I am running rtt_2.0 and ocl_2.0.

To save a number of experimental data (robot positions, drive voltages et
cetera), I would like to report data from dataports to a text file at a
fixed period (in the example code below with a period of 1 second). For this
I have added an OCL::FileReporting component to my deploy file. The deploy
file also contains an nAxesGenerator and robot control components running in
real time (ORO_SCHED_RT) at 1 millisecond periods. The reporting component
is running in non-realtime (ORO_SCHED_OTHER), since it has non-real time
activities (writing to the hard disk).

When I only start the reporting component, it is indeed running at 1 second
intervals (in the example below I first started the reporting component and
then started the other components around 37 seconds later). From the moment
I start the other components however I see extremely inconsistent reporting
behavior: I get data in the file much faster but at very irregular intervals
than the 1 second intervals it should be.

I can fully understand that, since the reporting activity is non-realtime,
under heavy system load I would get missing reporting data, but I don't see
why there is reporting data faster than the 1 second interval the reporting
component should be running. The update hook seems to get triggered by
something??

Below I have included part of the deploy file, the reporter cpf file and the
resulting reports.txt.

Any idea what is going wrong?

Merci par avance,
Sebastien

---

part of the deploy file:

<struct name="Reporter" type="OCL::FileReporting">
<struct name="Activity" type="PeriodicActivity">
<simple name="Period" type="double"><value>1<value><simple>
<simple name="Priority" type="short"><value>0<value><simple>
<simple
name="Scheduler"type="string"><value>ORO_SCHED_OTHER<value><simple>
<struct>
<simple name="AutoConf" type="boolean"><value>1<value><simple>
<simple name="AutoStart" type="boolean"><value>0<value><simple>
<simple
name="LoadProperties"type="string"><value>controllerreporter.cpf<value><simple>
<struct name="Peers" type="PropertyBag">
<simple type="string"><value>nAxesGeneratorPos<value><simple>
<simple type="string"><value>nAxesControllerPosVel<value><simple>
<simple type="string"><value>CRSnAxesVelocityController<value><simple>
<struct>
<struct>

---

reporter cpf file:

<?xml version="1.0" encoding="UTF-8"?>
&lt;!DOCTYPE properties SYSTEM "cpf.dtd"&gt;
<properties>
<simple name="AutoTrigger" type="boolean"><description>When set to
1, the data is taken upon each update(), otherwise, the data is only
taken when the user invokes
'snapshot()'.<description><value>1<value><simple>
<simple name="WriteHeader" type="boolean"><description>Set to true to
start each report with a header.<description><value>1<value><simple>
<simple name="Decompose" type="boolean"><description>Set to false in order
to create multidimensional array in
netcdf<description><value>0<value><simple>
<simple name="ReportFile" type="string"><description>Location ondisc to
store the reports.<description><value>report.txt<value><simple>
<simple name="Synchronize" type="boolean"><description>Set to true if the
timestamp should be synchronized with the
logging<description><value>0<value><simple>
<simple name="NullSample" type="string"><description>The characters
written to the log to indicate that no new data was available for that port
during a snapshot(). As a special value, the string 'last' is interpreted as
repeating the last value.<description><value>last<value><simple>

<struct name="ReportData" type="PropertyBag">
<description>A PropertyBag which defines which ports or components to
report.<description>
<simple name="Port" type="string"><description>Report all output ports
of this
component.<description><value>nAxesGeneratorPos.nAxesDesiredPosition<value><simple>
<simple name="Port" type="string"><description>Report all output ports
of this
component.<description><value>nAxesGeneratorPos.nAxesDesiredVelocity<value><simple>
<simple name="Port" type="string"><description>Report all output ports
of this
component.<description><value>CRSnAxesVelocityController.Position_Value<value><simple>
<simple name="Port" type="string"><description>Report all output ports
of this
component.<description><value>CRSnAxesVelocityController.OuputVoltage<value><simple>
<simple name="Port" type="string"><description>Report all output ports
of this
component.<description><value>nAxesControllerPosVel.nAxesOutputVelocity<value><simple>
<struct>
<properties>

---

resulting reports.txt file

TimeStamp nAxesGeneratorPos.nAxesDesiredPosition
nAxesGeneratorPos.nAxesDesiredVelocity
CRSnAxesVelocityController.Position_Value
CRSnAxesVelocityController.OuputVoltage
nAxesControllerPosVel.nAxesOutputVelocity
34.429 {0, 0, 0, 0}
{0, 0, 0, 0}
{} {} {0,
0, 0, 0}
0.686967 {0, 0, 0, 0}
{0, 0, 0, 0}
{} {} {0,
0, 0, 0}
1.68697 {0, 0, 0, 0}
{0, 0, 0, 0}
{} {} {0,
0, 0, 0}
2.68697 {0, 0, 0, 0}
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{} {} {0,
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3.68697 {0, 0, 0, 0}
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8.68697 {0, 0, 0, 0}
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{} {} {0,
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25.687 {0, 0, 0, 0}
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{} {} {0,
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{} {} {0,
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27.687 {0, 0, 0, 0}
{0, 0, 0, 0}
{} {} {0,
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28.687 {0, 0, 0, 0}
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{} {} {0,
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29.687 {0, 0, 0, 0}
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{} {} {0,
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30.687 {0, 0, 0, 0}
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{} {} {0,
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31.687 {0, 0, 0, 0}
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32.687 {0, 0, 0, 0}
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36.687 {0, 0, 0, 0}
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{} {} {0,
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37.687 {0, 0, 0, 0}
{0, 0, 0, 0} {} {0.5,
0.05, 0.05, -0.05} {0, 0, 0, 0}
37.6886 {0, 0, 0, 0}
{0, 0, 0, 0} {} {0.525253, 0.0904048,
0.0651518, -0.0853542} {0, 0, 0, 0}
37.689 {0, 0, 0, 0}
{0, 0, 0, 0} {} {0.549696, 0.142079,
-0.11769, -0.119574} {0, 0, 0, 0}
37.6897 {0, 0, 0, 0}
{0, 0, 0, 0} {} {-0.227462, 0.182028,
-0.103367, -0.154529} {0, 0, 0, 0}
37.6901 {0, 0, 0, 0}
{0, 0, 0, 0} {} {0.177315, 0.234019,
-0.0957996, -0.189025} {0, 0, 0, 0}
37.6907 {0, 0, 0, 0}
{0, 0, 0, 0} {} {0.209054, 0.274885,
0.11077, -0.224784} {0, 0, 0, 0}
37.6911 {0, 0, 0, 0}
{0, 0, 0, 0} {} {-0.191248, 0.314467,
0.320815, -0.259417} {0, 0, 0, 0}
37.6917 {0, 0, 0, 0}
{0, 0, 0, 0} {} {0.231532, 0.354914,
0.145493, -0.294809} {0, 0, 0, 0}
37.6921 {0, 0, 0, 0}
{0, 0, 0, 0} {} {0.644076, 0.381053,
0.359524, -0.328675} {0, 0, 0, 0}
37.6929 {0, 0, 0, 0}
{0, 0, 0, 0} {} {0.266433, 0.420854,
0.179645, -0.363501} {0, 0, 0, 0}
37.6936 {0, 0, 0, 0}
{0, 0, 0, 0} {} {0.670179, 0.255886,
0.414827, -1.49908} {0, 0, 0, 0}
37.6941 {0, 0, 0, 0}
{0, 0, 0, 0} {} {0.478383, 0.255886,
0.247477, -1.54171} {0, 0, 0, 0}
37.6947 {0, 0, 0, 0}
{0, 0, 0, 0} {} {0.0839784, 0.255886,
0.436956, -1.55486} {0, 0, 0, 0}
37.6951 {0, 0, 0, 0}
{0, 0, 0, 0} {} {0.478308, 0.255886,
0.239011, -1.58977} {0, 0, 0, 0}
37.6957 {0, 0, 0, 0}
{0, 0, 0, 0} {} {0.479555, 0.255886,
0.424023, -1.6029} {0, 0, 0, 0}
37.6961 {0, 0, 0, 0}
{0, 0, 0, 0} {} {0.487371, 0.255886,
0.231549, -1.638} {0, 0, 0, 0}
37.6967 {0, 0, 0, 0}
{0, 0, 0, 0} {} {0.481213, 0.255886,
0.410833, -1.65109} {0, 0, 0, 0}
37.6971 {0, 0, 0, 0}
{0, 0, 0, 0} {} {0.479707, 0.255886,
0.405106, -1.68588} {0, 0, 0, 0}
37.6981 {0, 0, 0, 0}
{0, 0, 0, 0} {} {0.486786, 0.255886,
0.404868, -1.69907} {0, 0, 0, 0}
37.6988 {0, 0, 0, 0}
{0, 0, 0, 0} {} {0.485364, 0.255886,
0.399191, -1.73394} {0, 0, 0, 0}
37.6992 {0, 0, 0, 0}
{0, 0, 0, 0} {} {0.494268, 0.255886,
0.207413, -1.74726} {0, 0, 0, 0}
37.6999 {0, 0, 0, 0}
{0, 0, 0, 0} {} {0.484639, 0.255886,
0.578927, -1.78203} {0, 0, 0, 0}
37.7002 {0, 0, 0, 0}
{0, 0, 0, 0} {} {0.489741, 0.255886,
0.38769, -1.81691} {0, 0, 0, 0}
38.687 {0, 0, 0, 0}
{0, 0, 0, 0} {} {0.486693, 0.255886,
0.380976, -1.8299} {0, 0, 0, 0}
38.6875 {0, 0, 0, 0}
{0, 0, 0, 0} {} {0.0835442, 0.255886,
0.571164, -1.86463} {0, 0, 0, 0}
38.6898 {0, 0, 0, 0}
{0, 0, 0, 0} {} {0.469402, 0.255886,
0.566544, -1.87727} {0, 0, 0, 0}
38.6904 {0, 0, 0, 0}
{0, 0, 0, 0} {} {0.490909, 0.255886,
0.38384, -1.91227} {0, 0, 0, 0}
38.691 {0, 0, 0, 0}
{0, 0, 0, 0} {} {0.489237, 0.255886,
0.765377, -1.92541} {0, 0, 0, 0}
38.6915 {0, 0, 0, 0}
{0, 0, 0, 0} {} {0.488832, 0.255886,
0.576369, -1.9385} {0, 0, 0, 0}
38.6924 {0, 0, 0, 0}
{0, 0, 0, 0} {} {0.516415, 0.255886,
0.589835, -1.97413} {0, 0, 0, 0}
38.693 {0, 0, 0, 0}
{0, 0, 0, 0} {} {0.501716, 0.255886,
0.582964, -1.9875} {0, 0, 0, 0}
38.6935 {0, 0, 0, 0}
{0, 0, 0, 0} {} {0.463932, 0.255886,
0.564917, -1.99975} {0, 0, 0, 0}
38.6941 {0, 0, 0, 0}
{0, 0, 0, 0} {} {0.496241, 0.255886,
0.774259, -2.01289} {0, 0, 0, 0}
38.6948 {0, 0, 0, 0}
{0, 0, 0, 0} {} {0.125579, 0.255886,
0.234707, -1.33635} {0, 0, 0, 0}
38.6952 {0, 0, 0, 0}
{0, 0, 0, 0} {} {0.517819, 0.255886,
0.230466, -1.32789} {0, 0, 0, 0}
38.6959 {0, 0, 0, 0}
{0, 0, 0, 0} {} {0.536625, 0.255886,
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38.6963 {0, 0, 0, 0}
{0, 0, 0, 0} {} {0.107004, 0.255886,
0.0168355, -1.28013} {0, 0, 0, 0}
38.6969 {0, 0, 0, 0}
{0, 0, 0, 0} {} {0.515604, 0.255886,
0.21029, -1.27168} {0, 0, 0, 0}
38.6982 {0, 0, 0, 0}
{0, 0, 0, 0} {} {0.504901, 0.255886,
0.198677, -1.26287} {0, 0, 0, 0}
38.6989 {0, 0, 0, 0}
{0, 0, 0, 0} {} {0.509194, 0.255886,
0.19666, -1.23238} {0, 0, 0, 0}
38.6994 {0, 0, 0, 0}
{0, 0, 0, 0} {} {0.51842, 0.255886,
0.00490829, -1.2239} {0, 0, 0, 0}
38.7 {0, 0, 0, 0}
{0, 0, 0, 0} {} {0.51143, 0.255886,
0.183842, -1.21517} {0, 0, 0, 0}
38.7004 {0, 0, 0, 0}
{0, 0, 0, 0} {} {0.127488, 0.255886,
0.188296, -1.20681} {0, 0, 0, 0}