/sp_counted_impl.hpp:78
> #10 0xb7faf998 in release (this=0xbfffe254, __in_chrg=<value optimized
> out>) at
> /usr/include/boost/smart_ptr/detail/sp_counted_base_gcc_x86.hpp:145 #11
> boost::detail::shared_count::~shared_count (this=0xbfffe254,
> __in_chrg=<value optimized out>) at
> /usr/include/boost/smart_ptr/detail/shared_count.hpp:217
> #12 0xb76de94c in ~shared_ptr (this=0xbfffe5d8) at
> /usr/include/boost/smart_ptr/shared_ptr.hpp:169
> #13 ~chset (this=0xbfffe5d8) at
> /usr/include/boost/spirit/home/classic/utility/impl/chset.ipp:164
> #14 ~unary (this=0xbfffe5d8) at
> /usr/include/boost/spirit/home/classic/core/composite/composite.hpp:57
> #15 ~kleene_star (this=0xbfffe5d8) at
> /usr/include/boost/spirit/home/classic/core/composite/kleene_star.hpp:45
> #16 ~compressed_pair_imp (this=0xbfffe5d8) at
> /usr/include/boost/detail/compressed_pair.hpp:73
> #17 ~compressed_pair (this=0xbfffe5d8) at
> /usr/include/boost/detail/compressed_pair.hpp:348
> #18 ~binary (this=0xbfffe5d8) at
> /usr/include/boost/spirit/home/classic/core/composite/composite.hpp:114
> #19 ~sequence (this=0xbfffe5d8) at
> /usr/include/boost/spirit/home/classic/core/composite/sequence.hpp:46
> #20 ~unary (this=0xbfffe5d8) at
> /usr/include/boost/spirit/home/classic/core/composite/composite.hpp:57
> #21 ~contiguous (this=0xbfffe5d8) at
> /usr/include/boost/spirit/home/classic/core/composite/directives.hpp:36
> #22 ~unary (this=0xbfffe5d8) at
> /usr/include/boost/spirit/home/classic/core/composite/composite.hpp:57
> #23 ~action (this=0xbfffe5d8) at
> /usr/include/boost/spirit/home/classic/core/composite/actions.hpp:85
> #24 ~compressed_pair_imp (this=0xbfffe5d8) at
> /usr/include/boost/detail/compressed_pair.hpp:73
> #25 ~compressed_pair (this=0xbfffe5d8) at
> /usr/include/boost/detail/compressed_pair.hpp:348
> #26 ~binary (this=0xbfffe5d8) at
> /usr/include/boost/spirit/home/classic/core/composite/composite.hpp:114
> #27 ~difference (this=0xbfffe5d8) at
> /usr/include/boost/spirit/home/classic/core/composite/difference.hpp:47
> #28 RTT::scripting::CommonParser::CommonParser (this=0xbfffe5d8)
> at
> /home/u0065688/src/svn/robotics-ros/packages/orocos_toolchain_ros/rtt/rtt/s
> cripting/CommonParser.cpp:121 #29 0xb76a8528 in
> RTT::scripting::Parser::parseValueStatement
> (this=0xbfffe824, _s=..., tc=0x80c5cb0)
> at
> /home/u0065688/src/svn/robotics-ros/packages/orocos_toolchain_ros/rtt/rtt/s
> cripting/Parser.cpp:208 #30 0xb7dd48f2 in OCL::TaskBrowser::evalCommand
> (this=0xbfffea68, comm=...) at
> /home/u0065688/src/svn/robotics-ros/packages/orocos_toolchain_ros/ocl/taskb
> rowser/TaskBrowser.cpp:1349 #31 0xb7ddbd7a in OCL::TaskBrowser::loop
> (this=0xbfffea68) at
> /home/u0065688/src/svn/robotics-ros/packages/orocos_toolchain_ros/ocl/taskb
> rowser/TaskBrowser.cpp:844 #32 0x080528f2 in main (argc=<value optimized
> out>, argv=0xbfffee64) at
> /home/u0065688/src/svn/robotics-ros/packages/orocos_toolchain_ros/ocl/bin/
> deployer.cpp:162

Peter

another scripting problem

On 01/18/2011 03:58 PM, Peter Soetens wrote:
> On Tuesday 18 January 2011 15:09:33 Dominick Vanthienen wrote:
>> Hi,
>>
>> I've this statemachine, where I try to invoke an operation.
>> When I do so, it hangs, in a similar way as in my previous mail.
>> (blocking, I can't type anything in the taskBrowser OR a crash (see below))
>> He executes the operation when I type the command in the taskBrowser.
> I'm assuming you're using the latest toolchain-2.2 ?
yes, latest pull this morning
>> the state machine:
>>
>> state ControliTaSCScene{
>> entry{
>> print.ln("hello 3")
>> Scene.CartesianMotion_Wy_global=1.0
>> yield
>> print.ln("hello 4") //he will print this line!
>>
>> CartesianTrajectoryGenerator.moveTo(KDL.Frame(KDL.Vector(0.1,0.0,0.1),KDL.R
>> otation()),5.0) //this is the line he doesn't want to execute
> Could it be that moveTo is executed (the C++ function returns), but the script
> does not continue ?
moveTo is not executed (the first line is to log something)
>> print.ln("hello 5") //he never get to this line :(
>> }
>> exit{
>> Scene.CartesianMotion_Wy_global=0.0
>> CartesianTrajectoryGenerator.stop()
>> Scene.stop()
>> CartesianMotion.stop()
>> KukaLWR.stop()
>> }
>> transition if stopRobot==true then select StopRobot
>> }
>>
>> expected behavior (this is the same state machine, but without the
>> operation call, I call it manually)
>> ---------------------------------------------------------------------------
>> -------------------------------------------------------
>>
>> SuperVisor [R]> Test.activate
>> hello 1
>> = true
>>
>> SuperVisor [R]> Test.start
>> = true
>>
>> SuperVisor [R]> hello 2
>> hello 3
>> hello 4
>> hello 5
>>
>> SuperVisor [R]>
>> CartesianTrajectoryGenerator.moveTo(KDL.Frame(KDL.Vector(0.1,0.0,0.1),KDL.R
>> otation()),5.0) = true
>>
>> behavior with the operation call in the script: (log in attachement)
>> -------------------------------------------------------------
>> SuperVisor [R]> Test.activate
>> hello 1
>> = true
>>
>> SuperVisor [R]> Test.start
>>
>> (when it doesn't crash, he prints hello 2, 3 and 4 here)
> I'll need the valgrind output and the RTT compiled with 'Debug' instead.
> Which Linux distribution + which architecture are you using ?
Linux pma-09-053 2.6.35-22-generic-pae #33-Ubuntu SMP Sun Sep 19
22:14:14 UTC 2010 i686 GNU/Linux

No LSB modules are available.
Distributor ID: Ubuntu
Description: Ubuntu 10.10
Release: 10.10
Codename: maverick

> Could you try to compile the *first* test program suggested here:
> https://partner-bugzilla.redhat.com/show_bug.cgi?id=593396
> and run it for a few minutes ?
> g++ test-free.cpp -o test-free -g -lpthread
when I run this program, it doesn't show anything in my shell, even
after a while
what should it do?
do I have to run it in a certain folder?
>> *** glibc detected ***
>> /home/u0065688/src/svn/robotics-ros/packages/orocos_toolchain_ros/ocl/bin/d
>> eployer-gnulinux: invalid fastbin entry (free): 0x0812ba28 ***
>> ======= Backtrace: =========
>> /lib/libc.so.6(+0x6c501)[0xb78a3501]
>> /lib/libc.so.6(+0x6dd70)[0xb78a4d70]
>> /lib/libc.so.6(cfree+0x6d)[0xb78a7e5d]
>> /usr/lib/libstdc++.so.6(_ZdlPv+0x21)[0xb7a82441]
>> /home/u0065688/src/svn/robotics-ros/packages/orocos_toolchain_ros/rtt/insta
>> ll/lib/orocos/plugins/librtt-scripting-gnulinux.so.2.2.0(_ZN5boost6detail17
>> sp_counted_impl_pINS_6spirit7classic11basic_chsetIcEEE7disposeEv+0x20)[0xb7
>> 6189b0]
>> /home/u0065688/src/svn/robotics-ros/packages/orocos_toolchain_ros/ocl/lib/
>> liborocos-log4cpp-gnulinux.so.2.2.0(_ZN5boost6detail12shared_countD1Ev+0x38
>> )[0xb7faf998]
>> /home/u0065688/src/svn/robotics-ros/packages/orocos_toolchain_ros/rtt/inst
>> all/lib/orocos/plugins/librtt-scripting-gnulinux.so.2.2.0(_ZN3RTT9scripting
>> 12CommonParserC1Ev+0xf8c)[0xb76de94c]
>> /home/u0065688/src/svn/robotics-ros/packages/orocos_toolchain_ros/rtt/inst
>> all/lib/orocos/plugins/librtt-scripting-gnulinux.so.2.2.0(_ZN3RTT9scripting
>> 6Parser19parseValueStatementERKSsPNS_11TaskContextE+0x1c8)[0xb76a8528]
>> /home/u0065688/src/svn/robotics-ros/packages/orocos_toolchain_ros/ocl/lib/
>> liborocos-taskbrowser-gnulinux.so.2.2.0(_ZN3OCL11TaskBrowser11evalCommandER
>> Ss+0x392)[0xb7dd48f2]
>> /home/u0065688/src/svn/robotics-ros/packages/orocos_toolchain_ros/ocl/lib/
>> liborocos-taskbrowser-gnulinux.so.2.2.0(_ZN3OCL11TaskBrowser4loopEv+0xe6a)[
>> 0xb7ddbd7a]
>> /home/u0065688/src/svn/robotics-ros/packages/orocos_toolchain_ros/ocl/bin/
>> deployer-gnulinux(main+0x3b2)[0x80528f2]
>> /lib/libc.so.6(__libc_start_main+0xe7)[0xb784dce7]
>> /home/u0065688/src/svn/robotics-ros/packages/orocos_toolchain_ros/ocl/bin/d
>> eployer-gnulinux[0x8052471] ======= Memory map: ========
>> 08048000-08061000 r-xp 00000000 08:07 4591240
>> /home/u0065688/src/svn/robotics-ros/packages/orocos_toolchain_ros/ocl/bin/d
>> eployer-gnulinux 08061000-08062000 r--p 00018000 08:07 4591240
>> /home/u0065688/src/svn/robotics-ros/packages/orocos_toolchain_ros/ocl/bin/d
>> eployer-gnulinux 08062000-08063000 rw-p 00019000 08:07 4591240
>> /home/u0065688/src/svn/robotics-ros/packages/orocos_toolchain_ros/ocl/bin/d
>> eployer-gnulinux 08063000-0813f000 rw-p 00000000 00:00 0 [heap]
>> ace8c000-ace8d000 ---p 00000000 00:00 0
>> ace8d000-ad68d000 rw-p 00000000 00:00 0
>> ad68d000-ad68e000 ---p 00000000 00:00 0
>> ad68e000-ade8e000 rw-p 00000000 00:00 0
>> ade8e000-ade8f000 ---p 00000000 00:00 0
>> ade8f000-ae68f000 rw-p 00000000 00:00 0
>> ae68f000-ae690000 ---p 00000000 00:00 0
>> ae690000-aee90000 rw-p 00000000 00:00 0
>> aee90000-aee91000 ---p 00000000 00:00 0
>> aee91000-af691000 rw-p 00000000 00:00 0
>> b0e94000-b0e95000 ---p 00000000 00:00 0
>> b0e95000-b1695000 rw-p 00000000 00:00 0
>> b1b00000-b1d00000 r--p 00000000 08:05 139259
>> /usr/lib/locale/locale-archive
>> b1d00000-b1d34000 rw-p 00000000 00:00 0
>> b1d34000-b1e00000 ---p 00000000 00:00 0
>> b1e96000-b1f98000 r-xp 00000000 08:07 3674652
>> /home/u0065688/src/svn/robotics-ros/packages/private-kul-ros-pkg/trajectory
>> _generators/lib/orocos/libcartesiangeneratorpos-gnulinux.so
>> b1f98000-b1fa1000 r--p 00101000 08:07 3674652
>> /home/u0065688/src/svn/robotics-ros/packages/private-kul-ros-pkg/trajectory
>> _generators/lib/orocos/libcartesiangeneratorpos-gnulinux.so
>> b1fa1000-b1fa2000 rw-p 0010a000 08:07 3674652
>> /home/u0065688/src/svn/robotics-ros/packages/private-kul-ros-pkg/trajectory
>> _generators/lib/orocos/libcartesiangeneratorpos-gnulinux.so
>> b1fa2000-b21a4000 r-xp 00000000 08:07 3674735
>> /home/u0065688/src/svn/robotics-ros/packages/private-kul-ros-pkg/lissajous_
>> lwr/lib/orocos/liblasermotion-gnulinux.so b21a4000-b21b5000 r--p 00201000
>> 08:07 3674735
>> /home/u0065688/src/svn/robotics-ros/packages/private-kul-ros-pkg/lissajous_
>> lwr/lib/orocos/liblasermotion-gnulinux.so b21b5000-b21b6000 rw-p 00212000
>> 08:07 3674735
>> /home/u0065688/src/svn/robotics-ros/packages/private-kul-ros-pkg/lissajous_
>> lwr/lib/orocos/liblasermotion-gnulinux.so b21b6000-b2234000 r-xp 00000000
>> 08:07 3674701
>> /home/u0065688/src/svn/robotics-ros/packages/private-kul-ros-pkg/lissajous_
>> lwr/lib/orocos/liblissajousgenerator-gnulinux.so b2234000-b2238000 r--p
>> 0007e000 08:07 3674701
>> /home/u0065688/src/svn/robotics-ros/packages/private-kul-ros-pkg/lissajous_
>> lwr/lib/orocos/liblissajousgenerator-gnulinux.so b2238000-b2239000 rw-p
>> 00082000 08:07 3674701
>> /home/u0065688/src/svn/robotics-ros/packages/private-kul-ros-pkg/lissajous_
>> lwr/lib/orocos/liblissajousgenerator-gnulinux.so b2239000-b22ab000 r-xp
>> 00000000 08:07 3674732
>> /home/u0065688/src/svn/robotics-ros/packages/private-kul-ros-pkg/lissajous_
>> lwr/lib/orocos/libnaxesvelocitycontroller-gnulinux.so b22ab000-b22af000
>> r--p 00072000 08:07 3674732
>> /home/u0065688/src/svn/robotics-ros/packages/private-kul-ros-pkg/lissajous_
>> lwr/lib/orocos/libnaxesvelocitycontroller-gnulinux.so b22af000-b22b0000
>> rw-p 00076000 08:07 3674732
>> /home/u0065688/src/svn/robotics-ros/packages/private-kul-ros-pkg/lissajous_
>> lwr/lib/orocos/libnaxesvelocitycontroller-gnulinux.so b22b0000-b2302000
>> r-xp 00000000 08:07 3674423
>> /home/u0065688/src/svn/robotics-ros/packages/private-kul-ros-pkg/lissajous_
>> lwr/lib/orocos/libdummyKukaLWR-gnulinux.so b2302000-b2305000 r--p 00051000
>> 08:07 3674423
>> /home/u0065688/src/svn/robotics-ros/packages/private-kul-ros-pkg/lissajous_
>> lwr/lib/orocos/libdummyKukaLWR-gnulinux.so b2305000-b2306000 rw-p 00054000
>> 08:07 3674423
>> /home/u0065688/src/svn/robotics-ros/packages/private-kul-ros-pkg/lissajous_
>> lwr/lib/orocos/libdummyKukaLWR-gnulinux.so b2306000-b2a64000 r-xp 00000000
>> 08:07 3937181
>> /home/u0065688/src/svn/robotics-ros/packages/private-kul-ros-pkg/stacks/oro
>> cos_kinematics_dynamics/kdl_rtt_plugin/lib/orocos/types/libkdl_rtt_plugin-g
>> nulinux.so b2a64000-b2a9c000 r--p 0075d000 08:07 3937181
>> /home/u0065688/src/svn/robotics-ros/packages/private-kul-ros-pkg/stacks/oro
>> cos_kinematics_dynamics/kdl_rtt_plugin/lib/orocos/types/libkdl_rtt_plugin-g
>> nulinux.so b2a9c000-b2a9f000 rw-p 00795000 08:07 3937181
>> /home/u0065688/src/svn/robotics-ros/packages/private-kul-ros-pkg/stacks/oro
>> cos_kinematics_dynamics/kdl_rtt_plugin/lib/orocos/types/libkdl_rtt_plugin-g
>> nulinux.so Program received signal SIGABRT, Aborted.
>> 0xb7fe1424 in __kernel_vsyscall ()
>> (gdb) bt
>> #0 0xb7fe1424 in __kernel_vsyscall ()
>> #1 0xb7861941 in raise (sig=6) at
>> ../nptl/sysdeps/unix/sysv/linux/raise.c:64
>> #2 0xb7864e42 in abort () at abort.c:92
>> #3 0xb7899305 in __libc_message (do_abort=2, fmt=0xb79712c0 "*** glibc
>> detected *** %s: %s: 0x%s ***\n") at
>> ../sysdeps/unix/sysv/linux/libc_fatal.c:189
>> #4 0xb78a3501 in malloc_printerr (action=<value optimized out>, str=0x6
>> <Address 0x6 out of bounds>, ptr=0x812ba28) at malloc.c:6283
>> #5 0xb78a4d70 in _int_free (av=<value optimized out>, p=<value
>> optimized out>) at malloc.c:4795
>> #6 0xb78a7e5d in __libc_free (mem=0x812ba28) at malloc.c:3738
>> #7 0xb7a82441 in operator delete(void*) () from /usr/lib/libstdc++.so.6
>> #8 0xb76189b0 in
>> checked_delete<boost::spirit::classic::basic_chset<char> >
>> (this=0x812a518) at /usr/include/boost/checked_delete.hpp:34
>> #9
>> boost::detail::sp_counted_impl_p<boost::spirit::classic::basic_chset<char>
>>
>> >::dispose (this=0x812a518) at
>>
>> /usr/include/boost/smart_ptr/detail/sp_counted_impl.hpp:78
>> #10 0xb7faf998 in release (this=0xbfffe254, __in_chrg=<value optimized
>> out>) at
>> /usr/include/boost/smart_ptr/detail/sp_counted_base_gcc_x86.hpp:145 #11
>> boost::detail::shared_count::~shared_count (this=0xbfffe254,
>> __in_chrg=<value optimized out>) at
>> /usr/include/boost/smart_ptr/detail/shared_count.hpp:217
>> #12 0xb76de94c in ~shared_ptr (this=0xbfffe5d8) at
>> /usr/include/boost/smart_ptr/shared_ptr.hpp:169
>> #13 ~chset (this=0xbfffe5d8) at
>> /usr/include/boost/spirit/home/classic/utility/impl/chset.ipp:164
>> #14 ~unary (this=0xbfffe5d8) at
>> /usr/include/boost/spirit/home/classic/core/composite/composite.hpp:57
>> #15 ~kleene_star (this=0xbfffe5d8) at
>> /usr/include/boost/spirit/home/classic/core/composite/kleene_star.hpp:45
>> #16 ~compressed_pair_imp (this=0xbfffe5d8) at
>> /usr/include/boost/detail/compressed_pair.hpp:73
>> #17 ~compressed_pair (this=0xbfffe5d8) at
>> /usr/include/boost/detail/compressed_pair.hpp:348
>> #18 ~binary (this=0xbfffe5d8) at
>> /usr/include/boost/spirit/home/classic/core/composite/composite.hpp:114
>> #19 ~sequence (this=0xbfffe5d8) at
>> /usr/include/boost/spirit/home/classic/core/composite/sequence.hpp:46
>> #20 ~unary (this=0xbfffe5d8) at
>> /usr/include/boost/spirit/home/classic/core/composite/composite.hpp:57
>> #21 ~contiguous (this=0xbfffe5d8) at
>> /usr/include/boost/spirit/home/classic/core/composite/directives.hpp:36
>> #22 ~unary (this=0xbfffe5d8) at
>> /usr/include/boost/spirit/home/classic/core/composite/composite.hpp:57
>> #23 ~action (this=0xbfffe5d8) at
>> /usr/include/boost/spirit/home/classic/core/composite/actions.hpp:85
>> #24 ~compressed_pair_imp (this=0xbfffe5d8) at
>> /usr/include/boost/detail/compressed_pair.hpp:73
>> #25 ~compressed_pair (this=0xbfffe5d8) at
>> /usr/include/boost/detail/compressed_pair.hpp:348
>> #26 ~binary (this=0xbfffe5d8) at
>> /usr/include/boost/spirit/home/classic/core/composite/composite.hpp:114
>> #27 ~difference (this=0xbfffe5d8) at
>> /usr/include/boost/spirit/home/classic/core/composite/difference.hpp:47
>> #28 RTT::scripting::CommonParser::CommonParser (this=0xbfffe5d8)
>> at
>> /home/u0065688/src/svn/robotics-ros/packages/orocos_toolchain_ros/rtt/rtt/s
>> cripting/CommonParser.cpp:121 #29 0xb76a8528 in
>> RTT::scripting::Parser::parseValueStatement
>> (this=0xbfffe824, _s=..., tc=0x80c5cb0)
>> at
>> /home/u0065688/src/svn/robotics-ros/packages/orocos_toolchain_ros/rtt/rtt/s
>> cripting/Parser.cpp:208 #30 0xb7dd48f2 in OCL::TaskBrowser::evalCommand
>> (this=0xbfffea68, comm=...) at
>> /home/u0065688/src/svn/robotics-ros/packages/orocos_toolchain_ros/ocl/taskb
>> rowser/TaskBrowser.cpp:1349 #31 0xb7ddbd7a in OCL::TaskBrowser::loop
>> (this=0xbfffea68) at
>> /home/u0065688/src/svn/robotics-ros/packages/orocos_toolchain_ros/ocl/taskb
>> rowser/TaskBrowser.cpp:844 #32 0x080528f2 in main (argc=<value optimized
>> out>, argv=0xbfffee64) at
>> /home/u0065688/src/svn/robotics-ros/packages/orocos_toolchain_ros/ocl/bin/
>> deployer.cpp:162
> Peter
>

another scripting problem

On Tuesday 18 January 2011 18:23:42 Dominick Vanthienen wrote:
> On 01/18/2011 03:58 PM, Peter Soetens wrote:
> > On Tuesday 18 January 2011 15:09:33 Dominick Vanthienen wrote:
> >> Hi,
> >>
> >> I've this statemachine, where I try to invoke an operation.
> >> When I do so, it hangs, in a similar way as in my previous mail.
> >> (blocking, I can't type anything in the taskBrowser OR a crash (see
> >> below)) He executes the operation when I type the command in the
> >> taskBrowser.
> >
> > I'm assuming you're using the latest toolchain-2.2 ?
>
> yes, latest pull this morning

Which commit id ?

>
> >> the state machine:
> >>
> >> state ControliTaSCScene{
> >>
> >> entry{
> >>
> >> print.ln("hello 3")
> >> Scene.CartesianMotion_Wy_global=1.0
> >> yield
> >> print.ln("hello 4") //he will print this line!
> >>
> >> CartesianTrajectoryGenerator.moveTo(KDL.Frame(KDL.Vector(0.1,0.0,0.1),KD
> >> L.R otation()),5.0) //this is the line he doesn't want to execute
> >
> > Could it be that moveTo is executed (the C++ function returns), but the
> > script does not continue ?
>
> moveTo is not executed (the first line is to log something)

That's really weird. This can only happen if the operation is an OwnThread
kind, and that the EE of that component is blocked for some reason.

>
> >> print.ln("hello 5") //he never get to this line :(
> >>
> >> }
> >> exit{
> >>
> >> Scene.CartesianMotion_Wy_global=0.0
> >> CartesianTrajectoryGenerator.stop()
> >> Scene.stop()
> >> CartesianMotion.stop()
> >> KukaLWR.stop()
> >>
> >> }
> >>
> >> transition if stopRobot==true then select StopRobot
> >>
> >> }
> >>
> >> expected behavior (this is the same state machine, but without the
> >> operation call, I call it manually)
> >> ------------------------------------------------------------------------
> >> --- -------------------------------------------------------
> >>
> >> SuperVisor [R]> Test.activate
> >> hello 1
> >>
> >> = true
> >>
> >> SuperVisor [R]> Test.start
> >>
> >> = true
> >>
> >> SuperVisor [R]> hello 2
> >> hello 3
> >> hello 4
> >> hello 5
> >>
> >> SuperVisor [R]>
> >> CartesianTrajectoryGenerator.moveTo(KDL.Frame(KDL.Vector(0.1,0.0,0.1),KD
> >> L.R otation()),5.0) = true
> >>
> >> behavior with the operation call in the script: (log in attachement)
> >> -------------------------------------------------------------
> >> SuperVisor [R]> Test.activate
> >> hello 1
> >>
> >> = true
> >>
> >> SuperVisor [R]> Test.start
> >>
> >> (when it doesn't crash, he prints hello 2, 3 and 4 here)
> >
> > I'll need the valgrind output and the RTT compiled with 'Debug' instead.
> > Which Linux distribution + which architecture are you using ?
>
> Linux pma-09-053 2.6.35-22-generic-pae #33-Ubuntu SMP Sun Sep 19
> 22:14:14 UTC 2010 i686 GNU/Linux
>
> No LSB modules are available.
> Distributor ID: Ubuntu
> Description: Ubuntu 10.10
> Release: 10.10
> Codename: maverick
>
> > Could you try to compile the *first* test program suggested here:
> > https://partner-bugzilla.redhat.com/show_bug.cgi?id=593396
> > and run it for a few minutes ?
> > g++ test-free.cpp -o test-free -g -lpthread
>
> when I run this program, it doesn't show anything in my shell, even
> after a while
> what should it do?
> do I have to run it in a certain folder?

No. If it didn't segfault after a few minutes, the libc should be fine. I still
don't understand then why this error is triggered, it doesn't make sense.

Did valgrind show something ?

Peter

another scripting problem

On 01/18/2011 09:17 PM, Peter Soetens wrote:
> On Tuesday 18 January 2011 18:23:42 Dominick Vanthienen wrote:
>> On 01/18/2011 03:58 PM, Peter Soetens wrote:
>>> On Tuesday 18 January 2011 15:09:33 Dominick Vanthienen wrote:
>>>> Hi,
>>>>
>>>> I've this statemachine, where I try to invoke an operation.
>>>> When I do so, it hangs, in a similar way as in my previous mail.
>>>> (blocking, I can't type anything in the taskBrowser OR a crash (see
>>>> below)) He executes the operation when I type the command in the
>>>> taskBrowser.
>>> I'm assuming you're using the latest toolchain-2.2 ?
>> yes, latest pull this morning
> Which commit id ?
>
>>>> the state machine:
>>>>
>>>> state ControliTaSCScene{
>>>>
>>>> entry{
>>>>
>>>> print.ln("hello 3")
>>>> Scene.CartesianMotion_Wy_global=1.0
>>>> yield
>>>> print.ln("hello 4") //he will print this line!
>>>>
>>>> CartesianTrajectoryGenerator.moveTo(KDL.Frame(KDL.Vector(0.1,0.0,0.1),KD
>>>> L.R otation()),5.0) //this is the line he doesn't want to execute
>>> Could it be that moveTo is executed (the C++ function returns), but the
>>> script does not continue ?
>> moveTo is not executed (the first line is to log something)
> That's really weird. This can only happen if the operation is an OwnThread
> kind, and that the EE of that component is blocked for some reason.
>
>>>> print.ln("hello 5") //he never get to this line :(
>>>>
>>>> }
>>>> exit{
>>>>
>>>> Scene.CartesianMotion_Wy_global=0.0
>>>> CartesianTrajectoryGenerator.stop()
>>>> Scene.stop()
>>>> CartesianMotion.stop()
>>>> KukaLWR.stop()
>>>>
>>>> }
>>>>
>>>> transition if stopRobot==true then select StopRobot
>>>>
>>>> }
>>>>
>>>> expected behavior (this is the same state machine, but without the
>>>> operation call, I call it manually)
>>>> ------------------------------------------------------------------------
>>>> --- -------------------------------------------------------
>>>>
>>>> SuperVisor [R]> Test.activate
>>>> hello 1
>>>>
>>>> = true
>>>>
>>>> SuperVisor [R]> Test.start
>>>>
>>>> = true
>>>>
>>>> SuperVisor [R]> hello 2
>>>> hello 3
>>>> hello 4
>>>> hello 5
>>>>
>>>> SuperVisor [R]>
>>>> CartesianTrajectoryGenerator.moveTo(KDL.Frame(KDL.Vector(0.1,0.0,0.1),KD
>>>> L.R otation()),5.0) = true
>>>>
>>>> behavior with the operation call in the script: (log in attachement)
>>>> -------------------------------------------------------------
>>>> SuperVisor [R]> Test.activate
>>>> hello 1
>>>>
>>>> = true
>>>>
>>>> SuperVisor [R]> Test.start
>>>>
>>>> (when it doesn't crash, he prints hello 2, 3 and 4 here)
>>> I'll need the valgrind output and the RTT compiled with 'Debug' instead.
>>> Which Linux distribution + which architecture are you using ?
>> Linux pma-09-053 2.6.35-22-generic-pae #33-Ubuntu SMP Sun Sep 19
>> 22:14:14 UTC 2010 i686 GNU/Linux
>>
>> No LSB modules are available.
>> Distributor ID: Ubuntu
>> Description: Ubuntu 10.10
>> Release: 10.10
>> Codename: maverick
>>
>>> Could you try to compile the *first* test program suggested here:
>>> https://partner-bugzilla.redhat.com/show_bug.cgi?id=593396
>>> and run it for a few minutes ?
>>> g++ test-free.cpp -o test-free -g -lpthread
>> when I run this program, it doesn't show anything in my shell, even
>> after a while
>> what should it do?
>> do I have to run it in a certain folder?
> No. If it didn't segfault after a few minutes, the libc should be fine. I still
> don't understand then why this error is triggered, it doesn't make sense.
>
> Did valgrind show something ?
>
> Peter

SOLVED: thanks Ruben!
all my components had a periodicActivity => deadlocks
by changing it to Activity solved this problem!
(@ peter: an older mail of me with the requested info is blocked by the
mailing list)

Nick