Hi Bert,

Could you configure you email program to send plain text email instead
of html and even better to not auto wrap lines? That would make
reading dbg output much easier.

On Fri, Feb 01, 2013 at 11:58:51AM +0100, Bert Willaert wrote:
> On Thu, Jan 31, 2013 at 1:04 PM, Markus Klotzbuecher
> <markus [dot] klotzbuecher [..] ...> wrote:
>
> On Thu, Jan 31, 2013 at 11:45:23AM +0100, Bert Willaert wrote:
> >
> >
> >
> > On Thu, Jan 31, 2013 at 10:36 AM, Markus Klotzbuecher <
> > markus [dot] klotzbuecher [..] ...> wrote:
> >
> > On Thu, Jan 31, 2013 at 09:31:46AM +0100, Bert Willaert wrote:
> > > Hi,
> > >
> > > I made already a simple example on the use of the await plugin and
> then
> > > everything seemed to work fine. Now I want to go to the next state
> when
> > two
> > > motion_generators finished their 'moveTo' command.
> > >
> > > In the code I have:
> > >
> > > move_to_start = state{
> > > entry = function() ... end,
> > > exit = function()
> > > -- for debugging --
> > > print(rttlib.port_clone_conn(motionGen1:getPort
> > > ("events")):read())
> > > print(rttlib.port_clone_conn(motionGen2:getPort
> > > ("events")):read())
> > > end,
> > > },
> > >
> > >
> > > trans { src='move_to_start', tgt='follow_traj',
> events={"await
> > > (e_motionGen1_move_finished,e_motionGen2_move_finished)"},
> guard=function
> > ()
> > > return moveToStartAccepted end },
> > >
> > > The transition is done however when only one motion_generator has
> > finished:
> > > taskbrowser output:
> > >
> > > NewData e_motionGen1_move_started
> > > NewData e_motionGen2_move_finished
> > > Global_Coordinator: STATE_EXIT root.AllReady.move_to_start
> > > Global_Coordinator: STATE_ENTER root.AllReady.follow_traj
> > >
> > >
> > > What could be the problem? Can await be combined with a guard?
> >
> > It can, but there was silly bug that caused the guard to be
> > ignored. Please pull for a fix.
> >
> >
> > I did a pull of the rFSM dev branch but I still have the same problem...
>
> Ok.
> > That said, I'm not sure this is the cause of your problem. The output
> > of your print's will not be very reliable, because you are creating
> > the connections on the fly in exit, thus after you have received the
> > events you want to print. It would be better to create these
> > connections earlier and only once.
> >
> >
> > I was actually doing this but to make the code shorter in the mail I wrote
> it
> > like that ( which can only lead to misunderstandings, so I won't do that
> again
> > ;))
>
> Yes, please :)
> > local p1 = rttlib.port_clone_conn(motionGen1:getPort("events"))
> > local p2 = rttlib.port_clone_conn(motionGen2:getPort("events"))
> >
> > return state {
> >
> > move_to_start= state {
> > exit = function() print(p1:read()) print(p2:read()) end,
> > },
> >
>
> The FSM could still transition *before* you see the event on the other
> port. I would suggest that you enable FSM debugging (e.g. as in the
> await example) so we can check whether both events are actually
> received or not.
>
>
> await: RAISED e_done [..] ...uring
> await: STATE_ENTER root.AllReady.configuring
> await: STATE_EXIT root.AllReady.configuring
> await: EFFECT T={ src='root.AllReady.configuring',
> tgt='root.AllReady.move_to_start', events='{}' }
> pos_start :
> {2.122013,0.788564,-0.549975,-1.420228,-2.701632,-1.056217,1.486454}
> pos_start :
> {1.122013,0.788564,-0.549975,-1.420228,-2.701632,-1.056217,1.486454}
> await: RAISED e_done [..] ..._to_start
> await: STATE_ENTER root.AllReady.move_to_start
> 27.714 [ Warning][Logger] FINISHED
> NewData e_motionGen1_move_started
> NewData e_motionGen2_move_finished
> await: STATE_EXIT root.AllReady.move_to_start
> await: EFFECT T={ src='root.AllReady.move_to_start',
> tgt='root.AllReady.follow_traj', events='await(e_motionGen1_move_finished,
> e_motionGen2_move_finished), e_motionGen1_move_finished,
> e_motionGen2_move_finished' }
> await: RAISED e_done [..] ..._traj
> await: STATE_ENTER root.AllReady.follow_traj
> In the naxes_motion_control/src/nAxesGeneratorPos.cpp file I added the following
> line at the place the event is sent:
>
> // send move_finished_event (once)
> event_port.write(move_finished_event);
> ++ log(Warning)<<"FINISHED" <<endlog();
>
> So only one warning in the taskbrowser, which shows that only one of the two
> motionGenerators is finished already. Still the await dbg info indicates that
> both events have been received, no?

Why do you think so? I don't see any "RAISED e_motionGen[12]_move_finished"

at all, so I'm wondering why this transition happens at all.

Markus