2011/3/28 Peter Soetens <peter [..] ...>

> On Tuesday 15 March 2011 14:45:13 Willy Lambert wrote:
> > 2011/3/15 Peter Soetens <peter [..] ...>
> >
> > > On Thursday 10 March 2011 17:48:02 Willy Lambert wrote:
> > > > 2011/3/8 Willy Lambert <lambert [dot] willy [..] ...>
> > > >
> > > > > 2011/3/7 Peter Soetens <peter [..] ...>
> > > > >
> > > > >> On Monday 07 March 2011 23:36:13 Willy Lambert wrote:
> > > > >> > 2011/3/7 Willy Lambert <lambert [dot] willy [..] ...>
> > > > >> >
> > > > >> > > 2011/3/7 Peter Soetens <peter [..] ...>
> > > > >> > >
> > > > >> > >> On Sunday 06 March 2011 17:50:21 Willy Lambert wrote:
> > > > >> > >> > Hi,
> > > > >> > >> >
> > > > >> > >> > As I am working on my Can driver, I face the problem of
> > > > >> > >> > Hexadecimal<->Decimal conversion.
> > > > >> > >> > 1/ Does anyone ever tried to log in Hexadecimal ? I used to
> > >
> > > play
> > >
> > > > >> with
> > > > >>
> > > > >> > >> > std::hex, but the logger doesn't accept it silently ("<<
> > >
> > > std::hex
> > >
> > > > >> <<
> > > > >>
> > > > >> > >> > nodeIDOfBootedDevice")
> > > > >> > >>
> > > > >> > >> I have fixed this in the patch in attachment. Can't apply it
> to
> > >
> > > 2.3
> > >
> > > > >> > >> since it
> > > > >> > >> breaks ABI. But you could do this yourselve
> > > > >> > >>
> > > > >> > >> If using git:
> > > > >> > >>
> > > > >> > >> git am
> > >
> > > .../0001-logging-rewrite-streaming-to-allow-formatting.patch
> > >
> > > > >> > >> or
> > > > >> > >>
> > > > >> > >> patch -p1 <
> > > > >> > >> 0001-logging-rewrite-streaming-to-allow-formatting.patch
> > > > >> > >>
> > > > >> > >> > 2/ Is it a way to show numbers in hexadecimal in the
> > >
> > > taskBrowser
> > >
> > > > >> > >> > ?
> > > > >> > >>
> > > > >> > >> See the attachment for the TaskBrowser. Same restriction as
> > > > >> > >> with logging...
> > > > >> > >> Use '.hex' or '.nohex' to turn it on or off. The problem with
> > >
> > > this
> > >
> > > > >> > >> is that every integer number is printed as hex, without the
> 0x
> > > > >> > >> prefix,
> > > > >>
> > > > >> so
> > > > >>
> > > > >> > >> it will lead
> > > > >> > >> to confusion, if you forgot that you turned it on... someone
> > >
> > > should
> > >
> > > > >> come
> > > > >>
> > > > >> > >> up
> > > > >> > >> with a better idea.
> > > > >> > >>
> > > > >> > >> > 3/ Is it a way enter hexadecimal numbers in scripts or when
> > > > >> > >> > calling operations in the taskBrowser ?
> > > > >> > >>
> > > > >> > >> Added this on the toolchain-2.3 branch. you can use 0xabc or
> > >
> > > 0XABC.
> > >
> > > > >> > the patches seems to have some issues, the deployer end in
> > > > >> > segfault
> > >
> > > > >> > Starting program:
> > >
> /media/DD_data/opt/ros/orocos_toolchain_ros/ocl/install/bin/deployer-gnu
> > >
> > > > >> lin
> > > > >>
> > > > >> > ux
> > >
> > > > >> > Starting program:
> > >
> /media/DD_data/opt/ros/orocos_toolchain_ros/ocl/install/bin/deployer-gnu
> > >
> > > > >> lin
> > > > >>
> > > > >> > ux
> > > > >> >
> > > > >> > [Thread debugging using libthread_db enabled]
> > > > >> > [New Thread 0xb6cd4b70 (LWP 9387)]
> > > > >> > [New Thread 0xb64d3b70 (LWP 9388)]
> > > > >> > [New Thread 0xb5746b70 (LWP 9389)]
> > > > >> >
> > > > >> > Program received signal SIGSEGV, Segmentation fault.
> > > > >> > 0x00000000 in ?? ()
> > > > >> > (gdb) bt
> > > > >> > #0 0x00000000 in ?? ()
> > > > >> > #1 0xb7d6570e in OCL::TaskBrowser::switchTaskContext (this=0x0,
> > > > >> > tc=0xbfffecdc, store=true)
> > > > >> >
> > > > >> > at
> > > > >>
> > > > >> /opt/ros/orocos_toolchain_ros/ocl/taskbrowser/TaskBrowser.cpp:1071
> > > > >>
> > > > >> > #2 0xb7d70e14 in TaskBrowser (this=0xbfffeb04, _c=0xbfffecdc)
> > > > >> >
> > > > >> > at
> > >
> > > /opt/ros/orocos_toolchain_ros/ocl/taskbrowser/TaskBrowser.cpp:654
> > >
> > > > >> > #3 0x0805337a in main (argc=<value optimized out>,
> > > > >> > argv=0xbfffefe4)
> > > > >> >
> > > > >> > at /opt/ros/orocos_toolchain_ros/ocl/bin/deployer.cpp:160
> > > > >> >
> > > > >> > (gdb)
> > > > >>
> > > > >> It's not the patches fault. As I wrote, they cause ABI changes,
> such
> > > > >> that you
> > > > >> must make sure that every component and application in the system
> is
> > > > >> recompiled using the new headers. Since this is a segfault in a
> part
> > >
> > > we
> > >
> > > > >> didn't
> > > > >> change, *and* the this pointer is suddenly 'null', this is such a
> > >
> > > case.
> > >
> > > > >> Also check for components, plugins, typekits etc which are loaded
> at
> > > > >> startup
> > > > >> time, these must be recompiled as well.
> > > > >
> > > > > Ok I didn'nt think about thoses, now I recompiled every thnig it is
> > >
> > > fine.
> > >
> > > > > I just tested .hex at the moment.
> > > >
> > > > What's about properties ? May I also write "0x" in property files ?
> > >
> > > We could hack this into the demarshallers easily, but there is
> currently
> > > no way to write it out like that, for a specific property. The
> > > fundamental problem
> > > is that we store it in a 'text' format, instead of an unambiguous
> > > 'binary' format.
> > >
> > > This problem is of the same as the precision questions regarding
> doubles.
> > > We
> > > have no way to specify formatting of a property object. Since
> formatting
> > > in C++ is already handled by the ios_base::fmtflags classes, it's maybe
> > > sufficient
> > > to store such formatting instructions and then to apply them when the
> > > property
> > > is written out or read in from text (or printed in the taskbrowser)
> > >
> > > It's probably worthwhile to create a ticket for this and see how far we
> > > get.
> >
> > I'll do it tonigth. BTW, it seems that the .nohex doesn't always work to
> > switch off the hex format
>
> What happens exactly ? Does it print "Turning off hex notation for output."
> but
> it still prints hex numbers or doesn't it print this message at all ?
>

Yes it prints it, but nothing change :

This console reader allows you to browse and manipulate TaskContexts.
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Deployer [S]> ls

Listing TaskContext Deployer[S] :

Configuration Properties:
string RTT_COMPONENT_PATH =
/opt/ros/orocos_toolchain_ros/ocl/lib/orocos/gnulinux (Locations to look for
components. Use a colon or semi-colon separated list of paths. Defaults to
the environment variable with the same name.)
bool AutoUnload = true (Stop, cleanup and unload
all components loaded by the DeploymentComponent when it is destroyed.)

Provided Interface:
Attributes :
string Target = gnulinux
bool Valid = false
int ORO_SCHED_RT = 1
int ORO_SCHED_OTHER = 0
int LowestPriority = 1
int HighestPriority = 99

Operations : activate addPeer cleanup cleanupComponents
clearConfiguration configure configureComponents connect connectPeers
connectPorts connectServices connectTwoPorts createStream
displayComponentTypes error getComponentTypes getPeriod import inFatalError
inRunTimeError isActive isConfigured isRunning kickOut kickOutAll
kickOutComponent kickStart loadComponent loadComponents loadConfiguration
loadConfigurationString loadLibrary loadService path removePeer runScript
setActivity setMasterSlaveActivity setPeriod setPeriodicActivity
setSequentialActivity setSlaveActivity start startComponents stop
stopComponents stream trigger unloadComponent unloadComponents update

Data Flow Ports: (none)

Services:
scripting ( Orocos Scripting service. Use this service in order to
load or query programs or state machines. )

Requires Operations : (none)
Requests Services : (none)

Peers : Can1[R] Joystick[R] Motor[U]
Deployer [S]> .hex
Switching to hex notation for output (use .nohex to revert).
Deployer [S]> ls

Listing TaskContext Deployer[S] :

Configuration Properties:
string RTT_COMPONENT_PATH =
/opt/ros/orocos_toolchain_ros/ocl/lib/orocos/gnulinux (Locations to look for
components. Use a colon or semi-colon separated list of paths. Defaults to
the environment variable with the same name.)
bool AutoUnload = true (Stop, cleanup and unload
all components loaded by the DeploymentComponent when it is destroyed.)

Provided Interface:
Attributes :
string Target = gnulinux
bool Valid = false
int ORO_SCHED_RT = 1
int ORO_SCHED_OTHER = 0
int LowestPriority = 1
int HighestPriority = 63

Operations : activate addPeer cleanup cleanupComponents
clearConfiguration configure configureComponents connect connectPeers
connectPorts connectServices connectTwoPorts createStream
displayComponentTypes error getComponentTypes getPeriod import inFatalError
inRunTimeError isActive isConfigured isRunning kickOut kickOutAll
kickOutComponent kickStart loadComponent loadComponents loadConfiguration
loadConfigurationString loadLibrary loadService path removePeer runScript
setActivity setMasterSlaveActivity setPeriod setPeriodicActivity
setSequentialActivity setSlaveActivity start startComponents stop
stopComponents stream trigger unloadComponent unloadComponents update

Data Flow Ports: (none)

Services:
scripting ( Orocos Scripting service. Use this service in order to
load or query programs or state machines. )

Requires Operations : (none)
Requests Services : (none)

Peers : Can1[R] Joystick[R] Motor[U]
Deployer [S]> .nohex
Turning off hex notation for output.
Deployer [S]> ls

Listing TaskContext Deployer[S] :

Configuration Properties:
string RTT_COMPONENT_PATH =
/opt/ros/orocos_toolchain_ros/ocl/lib/orocos/gnulinux (Locations to look for
components. Use a colon or semi-colon separated list of paths. Defaults to
the environment variable with the same name.)
bool AutoUnload = true (Stop, cleanup and unload
all components loaded by the DeploymentComponent when it is destroyed.)

Provided Interface:
Attributes :
string Target = gnulinux
bool Valid = false
int ORO_SCHED_RT = 1
int ORO_SCHED_OTHER = 0
int LowestPriority = 1
int HighestPriority = 63

Operations : activate addPeer cleanup cleanupComponents
clearConfiguration configure configureComponents connect connectPeers
connectPorts connectServices connectTwoPorts createStream
displayComponentTypes error getComponentTypes getPeriod import inFatalError
inRunTimeError isActive isConfigured isRunning kickOut kickOutAll
kickOutComponent kickStart loadComponent loadComponents loadConfiguration
loadConfigurationString loadLibrary loadService path removePeer runScript
setActivity setMasterSlaveActivity setPeriod setPeriodicActivity
setSequentialActivity setSlaveActivity start startComponents stop
stopComponents stream trigger unloadComponent unloadComponents update

Data Flow Ports: (none)

Services:
scripting ( Orocos Scripting service. Use this service in order to
load or query programs or state machines. )

Requires Operations : (none)
Requests Services : (none)

Peers : Can1[R] Joystick[R] Motor[U]
Deployer [S]>

>
> Peter
>
>

On Fri, Mar 25, 2011 at 11:16 PM, Willy Lambert <lambert [dot] willy [..] ...> wrote:
>
>
> 2011/3/15 Willy Lambert <lambert [dot] willy [..] ...>
>>
>>
>> 2011/3/15 Peter Soetens <peter [..] ...>
>>>
>>> On Thursday 10 March 2011 17:48:02 Willy Lambert wrote:
>>> > 2011/3/8 Willy Lambert <lambert [dot] willy [..] ...>
>>> >
>>> > > 2011/3/7 Peter Soetens <peter [..] ...>
>>> > >
>>> > >> On Monday 07 March 2011 23:36:13 Willy Lambert wrote:
>>> > >> > 2011/3/7 Willy Lambert <lambert [dot] willy [..] ...>
>>> > >> >
>>> > >> > > 2011/3/7 Peter Soetens <peter [..] ...>
>>> > >> > >
>>> > >> > >> On Sunday 06 March 2011 17:50:21 Willy Lambert wrote:
>>> > >> > >> > Hi,
>>> > >> > >> >
>>> > >> > >> > As I am working on my Can driver, I face the problem of
>>> > >> > >> > Hexadecimal<->Decimal conversion.
>>> > >> > >> > 1/ Does anyone ever tried to log in Hexadecimal ? I used to
>>> > >> > >> > play
>>> > >>
>>> > >> with
>>> > >>
>>> > >> > >> > std::hex, but the logger doesn't accept it silently ("<<
>>> > >> > >> > std::hex
>>> > >>
>>> > >> <<
>>> > >>
>>> > >> > >> > nodeIDOfBootedDevice")
>>> > >> > >>
>>> > >> > >> I have fixed this in the patch in attachment. Can't apply it to
>>> > >> > >> 2.3
>>> > >> > >> since it
>>> > >> > >> breaks ABI. But you could do this yourselve
>>> > >> > >>
>>> > >> > >> If using git:
>>> > >> > >>
>>> > >> > >> git am
>>> > >> > >> .../0001-logging-rewrite-streaming-to-allow-formatting.patch
>>> > >> > >>
>>> > >> > >> or
>>> > >> > >>
>>> > >> > >> patch -p1 <
>>> > >> > >> 0001-logging-rewrite-streaming-to-allow-formatting.patch
>>> > >> > >>
>>> > >> > >> > 2/ Is it a way to show numbers in hexadecimal in the
>>> > >> > >> > taskBrowser
>>> > >> > >> > ?
>>> > >> > >>
>>> > >> > >> See the attachment for the TaskBrowser. Same restriction as
>>> > >> > >> with
>>> > >> > >> logging...
>>> > >> > >> Use '.hex' or '.nohex' to turn it on or off. The problem with
>>> > >> > >> this
>>> > >> > >> is that every integer number is printed as hex, without the 0x
>>> > >> > >> prefix,
>>> > >>
>>> > >> so
>>> > >>
>>> > >> > >> it will lead
>>> > >> > >> to confusion, if you forgot that you turned it on... someone
>>> > >> > >> should
>>> > >>
>>> > >> come
>>> > >>
>>> > >> > >> up
>>> > >> > >> with a better idea.
>>> > >> > >>
>>> > >> > >> > 3/ Is it a way enter hexadecimal numbers in scripts or when
>>> > >> > >> > calling operations in the taskBrowser ?
>>> > >> > >>
>>> > >> > >> Added this on the toolchain-2.3 branch. you can use 0xabc or
>>> > >> > >> 0XABC.
>>> > >> >
>>> > >> > the patches seems to have some issues, the deployer end in
>>> > >> > segfault :
>>> > >>
>>> > >> > Starting program:
>>> > >>
>>> > >> /media/DD_data/opt/ros/orocos_toolchain_ros/ocl/install/bin/deployer-gnu
>>> > >> lin
>>> > >>
>>> > >> > ux
>>> > >>
>>> > >> > Starting program:
>>> > >>
>>> > >> /media/DD_data/opt/ros/orocos_toolchain_ros/ocl/install/bin/deployer-gnu
>>> > >> lin
>>> > >>
>>> > >> > ux
>>> > >> >
>>> > >> > [Thread debugging using libthread_db enabled]
>>> > >> > [New Thread 0xb6cd4b70 (LWP 9387)]
>>> > >> > [New Thread 0xb64d3b70 (LWP 9388)]
>>> > >> > [New Thread 0xb5746b70 (LWP 9389)]
>>> > >> >
>>> > >> > Program received signal SIGSEGV, Segmentation fault.
>>> > >> > 0x00000000 in ?? ()
>>> > >> > (gdb) bt
>>> > >> > #0  0x00000000 in ?? ()
>>> > >> > #1  0xb7d6570e in OCL::TaskBrowser::switchTaskContext (this=0x0,
>>> > >> > tc=0xbfffecdc, store=true)
>>> > >> >
>>> > >> >     at
>>> > >>
>>> > >> /opt/ros/orocos_toolchain_ros/ocl/taskbrowser/TaskBrowser.cpp:1071
>>> > >>
>>> > >> > #2  0xb7d70e14 in TaskBrowser (this=0xbfffeb04, _c=0xbfffecdc)
>>> > >> >
>>> > >> >     at
>>> > >> >
>>> > >> > /opt/ros/orocos_toolchain_ros/ocl/taskbrowser/TaskBrowser.cpp:654
>>> > >> >
>>> > >> > #3  0x0805337a in main (argc=<value optimized out>,
>>> > >> > argv=0xbfffefe4)
>>> > >> >
>>> > >> >     at /opt/ros/orocos_toolchain_ros/ocl/bin/deployer.cpp:160
>>> > >> >
>>> > >> > (gdb)
>>> > >>
>>> > >> It's not the patches fault. As I wrote, they cause ABI changes, such
>>> > >> that you
>>> > >> must make sure that every component and application in the system is
>>> > >> recompiled using the new headers. Since this is a segfault in a part
>>> > >> we
>>> > >> didn't
>>> > >> change, *and* the this pointer is suddenly 'null', this is such a
>>> > >> case.
>>> > >>
>>> > >> Also check for components, plugins, typekits etc which are loaded at
>>> > >> startup
>>> > >> time, these must be recompiled as well.
>>> > >
>>> > > Ok I didn'nt think about thoses, now I recompiled every thnig it is
>>> > > fine.
>>> > > I just tested .hex at the moment.
>>> >
>>> > What's about properties ? May I also write "0x" in property files ?
>>>
>>> We could hack this into the demarshallers easily, but there is currently
>>> no
>>> way to write it out like that, for a specific property. The fundamental
>>> problem
>>> is that we store it in a 'text' format, instead of an unambiguous
>>> 'binary'
>>> format.
>>>
>>> This problem is of the same as the precision questions regarding doubles.
>>> We
>>> have no way to specify formatting of a property object. Since formatting
>>> in
>>> C++ is already handled by the ios_base::fmtflags classes, it's maybe
>>> sufficient
>>> to store such formatting instructions and then to apply them when the
>>> property
>>> is written out or read in from text (or printed in the taskbrowser)
>>>
>>> It's probably worthwhile to create a ticket for this and see how far we
>>> get.
>>
>> I'll do it tonigth. BTW, it seems that the .nohex doesn't always work to
>> switch off the hex format
>
> I have some problems with logging after thoses patches :
>
> 0.292 [ Warning][ScriptingService]
> 413010915811038408301.30109e+0917232204800305841240000003050019696000/media/DD_data/opt/ros/ard/arp_core/lib/orocos/gnulinux/types/media/DD_data/opt/ros/ard/arp_hml/lib/orocos/gnulinux/plugins====================
> 0.294 [ Warning][ScriptingService] début déploiment HML
> 0.378 [ Warning][ScriptingService]
> 03030797168000030224044640000301401176000003005619056000.0503030797168000.0503022404464000.05Fin
> déploiment HML
>
>
> It seems something is not reinitialized correctly. It happens randomly.

Could you run the app with valgrind and post the output ? We should be
able to find this with that info.

Peter
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